Panasonic FP2 Positioning Unit Manual
The FP2 Positioning Unit is a versatile device designed for precise positioning control in automated systems. It supports both stepping and servo motors, enabling you to control the movement of axes with high accuracy. You can set the speed, acceleration, and deceleration parameters for each axis, and use linear interpolation to control multiple axes simultaneously. The unit provides a variety of input and output signals for communication with other devices, and features a home return function for resetting the reference position.
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Safety Precautions
Observe the following notices to ensure personal safety or to prevent accidents.
To ensure that you use this product correctly, read this User’s Manual thoroughly before use.
Make sure that you fully understand the product and information on safety.
This manual uses two safety flags to indicate different levels of danger.
WARNING
If critical situations that could lead to user’s death or serious injury is assumed by
mishandling of the product.
Always take precautions to ensure the overall safety of your system, so that the whole system remains safe in the event of failure of this product or other external factor.
-Do not use this product in areas with inflammable gas. It could lead to an explosion.
-Exposing this product to excessive heat or open flames could cause damage to the lithium battery or other electronic parts.
CAUTION
If critical situations that could lead to user’s injury or only property damage is
assumed by mishandling of the product.
-To prevent excessive exothermic heat or smoke generation, use this product at the values less than the maximum of the characteristics and performance that are assured in these specifications.
-Do not dismantle or remodel the product. It could cause excessive exothermic heat or smoke generation.
-Do not touch the terminal while turning on electricity. It could lead to an electric shock.
-Use the external devices to function the emergency stop and interlock circuit.
-Connect the wires or connectors securely.
The loose connection could cause excessive exothermic heat or smoke generation.
-Do not allow foreign matters such as liquid, flammable materials, metals to go into the inside of the product. It could cause excessive exothermic heat or smoke generation.
-Do not undertake construction (such as connection and disconnection) while the power supply is on. It could lead to an electric shock.
Copyright / Trademarks
-This manual and its contents are copyrighted.
-You may not copy this manual, in whole or part, without written consent of Panasonic
Industrial Devices SUNX Co., Ltd.
-Windows is a registered trademark of Microsoft Corporation in the United States and other countries.
-All other company names and product names are trademarks or registered trademarks of their respective owners.
PLC_ORG
FP2 Positioning Unit Table of Contents
Table of Contents
Glossary
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
vi
Chapter 1 Functions of Unit and Restrictions on Combination
1.1 Functions of FP2 Positioning Unit
1.1.1
Functions of Unit
1.1.2
Unit Types
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 − 3
1 − 3
1 − 5
1.2 Unit Functioning and Operation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1
Unit Combinations for Positioning Control
1.2.2
Basic Operation of FP2 Positioning Unit
. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . .
1 − 6
1 − 6
1 − 7
1.3 Restrictions on Units Combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1
Restrictions on Combinations Based on Current Consumption . . .
1.3.2
Restrictions on Unit Installation Position . . . . . . . . . . . . . . . . . . . . . .
1.3.3
Restrictions on the Number of Units Installed . . . . . . . . . . . . . . . . . .
1 − 9
1 − 9
1 − 9
1 − 9
Chapter 2 Parts and Specifications
2.1 Parts and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1
Parts and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2
Operation Status Display LEDs
2.1.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operation Mode Setting Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 − 3
2 − 3
2 − 4
2 − 6
Chapter 3 Wiring
3.1 Connecting with Wire−pressed Terminal Type Connector . . . . . . . . . . . . . . .
3.1.1
Specifications of Wire−pressed Connector
3.1.2
Assembly of Wire−pressed Connector
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . .
3 − 3
3 − 3
3 − 5
3.2 Input/Output Specifications and Connector Pin Layout . . . . . . . . . . . . . . . . .
3 − 6
3.2.1
3.2.2
Pin Layout for One Axis
3.2.1.1
3.2.1.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output and Power Supply Terminals for One Axis
3.2.2.1
3.2.2.2
Input Terminals for Two Axis
3.2.3
Pin Layout for Three Axes
3.2.3.1
3.2.3.2
Input Terminals for One Axis
Pin Layout for Two Axes
. . . .
. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
.
3 − 6
3 − 6
3 − 8
3 − 10
Output and Power Supply Terminals for Two Axes 3 − 10
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 − 12
Output and Power Supply Terminals for Three Axes 3 − 14
Input Terminals for Three Axes . . . . . . . . . . . . . . . . . .
3 − 14
3 − 16
3.2.4
Pin Layout for Four Axes
3.2.4.1
3.2.4.2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output and Power Supply Terminals for Four Axes 3 − 18
Input Terminals for Four Axes . . . . . . . . . . . . . . . . . . .
.
3 − 18
3 − 20
3.3 Supplying Power for Internal Circuit Drive
3.3.1
Line Driver Output
. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2
Open Collector Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Connection of Pulse Command Output Signal . . . . . . . . . . . . . . . . . . . . . . .
3 − 22
3 − 22
3 − 23
3 − 24 i
ii
Table of Contents FP2 Positioning Unit
3.4.1
Line Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2
Transistor Open Collector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 − 24
3 − 24
3.5 Connection of Deviation Counter Clear Output Signal (for servo motor) .
3 − 26
3.6 Connection of Home Input/Near Home Input Signals . . . . . . . . . . . . . . . . .
3.6.1
Connection of Home Input (When connecting to motor driver
Z phase output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.2
Connection of Home Input (When connecting to an external switch/sensor)
3.6.3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection of Near Home Input Signal . . . . . . . . . . . . . . . . . . . . .
3 − 27
3 − 27
3 − 28
3 − 28
3.7 Connection of Limit Over Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8 Connection of Pulser (Only when pulser is used) . . . . . . . . . . . . . . . . . . . .
3.8.1
Line Driver Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2
Transistor Open Collector Type . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.3
Transistor−resistor Pull−up Type . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9 Precautions Concerning Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 − 29
3 − 30
3 − 30
3 − 30
3 − 31
3 − 31
Chapter 4 Confirming the Unit Settings and Design Contents
4.1 Setting the Operation Mode Setting Switches
4.1.1
Selection of Rotation Direction
. . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2
Selection of Pulse Output Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.3
Relationship Between Switch Setting and Rotation Direction . . . .
4 − 3
4 − 3
4 − 4
4 − 5
4.2 Confirming the Slot Number and I/O Number Allocations
4.2.1
Occupied I/O Area
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2
Contents of Input and Output Allocations . . . . . . . . . . . . . . . . . . . . .
4.2.3
Confirming the Allotted I/O Number and Slot Number
4.2.3.1
4.2.3.2
Confirming I/O Number Allocations
Confirming Slot No.
. . . . . . . . .
. . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 − 7
4 − 7
4 − 8
4 − 10
4 − 10
4 − 12
4.3 Increment and Absolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1
Increment (relative value control)
4.3.2
Absolute (absolute value control)
. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . .
4 − 13
4 − 13
4 − 14
4.4 Selection of Acceleration/Deceleration Method . . . . . . . . . . . . . . . . . . . . . .
4.4.1
Linear and S Acceleration/Decelerations
4.4.2
. . . . . . . . . . . . . . . . . . . .
Indicating the Method of Acceleration/Deceleration . . . . . . . . . . .
4.5 Internal Absolute Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1
How the Internal Absolute Counter Works . . . . . . . . . . . . . . . . . . .
4.5.2
Reading Elapsed Value
4.5.3
Writing Elapsed Value
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 − 15
4 − 15
4 − 16
4 − 17
4 − 17
4 − 19
4 − 20
Chapter 5 Turning the Power On and Off, and Booting the
System
5.1 Safety Circuit Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Before Turning ON the Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 − 3
5 − 4
5.3 Procedure for Turning On the Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1
Procedure for Turning On the Power . . . . . . . . . . . . . . . . . . . . . . . . .
5 − 6
5 − 6
FP2 Positioning Unit Table of Contents
5.3.2
Procedure for Turning Off the Power . . . . . . . . . . . . . . . . . . . . . . . . .
5 − 7
5.4 Procedure Prior to Starting Operation
5.4.1
Home Switch
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Checking the External Safety Circuit . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.2
Checking the Safety Circuit Based on the PLC . . . . . . . . . . . . . . . .
5.4.3
Checking the Rotation and Travel Directions, and the Travel Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.4
Checking the Operation of the Near Home Switch and
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 − 8
5 − 8
5 − 9
5 − 10
5 − 11
Chapter 6 Automatic Acceleration/Deceleration Control
(E Point Control: Single−Speed Acceleration/Deceleration)
6.1 Sample Program
6.1.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Increment (Relative Value Control): Plus (+) Direction
6.1.2
Increment (Relative Value Control): Minus (−) Direction
6.1.3
Absolute (Absolute Value Control)
. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . .
6 − 3
6 − 3
. . . . . . . . .
6 − 7
6 − 11
6.2 Flow of E Point Control Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 − 15
6.3 Operation of the Input and Output Contacts Before and
After E Point Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 − 18
Chapter 7 Automatic Acceleration/Deceleration Control
(P Point Control: Multi−Stage Acceleration/Deceleration)
7.1 Sample Program
7.1.1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Increment (Relative Value Control): Plus (+) Direction
7.1.2
Increment (Relative Value Control): Minus (−) Direction
7.1.3
Absolute (Absolute Value Control)
. . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . .
7 − 3
7 − 3
. . . . . . . . .
7 − 7
7 − 11
7.2 Flow of P Point Control Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 − 15
7.3 Action of the I/O Contacts Before and After P Point Control . . . . . . . . . . .
7.4 Precautions When Creating P Point Control Programs . . . . . . . . . . . . . . .
7.4.1
Precautions Concerning the Setting Value Change Confirmation
Flag X_A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 − 20
7 − 22
7 − 22
Chapter 8 Jog Operation
8.1 Sample Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1
Jog Operation (Forward and Reverse)
8.1.2
. . . . . . . . . . . . . . . . . . . . . . . .
Jog Operation (Forward, Reverse and Speed Changes) . . . . . . . .
8 − 3
8 − 3
8 − 7
8.2 Sequence Flow for Jog Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 Changing the Speed During Jog Operation . . . . . . . . . . . . . . . . . . . . . . . . .
8 − 11
8 − 14
8.4 Teaching Following Jog Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.1
Example of Teaching Settings, and Sample Program . . . . . . . . .
8.5 Action of the I/O Contact Before and After Jog Operation . . . . . . . . . . . . .
8.6 Precautions When Changing the Speed During JOG Operation . . . . . . .
8 − 18
8 − 18
8 − 21
8 − 22
Chapter 9 Home Return
9.1 Sample Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 − 3 iii
Table of Contents FP2 Positioning Unit
9.1.1
Home Return in the Minus Direction
9.1.2
Home Return in the Plus Direction
. . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . .
9 − 3
9 − 8
9.2 Flow of Operation Following a Home Return . . . . . . . . . . . . . . . . . . . . . . . .
9 − 13
9.2.1
Operation If the Home Input is the Z Phase of the Servo Driver 9 − 17
9.2.2
Operation If the Home Input is Through an External Limit Switch . .
9 −
19
9.3 Action of the I/O Contact Before and After a Home Return Operation
9.4 Checking the Home and Near Home Input Logic
9.4.1
When “Input Valid When Power is Supplied” is Specified . . . . . .
9.4.2
When “Input Valid When Power is not Supplied” is Specified . .
9.5 Practical Use for a Home Return
. . .
. . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1
When One Limit Switch is Used as the Home Input
9.5.2
When the Near Home and Home Input are Allocated
. . . . . . . . . .
by Turning a Single Limit Switch On and Off
9.5.3
Home Return Based on a Home Search
. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . .
9 − 21
9 − 24
9 − 24
9 − 25
9 − 26
9 − 26
9 − 28
9 − 30
Chapter 10 Pulser Input Operation
10.1 Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.1 Pulser Input Operation (Transfer multiple: 1 multiple setting)
10.1.2 Pulser Input Operation (Transfer multiple: 5 multiple setting)
. .
. .
10.2 Sequence Flow for Pulser Input Operation . . . . . . . . . . . . . . . . . . . . . . . . .
10 − 3
10 − 3
10 − 7
10 − 11
10.3 Action of the I/O Contact During Pulser Input Operation
10.4 Types of Manual Pulse Generators That Can be Used
. . . . . . . . . . . . .
. . . . . . . . . . . . . .
10 − 15
10 − 17
Chapter 11 Deceleration Stop and Forcible Stop
11.1 Sample Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.1 In−progress Stopping, Emergency Stopping, and Overruns . . . .
11 − 3
11 − 3
11.2 Operations for a Deceleration Stop and Forcible Stop
11.2.1 Deceleration Stop
. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.2 Forcible Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 I/O Contact Operation Before and After a Stop . . . . . . . . . . . . . . . . . . . . . . .
11 − 7
11 − 7
11 − 8
11 − 9
11.4 Precautions Concerning Stopping Operations . . . . . . . . . . . . . . . . . . . . . . .
11.4.1 Pulse Output Done Flag Statuses After a Stop
11.4.2 Restarting After a Stop
. . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.4.3 Forcible Stop Elapsed Value Data . . . . . . . . . . . . . . . . . . . . . . . . .
11 − 11
11 − 11
11 − 11
11 − 11
Chapter 12 Precautions Concerning the Operation and Programs
12.1 Precautions Relating to Basic Operations of the Unit . . . . . . . . . . . . . . . . .
12.1.1 Values of Shared Memory are Cleared When Power is
Turned Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.2
Operation When the CPU Switches from RUN to PROG. Mode . .
12.1.3 Operation Cannot be Switched Once One Operation Has
Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 − 3
12 − 3
12 − 5
12 − 6 iv
FP2 Positioning Unit Table of Contents
12.2 Precautions Concerning Practical Usage Methods . . . . . . . . . . . . . . . . . . .
12.2.1 Setting the Acceleration/Deceleration to Zero . . . . . . . . . . . . . . .
12.2.2 Precautions When Setting the Position Command Value to
One Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 − 7
12 − 7
12 − 7
Chapter 13 Positioning Unit Operation if an Error Occurs
13.1 Positioning Unit Operation if an Error Occurs
13.1.2 If the CPU ERROR LED Lights
. . . . . . . . . . . . . . . . . . . . . . . .
13.1.1 If the Positioning Unit ERR LED Lights
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2 Errors Which Occur in the Positioning Unit Itself
. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . .
13 − 3
13 − 3
13 − 4
13 − 5
13.3 Resolving Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3.1 If the Positioning Unit ERR LED Lights . . . . . . . . . . . . . . . . . . . . .
13 − 7
13 − 7
13.3.2
If the Motor Does Not Turn or Operate
(if the display LED for pulse output A or B is flashing or lighted) . .
13 − 11
13.3.3 If the Motor Does Not Turn or Operate
(if the display LED for pulse output A or B is not lighted)
13.3.4 Rotation/Movement Direction is Reversed
13.3.5 The Stopping Position is Off for a Home Return
. . . . .
. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . .
13 − 11
13 − 12
13 − 13
13.3.6 Speed Does not Slow for a Home Return . . . . . . . . . . . . . . . . . .
13.3.7 Movement Doesn’t Stop at Home Position (after decelerating for home return) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 − 15
13 − 16
Chapter 14 Specifications
14.1 Table of Performance Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.2 Table of Shared Memory Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.2.1 Quick Guide to Control Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3 Table of I/O Contact (Relay) Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14 − 3
14 − 6
14 − 7
14 − 10
Chapter 15 Dimensions and Driver Wiring
15.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2 Wiring for Motor Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.1 Panasonic A Series
15.2.2 Panasonic EX Series
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.3 Panasonic X (xx) Series
15.2.4 Panasonic X (v) Series
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.5 Oriental Motor UPK−W Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.6 Motor Driver I/F Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15 − 3
15 − 4
15 − 4
15 − 5
15 − 6
15 − 7
15 − 8
15 − 9
Chapter 16 Sample Programs
16.1 Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.1 Positioning Program for 1 Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.2 Positioning for 2 Axes (Linear Interpolation Program) . . . . . . . . .
16 − 3
16 − 3
16 − 7
Record of changes
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
R − 1 v
vi
Precaution before using FP2 Positioning unit FP2 Positioning Unit
Precaution before using FP2 Positioning unit
There are two types of FP2 Positioning Units: Conventional type and Multifunction type.
Their manuals look very similar. Be sure to use the Unit according to the appropriate manual.
This manual
FP2 Positioning unit
Object product number
:AFP2430
:AFF2431
Similarity manual
FP2 Positioning unit
Multifunction type
Object product number
:AFP2432
:AFP2434
:AFP2433
:AFP2435
FP2 Positioning Unit Glossary
Glossary
E point control
This is a method of control which is initiated up to an end point, and in this manual is referred to as “E point control”. This method is used when single−speed acceleration/deceleration is used.
P point control
This refers to control which passes through a “Pass Point”, and is called
“P point control” in this manual. This method is used when a multi−stage target speed is to be specified.
Speed f [pps]
Simple acceleration/ deceleration control when moving to an end point
P point control
E point control
Acceleration/deceleration control in which multiple pass points can be consecutively specified
Time t [ms]
Startup time
This is the time from when the startup output signal is output from the
CPU of the FP2, until pulse output is issued from the positioning unit.
Acceleration/deceleration time
This is the acceleration time during which the speed changes from the startup speed to the target speed after the motor has started up, or the time that it takes for the speed to slow from the target speed to the startup speed.
CW, CCW
Generally, these indicate the direction in which the motor is rotating, with
CW referring to clockwise rotation and CCW to counterclockwise rotation.
CW/CCW output method (2 pulses output method)
This is a method in which control is carried out using two pulses, a forward rotation pulse and a reverse rotation pulse. With the FP2 positioning unit, this is specified using the dip switches on the rear panel, and is set to match the driver specifications.
vii
Glossary FP2 Positioning Unit
Pulse/Sign output method (1 pulse output method)
This is a method in which control is carried out using one pulse to specify the speed, and on/off signals to specify the direction of rotation. With the
FP2 positioning unit, this is specified using the dip switches on the rear panel, and is set to match the driver specifications.
Positioning unit Motor driver Positioning unit
Pulse [Pulse]
Motor driver
CW pulse
Forward
CCW pulse
Forward Reverse
Reverse
CW/CCW output method
Rotation direction [Sign]
Pulse/Sign output method
Absolute method (absolute value control method)
This is a control method in which the target position is specified as an absolute position from the home position. With the FP2 positioning unit, this is specified in the user program, using the control codes and the position command values.
Increment method (relative value control method)
This is a control method in which the distance from the current position to the target position is specified as a relative position. With the FP2 positioning unit, this is specified in the user program, using the control codes and the position command values.
1
Position command value setting : +5000
2 +3000 setting
Absolute method
0 3000 5000
1
Position command value setting : +5000
2 −2000 setting
Increment method
0 3000 5000 viii
FP2 Positioning Unit Glossary
Line driver output
This is one output format used in pulse output signal circuits, in which the push−pull output of the line driver is used. Because this format offers better resistance to noise than the open collector output format, a larger distance to the driver is possible. The line driver must be supported on the motor driver side. Most servo motor drivers are equipped with this format.
Open collector output
This is one output format used in pulse output signal circuits, in which connections can be made in accordance with the voltage of the power supply being used, by connecting an external resistance. This is used when connecting a driver that does not have line driver input, such as a stepping motor.
Positioning unit Motor driver Positioning unit Motor driver
V
0
Line driver method Open collector method
Jog operation
This refers to operation in which the motor is rotated only while operation commands are being input. This is used to forcibly rotate the motor using input from an external switch, for instance when adjustments are being made. Depending on the circumstances, this can also be applied to unlimited feeding in some cases.
Deceleration stop
This is a function which interrupts the operation in progress, slows the rotation and brings it to a stop. This is used to stop whatever operation is being carried out.
Forced stop
This is a function which interrupts the operation in progress, and stops it immediately. It is used to initiate an emergency stop using an external switch, and to initiate a temporary stop through an overrun.
Twisted pair cable
This refers to a cable constructed of two wires, which suppresses the effects of noise. Because current of the same size is flowing in the reverse direction, noise is blanked out, which reduces the effects of the noise.
ix
Glossary FP2 Positioning Unit
Home return
In terms of positioning, the position that serves as a reference is called the home position, and a movement back to that position is called a home return, or return to home position. The table travels to a reference position (home position) specified ahead of time, and the coordinates of that position are set as the zero of the absolute position.
Home input
This refers to input of the reference position used for positioning, and is connected to the Z phase signal of the servo motor driver, or to an external input switch and sensor.
Near home input
In order to stop the table at the home position, a position called the near home position is specified, at which deceleration begins. This is connected to an external input switch and sensor.
Input logic
Depending on the type of sensor and switch connected to the home input and near home input, it is necessary to confirm whether the input signal will be valid when current is flowing, or whether input will be valid when no current is flowing. This is called the “input logic”. With the FP2 positioning unit, this setting is entered using a control code in the program.
Deviation counter
This is located inside the servo motor driver, and counts the difference between command pulses and the feedback from the encoder.
Command pulses are counted as plus values and feedback pulses are counted as negative values, with control being initiated so that the difference between them is zero.
Deviation counter clear signal
This is installed in the FP2 positioning unit, and goes on when a home position return is completed, to notify the driver that the table has arrived at the home position.
Pulser operation
This is a device which generates pulses manually, and is used for adjustment when manual operation is used. The same type of output as that from the encoder is obtained, and the FP2 positioning unit is equipped with a dedicated input terminal.
x
FP2 Positioning Unit Glossary
Transfer multiple
With the FP2 positioning unit, this can be specified when the pulser input operation function is used. When the number of pulses output is double the number of pulser input signals, the transfer multiple is said to be “2”, and when the number of pulses is five times that of the pulser input signals, the transfer multiple is said to be “5”.
Example:
FP positioning unit and the pulser input transfer multiple function
Input from pulser Input from pulser
Standard pulse
Pulse with transfer multiple of 2
Pulse with transfer multiple of 5 xi
Glossary FP2 Positioning Unit xii
Chapter 1
Functions of Unit and Restrictions on
Combination
1.1 Functions of FP2 Positioning Unit . . . . . . . . . . . . . . . . .
1 − 3
1.1.1
Functions of Unit . . . . . . . . . . . . . . . . . . . . . . . .
1 − 3
1.1.2
Unit Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 − 5
1.2 Unit Functioning and Operation Overview . . . . . . . . . .
1 − 6
1.2.1
Unit Combinations for Positioning
Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 − 6
1.2.2
Basic Operation of FP2 Positioning Unit . . . .
1 − 7
1.3 Restrictions on Units Combination . . . . . . . . . . . . . . . . .
1 − 9
1.3.1
Restrictions on Combinations Based on Current Consumption . . . . . . . . . . . . . . . . .
1 − 9
1.3.2
Restrictions on Unit Installation Position . . . .
1 − 9
1.3.3
Restrictions on the Number of Units
Installed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 − 9
Functions of Unit and Restrictions on Combination FP2 Positioning Unit
1 − 2
FP2 Positioning Unit Functions of Unit and Restrictions on Combination
1.1 Functions of FP2 Positioning Unit
1.1
Functions of FP2 Positioning Unit
1.1.1
Functions of Unit
Positioning can be controlled through the combination of a stepping motor with a driver using the pulse train input method, and a servo motor.
Positioning control using a stepping motor
Pulse train
Positioning unit
Positioning control using a servo motor
Pulse train
Driver
Encoder
Stepping motor
Servo motor Positioning unit Driver
2−axis and 4−axis types are available.
Multiple axes can be controlled with a single unit.
2−axis type
Motor
Driver
2−axis type
(FP2−PP2)
Driver
Motor next page
1 − 3
Functions of Unit and Restrictions on Combination
1.1
Functions of FP2 Positioning Unit
4−axis type
Motor
Driver
FP2 Positioning Unit
Motor
Driver
Motor 4−axis type
(FP2−PP4)
Motor
Driver Driver
The user may select line driver output or open collector output.
Line driver output which supports high−speed control is provided.
Drivers available only with stepping motors and open collectors are also supported. If both types can be used, we recommend using the line driver for connection.
Automatic acceleration and deceleration can be controlled simply by providing the startup speed, target speed, acceleration/deceleration time, and position command values, as data.
Startup speed
Target speed
Acceleration/ deceleration time
Position command value
Positioning unit
Speed
Time
Motor
The linear acceleration/deceleration and “S” acceleration/deceleration can be selected simply by setting parameters, enabling support of the necessary control for smooth acceleration and deceleration.
Speed
Linear acceleration/ deceleration
“S” acceleration/ deceleration
Time
Linear interpolation possible through user programs
The FP2 positioning unit can handle simultaneous startup of multiple axes, enabling simultaneous control of linear interpolation and other elements through user programs.
1 − 4
FP2 Positioning Unit Functions of Unit and Restrictions on Combination
1.1 Functions of FP2 Positioning Unit
1.1.2
Unit Types
Unit type and order number
Type
2−axis type
4−axis type
Function
For 2−axis control
For 4−axis control
Order number
FP2−PP2
FP2−PP4
Note
Wire−pressed connectors are provided as accessories with the various units (one for 2−axis type, and two for 4−axis type).
For detailed information about connectors provided Section 3.1
1 − 5
Functions of Unit and Restrictions on Combination
1.2
Unit Functioning and Operation Overview
1.2
Unit Functioning and Operation Overview
FP2 Positioning Unit
1.2.1
Unit Combinations for Positioning Control
Control signals such as alarms and end of positioning
Pulse command output
Power supply Positioning unit
Deviation counter clear output
Control output signals such as servo ON and alarm reset signals
CCW inhibit
Home
Home input and near home input
Limit over input
Near home input
CW inhibit
Interfaces provided with the positioning unit
In addition to pulse command output for the motor driver, the positioning unit is equipped with home input and near home input terminals, and with deviation counter clear output for the servo driver.
Safety circuit for PLC and control signal interfaces use input unit and output unit.
In addition to the positioning unit, an input unit and output unit are used in combination for input from the limit over input circuit, servo ON signals and other connections between the driver and external output.
Number of output pulses counted by internal high−speed counter.
The number of pulses output is counted as an absolute value by an internal high−speed counter, which counts them as the “elapsed value”.
Counting range: −2,147,483,648 to +2,147,483,647 (signed 32−bit)
Note
If the elapsed value exceeds the maximum (minimum) value, the value returns automatically to the minimum (maximum) value and continues from that point. The motor does not stop if this occurs, and no error occurs.
1 − 6
FP2 Positioning Unit Functions of Unit and Restrictions on Combination
1.2 Unit Functioning and Operation Overview
1.2.2
Basic Operation of FP2 Positioning Unit
Control proceeds by turning the shared memory and input/output contact on and off.
R0
DF F1 DMV H 0 , DT0
F1 DMV K 500 , DT2
F1 DMV H 10000 , DT4
F1 DMV K 50 , DT6
F1 DMV K100000 , DT8
F151 WRT K 0 , DT0 , K10 , H100
Control code: increment
Startup speed: 500 pps
Target speed: 10000 pps
Acceleration/deceleration time: 50 ms
Position command value:
100000 pulses
X80 R100
DF
R100
Y40
ED
Positioning parameters written to
CPU’s data register
Data register
DT0
DT2
DT4
DT6
DT8
K
DT10 K
H
K
K
0
500
10000
50
100000
F151
Y40:ON
Various parameters are written to the shared memory of the positioning unit by the F151 instruction.
To motor driver
Startup contact goes on and pulse output begins.
1
2
Determining the necessary data
The types of data written to the positioning unit include control codes, the startup speed, the target speed, the acceleration/deceleration time, and the position command value. The types and number of required data varies depending on the objective. Programming is set up so that these data values may be written to any desired data register.
Transfer to the shared memory
The data stored in the data registers is sent to the positioning unit by means of the
F151 or P151 instruction, where it waits for further instructions. The memory area which receives that transferred data is called the “shared memory” of the positioning unit. This area is used for various types of control, including E point control, P point control, jog operation, home return, and pulser input operation, and a separate shared memory area is provided for each of the axes.
next page
1 − 7
Functions of Unit and Restrictions on Combination
1.2
Unit Functioning and Operation Overview
FP2 Positioning Unit
3 Initiating control operations
In order to execute the data waiting in the positioning unit, the startup contacts of the various operation modes are turned on. The abovementioned programming example shows this process for Y40. Y40 is the number of the contact that starts up the first axis when the unit is installed in slot 0. Separate contacts are provided for each of the axes, for E point control, P point control, home return, jog operation, and other types of control.
1 − 8
FP2 Positioning Unit Functions of Unit and Restrictions on Combination
1.3 Restrictions on Units Combination
1.3
Restrictions on Units Combination
1.3.1
Restrictions on Combinations Based on Current Consumption
The internal current consumption (at 5 V DC power supply) for the positioning units are noted below. When the system is configured, the other units being used should be taken into consideration, and a power supply unit with a sufficient capacity should be used.
Type Order number Current consumption at 5 V DC
FP2 2−axis type positioning unit FP2−PP2 225 mA
FP2 4−axis type positioning unit FP2−PP4 400 mA
For information on restrictions applying to combinations based on current consumption, refer to the FP2 hardware manual.
1.3.2
Restrictions on Unit Installation Position
The positioning unit may be installed in either the CPU backplane or the expansion backplane position. However, it should be installed to the right of the power supply unit and CPU.
CPU backplane
Positioning unit
Either position may be used for installation.
Expansion cable
Expansion backplane
1.3.3
Restrictions on the Number of Units Installed
There are no restrictions on the number of units that may be installed, as long as the number is within the restriction range noted for conditions 1.3.1 and 1.3.2 above.
1 − 9
Functions of Unit and Restrictions on Combination
1.3
Restrictions on Units Combination
FP2 Positioning Unit
1 − 10
Chapter 2
Parts and Specifications
2.1 Parts and Specifications . . . . . . . . . . . . . . . . . . . . . . . . .
2 − 3
2.1.1
Parts and Specifications . . . . . . . . . . . . . . . . . .
2 − 3
2.1.2
Operation Status Display LEDs . . . . . . . . . . . .
2 − 4
2.1.3
Operation Mode Setting Switches . . . . . . . . . .
2 − 6
Parts and Specifications FP2 Positioning Unit
2 − 2
FP2 Positioning Unit
2.1
Parts and Specifications
3
4
1
2
2.1.1
Parts and Specifications
5 1
6
3
Parts and Specifications
2.1 Parts and Specifications
5
6
1
2
3
4
5
6
Front Back
4−axis type (FP2−PP4)
Front Back
2−axis type (FP2−PP2)
Operation status display LEDs
These display operation conditions for two axes.
Operation status display switch (for FP2−PP4 only)
This switches between displaying operation conditions for axes 1 and 2, and axes
3 and 4.
User interface connector for 1−axis/2−axis
This connector is used to connect a motor driver or external interface.
User interface connector for 3−axis/4−axis (for FP2−PP4 only)
This connector is used to connect a motor driver or external interface.
Operation mode setting switches
These switches are used to specify the direction of rotation and the pulse output method for each of the axes.
When the unit is shipped from the factory, the rotation direction is set to “Normal”
(forward rotation, in which the elapsed value increases), and the pulse output method is set to the “Pulse/Sign” mode.
To set the rotation direction to the opposite direction of that specified in the program, set this to the “Off” position.
The pulse output method should be set to match that of the motor driver connected to the unit.
Backplane connector
This connector is used to connect the unit to the slot on the backplane.
next page
2 − 3
Parts and Specifications
2.1
Parts and Specifications
FP2 Positioning Unit
Note
The settings of the operation mode setting switches become valid at the point when the power is turned on.
2.1.2
Operation Status Display LEDs
Information on two axes can be displayed at once on the LEDs. For a 4−axis type, display can be switched between axes 1 and 2 and axes 3 and 4 with the switch. The
LEDs show the same information for each axis.
Front
Operation Status Display LEDs
LED Description
A Pulse output signal A di l (* 1)
When set to pulse/sign output display (* 1) When set to
CW/CCW output
LED on
—————
LED off
During stop
LED blinks
During pulse output
B Pulse output signal B
When set to pulse/sign output
When set to
CW/CCW output
CL Counter clear signal output display
—————
Reverse direction command
—————
Output: on
During stop
(forward)
Forward direction command
During stop
(reverse)
Output: off
During pulse output (forward)
—————
During pulse output (reverse)
—————
D
Z
Near home status display (* 2) On
Home input status display (* 2) On
Off
Off
—————
—————
PA Pulser signal input display (* 3) Displays input status of pulser input signal A
PB Pulser signal input display (* 3) Displays input status of pulser input signal B
ERR Setting value error display Setting value: error
Setting value: normal
—————
2 − 4
FP2 Positioning Unit Parts and Specifications
2.1 Parts and Specifications
Notes
1) The pulse output signal display LEDs (A and B) blink at the output frequency (speed). For this reason, they may appear to light steadily at high output speeds.
