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FP7 Positioning Unit User`s Manual, WUME-FP7POSP-02

Contents

1. Pulsar Feedback pulse High speed counter Rotation Forward Available Available Available direction Reverse Available Available Available Input mode 2 phase input Available Available Available v Direction Not available Not available Available discrimination input 2 2 Individual Not available Not available Available 3 input 2 Multiple 1 multiple Not available Available Available 5 2 multiple Not available Available Available 3 4 multiple Available Available Available Pulse input Enable Available Available Available Disable Not available Not available Available Pulse count Clear Not available Available Not available iocis Set Not available Available Available 13 10 13 6 Pulse Input 13 6 3 Input Mode to Pulse Input e Select from the following three types according to input devices to be connected eThe count operation varies depending on the settings of multiplication factor as shown on the next page B input method to pulse input Method Connection Count 2 phase Phase difference Unit A phase pulse input B phase pulse input Z phase input Reset input Incremental encoder For the 2 phase input the input A signal and input B signal of each counter are connected to the phase A and phase B of an encoder The count direction depends on the phase difference between phases A and B When the phase A is procee
2. Pin no 1st 2nd Circuit Signal name Items Description 3rd 4th axis axis Pulse output A P 10 5 V DC output S Output type collector 5V AIO palse output A E Operating 4 75 to 26 4 V B1 B10 PV o Open collector 8 voltage range DC B1 B10 Pulse output B Max load A2 A11 K B2 B11 5V DC output 5 current IS mA 5 B2 B11 Pulse output B ON state 06V Open collector voltage drop 3 2 I O Specifications and Terminal Wiring Output terminal line driver output type Pin no 150 2nd Circuit Signal name Items Description 3rd 4th axis axis Pulse output A o A 10 AT A10 Line driver 5 A2 A11 Pulse output A S Line driver B1 B10 A Line driver output g Output type A2 11 Pulse output B a AM26C31 B1 B10 Line driver or equivalent B2 B11 5 B2 B11 Pulse output B 8 Line driver Output terminal common Pin no 1st 2nd Circuit Signal name Items Description 3rd Ath axis axis Open 5 Output type collector A7 A16 Deviation counter clear 16 8 Operating 4 75 to 26 4 Xx iz voltage range V DC B7 B16 ki o Max load B7 K 5 curent E ON state 1 0 V B5 B14 Servo ON voltage drop Note The deviation counter clear signal will be output for 1 ms on completion of
3. 041H 0 s method 1 Speed limit pulse hold 2 Speed limit truncated Any other settings will be errors Set the control code for J point control bit Name Default Description 0 J point control code OH 1 peer avery i S near n Deceleration pattern acceleration deceleration settings 1 S shaped acceleration deceleration 21015 J point acceleration time J point deceleration time J point target speed Sets the acceleration deceleration time for J point control Setting range 0 to 10 000 ms Any other settings will be errors Sets the target speed for J point control Setting range 0 to 32 767 000 Any other settings will be errors Set the following range according to the unit setting Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 17 49 Specifications Offset Pulser operation max speed The maximum speed of the pulser operation with speed limits selected The positioning unit will operate at maximum speed if the speed obtained from pulse input multiplied by the numerator of pulse operation denominator of pulser operation is in excess of the specified maximum speed Unit Set unit x 1000 s Input range 0 to 32767000 pulse s f this area has been set to O it is the minimum speed in the set unit 04AH Coo
4. l n 6 8 6 4 2 Serve ON OFF with Tool Operation Function 6 9 6 4 3 JOG Operation with Tool Operation Function 6 10 6 4 4 Home Return by Tool Operation Function 6 12 6 4 5 Positioning by Tool Operation Function 6 14 Table of Contents 6 4 6 Teaching by Tool Operation 6 17 7 Automatic Operation Positioning Control 7 1 Operation uuo u o os UR du c dul Pa en Fo 7 2 711 Positioning 5 mene 7 2 7 1 2 Setting and Operation of E point Control 7 4 7 1 3 Setting and Operation of P point Control 7 5 7 1 4 Setting and Operation of C point Control 7 6 7 1 5 Setting and Operation of J point Control 7 7 7 1 6 Sample Program E point P point and C point Control 7 9 7 1 7 Sample Program J point Control sse 7 9 7 1 8 Programming Precautions a 7 10 7 2 Interpolation 7 11 7
5. Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 542 UM 02A20 UM 05220 UM 07A20 UM 0A220 UM 14220 543 UM 02A30 UM 05230 UM 07A30 UM 0A230 UM 14230 544 UM 02A40 UM 05240 UM 07A40 UM 0A240 UM 14240 545 UM 02A50 UM 05250 UM 07A50 UM 0A250 UM 14250 546 UM 02A60 UM 05260 UM 07A60 UM 0A260 UM 14260 547 UM 02A70 UM 05270 UM 07A70 UM 0A270 UM 14270 548 UM 02A80 UM 05280 UM 07A80 UM 0A280 UM 14280 549 UM 02A90 UM 05290 UM 07A90 UM 0A290 UM 14290 550 UM 02AA0 UM 052A0 UM 07 UM 0A2A0 UM 142A0 551 UM 02ABO UM 052B0 UM 07ABO UM 0A2BO UM 14280 552 UM 02ACO UM 052C0 UM 07ACO UM 0A2CO UM 142CO 553 UM 02ADO UM 05200 UM 07ADO UM 0A2DO UM 14200 554 UM 02AE0 UM 052E0 UM 07AE0 UM 2 UM 142bE0 555 UM 02AF0 UM 052F0 UM 07AFO UM 0A2F0 UM 142F0 556 UM 02B00 UM 05300 UM 07B00 UM 0A300 UM 14300 557 UM 02B10 UM 05310 UM 07B10 UM 0A310 UM 14310 558 UM 02B20 UM 05320 UM 07B20 UM 0A320 UM 14320 559 UM 02B30 UM 05330 UM 07B30 UM 0A330 UM 14330 560 UM 02B40 UM 05340 UM 07840 UM 0A340 UM 14340 561 UM 02B50 UM 05350 UM 07B50 UM 0A350 UM 14350 562 UM 02B60 UM 05360 UM 07B60 UM 0A360 UM 14360 563 UM 02B70 UM 05370 UM 07B70 UM 0A370 UM 14370 564 UM 02B80 UM 05380 UM 07B80 UM 0A380 UM 14380 565 UM 02B90 UM 05390 UM 07B90 UM 0A390 UM 14390 566 UM 02BAO UM 053A0 UM 07BAO UM UM 143A0 567 UM 02BBO UM 05380 UM 07BBO UM OA3BO UM 14380 568 UM 02BCO UM 053CO UM 07BCO UM 0A3CO UM 143C0 569 UM 02BDO UM 05300 UM 07BDO UM OA3DO UM 1430