2) The near home (D) and home input (Z) LEDs light when the respective input becomes valid. The input logic is specified using the control codes in the program. When the power is first turned on, the (D) LED is not lighted, and the (Z) LED is lighted.
3) The pulser signal input LEDs (PA and PB) indicates the input status of the pulser signal. This lights if nothing has been connected to the pulse input circuit.
2 − 5
Parts and Specifications
2.1
Parts and Specifications
2.1.3
Operation Mode Setting Switches
Settings when the unit is shipped from the factory
FP2−PP4 FP2−PP2
FP2 Positioning Unit
Back
Operation mode setting switches
Type
FP2−
PP2
5
FP2−PP4 6
3
4
7
8
1
2
Switch Axis Description ON
(factory setting)
OFF
1 axis Rotation direction Normal setting Reverse setting
Pulse output mode Pulse/sign mode CW/CCW mode
2 axes Rotation direction
3 axes Rotation direction
4 axes Rotation direction
Normal setting
Pulse output mode Pulse/sign mode
Normal setting
Pulse output mode Pulse/sign mode
Normal setting
Pulse output mode Pulse/sign mode
Reverse setting
CW/CCW mode
Reverse setting
CW/CCW mode
Reverse setting
CW/CCW mode
Note
The settings of the operation mode setting switches become valid at the point when the power is turned on.
For detailed information about switch setting method Section 4.1
2 − 6
Chapter 3
Wiring
3.1 Connecting with Wire−pressed
Terminal Type Connector . . . . . . . . . . . . . . . . . . . . . . . . .
3 − 3
3.1.1
Specifications of Wire−pressed Connector . .
3 − 3
3.1.2
Assembly of Wire−pressed
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 − 5
3.2 Input/Output Specifications and
Connector Pin Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 − 6
3.2.1
Pin Layout for One Axis
3.2.1.1
3.2.1.2
. . . . . . . . . . . . . . . . . .
Output and Power Supply
Terminals for One Axis . . . . . . . . .
Input Terminals for One Axis
3 − 6
3 − 6
. . . .
3 − 8
3.2.2
Pin Layout for Two Axes . . . . . . . . . . . . . . . .
3.2.2.1
3.2.2.2
Output and Power Supply
Terminals for Two Axes . . . . . .
Input Terminals for
Two Axis . . . . . . . . . . . . . . . . . . .
3 − 10
3 − 10
3 − 12
3.2.3
Pin Layout for Three Axes
3.2.3.1
. . . . . . . . . . . . . .
Output and Power Supply
Terminals for Three Axes . . . . .
3.2.3.2
Input Terminals for
Three Axes . . . . . . . . . . . . . . . . .
3 − 14
3 − 14
3 − 16
3.2.4
Pin Layout for Four Axes
3.2.4.1
3.2.4.2
. . . . . . . . . . . . . . .
Output and Power Supply
Terminals for Four Axes . . . . . .
Input Terminals for
Four Axes . . . . . . . . . . . . . . . . . .
3 − 18
3 − 18
3 − 20 next page
Wiring FP2 Positioning Unit
3.3 Supplying Power for Internal Circuit Drive
3.3.1
Line Driver Output . . . . . . . . . . . . . . . . . . . . .
3.3.2
Open Collector Output
. . . . . . . .
. . . . . . . . . . . . . . . . .
3 − 22
3 − 22
3 − 23
3.4 Connection of Pulse Command Output Signal . . . . .
3 − 24
3.4.1
Line Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 − 24
3.4.2
Transistor Open Collector . . . . . . . . . . . . . . .
3 − 24
3.5 Connection of Deviation Counter Clear Output
Signal (for servo motor) . . . . . . . . . . . . . . . . . . . . . . . .
3 − 26
3.6 Connection of Home Input/Near Home
Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 − 27
3.6.1
Connection of Home Input
(When connecting to motor driver
Z phase output) . . . . . . . . . . . . . . . . . . . . . . .
3 − 27
3.6.2
Connection of Home Input
(When connecting to an external switch/sensor) . . . . . . . . . . . . . . . . . . . . . . . .
3.6.3
Connection of Near Home Input Signal . . .
3 − 28
3 − 28
3.7 Connection of Limit Over Input . . . . . . . . . . . . . . . . . .
3 − 29
3.8 Connection of Pulser (Only when pulser is used) . .
3 − 30
3.8.1
Line Driver Type . . . . . . . . . . . . . . . . . . . . . . .
3 − 30
3.8.2
Transistor Open Collector Type . . . . . . . . . .
3.8.3
Transistor−resistor Pull−up Type . . . . . . . . .
3 − 30
3 − 31
3.9 Precautions Concerning Wiring . . . . . . . . . . . . . . . . .
3 − 31
3 − 2
FP2 Positioning Unit Wiring
3.1 Connecting with Wire−pressed Terminal Type Connector
3.1
Connecting with Wire−pressed Terminal Type
Connector
3.1.1
Specifications of Wire−pressed Connector
This is a connector that allows loose wires to be connected without removing the wire’s insulation.
The pressure connection tool (AXY52000FP) is required to connect the loose wires.
Wire−pressed connector (40 pins)
Suitable wire (twisted wire)
Size
AWG22
AWG24
Cross section area Insulation thickness Rated current
0.3 mm 2
0.2 mm 2
Wire−pressed connector (accessories for unit)
Panasonic Electric
Works SUNX Co., Ltd.
Housing (40P)
Semi−cover (40P)
Contact (for AW22 and
AW24) 5−pin
Unit type and required quantity
2−axis type 4−axis type
1 piece x 1 set 1 piece x 2 sets
2 pieces x 1 set 2 pieces x 2 set
8 pieces x 1 set 8 pieces x 2 set
Note
The 2−axis type comes with one set and the 4−axis type with two sets.
When purchasing additional sets, please order AFP2801
(containing two sets).
Pressure connection tool
Company
Panasonic Electric Works SUNX Co., Ltd.
Order number
AXY52000FP
Pressure connection tool
3 − 3
Wiring
3.1
Connecting with Wire−pressed Terminal Type Connector
FP2 Positioning Unit
3.1.2
Assembly of Wire−pressed Connector
The wire end can be directly press-fitted without removing the wire’s insulation, saving labor.
Procedure:
1.
Bend the contact back from the carrier, and set it in the pressure connection tool.
2.
Insert the wire without removing its insulation until it stops, and lightly grip the tool.
3.
After press-fitting the wire, insert it into the housing.
4.
When all wires has been inserted, fit the semi-cover into place.
3 − 4
FP2 Positioning Unit Wiring
3.1 Connecting with Wire−pressed Terminal Type Connector
Contact puller pin for rewiring
If there is a wiring mistake or the wire is incorrectly pressure-connected, the contact puller pin provided with the fitting can be used to remove the contact.
Press the housing against the pressure connection tool so that the contact puller pin comes in contact with this section.
3 − 5
Wiring
3.2
Input/Output Specifications and Connector Pin Layout
FP2 Positioning Unit
3.2
Input/Output Specifications and Connector Pin Layout
3.2.1
Pin Layout for One Axis
3.2.1.1
Output and Power Supply Terminals for One Axis
4−axis type
A
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
B
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Output terminals
Power supply input and ground terminals
Output terminals
Pin number
Signal name
A1
B1
A2
B2
A3
Pulse output A: line driver (+)
Pulse output A: line driver (−)
Pulse output B: line driver (+)
Pulse output B: line driver (−)
Pulse output A: ll t
Terminals for 1 axis
Circuit
100pF
A2
B1
B3 Pulse output B: ll t
Item
2−axis type
Output form
Output form
Operating voltage range
Max. load current
ON voltage drop
Specification
Line driver output q
AM26C31
Open collector
4.75 to 26.4 V DC
15 mA
0.6 V or less
3 − 6
FP2 Positioning Unit Wiring
3.2
Input/Output Specifications and Connector Pin Layout
Pin number
B4
A6
B6
Signal name
5 V DC output
Deviation counter clear (+)
Deviation counter clear (−)
Circuit Item
DC/DC
GND
B4
Output voltage range
Max. load current
A6
B6
Output form
Operating voltage range
Max. load current
ON voltage drop
Power supply input and ground terminals
Pin number
A19
B19
Signal name
F.E.
Circuit
F.E.
A19/B19
A20
B20
External power supply input:
24 V DC (+)
External power supply input:
24 V DC (−)
GND B20
Item
—————
Power supply voltage range
Current consumption
Specification
4.75 to 5.25 V DC
Total 120 mA
(at 5 V DC output)
Open collector
4.75 to 26.4 V DC
15 mA
1.2 V or less
Specification
—————
21.4 to 26.4 V DC
4−axis type: 90 mA or less
2−axis type: 45 mA or less
Notes
• Pin numbers A19, B19, A20, and B20 are shared among all of the axes.
• For the 4−axis type, pin numbers A19, B19, A20, and B20 are connected internally, using the A19, B19, A20, and B20 pins for the 3−axis and 4−axis connectors.
3 − 7
A
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Wiring
3.2
Input/Output Specifications and Connector Pin Layout
3.2.1.2
Input Terminals for One Axis
4−axis type
B
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Input terminals
Terminals for 1 axis
2−axis type
FP2 Positioning Unit
Input terminals
Pin number
A4
Signal name Circuit
Home input: 24
A5
B5
Home input: 5V
Home input (−)
1.6 kΩ
A4
A5
B5
Item Specification
24 V Input voltage range
Min. ON voltage/ current
5V
Max. OFF voltage/ current
Input impedance
Input voltage range
11.4 to 26.4 V DC
10.5 V/6 mA
2.0 V/0.5 mA
Approx. 1.6 kΩ
3.5 to 5.25 V DC
Min. ON voltage/ current
Max. OFF voltage/ current
3.0 V/6 mA
1.0 V/0.5 mA
Input impedance
Approx. 220 Ω
Min. input pulse width 100 μs
3 − 8
FP2 Positioning Unit Wiring
3.2
Input/Output Specifications and Connector Pin Layout
A8
B8
A9
B9
Pin number
A7
Signal name Circuit
Near home p ( )
B7 Near home p ( )
Pulser input A
(+)
Pulser input A
(−)
Pulser input B
(+)
Pulser input B
( ) p
1.6 kΩ
2.2 kΩ
220 Ω
2.2 kΩ
A8
A9
B8
B9
Item Specification
Input voltage range 4.75 to 26.4 V
DC
Min. ON voltage/current
Max. OFF voltage/current
Input impedance
Min. input pulse width
4.0 V/2 mA
1.5 V/0.5 mA
Approx. 1.6 kΩ
500 μs
Input voltage range 3.5 to 5.25 V DC
Min. ON voltage/current
Max. OFF voltage/current
Input impedance
Min. input pulse width
3.0 V/6 mA
1.0 V/0.5 mA
Approx. 220 Ω
2 μs or higher
(max. 250 kHz each phase)
Note
Pulser input signals A and B are input at different phase. When the phase of A leads the phase of B, the elapsed value increments.
T
A phase
B phase
X1 X2 X3 X4
T = 4 μs or higher
X1 + X2 = 0.5T0.1T
X2 + X3 = 0.5T0.1T
Xn ≧ 0.125T (n = 1, 2, 3, 4)
3 − 9
Wiring
3.2
Input/Output Specifications and Connector Pin Layout
3.2.2
Pin Layout for Two Axes
FP2 Positioning Unit
3.2.2.1
Output and Power Supply Terminals for Two Axes
4−axis type 2−axis type
A
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
B
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Output terminals
Power supply input and ground terminals
Output terminals
Pin number
Signal name
A10
B10
A11
B11
A12
Pulse output A: line driver (+)
Pulse output A: line driver (−)
Pulse output B: line driver (+)
Pulse output B: line driver (−)
Pulse output A: ll t
Circuit
Terminals for 2 axes
100pF
A11
100pF
B10
Item
Output form
B12
B13
Pulse output B: ll t
5 V DC output
GND
GND
B13
Output form
Operating voltage range
Max. load current
ON voltage drop
Output voltage range
Max. load current
Specification
Line driver output q
AM26C31
Open collector
4.75 to 26.4 V DC
15 mA
0.6 V or less
4.75 to 5.25 V DC
Total 120 mA
(at 5 V DC output)
3 − 10
FP2 Positioning Unit Wiring
3.2
Input/Output Specifications and Connector Pin Layout
Pin number
A15
Signal name
Deviation counter clear (+)
Circuit
B15 Deviation counter clear (−)
Item
A15
B15
Output form
Operating voltage range
Max. load current
ON voltage drop
Power supply input and ground terminals
Pin number
Signal name Circuit
A19
B19
F.E.
F.E.
A19/B19
A20
B20
External power supply input: 24
V DC (+)
External power supply input: 24
V DC (−)
GND B20
Item
—————
Power supply voltage range
Current consumption
Specification
Open collector
4.75 to 26.4 V DC
15 mA
1.2 V or less
Specification
—————
21.4 to 26.4 V DC
4−axis type: 90 mA or less
2−axis type: 45 mA or less
Notes
• Pin numbers A19, B19, A20, and B20 are shared among all of the axes.
• For the 4−axis type, pin numbers A19, B19, A20, and B20 are connected internally, using the A19, B19, A20, and B20 pins for the 3−axis and 4−axis connectors.
3 − 11
A
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Wiring
3.2
Input/Output Specifications and Connector Pin Layout
3.2.2.2
Input Terminals for Two Axis
4−axis type
B
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Input terminals
Terminals for 2 axes
2−axis type
FP2 Positioning Unit
Input terminals
Pin number
A13
Signal name
Home input: 24
( )
Circuit
A14
B14
Home input: 5V
( )
Home input (−)
Item Specification
1.6 kΩ
220 Ω
A13
A14
B14
24 V Input voltage range
Min. ON voltage/ current
Max. OFF voltage/ current
Input impedance
5V Input voltage range
Min. ON voltage/ current
Max. OFF voltage/ current
Input impedance
Min. input pulse width
11.4 to 26.4 V
DC
10.5 V/6 mA
2.0 V/ 0.5 mA
Approx. 1.6 kΩ
3.5 to 5.25 V DC
3.0 V/6 mA
1.0 V/0.5 mA
Approx. 220 Ω
100 μs
3 − 12
FP2 Positioning Unit Wiring
3.2
Input/Output Specifications and Connector Pin Layout
A17
B17
A18
B18
Pin number
A16
Signal name
Near home p ( )
B16 Near home p ( )
Pulser input A
(+)
Pulser input A
(−)
Pulser input B
(+)
Pulser input B
( ) p
Circuit
1.6 kΩ
2.2 kΩ
220 Ω
2.2 kΩ
A17
A18
B17
Item Specification
Input voltage range 4.75 to 26.4 V
DC
Min. ON voltage/current
Max. OFF voltage/current
Input impedance
Min. input pulse width
4.0 V/ 2 mA
1.5 V/ 0.5 mA
Approx. 1.6 kΩ
500 μs
Input voltage range 3.5 to 5.25 V DC
Min. ON voltage/current
Max. OFF voltage/current
B18 Input impedance
Min. input pulse width
3.0 V/6 mA
1.0 V/0.5 mA
Approx. 220 Ω
2 μs or higher
(max. 250 kHz each phase)
Note
Pulser input signals A and B are input at different phase. When the phase of A leads the phase of B, the elapsed value increments.
T
A phase
B phase
X1 X2 X3 X4
T = 4 μs or higher
X1 + X2 = 0.5T0.1T
X2 + X3 = 0.5T0.1T
Xn ≧ 0.125T (n = 1, 2, 3, 4)
3 − 13
Wiring
3.2
Input/Output Specifications and Connector Pin Layout
3.2.3
Pin Layout for Three Axes
FP2 Positioning Unit
3.2.3.1
Output and Power Supply Terminals for Three Axes
4−axis type
A
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
B
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Output terminals
Power supply input and ground terminals
Output terminals
Pin number
A1
Signal name
B1
Pulse output A: line driver (+)
Pulse output A: line driver (−)
A2
B2
A3
Pulse output B: line driver (+)
Pulse output B: line driver (−)
Pulse output A: ll t
Circuit
B3
B4
Pulse output B: ll t
5 V DC output
Terminals for 3 axes
100pF
A2
100pF
B1
Item
Output form
DC/DC
GND
B4
Output form
Operating voltage range
Max. load current
ON voltage drop
Output voltage range
Max. load current
Specification
Line driver output q
AM26C31
Open collector
4.75 to 26.4 V DC
15 mA
0.6 V or less
4.75 to 5.25 V DC
Total 120 mA
(at 5 V DC output)
3 − 14
FP2 Positioning Unit Wiring
3.2
Input/Output Specifications and Connector Pin Layout
Pin number
A6
Signal name
Deviation counter clear (+)
Circuit
B6 Deviation counter clear (−)
Item
A6
B6
Output form
Operating voltage range
Max. load current
ON voltage drop
Specification
Open collector
4.75 to 26.4 V DC
15 mA
1.2 V or less
Power supply input and ground terminals
Pin number
A19
B19
A20
Signal name
F.E.
Circuit
F.E.
A19/B19
B20
External power supply input:
24 V DC (+)
External power supply input:
24 V DC (−)
24VIN
GND
A20
B20
Item
—————
Power supply voltage range
Current consumption
Notes
Specification
—————
21.4 to 26.4 V DC
4−axis type: 90 mA or less
•
Pin numbers A19, B19, A20, and B20 are shared among all of the axes.
• For the 4−axis type, pin numbers A19, B19, A20, and B20 are connected internally, using the A19, B19, A20, and B20 pins for the 1−axis and 2−axis connectors.
3 − 15
A
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Wiring
3.2
Input/Output Specifications and Connector Pin Layout
3.2.3.2
Input Terminals for Three Axes
4−axis type
B
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Input terminals
Terminals for 3 axes
FP2 Positioning Unit
Input terminals
Pin number
A4
Signal name Circuit
Home input:
( )
A5
B5
Home input:
( )
Home input
(−)
1.6 kΩ
A4
220 Ω
A5
2.2 kΩ
B5
Item Specification
24 V Input voltage range
Min. ON voltage/ current
Max. OFF voltage/ current
Input impedance
5 V Input voltage range
Min. ON voltage/ current
Max. OFF voltage/ current
Input impedance
Min. input pulse width
11.4 to 26.4 V
DC
10.5 V/6 mA
2.0 V/ 0.5 mA
Approx. 1.6 kΩ
3.5 to 5.25 V DC
3.0 V/6 mA
1.0 V/0.5 mA
Approx. 220 Ω
100 μs
3 − 16
FP2 Positioning Unit Wiring
3.2
Input/Output Specifications and Connector Pin Layout
A8
B8
A9
B9
Pin number
A7
Signal name Circuit
Near home p ( )
B7 Near home p ( )
Pulser input A
(+)
Pulser input A
(−)
Pulser input B
(+)
Pulser input B
( ) p
1.6 kΩ
2.2 kΩ
220 Ω
2.2 kΩ
A8
A9
B8
Item Specification
Input voltage range 4.75 to 26.4 V
DC
Min. ON voltage/current
Max. OFF voltage/current
Input impedance
Min. input pulse width
4.0 V/ 2 mA
1.5 V/ 0.5 mA
Approx. 1.6 kΩ
500 μs
Input voltage range 3.5 to 5.25 V DC
Min. ON voltage/current
Max. OFF voltage/current
B9 Input impedance
Min. input pulse width
3.0 V/6 mA
1.0 V/0.5 mA
Approx. 220 Ω
2 μs or higher
(max. 250 kHz each phase)
Note
Pulser input signals A and B are input at different phase. When the phase of A leads the phase of B, the elapsed value increments.
T
A phase
B phase
X1 X2 X3 X4
T = 4 μs or higher
X1 + X2 = 0.5T0.1T
X2 + X3 = 0.5T0.1T
Xn ≧ 0.125T (n = 1, 2, 3, 4)
3 − 17
Wiring
3.2
Input/Output Specifications and Connector Pin Layout
3.2.4
Pin Layout for Four Axes
FP2 Positioning Unit
3.2.4.1
Output and Power Supply Terminals for Four Axes
4−axis type
A
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
B
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Output terminals
Power supply input and ground terminals
Output terminals
Pin number
Signal name
A10 Pulse output A: line driver (+)
B10
A11
B11
A12
Pulse output A: line driver (−)
Pulse output B: line driver (+)
Pulse output B: line driver (−)
Pulse output A: ll t
Circuit
B12
B13
Pulse output B: ll t
5 V DC output
100pF
A11
100pF
B10
Terminals for 4 axes
Item
Output form
GND
GND
B13
Output form
Operating voltage range
Max. load current
ON voltage drop
Output voltage range
Max. load current
Specification
Line driver output q
AM26C31
Open collector
4.75 to 26.4 V DC
15 mA
0.6 V or less
4.75 to 5.25 V DC
Total 120 mA
(at 5 V DC output)
3 − 18
FP2 Positioning Unit Wiring
3.2
Input/Output Specifications and Connector Pin Layout
Pin number
A15
Signal name
Deviation counter clear (+)
Circuit
B15 Deviation counter clear (−)
Item
A15
B15
Output form
Operating voltage range
Max. load current
ON voltage drop
Specification
Open collector
4.75 to 26.4 V DC
15 mA
1.2 V or less
Power supply input and ground terminals
Pin number
Signal name Circuit
A19
B19
F.E.
F.E.
A19/B19
A20
B20
External power supply input: 24
V DC (+)
External power supply input: 24
V DC (−)
24VIN
GND
A20
B20
Item
—————
Power supply voltage range
Current consumption
Notes
Specification
—————
21.4 to 26.4 V DC
4−axis type: 90 mA or less
• Pin numbers A19, B19, A20, and B20 are shared among all of the axes.
• For the 4−axis type, pin numbers A19, B19, A20, and B20 are connected internally, using the A19, B19, A20, and B20 pins for the 1−axis and 2−axis connectors.
3 − 19
A
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Wiring
3.2
Input/Output Specifications and Connector Pin Layout
3.2.4.2
Input Terminals for Four Axes
4−axis type
B
13
14
15
16
9
10
11
12
17
18
19
20
7
8
5
6
3
4
1
2
Input terminals
Terminals for 4 axes
FP2 Positioning Unit
Input terminals
Pin number
A13
Signal name
Home input: 24
( )
Circuit
A14
B14
Home input: 5V
( )
Home input (−)
Item Specification
1.6 kΩ
220 Ω
A13
A14
B14
24 V Input voltage range
Min. ON voltage/ current
Max. OFF voltage/ current
Input impedance
5V Input voltage range
Min. ON voltage/ current
Max. OFF voltage/ current
Input impedance
Min. input pulse width
11.4 to 26.4 V
DC
10.5 V/6 mA
2.0 V/ 0.5 mA
Approx. 1.6 kΩ
3.5 to 5.25 V DC
3.0 V/6 mA
1.0 V/0.5 mA
Approx. 220 Ω
100 μs
3 − 20
FP2 Positioning Unit Wiring
3.2
Input/Output Specifications and Connector Pin Layout
A17
B17
A18
B18
Pin number
A16
Signal name
Near home p ( )
B16 Near home p ( )
Pulser input A
(+)
Pulser input A
(−)
Pulser input B
(+)
Pulser input B
( ) p
Circuit
1.6 kΩ
2.2 kΩ
220 Ω
2.2 kΩ
A17
A18
B17
Item Specification
Input voltage range 4.75 to 26.4 V
DC
Min. ON voltage/current
Max. OFF voltage/current
Input impedance
Min. input pulse width
4.0 V/ 2 mA
1.5 V/ 0.5 mA
Approx. 1.6 kΩ
500 μs
Input voltage range 3.5 to 5.25 V DC
Min. ON voltage/current
Max. OFF voltage/current
B18 Input impedance
Min. input pulse width
3.0 V/6 mA
1.0 V/0.5 mA
Approx. 220 Ω
2 μs or higher
(max. 250 KHz each phase)
Note
Pulser input signals A and B are input at different phase. When the phase of A leads the phase of B, the elapsed value increments.
T
A phase
B phase
X1 X2 X3 X4
T = 4 μs or higher
X1 + X2 = 0.5T0.1T
X2 + X3 = 0.5T0.1T
Xn ≧ 0.125T (n = 1, 2, 3, 4)
3 − 21
Wiring
3.3
Supplying Power for Internal Circuit Drive
FP2 Positioning Unit
3.3
Supplying Power for Internal Circuit Drive
Always make sure an external +24 VDC power supply is connected to the pins for external input power supply (pin nos. A20 and B20).
The applied 24 VDC voltage passes through an internal DC−DC converter and is converted to 5 V DC voltage. It is then supplied to the various internal circuits as a power supply for internal circuit drive of the pulse command output pin.
3.3.1
Line Driver Output
Positioning unit
Pulse command output
A1.A2.A10.A11
Pulse command
B1.B2.B10.B11
+5VDC
DC−DC converter
A20
+24VDC
B20
GND
External power supply
The illustration shows one signal component extracted from the overall configuration.
External power supply
Usable voltage range
Current consumption
21.4 to 26.4 V DC
4−axis type 90 mA or less
2−axis type 45 mA or less
Pulse command input
Motor driver
* The symbol below indicates twisted−pair wiring.
3 − 22
FP2 Positioning Unit Wiring
3.3 Supplying Power for Internal Circuit Drive
3.3.2
Open Collector Output
The power supply for the pulse command output circuit can be taken from the 5 VDC output pins (pin nos. B4 and B13).
Positioning unit Motor driver
Common for output
(at 5V output)
B4.B13
Pulse command input
15 mA per signal can be used as a guide.
Pulse command
Pulse command output
A3.A12
B3.B12
+5VDC
DC−DC converter
A20
+24VDC
B20
GND
External power supply
The illustration shows one signal component extracted from the overall configuration.
External power supply
Usable voltage range
Current consumption
21.4 to 26.4 V DC
4−axis type 90 mA or less
2−axis type 45 mA or less
* The symbol below indicates twisted−pair wiring.
Note
The current capacity of the +5 VDC output common pins (B4 and
B13) is a total of 120 mA max. for all of the 5V output common pins.
When open collector pulse output is used, the value of 15 mA per signal should be used as a guide. If the 15 mA is exceeded, the appropriate resistance should be added.
3 − 23
Wiring
3.4
Connection of Pulse Command Output Signal
FP2 Positioning Unit
3.4
Connection of Pulse Command Output Signal
The FP2 positioning unit is equipped with two types of the interfaces of motor driver.
Select and connect one or the other, depending on the interface of the motor driver being used.
Note
We recommend using twisted−pair cables as the wiring between the positioning unit output and the motor driver, or twisting the cables used.
3.4.1
Line Driver
Connection
Pulse command 1
(Line drive)
Pulse command 2
(Line drive)
External input power supply
Positioning unit
+5V
+5V
A1,A10
B1,B10
A2,A11
B2,B11
+5V
DC/
DC
A20
B20
Power supply
GND +24VDC
Motor driver
PULSE or
CW
SIGN or
CCW
* The symbol below indicates twisted−pair wiring.
3.4.2
Transistor Open Collector
Connection
5 VDC output
Pulse command 1 (Open collector)
Pulse command 2 (Open collector)
External input power supply
Positioning unit
B4,B13
A3,A12
DC/
DC
B3,B12
A20
B20
Power supply
GND
+24VDC
Motor driver
PULSE or
CW
If 15 mA is exceeded a resistor must be added.
SIGN or
CCW
* The symbol below indicates twisted−pair wiring.
3 − 24
FP2 Positioning Unit Wiring
3.4 Connection of Pulse Command Output Signal
Output specifications
Output form
Operating voltage range
Max. load current
ON voltage drop
Open collector
4.75 to 26.4 V DC
15 mA
0.6 V or less
Output specifications at 5 V DC
Output power supply range 4.75 to 5.25 V DC
Current consumption 120 mA (at total 5 V DC)
Note
The total of the internal 5 VDC output and 5 V output common is
120 mA. A value of 15 mA per signal should be used as a guide.
If this capacity is exceeded, resistance should be added.
3 − 25
Wiring
3.5
Connection of Deviation Counter Clear Output Signal (for servo motor)
FP2 Positioning Unit
3.5
Connection of Deviation Counter Clear Output Signal
(for servo motor)
This is an example showing connection of the counter clear input for the servo motor driver. An external power supply (+5 V DC to +24 V DC) must be provided for the connection.
Connection
Deviation
Counter Clear
(Open collector)
Positioning unit
A6,A15
B6,B15
If 15 mA is exceeded a resistor must be added.
Motor driver
Power supply
GND +5 to +24VDC
* The symbol below indicates twisted−pair wiring.
Output specifications
Output form
Operating voltage range
Max. load current
ON voltage drop
Open collector
4.75 to 26.4 V DC
15 mA
1.2 V or less
Notes
• Always use twisted−pair cables for wiring.
• Current which can be conducted as the deviation counter signal is 15 mA max. If 15 mA is exceeded, resistance should be added.
3 − 26
FP2 Positioning Unit Wiring
3.6 Connection of Home Input/Near Home Input Signals
3.6
Connection of Home Input/Near Home Input Signals
This is the home signal input connection for the home return.
It should be connected to the Z phase output (line driver output or transistor output) of the motor driver, or to an external switch and sensor.
Note
We recommend using twisted−pair cables as the wiring between the positioning unit output and the motor driver, or twisting the cables used.
3.6.1
Connection of Home Input (When connecting to motor driver Z phase output)
Connection
Home input
24 V DC (+)
Home input
5 V DC (+)
Home input
(−)
Positioning unit
A4,A13
220 Ω
A5,A14
B5,B14
Motor driver
Z phase signal
* The symbol below indicates twisted−pair wiring.
Input specifications (at 5 V DC)
Input voltage range
Min. ON voltage/current
Max. OFF voltage/current
Input impedance
Min. input pulse width
3.5 to 5.25 V DC
3.0 V/6 mA
1.0 V/0.5 mA
Approx. 220 Ω
100 μs
3 − 27
Wiring
3.6
Connection of Home Input/Near Home Input Signals
FP2 Positioning Unit
3.6.2
Connection of Home Input (When connecting to an external switch/sensor)
Connection
Home input
24 V DC (+)
Home input
5 V DC (+)
Home input
(−)
Positioning unit
1.6 kΩ
A4,A13
A5,A14
B5,B14
Power supply
+12 to 24VDC GND
Switch
* The symbol below indicates twisted−pair wiring.
Input specifications (at 24 V DC)
Input voltage range
Min. ON voltage/current
Max. OFF voltage/current
Input impedance
Min. input pulse width
11.4 to 26.4 V DC
10.5 V/6 mA
2.0 V/0.5 mA
Approx. 1.6 kΩ
100 μs
3.6.3
Connection of Near Home Input Signal
Connection
Near home input (+)
Near home input (−)
Positioning unit
1.6 k Ω
A7,A16
B7,B16
Power supply
+5 to 24VDC GND
Switch
* The symbol below indicates twisted−pair wiring.
Input specifications
Input voltage range
Min. ON voltage/current
Max. OFF voltage/current
Input impedance
Min. input pulse width
4.75 to 26.4 V DC
4.0 V/2 mA
1.5 V/0.5 mA
Approx. 1.6 kΩ
500 μs
3 − 28
FP2 Positioning Unit Wiring
3.7 Connection of Limit Over Input
3.7
Connection of Limit Over Input
The input unit should be used for limit over input to the PLC. In addition to that, any circuits recommended by the motor manufacturers should be provided externally.
DC type input unit
X_
Limit over input
COM
X_
+24VDC
COM
Table
Motor
Ball screw
Limit over switch (−)
Limit over switch (+)
An emergency stop circuit appropriate to the system should be programmed.
For detailed information about overruns Section 11.1.1
3 − 29
Wiring
3.8
Connection of Pulser (Only when pulser is used)
FP2 Positioning Unit
3.8
Connection of Pulser (Only when pulser is used)
The output configuration of the signal varies depending on the pulser, so make connections based on the type of pulser. Three types of output configurations are available: a line driver type, a transistor open collector type, and a transistor−resistor pull−up type.
Note
We recommend using twisted−pair cables for connections, or twisting the cables used.
3.8.1
Line Driver Type
Connection
Pulser input A (+)
Pulser input A (−)
Pulser input B (+)
Pulser input B (−)
Positioning unit
A8,A17
220 Ω
B8,B17
220 Ω
A9,A18
B9,B18
Pulser
A phase
B phase
* The symbol below indicates twisted−pair wiring.
3.8.2
Transistor Open Collector Type
Connection
Pulser input A (+)
Pulser input A (−)
Pulser input B (+)
Pulser input B (−)
Positioning unit
220 Ω
A8,A17
B8,B17
A9,A18
220 Ω
B9,B18
+5VDC
Power supply
GND
3 − 30
Pulser
A phase
B phase
FP2 Positioning Unit Wiring
3.9 Precautions Concerning Wiring
3.8.3
Transistor−resistor Pull−up Type
Connection
Pulser input A (+)
Pulser input A (−)
Pulser input B (+)
Pulser input B (−)
Positioning unit
220 Ω
A8,A17
B8,B17
220 Ω
A9,A18
B9,B18
Power supply
+5VDC GND
Pulser
A phase
B phase
3.9
Precautions Concerning Wiring
Both for the line driver output and the transistor output, the length of the wiring between the positioning unit and the motor driver should be within the distance below.
Corresponding signals
− Line driver output
− Transistor output
− Deviation counter clear
Wiring distance Type of output
Line driver output
Transistor output
We recommend using twisted−pair cables for connections that are less subject to noise.
3 − 31
Wiring
3.9
Precautions Concerning Wiring
FP2 Positioning Unit
3 − 32
Chapter 4
Confirming the Unit Settings and Design
Contents
4.1 Setting the Operation Mode Setting Switches . . . . . . .
4 − 3
4.1.1
Selection of Rotation Direction . . . . . . . . . . . .
4 − 3
4.1.2
Selection of Pulse Output Mode . . . . . . . . . . .
4 − 4
4.1.3
Relationship Between Switch Setting and Rotation Direction . . . . . . . . . . . . . . . . . . .
4 − 5
4.2 Confirming the Slot Number and
I/O Number Allocations . . . . . . . . . . . . . . . . . . . . . . . . . .
4 − 7
4.2.1
Occupied I/O Area . . . . . . . . . . . . . . . . . . . . . . .
4 − 7
4.2.2
Contents of Input and Output
Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 − 8
4.2.3
Confirming the Allotted I/O Number and Slot Number . . . . . . . . . . . . . . . . . . . . . .
4.2.3.1
4.2.3.2
Confirming I/O Number
Allocations . . . . . . . . . . . . . . . . .
Confirming Slot No.
. . . . . . . . . .
4 − 10
4 − 10
4 − 12
4.3 Increment and Absolute . . . . . . . . . . . . . . . . . . . . . . . .
4 − 13
4.3.1
Increment (relative value control) . . . . . . . .
4.3.2
Absolute (absolute value control) . . . . . . . .
4 − 13
4 − 14
4.4 Selection of Acceleration/Deceleration
Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 − 15
4.4.1
Linear and S
Acceleration/Decelerations
4.4.2
Indicating the Method of
Acceleration/Deceleration
. . . . . . . . . . . . .
. . . . . . . . . . . . . .
4 − 15
4 − 16 next page
Confirming the Unit Settings and Design Contents FP2 Positioning Unit
4.5 Internal Absolute Counter . . . . . . . . . . . . . . . . . . . . . .
4 − 17
4.5.1
How the Internal Absolute Counter
Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 − 17
4.5.2
Reading Elapsed Value . . . . . . . . . . . . . . . .
4.5.3
Writing Elapsed Value . . . . . . . . . . . . . . . . . .
4 − 19
4 − 20
4 − 2
FP2 Positioning Unit Confirming the Unit Settings and Design Contents
4.1 Setting the Operation Mode Setting Switches
4.1
Setting the Operation Mode Setting Switches
Before attaching the positioning unit to the backplane, always make sure the operation mode setting switches on the rear panel have been set to match the specifications of the system being designed.
Settings when the unit is shipped from the factory
FP2−PP4 FP2−PP2
Rear
The operation mode setting switches are used to select the motor rotation direction and the pulse output mode for each of the axes.
6
7
4
5
8
2
3
Switch Axis Description
1 1 axis Rotation direction
Pulse output mode
2 axes Rotation direction
Pulse output mode
3 axes Rotation direction
Pulse output mode
4 axes Rotation direction
Pulse output mode
ON (factory setting) OFF
Normal setting Reverse setting
Pulse/sign mode
Normal setting
CW/CCW mode
Reverse setting
Pulse/sign mode
Normal setting
Pulse/sign mode
Normal setting
Pulse/sign mode
CW/CCW mode
Reverse setting
CW/CCW mode
Reverse setting
CW/CCW mode
Notes
• The factory setting for all switches is ON.
• The settings of the operation mode setting switches become effective at the point when the power is turned on.
4.1.1
Selection of Rotation Direction
Setting of rotation direction switch
Normally, this is used in the “On” position.
The position of this switch can be changed to reverse only the rotation direction of the motor, with the connection status and the driver settings remaining exactly the same.
4 − 3
Confirming the Unit Settings and Design Contents
4.1
Setting the Operation Mode Setting Switches
FP2 Positioning Unit
4.1.2
Selection of Pulse Output Mode
The pulse output mode can be selected to match the pulse input mode supported by the motor driver. The two types of pulse output described below can be selected.
Pulse/sign output method
With this method, pulse output signals for motor drive (signals that determine the rotation speed of the motor) and signals that determine the rotation direction of the motor are output.
Pulse signals (pulses) are output from the pulse output A pin, while signals that determine the rotation direction (signs) are output from the pulse output B pin.
CW/CCW output method
With this method, pulse output signals for forward rotation and pulse output signals for reverse rotation are output in response to the direction in which the motor is rotating
(CW/CCW: clockwise/counter−clockwise).
When the rotation direction switch is set to the normal setting (ON), forward rotation
(CW: clockwise) pulse signals are output from the pulse output A pin, and reverse rotation (CCW: counter−clockwise) pulse signals are output from the pulse output B pin.
4 − 4
FP2 Positioning Unit Confirming the Unit Settings and Design Contents
4.1 Setting the Operation Mode Setting Switches
4.1.3
Relationship Between Switch Setting and Rotation Direction
Pulse/sign mode (Rotation direction switch: normal setting)
Operation mode setting switches
With forward rotation, the elapsed value increases.
With reverse rotation, the elapsed value decreases.
all: on
Reverse Forward
Forward
Motor driver
Reverse
Pulse output A
Pulse output B
Direction of increasing elapsed value Direction of decreasing elapsed value
Pulse/sign mode (Rotation direction switch: reverse setting)
Operation mode setting switches
With forward rotation, the elapsed value decreases.
With reverse rotation, the elapsed value increases.
Reverse Forward
Reverse
Motor driver
Forward
Pulse output A
Pulse output B
Direction of increasing elapsed value Direction of decreasing elapsed value
4 − 5
Confirming the Unit Settings and Design Contents
4.1
Setting the Operation Mode Setting Switches
CW/CCW mode (Rotation direction switch: normal setting)
Operation mode setting switches
With forward rotation, the elapsed value increases.
With reverse rotation, the elapsed value decreases.
FP2 Positioning Unit
Reverse Forward
Forward
Motor driver
Reverse
Pulse output A
Pulse output B
Direction of increasing elapsed value Direction of decreasing elapsed value
CW/CCW mode (Rotation direction switch: reverse setting)
Operation mode setting switches
With forward rotation, the elapsed value decreases.
With reverse rotation, the elapsed value increases.
all: off
Reverse Forward
Reverse
Motor driver
Forward
Pulse output A
Pulse output B
Direction of increasing elapsed value Direction of decreasing elapsed value
Note
The direction of rotation varies depending on the wiring, the motor driver settings, the position command value in the program, and other factors.
4 − 6
FP2 Positioning Unit Confirming the Unit Settings and Design Contents
4.2 Confirming the Slot Number and I/O Number Allocations
4.2
Confirming the Slot Number and I/O Number
Allocations
4.2.1
Occupied I/O Area
With the positioning unit, as with other I/O units, allocations are entered for the input (X) and output (Y).
The positioning unit has 16 input points and 16 output points per axis, for a total of 32.
Consequently, a 4−axis type has 128 points, and a 2−axis type has 64 points.
The configuration of the occupied I/O area is as shown below.
When installed in slot 0
4−axis type
2−axis type
Occupied points:
128 points
Input: 64 points
Output: 64 points
1st axis = Input X0 to XF (WX0)
2nd axis = Input X10 to X1F(WX1)
3rd axis = Input X20 to X2F (WX2)
4th axis = Input X30 to X3F (WX3)
Output Y40 to Y4F (WY4)
Output Y50 to Y5F (WY5)
Output Y60 to Y6F (WY6)
Output Y70 to Y7F (WY7)
Occupied points:
64 points
Input: 32 points
Output: 32 points
1st axis = Input X0 to XF (WX0)
2nd axis = Input X10 to X1F(WX1)
Output Y20 to Y2F (WY2)
Output Y30 to Y3F (WY3)
4 − 7
Confirming the Unit Settings and Design Contents
4.2
Confirming the Slot Number and I/O Number Allocations
FP2 Positioning Unit
4.2.2
Contents of Input and Output Allocations
Contact
(Relay)
X_0
X_1
X_2
X_3
X_4
X_5
X_6
X_7
X_8
X_9
X_A
X_B
X_C
X_D
X_E
X_F
Y_0
Y_1
Y_2
Y_3
Y_4
Name I/O contact (relay) number
2−axis type 4−axis type
1st axis
X0
2nd axis
X10
1st axis
X0
2nd axis
3rd axis
4th axis
X10 X20 X30 Pulse output busy BUSY Goes on during pulse output.
(* Note 1)
Pulse output done
EDP Goes on when pulse output ends.
(* Note 2)
Acceleration zone ACC
Constant speed zone
Goes on during acceleration zone.
CON Goes on during constant speed zone.
X1
X2
X3
X11
X12
X13
X1
X2
X3
X11
X12
X13
X21
X22
X23
X31
X32
X33
Deceleration zone
DEC
Rotation direction DIR
Set value change confirmation
—————
—————
—————
Set value error
Goes on during deceleration zone. X4
Home input ZSG
Near home input DOG Goes on when near home input becomes valid
Home return done
ORGE Turns on when home return is done.
Goes on until next home return is initiated.
Comparison result
Monitor contact for direction of rotation
(direction of increasing elapsed value when on).
Goes on when home input becomes valid
CLEP Goes on when elapsed value of internal counter is greater than or equal to the number of comparison pulse.
CEN With P point control, this is used to confirm rewriting of set values.
(* Note 3)
——
——
—————
—————
—— —————
SERR Goes on when a set value error occurs.
X5
X6
X7
X8
X9
XA
XB
XC
XD
XE
X14
X15
X16
X17
X18
X19
X1A
X1B
X1C
X1D
X1E
X4
X5
X6
X7
X8
X9
XA
XB
XC
XD
XE
X14
X15
X16
X17
X18
X19
X1A
X1B
X1C
X1D
X1E
X24
X25
X26
X27
X28
X29
X2A
X2B
X2C
X2D
X2E
X34
X35
X36
X37
X38
X39
X3A
X3B
X3C
X3D
X3E
XF X1F XF X1F X2F X3F
Y20 Y30 Y40 Y50 Y60 Y70
—————
E point control start
P point control start
——
EST
PST
—————
When turned on in the user program, E point control is initiated.
When turned on in the user program, P point control is initiated.
Home return start ORGS When turned on in the user program, a home return is initiated.
Forward jog JGF When turned on in the user program, jog forward rotation is initiated.
Reverse jog JGR When turned on in the user program, jog reverse rotation is initiated.
Y21
Y22
Y23
Y24
Y31
Y32
Y33
Y34
Y41
Y42
Y43
Y44
Y51
Y52
Y53
Y54
Y61
Y62
Y63
Y64
Y71
Y72
Y73
Y74
4 − 8
FP2 Positioning Unit Confirming the Unit Settings and Design Contents
4.2 Confirming the Slot Number and I/O Number Allocations
Y_8
Y_9
Y_A
Y_B
Y_C
Y_D
Y_E
Y_F
Contact
(Relay)
Y_5
Y_6
Y_7
Name
Forced stop EMR When turned on in the user program, operations currently running are interrupted and forcibly terminated.
Deceleration stop DCL When turned on in the user program, operations currently running are interrupted, and decelerate to a stop.
Pulser input enabled
—————
—————
PEN
——
——
When turned on in the user program, pulser input is enabled
(valid only while on).
—————
—————
—————
—————
—————
—————
—————
Error clear
——
——
——
——
—————
—————
—————
—————
—— —————
ECLR If a set value error occurs, the error is canceled when this is turned on in the user program.
I/O contact (relay) number
2−axis type 4−axis type
1st axis
2nd axis
1st axis
2nd axis
3rd axis
4th axis
Y25 Y35 Y45 Y55 Y65 Y75
Y26 Y36 Y46 Y56 Y66 Y76
Y27 Y37 Y47 Y57 Y67 Y77
Y28 Y38 Y48 Y58 Y68 Y78
Y29 Y39 Y49 Y59 Y69 Y79
Y2A Y3A Y4A Y5A Y6A Y7A
Y2B Y3B Y4B Y5B Y6B Y7B
Y2C Y3C Y4C Y5C Y6C Y7C
Y2D Y3D Y4D Y5D Y6D Y7D
Y2E Y3E Y4E Y5E Y6E Y7E
Y2F Y3F Y4F Y5F Y6F Y7F
Notes
1) This goes on during pulse output in various operations such as E point control, P point control, home return, and jog operation, and remains on until the operation has been completed.
2) This goes on when the various operations such as E point control, P point control, jog operation, and pulser input operation have been completed.
It also goes on when deceleration stop have been completed, and when a forcible stop has been completed.
It goes off when the next operation such as E point control, P point control, jog operation, a home return, or pulser input operation is initiated.
3) This goes on when P point control or E point control is initiated, and goes off when the shared memory write instruction F151 is executed, and data of any kind is written to the shared memory of the positioning unit.
4) The input and output relay numbers indicate the number when the unit number is 0. The numbers actually used change depending on the position in which the unit is installed.
4 − 9
Confirming the Unit Settings and Design Contents
4.2
Confirming the Slot Number and I/O Number Allocations
FP2 Positioning Unit
4.2.3
Confirming the Allotted I/O Number and Slot Number
The I/O numbers and slot numbers are always required when creating a program.
These change depending on the position at which the unit is installed on the backplane, and should always be checked to make sure they match the design.
For information on allocating I/O numbers, refer to the FP2 hardware manual, “section:
I/O Allocation”.
4.2.3.1
Confirming I/O Number Allocations
The occupied I/O areas for all of the units mounted between the CPU and the positioning unit should be confirmed. These are allocated as I/O areas for the positioning unit, starting from the serial number.
Example:
The following is an example of a 4−axis type positioning unit being mounted in succession following three 16−point units.
CPU 4−axis type positioning unit
X0 to
XF
(WX0)
Y10 to
Y1F
(WY1)
Y20 to
Y2F
(WY2)
1 axis
X30 to X3F (WX3) Y70 to Y7F (WY7)
2 axes
X40 to X4F (WX4) Y80 to Y8F (WY8)
3 axes
X50 to X5F (WX5) Y90 to Y9F (WY9)
4 axes
X60 to X6F (WX6) Y100 to Y10F (WY10)
4 − 10
FP2 Positioning Unit Confirming the Unit Settings and Design Contents
4.2 Confirming the Slot Number and I/O Number Allocations
The following is an example of a 2−axis type positioning unit being mounted in succession following three 16−point units.
CPU 2−axis type positioning unit
X0 to
Y10 to
Y20 to
XF Y1F Y2F
(WX0)(WY1)(WY2)
1 axis
X30 to X3F (WX3) Y50 to Y5F (WY5)
2 axes
X40 to X4F (WX4) Y60 to Y6F (WY6)
Notes
• If there are any empty slots between the CPU and the positioning unit, check to see whether an I/O area has been allocated to the empty slot.
• If I/O mount allocation and automatic allocation are being carried out, 16 points for each type of allocation will automatically be assigned to empty slots.
• If the CPU being used is a 2−module type, also check any I/O areas occupying the units incorporated in the CPU.
4.2.3.2
Confirming Slot No.
When mounted on the CPU backplane
Slots are numbered in sequential order, with the slot to the right of the CPU being No. 0.
Slot No.
0 1 2 3 4
4−axis type positioning unit
4 − 11
Confirming the Unit Settings and Design Contents
4.2
Confirming the Slot Number and I/O Number Allocations
FP2 Positioning Unit
Notes
• If the CPU being used is a 2−module type, the slot number of the unit incorporated in the CPU should be counted as “0”.
Slot No.
0 1 2 3 4
2−module type CPU 4−axis type positioning unit
• If the CPU unit with S−LINK is used, the slot number of the unit incorporated in the CPU should be counted as “0 and 1”.
Slot No.
CPU unit with S−LINK 4−axis type positioning unit
When mounted on an expansion backplane
The slot number of the slot to the right of the power supply unit on the expansion backplane should be counted as “16”.
CPU backplane
Slot No.
Expansion backplane
16 17 18 19 20 21
4−axis type positioning unit
4 − 12
FP2 Positioning Unit Confirming the Unit Settings and Design Contents
4.3 Increment and Absolute
4.3
Increment and Absolute
With automatic acceleration/deceleration control, the position command value should be specified in advance as a numeric value (a number of pulses).
There are two ways to specify this numeric value, described below. Select whichever method is appropriate for the usage conditions. (For detailed information on entering settings, refer to Chapter 6, “Automatic Acceleration/Deceleration Control (E point control)”, and Chapter 7, “Automatic Acceleration/Deceleration Control (P point control)”.
4.3.1
Increment (relative value control)
The position command value is normally specified as the relative position from the current position, using a number of pulses.
Example:
Travels from the current position to a position + 5,000 pulses away.
“+5000” pulses is set as the position command value, and travel is carried out.
5000 pulses
Current position Target position
“−2000 pulses” is set as the next position command value, and travel is carried out.
5000 pulses 2000 pulses
Target position
Current position
4 − 13
Confirming the Unit Settings and Design Contents
4.3
Increment and Absolute
FP2 Positioning Unit
4.3.2
Absolute (absolute value control)
The position command value is normally specified as the absolute position from the home position, using a number of pulses.
Example:
If the unit is 15,000 pulses away from the home position, it travels +5,000 pulses.
“+20000 pulses” is set as the position command value, and travel is carried out.
5000 pulses
20000 pulses
15000 pulses
Home Current position Target position
“+18000 pulses” is set as the next position command value, and travel is carried out.
20000 pulses
18000 pulses
Home Current position
Target position
4 − 14
FP2 Positioning Unit Confirming the Unit Settings and Design Contents
4.4 Selection of Acceleration/Deceleration Method
4.4
Selection of Acceleration/Deceleration Method
4.4.1
Linear and S Acceleration/Decelerations
The FP2 positioning unit has two methods of acceleration and deceleration which can be selected: linear acceleration/deceleration and S acceleration/deceleration. With linear acceleration/deceleration, acceleration and deceleration (the acceleration from the starting speed to the target speed, and the reverse) are carried out in a straight line
(acceleration and deceleration take place at a constant percentage).
f (pps)
Linear acceleration/ deceleration
Acceleration/ deceleration time t (ms)
Acceleration/ deceleration time
S acceleration/deceleration is carried out along an S−shaped curve. When acceleration or deceleration is first begun, the speed is relatively slow, and gradually increases.
When the acceleration or deceleration has been almost completed, the speed slows once again. This results in comparatively smooth movement.
f (pps)
S acceleration/ deceleration
Acceleration/ deceleration time
Acceleration/ deceleration time t (ms)
4 − 15
Confirming the Unit Settings and Design Contents
4.4
Selection of Acceleration/Deceleration Method
FP2 Positioning Unit
4.4.2
Indicating the Method of Acceleration/Deceleration
Indicating the method of acceleration/deceleration
This is specified in the program, as a control code.
R0
Example: With E point control
DF F1 DMV , H 0 , DT 0
Control code
F1 DMV , K 500 , DT 2
F1 DMV , K10000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K100000 , DT 8
F151 WRT , K 1 , DT 0 , K 10 , H 100
The method of control varies depending on the control code.
− When the code is H0: increment, linear acceleration/deceleration
− When the code is H1: absolute, linear acceleration/deceleration
− When the code is H2: increment, S acceleration/deceleration
− When the code is H3: absolute, S acceleration/deceleration
4 − 16
FP2 Positioning Unit Confirming the Unit Settings and Design Contents
4.5 Internal Absolute Counter
4.5
Internal Absolute Counter
4.5.1
How the Internal Absolute Counter Works
How the internal absolute counter works
The positioning unit is equipped with a function that counts the number of pulses output through pulse output.
The counted value is stored in the shared memory area of each of the axes.
The stored value is read by the user program, enabling the position data (absolute value) to be discerned. This is used in functions such as teaching during jog operation.
Using the comparison relay output function, external output can be obtained in response to the count value, through the user program.
Shared memory Absolute counter
Elapsed value
This can be read and used.
Pulse output
How the internal absolute counter operates
When the power supply is turned off, the counter value is set to zero (0).
When the table returns to the home position in a home return, the counter value becomes zero (0).
The counter value is counted as an absolute value, based on the pulse output value.
The value stored in the shared memory can be read using the F150/P150 instruction in the user program.
The counter value can be overwritten using the F151/P151 instruction in the user program.
Overwriting should be done while the operation is stopped.
4 − 17
Confirming the Unit Settings and Design Contents
4.5
Internal Absolute Counter
Countable range of the counter
−2,147,483,648 to +2,147,483,647
Max. value = +2,147,483,647
+2,147,483,646
+2,147,483,645
FP2 Positioning Unit
Min. value =
−2,147,483,646
−2,147,483,647
−2,147,483,648
If the elapsed value exceeds the maximum (or minimum) value, it returns to the minimum (maximum) value. Pulse output does not stop if this occurs, and no error occurs.
Shared memory address in which the counter value is stored
Address of shared memory
(hexadecimal)
Description
1 axis 2 axes 3 axes 4 axes
10Ah
10Bh
11Ah
11Bh
12Ah
12Bh
13Ah
13Bh p count (absolute)
Signed 32−bit
2 147 483 648 t 2 147 483 647
4 − 18
FP2 Positioning Unit Confirming the Unit Settings and Design Contents
4.5 Internal Absolute Counter
4.5.2
Reading Elapsed Value
The F150/P150 instructions are used to read the elapsed value from the shared memory of the positioning unit.
F150 (READ)/P150 (PREAD) instruction
These are the instructions used to read data from the memory of the intelligent unit.
R0
S1 S2 n D
F150 READ K0 H10A K2 DT100
This is the positioning unit in slot no. 0, from which elapsed value data H10A to H10B for the first axis are read into DT100 to DT101
Explanation
“n” words of the data stored in the shared memory of the unit mounted in the slot specified by “S1” are read from the address specified by “S2”, and are stored in the area of the CPU specified by “D”.
Specified addresses
Data (elapsed values) are stored as 32−bit data.
Address of shared memory
(hexadecimal)
1 axis 2 axes 3 axes 4 axes
Description
10Ah
10Bh
11Ah
11Bh
12Ah
12Bh
13Ah
13Bh p count (absolute)
Signed 32−bit
2 147 483 648 t 2 147 483 647
Program example
Reads the elapsed value stored in the addresses starting from H10A of the positioning unit’s shared memory and stores the elapsed value in the data registers DT200 and
DT201.
R0
F150 READ K0, H10A, K2, DT200
4 − 19
Confirming the Unit Settings and Design Contents
4.5
Internal Absolute Counter
FP2 Positioning Unit
4.5.3
Writing Elapsed Value
The F151/P151 instructions are used to write data to the shared memory of the positioning unit.
F151 (WRT)/P151 (PWRT) instruction
These are the instructions that write data to the shared memory of the intelligent unit.
R0 S1 S2 n D
F151 WRT , K0 , DT100, K2 , H10A Shared memory writing
Specifies the positioning unit of slot no. 0
Writes the two−word contents of data registers DT100 to DT101 to the shared memory addresses H10A to H10B
Explanation
This stores the contents of the CPU area specified by “S2” and “n” in the address specified by “D” of the shared memory of the unit mounted in the slot specified by “S1”, at the beginning of the memory area.
Specified addresses
Data (elapsed values) are stored as 32−bit data.
Address of shared memory
(hexadecimal)
Description
1 axis 2 axes 3 axes 4 axes
10Ah
10Bh
11Ah
11Bh
12Ah
12Bh
13Ah
13Bh p count (absolute)
Signed 32−bit
2 147 483 648 t 2 147 483 647
Note
Elapsed values should be written while the operation is stopped.
Program example
Writes the data “0 (zero)” into the elapsed value area.
R0
F1 DMV , K 0 , DT 100
F151 WRT, K 0 , DT 100 , K 2 , H 10A
4 − 20
Chapter 5
Turning the Power On and Off, and Booting the System
5.1 Safety Circuit Design . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 − 3
5.2 Before Turning ON the Power . . . . . . . . . . . . . . . . . . . . .
5 − 4
5.3 Procedure for Turning On the Power . . . . . . . . . . . . . . .
5 − 6
5.3.1
Procedure for Turning On the Power . . . . . . .
5 − 6
5.3.2
Procedure for Turning Off the Power . . . . . . .
5 − 7
5.4 Procedure Prior to Starting Operation . . . . . . . . . . . . . .
5 − 8
5.4.1
Checking the External Safety Circuit . . . . . . .
5 − 8
5.4.2
Checking the Safety Circuit Based on the PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 − 9
5.4.3
Checking the Rotation and Travel
Directions, and the Travel Distance . . . . . .
5 − 10
5.4.4
Checking the Operation of the Near Home
Switch and Home Switch . . . . . . . . . . . . . . . .
5 − 11
Turning the Power On and Off, and Booting the System FP2 Positioning Unit
5 − 2
FP2 Positioning Unit Turning the Power On and Off, and Booting the System
5.1
Safety Circuit Design
5.1
Safety Circuit Design
Example of a safety circuit
Installation of the limit over switch
Positioning unit Input unit
Motor driver
Motor
CCW driving inhibition switch
Limit over switch
Limit over switch CW driving inhibition switch
Driver upper and lower limit inputs
External safety circuit Safety circuit based on the PLC
Safety circuit based on the PLC
Install the limit over switch as shown in the illustration above.
Safety circuit based on external circuit
Install the safety circuit recommended by the manufacturer of the motor being used.
5 − 3
Turning the Power On and Off, and Booting the System
5.2
Before Turning ON the Power
5.2
Before Turning ON the Power
Items to check before turning on the power
System configuration example
Positioning unit
1 5
4
Power supply for PLC
Power supply for input/output device
Power supply for motor driver
FP2 Positioning Unit
Input unit
Motor driver
Motor
CCW driving inhibition switch
Limit over switch
Limit over switch
CW driving inhibition switch
Driver upper and lower limit inputs 2
External safety circuit
3 Safety circuit based on the PLC
1. Checking connections to the various devices
Check to make sure the various devices have been connected as indicated by the design.
2. Checking the installation of the external safety circuit
Check to make sure the safety circuit based on an external circuit (wiring and installation of limit over switch) has been installed securely.
3. Checking the installation of the safety circuit based on the
PLC
Check the connections between the input unit for the PLC and the limit over switch. Also check to make sure the limit over switch has been installed correctly.
5 − 4
FP2 Positioning Unit Turning the Power On and Off, and Booting the System
5.2 Before Turning ON the Power
4. Checking the procedure settings for turning on the power supplies
Make sure settings have been entered so that power supplies will be turned on according to the procedure outlined in section 5.3.1, “Procedure for Turning On the Power”.
5. Checking the CPU mode selection switch
Set the CPU in the PROG. mode. Setting it in the RUN mode can cause inadvertent operation.
Note
When the power to the PLC is turned on, internal data in the shared memory will be cleared (set to zero). Check to see whether the startup contact relays for the various operations of the positioning unit are on. If they are, a set value error will occur for the positioning unit, unless the data settings for the shared memory have been entered.
5 − 5
Turning the Power On and Off, and Booting the System
5.3
Procedure for Turning On the Power
FP2 Positioning Unit
5.3
Procedure for Turning On the Power
When turning on the power to the system incorporating the positioning unit, the nature and statuses of any external devices connected to the system should be taken into consideration, and sufficient care should be taken that turning on the power does not initiate unexpected movements or operations.
5.3.1
Procedure for Turning On the Power
Procedure:
1. Turn on the power supplies for input and output devices connected to the PLC (including the power supply for the line driver output or open collector output).
2. Turn on the power supply for the PLC.
3. Turn on the power supply for the motor driver.
Positioning unit
5 − 6
1 Power supplies for input and output devices
2 Power supply for PLC
3 Power supply for motor driver
Note
The power supply for the PLC should not be turned on and off with the power supply for the motor driver on. When the power supply is turned on and off, one pulse may be output from the unit, causing the motor to move. The program should be set up so that, for normal operation, a home return is carried out when the power supply is turned on.
FP2 Positioning Unit Turning the Power On and Off, and Booting the System
5.3
Procedure for Turning On the Power
5.3.2
Procedure for Turning Off the Power
Procedure:
1. Check to make sure the rotation of the motor has stopped, and then turn off the power supply for the motor driver.
2. Turn off the power supply for the PLC.
3. Turn off the power supplies for input and output devices connected to the PLC (including the power supply for the line driver output or open collector output).
Positioning unit
1 Power supply for motor driver
2 Power supply for PLC
3 Power supplies for input and output devices
Precautions when rebooting the system
The contents of the operation memory are initialized simply by initializing the CPU, but the contents of the shared memory for the positioning unit are retained.
If the positioning unit is operated with data still in the shared memory, operation may be carried out based on any set values which have been retained, in some cases. The contents of the shared memory are cleared when the power supply is turned off.
5 − 7
Turning the Power On and Off, and Booting the System
5.4
Procedure Prior to Starting Operation
5.4
Procedure Prior to Starting Operation
Items to check when the power is on
System configuration example
Positioning unit Input unit
FP2 Positioning Unit
(* section 5.4.4) 4 3 (* section 5.4.3)
Motor
Motor driver
Near home switch
Home switch
Limit over switch
CW driving inhibition switch
Driver upper and lower limit inputs
2
Safety circuit based on the PLC
(* section 5.4.2)
Limit over switch
CCW driving inhibition switch
1
External safety circuit
(* section 5.4.1).
Checking should be carried out in the four general stages shown below.
5.4.1
Checking the External Safety Circuit
Check the safety circuit recommended by the manufacturer of the motor, by checking the power supply cutoff of the motor driver and other functions, using limit over input through an external circuit.
5 − 8
FP2 Positioning Unit Turning the Power On and Off, and Booting the System
5.4 Procedure Prior to Starting Operation
5.4.2
Checking the Safety Circuit Based on the PLC
Procedure:
1. Using forced operation of the limit over input for the PLC safety circuit, check to see if the limit input is being properly taken in by the input unit for the PLC.
2. If necessary, input a program that causes the emergency stop circuit of the positioning unit to be triggered when the limit over input is activated. Check both the jog operation and forced operation of the limit input.
3. Using the jog operation, check to see if the limit over input is functioning properly.
For detailed information about jog operation chapter 8
Positioning unit Input unit
Check to see if the limit over input is properly taken in.
Limit over switch
(Limit over input)
Limit over switch
(Limit over input)
To motor driver
Safety circuit based on the PLC
5 − 9
Turning the Power On and Off, and Booting the System
5.4
Procedure Prior to Starting Operation
FP2 Positioning Unit
5.4.3
Checking the Rotation and Travel Directions, and the Travel
Distance
Procedure:
1. Using jog operation or automatic acceleration/deceleration, check to make sure that the directions of rotation and travel are correct.
Points to check
The direction of rotation is determined by the driver wiring, the settings of the dip switches at the back of the unit, and the data set in the program.
For information on automatic acceleration/deceleration, refer to chapter 6 or chapter 7.
For information on dip switch settings at the back of the unit, refer to chapter 4.
2. Check to see if the specified number of pulses produces the travel distance indicated by the design.
Points to check
The travel distance is determined by the ball screw pitch, the reduction gear, the electronic multiplication ratio of the driver, the number of pulses specified in the program, and other factors.
Positioning unit
Input unit
Motor driver
Check to see if the specified number of output pulses produces the travel distance and travel direction indicated by the design.
Table
Motor
Ball screw
5 − 10
FP2 Positioning Unit Turning the Power On and Off, and Booting the System
5.4 Procedure Prior to Starting Operation
5.4.4
Checking the Operation of the Near Home Switch and Home Switch
Procedure:
1. Using forced operation of the home input and near home input, check to make sure the operation display LEDs on the positioning unit light. At the same time, using programming tools, monitor the X_6 and X_7 input contact relays, and check them in the same way.
2. Input the home return program, and actually carry out a home return, checking to see if near home input produces deceleration.
Points to check
The input valid logic for the home input and near home input is determined by the control codes of the program.