6. screw L L I 4 10 Unit Allocation and Parameter Settings Unit Allocation and Parameter Settings 5 1 Unit Allocation 5 1 1 I O Map Registration Register the unit with the I O map before making parameter settings PROCEDURE 1 Select Options gt FP7 Configuration gt I O map in the menu bar The map dialog box will be displayed 2 Double click the desired slot The unit selection dialog box will be displayed 3 Select Positioning from the unit type select the name of the unit to be used and press the OK button Unit selection Slot No 1 Select unit to use Unit type Positioning Insert Unit name Transistor type 2 axis pulse string Transistor type 4 axis pulse string Line driver type 2 axis pulse string Input time constant E Line driver type 4 axis pulse string Installation location s Starting word No 10 0 511 Number of input words 12 0 128 Number of output words 12 0 128 V Automatically shift the starting word number for subsequent slots Opt ion Exclude this unit from the target for verification Exclude this unit from the target for 1 0 refresh The message Updating data display appears and the unit selected in the map is registered
7. 16 3 17 addo Ecce 17 1 16 2 17 2 17 1 1 General Specifications 17 2 17 1 2 Performance 5 17 3 viii Table of Contents 17 2 Number Allocation Det ete 17 6 17 3 Entire Configuration of Memory Unit 17 15 17 4 Details of Common Area in Unit Memory 17 17 17 4 1 Common Area Configuration sse 17 17 17 4 2 Setting Parameter Control Area seen 17 18 17 4 3 Operating Speed Factor Area 17 18 17 4 4 Axis Group Setting Area U 17 18 17 4 5 Current Value Update Data Area 17 20 17 4 6 Positioning Control Starting Table Number Setting Area 17 21 17 4 7 Positioning Control Area u 17 22 17 4 8 Error Annunciation amp Clear 17 23 17 4 9 Warning Annunciation amp Clear Area 17 26 17 4 10 Pulse Count Control Area enne 17 29 17 4 11 Synchronous Control Monitor
8. 3 8 3 3 1 Line Driver OUtDUt a cao tet dete eii 3 8 3 3 2 erit ahi be de d dee a kn e d none 3 8 3 4 Connecting Pulse Instruction Signal 3 9 3 4 1 Line Driver Output Type 3 9 3 4 2 Transistor Output Type a 3 9 3 5 Connecting Deviation Counter Clear Output Signal 3 10 Table of Contents 3 6 Connecting Servo On Output 3 11 3 7 Connecting Home Input Near Home Input 3 12 3 7 1 Connecting Home Input Connecting Motor Driver Z phase Output 3 12 3 7 2 Connecting Home Input Connecting External Switch Sensor 3 12 3 7 3 Connecting Near Home Input 5 3 13 3 7 4 Connecting Limit Input Signal a 3 13 328 Connecting Pulse adea t pde 3 14 3 671 Eine Driver Type ir o Rc ERRARE 3 14 3 8 2 Transistor Open Collector Type 3 14 3 8 3 Transistor Resistance Pull up Type 3 14 3 9 Wirnng Calor x ice E At MOR ance A 3 15 Power On Off and Check Items 4 1 4 4 Safety Circuit Design
9. NOTES Ifa recoverable error occurs in the positioning unit click the Error clear button to clear the error e Ifa warning occurs in the positioning unit click Warning clear to clear the warning 6 7 Transfer to Unit and Commissioning 6 4 Tool Operation 6 4 1 Tool Operation Function e You can perform commissioning with the Configurator PM7 before actually starting the user program Be sure to save the settings and download the project to the CPU unit before starting the tool operation of the positioning unit e The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Online Operation from the menu bar The tool operation dialog box will be displayed Tool operation J f Serva ONUS J Home Return Positioning dog Operation Teaching Exit B Types of tool operation Items Description Servo ON OFF Specifies servo ON OFF for each axis A home return is performed to the home of the machine coordinates according to the Home return p specified parameter Positioning Moves from the start table number according to the set contents in the positioning table The specified axis can be moved to the specified direction at the specified speed while the JOG operation operation reference is ON Controls the axis manually like JOG ope
10. 17 30 17 4 12 System Operation Setting 17 32 17 5 Details of Each Axis Information Area in Unit Memory 17 33 17 5 1 Each Axis Information amp Monitor Area 17 33 17 5 2 Each Axis Information amp Monitor Area 17 34 17 6 Details of Each Axis Setting Area in Unit Memory 17 38 17 6 1 Configuration of Each Axis Setting 17 38 17 6 2 Parameter Setting Area eene 17 39 17 6 3 Positioning Data Setting Areas 17 51 17 7 Unit Memory Synchronous Control Setting Area 17 70 17 7 1 Synchronous Control Setting 17 70 17 7 2 Detailed Information on Synchronous Control Setting Area 17 71 17 8 Positioning Operation Change Setting Area For unit version Ver 1 3 or cie ps 17 73 17 8 1 Positioning Speed Movement Amount Change Parameter 17 73 47 97 DIMENSI N i reed 17 76 Table of Contents 18 Sample program 18 1 18 1 Basic Configuration and Contact Allocatio
11. Description Object Recovered Countermeasures The setting for the cam Cam pattern resolution 5400H setting error pattern resolution is out of the axis Yes range 5401H Cam pattern set number The cam pattern set number Each Yes setting error is out of the range axis 5 The setting for the Cam pattern section C Each 5402H function setting error pattern section function is out axis Yes of the range Cam pattern control The setting for the cam Each 5403H start position setting pattern control start position is out of the range The start phase setting for 5404H Sam pattern start phase each section of cam pattern is Each Yes setting error tofth axis out or the range Check the set value Cam pattern The displacement for each Each If the error occurs 5405H displacement setting section of cam pattern is out Ss Yes repeatedly with the error of the range correct set values Gain pattem ati curve The curve number for each Each consult i representative 5406H no setting error section of cam pattern is out axis Yes of the range The total number of cam Adjustment data total 5 5410H no setting error pattern adjustment data is out axis Yes of the range The number of cam pattern 5411H Adjustment adjustment data is out of the zl Yes setting error range cam pattern unit The control point of cam 5413H Adjustment
12. Items Setting example Acceleration deceleration pattern 0 Linear acceleration deceleration Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps B Operation diagram A f pps 10000 4 Forward Reverse 100 100 100 100 100 100 100 1 t ms Forward JOG contact Y120 Reverse JOG contact Y 121 BUSY flag X118 Operation done flag X120 10 ila B Operation of each contact e The BUSY flag X118 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts 9 2 9 1 Setting and Operation of JOG Operation m Sample program X100 X104 X160 Ready Tool 1st axis error positioning operation R2 HDF JOG forward R3 HDF JOG reverse R2 R10 Et BEES JOG forward Operation 1st axis X118 enabled BUSY Y120 flag 1st axis JOG forward R10 X118 R3 DF JOG reverse Operation 1st axis enabled BUSY Y121 flag 1st axis JOG reverse W Programming Precautions R11 Forward OFF edge R12 Reverse OFF edge