3. Using repeated jog operation and home return operation, check to make sure the table stops properly at the home position, with no offset.
Points to check
There may be times when near home input, the home input position, and the return speed causes offset from the home position.
4. If the table does not stop precisely at the home position, either change the position of the near home input, or reduce the home return speed, so that the table stops precisely at the home position.
Positioning unit Input unit
Check to see if there is any offset from the home stopping position.
Home switch Near home switch
Note
If the CPU is switched from the RUN to the PROG. mode while the positioning unit is in operation, the table decelerates and stops.
For detailed information about deceleration and stopping chapter 11.
5 − 11
Turning the Power On and Off, and Booting the System
5.4
Procedure Prior to Starting Operation
FP2 Positioning Unit
5 − 12
Chapter 6
Automatic Acceleration/Deceleration Control
(E Point Control: Single−Speed Acceleration/Deceleration)
6.1 Sample Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 − 3
6.1.1
Increment (Relative Value Control):
Plus (+) Direction . . . . . . . . . . . . . . . . . . . . . . . .
6 − 3
6.1.2
Increment (Relative Value Control):
Minus (−) Direction . . . . . . . . . . . . . . . . . . . . . .
6 − 7
6.1.3
Absolute (Absolute Value Control) . . . . . . . .
6 − 11
6.2 Flow of E Point Control Operation . . . . . . . . . . . . . . .
6 − 15
6.3 Operation of the Input and Output Contacts
Before and After E Point Control . . . . . . . . . . . . . . . .
6 − 18
Automatic Acceleration/Deceleration Control FP2 Positioning Unit
6 − 2
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
6.1
Sample Program
6.1
Sample Program
6.1.1
Increment (Relative Value Control): Plus (+) Direction
For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side.
4−axis type positioning unit 64−point type input unit
Motor driver
Motor
(− side)
WX1
WX2
WX3
WY4
WY5
WY7
WX9
WX11
Ball screw
Table
10000 pulses
(+ side) next page
6 − 3
Automatic Acceleration/Deceleration Control
6.1
Sample Program
FP2 Positioning Unit
Pulse output diagram f [pps]
108h
(Shared memory setting)
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
H
K 500
K 10000
K
0
100
K 10000
Control code
Startup speed fs (pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
10000
10000 pulses
500
100 100 t [ms]
E point control start flag
Pulse output busy flag
Pulse output done flag
CPU
CPU
Y40
(EST)
X0
(BUSY)
CPU
X1
(EDP)
Elapsed value
(Pe)
20000 30000
Count +
20000
No. of counts when booted
30000
No. of counts when stopped
Operations of the various flags
• The pulse output busy flag (X0) goes on when E point control is initiated, and goes off when pulse output is completed.
• The pulse output done flag (X1) goes on when pulse output is completed, and is maintained until the next E point control, P point control, Jog operation, home return, or pulser input enabled status is initiated.
• The elapsed value is stored as the absolute value in the counter in the positioning unit.
6 − 4
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
6.1
Sample Program
Shared memory setting
Control parameter setting content
Control code
Startup speed (pps)
Target speed (pps)
Set values in sample program example
H0
Increment,
Linear acceleration/deceleration
K500
K10000
K100
Range of acceptable settings
H0: Increment,
Linear acceleration/deceleration
H2: Increment,
S acceleration/deceleration
K10 to K1000000 (K10 is the recommended value.)
K11 to K1000000
Set a value larger than the startup speed. (K11 is the recommended value.)
K0 to K32767 Acceleration/ deceleration time
(ms)
Position command value (pulse)
K10000 K−2147483648 to
K2147483647
Program
X80
DF
R80
F1 DMV , H 0 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 10000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 10000 , DT 8
R80
F151 WRT , K 0 , DT 0 , K 10 , H 100
Starting condition
Control code
Startup speed
Target speed
Acceleration/deceleration time
Position command value
Shared memory writing
This specifies the positioning unit in slot no. 0, from which the 10−word contents from data registers DT0 to DT9 are written to the shared memory addresses H100 to H109.
R80 Y40
E point control initiated for 1st axis
ED next page
6 − 5
Automatic Acceleration/Deceleration Control
6.1
Sample Program
FP2 Positioning Unit
Precautions concerning the program
• The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, jog operation, home returns, and other types of control. These should not be overwritten by other conditions.
• If the values for the startup speed, the target speed, the acceleration/deceleration time, or the position command value exceed the range of values which can be specified, a set value error will occur, and operation cannot be initiated.
• The number of the startup contact relay varies depending on the number of axes the unit has, and the installation position.
For detailed information about contact relay number Section 4.2.3.1 and 14.3
• The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit.
For detailed information about slot number Section 4.2.3.2
For detailed information about shared memory area address Section 14.2
• In the case where the startup speed is set to the extremely small value (0 to few pps) in E point control and P point control, the pulse output done flag, which turns
ON when the deceleration stop is completed, is output behind the specified time.
t2 > t1 t1 t1 t1 t2
Completion of output for the last 1 pulse
0
Pulse ouput done flag
0
Pulse output done flag
For the ideal deceleration stop, the startup speed of 10 pps or more is recommended to set.
6 − 6
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
6.1
Sample Program
6.1.2
Increment (Relative Value Control): Minus (−) Direction
For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side.
4−axis type positioning unit 64−point type input unit
Motor driver
Motor
(− side)
WX1
WX2
WX3
WY4
WY5
WY7
WX9
WX11
−10000 pulses
Ball screw
Table
(+ side) next page
6 − 7
Automatic Acceleration/Deceleration Control
6.1
Sample Program
Pulse output diagram f [pps]
FP2 Positioning Unit
(Shared memory setting)
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
H
K
0
500
K 10000
K 100
K −10000
Control code
Startup speed fs (pps)
Target speed ft(pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
10000
−10000 pulses
500
100 100 t [ms]
E point control start relay
CPU
Pulse output busy flag
CPU
Pulse output done flag
Y40
(EST)
X0
(BUSY)
CPU
X1
(EDP)
Elapsed value
(Pe)
20000 10000
Count −
20000
No. of counts when booted
10000
No. of counts when stopped
Operations of the various flags
• The pulse output busy flag (X0) goes on when E point control is initiated, and goes off when pulse output is completed.
• The pulse output done flag (X1) goes on when pulse output is completed, and is maintained until the next E point control, P point control, jog operation, home return, or pulser input enabled status is initiated.
• The elapsed value is stored as the absolute value in the counter in the positioning unit.
6 − 8
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
6.1
Sample Program
Shared memory setting
Control parameter setting content
Control code
Startup speed (pps)
Target speed (pps)
Set values in sample program example
H0
Increment,
Linear acceleration/deceleration
K500
K10000
K100
Range of acceptable settings
H0: Increment, acceleration/ deceleration
H2: Increment,
Linear
S acceleration/deceleration
K10 to K1000000 (K10 is the recommended value.)
K11 to K1000000
Set a value larger than the startup speed. (K11 is the recommended value.)
K0 to K32767 Acceleration/ deceleration time
(ms)
Position command value (pulse)
K−10000 K−2147483648 to
K2147483647
Program
X81
DF
R81
F1 DMV , H 0 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 10000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K −10000 , DT 8
R81
F151 WRT , K 0 , DT 0 , K 10 , H 100
Starting condition
Control code
Startup speed
Target speed
Acceleration/deceleration time
Position command value
Shared memory writing
This specifies the positioning unit in slot no. 0, from which the 10−word contents from data registers DT0 to DT9 are written to the shared memory addresses H100 to H109.
R81 Y40
E point control initiated for 1st axis
ED next page
6 − 9
Automatic Acceleration/Deceleration Control
6.1
Sample Program
FP2 Positioning Unit
Precautions concerning the program
• The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, jog operation, home returns, and other types of control. These should not be overwritten by other conditions.
• If the values for the startup speed, the target speed, the acceleration/deceleration time, or the position command value exceed the range of values which can be specified, a set value error will occur, and operation cannot be initiated.
• The number of the startup contact relay varies depending on the number of axes the unit has, and the installation position.
For detailed information about contact relay number Section 4.2.3.1 and 14.3
• The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit.
For detailed information about slot number Section 4.2.3.2
For detailed information about shared memory area address Section 14.2
• In the case where the startup speed is set to the extremely small value (0 to few pps) in E point control and P point control, the pulse output done flag, which turns
ON when the deceleration stop is completed, is output behind the specified time.
t2 > t1 t1 t1 t1 t2
Completion of output for the last 1 pulse
0
Pulse ouput done flag
0
Pulse output done flag
For the ideal deceleration stop, the startup speed of 10 pps or more is recommended to set.
6 − 10
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
6.1
Sample Program
6.1.3
Absolute (Absolute Value Control)
For this control, the “Absolute” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction.
This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side.
4−axis type positioning unit 64−point type input unit
Motor driver
Motor
(− side)
WX0
WX1
WX2
WX3
WY4
WY5
WY6
WY7
WX8
WX9
WX10
WX11
Will move to “25000” no matter where the current point is.
Table
(10000)
Ball screw
25000
(+ side) next page
6 − 11
Automatic Acceleration/Deceleration Control
6.1
Sample Program
Pulse output diagram
FP2 Positioning Unit f [pps]
(Shared memory setting)
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
H
K
K 10000
K
1
500
100
K 25000
Control code
Startup speed fs (pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Position command value
Pt (pulse)
10000
15000 pulses
500
100 100 t [ms]
E point control start relay
CPU
Pulse output busy flag
CPU
Pulse output
CPU
Y40
(EST)
X0
(BUSY)
X1
(EDP)
10000 25000
Count +
10000
No. of counts when booted
Operations of the various flags
25000
No. of counts when stopped
• The pulse output busy flag (X0) goes on when E point control is initiated, and goes off when pulse output is completed.
• The pulse output done flag (X1) goes on when pulse output is completed, and is maintained until the next E point control, P point control, jog operation, home return, or pulser input enabled status is initiated.
• The elapsed value is stored as the absolute value in the counter in the positioning unit.
6 − 12
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
6.1
Sample Program
Shared memory setting
Control parameter setting content
Control code
Startup speed (pps)
Target speed (pps)
Set values in sample program example
H1
Absolute,
Linear acceleration/ deceleration
K500
K10000
K100
Range of acceptable settings
H1: Absolute,
Linear acceleration/deceleration
H3: Absolute,
S acceleration/deceleration
K10 to K1000000 (K10 is the recommended value.)
K11 to K1000000
Set a value larger than the startup speed. (K11 is the recommended value.)
K0 to K32767 Acceleration/ deceleration time
(ms)
Position command value (pulse)
K25000 K−2147483648 to
K2147483647
Program
X82
DF
R82
F1 DMV , H 1 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 10000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 25000 , DT 8
R82
F151 WRT , K 0 , DT 0 , K 10 , H 100
Starting condition
Control code
Startup speed
Target speed
Acceleration/deceleration time
Position command value
Shared memory writing
This specifies the positioning unit in slot no. 0, from which the 10−word contents from data registers DT0 to DT9 are written to the shared memory addresses H100 to H109.
R82 Y40
E point control initiated for 1st axis
ED next page
6 − 13
Automatic Acceleration/Deceleration Control
6.1
Sample Program
FP2 Positioning Unit
Precautions concerning the program
• The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, jog operation, home returns, and other types of control. These should not be overwritten by other conditions.
• If the values for the startup speed, the target speed, the acceleration/deceleration time, or the position command value exceed the range of values which can be specified, a set value error will occur, and operation cannot be initiated.
• The number of the startup contact relay varies depending on the number of axes the unit has, and the installation position.
For detailed information about contact relay number Section 4.2.3.1 and 14.3
• The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit.
For detailed information about slot number Section 4.2.3.2
For detailed information about shared memory area address Section 14.2
• In the case where the startup speed is set to the extremely small value (0 to few pps) in E point control and P point control, the pulse output done flag, which turns
ON when the deceleration stop is completed, is output behind the specified time.
t2 > t1 t1 t1 t1 t2
Completion of output for the last 1 pulse
0
Pulse ouput done flag
0
Pulse output done flag
For the ideal deceleration stop, the startup speed of 10 pps or more is recommended to set.
6 − 14
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
6.2 Flow of E Point Control Operation
6.2
Flow of E Point Control Operation
E point control: Single−speed acceleration/deceleration
• When the E point control startup relay (EST) is turned on, acceleration/deceleration control is carried out automatically at a single speed, in accordance with the specified data table.
• S acceleration/deceleration can also be selected.
When the 4−axis type positioning unit is mounted in slot 0
Operation example
When the contact relay for E point control is turned on, acceleration/deceleration is carried out in accordance with the settings, and the table travels and stops.
Data necessary for operation
Control code
Startup speed
Target speed
Acceleration/deceleration time
Position command value f [pps]
E point control executed c b d e d t [ms]
CPU Y40
(EST)
CPU X0
(BUSY)
CPU
X1
(EDP)
Elapsed value
(Pe)
When Y40 is set to on in the program, the motor of the first axis begins accelerating.
Input X0 is a BUSY contact that indicates that the operation is in progress, and X1 is an EDP contact that indicates that the operation is done. The EDP contact remains on until a request for another operation is received.
6 − 15
Automatic Acceleration/Deceleration Control
6.2
Flow of E Point Control Operation
FP2 Positioning Unit
Data necessary for settings
The following data items must be written to the specified addresses in the shared memory.
If the same operation is being repeated, it is not necessary to enter the data settings each time.
Operation is determined by these five types of data.
• Control code
• Startup speed
• Target speed
• Acceleration/deceleration time
• Position command value
Operation steps
Step 1: Preparatory stage
The data required for operation is transferred to the shared memory in advance.
Data for booting E point control
Control code
Startup speed
Target speed
Acceleration/deceleration time
Position command value
Shared memory
6 − 16
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
6.2 Flow of E Point Control Operation
Step 2: Executing the operations
Operation begins when the contact relay Y40 for E point control is turned on.
The control code determines whether S acceleration/deceleration or linear acceleration/deceleration is used.
Acceleration is carried out from the startup speed to the target speed, and then the speed slows to the startup speed, and the table stops.
This amount of travel is determined by the position command value.
X80 Y40 f [pps] E point control t [ms]
6 − 17
Automatic Acceleration/Deceleration Control
6.3
Operation of the Input and Output Contacts Before and After E Point Control
FP2 Positioning Unit
6.3
Operation of the Input and Output Contacts Before and After E Point Control
Output frequency f [pps] ft 1 ft 2 fs
Pulse output begins within 0.1 ms after the startup contact relay goes on.
When the pulse output busy flag goes on, the startup signal is ignored.
time t [s ]
E point control start relay
Y_0
(EST)
Pulse output busy flag
X_0
(BUSY)
This goes on following one scan after the startup contact relay goes on.
This goes off when the pulse output is completed.
1 scan
Pulse output done flag
X_1
(EDP)
This goes on when the pulse output is completed.
1 scan
This goes off following one scan after the startup contact relay goes on.
1 scan 1 scan
E point control start relay (Y_0)
1.
E point control is initiated based on the parameters written to the positioning unit.
2.
E point control is not initiated during the time that the pulse output busy flag (X_0) is on.
3.
E point control start relay is reset when the power supply is turned off.
6 − 18
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
6.3 Operation of the Input and Output Contacts Before and After E Point Control
Pulse output busy flag (X_0)
1.
This goes on with the next scan after E point control has been initiated, and goes off when the pulse output is completed.
2.
Operation cannot be shifted to any other operation while this signal is on
(except for a forced stop and a deceleration and stop).
3.
This flag is reset when the power supply is turned off.
This flag is shared among E point control, P point control, jog operation, and home returns (except for a pulser input enabled operation).
Pulse output done flag (X_1)
1.
This goes on when the pulse output is completed, and is maintained until the next E point control, P point control, jog operation, home return, or pulser input enabled status is initiated.
2.
This flag is reset when the power supply is turned off.
This flag is shared among E point control, P point control, jog operation, and pulser input enabled operation.
6 − 19
Automatic Acceleration/Deceleration Control
6.3
Operation of the Input and Output Contacts Before and After E Point Control
FP2 Positioning Unit
6 − 20
Chapter 7
Automatic Acceleration/Deceleration Control
(P Point Control: Multi−Stage Acceleration/Deceleration)
7.1 Sample Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 − 3
7.1.1
Increment (Relative Value Control):
Plus (+) Direction . . . . . . . . . . . . . . . . . . . . . . . .
7 − 3
7.1.2
Increment (Relative Value Control):
Minus (−) Direction . . . . . . . . . . . . . . . . . . . . . .
7 − 7
7.1.3
Absolute (Absolute Value Control) . . . . . . . .
7 − 11
7.2 Flow of P Point Control Operation . . . . . . . . . . . . . . .
7 − 15
7.3 Action of the I/O Contacts
Before and After P Point Control . . . . . . . . . . . . . . . .
7 − 20
7.4 Precautions When Creating P Point Control
Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 − 22
7.4.1
Precautions Concerning the Setting
Value Change Confirmation Flag X_A . . . .
7 − 22
Automatic Acceleration/Deceleration Control FP2 Positioning Unit
7 − 2
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.1
Sample Program
7.1
Sample Program
7.1.1
Increment (Relative Value Control): Plus (+) Direction
For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side.
4−axis type positioning unit 64−point type input unit
Motor driver
Motor
(− side)
WX0
WX1
WX2
WX3
WX8
WX9
WX10
WX11
WY5
WY7
Ball screw
Table 26000 pulses
(+ side) next page
7 − 3
Automatic Acceleration/Deceleration Control
7.1
Sample Program
FP2 Positioning Unit
Pulse output diagram
(Shared memory setting)
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
H 0
K 500
K 5000
K 100
K 5000
Control code
Startup speed fs (pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
K 20000
K 100
K 15000
Control code
(can be omitted)
Startup speed fs (pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
K 500
K 500
K 6000
Control code
(can be omitted)
Startup speed fs (pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
[pps]
20000
5000
5000 pulses
15000 pulses 6000 pulses
500
P point control start relay
CPU
Y41
(PST)
Setting value change confirmation flag
CPU
XA
(CEN)
Pulse output busy flag
CPU
X0
(BUSY)
Pulse output done flag
CPU
X1
(EDP)
Elapsed value
(Pe)
10000
100 100
Goes off when F151 instruction is executed
Count +
500
10000
No. of counts when booted
36000
No. of counts when stopped
[ms]
36000
7 − 4
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.1
Sample Program
Shared memory setting
Control parameter tti
Control code
Set values in sample program example
1st speed 2nd speed 3rd speed tti g settings p
H0
Increment,
Linear acceleration/ deceleration
The same as left
The same as left
H0: Increment, Linear acceleration/deceleration
H2: Increment, S acceleration/deceleration
Startup speed
(pps)
K500
Target speed (pps) K5000
K100
The same as left
K20000
K100
The same as left
K500
K500
K10 to K1000000 (K10 is the recommended value)
K11 to K1000000
The target speed for the first speed should be set to a value larger than the startup speed. (K11 is the recommended value)
K1 to K32767 Acceleration/ deceleration time
(ms)
Position command value (pulse)
K5000 K15000 K6000 K−2147483648 to
K2147483647
7 − 5
Automatic Acceleration/Deceleration Control
7.1
Sample Program
FP2 Positioning Unit
Program
X86
R86
Check to make sure the pulse output busy flag is not “BUSY”.
R86
DF
F0 MV , H
X0
1 , WR 0
Starting condition
Shift register preset
XA
DF F101 SHL , WR 0 , K 1 Shifting condition
R0
DF F1 DMV , H 0 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 5000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 5000 , DT 8
Control code
Startup speed
Target speed
Acceleration/deceleration time
Position command value
F151 WRT , K 0 , DT 0 , K 10 , H 100
This specifies the positioning unit in slot no. 0, from which
R1 the 10−word contents from data registers DT0 to DT9 are written to the shared memory addresses H100 to H109.
DF F1 DMV , K 20000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 15000 , DT 8
Shared memory writing
Target speed
Acceleration/deceleration time
Position command value
F151 WRT , K 0 , DT 4 , K 6 , H 104
R2
This specifies the positioning unit in slot no. 0, from which the 6−word contents from data registers DT4 to DT9 are written to the shared memory addresses H104 to H109.
DF F1 DMV , K 500 , DT 4
F1 DMV , K 500 , DT 6
F1 DMV , K 6000 , DT 8
Shared memory writing
Target speed
Acceleration/deceleration time
Position command value
F151 WRT , K 0 , DT 4 , K 6 , H 104 Shared memory writing
This specifies the positioning unit in slot no. 0, from which the 6−word contents from data registers DT4 to DT9 are written to the shared memory addresses H104 to H109.
R86 Y41
P point control initiated
ED
7 − 6
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.1
Sample Program
• In the case where the startup speed is set to the extremely small value (0 to few pps) in E point control and P point control, the pulse output done flag, which turns
ON when the deceleration stop is completed, is output behind the specified time.
t2 > t1 t1 t1 t1 t2
Completion of output for the last 1 pulse
0
Pulse ouput done flag
0
Pulse output done flag
For the ideal deceleration stop, the startup speed of 10 pps or more is recommended to set.
7.1.2
Increment (Relative Value Control): Minus (−) Direction
For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side.
4−axis type positioning unit 64−point type input unit
Motor driver
Motor
(− side)
WX0
WX1
WX2
WX3
WX8
WX9
WX10
WX11
WY6
WY7
−26000 pulses
Ball screw
Table
(+ side) next page
7 − 7
Automatic Acceleration/Deceleration Control
7.1
Sample Program
FP2 Positioning Unit
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
Pulse output diagram
(Shared memory setting)
H 0
K 500
K 5000
K 100
K −5000
Control code
Startup speed fs
(pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
K 20000
K 100
K−15000
Control code
(can be omitted)
Startup speed fs
(pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
K 500
K 500
K −6000
Control code
(can be omitted)
Startup speed fs
(pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
[pps]
20000
5000
−5000 pulses
−15000 pulses −6000 pulses
500
100 100 500
P point control start relay
CPU
Y41
(PST)
Setting value change confirmation flag
CPU
XA
(CEN)
Pulse output busy flag
CPU
X0
(BUSY)
Pulse output done flag
CPU
X1
(EDP)
Elapsed value
(Pe)
36000
Goes off when F151 instruction is executed
Count −
36000
No. of counts when booted
10000
No. of counts when stopped
[ms]
10000
7 − 8
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.1
Sample Program
Shared memory setting
Control parameter tti
Control code
Set values in sample program example
1st speed 2nd speed 3rd speed tti g settings p
H0
Increment,
Linear acceleration/ deceleration
The same as left
The same as left
H0: Increment, Linear acceleration/deceleration
H2: Increment, S acceleration/deceleration
Startup speed
(pps)
K500
Target speed (pps) K5000
K100
The same as left
K20000
K100
The same as left
K500
K500
K10 to K1000000 (K10 is the recommended value)
K11 to K1000000
The target speed for the first speed should be set to a value larger than the startup speed. (K11 is the recommended value)
K1 to K32767 Acceleration/ deceleration time
(ms)
Position command value (pulse)
K−5000 K−15000 K−6000 K−2147483648 to
K2147483647 next page
7 − 9
Automatic Acceleration/Deceleration Control
7.1
Sample Program
FP2 Positioning Unit
Program
Check to make sure the pulse output busy flag is not “BUSY”.
X87
R87
X0
DF
F0 MV , H 1 , WR 1
R87
XA
DF F101 SHL , WR 1 , K 1
R10
DF F1 DMV , H 0 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 5000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K −5000 , DT 8
F151 WRT , K 0 , DT 0 , K 10 , H 100
This specifies the positioning unit in slot no. 0, from which the 10−word contents from data registers DT0 to DT9
R11
DF are written to the shared memory addresses H100 to H109.
F1 DMV , K 20000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K−15000 , DT 8
F151 WRT , K 0 , DT 4 , K 6 , H 104
This specifies the positioning unit in slot no. 0, from which the 6−word contents from data registers DT4 to DT9
R12
DF are written to the shared memory addresses H104 to H109.
F1 DMV , K 500 , DT 4
F1 DMV , K 500 , DT 6
F1 DMV , K −6000 , DT 8
F151 WRT , K 0 , DT 4 , K 6 , H 104
Starting condition
Shift register preset
Shifting condition
Control code
Startup speed
Target speed
Acceleration/deceleration time
Position command value
Shared memory writing
Target speed
Acceleration/deceleration time
Position command value
Shared memory writing
Target speed
Acceleration/deceleration time
Position command value
Shared memory writing
This specifies the positioning unit in slot no. 0, from which the 6−word contents from data registers DT4 to DT9 are written to the shared memory addresses H104 to H109.
R87 Y41
P point control initiated
ED
7 − 10
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.1
Sample Program
• In the case where the startup speed is set to the extremely small value (0 to few pps) in E point control and P point control, the pulse output done flag, which turns
ON when the deceleration stop is completed, is output behind the specified time.
t2 > t1 t1 t1 t1 t2
Completion of output for the last 1 pulse
0
Pulse ouput done flag
0
Pulse output done flag
For the ideal deceleration stop, the startup speed of 10 pps or more is recommended to set.
7.1.3
Absolute (Absolute Value Control)
For this control, the “Absolute” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction.
This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side.
4−axis type positioning unit 64−point type input unit
Motor driver
Motor
(− side)
WX2
WX3
WX10
WX11
WY6
WY7
Current position
+5000
Table
Ball screw
Relative position
+31000
(+ side) next page
7 − 11
Automatic Acceleration/Deceleration Control
7.1
Sample Program
FP2 Positioning Unit
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
Pulse output diagram
(Shared memory setting)
H 1
K 500
K 5000
K 100
K10000
Control code
Startup speed fs
(pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
K 20000
K 100
K 25000
Control code
(can be omitted)
Startup speed fs
(pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
K 500
K 500
K 31000
Control code
(can be omitted)
Startup speed fs
(pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Position command value Pt (pulse)
[pps]
20000
5000
5000 pulses
15000 pulses 6000 pulses
500
P point control start relay
CPU
Y41
(PST)
Setting value change confirmation flag
CPU
XA
(CEN)
Pulse output busy flag
CPU
X0
(BUSY)
Pulse output done flag
CPU
X1
(EDP)
Elapsed value
(Pe)
5000
100 100
Goes off when F151 instruction is executed
5000
No. of counts when booted
Count +
500
31000
No. of counts when stopped
[ms]
31000
7 − 12
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.1
Sample Program
Shared memory setting
Control parameter tti
Control code
Set values in sample program example
1st speed 2nd speed 3rd speed tti g settings p
H1
Absolute,
Linear acceleration/ deceleration
The same as left
The same as left
H1: Absolute, Linear acceleration/deceleration
H3: Absolute, S acceleration/deceleration
Startup speed
(pps)
K500
Target speed (pps) K5000
K100
The same as left
K20000
K100
The same as left
K500
K500
K10 to K1000000 (K10 is the recommended value)
K11 to K1000000
The target speed for the first speed should be set to a value larger than the startup speed. (K11 is the recommended value)
K1 to K32767 Acceleration/ deceleration time
(ms)
Position command value (pulse)
K10000 K25000 K31000 K−2147483648 to
K2147483647 next page
7 − 13
Automatic Acceleration/Deceleration Control
7.1
Sample Program
FP2 Positioning Unit
Program
X88
R88
R88
DF
X0
Check to make sure the pulse output busy flag is not “BUSY”.
R88
Starting condition
F1 DMV , K 0 , DT 100
F151 , K 0 , DT 100 , K 2 , H 10A
F0 MV , H 1 , WR 2
Elapsed value reset
Shift register reset
XA
DF F101 SHL , WR 2 , K 1
R20
DF F1 DMV , H 1 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 5000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 10000 , DT 8
F151 WRT , K 0 , DT 0 , K 10 , H 100
This specifies the positioning unit in slot no. 0, from which the 10−word contents from data registers DT0 to DT9 are written to the shared memory addresses H100 to H109.
R21
DF F1 DMV , K 20000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 25000 , DT 8
F151 WRT , K 0 , DT 4 , K 6 , H 104
Shifting condition
Control code
Startup speed
Target speed
Acceleration/deceleration time
Position command value
Shared memory writing
Target speed
Acceleration/deceleration time
Position command value
Shared memory writing
This specifies the positioning unit in slot no. 0, from which the 6−word contents from data registers DT4 to DT9 are written to the shared memory addresses H104 to H109.
R22
DF F1 DMV , K 500 , DT 4
F1 DMV , K 500 , DT 6
F1 DMV , K 31000 , DT 8
Target speed
Acceleration/deceleration time
Position command value
Shared memory writing F151 WRT , K 0 , DT 4 , K 6 , H 104
This specifies the positioning unit in slot no. 0, from which the 6−word contents from data registers DT4 to DT9
R88 are written to the shared memory addresses H104 to H109.
Y41
P point control initiated
ED
7 − 14
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.2 Flow of P Point Control Operation
• In the case where the startup speed is set to the extremely small value (0 to few pps) in E point control and P point control, the pulse output done flag, which turns
ON when the deceleration stop is completed, is output behind the specified time.
t2 > t1 t1 t1 t1 t2
Completion of output for the last 1 pulse
0
Pulse ouput done flag
0
Pulse output done flag
For the ideal deceleration stop, the startup speed of 10 pps or more is recommended to set.
7.2
Flow of P Point Control Operation
P point control: Multi−stage acceleration/deceleration
• When the contact for initiating control is turned on, acceleration/deceleration control is carried out repeatedly, in accordance with the specified data table, and then the operation stops.
• Multiple accelerations/decelerations can be specified between starting and stopping.
• S acceleration/deceleration can also be selected.
• The acceleration/deceleration time can be specified separately for each travel point.
7 − 15
Automatic Acceleration/Deceleration Control
7.2
Flow of P Point Control Operation
FP2 Positioning Unit
When the 4−axis type positioning unit is mounted in slot 0
Operation example:
When the contact for initiating P point control is turned on, acceleration/deceleration is carried out repeatedly, in accordance with the settings, and then the operation stops.
Data necessary for operation a b c d e
Control code
Startup speed
Target speed
Acceleration/ deceleration time
Position command value c d e
Target speed
Acceleration/ deceleration time
Position command value c d e
Target speed
Acceleration/ deceleration time
Position command value f [pps]
P point control executed c b c e e e c d d d t [ms]
CPU
CPU
Y41
(PST)
X0
(BUSY)
CPU
X1
(EDP)
XA
(CEN) CPU
Can be set again Goes off at the point when the setting is entered again
Elapsed value
(Pe)
No re−setting
When Y41 is set to on in the program, the motor of the first axis begins accelerating.
The input X0 is the BUSY contact that indicates that operation is in progress, while X1 is the EDP contact that indicates that operation has been completed. After operation has been completed, the EDP contact remains on until the next operation request is issued.
7 − 16
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.2 Flow of P Point Control Operation
Data necessary for settings
As shown below, data items must be written to the specified addresses in the shared memory, in the order in which operations are to be executed.
As shown in the illustration, the operations and processing are explained by the P point control, which consists of sections I to III.
Section I:
Operation is determined by these five types of data.
• Control code
• Startup speed
• Target speed
• Acceleration/deceleration time
• Position command value
Section II and III:
Operation is determined by these three types of data.
• Target speed
• Acceleration/deceleration time
• Position command value
7 − 17
Automatic Acceleration/Deceleration Control
7.2
Flow of P Point Control Operation
FP2 Positioning Unit
Operation steps
Step 1: Preparatory stage
The data required for section I of the operation is transferred to the shared memory in advance.
Data for section
Shared memory
Control code
Startup speed
Target speed
Acceleration/deceleration time
Position command value
Step 2: Executing the operation of Section I
Operation begins when the contact relay Y41 for P point control is turned on.
(At this point, X_A goes on. When X_A goes on, the data for the operation of section
II is transferred to the shared memory. X_A goes off after the data has been transferred.)
X86 Y41 f [pps]
Step2 t [ms]
XA
F151
Data for section
Target speed
Acceleration
/deceleration time
Position command value
Shared memory
7 − 18
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.2 Flow of P Point Control Operation
Step 3: Executing the operation of Section II
When the operation of section I is completed, operation shifts to section II.
(At this point, X_A goes on. When X_A goes on, the data for the operation of section
III is transferred to the shared memory. X_A goes off after the data has been transferred.)
Step3 f [pps] t [ms]
XA
F151
Data for section
Shared memory
Target speed
Acceleration
/deceleration time
Position command value
Step 4: Executing the operation of Section III
When the operation of section II is completed, operation shifts to section III.
Step 4 f [pps] t [ms]
Step 5: Completing the operation of Section III
Because no data for the next operation is specified during the operation of section III, operation automatically stops.
7 − 19
Automatic Acceleration/Deceleration Control
7.3
Action of the I/O Contacts Before and After P Point Control
FP2 Positioning Unit
7.3
Action of the I/O Contacts Before and After P Point
Control
Output frequency f [pps] f3 f2 f i
Pulse output begins within 0.1 ms after the startup contact relay goes on.
P point control start relay
Y_1
(PST)
Setting value change confirmation flag
X_A
(CEN)
This goes on following one scan after the startup contact relay goes on.
This goes on when operation shifts to the next operation.
This goes off when parameters are written to the positioning unit using the shared memory writing instruction F151.
This goes on following one scan after the startup contact relay goes on.
This goes off when the pulse output is completed.
This goes off when the pulse output is completed.
Pulse output busy flag
X_0
(BUSY)
1 scan
Pulse output done flag
X_1
(EDP)
This goes on when the pulse output is completed.
This goes off following one scan after the startup contact relay goes on.
1 scan
P point control start relay (Y_1)
1.
P point control is initiated based on the parameters written to the positioning unit.
2.
Control is not initiated during the time that the pulse output busy flag
(X_0) is on. (it has already been initiated).
3.
Control is reset when the power supply is turned off.
Time t [s
7 − 20
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.3 Action of the I/O Contacts Before and After P Point Control
Setting value change confirmation flag (X_A)
1.
This goes on with the next scan after P point control has been initiated.
2.
It remains on until the next F151 or P151 shared memory write instruction is executed, and the new parameters are written to the shared memory, and then goes off after the parameters have been written to the unit.
3.
This flag is reset when the power supply is turned off.
This flag is used for P point control, and the user must be careful that it does not overlap other control programs. (Refer to *section 7.4.)
Pulse output busy flag (X_0)
1.
This goes on with the next scan after P point control has been initiated, and goes off when the pulse output is completed.
2.
Operation cannot be shifted to any other operation while this signal is on
(except for a forced stop and a deceleration and stop).
3.
This flag is reset when the power supply is turned off.
This flag is shared among E point control, P point control, jog operation, and home returns (except a pulser input enabled operation).
Pulse output done flag (X_1)
1.
This goes on when the pulse output is completed, and is maintained until the next E point control, P point control, jog operation, home return, or pulser input enabled status is initiated.
2.
This flag is reset when the power supply is turned off.
This flag is shared among E point control, P point control, jog operation, and pulser input enabled operation.
7 − 21
Automatic Acceleration/Deceleration Control
7.4
Precautions When Creating P Point Control Programs
FP2 Positioning Unit
7.4
Precautions When Creating P Point Control Programs
7.4.1
Precautions Concerning the Setting Value Change Confirmation
Flag X_A
The setting value change confirmation flag is turned on and off at the timing noted below, so an interlock should be applied to prevent the shared memory or other data from being overwritten at the same timing.
Conditions for turning the flag from off to on
• This flag goes on when P point control or E point control is initiated.
• It goes on at the point when the next data can be written.
Conditions for turning the flag from on to off
• This flag goes off when pulse output is completed after P point control or
E point control is initiated.
• It goes off when the shared memory write instruction F151 is executed, and any type of data is written to the shared memory of the positioning unit.
7 − 22
FP2 Positioning Unit Automatic Acceleration/Deceleration Control
7.4
Precautions When Creating P Point Control Programs
The program should be structured in such a way that F151 instruction cannot be executed and the setting value change confirmation flag X_A cannot be rewritten under any other conditions.
Interlock
X80 X86 X0 R80
Program of
E point control
X80
R80
DF
F1 DMV , H 0 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 10000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 10000 , DT 8
R80
R80
DF
F1 DMV , H 0 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 5000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 10000 , DT 8
R80
X86
R86
XA
F151 WRT , K 0 , DT 0 , K 10 , H 100
Y40
R86 X0
DF
F0 MV , H 1 , WR 0
R80
X86
R86
F151 WRT , K 0 , DT 0 , K 10 , H 100
Y40
Interlock
X80
DF
X0 R86
F0 MV , H 1 , WR 0
DF F101 SHL , WR 0 , K 1 XA
DF F101 SHL , WR 0 , K 1
R0
DF F1 DMV , H 0 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 5000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 15000 , DT 8
R0
Program of
P point control R1
R2
F151 WRT , K 0 , DT 0 , K 10 , H 100
DF F1 DMV , K 20000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 10000 , DT 8
F151 WRT , K 0 , DT 4 , K 6 , H 104
DF F1 DMV , K 500 , DT 4
F1 DMV , K 500 , DT 6
F1 DMV , K 6000 , DT 8
R1
R2
DF F1 DMV , H 0 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 5000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 15000 , DT 8
F151 WRT , K 0 , DT 0 , K 10 , H 100
DF F1 DMV , K 20000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 10000 , DT 8
F151 WRT , K 0 , DT 4 , K 6 , H 104
DF F1 DMV , K 500 , DT 4
F1 DMV , K 500 , DT 6
F1 DMV , K 6000 , DT 8
R86
F151 WRT , K 0 , DT 4 , K 6 , H 104
Y41 R86
F151 WRT , K 0 , DT 4 , K 6 , H 104
Y41
ED ED
If the E point control program is booted while the P point control program has been booted and is running, the flag X_A changes, and the P point control program is affected by the change.
Because an interlock is in effect, the E point control program cannot be booted if the P point control program has already been booted. This prevents E point control from affecting P point control.
7 − 23
Automatic Acceleration/Deceleration Control
7.4
Precautions When Creating P Point Control Programs
FP2 Positioning Unit
7 − 24
Chapter 8
Jog Operation
8.1 Sample Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 − 3
8.1.1
Jog Operation (Forward and Reverse) . . . . . .
8 − 3
8.1.2
Jog Operation (Forward, Reverse and
Speed Changes) . . . . . . . . . . . . . . . . . . . . . . . .
8 − 7
8.2 Sequence Flow for Jog Operation . . . . . . . . . . . . . . . .
8 − 11
8.3 Changing the Speed During Jog Operation . . . . . . .
8 − 14
8.4 Teaching Following Jog Operation . . . . . . . . . . . . . . .
8 − 18
8.4.1
Example of Teaching Settings, and Sample Program . . . . . . . . . . . . . . . . . .
8 − 18
8.5 Action of the I/O Contact Before and After
Jog Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 − 21
8.6 Precautions When Changing the Speed During JOG
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 − 22
Jog Operation FP2 Positioning Unit
8 − 2
FP2 Positioning Unit Jog Operation
8.1
Sample Program
8.1
Sample Program
8.1.1
Jog Operation (Forward and Reverse)
This is the basic program for forward and reverse rotation using the external switch.
For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side.
• Pulses are output as long as the startup contact is on in the manual mode.
• There are two contacts (switches) for startup, one for forward rotation and one for reverse rotation.
4−axis type positioning unit 64−point type input unit
X91
X90
Motor driver
Reverse jog switch
Forward jog switch
Motor
(− side)
WX2
WX3
WY4
WY5
WY6
WY7
WX10
WX11
Reverse
Ball screw
Table
Forward
(+ side) next page
8 − 3
Jog Operation
8.1
Sample Program
Pulse output diagram
(Shared memory setting)
102h
103h
H 0
K 500
K 10000
K 100
Control code
Startup speed fs (pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms) f [pps]
10000
Forward Reverse
FP2 Positioning Unit
500
Forward jog start
CPU
Y43
(JGF)
Reverse jog start
CPU Y44
(JGR)
Pulse output busy flag
CPU
Pulse output
X0
(BUSY) done flag
CPU
X1
(EDP)
Elapsed value
(Pe)
100
Forward
Count +
Deceleration begins at the point when the contact goes off.
Reverse
Count − t [ms]
8 − 4
FP2 Positioning Unit Jog Operation
8.1
Sample Program
Shared memory setting
Control parameter setting content
Control code
Set values in sample program example
H0
Linear acceleration/deceleration is specified.
Startup speed (pps) K500
Target speed (pps) K10000
Range of acceptable settings
H0: Linear acceleration/ deceleration
H2: S acceleration/deceleration
K0 to K1000000
K1 to K1000000
Specify a value larger than the startup speed.
K0 to K32767 Acceleration/ deceleration time (ms)
Program
X90 X0
DF
X91 X0
DF
R90
F1 DMV , H
K100
0 , DT 0
R90
Starting condition
F1 DMV , K 500 , DT 2
F1 DMV , K 10000 , DT 4
F1 DMV , K 100 , DT 6
Control code
Startup speed
Target speed
Acceleration/deceleration time
Shared memory writing F151 WRT , K 0 , DT 0 , K 8 , H 100
X90
This specifies the positioning unit in slot no. 0, from which the 8−word contents from data registers DT0 to DT7
X0
DF are written to the shared memory addresses H100 to H107.
R91 Y43
Y43
Forward jog start
R91 Y44 X91
Y44
X90
X91
X0
DF/
DF/
DF
R91
Reverse jog start
ED next page
8 − 5
Jog Operation
8.1
Sample Program
FP2 Positioning Unit
Precautions concerning the program
• The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, home returns, and other types of control. These should not be overwritten by other conditions.
• If the values for the startup speed, the target speed, or the acceleration/deceleration time exceed the range of values which can be specified, a set value error will occur, and operation cannot be initiated.
• The number of the startup contact varies depending on the number of axes the unit has, and the installation position.
For detailed information about contact number Section 4.2.3.1 and 14.3.
• The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit.
For detailed information about slot number Section 4.2.3.2
For detailed information about sSared memory area address Section 14.2
• If forward and reverse rotation are started at the same timing, forward rotation takes precedence. Also, if one or the other is started first, rotation in that direction takes precedence.
• During deceleration, the restart operation will be ignored.
8 − 6
FP2 Positioning Unit Jog Operation
8.1
Sample Program
8.1.2
Jog Operation (Forward, Reverse and Speed Changes)
This is the basic program for forward and reverse rotation using the external switch.
For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side.
• Pulses are output as long as the startup contact is on in the manual mode.
• There are two contacts (switches) for startup, one for forward rotation and one for reverse rotation.
• In the example shown below, the selector switch is used to switch between high−speed and low−speed operation.
4−axis type positioning unit 64−point type input unit
X90
X91 X92
Motor driver
Motor
(− side)
Forward jog switch
Reverse jog switch
High/low−speed selector switch
WX1
WX2
WX3
WY4
WY5
WY7
WX9
WX11
Reverse
Ball screw
Table
Forward
(+ side) next page
8 − 7
Jog Operation
8.1
Sample Program
FP2 Positioning Unit
Pulse output diagram
(Shared memory setting)
100h
101h
102h
103h
104h
105h
106h
107h
H
K
0
500
K 10000
K 100
Control code
Startup speed fs (pps)
Target speed ft (pps) (Can be set to K5000)
Acceleration/deceleration time Ac (ms) f [pps]
10000
Forward
5000
Reverse
500
100 Deceleration begins at the point when the contact goes off Forward jog start
CPU Y43
(JGF)
Reverse jog start
CPU Y44
(JGR)
Pulse output busy flag
CPU
Pulse output done flag
X0
(BUSY)
CPU X1
(EDP)
Elapsed value
(Pe)
Forward
Count +
Reverse
Count − t [ms]
8 − 8
FP2 Positioning Unit Jog Operation
8.1
Sample Program
X91
Y44
X90
X91
Shared memory setting
Control parameter g
Control code
Set values in sample program example
Low−speed setting
High−speed setting
H0
Linear acceleration/deceleration is specified.
Startup speed (pps) K500
Target speed (pps) K5000 K10000
Acceleration/ deceleration time (ms)
K100
Range of acceptable settings
H0: Linear acceleration/ deceleration
H2: S acceleration/deceleration
K0 to K1000000
K1 to K1000000
Specify a value larger than the startup speed.
K0 to K32767
Program
X90 X0 R90
DF Starting condition
X91 X0
DF
X92 R90
F1 DMV , K 5000 , DT 4 Target speed (Low−speed)
X92 R90
F1 DMV , K 10000 , DT 4 Target speed (High−speed)
R90
F1 DMV , H
F1 DMV , K
F1 DMV , K
0 , DT 0
500 , DT 2
100 , DT 6
Control code
Startup speed
Acceleration/deceleration time
F151 WR T , K 0 , DT 0 , K 8 , H 100
Shared memory writing
X90
This specifies the positioning unit in slot no. 0, from which the 8−word contents from data registers DT0 to DT7 are written to the shared memory addresses H100 to H107.
X0 R91
Y43
DF
Y43
Forward jog start
X0
DF
R91
Y44
Reverse jog start
DF/
DF/
R91
ED next page
8 − 9
Jog Operation
8.1
Sample Program
FP2 Positioning Unit
Precautions concerning the program
• The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, home returns, and other types of control. These should not be overwritten by other conditions.
• If the values for the startup speed, the target speed, or the acceleration/deceleration time exceed the range of values which can be specified, a set value error will occur, and operation cannot be initiated.
• The number of the startup contact varies depending on the number of axes the unit has, and the installation position.
For detailed information about contact number Section 4.2.3.1 and 14.3.
• The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit.
For detailed information about slot number Section 4.2.3.2
For detailed information about shared memory area address Section 14.2
• If forward and reverse rotation are started at the same timing, forward rotation takes precedence. Also, if one or the other is started first, rotation in that direction takes precedence.
8 − 10
FP2 Positioning Unit
8.2
Jog Operation
Sequence Flow for Jog Operation
8.2
Sequence Flow for Jog Operation
Jog operation
When a 4−axis type positioning unit is mounted in slot 0
Operation example
When the contact for forward rotation is turned on, forward rotation begins and acceleration is initiated based on the settings. When the contact is turned off, deceleration takes place based on the settings, and the operation stops.
When the contact for reverse rotation is turned on, reverse rotation begins and acceleration is initiated based on the settings. When the contact is turned off, deceleration takes place based on the settings, and the operation stops.
Data necessary for operation f [pps]
Control code
Startup speed
Target speed
Acceleration/deceleration time
Forward Reverse c c
Forward jog start
CPU
Y43
(JGF)
Reverse jog start
CPU
Y44
(JGR)
Pulse output busy flag
CPU
X0
(BUSY)
Pulse output done flag
CPU
X1
(EDP) b d d b d d t [ms]
Elapsed value
(Pe)
Count + Count − next page
8 − 11
Jog Operation
8.2
Sequence Flow for Jog Operation
FP2 Positioning Unit
When Y43 is turned on through the program, the motor for the first axis begins to turn in the forward direction, and accelerates to the target speed. When Y43 is turned off, the motor decelerates and stops.
Reverse rotation can be carried out in the same way, with Y44 being turned on and off.
Input X0 is the BUSY contact that indicates that operation is in progress, and X1 is the
EDP contact that indicates that operation has been completed. The EDP contact remains on until the next operation request is issued.
Data required for settings
The following data must be written to the specified addresses of the shared memory.
Operation is determined by the following four types of data.
• Control code
• Startup speed
• Target speed
• Acceleration/deceleration time
Operation steps
Step 1: Preparatory stage
The data for operation is transferred to the shared memory ahead of time.
a b c d
Data for jog operation
Control code
Startup speed
Target speed
Acceleration/ deceleration time
Shared memory
8 − 12
FP2 Positioning Unit
8.2
Jog Operation
Sequence Flow for Jog Operation
Step 2: Execution of operation
Forward
The startup contact relay Y43 for forward rotation is turned on.
Forward jog switch
(X90)
OFF → ON → OFF
X90 Y43
Reverse jog switch f [pps]
ON
Forward
OFF t [ms]
Reverse
The startup contact relay Y44 for reverse rotation is turned on.
Forward jog switch
Reverse jog switch
(X91)
OFF → ON
→ OFF
X91 Y44 f [pps]
ON
Reverse
OFF t [ms]
The control codes determine whether S acceleration/deceleration or linear acceleration/deceleration is used.
When the startup contact is turned on, acceleration takes places for the acceleration/deceleration time it takes to reach the target speed. When the contact is turned off, deceleration takes place until the startup speed is reached, and operation then stops.
8 − 13
Jog Operation
8.3
Changing the Speed During Jog Operation
FP2 Positioning Unit
8.3
Changing the Speed During Jog Operation
Specifying a speed change during jog operation
To change the speed during jog operation, the program should be set up so that only the “Target speed” parameter in the shared memory is overwritten after jog operation has begun.
4−axis type positioning unit 64−point type input unit
X90
X91 X92
Motor driver
Motor
(− side)
Forward jog switch
Reverse jog switch
WX0
WX1
WX2
WX3
WY4
WY5
WY6
WY7
WX8
WX9
WX10
WX11
Reverse
Ball screw
Table
High/low−speed selector switch
Forward
(+ side)
8 − 14
FP2 Positioning Unit
8.3
Jog Operation
Changing the Speed During Jog Operation
Pulse output diagram
(Shared memory setting)
100h
H 0
102h
K 500
Control code
104h
K 5000
Startup speed fs (pps)
106h
K 50
Target speed ft (pps)
108h
Acceleration/deceleration time Ac (ms)
104h
106h
K 10000 Target speed ft (pps) f [pps]
10000
5000
500
Forward jog start
CPU
Jog speed selection
Y43
(JGF)
CPU X92
50
Low−speed
Approx.
55.6
High−speed
Approx.
105.6
t [ms]
8 − 15
Jog Operation
8.3
Changing the Speed During Jog Operation
Sample program
X90 X0 R90
DF
X91 X0
DF
R90
F1 DMV , H
F1 DMV , K
0 , DT 0
500 , DT 2
X92 R90
F1 DMV , K 100 , DT 6
F1 DMV , K 5000 , DT 4
X92 R90
F1 DMV , K 10000 , DT 4
R90
F151 WR T , K 0 , DT 0 , K 8 , H 100
X91
Y44
X90
X91
X90
This specifies the positioning unit in slot no. 0, from which the 8−word contents from data registers DT0 to DT7 are written to the shared memory addresses H100 to H107.
X0 R91 Y43
DF
Y43
X0 R91 Y44
DF/
DF/
DF
R91
ED
Starting condition
Control code
Startup speed
Acceleration/deceleration time until initial speed is reached
Target speed (Low−speed)
Target speed (High−speed)
Shared memory writing
Forward jog start
Reverse jog start
FP2 Positioning Unit
8 − 16
FP2 Positioning Unit
8.3
Jog Operation
Changing the Speed During Jog Operation
Acceleration/deceleration time when the speed is changed
• If the jog speed is changed during jog operation, it is not possible to specify the acceleration/deceleration time when the speed changes.
• The acceleration/deceleration time is determined by the “Rate of acceleration”, which is the speed change from the startup speed to the point where the first target speed is reached, and the acceleration/deceleration time continues to change until this “Rate of acceleration” becomes constant.
Example:
Acceleration/deceleration time for a sample program
• Time until the low−speed specification for jog operation is reached
The acceleration/deceleration time specified by the program serves as the acceleration/deceleration time, just as it is.
Acceleration/deceleration time = 50 ms
Acceleration rate =
5000 [pps] − 500 [pps]
50 [ms]
= 90 [pps/ms]
• Time from the jog speed of the low−speed specification to the jog speed of the high−speed specification
Acceleration/deceleration time =
10000 [pps] − 5000 [pps]
90 [pps/ms]
= Approx 55.6 [ms]
• Time from the jog speed of the high−speed specification to when pulse output stops
Acceleration/deceleration time =
10000 [pps] − 500 [pps]
90 [pps/ms]
= Approx 105.6 [ms]
For the sake of expedience, “pps/ms” is used as the unit for the acceleration rate.
Specifying the method of acceleration/deceleration
• If the jog speed is changed during jog operation, “linear acceleration/deceleration” should be specified. It is not possible to specify S acceleration/deceleration.
• If “S acceleration/deceleration” has been specified, jog operation continues at the initial speed.
8 − 17
Jog Operation
8.4
Teaching Following Jog Operation
8.4
Teaching Following Jog Operation
FP2 Positioning Unit
8.4.1
Example of Teaching Settings, and Sample Program
Example of teaching operation following jog operation
• The current position can be determined by reading the counter value stored in the shared memory of the unit after jog operation has taken place.
• The value read at this time is the data for the absolute value.
4−axis type positioning unit 64−point type input unit
X100 to
X103
X90 X91 X92 X93 X94
Motor driver
WX1
WX2
WX3
WY4
WY5
WY7
WX9
WX11
Forward jog switch
Reverse jog switch
High/low−speed selector switch
Reverse
Ball screw
Table
Setting switch
Data no. setting switch
For teaching
Forward
Positioning switch
Motor
(− side) (+ side)
8 − 18
FP2 Positioning Unit
8.4
Jog Operation
Teaching Following Jog Operation
Pulse output diagram
(Shared memory setting)
100h
101h
102h
103h
104h
105h
106h
107h
H
K
0
500
K 10000
K 100
Control code
Startup speed fs (pps)
Target speed ft (pps) (Can be set to K5000)
Acceleration/deceleration time Ac (ms) f [pps]
10000
Forward
5000
Reverse
500
100 Deceleration begins at the point when the contact goes off Forward jog start
CPU
Y43
(JGF)
Reverse jog start
CPU
Y44
(JGR)
Pulse output busy flag
CPU X0
(BUSY)
Pulse output done flag
CPU
X1
(EDP)
Elapsed value
(Pe)
Forward
Count +
Reverse
Count − t [ms]
8 − 19
Jog Operation
8.4
Teaching Following Jog Operation
Sample program
X90 X0
DF
X91 X0
DF
X92 R90
X92 R90
F1 DMV , K 5000 , DT 4
F1 DMV , K 10000 , DT 4
R90
F1 DMV , H
F1 DMV , K
F1 DMV , K
0 , DT 0
500 , DT 2
100 , DT 6
R90
F151 WRT , K 0 , DT 0 , K 8 , H 100
This specifies the positioning unit in slot no. 0, from which the 8−word contents from data registers DT0 to DT7 are written to the shared memory addresses H100 to H107.
X90
Y43
X0
DF
R91 Y43
X91
Y44
X0
DF
R91 Y44
R91 X90
X91
DF/
DF/
X93
DF F0 MV, K0, I 0
F6 DGT , WX10 , H 0 , I 0
F30 * , I 0 , K 2 , I 0
F150 READ , H 0 , H 10A , K 2 I 0 DT100
JOG start
Target speed (Low−speed)
Target speed (High−speed)
Control code
Startup speed
Acceleration/deceleration time
Shared memory writing
Forward jog start
Reverse jog start
Data number is read
Index pointer calculation
Shared memory is read
FP2 Positioning Unit
X94
DF
R94
R94
R94
F6 DGT , WX10 , H0 , I 0
F30 * , I 0 , K2 , I 0
F1 DMV , I 0, DT100 , DT 8
F1 DMV , H 1 ,
F1 DMV , K
DT 0
500 , DT 2
F1 DMV , K 10000 , DT 4
F1 DMV , K 100 , DT 6
F151 WRT , K 0 , DT0 , K8 , H100
Y40
ED
8 − 20
E point control start condition
Teaching data
(position command value)
Read out
Control code
Startup speed
Target speed
Acceleration/deceleration time
Shared memory writing
E point control start
FP2 Positioning Unit
8.5
Jog Operation
Action of the I/O Contact Before and After Jog Operation
8.5
Action of the I/O Contact Before and After Jog
Operation
Output frequency f [pps] ft fs
Pulse output begins within 0.1ms
after the startup contact goes on.
When the pulse output busy flag is on, the start signal is ignored.
Forward jog start
Y_3
(JGF)
Reverse jog start
Y_4
(JGR)
If the timing is exactly the same, forward rotation takes precedence.
Pulse output busy flag
X_0
(BUSY)
This goes on following one scan after the startup contact goes on.
This goes on when the pulse output is completed.
Pulse output done flag
X_1
(EDP)
Deceleration begins at the point when the startup contact goes off.
This goes off when the pulse output is completed.
1 scan
This goes off following one scan after the startup contact goes on.
1 scan
Time t [s]
Forward jog start relay (Y_3)/Reverse jog start relay (Y_4)
1.
Jog operation is initiated based on the parameters written to the positioning unit.
2.
The operation is not initiated during the time that the pulse output busy flag (X_0) is on. (it has already been initiated).
3.
The operation is reset when the power supply is turned off.
If the startup contact for forward and reverse rotation go on at exactly the same timing, forward rotation takes precedence.
next page
8 − 21
Jog Operation
8.5
Action of the I/O Contact Before and After Jog Operation
FP2 Positioning Unit
Pulse output busy flag (X_0)
1.
This goes on with the next scan after jog operation has been initiated, and goes off when the pulse output is completed.
2.
Operation cannot be shifted to any other operation while this signal is on
(except for a forced stop and a deceleration and stop).
3.
This is reset when the power supply is turned off.
This flag is shared among E point control, P point control, jog operation, and home returns (except for pulse input enabled operation).
Pulse output done flag (X_1)
1.
This goes on when the pulse output is completed, and is maintained until the next E point control, P point control, jog operation, home return, or pulser input enabled status is initiated.
2.
This is reset when the power supply is turned off.
This flag is shared among E point control, P point control, jog operation, and pulser input enabled operation.
8.6
Precautions When Changing the Speed During JOG
Operation
For changing the target speed during JOG operation (linear acceleration/deceleration setting only), do not change the target speed while deceleration takes place when the
JOB contact goes on to off.
f [pps]
3000
2000
Forward JOG
Target speed 2000 3000 t [ms]
Do not write the target value within this interval.
8 − 22
Chapter 9
Home Return
9.1 Sample Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 − 3
9.1.1
Home Return in the Minus Direction . . . . . . . .
9 − 3
9.1.2
Home Return in the Plus Direction . . . . . . . . .
9 − 8
9.2 Flow of Operation Following a Home Return . . . . . .
9 − 13
9.2.1
Operation If the Home Input is the Z Phase of the Servo Driver . . . . . . . . . . . . . . . . . . . . .
9 − 17
9.2.2
Operation If the Home Input is
Through an External Limit Switch . . . . . . . .
9 − 19
9.3 Action of the I/O Contact Before and
After a Home Return Operation . . . . . . . . . . . . . . . . .
9 − 21
9.4 Checking the Home and Near Home
Input Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 − 24
9.4.1
When “Input Valid When Power is
Supplied” is Specified . . . . . . . . . . . . . . . . . .
9 − 24
9.4.2
When “Input Valid When Power is not
Supplied” is Specified . . . . . . . . . . . . . . . . . .
9 − 25
9.5 Practical Use for a Home Return . . . . . . . . . . . . . . . .
9 − 26
9.5.1
When One Limit Switch is Used as the Home Input . . . . . . . . . . . . . . . . . . . . . . . .
9 − 26
9.5.2
When the Near Home and Home Input are
Allocated by Turning a Single Limit Switch
On and Off . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 − 28
9.5.3
Home Return Based on a Home Search . .
9 − 30
Home Return FP2 Positioning Unit
9 − 2
FP2 Positioning Unit Home Return
9.1
Sample Program
9.1
Sample Program
9.1.1
Home Return in the Minus Direction
Returns to the home position are carried out in the minus direction.
For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction. This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side. The home input is connected to the Z phase output of the motor driver, or to an external switch and sensor.
4−axis type positioning unit 64−point type input unit
X100
Home return switch
Motor driver Return direction
Ball screw
Motor
(− side)
Home
Near home switch
Table
(+ side) next page
9 − 3
Home Return
9.1
Sample Program
Pulse output diagram
(Shared memory setting)
102h
103h
106h
107h
H 10
K 500
K 10000
K 100
Control code
Startup speed fs (pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms) f [pps]
Direction of decreasing elapsed value
10000
FP2 Positioning Unit
500
Home return start
CPU
Y42
(ORGS)
Near home input
External X7
(DOG)
Home input
External X6
(ZSG)
Deviation counter clear output
External
Pulse output busy flag
CPU
X0
(BUSY)
Home return done
CPU
X8
(ORGE)
Elapsed value
(Pe)
100
The signal logic following detection of the near home contact does not affect operation.
Count – t [ms]
Pulse width of about 1 ms
0
When home return is done, count value becomes 0.
9 − 4
FP2 Positioning Unit Home Return
9.1
Sample Program
Shared memory setting
Control parameter setting content
Control code
Set values in sample program example
H10
Acceleration/deceleration method:
Linear acceleration/ deceleration
Direction of home return:
− direction of elapsed value
Home input logic:
Input valid when the power is on
Near home input logic:
Input valid when the power is on
Startup speed (pps) K500
Target speed (pps) K10000
Acceleration/ deceleration time (ms)
K100
Range of acceptable settings
The specified values vary depending on the method of acceleration/deceleration, the home return direction, the home input logic, and the near home input logic (see page 9 − 7).
K0 to K1000000
K1 to K1000000
Specify a value larger than the startup speed.
K0 to K32767
Program
X100 R100
DF Condition of home return
R100
F1 DMV , H 10 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 10000 , DT 4
F1 DMV , K 100 , DT 6
Control code
Startup speed
Target speed
Acceleration/ deceleration time
F151 WRT , K 0 , DT 0 , K 8 , H 100 Shared memory writing
R100
This specifies the positioning unit in slot no. 0, from which the 8−word contents from data registers DT0 to DT7 are written to the shared memory addresses H100 to H107.
Y42
Home return start
ED next page
9 − 5
Home Return
9.1
Sample Program
FP2 Positioning Unit
Precautions concerning the program
• The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, home returns, and other types of control. These should not be overwritten by other conditions.
• If the values for the startup speed, the target speed, or the acceleration/deceleration time exceed the range of values which can be specified, a set value error will occur, and operation cannot be initiated.
• The number of the startup contact varies depending on the number of axes the unit has, and the installation position.
For detailed information about contact number Section 4.2.3 and 14.3.
• The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit.
For detailed information about slot number Section 4.2.3.2
For detailed information about shared memory area address Section 14.2
• The settings vary depending on the logic of the home return input and near home input which have been connected.
For detailed information about input logic Section 9.4
9 − 6
FP2 Positioning Unit Home Return
9.1
Sample Program
Specifying the control code
Control code
H0
Description
Acceleration/ deceleration method
Linear
Direction of home return
Home input logic Near home input logic
− direction
H2
H10
H12
H20
H22
H30
H32
S
Linear
S
Linear
S
Linear
S
− direction
− direction
− direction
− direction
− direction
− direction
− direction
Valid when power is not supplied
Valid when power is not supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
9 − 7
Home Return
9.1
Sample Program
FP2 Positioning Unit
9.1.2
Home Return in the Plus Direction
Returns to the home position are carried out in the plus direction.
For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction. This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side. The home input is connected to the Z phase output of the motor driver, or to an external switch and sensor.
Pulse output diagram
4−axis type positioning unit 64−point type input unit
X101
Home return switch
Motor driver
Motor
(− side)
WX0
WX1
WX2
WX3
WY4
WY5
WY6
WY7
WX8
WX9
WX10
WX11
Ball screw
Table
Return direction
Near home switch
Home
(+ side)
9 − 8
FP2 Positioning Unit Home Return
9.1
Sample Program
Pulse output diagram
(Shared memory setting)
H 14
K 500
K 10000
K 100
Control code
Startup speed fs (pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms) f [pps]
Direction of increasing elapsed value
10000
500
Home return start
CPU
Y42
(ORGS)
Near home input
External X7
(DOG)
Home input
External X6
(ZSG)
Deviation counter clear output
External
Pulse output busy flag
CPU
X0
(BUSY)
Home return done
CPU
X8
(ORGE)
Elapsed value
(Pe)
100
The signal logic following detection of the near home contact does not affect operation.
Count +
When home return is done, count value becomes 0.
0 t [ms]
Pulse width of about 1 ms
9 − 9
Home Return
9.1
Sample Program
FP2 Positioning Unit
Shared memory setting
Control parameter setting content
Control code
Set values in sample program example
H14
Acceleration/deceleration method:
Linear acceleration/ deceleration
Direction of home return:
+ direction of elapsed value
Home input logic:
Input valid when the power is on
Near home input logic:
Input valid when the power is on
Startup speed (pps) K500
Target speed (pps) K10000
Acceleration/ deceleration time (ms)
K100
Range of acceptable settings
The specified values vary depending on the method of acceleration/deceleration, the home return direction, the home input logic, and the near home input logic (see page 9 − 12).
K0 to K1000000
K1 to K1000000
Specify a value larger than the startup speed.
K0 to K32767
Program
X101 R101
DF Condition of home return
R101
F1 DMV , H 14 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 10000 , DT 4
F1 DMV , K 100 , DT 6
Control code
Startup speed
Target speed
Acceleration/ deceleration time
F151 WRT , K 0 , DT 0 , K 8 , H 100 Shared memory writing
R101
This specifies the positioning unit in slot no. 0, from which the 8−word contents from data registers DT0 to DT7 are written to the shared memory addresses H100 to H107.