13. 7 10 7 2 Interpolation Control 7 2 Interpolation Control 7 2 1 Types of Interpolation Control B Types of operations Interpolation control includes 2 axis linear interpolation control 2 axis circular interpolation control 3 axis linear interpolation control and 3 axis spiral interpolation control The following methods are available to specify the operation of each interpolation control Select an appropriate method according to the application The axes in the relation of interpolation are called X axis and Y axis for the 2 axis interpolation and are called X axis Y axis and Z axis for the 3 axis interpolation X Y and Z axes are automatically assigned in ascending order of axis signal levels In each type of interpolation control the E point control that uses one table P point control and C point control that uses multiple tables can be combined arbitrarily as positioning data For example using P point control enables continuous interpolation control from 2 axis linear control to 2 axis circular interpolation control The acceleration time and deceleration time can be specified individually For P point control and C point control an E point should be set as the last table 2 axis circular Center CW direction Type Operation specification method Necessary data 2 axis linear Composite speed Composite speed of X axis and Y axis interpolation Control Long axis speed Speed of long axis A
14. u 13 18 13 7 Startup Speed ais ca iti pear atn Fam on po ia pa en gg d dd 13 20 14 13 8 Target Speed Change Function For unit version Ver 1 3 or later only 13 21 13 81 nu AQ Nu 13 21 13 8 2 Setting Procedures and Operations Speed Direct Specification Method 13 23 13 8 3 Setting Procedures and Operations Ratio Specification Method 13 27 13 9 Movement Amount Change Function For unit version Ver 1 3 or later only 13 29 13 9 1 Function uu u un u un 13 29 13 9 2 Setting Procedures and 13 30 Programming Cautions 14 1 14 1 Programming Cautions 14 2 14 1 1 Turning Off Power Supply Clears Contents of Unit Memory 14 2 14 1 2 Not Going to Other Operation from Current Operation 14 2 14 1 3 Operation with the PLC Set to PROG Mode from RUN Mode 14 2 vii Table of Contents 14 1 4 Types of Positioning Data Setting 14 3 15 Errors and Warnings 15 1 15 1 About Errors and Warnings 15
15. B Count operation of direction discrimination input Multiple Time chart Addition Subtraction O Input A 1 multiple Input A 2 multiple inputB 13 12 13 6 Pulse Input 13 6 4 Monitoring Pulse Input Values The positioning unit can monitor pulse input from programs Pulse input monitoring uses the following areas Description UM 00436 Pulse input value of 1st axis UM 00437 UM 00476 Pulse input values are stored according to the pulse input application UM 00477 Pulse input value of 2nd axis e g pulser feedback pulse or high speed counter Unit pulse UM 004B6 Pulse input values are integrated and stored and will be cleared if the Pulse input value of 3rd axis Pulse input application is changed or when the pulse input values are UM 004B7 cleared UM 004F6 Pulse input value of 4th axis UM O04F7 13 13 Supplementary Functions 13 6 5 Pulser Input Function By setting the positioning unit to pulser for the pulse input application a manual pulser can be used Settings allow manual pulsers to connect to different axes Therefore a single pulser can operate a number of axes simultaneously However pay attention to settings for the axis connected to the pulser and the axes operated by the pulser Refer to the following table and make settings for the pulse input application Settings for pulse i
16. UM 0A7A0 UM 147A0 10021 UM 02FBO UM 05780 UM 07FBO UM 0A7BO UM 14780 10022 UM 02FCO UM 057CO UM 07FCO UM 0A7CO UM 147CO 10023 UM 02FDO UM 057DO UM 07FDO UM 0A7DO UM 147DO 10024 UM 02FEO UM 057 0 UM 07FEO UM 0A7E0 UM 147E0 10025 UM 02FFO UM 057F0 UM 07FFO UM 7 14750 17 69 Specifications 17 7 Unit Memory Synchronous Control Setting Area 17 7 1 Synchronous Control Setting Area This is an area for monitoring the setting status of synchronous control UM 16000 UM1600F Synchronous control common setting area UM 16010 UM1601F Synchronous setting Electronic gear setting area UM 16020 UM1604F area of 1st axis Clutch setting area UM 16050 UM1606F Electronic cam setting area UM 16070 UM1607F Synchronous control common setting area UM 16080 UM1608F Synchronous setting Electronic gear setting area UM 16090 UM160BF area of 2nd axis Clutch setting area UM 160C0 UM160DF Electronic cam setting area UM 160E0 UM160EF Synchronous control common setting area 160F0 UM160FF Synchronous setting Electronic gear setting area UM 16100 UM1612F area of 3rd axis Clutch setting area UM 16160 UM1616F Synchronous setting Electronic gear setting area UM 16170 UM1619F area of 4th axis Clutch setting area UM 161A0 UM161BF Electronic cam setting area UM 16100 UM163FF Not used UM 16130 UM1614F Electronic cam setting area UM 16150 UM1615F Synchronous control common setting
17. UM 067 0 UM 08FCO UM 12FCO 249 UM 017DO UM O3FDO UM 06700 UM 08FDO UM 12FDO 250 UM 017E0 UM O3FEO UM 067E0 UM 08FEO UM 12FE0 251 UM 017F0 UM O3FFO UM 067F0 UM 08FF0 UM 12220 252 UM 01800 UM 04000 UM 06800 UM 09000 UM 13000 253 UM 01810 UM 04010 UM 06810 UM 09010 UM 13010 254 UM 01820 UM 04020 UM 06820 UM 09020 UM 13020 255 UM 01830 UM 04030 UM 06830 UM 09030 UM 13030 256 UM 01840 UM 04040 UM 06840 UM 09040 UM 13040 257 UM 01850 UM 04050 UM 06850 UM 09050 UM 13050 258 UM 01860 UM 04060 UM 06860 UM 09060 UM 13060 259 UM 01870 UM 04070 UM 06870 UM 09070 UM 13070 260 UM 01880 UM 04080 UM 06880 UM 09080 UM 13080 261 UM 01890 UM 04090 UM 06890 UM 09090 UM 13090 262 UM 018A0 UM 040A0 UM 068A0 UM 090A0 UM 130A0 263 UM 01880 UM 04080 UM 068B0 UM 090B0 UM 13080 264 UM 018CO UM 040CO UM 068CO UM 090CO UM 130C0 265 UM 01800 UM 040DO UM 068D0 UM 090DO UM 13000 266 UM 018E0 UM 040E0 UM 068E0 UM 090 0 UM 130E0 267 UM 018F0 UM 040F0 UM 068F0 UM 090F0 UM 130F0 268 UM 01900 UM 04100 UM 06900 UM 09100 UM 13100 269 UM 01910 UM 04110 UM 06910 UM 09110 UM 13110 270 UM 01920 UM 04120 UM 06920 UM 09120 UM 13120 271 UM 01930 UM 04130 UM 06930 UM 09130 UM 13130 272 UM 01940 UM 04140 UM 06940 UM 09140 UM 13140 273 01950 04150 06950 09150 13150 274 01960 04160 06960 09160 13160 275 01970 04170 06970 09170 13170 276 01980 04180 06980 09180 13180 277 01990 0