Y42
Home return start
ED
9 − 10
FP2 Positioning Unit Home Return
9.1
Sample Program
Precautions concerning the program
• The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, home returns, and other types of control. These should not be overwritten by other conditions.
• If the values for the startup speed, the target speed, or the acceleration/deceleration time exceed the range of values which can be specified, a set value error will occur, and operation cannot be initiated.
• The number of the startup contact varies depending on the number of axes the unit has, and the installation position.
For detailed information about contact number Section 4.2.3 and 14.3.
• The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit.
For detailed information about slot number Section 4.2.3.2
For detailed information about shared memory area address Section 14.2
• The settings vary depending on the logic of the home input and near home input which have been connected.
For detailed information about input logic Section 9.4
9 − 11
Home Return
9.1
Sample Program
FP2 Positioning Unit
Specifying the control code
Control code
H4
Description
Acceleration/ deceleration method
Linear
Direction of home return
Home input logic Near home input logic
+ direction
H6
H14
H16
H24
H26
H34
H36
S
Linear
S
Linear
S
Linear
S
+ direction
+ direction
+ direction
+ direction
+ direction
+ direction
+ direction
Valid when power is not supplied
Valid when power is not supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
9 − 12
FP2 Positioning Unit Home Return
9.2 Flow of Operation Following a Home Return
9.2
Flow of Operation Following a Home Return
Home return
When a 4−axis type positioning unit is mounted in slot 0
Operation example
When the startup contact is turned on, acceleration is carried out based on the settings, until the target speed is reached. If near home input exists at that point, the speed slows to the startup speed, and then, if home input exists at that point as well, the movement stops.
Control code
Data necessary for operation
Startup speed
Target speed
Acceleration/deceleration time f [pps]
Direction of decreasing elapsed value c b t [ms] d
Home return start
CPU
Y42
(ORGS)
Near home input
External X7
(DOG)
Home input
External X6
(ZSG)
Deviation counter clear output
External
Pulse output busy flag
CPU
X0
(BUSY)
Home return done
CPU
X8
(ORGE)
Elapsed value
(Pe)
Count –
Pulse width of about 1 ms
9 − 13
Home Return
9.2
Flow of Operation Following a Home Return
FP2 Positioning Unit
When Y42 is turned on through the program, the motor for the first axis begins to accelerate, and continues accelerating until the target speed is reached. If there is near home input at that point, the motor decelerates to the startup speed.
After deceleration has been completed, the motor stops if home input exists.
Data required for settings
The following data must be written to the specified addresses of the shared memory.
Operation is determined by the following four types of data.
• Control code
• Startup speed
• Target speed
• Acceleration/deceleration time
Operation steps
Step 1: Preparatory stage
The data for operation is transferred to the shared memory ahead of time.
Data for home return
Control code
Startup speed
Target speed
Acceleration/deceleration time
Shared memory
9 − 14
FP2 Positioning Unit Home Return
9.2 Flow of Operation Following a Home Return
Step 2: Execution of operation
The startup contact relay Y42 is turned on.
The control code determines whether S acceleration/deceleration or linear acceleration/deceleration is used.
When the startup contact is turned on, acceleration takes places for the acceleration/deceleration time it takes to reach the target speed, and the table moves.
X100 Y42 f [pps]
ON t [ms]
Home switch (X6) Near home switch (X7)
Step 3: Near home input
If there is near home input, the speed slows to the startup speed.
f [pps]
ON t [ms]
ON
Near home switch (X7) next page
9 − 15
Home Return
9.2
Flow of Operation Following a Home Return
FP2 Positioning Unit
Step 4: Home input
After decelerating to the startup speed value, the movement unit stops if there is home input.
f [pps]
ON t [ms]
ON
Home switch (X6)
9 − 16
FP2 Positioning Unit Home Return
9.2 Flow of Operation Following a Home Return
9.2.1
Operation If the Home Input is the Z Phase of the Servo Driver
When near home input is input, the speed slows, and when the startup speed has been reached, the positioning unit recognizes the first input Z phase signal as the home input signal, and stops.
When a 4−axis type positioning unit is mounted in slot 0
Example of specified data
(Shared memory setting)
100h
101h
102h
103h
104h
105h
106h
107h
H
K 100
K 5000
K
10
200
Control code
Startup speed fs (pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms) f [pps] ft (5000) fs (100)
CPU
External
External
(Z phase signal)
Y42
(ORGS)
Near home contact
Home input
External
Ac
(200)
Edges of signal detected t [ms]
The signal logic following detection of the near home contact does not affect operation.
Output for approx. 1 ms
CPU
CPU
X0
(BUSY)
X8
(ORGE)
Elapsed value
(Pe)
0
Count –
* When the home return has been completed, the X8 (ORGE) goes on.
Z phase signals during deceleration are not viewed as home input signals.
When home return is done, count value becomes 0.
When a home return has been completed, the elapsed value in the shared memory is cleared, and at the same time the deviation counter clear output signal is output for approximately 1 ms.
next page
9 − 17
Home Return
9.2
Flow of Operation Following a Home Return
FP2 Positioning Unit
Notes
• Z phase signals input during deceleration are not viewed as home input signals. Deceleration continues without stopping until the startup speed is reached, and then the motor continues to rotate at the startup speed until a Z phase signal is input.
• If a home return is started at whatever point both the near home and home input become valid, the table (positioning unit) does not move.
9 − 18
FP2 Positioning Unit Home Return
9.2 Flow of Operation Following a Home Return
9.2.2
Operation If the Home Input is Through an External Limit Switch
When near home input is input, the speed slows, and when the startup speed has been reached, the home input signal is input, and stops.
When a 4−axis type positioning unit is mounted in slot 0
Example of specified data
(Shared memory setting)
100h
101h
H 10
K 100
Control code
Startup speed fs (pps)
104h
105h
K 5000
K 200
Target speed ft (pps)
Acceleration/deceleration time Ac (ms) f [pps] ft (5000) fs (100)
CPU
External
Y42
(ORGS)
Near home contact
External Home input
External
Ac
(200)
Edges of signal detected t [ms]
The signal logic following detection of the near home contact does not affect operation.
Output for approx. 1 ms
CPU
X0
(BUSY)
CPU X8
(ORGE)
Signals input during deceleration are not viewed as home input signals.
Elapsed value
(Pe)
Count –
* When the home return has been completed, the X8 (ORGE) goes on.
0
When home return is done, count value becomes 0.
When a home return has been completed, the elapsed value in the shared memory is cleared, and at the same time the deviation counter clear output signal is output for approximately 1 ms.
next page
9 − 19
Home Return
9.2
Flow of Operation Following a Home Return
FP2 Positioning Unit
Notes
• Home input signals input during deceleration are not viewed as home input signals. Deceleration continues without stopping until the startup speed is reached, and then the motor continues to rotate at the startup speed until a home input signal is input.
• If a home return is started at whatever point both the near home and home input become valid, the table (positioning unit) does not move.
9 − 20
Home return start
Y_2
(ORGS)
Near home input
X_7
(DOG)
Home input
X_6
(ZSG)
Deviation counter clear output
Pulse output busy flag
X_0
(BUSY)
Home return done flag
X_8
(ORGE)
Pulse output done flag
X_1
(EDP)
FP2 Positioning Unit Home Return
9.3 Action of the I/O Contact Before and After a Home Return Operation
9.3
Action of the I/O Contact Before and After a Home
Return Operation
Output frequency f [pps] ft fs
Pulse output begins within
0.1 ms after the startup contact goes on.
Time t (s)
Deceleration begins at the leading edge of the near home input.
Approx.
1ms
This is output for approximately 1 ms after the home return has been completed.
This goes on following one scan after the startup contact goes on.
1 scan
This goes on when the pulse output is completed.
This goes off when the pulse output is completed.
This goes off when E point control, P point control, jog operation, a home return, or pulser input enabled is started.
The pulse output done flag does not go on when a home return is completed.
Pulse output stops at the leading edge of the home input.
next page
9 − 21
Home Return
9.3
Action of the I/O Contact Before and After a Home Return Operation
FP2 Positioning Unit
Home return start contact (relay) (Y_2)
1.
Home return is initiated based on the parameters written to the positioning unit.
2.
The contact (relay) is not initiated during the time that the pulse output busy flag (X_0) is on. (it has already been initiated).
3.
The contact (relay) is reset when the power supply is turned off.
Near home input (X_7)
1.
Deceleration begins when the near home switch input connected to the positioning unit becomes valid.
2.
The leading edge of the signal is detected, so changes to flags following the input do not affect operation.
Confirmation of the input logic is necessary. (Refer to section 9.4.)
Home input (X_6)
1.
The table stops when the home switch input becomes valid after the near home switch input connected to the positioning unit became valid.
2.
The leading edge of the signal is detected, so changes to flags following the input do not affect operation.
Confirmation of the input logic is necessary. (Refer to section 9.4.)
Deviation counter clear output
1.
This goes on for approximately 1 ms after the home return has been completed.
This is used in systems in which a servo motor is used.
Pulse output busy flag (X_0)
1.
This goes on with the next scan after home return has been initiated, and goes off when the pulse output is completed.
2.
Operation cannot be shifted to any other operation while this signal is on
(except for a forced stop and a deceleration and stop).
3.
This is reset when the power supply is turned off.
This flag is shared among E point control, P point control, jog operation, and home returns (except when pulser input is enabled).
Home return done flag (X_8)
1.
This goes on when a home return is completed, and is maintained until E point control, P point control, jog operation, a home return, or pulser input enabled operation is started.
2.
This flag is reset when the power supply is turned off.
9 − 22
FP2 Positioning Unit Home Return
9.3 Action of the I/O Contact Before and After a Home Return Operation
Pulse output done flag (X_1)
1.
The pulse output done flag does not go on when a home return is completed.
2.
Before a home return is started, this goes from on to off when E point control, P point control, jog operation, or pulser input enabled operation is completed.
3.
If this is off before a home return is started, it remains off and does not change.
4.
This flag is reset when the power supply is turned off.
This flag is common to E point control, P point control, jog operation, and pulser input enabled operation.
9 − 23
Home Return
9.4
Checking the Home and Near Home Input Logic
FP2 Positioning Unit
9.4
Checking the Home and Near Home Input Logic
9.4.1
When “Input Valid When Power is Supplied” is Specified
In cases like that below, when power is supplied to the input circuit of the unit, the “Power supplied” control code for the program is selected from the control code table.
(Refer to section 14.2.1)
When “Input valid when power is supplied” is specified:
• If the input switch contact is the “a” contact
• If the input sensor goes on when the home or near home position is detected
• When the Z phase of the driver is connected
Input switch Input sensor
Internal circuit
Positioning unit Positioning unit
Current flows when the home or near home position is detected.
If the input switch contact is
“a” contact
Current flows when the home or near home position is detected.
If the input sensor goes on when the home or near home position is detected
9 − 24
FP2 Positioning Unit Home Return
9.4 Checking the Home and Near Home Input Logic
9.4.2
When “Input Valid When Power is not Supplied” is Specified
In cases like that below, when power is not being supplied to the input circuit of the unit, the “Power not supplied” control code for the program is selected from the control code table.
(Refer to section 14.2.1.)
When “Input valid when power is not supplied” is specified:
• If the input switch contact is the “b” contact
• If the input sensor goes off when the home or near home position is detected
Input switch Input sensor
Internal circuit
Positioning unit Positioning unit
Current stops flowing when the home or near home position is detected.
If the input switch contact is the “b” contact
Current stops flowing when the home or near home position is detected.
If the input sensor goes off when the home or near home position is detected
9 − 25
Home Return
9.5
Practical Use for a Home Return
9.5
Practical Use for a Home Return
FP2 Positioning Unit
9.5.1
When One Limit Switch is Used as the Home Input
Example of usage method
Connection
Only the home input switch is installed and connected. (No near home input switch is connected.)
Positioning unit
Home switch
Input logic setting
The control code in the shared memory should be set as indicated below.
− Home input logic: Input exists when power is supplied.
− Near home input logic: Input exists when power is not supplied.
9 − 26
FP2 Positioning Unit Home Return
9.5 Practical Use for a Home Return
Operation
When a home return begins, the motor rotates in the direction of the home return. The motor rotates at the startup speed.
(At this point, the near home input should already be on, as a result of the input logic.)
If there is home input, the motor stops.
Example:
Example of data specification
(Shared memory setting)
100h
101h
102h
103h
104h
105h
106h
107h
H 30
K 100
K 5000
K 200
Control code
Startup speed fs (pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Home f [pps] fs (100) t [ms]
CPU
External
External
(Z phase signal)
External
CPU
CPU
Y42
(ORGS)
Near home relay
Home input
Deviation counter clear output
X0 (BUSY)
X8 (ORGE)
Output for approx. 1ms
Elapsed value
(Pe)
0
Count –
When home return is done, count value becomes 0.
Notes
• The home return is carried out at the startup speed (one speed).
• The home input cannot be used if it is connected to the Z phase output of the motor driver.
next page
9 − 27
Home Return
9.5
Practical Use for a Home Return
FP2 Positioning Unit
Key Points
• Practical application of input logic. The near home input is set to “Input exists when power is not supplied”, and is not connected.
• There is no near home switch.
• Only the home input switch is connected.
9.5.2
When the Near Home and Home Input are Allocated by Turning a
Single Limit Switch On and Off
Environment in which this function can be used
This can be used in a system in which, when a home return is begun, the near home input switch goes on and then off again.
Near home Home Home
Example of usage method
Connection
The near home and home input are connected to the near home input switch.
Limit switch
(near home switch)
To home input (B5 or B14)
To near home input (B7 or B16)
+
To (A4,A7) or (A13,A16)
24 V DC
Input logic setting
The control code in the shared memory should be set as indicated below.
− Home input logic: Input exists when power is not supplied.
− Near home input logic: Input exists when power is supplied.
9 − 28
FP2 Positioning Unit Home Return
9.5 Practical Use for a Home Return
Operation
When a home return is begun, the motor rotates in the direction of the home return.
Deceleration begins when the near home input switch goes on, and the speed slows to the startup speed.
Rotation continues until the near home input goes off.
At that point, there is considered to be home input, and rotation stops.
Example of data specification
(Shared memory setting)
100h
101h
102h
103h
104h
105h
106h
107h
H 0
K 100
K 5000
K 200
Control code
Startup speed fs (pps)
Target speed ft (pps)
Acceleration/deceleration time Ac (ms)
Near home Home Home f [pps] ft (5000) fs (100) t [ms]
CPU
External
External
(Z phase signal)
External
Y42
(ORGS)
Near home input
Home input
CPU
CPU
X0
(BUSY)
X8
(ORGE)
Ac
(200)
Edges of signal detected
Output for approx. 1 ms
Notes
• The near home input must be on for the deceleration time or longer.
• Near home input does not affect operation, even if the signal logic changes after the near home detection.
9 − 29
Home Return
9.5
Practical Use for a Home Return
FP2 Positioning Unit
Key Points
• Practical application of input logic. The logic of the home input and that of the near home input are reversed.
• Near input is valid when the limit switch goes on.
• Home input is valid when the limit switch goes off.
• Only one switch is connected to both home input and near home input.
9.5.3
Home Return Based on a Home Search
What is a home search?
If control is being carried out which encompasses both sides of the home position, or the direction of the home return is not necessarily limited to one direction, the limit over input and the user program can be used to carry out a bi−directional home return, as shown in the illustration below.
If the near home position is in the direction of the home return
The speed slows at the near home position, and the motor stops at the home input position.
Return position Current position
(− side)
Return direction
(+side)
Motor
Limit over switch
Home switch
Near home switch Limit over switch
If the near home position is not in the direction of the home return
1
(− side)
The home return begins in the direction specified by the program.
Movement is continued until the limit over input position is reached.
Current position
1
(+side)
Motor
Limit over switch
Home switch
9 − 30
Near home switch Limit over switch
FP2 Positioning Unit Home Return
9.5 Practical Use for a Home Return
2 When the limit over is detected, the direction of movement is reversed.
Movement then continues until the near home input position, which briefly turns on then off again, is reached.
Limit over position Near home position
(− side)
2
(+side)
Motor
Limit over switch
Home switch Near home switch
Limit over switch
3
(− side)
When the near home input is detected, the direction of movement is reversed again, and movement stops at the home position.
Home position
3
Near home position
(+side)
Motor
Limit over switch
Home switch Near home switch
Limit over switch
9 − 31
Home Return
9.5
Practical Use for a Home Return
Sample program
X102
DF
Start of home return
R0
X0
Pulse output busy flag
R8
Home return done pulse
Home return in progress
R0
DF
Home return in progress
R8
Home return done pulse
R7
Y45
Y45
Forcible stop
Forcible stop
Retry of home return command
R1
Home return command
R1
DF
Home return command
R2
F1 DMV , H
Home return command pulse
F1 DMV , K
10 , DT
500 , DT
0
2
F1 DMV , K 2000 , DT 4
X112
F1 DMV , K 10 , DT 6
F151 WRT , K 0 , DT 0 , K 8 , H 100
R1 R6
CCW limit Home return
R3 command
Near home error detection
CCW limit detection
X0 R3
Pulse output busy flag
R4
CCW limit detection
R6
Near home error detection
After limit detecting,reverse command
R4
DF
After limit detecting, reverse command
R5
After limit detecting, reverse command pulse
F1 DMV , K 500 , DT 2
F1 DMV , K 2000 , DT 4
F1 DMV , K 300 , DT 6
F151 WRT , K 0 , DT 0 , K 8 , H 100
R0
R1
R2
R3
R4
R5 next page
9 − 32
FP2 Positioning Unit
Home return in progress
Home return command
Home return command pulse
CCW limit detection
After limit detecting, reverse command
After limit detecting, reverse command pulse
FP2 Positioning Unit
X7
DF
Near home input
R6
R4
After limit detecting, reverse command
R7
Retry of home return command
Near home error detection
X0 R6
Pulse output busy flag
R2
Near home error detection
Home return command pulse
X8
DF
Home return done flag
X8 Y45
Home return done flag
R9
Forcible stop
Completion of home return stored in memory
R4 Y45
After limit detecting,
Forcible stop
Emergency stop
X111
DF
CW limit
X112
DF
CCW limit
Home Return
9.5 Practical Use for a Home Return
R6
Near home error detection
R7
Y42
R8
R9
Retry of home return command
Home return start
Home return done pulse
Completion of home return stored in memory
Y43
Y45
Forward jog start
Forcible stop
ED
9 − 33
Home Return
9.5
Practical Use for a Home Return
FP2 Positioning Unit
9 − 34
Chapter 10
Pulser Input Operation
10.1 Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 − 3 next page next page
10.2 Sequence Flow for Pulser Input Operation . . . . . . .
10 − 11
10.3 Action of the I/O Contact During Pulser
Input Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 − 15
10.4 Types of Manual Pulse Generators That Can be Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 − 17
Pulser Input Operation FP2 Positioning Unit
10 − 2
FP2 Positioning Unit Pulser Input Operation
10.1 Sample Programs
10.1 Sample Programs
10.1.1
Pulser Input Operation (Transfer multiple: 1 multiple setting)
The rotation direction of the motor in which the elapsed value increases is set as the plus direction, and “pulse/sign” is set as the pulse output mode. Also, it is assumed that the mode setting switches on the back of the positioning unit are set to the normal setting side.
4−axis type positioning unit 64−point type input unit
X96
Pulser input enabled
Pulser
Motor driver
WX1
WX2
WX3
WY4
WY5
WY7
WX9
WX11
Motor
(− side)
Reverse
Ball screw
Table Forward
(+side) next page
10 − 3
Pulser Input Operation
10.1 Sample Programs
Pulse output diagram
(Shared memory setting)
100h
101h
102h
103h
104h
105h
H 0
K 1000
Control code
Target speed ft (pps) f [pps] Direction of increasing elapsed value
1000
Pulser input enabled
CPU Y47
(PEN)
Pulse output done flag
CPU
X1
(EDP)
External
External
External
External
Pulser input
A phase
Pulser input
B phase
Pulser output
A phase
Pulser output
B phase
Pulser forward
A phase
B phase
Pulser reverse
A phase
B phase
FP2 Positioning Unit
Direction of decreasing elapsed value t [ms]
10 − 4
FP2 Positioning Unit Pulser Input Operation
10.1 Sample Programs
Shared memory setting
Control parameter setting content
Control code
Target speed (pps)
Set values in sample program example
H0
Multiplication ratio:×1 multiple
K10000
Range of acceptable settings
H0:× 1 transfer multiple
H100: ×2 transfer multiple
H200: ×5 transfer multiple
H300: ×10 transfer multiple
H400: ×50 transfer multiple
H500: ×100 transfer multiple
H600: ×500 transfer multiple
H700: ×1000 transfer multiple
K1 to K1000000
Program
X96
R96
R96
F1 DMV , H 0 , DT 0
F151 WRT , K 0 , DT 0 , K 2 , H 100
Starting condition
Control code
Shared memory writing
This specifies the positioning unit in slot no. 0, from which the 2−word contents from data registers DT0 to DT1 are written to the shared memory addresses H100 to H101.
F1 DMV , K 1000 , DT 4
F151 WRT , K 0 , DT 4 , K 2 , H 104
This specifies the positioning unit in slot no. 0, from which the 2−word contents from data registers DT4 to DT5
R96 are written to the shared memory addresses H104 to H105.
Y47
Target speed
Shared memory writing
Pulser input enabled
ED next page
10 − 5
Pulser Input Operation
10.1 Sample Programs
FP2 Positioning Unit
Precautions concerning the program
• The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, home returns, and other types of control. These should not be overwritten by other conditions.
• If the target speed is out of the range of possible settings, a set value error will occur, and pulser input cannot be accepted.
• The number of the startup contact varies depending on the number of axes the unit has, and the installation position.
For detailed information about contact number Section 4.2.3 and 14.3.
• The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit.
For detailed information about slot number Section 4.2.3.2
For detailed information about shared memory area address Section 14.2
• The target speed should be specified as an appropriately large value to match the multiplication ratio. If the multiplication ratio is high and the target speed is low, the next pulser input command may be received before the specified pulse output has been completed, making it impossible to obtain output of the input number of pulses.
10 − 6
FP2 Positioning Unit Pulser Input Operation
10.1 Sample Programs
10.1.2
Pulser Input Operation (Transfer multiple: 5 multiple setting)
The rotation direction of the motor in which the elapsed value increases is set as the plus direction, and “pulse/sign” is set as the pulse output mode. Also, it is assumed that the mode setting switches on the back of the positioning unit are set to the normal setting side.
4−axis type positioning unit
64−point type input unit
X97
Pulser input enabled
Pulser
Motor driver
WX1
WX2
WX3
WY4
WY5
WY7
WX9
WX11
Motor
(− side)
Reverse
Ball screw
Table Forward
(+side) next page
10 − 7
Pulser Input Operation
10.1 Sample Programs
Pulse output diagram
Setting data example
(Shared memory setting)
100h
101h
102h
103h
104h
105h
H 200
K 5000
Control code
Target speed ft (ps) f [pps]
Direction of increasing elapsed value
5000
Pulser input enabled
CPU Y47
(PEN)
Pulse output done flag
CPU
X1
(EDP)
External
Pulser input
A phase
External
Pulser input
B phase
External
Pulser output
A phase
External
Pulser output
B phase
Pulser forward
A phase
B phase
Pulser reverse
A phase
B phase
FP2 Positioning Unit
Direction of decreasing elapsed value t [ms]
10 − 8
FP2 Positioning Unit Pulser Input Operation
10.1 Sample Programs
Shared memory setting
Control parameter setting content
Control code
Target speed (pps)
Set values in sample program example
H200
Multiplication ratio:×5 multiple
K5000
Range of acceptable settings
H0: ×1 transfer multiple
H100: ×2 transfer multiple
H200: ×5 transfer multiple
H300: ×10 transfer multiple
H400: ×50 transfer multiple
H500: ×100 transfer multiple
H600: ×500 transfer multiple
H700: ×1000 transfer multiple
K1 to K1000000
Program
X97
R97
R97
F1 DMV , H 200 , DT 0
F151 WRT , K 0 , DT 0 , K 2 , H 100
Starting condition
Control code
Shared memory writing
This specifies the positioning unit in slot no. 0, from which the 2−word contents from data registers DT0 to DT1 are written to the shared memory addresses H100 to H101.
F1 DMV , K 5000 , DT 4
F151 WRT , K 0 , DT 4 , K 2 , H 104
This specifies the positioning unit in slot no. 0, from which the 2−word contents from data registers DT4 to DT5 are written to the shared memory addresses H104 to H105.
R97 Y47
Target speed
Shared memory writing
Pulser input enabled
ED next page
10 − 9
Pulser Input Operation
10.1 Sample Programs
FP2 Positioning Unit
Precautions concerning the program
• The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, home returns, and other types of control. These should not be overwritten by other conditions.
• If the target speed is out of the range of possible settings, a set value error will occur, and pulser input cannot be accepted.
• The number of the startup contact varies depending on the number of axes the unit has, and the installation position.
For detailed information about contact number Section 4.2.3 and 14.3.
• The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit.
For detailed information about slot number Section 4.2.3.2
For detailed information about shared memory area address Section 14.2
• The target speed should be specified as an appropriately large value to match the multiplication ratio. If the multiplication ratio is high and the target speed is low, the next pulser input command may be received before the specified pulse output has been completed, making it impossible to obtain output of the input number of pulses.
10 − 10
FP2 Positioning Unit Pulser Input Operation
10.2 Sequence Flow for Pulser Input Operation
10.2 Sequence Flow for Pulser Input Operation
Pulser input operation
• A pulse generator (pulser) can be connected, and the motor controlled in the manual mode. Pulser signals can be input while the pulser input enabled contact
(PEN) is on.
• The user can select the number of pulses to be sent to the motor driver in relation to one pulser signal pulse (by setting the control code in the shared memory).
10 − 11
Pulser Input Operation
10.2 Sequence Flow for Pulser Input Operation
FP2 Positioning Unit
When the 4−axis type positioning unit is mounted in slot 0
Operation example
When the contact which enables pulser input is turned on, the motor rotates at the specified speed, in conjunction with the pulser operation.
Data necessary for operation f [pps]
Executed pulser input operation
Pulser input enabled
CPU Y47
(PEN)
Pulse output done flag
CPU X1
(EDP)
External
Pulser input
A phase c
External
Pulser input
B phase
External
Pulser output
A phase
External
Pulser output
B phase
Direction of increasing elapsed value
Pulser forward
Control code
Target speed
Direction of decreasing elapsed value
Pulser reverse t [ms]
A phase
B phase
A phase
B phase
When Y47 is turned on through the program, the motor for the first axis waits for pulser input. If the pulser is rotated in this state, the motor rotates also.
10 − 12
FP2 Positioning Unit Pulser Input Operation
10.2 Sequence Flow for Pulser Input Operation
The pulse output busy flag X0 remains off, and its status does not change. The pulse output done flag X1 goes off when Y47 goes on.
Data required for settings
The following data must be written to the specified addresses of the shared memory.
Operation is determined by the following two types of data.
• Control code
• Target speed
Operation steps
Step 1: Preparatory stage
The data required for operation is transferred to the shared memory in advance.
Data for pulser input operation Shared memory
Control code
Target speed
Step 2: Execution of the operation
The input enabled contact relay Y47 is turned on.
This sets the system in standby mode for input from the pulser.
X96 Y47 f [pps]
Pulser input standby mode t [ms]
Pulser
10 − 13
Pulser Input Operation
10.2 Sequence Flow for Pulser Input Operation
FP2 Positioning Unit
Forward rotation
The pulser rotates in the forward direction.
Reverse rotation
The pulser rotates in the reverse direction.
Forward rotation is the direction in which the elapsed value increases, and reverse rotation is the direction in which the elapsed value decreases. The direction in which the pulser rotates and that in which the motor rotates vary depending on how they are connected.
f [pps]
Forward rotation t [ms]
Pulser forward rotation f [pps]
Reverse rotation t [ms]
Pulser reverse rotation
Value of the internal absolute counter during pulser input operation
The internal absolute counter counts the number of pulses output. Consequently, in the instant that pulses are being input, the number of pulses input from the pulser does not equal the value counted by the counter.
Note
When pulser input is ignored
If the specified multiplication is high and the target speed is low, the next pulser input command may be received before the specified pulse output has been completed, making it impossible to obtain output of the input number of pulses.
If this happens, the target speed should be changed to an appropriate value.
10 − 14
Pulser input enabled
Y_7
(PEN)
Input from pulser
External
Pulser input
A phase
External
Pulser input
B phase
Output to driver
External
Pulser output
A phase
External
Pulser output
B phase
Pulse output busy flag
X_0
(BUSY)
Pulse output done flag
X_1
(EDP)
FP2 Positioning Unit Pulser Input Operation
10.3 Action of the I/O Contact During Pulser Input Operation
10.3 Action of the I/O Contact During Pulser Input
Operation
Pulser forward Pulser reverse
A phase
B phase
A phase
B phase f [pps]
Direction of increasing elapsed value
Direction of decreasing elapsed value
1000 t [ms]
The pulse output busy flag does not change.
This goes off one scan after the pulser input enabled contact relay Y_7 goes on.
This goes on one scan after the pulser input enabled contact relay Y_7 goes off.
next page
10 − 15
Pulser Input Operation
10.3 Action of the I/O Contact During Pulser Input Operation
FP2 Positioning Unit
Pulser input enabled relay (Y_7)
1.
This is in pulser input operation status, based on the parameters written to the positioning unit.
2.
This does not shift to enabled status while the pulse output busy flag X_0 is on.
3.
This relay is reset when the power supply is turned off.
Pulse output busy flag (X_0)
The on/off status of the pulse output busy flag does not change, even if the pulser input enabled relay Y_7 goes on.
Pulse output done flag (X_1)
1.
This goes from on to off if E point control, P point control, jog operation, or pulser input enabled operation is completed before pulser input is enabled.
2.
This goes from off to on when the pulser input enabled relay Y_7 goes off.
3.
This flag is reset when the power supply is turned off.
This flag is common to E point control, P point control, jog operation, and pulser input enabled operation.
10 − 16
FP2 Positioning Unit Pulser Input Operation
10.4 Types of Manual Pulse Generators That Can be Used
10.4 Types of Manual Pulse Generators That Can be Used
A pulse generator should be used for which the number of output pulses is
“25P/R” (25 pulses per cycle).
With the “100P/R” (100 pulses per cycle) type, four pulses are output per click, and operation may not be accurate in some cases.
A line driver output type is recommended.
A transistor open collector output type or transistor output type with pull−up resistance may be used.
For detailed information about connection methods Section 3.8
10 − 17
Pulser Input Operation
10.4 Types of Manual Pulse Generators That Can be Used
FP2 Positioning Unit
10 − 18
Chapter 11
Deceleration Stop and Forcible Stop
11.1 Sample Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 − 3
11.1.1 In−progress Stopping, Emergency
Stopping, and Overruns . . . . . . . . . . . . . . . . .
11 − 3
11.2 Operations for a Deceleration Stop and
Forcible Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 − 7
11.2.1 Deceleration Stop
11.2.2 Forcible Stop
. . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . .
11 − 7
11 − 8
11.3 I/O Contact Operation Before and After a Stop . . . . .
11 − 9
11.4 Precautions Concerning Stopping Operations . . . . .
11 − 11
11.4.1 Pulse Output Done Flag Statuses
After a Stop . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 − 11
11.4.2 Restarting After a Stop . . . . . . . . . . . . . . . . .
11 − 11
11.4.3 Forcible Stop Elapsed Value Data . . . . . . .
11 − 11
Deceleration Stop and Forcible Stop FP2 Positioning Unit
11 − 2
FP2 Positioning Unit Deceleration Stop and Forcible Stop
11.1 Sample Program
11.1 Sample Program
11.1.1
In−progress Stopping, Emergency Stopping, and Overruns
4−axis type positioning unit
64−point type input unit
Positioning start switch
X80
In−progress stop switch
X110
Emergency stop switch
X111
Motor driver
WX1
WX2
WX3
WY4
WY5
WY7
WX 9
WX11
Ball screw
Motor
(− side)
X112
Overrun limit (−) side
Table
X113
(+side)
Overrun limit (+) side next page
11 − 3
Deceleration Stop and Forcible Stop
11.1 Sample Program
FP2 Positioning Unit
Program
X80
R80
R80
R80
DF
F1 DMV , H 0 , DT 0
F1 DMV , K 300 , DT 2
F1 DMV , K 10000 , DT 4
F1 DMV , K 300 , DT 6
F1 DMV , K 50000 , DT 8
F151 WRT , K 0 , DT 0 , K 10 , H 100
Y40
E point control positioning operation program example
X110
In−progress stop input
Y46
Forcible stop relay
Y45
In−progress stop
X111
Emergency stop input
X112
DF
Limit over input (−)
X113
Limit over input (+)
DF
Forcible stop relay
Use differential instruction for limit over input
Emergency stop/ overrun
ED
Precautions concerning the program
• The number of the stop input contact varies depending on the number of axes that the unit has, and the position in which it is mounted.