18. rea d e EY es 4 2 4 2 Before Turning On the 4 3 4 3 Procedure for Turning On the Power a r 4 5 4 3 1 Procedure for Turning On the Power ssse em 4 5 4 3 2 Procedure for Turning Off the Power 4 6 4 4 Check with Power Turned 4 7 4 4 1 Check Items After Turning Power On 4 7 4 4 2 Check on External Safety Circuit 4 8 4 4 3 Check on Safety Circuit with Positioning Unit 4 8 4 4 4 Operation Checks on Near Home Switch and Home Switch 4 9 4 4 5 Checking Rotating and Moving Directions and Moving Distance 4 10 Unit Allocation and Parameter Settings 5 1 s THEE 5 2 5 1 1 VO Map Registration uuruuu su 5 2 5 1 2 Check on I O Allocation Information a 5 3 Table of Contents 5 2 Axis Allocation for Use a 5 5 5 2 1 Settings in Configurator 5 5 5 3 Parameter SettingS a eee eR t Run tu 5 7 5 3 1 Parameter Settings in Configurator 5 7 5 3 2 Parameter Setting ltems u u u uu 5 8 5 4
19. Cancel Resolution 32768 Number of cam that can be configured em p KEY POINTS Theresolution is valid for all cam patterns You cannot set a different resolution per cam pattern e The number of cam patterns available varies with each resolution The current resolution cannot be changed to a new resolution if the number of cam patterns already set exceeds the number of cam patterns available for the new resolution Delete the cam pattern and change the resolution Configurator PM7 The upper limit for the resolution for which the number of cams was speci exceeded Automatic Operation Synchronous Control B Making duplicating new cam pattern The Cam No Selection screen is displayed by pressing the Add button from the Cam field Select the desired cam number and press the OK button Add new cam Cam No x The cam pattern can be copied Press the Duplicate button and select the copying destination and original cam pattern numbers Duplicate cam ex Duplication source 2 Duplication destination bf x em To change the cam number press the Change button and select the new cam number Change cam number _ S Note The cam pattern number already set cannot be changed m Making duplicating new cam pattern Set a cam pattern P
20. Home switch MEM Home return start contact Y128 i r Deviation counetr clear signal i BUSY flag X118 1 Lo Home return done flag X128 __ _______________ 10 5 Manual Operation Home Return B Operation of each contact e The BUSY flag X118 indicating the state that a motor is running will turn ON when the home return of the positioning unit starts and it will turn OFF when the operation completes e The deviation counter clear signal will turn ON during the ON time of the deviation counter clear signal on completion of the home return e The home return done flag X128 indicating the state of operation completion will turn ON when the home return operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts The timing of that the flag turns ON is at the time that the home return operation is completed m Sample program X100 X104 X160 __ Operation enabled condition Operation enabled flag Y118 Ready Tool 1st axis error positioning operation R10 X118 R2 F DF 3 Start of home position Home return Operation 1st axis Start of 1st enabled BUSY axis home flag position B Programming Precautions e The start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot
21. axis axes for the synchronous operation check warning This warning occurs when the synchronous operation mode and synchronous difference check function are set to Warning The automatic movement amount check function has detected that the difference between the instruction value and Automatic feedback value is in movement excess of the preset Each yes Check the operation of the target amount check automatic movement axis axes warning amount This warning occurs when the operation of the automatic check function of movement amount is set to Warning 15 18 15 4 List of Warning Codes Error code B048H Error name Movement amount automatic check warning 2 Description The difference between the command value and feedback value exceeded the specified movement amount automatic check value with the movement amount automatic check function This warning occurs under the following conditions When the command value and feedback value pulse input exceeds the check value when the pulse count value has been changed When the command value and feedback value exceeds the check value while home return is not performed Object Each axis Recovered Yes Countermeasures Check the operation of the target axes B050H Out of range output speed upper limit warning The output exceeds the upper limit for each model by over
22. Slot No Unit to use Staring word 0 54 CPU unit 0 1 Line driver type 4 axis pulse string 10 2 5 2 5 1 Unit Allocation 5 1 2 Check on I O Allocation Information e Each operation start signal stop signal home input signal and positioning completion signal of the positioning unit is allocated to signals e numbers actually used vary with the number of the slot where the unit is installed and the first word number m O signal allocation input number Signal name 1st 2nd 3rd 4th Virtual axis axis axis axis axis Ready positioning X0 Tool operation X4 Axis group setting done x5 Axis parameter setting done X6 Recalculation done XT Servo lock X10 X11 X12 X13 X17 BUSY X18 X19 X1A X1B X1F Operation done X20 X21 X22 X23 X27 Home return done X28 X29 X2A X2B X2F Home input X30 X31 X32 X33 Near home input X38 X39 X3B Auxiliary contact X48 X49 X4A X4B X4F Limit X50 X52 X54 X56 Limit X51 X53 X55 X57 Error annunciation X60 X61 X62 X63 X67 Warning annunciation X68 X69 X6A X6B X6F Synchronous setting done X80 X81 X82 X83 Synchronous control cancel active annunciation X88 X89 X8A X8B Slave axis gear ratio change annunciation X90 X91 X92 X93 Slave axis clutch change annunciation X98 X99 X9A X9B Positioning speed change request reception X110 X114 X112 X113 X117 annunciation Positioning