For detailed information about contact number Section 4.2 and 14.3.
• If a deceleration stop or forcible stop is triggered, the startup contacts for the various operations must be turned off before operation can be restarted. This content is common to E point control, P point control, home returns, jog operation, and pulser input operation.
11 − 4
FP2 Positioning Unit
Pulse output diagram
Deceleration stop operation (In−progress stop) f [pps]
10000
300
E point control start relay
CPU
Y40
(EST)
Deceleration stop relay
CPU
Y46
(DCL)
Pulse output busy flag
CPU
X0
(BUSY)
Pulse output done flag
CPU
X1
(EDP)
Deceleration Stop and Forcible Stop
11.1 Sample Program
Time t [s]
11 − 5
Deceleration Stop and Forcible Stop
11.1 Sample Program
Forcible stop operation (Emergency stop and overrun) f [pps]
10000
300
E point control start relay
CPU
Y40
(EST)
Forcible stop relay
(when an emergency stop is input)
CPU
Y45
(EMR)
Forcible stop relay
(when an overrun is input)
CPU
Pulse output busy flag
Y45
(EMR)
CPU
X0
(BUSY)
Pulse output done flag
CPU
X1
(EDP)
FP2 Positioning Unit
Time t [s]
11 − 6
FP2 Positioning Unit Deceleration Stop and Forcible Stop
11.2 Operations for a Deceleration Stop and Forcible Stop
11.2 Operations for a Deceleration Stop and Forcible Stop
11.2.1
Deceleration Stop
If the deceleration stop contact is turned on during operation, the operation is interrupted, and the speed slows. When the startup speed is reached, pulse output stops. This operation is common to E point control, P point control, home returns, and jog operation. For pulser input operation, pulse output stops.
f [pps]
10000
300
100
During acceleration, deceleration is carried out at the acceleration percentage.
t [ms]
Deceleration time CPU
CPU
Y40
(EST)
Y46
(DCL)
Important
When a deceleration stop has been executed, deceleration is carried out based on the acceleration rate determined by the data specified in the shared memory area at that point, and continues until the startup speed is reached. Following that, operation stops.
If the deceleration stop contact goes on during deceleration or acceleration, deceleration is carried out at the acceleration percentage in effect at that time, and operation stops.
11 − 7
Deceleration Stop and Forcible Stop
11.2 Operations for a Deceleration Stop and Forcible Stop
FP2 Positioning Unit
11.2.2
Forcible Stop
If the forcible stop contact goes on during operation, pulse output stops immediately.
This operation is common to E point control, P point control, home returns, jog operation, and pulser input operation.
f [pps]
10000
300
CPU
CPU
Y40
(EST)
CPU X0
(BUSY)
X1
(EDP)
CPU
Y45
(EMR)
100 t [ms]
11 − 8
FP2 Positioning Unit Deceleration Stop and Forcible Stop
11.3 I/O Contact Operation Before and After a Stop
11.3 I/O Contact Operation Before and After a Stop
Output frequency f [pps]
In−progress stop Forcible stop
Time t [s]
E point control start
Y_0
(EST)
Deceleration stop relay
Y_6
(DCL)
Forcible stop relay
Y_5
(EMR)
If the deceleration stop relay goes on, deceleration begins immediately.
If the forcible stop relay goes on, pulse output stops immediately.
Pulse output busy flag
X_0
(BUSY)
This goes off with the next scan following stopping off pulse output, after deceleration.
Pulse output done flag
X_1
(EDP)
This goes on with the next scan following stopping on pulse output, after deceleration.
This goes off one scan after the forcible stop relay goes on.
This goes on one scan after the forcible stop relay goes on.
Deceleration stop relay (Y_6)
1.
When the deceleration stop relay goes on, the operation in progress is interrupted, and deceleration begins.
2.
After deceleration has begun and the speed has slowed to the startup speed, pulse output stops.
3.
This relay is reset when the power supply is turned off.
Forcible stop relay (Y_5)
1.
When the forcible stop relay goes on, the operation in progress is interrupted immediately, and pulse output stops.
2.
This relay is reset when the power supply is turned off.
next page
11 − 9
Deceleration Stop and Forcible Stop
11.3 I/O Contact Operation Before and After a Stop
FP2 Positioning Unit
Pulse output busy flag (X_0)
1.
When the deceleration stop relay goes on, this flag goes off when pulse output is completed.
2.
When the forcible stop relay goes on, this flag goes off one scan after the relay has gone on.
3.
This flag is reset when the power supply is turned off.
Pulse output done flag (X_1)
1.
When the deceleration stop relay goes on, this flag goes on when pulse output is completed.
2.
When the forcible stop relay goes on, this flag goes on one scan after the relay has gone on.
3.
This flag is reset when the power supply is turned off.
11 − 10
FP2 Positioning Unit Deceleration Stop and Forcible Stop
11.4 Precautions Concerning Stopping Operations
11.4 Precautions Concerning Stopping Operations
11.4.1
Pulse Output Done Flag Statuses After a Stop
For either a deceleration stop or a forcible stop, the pulse output done flag goes on after operation has stopped. If the pulse output done flag is being used as a trigger signal for operation after positioning has been completed, the program should be set up so that operation does not proceed to the next step following a deceleration stop or a forcible stop.
11.4.2
Restarting After a Stop
When a deceleration stop or forcible stop is triggered, the startup contacts for all operations must be turned off before operation can be restarted. This operation is common to E point control, P point control, home returns, jog operation, and pulser input operation.
11.4.3
Forcible Stop Elapsed Value Data
Elapsed value data in the shared memory is saved after a forcible stop is applied. Under normal conditions, it is possible that a mechanical error has occurred, so after home return, we recommend positioning control start.
11 − 11
Deceleration Stop and Forcible Stop
11.4 Precautions Concerning Stopping Operations
FP2 Positioning Unit
11 − 12
Chapter 12
Precautions Concerning the Operation and
Programs
12.1 Precautions Relating to Basic Operations of the Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 − 3
12.1.1 Values of Shared Memory are Cleared When
Power is Turned Off . . . . . . . . . . . . . . . . . . . .
12 − 3
12.1.2 Operation When the CPU Switches from RUN to PROG. Mode . . . . . . . . . . . . . .
12 − 5
12.1.3 Operation Cannot be Switched Once
One Operation Has Started . . . . . . . . . . . . .
12 − 6
12.2 Precautions Concerning Practical Usage
Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 − 7
12.2.1 Setting the Acceleration/Deceleration to Zero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 − 7
12.2.2 Precautions When Setting the Position
Command Value to One Pulse . . . . . . . . . .
12 − 7
Precautions Concerning the Operation and Programs FP2 Positioning Unit
12 − 2
FP2 Positioning Unit Precautions Concerning the Operation and Programs
12.1Precautions Relating to Basic Operations of the Unit
12.1 Precautions Relating to Basic Operations of the Unit
12.1.1
Values of Shared Memory are Cleared When Power is Turned Off
The data in the shared memory of the positioning unit is not backed up if a power failure occurs. As a result, when the power supply is turned on again, the default operation data should be written to the shared memory before the various startup contacts are turned on.
Shared memory Shared memory
H 1
K 500
K 10000
K 50
K 20000
K 14456
K 15000
Various set values and elapsed values
Power supply
ON OFF ON
K
K
K
H
K
K
K
0
0
0
0
0
0
0
All set values and elapsed values are reset to “0”.
When the power supply is turned off, the various set values in the shared memory are set to “0”. All of the control codes also return to the default values.
Notes
• If the startup contacts are turned on without writing the data to the memory, a set value error may occur, and the unit may not operate as expected.
• If a home return is carried out when the power supply is turned on, control codes must be written to the memory before the home return startup contact is turned on. If the control codes are not written to the memory, problems may occur such as a discrepancy between the direction of the home return and the input logic, causing the unit to operate in unexpected ways.
next page
12 − 3
Precautions Concerning the Operation and Programs
12.1 Precautions Relating to Basic Operations of the Unit
R9013
R9013
F1 DMV , H 10 , DT0
F1 DMV , K 500 , DT2
F1 DMV , K 10000 , DT4
F1 DMV , K 100 , DT6
F151 WRT , K 0 , DT0 , K 8 , H 100
Y42
FP2 Positioning Unit
The following program should be written to the unit, so that after the power supply is turned on, the elapsed value data prior to the power supply being turned off will be read.
R9013
Goes on for only one scan after power supply is turned on .
F1 DMV , DT 100 , DT 102
F151 WRT , K 0 , DT 102 , K 2 , H 10A
Specify the positioning unit in slot no.0
Values of data registers DT102 and DT103
The value are written to the elapsed value areas of the positioning unit.
R9014
Goes on from second scan after power supply is turned on
F150 READ , K 0 , H 10A , K 2 , DT 100
Specify the positioning unit in slot no.0
Values of elapsed value areas H10A and H10B
The value are read to the data registers DT100 and DT101.
Elapsed value data read constantly.
Example:
Before the power supply is turned off, the elapsed values are read to DT100 and DT101, and when the power supply is turned on, the contents of DT100 and DT101 are written to the elapsed value area of the unit, through DT102 and DT103.
12 − 4
FP2 Positioning Unit Precautions Concerning the Operation and Programs
12.1Precautions Relating to Basic Operations of the Unit
12.1.2
Operation When the CPU Switches from RUN to PROG. Mode
For safety reasons, if the CPU mode switches to the PROG. mode during E point control, P point control, jog operation, or a home return, any positioning unit operations in progress at that point are interrupted, and the speed decelerates.
Example: f [pps]
If the CPU switches from RUN to PROG. mode during E point control operation
Intended E point control operation
Point at which CPU switches from RUN to PROG. mode t [ms]
Notes
• At the point at which the CPU switches from the RUN to the
PROG. mode, deceleration and stopping begin.
The acceleration rate used for deceleration at that point is that determined by the data stored in the shared memory when the switch is made from the RUN to the PROG. mode.
• The CPU mode should not be switched from RUN to PROG.
while positioning unit operation is being executed under normal usage conditions.
For detailed information about deceleration operation Chapter 11
12 − 5
Precautions Concerning the Operation and Programs
12.1 Precautions Relating to Basic Operations of the Unit
FP2 Positioning Unit
12.1.3
Operation Cannot be Switched Once One Operation Has Started
If the startup contact for one of the five basic operations of the positioning unit (E point control, P point control, home return, jog operation, and pulser input operation) goes on and operation is initiated, it is not possible to switch to another operation, even if the contact for that operation goes on.
Example:
Once the E point control startup contact has gone on and E point control has begun, it is not possible to switch to P point control, a home return, jog operation, or pulser input operation, even if those contacts are turned on, while E point control is still in operation.
f [pps]
E point control operation
E point control start
Y_0
(EST)
Pulse output busy flag
X_0
(BUSY)
P point control start
Y_1
(PST)
Home return start
Y_2
(ORGS)
Pulser input
Forward jog start
Reverse jog start
Y_7
(PEN)
Y_3
(JGF)
Y_4
(JGR) t [ms]
If the contact for a deceleration stop or forcible stop goes on, the five basic operations noted above stop immediately.
12 − 6
FP2 Positioning Unit Precautions Concerning the Operation and Programs
12.2 Precautions Concerning Practical Usage Methods
12.2 Precautions Concerning Practical Usage Methods
12.2.1
Setting the Acceleration/Deceleration to Zero
To initiate the target speed immediately, without accelerating or decelerating (automatic startup operation), the startup speed and acceleration/deceleration time should both be set to 0 (zero). This produces pulse output at the target speed, with an acceleration/deceleration time of 0 (zero). Setting the startup speed equal to the target speed results in a set value error, and the positioning unit will not start.
Output frequency f [pps]
100h
101h
102h
103h
104h
105h
106h
107h
108h
109h
Shared memory setting contents
H
K
0
0
K 5000
K 0
K 20000
Control code
Startup speed fs [pps]
Target speed ft [pps]
Acceleration/deceleration time Ac [ms]
Position command value Pt [pulse]
Set the startup speed and the acceleration/ deceleration time to 0 (zero).
5000
Time t [s]
12.2.2
Precautions When Setting the Position Command Value to One
Pulse
When the travel amount becomes one pulse by E point control or P point control, set the startup speed to one pps or more. When the startup speed is 0 pps, the operation will stop in the state that 1 pulse has been output. (It will be hanged.)
Control code
Startup speed
Target speed
Acceleration/ deceleration time
Position command value
H
K
K 1000
K 100
K
0
0
1
Control code
Startup speed
Target speed
Acceleration/ deceleration time
Position command value
H
K
K 1000
K 100
K
0
1
1
12 − 7
Precautions Concerning the Operation and Programs
12.2 Precautions Concerning Practical Usage Methods
FP2 Positioning Unit
12 − 8
Chapter 13
Positioning Unit Operation if an Error
Occurs
13.1 Positioning Unit Operation if an Error Occurs . . . . . .
13 − 3
13.1.1 If the Positioning Unit ERR LED
Lights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1.2 If the CPU ERROR LED Lights . . . . . . . . . .
13 − 3
13 − 4
13.2 Errors Which Occur in the Positioning Unit Itself . . .
13 − 5
13.3 Resolving Problems . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 − 7
13.3.1 If the Positioning Unit ERR LED Lights . . .
13 − 7
13.3.2 If the Motor Does Not Turn or Operate
(if the display LED for pulse output
A or B is flashing or lighted) . . . . . . . . . . . .
13 − 11
13.3.3 If the Motor Does Not Turn or Operate
(if the display LED for pulse output
A or B is not lighted) . . . . . . . . . . . . . . . . . .
13 − 11
13.3.4 Rotation/Movement Direction is
Reversed . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 − 12
13.3.5 The Stopping Position is Off for a
Home Return . . . . . . . . . . . . . . . . . . . . . . . .
13 − 13
13.3.6 Speed Does not Slow for a Home
Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 − 15
13.3.7 Movement Doesn’t Stop at Home Position
(after decelerating for home return) . . . . .
13 − 16
Positioning Unit Operation if an Error Occurs FP2 Positioning Unit
13 − 2
FP2 Positioning Unit Positioning Unit Operation if an Error Occurs
13.1 Positioning Unit Operation if an Error Occurs
13.1 Positioning Unit Operation if an Error Occurs
13.1.1
If the Positioning Unit ERR LED Lights
ERR LED
When starting (stopped)
If a set value error occurs when the positioning unit is started (stopped), the various operations will not begin. This applies to E point control, P point control, home returns, jog operation, and pulser operation, none of which will be initiated.
During P point control operation or jog operation
If a set value error occurs during P point control operation or during jog operation, the positioning unit interrupts any operation currently in progress, and enters the
“deceleration stop” status.
When a set value error occurs, the error cancel contact should be turned off, on, and then off again. Operation cannot be restarted until the error has been canceled.
Operation continues on other axes where the set value error has not occurred.
For detailed information about deceleration stop operation Chapter 11
13 − 3
Positioning Unit Operation if an Error Occurs
13.1 Positioning Unit Operation if an Error Occurs
13.1.2
If the CPU ERROR LED Lights
ERROR LED
FP2 Positioning Unit
The positioning unit interrupts any operation currently in progress, and enters the
“deceleration stop” status.
Operation is continued, however, if “Operation” has been specified in the system register settings for operation when an error of some kind occurs.
For detailed information about deceleration stop operation Chapter 11
13 − 4
FP2 Positioning Unit Positioning Unit Operation if an Error Occurs
13.2 Errors Which Occur in the Positioning Unit Itself
13.2 Errors Which Occur in the Positioning Unit Itself
The positioning unit itself has a function which warns the user of an error if any of the parameters for the “Startup speed”, “Target speed”, and “Acceleration/deceleration time” settings are not appropriate.
ERR LED
Errors are displayed individually for each axis.
next page
13 − 5
Positioning Unit Operation if an Error Occurs
13.2 Errors Which Occur in the Positioning Unit Itself
FP2 Positioning Unit
Cases in which errors occur, and their contents
Item At startup setting
E point t l
P point t l
Startup speed
Target speed
Acceleration/ deceleration time
Startup speed
Target speed
Acceleration/ deceleration time
Home return
Startup speed
Target speed
Acceleration/ deceleration time
Jog ti
Startup speed i
Pulser input
Acceleration/ deceleration time
Startup speed
Target speed
Acceleration/ deceleration time
Operation when above error occurs
Negative number
Error
Error
Error
Error
Error
Error
Error
Error
Error
Error
Error
Error
Error
0
Error
Error
Error
Error
Error
Error
Out of range
Error
Error
Error
Error
Error
Error
Error
Error
Error
Error
Error
Error
Error
Operation does not begin
At setting change during operation
Negative number
0 Out of range
Error
Error
Error
Error
Error
Deceleration stop
Error
Error
Error
• The position command value and the control code are not subject to setting errors regardless of whether the increment or absolute method is selected.
• Data of this area is not subject to errors.
• When starting any of the modes (except pulser input), an error will occur if the startup speed setting is greater than or equal to the target speed setting.
• A setting change can only be made during jog operation if linear acceleration/deceleration is selected.
13 − 6
FP2 Positioning Unit Positioning Unit Operation if an Error Occurs
13.3 Resolving Problems
13.3 Resolving Problems
13.3.1
If the Positioning Unit ERR LED Lights
Conditions
There is a setting error in the positioning data.
Procedure:
1. Using programming tools, check to see if the values in the data registers being used as the positioning parameter data tables are within the allowable setting range.
Allowable setting range for positioning data
Type of parameter
Startup speed (pps)
Target speed (pps)
Acceleration/ deceleration time (ms)
Allowable setting range
Program specifications
0 to +1,000,000 (pps) K0 to K1000000
+1 to +1,000,000 (pps) K1 to K1000000
0 to +32,767 (ms) K0 to K32767
Points to check
• Is the value for the startup speed larger than that for the target speed? An error occurs if the two values are the same, as well.
For the first speed with E point control and P point control, and when carrying out jog operation and home returns, a value should be set which is larger than the startup speed.
• Has the target speed been set to “0”?
• Has a data register been set to a negative value?
• If parameters have been set from an external source, and if operation is being carried out internally in the PLC, check to make sure the values match those specified by the design.
2. Correct any values which are outside of the allowable range, in the program.
next page
13 − 7
Positioning Unit Operation if an Error Occurs
13.3 Resolving Problems
FP2 Positioning Unit
3. Use any of the following procedures to reset the set value error.
• In the program, turn the error clear contact “ECLR” off, on, and then off again.
• Using forced output based on the programming tool software, turn the error clear contact “ECLR” off, on, and then off again.
• Turn off the power supply for the driver and then that for the
PLC, and then turn on the PLC power supply, followed by the driver power supply.
Note
If the error clear contact “ECLR” is on, none of the positioning operations will start. Cancel the error first and then restart the various operations.
The startup contacts for the various operations become valid after the error has been canceled.
If the error clear signal is being cleared in the program, it is possible to clear the error with the other axes still in operational status.
13 − 8
FP2 Positioning Unit Positioning Unit Operation if an Error Occurs
13.3 Resolving Problems
Clearing an error with the error clear signal 1 [Using the program to clear the error]
With this method, errors are cleared through the program, using a switch or other means connected ahead of time. Any desired input can be used to turn on the error clear signals corresponding to the various axes.
Example:
X100 Y4F
Input X100 is used to clear a positioning unit set value error.
Note
The relay number used varies depending on the allocated position Section 4.2 and 14.3.
Clearing an error with the error clear signal 2 [Using forced output to clear the error]
Procedure:
1.
Select “FORCE I/O” on the menu of the programming tool software.
2.
Specify the relay Y_F for the forced output.
3.
Turn on the relay for the forced output, and turn it off.
4.
Cancel the forced status.
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13 − 9
Positioning Unit Operation if an Error Occurs
13.3 Resolving Problems
FP2 Positioning Unit
Note
After using forced output, always cancel the forced status.
The relay number used varies depending on the unit type, the allocated position and the number of axes Section 4.2 and
14.3.
13 − 10
FP2 Positioning Unit Positioning Unit Operation if an Error Occurs
13.3 Resolving Problems
13.3.2
If the Motor Does Not Turn or Operate
(if the display LED for pulse output A or B is flashing or lighted)
Solution 1: For the servo motor
Check to make sure the servo on input is set to “On”.
R0 Y80
PLC
Servo on input
Motor driver
4−axis type positioning unit
64−point type output unit
Solution 2
Check to make sure the power supply for the driver is on.
Solution 3
Check to make sure the wiring between the positioning unit and the driver has been correctly connected.
Solution 4
Check to make sure the settings for the pulse output method (CW/CCW method or
Pulse/Sign method) are appropriate for the driver.
For detailed information about mode switch settings (refer to section 4.1)
13.3.3
If the Motor Does Not Turn or Operate
(if the display LED for pulse output A or B is not lighted)
Solution
Review the program and correct it if necessary.
Points to check
1 Check to make sure the I/O numbers are appropriate.
2 Check to make sure the startup contacts have not been overwritten in the program.
13 − 11
Positioning Unit Operation if an Error Occurs
13.3 Resolving Problems
13.3.4
Rotation/Movement Direction is Reversed
[Example of reversed rotation/movement direction]
Reverse direction (Intended direction)
FP2 Positioning Unit
Solution 1
Make sure the wiring between the positioning unit and the driver has been correctly connected.
Point to check
Make sure the CW/CCW output or the Pulse/Sign output has been connected to the pertinent input on the driver side.
For detailed information about connection of pulse output signal section 3.4
Solution 2
Check to make sure the control codes in the program match the specifications for the position command values.
Point to check
The settings for the increment “relative value control” and the absolute “absolute value control” are specified through the control codes in the program.
For detailed information about increment and Absolute section 4.3
Solution 3
If the settings for the position command data have been designed with the plus (+) and minus (−) directions reversed, change the direction of rotation, using the mode setting switches on the back of the unit.
For detailed information about operation mode setting switch setting o section 4.1
13 − 12
FP2 Positioning Unit Positioning Unit Operation if an Error Occurs
13.3 Resolving Problems
13.3.5
The Stopping Position is Off for a Home Return
Stopping position is exceeded
Startup speed t [ms]
X7
Near home input switch: on
X6
Home input: on
Conditions
When a home return is carried out, there is a possibility that the speed cannot be slowed sufficiently. If deceleration cannot be continued down to the startup speed, the unit will not stop even if there is home input.
Solution 1
Try shifting the position of the near home input switch in the direction of the home return, and in the opposite direction.
Deceleration completed
Normal stopping position
Startup speed t [ms
X7
Near home input switch: on
X6
Home input: on
Point to check
If the home input is connected to the Z phase of the servo motor driver, there may be cases in which the near home input position is close to the home input.
next page
13 − 13
Positioning Unit Operation if an Error Occurs
13.3 Resolving Problems
FP2 Positioning Unit
Stopping position is exceeded
Startup speed t [ms]
X7
Near home input switch: on
X6
Home input (Z phase): on
Solution 2
Correct the program and set the home return speed to a slower speed.
13 − 14
FP2 Positioning Unit Positioning Unit Operation if an Error Occurs
13.3 Resolving Problems
13.3.6
Speed Does not Slow for a Home Return
Movement does not decelerate and stop.
Startup speed t [ms]
X7
Near home input switch: on
X6
Home input: on
Conditions
There is a possibility that the near home input has not been read correctly.
Solution 1
Forcibly turn the near home input switch on and off from an external source, and check to see if the near home input display LED “D” on the positioning unit lights.
Solution 2
Check to make sure the input logic for the near home input switch is normally either on or off.
Solution 3
Check the specifications of the control codes in the home return program. The specified control codes vary depending on the input logic confirmed under “Solution 2.”
For detailed information about control code section 14.2.1
For detailed information about input logic section 9.4
Point to check
If no near home input has been connected, the near home input will be recognized as being off.
13 − 15
Positioning Unit Operation if an Error Occurs
13.3 Resolving Problems
FP2 Positioning Unit
13.3.7
Movement Doesn’t Stop at Home Position
(after decelerating for home return)
Startup speed is maintained,with no stopping.
Startup speed t [ms]
X7
Near home input switch: on
X6
Home input
Conditions
There is a possibility that the home input has not been read correctly.
Point to check
The home return makes home input subsequent to deceleration valid, so if the home signal is input during deceleration, that input will end up being ignored.
Solution 1
Forcibly turn the home input sensor on and off from an external source, and check to see if the home input display LED “Z” on the positioning unit lights.
Solution 2
Check to make sure the input logic for the home input is normally either on or off.
Solution 3
Check the specifications of the control codes in the home return program. The specified control codes vary depending on the input logic confirmed under “Solution 2”.
For detailed information about control code section 14.2.1
For detailed information about input logic section 9.4
Point to check
If no home input has been connected, the home input will be recognized as being on.
13 − 16
Chapter 14
Specifications
14.1 Table of Performance Specification . . . . . . . . . . . . . .
14 − 3
14.2 Table of Shared Memory Area . . . . . . . . . . . . . . . . . .
14.2.1 Quick Guide to Control Codes . . . . . . . . . . .
14 − 6
14 − 7
14.3 Table of I/O Contact (Relay) Allocation . . . . . . . . . .
14 − 10
Specifications FP2 Positioning Unit
14 − 2
FP2 Positioning Unit Specifications
14.1
Table of Performance Specification
14.1 Table of Performance Specification
General specifications
Item
Ambient operating temperature
Ambient storage temperature
Ambient operating humidity
Ambient storage humidity
Breakdown voltage
Description
0 °C to +55 °C/32 °F to +131 °F
−20 °C to +70 °C/−4 °F to +158 °F
30 % to 85 % RH (25 °C non-condensing)
30 % to 85 % RH (25 °C non-condensing)
500 V AC, 1 minute
Between the various pins of the external connector and the ground, (except for the “F.E.” pins)
Insulation resistance
Vibration resistance
100MΩ or more (measured with 500 V DC megger testing)
Between the various pins of the external connector and the ground (except for the “F.E.” pins)
10 to 55 Hz, 1 cycle/min. (double amplitude of 0.75 mm/0.030 in.,
10 min. each in the X, Y, Z directions)
Shock of 98 m/s 2 , 4 times in the X, Y, Z directions Shock resistance
Noise immunity 1,000 Vp-p with pulse widths 50 ns and 1 µs (based on in-house measurements)
Operating environment Free of corrosive gases and excessive dust
14 − 3
Specifications
14.1 Table of Performance Specification
FP2 Positioning Unit
Performance specifications
Item
Order number
Descriptions
FP2−PP2 FP2−PP4
Occupied I/O points Input: 32 points,
Output: 32 points
Number of axes controlled 2 axes, independent
Position co a d
Input: 64 points,
Output: 64 points
4 axes, independent
Command units Pulse unit (The program specifies whether Increment or
Absolute is used.)
Command range Signed 32 bits (−2,147,483,648 to +2,147,483,647 pulses)
Speed command
Command range
Acceleration/ deceleration method
Acceleration/ deceleration time
Home return speed
When line driver is used: 1 pps to 1 Mpps
(settings in units of 1 pps are possible)
When open collector is used: 1 pps to 200 kpps
(settings in units of 1 pps are possible)
Linear acceleration/deceleration,
S acceleration/deceleration (this takes the form of an “S”)
0 to 32767 ms
Home e u
Startup time
Input terminals Home input, Near home input
Operation mode E point control (Linear and S accelerations/decelerations selecting possible) (* Note 1)
P point control (Linear and S accelerations/decelerations selecting possible) (* Note 1)
Home return function (Linear and S accelerations/decelerations selecting possible)
Jog operation function (Linear and S accelerations/decelerations selecting possible) (* Note 2)
Pulser input function (Transfer multiplication ratio ×1, ×2,
×5, ×10, ×50, ×100, ×500, ×1000 selecting possible)
0.1 ms or less
Output mode
Speed setting possible (changes return speed and search speed)
Pulse/Sign mode, CW/CCW mode (Switched using the setting switch on the back of the unit)
Other functions
Internal current consumption (at 5 V DC)
(*Note 3)
External power supply
(*Note 4)
Max. coefficient speed
Weight
Deviation counter clear signal output contact
225 mA or less 400 mA or less
24 V DC (21.6 to 26.4 V DC)
Current consumption: 45 mA or less
250 kHz
Approx. 125 g/4.409 oz
24 V DC (21.6 to 26.4 V DC)
Current consumption: 90 mA or less
Approx. 150 g/5.291 oz
14 − 4
FP2 Positioning Unit Specifications
14.1
Table of Performance Specification
Notes
1) E point and P point control shown in the following diagram are the acceleration/deceleration controls.
2) The target speed is changeable during operation when linear acceleration/deceleration operation is selected.
3) This is supplied to the interior of the unit from the power supply unit, through the backplane bus.
4) Power is supplied from an external source to the unit connector.
Speed
[pps]
Simple acceleration/deceleration control for movement to an end (END) point.
E point control
P point control
Multi−stage acceleration/deceleration control for movement through a preset series of transit (PASS) points.
Time [ms]
14 − 5
Specifications
14.2 Table of Shared Memory Area
FP2 Positioning Unit
14.2 Table of Shared Memory Area
Shared memory address
(Hexadecimal)
1 axis
2 axes
3 axes
4 axes
Name Descriptions
100h 110h 120h 130h Control code Acceleration/deceleration method (Liner, S)
Control method
(Increment, Absolute)
101h 111h 121h 131h
(Increment, Absolute)
Home return direction and logic
Pulser transfer multiple
102h 112h 122h 132h Startup
103h 113h 123h 133h speed fs
(pps)
Startup speed setting
Setting range:
0 to 1,000,000 (pps)
104h 114h 124h 134h Target speed
105h 115h 125h 135h
107h 117h 127h 137h ft (pps)
106h 116h 126h 136h Acceleration/ deceleration time Ac (ms)
108h 118h 128h 138h Position command value
109h 119h 129h 139h
10Ah 11Ah 12Ah 13Ah Elapsed
10Bh 11Bh 12Bh 13Bh value Pe
10Ch 11Ch 12Ch 13Ch Comparison
10Dh 11Dh 12Dh 13Dh pulse count
Target speed setting
Setting range:
1 to 1,000,000 (pps)
Acceleration/deceleration time setting
Setting range:
0 to 32,767 (ms)
Position command value setting
Signed 32 bits
−2,147,483,648 to
2,147,483,647
(pulses)
Count of elapsed value (Absolute)
Signed 32 bits
−2,147,483,648 to
2,147,483,647
(pulses)
Comparison pulse setting
Signed 32 bits
−2,147,483,648 to
2,147,483,647
(pulses)
Setting needed/not needed
(Y: needed, N: not needed)
E point control
P point control
Jog operation
Home return
Y Y Y Y
Y
Y
Y
Y
*
*
Y
(for first speed only)
Y
Y
Y
*
*
Y
Y
Y
N
*
*
Y
Y
Y
N
*
*
Pulser operation
Y
N
Y
N
N
*
*
Notes
• The shared memory is shared between E point control, P point control, jog operation, home return, and pulser input operations. Be careful that the shared memory is not overwritten at the same timing.
• For the first speed of E point control and P point control, and for jog operation and home returns, the value set for the target speed should be larger than that set for the startup speed.
• “*” is read and written as needed.
14 − 6
FP2 Positioning Unit Specifications
14.2
Table of Shared Memory Area
14.2.1
Quick Guide to Control Codes
E point control and P point control
Control code
H0
H1
Control method,
Acceleration/deceleration method
Increment, Linear acceleration/deceleration
Absolute, Linear acceleration/deceleration
Control code
H2
H3
Jog operation
Control code
H0
Acceleration/deceleration method
Control code
Linear acceleration/deceleration H1
Control method,
Acceleration/deceleration method
Increment,
S acceleration/deceleration
Absolute,
S acceleration/deceleration
Acceleration/deceleration method
S acceleration/deceleration
14 − 7
Specifications
14.2 Table of Shared Memory Area
FP2 Positioning Unit
S
Linear
S
Linear
S
Linear
S
Linear
S
Linear
S
Linear
S
Linear
S
Home return
Control code
H0
Acceleration/deceleration method
Linear
Direction of home return
− direction
H12
H14
H16
H20
H22
H24
H26
H30
H32
H34
H36
H2
H4
H6
H10
− direction
+ direction
+ direction
− direction
− direction
+ direction
+ direction
− direction
− direction
+ direction
+ direction
− direction
− direction
+ direction
+ direction
Pulser input operation
Control code
H0
H100
H200
H300
Transfer multiplication ratio
×1 time
×2 times
×5 times
×10 times
Control code
H400
H500
H600
H700
Home input logic
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Near home input logic
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Valid when power is not supplied
Transfer multiplication ratio
×50 times
×100 times
×500 times
×1000 times
14 − 8
FP2 Positioning Unit Specifications
14.2
Table of Shared Memory Area
Control codes are written to the shared memory area with the bit configuration shown below.