23. B 2401 2 Communications destination Home Slot No 1 Position unit pulse Speed unit pulse s Table number Operation Control X axis virtual Accelerat Acceleratio Deceleratio Target speed Dwell time ms E End point I Incr 0 L Linear 100 100 1000 2 E End point I Incr 0 L Linear 100 100 1000 3 E End point I Incr 0 L Linear 100 100 1000 4 E End point Incr 0 L Linear 100 100 1000 5 E End point I Incr 0 L Linear 100 100 1000 Select Axis setting Change axis from the menu bar The Axis settings dialog box will be displayed Axis settings x Select axis Axis2 Axis3 Axis4 V Virtual axis Please select an axis to use Cancel Select the axes to be used and press the OK button The dialog box for the interpolation operation group setting will be displayed 5 5 Unit Allocation and Parameter Settings 4 Dragthe icon of each axis to be allocated for interpolation to the interpolation group field The following picture shows the allocation of 1st axis and 2nd axis to the interpolation group r Interpolation operation group settings mcs Independent Interpolation group 5 Press the OK button A confirmation message will be displayed E Configurator PM7 The axis will be changed Continue Data other than the p
24. Emergency stop contact Each axis Stops with an elapse of emergency stop Emergency stop turns ON deceleration time Limit stop Limit switch input turns ON Each axis AS 5 Stops with an elapse of limit stop When exceeding the range Each axis deceleration time Software limit Stop of the software limit Stops with an elapse of error stop Error stop An error occurs Each axis E deceleration time System stop o axes stop without deceleration time The deceleration stop pause emergency stop and system stop will be enabled when the respective request contacts in the area turn ON The stop state will be enabled while each contact is ON and maintained until each request signal is turned OFF No operation is possible while the positioning unit is in the stop state Refer to the following table for the stop by turning contacts ON It indicates the allocated I O when the positioning unit is installed in the slot 1 Contaci Target axis Description allocation 9 Y100 All axes System stop Contact for requesting the system stop When it turns ON all axes will stop at the deceleration time 0 Y130 Requests the emergency stop of the corresponding axis Y131 The deceleration time for the emergency stop is set in the Y132 emergency stop deceleration time area the unit memory Y133 The operation is of level type Y137 Note The deviation counter cannot be cleared
25. R1 00 X1 60 Y1 60 AEE DF Error clear for each axis Request T 1st axis error error clear clear flag Y160 flag 1st axis error clear flag B O signal allocation Sidnaliname 1st 2nd 3rd 4th Virtual 9 axis axis axis axis axis Error annunciation X60 X61 X62 X63 X67 Warning annunciation X68 X69 X6A X6B X6F Request error clear Y60 Y61 Y62 Y63 Y67 Request warning clear Y68 Y69 Y6A Y6B Y6F Note 1 The I O numbers in the above table show relative addresses based on the base word number I O numbers actually used vary with the number of the slot where the unit is installed and the first word number 15 3 Errors and Warnings 15 1 4 Error and Warning Logs There are log areas to store the error warning logs within the positioning unit Error log Up to 7 error codes can be stored for each axis Warnings log Up to 7 warning codes can be stored for each axis e Once an error warning occurs the error warning code will be stored in the log area of the axis causing the error When an error warning that is not related to axes occurs such as an failure in the unit the error warning code will be stored in the log areas of all the axes e The positioning setting menu of the programming tool makes it possible to check only the latest error and warning codes on each axis When referring the error and warning logs for each axis read the following memory from the PLC Error log
26. The deceleration time of JOG operation JOG operation Target speed Emergency stop deceleration time ms The target rate of JOG operation The deceleration time when the emergency stop is requested by the input contact 9 1 Setting and Operation of JOG Operation 12 1 Settings and Operations Limit stop deceleration time The deceleration time of deceleration operation when the ms limit is input Error stop deceleration time The deceleration time of deceleration operation when an ms error occurs J point Operation setting The acceleration deceleration pattern of the J point speed 7 1 Basic code point Operation J point Acceleration time ms J point Deceleration time ms The acceleration pattern of the J point speed point The deceleration pattern of the J point speed point J point Target speed The target speed of the J point speed point Pulser operation setting code The pulser input 1 to 4 in the pulser operation Pulser input method Pulser operation ratio numerator Pulser operation ratio denominator Pulser operation max speed Input type of pulse operation The number of movement pulses is calculated from the number of input pulses of the pulser multiplied by the ratio below Numerator of ratio of pulser operation Denominator of ratio of pulser operation The maximum speed of pulse operation 11 1 Setting and
27. eg lt 3 8 2 Transistor Open Collector Type Connection Positioning unit Encoder pulser Encoder pulser 3 8 3 Transistor Resistance Pull up Type Encoder pulser Positioning unit 5V DC neos The pulser input operation and feedback pulse count of the unit uses the same pulse input terminal Therefore select either one of them The use of a twisted pair cable is recommended In the case of counting 2 phase inputs such as encoder inputs use a control code and set the pulse input count to x4 or x2 for the prevention of counting errors 3 14 3 9 Wiring Cautions 3 9 Wiring Cautions Connect the transistor output type or line driver output type to the motor driver over twisted pair cable within the following wiring distance Signals supported e Transistor output Line driver output e Deviation counter clear output Output type Model no Wiring distance AFP7PPO2T Transistor output type AFP7PP04T 10m AFP7PPO2L Line driver output type AFP7PP04L 3 15 Wiring 3 16 4 Items Power On Off and Check Items 4 1 Safety Circuit Design Example of a safety circuit Installation of the over limit switch Positioning unit Motor driver s hh x CCW driving switich switich inhibition
28. f f 150 000pps 100 000pps ZEN Speed change request contact turns ON UJ Only the speed of the table 1 is changed to 150 000 pps C The speeds of the table 2 and 3 do not change m Example of operation 2 Speed direct specification Active table to E point table until the completion of the operation Parameter Setting value Change mode selection 0001H Active table to E point table Change speed 150 000 pps f x 150 000pps 100 000pps A Speed change request contact turns ON B The speeds of all consecutive tables are changed to 150 000 pps 13 25 Supplementary Functions B Example of operation For repetitive operations When the speed change speed direct specification active table only is performed during the positioning repeat operation only the speed of the active table in an active repeat period is changed 100 000pps Repeat 1st time Repeat 2nd time Repeat 3rd time 100 000pps v v t Repeat 1st time Repeat 2nd time Repeat 3rd time A Only the speed of the table 1 in the first repeat period is changed to 150 000 pps B The speeds of the table 1 in the second and third repeat periods are not changed 13 26 13 8 Target Speed Change Function For unit version Ver 1 3 later only 13 8 3 Setting Procedures and Operations R
29. K tims t tims J point J point speed positioning start change cotnact 7 2 7 1 Basic Operation B Operation flow of single axis control B Operation flow of interpolation control Use the Configuration menu Use the Configuration menu and set the target axis as a and set the axes subject to single axis interpolation as a group Use the Configuration menu Use the Configuration menu and and set the target positioning set the target positioning data data Set the center point and pass point as well in circular interpolation or iV spiral interpolation Download the project to the CPU it iudi Download the project to the CPU V unit Set the POSSET command S and set the target positionin control starting table 3 Use the POSSET command for aS the axis with the smallest number the group and set the target positioning control starting table Turn the corresponding positioning start contact ON 7 Tum ON the corresponding positioning start contact of the axis with the smallest number in the group 7 3 Automatic Operation Positioning Control 7 1 2 Setting and Operation of E point Control The example below is a case of single axis control with the positioning unit installed in slot 1 The movement amount setting uses an increment method in pulses Table 10000 pulses I gt Ball screw side sid
30. Pulse input A nc X1 2 gt 1 X1 to X4 20 2us Each phase Max 1 2 Pulse input B B Using pulse input A and B for direction discrimination input F 4 Pulse input A Jupe T21us 1 X120 2us Pulse input A signal 1MHz Pulse input B B Using pulse input A and B for individual input Pulse input A j oC 1 T21us X120 4us Each input 1MHz Pulse input B 3 7 Wiring 3 3 Supply of Power to Drive Internal Circuit 3 3 1 Line Driver Output Positioning unit Pulse command Pulse command input i output i A1 A2 A10 A11 External power supply Usable voltage range 21 4 to 26 4V DC External power consum ans ption 2 axis type 50 mA less 9 extracted from the overall configuration 3 3 2 Transistor Output It is possible to get power for the pulse instruction output circuit from the 5 V DC output terminal pins A1 A2 A10 and A11 Positioning unit Pulse command input i i at 5V output inpu O i Pulse command 15 mA per signal i i outpu can be used i B1 B2 B10 B11 guide i External power supply Usable voltage range 21 4 to 26 4V DC Current 4 axis type 90 mA or less consum ption 2 axis type 50 mA or less Note Make sure that a current not in excess of 15 mA is provided for
31. Requests the positioning control of the corresponding axis The starting table is specified in the area for specifying the positioning control starting table number in the unit memory Positioning start dte The operation is the edge type If this contact turns ON while the positioning unit is in tool via _ _ operation a warning will be output m Positioning start Requests the positioning control of the virtual axis Requests the home return of the corresponding axis Y19 Home return start The operation is the edge type If this contact turns ON while the positioning unit is in tool operation a warning will be output 1 Y1E Requests the home return of the virtual axis The home return of Y1F Virtual axis Home return start AER 5 the virtual axis is possible only by data setting All axes System stop 17 10 17 2 Number Allocation Contact Tw JOG forward JOG forward Requests the JOG operation for the corresponding axis The operation is of level type JOG forward JOG If this contact turns ON while the positioning unit is in tool operation a warning will be output JOG forward JOG forward Requests the JOG operation of the virtual axis The operation is of level type Requests the emergency stop of the corresponding axis Emergency stop The operation is of level type Note The deviation counter cannot be cleared
32. Check the installation condition of the over limit switch 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 Procedure for Turning On the Power 5 Checking the CPU mode selection switch Set the CPU unit to PROG Mode The CPU unit in RUN mode may operate unexpectedly 4 3 Power and Check Items e The use of the positioning unit requires configuration menu settings Check that each parameter is set properly 4 3 Procedure for Turning On the Power 4 3 Procedure for Turning On the Power 4 3 1 Procedure for Turning On the Power When turning on the power to the system incorporating the positioning unit consider the nature and statuses of any external devices connected to the system and take sufficient care so that turning on the power will not initiate unexpected movements Procedure 1 Turn on the power supplies for input and output devices connected to the PLC The power supplies include those for line driver output or open collector output Turn on the power supply to the PLC Turn on the power supply to the motor driver Positioning unit u 1 Power supplies for input and output devices Power supply for PLC Power
33. K500000 DT16 MV SL K1000000 DT18 1st axis movement amount MV SL 0720 on 1 table data on 1st axis o 1st axis auxiliary point st axis dwell time 1st axis auxiliary output MV SS KO DT24 MV SS KO DT25 BKMV SS 0110 0725 S1 UMO0850 a on ee enm Settings for table no 1 H00850 of 1st axis 18 9 Sample program R11 DF Set value change R11 H DF Set value change Y107 Recalculation request flag R3 H DF Positioning start Recalculation R100 Operation enabled flag BUSY enabled flag BUSY for 1st axis for 2nd axis MV SS DT30 2nd axis control code MV SS HO DT31 2nd axis control pattern MVSSS K100 0734 NEN 7 axis NEN 1 time DT35 2nd axis deceleration time MV SL K1000 DT36 1 table data on 2nd axis target 2nd axis speed MV SL K100000 DT38 2nd axis movement amount MV SL DT40 2nd auxiliary point Settings for table no 1 PIS H03050 of 2nd axis Recalculation done request flag required if the POSSET U1 U1 Slot Axis number number U1 Table number Y110 X118 R200 X119 1st axis Operation 2nd axis Positioning start for 1st axis positioning data in the standard area is changed A recalculation is 18 10 Record of changes Manual No