The settings for the control method, the method of acceleration and deceleration, the home return method, and the pulser transfer multiple ratio are all written to the same area, so be careful that overwriting is not done at the same timing.
Higher 16 bits (Address: 101h,111h,121h,131h,)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Indicates the invalid bit
Lower 16 bits (Address: 100h,110h,120h,130h,)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
10 9 8
0 0 0
0 0 1
0 1 0
0 1 1
1 0 0
1 0 1
1 1 0
1 1 1
Pulser transfer multiple x1 x2 x5 x10 x50 x100 x500 x1000
0
1
2
4
5
Control method
Acceleration/ deceleration method
Direction of home return
Home input logic
Near home input logic
0 (Default value)
Increment
Linear acceleration
/deceleration
− direction of elapsed value
Input valid when no power is supplied
Input valid when power is supplied
For detailed information about the checking of input logic section 9.4.
1
Absolute
S acceleration/ deceleration
+ direction of elapsed value
Input valid when power is supplied
Input valid when no power is supplied
14 − 9
Specifications
14.3 Table of I/O Contact (Relay) Allocation
14.3 Table of I/O Contact (Relay) Allocation
FP2 Positioning Unit
Contact
(Relay)
X_0
X_1
X_2
X_3
X_4
X_5
X_6
X_7
X_8
X_9
X_A
X_B
X_C
X_D
X_E
X_F
Y_0
Y_1
Y_2
Y_3
Name
Pulse output busy
Pulse output done
Acceleration zone
Constant speed zone
ACC
CON
Deceleration zone
DEC
Rotation direction DIR
Home input
Near home input
BUSY Goes on during pulse output.
(* Note 1)
EDP Goes on when pulse output ends. (* Note 2)
ZSG
DOG
Goes on during acceleration zone.
Goes on during constant speed zone.
Goes on during deceleration zone.
Monitor contact for direction of rotation
(direction of increasing elapsed value when on).
Goes on when home input becomes valid
Goes on when near home input becomes valid
X2
X3
X4
X5
I/O contact (relay) number
2−axis type 4−axis type
1st axis
X0
2nd axis
1st axis
X10 X0
2nd axis
3rd axis
4th axis
X10 X20 X30
X1 X11 X1 X11 X21 X31
X6
X7
X12
X13
X14
X15
X16
X17
X2
X3
X4
X5
X6
X7
X12
X13
X14
X15
X16
X17
X22
X23
X24
X25
X26
X27
X32
X33
X34
X35
X36
X37
Home return done
Comparison result
Set value change confirmation
ORGE Turns on when home return is done.
Goes on until next home return is initiated.
CLEP Goes on when elapsed value of internal counter is greater than or equal to the number of comparison pulse.
CEN With P point control, this is used to confirm rewriting of set values. (* Note 3)
————
————
————
Set value error
E point control start
————
P point control start
———
———
————————
————————
———
SERR Goes on when a set value error occurs.
———
EST
————————
————————
When turned on in the user program, E point control is initiated.
PST When turned on in the user program, P point control is initiated.
Home return start ORGS When turned on in the user program, a home return is initiated.
Forward jog JGF When turned on in the user program, jog forward rotation is initiated.
X8
X9
XA
XB
XC
XD
XE
X18
X19
X1A
X1B
X1C
X1D
X1E
X8
X9
XA
XB
XC
XD
XE
X18
X19
X1A
X1B
X1C
X1D
X1E
X28
X29
X2A
X2B
X2C
X2D
X2E
X38
X39
X3A
X3B
X3C
X3D
X3E
XF X1F XF X1F X2F X3F
Y20 Y30 Y40 Y50 Y60 Y70
Y21 Y31 Y41 Y51 Y61 Y71
Y22 Y32 Y42 Y52 Y62 Y72
Y23 Y33 Y43 Y53 Y63 Y73
14 − 10
FP2 Positioning Unit Specifications
14.3
Table of I/O Contact (Relay) Allocation
Y_8
Y_9
Y_A
Y_B
Y_C
Y_D
Y_E
Y_F
Contact
(Relay)
Y_4
Y_5
Y_6
Y_7
Name
Reverse jog
Forced stop
JGR
EMR
When turned on in the user program, jog reverse rotation is initiated.
When turned on in the user program, operations currently running are interrupted and forcibly stopped.
Deceleration stop DCL
Pulser input enabled
————
————
————
————
————
————
————
Error clear
PEN
When turned on in the user program, operations currently running are interrupted, and decelerate to a stop.
When turned on in the user program, pulser input is enabled
(valid only while on).
———
———
———
———
————————
————————
————————
————————
———
———
————————
————————
——— ————————
ECLR If a set value error occurs, the error is canceled when this is turned on in the user program.
I/O contact (relay) number
2−axis type 4−axis type
1st axis
2nd axis
1st axis
2nd axis
3rd axis
4th axis
Y24 Y34 Y44 Y54 Y64 Y74
Y25 Y35 Y45 Y55 Y65 Y75
Y26 Y36 Y46 Y56 Y66 Y76
Y27 Y37 Y47 Y57 Y67 Y77
Y28 Y38 Y48 Y58 Y68 Y78
Y29 Y39 Y49 Y59 Y69 Y79
Y2A Y3A Y4A Y5A Y6A Y7A
Y2B Y3B Y4B Y5B Y6B Y7B
Y2C Y3C Y4C Y5C Y6C Y7C
Y2D Y3D Y4D Y5D Y6D Y7D
Y2E Y3E Y4E Y5E Y6E Y7E
Y2F Y3F Y4F Y5F Y6F Y7F
Notes
1) This goes on during pulse output in various operations such as E point control, P point control, home return, and jog operation, and remains on until the operation has been completed.
2) This goes on when the various operations such as E point control, P point control, jog operation, and pulser input operation have been completed.
It also goes on when deceleration and stopping have been completed, and when a forcible stop has been completed.
It goes off when the next operation such as E point control, P point control, jog operation, a home return, or pulser input operation is initiated.
3) This goes on when P point control or E point control is initiated, and goes off when the shared memory write instruction F151/P151 is executed in the program, and data of any kind is written to the shared memory of the positioning unit.
next page
14 − 11
Specifications
14.3 Table of I/O Contact (Relay) Allocation
FP2 Positioning Unit
4) The input and output contact (relay) numbers indicate the number when the unit number is 0. The numbers actually used change depending on the position in which the unit is installed section 4.2.3.
14 − 12
Chapter 15
Dimensions and Driver Wiring
15.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15 − 3
15.2 Wiring for Motor Driver . . . . . . . . . . . . . . . . . . . . . . . . .
15 − 4
15.2.1 Panasonic A Series . . . . . . . . . . . . . . . . . . . .
15.2.2 Panasonic EX Series . . . . . . . . . . . . . . . . . .
15 − 4
15 − 5
15.2.3 Panasonic X (xx) Series . . . . . . . . . . . . . . . .
15 − 6
15.2.4 Panasonic X (v) Series . . . . . . . . . . . . . . . . .
15 − 7
15.2.5 Oriental Motor UPK−W Series . . . . . . . . . . .
15 − 8
15.2.6 Motor Driver I/F Terminal . . . . . . . . . . . . . . .
15 − 9
Dimensions and Driver Wiring FP2 Positioning Unit
15 − 2
FP2 Positioning Unit
15.1 Dimensions
FP2−PP2 (2−axis type)
28/1.102
15.3/
0.602
93/3.661 (backplane included)
80.4/3.165
Dimensions and Driver Wiring
15.1 Dimensions
FP2−PP4 (4−axis type)
28/1.102
15.3/
0.602
93/3.661 (backplane included)
80.4/3.165
(Unit: mm/in.)
15 − 3
Dimensions and Driver Wiring
15.2 Wiring for Motor Driver
15.2 Wiring for Motor Driver
FP2 Positioning Unit
15.2.1
Panasonic A Series
Positioning unit
A1(A10)
Pulse output A
B1(B10)
A2(A11)
Pulse output B
B2(B11)
A5(A14)
Home input
B5(B14)
A6(A15)
B6(B15)
Deviation counter clear
Near home input
A7(A16)
B7(B16)
Power supply for driving the internal circuit supply circuit
+24VDC
GND
A20
B20
Input unit
Limit over
Limit over
24 V DC Power supply
+24V
GND
COM
X_
X_
PULS 2
Output from
PLC
Output from
PLC
3
SIGN 2
6
SIGN 1
OZ+
5
23
OZ−
24
COM+
CL
7
30
220
4.7kΩ
4.7kΩ
SRV−
ON
29
4.7kΩ
A−
CLR
31
4.7kΩ
Servo amplifier
Command pulse input (PULS)
Command sign input (SIGN)
Z phase output
Deviation counter clear
Servo ON
Alarm clear
*CW drive disabled
CWL
8
4.7kΩ
*CCW drive disabled
CCWL
9
INH
33
Input to PLC
35
S−RDY−
Input to PLC
Input to PLC
34
ALM +
37
ALM −
36
COIN +
39
COIN −
38
4.7kΩ
Command pulse input disabled
*Servo ready output
*Servo alarm output
Positioning done signal
* When connecting the CW drive disabled and CCW drive disabled input, the servo ready output, and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis.
15 − 4
FP2 Positioning Unit Dimensions and Driver Wiring
15.2 Wiring for Motor Driver
15.2.2
Panasonic EX Series
Positioning unit
A1(A10)
Pulse output A
B1(B10)
A2(A11)
Pulse output B
B2(B11)
A5(A14)
Home input
B5(B14)
A6(A15)
Deviation counter clear B6(B15)
A7(A16)
Near home input
Power supply for driving the internal circuit
Power circuit
+24 V DC
GND
B7(B16)
A20
B20
Input unit
Limit over
Limit over
24 V DC Power supply
+24V
GND
COM
X_
X_
Output from
PLC
CW+
22
CW− 220
23
CCW+
24
CCW− 220
25
OZ+
19
OZ−
20
COM+
CL
1
4
3.9k
Ω
Servo amplifier
CW pulse input
CCW pulse input
Z phase output
Deviation counter clear
SRV−
ON
2 3.9k
Ω
Servo ON
Output from
PLC
A−CLR
3
3.9k
Ω
Alarm clear
CWL
7
3.9k
Ω
*CW drive disabled
*CCW drive disabled
Input to
PLC
CCWL
8
*ALM
9
3.9k
Ω
*Servo alarm output
Input to
PLC
COIN
10 Positioning done signal
COM−
13
* When connecting the CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis.
As of October 2008, this is the end−of−life (EOL) product.
15 − 5
Dimensions and Driver Wiring
15.2 Wiring for Motor Driver
15.2.3
Panasonic X (xx) Series
FP2 Positioning Unit
Positioning unit
Pulse output A
Pulse output B
Home input
Deviation counter clear
Near home input
Power supply for driving the internal circuit
Power supply circuit
+24 V DC
GND
Input unit
A1(A10)
B1(B10)
A2(A11)
B2(B11)
A5(A14)
B5(B14)
A6(A15)
B6(B15)
A7(A16)
B7(B16)
A20
B20
COM
Output from
PLC
PULS+
PULS−
5 220
6
SIGN+
7
SIGN−
OZ+
8
OZ−
1
2
COM+
220
11
CL
13
4.7kΩ
SRV−
ON
12
4.7kΩ
Servo amplifier
Command pulse input (PULS)
Command sign input (SIGN)
Z phase output
Deviation counter clear
Servo ON
Output from
PLC
A−CLR
31
4.7kΩ
Alarm clear
*CW drive disabled
CWL
29 4.7kΩ
Limit over
X_
CCWL
30
4.7kΩ
*CCW drive disabled
Limit over
24 V DC Power supply
+24V
X_
Input to PLC
INH
9
S−RDY
27
4.7kΩ
Command pulse input disabled
*Servo ready output
GND
Input to
PLC
ALM
26 *Servo alarm output
Input to
PLC
COIN
25
COM−
28
Positioningdone signal
* When connecting the CW drive disabled and CCW drive disabled input, the servo ready output, and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis. As of October 2008, this is the end−of−life (EOL) product.
15 − 6
FP2 Positioning Unit Dimensions and Driver Wiring
15.2 Wiring for Motor Driver
15.2.4
Panasonic X (v) Series
Positioning unit
A1(A10)
Pulse output A
B1(B10)
A2(A11)
Pulse output B
B2(B11)
A5(A14)
Home input
B5(B14)
A6(A15)
Deviation counter clear
B6(B15)
A7(A16)
Near home input
B7(B16)
Power supply for driving the internal circuit
Power supply circuit
+24 V DC
GND
A20
B20
PULS+
Output from
PLC
3
SIGN+
6
SIGN−
5
OZ+
23
OZ−
24
COM+
7
CL
30
220
4.7kΩ
4.7kΩ
SRV−
ON
29
4.7kΩ
Output from
PLC
A−CLR
31
4.7kΩ
Servo amplifier
Command pulse input (PULS)
Command sign input (SIGN)
Z phase output
Deviation counter clear
Servo ON
Alarm clear
Limit over
Limit over
Input unit
COM
X_
X_
CWL
1
4.7kΩ
CCWL
2
4.7kΩ
Input to PLC
INH
33
S−RDY
35
*CW drive disabled
*CCW drive disabled
Command pulse input disabled
24 V DC Power supply
*Servo ready output
+24V
GND
Input to
PLC
ALM
37
*Servo alarm output
Input to
PLC
COIN
39
COM−
41
Positioning done signal
* When connecting the CW drive disabled and CCW drive disabled input, the servo ready output, and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis. As of October 2008, this is the end−of−life (EOL) product.
15 − 7
Dimensions and Driver Wiring
15.2 Wiring for Motor Driver
15.2.5
Oriental Motor UPK−W Series
FP2 Positioning Unit
Positioning unit
Pulse output A
Pulse output B
A3
(A12)
B3
(B12)
5 V output
Power supply circuit
DC/DC
1.6K
B4(B13)
A20
+24 V
B20
GND
A4(A13)
Home input
1.6K
B5(B14)
A7(A16)
Near home input
B7(B16)
CW+
CW−
220
CCW+
CCW− 220
Input to
PLC
O. HEAT
−COM
Motor driver
CW pulse input
CCW pulse input
O. HEAT output
(Overheating)
Limit over
Input unit
COM
X_
Limit over
24 V DC Power supply
+24V
GND
X_
Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis.
15 − 8
FP2 Positioning Unit Dimensions and Driver Wiring
15.2 Wiring for Motor Driver
15.2.6
Motor Driver I/F Terminal
1−axis type:AFP8501
2−axis type:AFP8502
Positioning unit which can be used
FP2 2−Axis type positioning unit
FP2 4−Axis type positioning unit
Related products
0.5 m Cable for FP2 positioning unit
1 m Cable for FP2 positioning unit
1 m Cable for MINAS A series
2 m Cable for MINAS A series
1 m Cable for MINAS EX series
2 m Cable for MINAS EX series
The I/F terminal
Dimensions
Connector for positioning unit
98.0
AFP2430
AFP2431
AFP85100
AFP85101
AFP85111
AFP85112
AFP85121
AFP85122
Home input select pin
Sub I/O terminal
Connector for motor driver
I/O terminal
1−axis type
Connector for positioning unit
* Sub I/O terminal
170.0
* Home input select pin
* Connector for motor driver
* I/O terminal 2−axis type
• The asterix (→ *) below indicates the following:
AX1 and AX2; AX(3) and AX(4) which you can see at the PWB of the I/F terminal, both share the same connector slot at the FP2 positioning unit side. (for PP2 type and PP4 type)
When the user will use the 3 and 4 axis connection from the FP2 positioning unit, the AX(3) and AX(4) can be used for this.
Note
Number 3 and 4 is parenthesized at the I/F terminal.
15 − 9
Dimensions and Driver Wiring
15.2 Wiring for Motor Driver
Terminal arrangement diagram (1 axis type)
Manual pulse genarator
+24 V DC
I/F
* Sub I/O terminal
PA−
PA+
PB−
PB+
ZSP
COM+
* I/O termianl
FP2 positioning unit
Connect cable for
FP2 positioning
* For details of specifications on power supply ; etc.
See the FP2 Positioning Unit;
MINAS−A(EX) series manuals.
+ 24 V DC
GND
SD
FE(FG)
S−RD
COM+
ALM+
COM+
COM−
COIN+
MINAS−A(EX) motor driver
BRKOFF+
COM−
TLC
ORG
INH
DOG
SRV−ON
CCWL
GAIN
CWL
DIV
A−CLR
Connect cable for
MINAS−A(EX) serries
* Not all signal typs at the I/O terminal (at I/F terminal) correspond to the ”MINAS−EX series motor − driver”.
Please refer to the EX−series manual, concerning this.
Installing the I/F terminal
DIN rail installation
(DIN EN50022 35 mm / 1.378 in.width)
Screw−in installation
Installing Removing 2−M4
FP2 Positioning Unit
L= ±0.5
Type
1−axis type
2−axis type
Part number
AFP8501
AFP8502
L(mm)
106.0
178.0
15 − 10
FP2 Positioning Unit Dimensions and Driver Wiring
15.2 Wiring for Motor Driver
Connecting the wiring
Caution: Be sure the power is turned off while connecting the wiring.
Connect cable for
FP2 positioning unit
Connect cable for
MINAS−A(EX) series
Sub I/O
+ −
24 V DC
* unit cable shield
10 2
9 1
Select motor driver
OZ
10 2
9 1
Select I/O terminal home input
• I/F terminal−after connecting the cable, pulse output A, pulse output B
(of the line driver), and the deviation counter clear signals are joined together at this I/F terminal.
• Home Input Selection−concerning the OZ signal of the motor driver and the I/O terminal home input (24V), it is possible to change to either with the home switching pins.
The settings can be switched to either at the upper setting area.
(→ see upper figure)
• Please connect the shielded cable terminal (cable type: AFP85100; AFP85101) to the FE terminal (at I/F terminal)
* When FP2 and the MINAS−A(EX) motor driver does not function properly due to reasons of noise influence, then connect the shielded cable terminal (cable type:
AFP85100; AFP85101) to the SD terminal (at I/F terminal).
* FE terminal (of the I/F terminal) − this is either connected to the F.E. pin of the
FP2 positioning unit or to the FG pin of the CN I/F connector of the MINAS−A(EX) motor driver.
* SD terminal (of the I/F terminal) − this is connected to the GND pin of the CN I/F connector of the MINAS−A(EX) motor driver.
15 − 11
Dimensions and Driver Wiring
15.2 Wiring for Motor Driver
FP2 Positioning Unit
15 − 12
Chapter 16
Sample Programs
16.1 Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16 − 3
16.1.1 Positioning Program for 1 Axis . . . . . . . . . .
16.1.2 Positioning for 2 Axes
(Linear Interpolation Program) . . . . . . . . . . .
16 − 3
16 − 7
Sample Programs FP2 Positioning Unit
16 − 2
FP2 Positioning Unit Sample Programs
16.1 Sample Programs
16.1 Sample Programs
16.1.1
Positioning Program for 1 Axis
Unit configuration
4−axis type positioning unit
64−point type input unit
Home return start switch
X82
Positioning (1) operation start switch
X80
Positioning (2) operation start switch
X81
X3 X84 X85
WX0
WX1
WX2
WX3
WY4
WY5
WY6
WY7
WX8
WX9
WX10
WX11
0
Forward jog switch
Moves between two points 10000
Reverse jog switch
Reverse
Emergency stop switch
Forward
Motor driver
Motor
(− side) X91
Home
(X7)
Near home
X90 (+side)
CCW limit over switch CW limit over switch
An overview of a sample program
This sample program uses the absolute mode.
1.
When input X1 is on, the table moves to the absolute position 10000.
[Positioning (1)]
2.
When input X2 is on, the table moves to the absolute position 0.
[Positioning (2)]
3.
When input X0 is on, a return to the home position begins. (If the near home input is not in the return direction, a limit over input is detected, and the direction is reversed. After the near home input (on → off) is detected, the return to the home position is begun again.)
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Sample Programs
16.1 Sample Programs
X1
X7
X8
X80
X81
X82
X83
X84
X85
X90
I/O Allocation
I/O No.
Description
X0
Pulse output busy flag
Positioning done flag
Near home input
Home return done flag
Positioning (1) operation start
Positioning (2) operation start
Home return start
Forward jog
Reverse jog
Emergency stop
CW limit detection
CCW limit detection
X91
Y40
Y42
Y43
E point control start
Home return start
Forward jog start
Reverse jog start
Y44
Y45 Forcible stop
––––––––––
––––––––––
FP2 Positioning Unit
R2
R3
R4
R5
R6
I/O No.
Description
R1
Home return movement in progress
Home return command pulse
CCW limit detection
Forward jog start
Forward jog start pulse
Near home sensor error detected
R7
R8
R9
R10
Retry of home return
Home return done pulse
Completion of home return stored in memory
Positioning (1) in progress
R11
R12
R13
R20
R21
R22
R23
R30
R31
Positioning (1) operation command pulse
Positioning (1) completed and stored in memory
Positioning (1) done pulse
Positioning (2) in progress
Positioning (2) operation command pulse
Positioning (2) completed and stored in memory
Positioning (2) done pulse
Forward jog setting
Reverse jog setting
16 − 4
FP2 Positioning Unit
Program
X82
R0
R0
R7
R1
DF
DF
X0
R8
R8
Y45
Y45 R0
Return to home position in progress
R1
Home return command
R1
R2
X91
R3
X0
R4
R4
R5
X7
R6
X0
X8
X8
R9
X80
R10
DF
F1 DMV , H
Home return command pulse
10 , DT 0
F1 DMV , K 500 , DT 2
F1 DMV , K 2000 , DT 4
R1
F1 DMV , K 100 , DT 6
F151 WRT , K 0 , DT 0 , K 8 , H 100
R6
CCW limit detection
R2
R3
R3 R6
Reversal command following limit detection
R4
R5
DF
F1 DMV , K
Reversal command pulse following limit detection
500 , DT 2
F1 DMV , K 2000 , DT 4
F1 DMV , K 300 , DT 6
DF
R6
DF
F151 WRT , K 0 , DT 0 , K 8 , H 100
Y45
R4 R7
Home position return retry command
Home return done pulse
R6
Near home error detected
R7
R8
R9
Return to home position completed and stored in memory
DF
X0 R13 R9
Positioning (1) in progress
R10
R10
R11
DF
Positioning (1) operation command pulse
F1 DMV , H 10 , DT 0
F1 DMV , K 1000 , DT 2
R11
F1 DMV , K 10000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K 10000 , DT 8
F151 WRT , K 0 , DT 0 , K 10 , H 100 next page
Sample Programs
16.1 Sample Programs
16 − 5
Sample Programs
16.1 Sample Programs
X1
R12
R12
X81
R20
R20
R21
X1
R22
R10 X1 R9 R12
DF
DF
DF
DF
X0 R23 R9
Positioning (1) completed and stored in memory
R13
Positioning (1) done pulse R20
Positioning (2) in progress
R21
Positioning (2) operation command pulse
F1 DMV , H 10 , DT 0
F1 DMV , K 1000 , DT 2
F1 DMV , K 10000 , DT 4
F1 DMV , K 100 , DT 6
F1 DMV , K −10000 , DT 8
F151 WRT , K 0 , DT 0 , K 10 , H 100
R20 R9
DF
X1
Positioning (2) completed and stored in memory
R22
R22
X83
R30
X84
R31
R11
R21
R2
DF
DF
DF
R23
Positioning (2) done pulse
R30
F1 DMV , H
F1 DMV , K
Forward jog setting
10 , DT 0
500 , DT 2
F1 DMV , K 1000 , DT 4
F1 DMV , K 100 , DT 6
F151 WRT , K 0 , DT 0 , K 8 , H 100
R31
F1 DMV , H
F1 DMV , K
Reverse jog setting
10 , DT 0
500 , DT 2
F1 DMV , K 1000 , DT 4
F1 DMV , K 100 , DT 6
F151 WRT , K 0 , DT 0 , K 8 , H 100
Y40
E point control start
X83
R4
X90
Y42
Home return start
Y43
Forward jog start
X84
X85
X90
X91
DF
DF
X91 Y44
Reverse jog start
Y45
Emergency stop and overrun
ED
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FP2 Positioning Unit
FP2 Positioning Unit Sample Programs
16.1 Sample Programs
16.1.2
Positioning for 2 Axes (Linear Interpolation Program)
Unit configuration
4−axis type positioning unit
64−point type input unit
Target position
(4000, 3000)
Motor driver
WX1
WX2
WX3
WY4
WY5
WY7
WX9
WX11
Motor
Current position
(X, Y)
(− side)
An overview of a sample program
This sample program uses the absolute mode.
1.
The current absolute position is read to the data table.
2.
The distance from the current position to the target position (4000, 3000) is calculated.
3.
The proportions of the X component and Y component included in the distance are calculated individually.
4.
E point control is initiated simultaneously for the X and Y axes, the startup speed and target speed are output as the respective proportions, and linear interpolation is carried out.
Because an error occurs if a startup is applied to an axis for which the target speed is
0 pps, an internal relay is used and the startup conditions are specified.
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Sample Programs
16.1 Sample Programs
FP2 Positioning Unit
Items to be set for the program
Data
Target position
(absolute)
Current position
(absolute)
Linear component X axis component Y axis component
(X, Y)
(x, y)
Movement distance L = (X−x) 2 + (Y−y) 2
Startup speed Vs*
X* x
Lx = X−x
Vsx = Vs × j X−xj
Y* y
Ly = Y−y
Vsy = Vs × j
Y−yj
Target speed Vt*
Vtx = Vt ×
L j
X−xj
L
Vty = Vt ×
L j
Y−yj
L
Acceleration/decele ration time
Ac* Acx = Ac Acy = Ac
For items marked with an asterisk (*), the user may specify any desired value. Other items are handled through operation in the sample program.
Calculation of the linear movement distance
L
Y
L 2 = X 2 + Y 2
→ L = p X 2 + Y 2
X
16 − 8
FP2 Positioning Unit
Y
Target position
(DT6,DT8)
(4000, 3000)
Sample Programs
16.1 Sample Programs
L
(DT28) %
(DT26) %
(− side)
Motor
DT14
Current position
(DT10,DT12)
(X,Y)
L= (DT14) 2 + (DT16) 2
DT16
X
16 − 9
Sample Programs
16.1 Sample Programs
FP2 Positioning Unit
Allocation of data registers
Item
User setting area
Work area of this program
Data No. Description
DT0
DT2
DT4
DT6
DT8
DT10
DT12
DT14
DT16
DT18
DT20
DT22
DT24
DT26
DT28
DT30
DT32
DT34
DT36
DT38
Startup speed
Target speed
Acceleration/deceleration time
Target position of X axis
Target position of Y axis
Current position of X axis
Current position of Y axis
Movement amount of X axis = absolute value of (target position of X axis − current position of X axis)
Movement amount of Y axis = absolute value of (target position of Y axis − current position of Y axis)
Movement amount of square of X axis
Movement amount of square of Y axis
Movement amount of square of X axis + movement amount of square of Y axis
Linear movement amount
Movement amount of X axis/Linear movement amount
Movement amount of Y axis/Linear movement amount
Control code of X axis
Startup speed of X axis component
Target speed of X axis component
Acceleration/deceleration time
Target position of X axis
DT40
DT42
DT44
DT46
DT48
Control code of Y axis
Startup speed of Y axis component
Target speed of Y axis component
Acceleration/deceleration time
Target position of Y axis
Calculation formula
—————
—————
ABS (DT6−DT10)
ABS (DT8−DT12)
Square of (DT14)
Square of (DT16)
DT18 + DT20
√ DT22
DT14/DT24
DT16/DT24
H1 (Absolute)
DT0 * DT26
DT2 * DT26
DT4
DT6
H1 (Absolute)
DT0 * DT28
DT2 * DT28
DT4
DT8
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FP2 Positioning Unit
Program
R10
Startup request
F1 DMV , K 500 , DT 0
Startup speed
F1 DMV , K 10000 , DT 2
Target speed
F1 DMV , K 100 , DT 4
Acceleration/ deceleration time
F1 DMV , K 4000 , DT 6
X axis movement destination
F1 DMV , K 3000 , DT 8
Y axis movement destination
Startup request
R10
DF
R10
DF
Startup request
R9010
Always on
R9010
Always on
R0
CALL
Y80
0
R1
X axis condition X axis start
Y90
Y axis condition Y axis start
ED
SUB 0
Linear interpolation
F150 READ , K 1 , H 10A , K 2 , DT 10
Current value of X axis
F150 READ , K 1 , H 11A , K 2 , DT 12
Current value of Y axis
F28 D− DT 6 , DT 10 , DT 14
X axis movement destination
Current value of X axis
Movement amount of X axis
F28 D− DT 8 , DT 12 , DT 16
Y axis movement destination
Current value of Y axis
Movement amount of Y axis
F88 DABS , DT 14
Movement amount of X axis
F88 DABS , DT 16
Movement amount
# of Y axis
F323 PWR , DT 14 , K 2 , DT 18
Movement amount of X axis
Square of X axis movement amount
#
Movement
2 , DT 20 amount of Y axis
Square of Y axis movement amount
F310 F+ , DT 18 , DT 20 , DT 22
Square of X axis movement amount
Square of Y axis movement amount
Sum of squares
F324 FSQR , DT 22
Sum of squares
, DT 24
Square root
F313 F% #
Movement amount of X axis
Square root
DT 26
Ratio of X axis
F313 F% , DT 16 , DT 24
Movement amount of Y axis
,
Square root
DT 28
Ratio of Y axis
Sample Programs
16.1 Sample Programs next page
16 − 11
Sample Programs
16.1 Sample Programs
FP2 Positioning Unit
R9010
Always on
R9010
Always on
F1 DMV , H 1 , DT 30
Control code of X axis
F312 F* , DT 26 , #DT 0 , #DT 32
Ratio of
X axis
Startup speed
Startup speed of X axis
F312 F* , DT 26 , #DT 2 , #DT 34
Ratio of
X axis
Target speed
Target speed of X axis
F1 DMV , DT 4 , DT 36
Acceleration/ deceleration time
Acceleration/ deceleration time of X axis
F1 DMV , DT 6 , DT 38
X axis movement destination
X axis movement destination coordinates
F1 DMV , H 1 , DT 40
Control code of Y axis
R9010
Always on
F312 F* , DT 28 , #DT 0 , #DT 42
Ratio of
Y axis
Startup speed
Startup speed of Y axis
F312 F* , DT 28 , #DT 2 , #DT 44
Ratio of
Y axis
Target speed
Target speed of Y axis
F1 DMV , DT 4 , DT 46
Acceleration/ deceleration time
Acceleration
/deceleration time of Y axis
F1 DMV , DT 8 , DT 48
Y axis movement destination
Y axis movement destination coordinates
F151 WRT , K 1 , DT 30 , K 10 , H 100
F151 WRT , K 1 , DT 40 , K 10 , H 110
D = DT 34 , K 0
Target speed of X axis
D = DT 44 , K 0
Target speed of Y axis
R0
X axis condition
R1
Y axis condition
RET
The meaning of the “#” symbol in the program
The “#” symbol is specified when a real number operation instruction is used, to convert
(integer data) to (real number data), or (real number data) to (integer data).
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Record of changes
Manual No.
ARCT1F282E/
ACG-M282E
ARCT1F282E-1/
ACG-M282E-1
ARCT1F282E-2/
ACG-M282E-2
ARCT1F282E-3/
ACG-M282E-3
ARCT1F282E-4
ARCT1F282E-5
Date
JUL.1999
DEC.2000
NOV.2006
NOV.2008
AUG.2011
JUL.2013
Description of changes
First edition
Second edition
Third edition
Fourth edition
- Change in Corporate name
Fifth edition
- Change in Corporate name
- Fixed Errors
Sixth edition
- Change in Corporate name
Record of changes FP2−HSCT & FP2−PXYT
R − 2
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Key features
- Supports both stepping and servo motors
- Provides precise positioning control
- Offers adjustable speed, acceleration, and deceleration parameters
- Enables linear interpolation for controlling multiple axes simultaneously
- Includes various input and output signals for communication
- Features a home return function for resetting the reference position