34. Unit setting P pulse Ppulse Ppulse Ppulse Ppulse Number of pulses per revolution 1 1 1 1 1 Movement per revolution 1 1 1 1 1 Pulse output method OPulse Sien O Pulse Sien O Pulse Sien O Pulse Sign Pulse output rotation direction f 0 Clockwise positive 0 Clockwise positive 0 Clockwise positive 0 Clockwise positive Limitswitth nn N Disabled N Disabled N Disabled N Disabled Limit switch logic Normal Close 1 Normal Close O Normal Open O Normal Open Limit switch logic l Normal Close 1 Normal Close Open 0 Open Home position logic o a Open Normal Open li Normal Open 0 Normal Open Home position proximity logic 0 Open O Normal Open O Normal Open O Normal Open Input Time Constnat Pulse Input 0 No input time constant 0 No input time constant 0 No input time constant 0 No input time constant 2 Make necessary parameter settings according to the application and press the OK button 3 Select File Save Config from the menu bar Yee Closing the window with the X mark during editing cancels and stops the operation 5 7 Unit Allocation and Parameter Settings 5 3 2 Parameter Setting Items B Setting items Parameter name Description Related page Unit setting The unit to be used for setting eac
35. Condition Direction Limit status Operation When JOG operation Forward rotation Limit input Not executable Error occurs Limit input Executable Reverse rotation Limit input ON Executable Limit input ON Not executable Error occurs During JOG operation Forward rotation Limit input ON Deceleration stop Error occurs Reverse rotation Limit input ON Deceleration stop Error occurs 4 8 4 4 Check with Power Turned On 444 Operation Checks on Near Home Switch and Home Switch Step 1 Forcibly operate home input and near home input and check that the operation indicator of the positioning unit will be lit Monitor the input contact with the FPWIN GR7 as well and make a similar check Step 2 Input a home return program to make an actual home return and check that the positioning unit will perform deceleration with near home input Point of confirmation Set the valid logic of home input and near home input in the parameter setting menu of the Configurator PM7 Step 3 Repeat the JOG and home return operation of the positioning unit and check that the home stop position will not shift Point of confirmation A shift may result depending on the position of near home input or home input and the return speed Step 4 If the home stopping position is shifted change the position of near home input or reduce the home return speed Positionin
36. Emergency stop Requests the emergency stop of the virtual axis Requests the deceleration stop of the corresponding axis Deceleration stop Deceleration stop The operation is of level type Note The deviation counter cannot be cleared Virtual axis Requests the deceleration stop of the virtual axis 17 11 Specifications Target axis Name Description allocation Pulser Requests the permission for the pulser operation of the corresponding axis The operation is of level type 4th axis Pulser operation Requests the permission for the pulser operation of the virtual axis enabled By turning ON this signal while the positioning unit is in J point operation J point speed the speed changes to the target speed in the specified leration deceleration time and pattern change contact acce The operation is the edge type Y4C Y4E Virtual J point speed Changes the target speed during the JOG J point positioning of the axis change contact virtual axis 2nd axis The servo ON signal is turned OFF at ON edge of this contact The operation is the edge type J point The positioning unit will go to the next table processing when this signal turns ON during the JOG J point positioning of the corresponding axis start The operation is the edge type E T Virtual aM The positioning unit will go to the next table
37. J point positioning start Y58 Y59 Y5A Y5B Y5F Request error clear Y60 Y61 Y62 Y63 Y67 Request warning clear Y68 Y69 Y6A Y6B Y6F Synchronous setting request Y80 Y81 Y82 Y83 Synchronous cancel request Y88 Y89 Y8A Y8B Ec ratio change request The operation is Y90 Y91 Y92 Y93 7 Slave axis clutch ON request Y98 Y99 Y9A Y9B Slave axis clutch OFF request Y100 Y101 Y102 Y103 Positioning speed change request Y110 Y111 Y112 Y113 Y117 Positioning movement amount change request Y118 Y119 Y11A Y11B Y11F Note 1 The I O numbers in the above table show relative addresses based on the base word number I O numbers actually used vary with the number of the slot where the unit is installed and the first word number Example The home input of 1st axis is Y110 for slot number 1 if the first word is number 10 5 4 5 2 Axis Allocation for Use 5 2 Axis Allocation for Use 5 2 1 Settings in Configurator PM7 Use the Configurator 7 to allocate axes for the use of the positioning unit along with the purposes of the axes The following procedure is explained on the condition that the positioning unit has been already allocated in the I O map PROCEDURE 1 Select the desired positioning unit from the map and press the Advanced button The configuration menu Configurator PM7 for the positioning unit will start BR configurator PM7 File Edit View Online Debug Axis Settings Options Help D P
38. Pulser input B phase Pulser operation enabled contact Y120 7 7 1 dis Operation done flag X20 1 1 asi 1 sss EERE BUSY flag X18 dais snl B Operation of each contact e The BUSY flag X118 indicating the state that a motor is running will turn ON when the pulser operation permit contact turns ON and will turn OFF when the contact turns OFF e The operation done flag X120 indicating the state of operation completion will turn ON when the pulser operation permit contact is turned OFF and the flag will be maintained until the next positioning control JOG operation home return or pulser operation starts Manual Operation Pulser Operation B Sample program X100 X104 X160 Operation enabled condition Ready Tool 1st axis error Operation positioning operation R2 HDF Pulser operation enabled flag R11 Pulser OFF edge R10 X118 Y140 Pulser permission for axis 1 R2 I DF Pulser operation Operation 1st axis Pulser OFF Pulser enabled BUSY flag edge permission for axis 1 Y140 Pulser permission for axis 1 B Programming Precautions e The movement amount per an 1 pulse signal from the puls
39. State of synchronous 0000H fixed 0000H output function for virtual axis 17 31 Specifications 17 4 12 System Operation Setting Area This is an area for changing the operation of the positioning unit Unit memory no Description Hex Specify the operation of the positioning unit with the deceleration stop request signal activated turned ON 0 Deceleration stop While the positioning unit is in repetitive operation the positioning unit will come to a stop after the position moves to E point of the repetitive target 1 Pause Performs a deceleration stop and positioning will restart when the deceleration stop request signal is canceled turned OFF Deceleration stop UM 00389 M operation The positioning unit will perform the same operation as a deceleration stop unless the positioning unit is in positioning operation While the positioning unit is in repetitive operation the positioning unit will come to a stop after the position moves to the E point of the repetitive target and repetitive operation will restart when the deceleration stop request signal is canceled turned OFF system stop or emergency stop is executed while the positioning unit is paused the pause state will be canceled and the operation will not restart with the deceleration stop request signal is canceled turned OFF Default 0 17 32 17 5 Details of Each Axis Information Area in Un
40. inch degree 4004H 4005H Pulse number error per rotation Movement amount error per rotation The pulse number is out of the range The movement amount is out of the range Each axis Each axis Yes Yes Check the set value If the set value is out of the range reduce it by the following formula Pulse number per rotation Movement amount per rotation 15 9 Errors and Warnings Error MG Error name Description Object Recovered Countermeasures The upper or lower limit 4010H serere setting value of software limit is out Each axis Yes error of the range Limit stop The limit stop deceleration 4020H deceleration time ein Each axis Yes time is out of the range error Error stop er The error stop deceleration 4021H deceleration time time is out of the range Each axis Yes error Emergency stop The emergency stop 4022H deceleration time deceleration time is out of Each axis Yes error the range The settings of auxiliary output are not correct A mode other than With mode or Delay mode for the 4028H Auxiliary output auxiliary output mode has Each axis Yes Check the set value setting error been set _ If an error occurs The auxiliary output delay repeatedly with the ratio while the positioning correct set values consult unit is in Delay mode is not your Panasonic to 100 76 representative The same axis has been s
41. operation starts 7 22 7 2 Interpolation Control Programming Precautions For X Y plane in the case of the center point specification the X axis auxiliary point is the center point of X axis and the Y axis auxiliary point is the center point of Y axis In the case of the pass point each pass point is set as the pass point of X axis and Y axis These settings are the same for Y Z plane and X Z plane When the control method is increment both the center point and pass point will be increment coordinates from the start point When the start point and the operation done point is the same it performs one circular operation when using the center point method However when using the pass point method an error will occur n the case of the pass point method when the start point pass point and operation done point exist in the same straight line an arc will not be comprised and an error will occur e n the case of specifying long axis speed the composite speed will be faster than the long axis speed e f any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a set value error will occur when the positioning control starts e The start contact and flag number varies depending on the number of axes and the installation position of the unit eThe specified slot number varies depending on the installation position of the unit 7 2 6 Sample
42. 0 0 0 Current value 0 0 0 0 0 Unit conversion current value 0 pulse 0 pulse 0 pulse 0 pulse 0 pulse Pulse input value 0 0 0 0 Deviation 0 0 0 0 Axis state Stopped Stopped Stopped Stopped Error code E ssas s Clear errors Clear errors Clear errors Clear errors Warning code e j J x Clear warning Clear warning Clear warning Glear warning Glear warning Close ans Related Items Description page When an axis has been set as master axis Master is displayed 8 1 When an axis has been set as slave axis the master axis which this axis Synchronous follows is displayed Control Synchronous master axis Example When the second axis has been set as a slave axis for the master of first axis 1 axis is displayed in the column of 2 axis For axes that are not used for the synchronous control is displayed The functions of synchronous operation that have been set for slave axes are dipslayed Synchronous Gear Clutch Cam output Gear Clutch Gear Cam Clutch Cam Gear Clutch Cam For axes that are not used for the master axes and synchronous control is displayed Synchronous state The states synchronous asynchronous that have been set for each axis are displayed Active table The table number that the positioning data is being executed or has been Vue number executed Data Table 13 3 Auxiliary
43. 09680 UM 13680 357 UM 01E90 UM 04690 UM 06E90 UM 09690 UM 13690 358 UM 01EA0 UM 046A0 UM UM 096A0 UM 136A0 359 UM 01EBO UM 04680 UM 06EBO UM 09680 UM 13680 360 UM 01ECO UM 046CO UM 06ECO UM 096CO UM 136C0 361 UM 01EDO UM 046DO UM 06EDO UM 096DO UM 13600 362 UM O1EEO UM 046E0 UM UM 096 0 UM 136E0 363 UM O1EFO UM 046F0 UM O6EFO UM 096F0 UM 136F0 364 UM 01F00 UM 04700 UM 06F00 UM 09700 UM 13700 365 UM 01F10 UM 04710 UM 06F10 UM 09710 UM 13710 366 UM 01F20 UM 04720 UM 06F20 UM 09720 UM 13720 367 UM 01F30 UM 04730 UM 06F30 UM 09730 UM 13730 368 UM 01F40 UM 04740 UM 06F40 UM 09740 UM 13740 369 UM 01F50 UM 04750 UM 06F50 UM 09750 UM 13750 370 UM 01F60 UM 04760 UM 06F60 UM 09760 UM 13760 371 UM 01F70 UM 04770 UM 06F70 UM 09770 UM 13770 372 UM 01F80 UM 04780 UM 06F80 UM 09780 UM 13780 373 UM 01F90 UM 04790 UM 06F90 UM 09790 UM 13790 17 62 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 374 UM 01FA0 UM 047A0 UM UM 097A0 UM 137A0 375 UM 01FBO UM 04780 UM UM 09780 UM 13780 376 UM 01FCO UM 047CO UM UM 097CO UM 137 0 377 01FDO 04700 UM 09700 13700 378 UM 01FE0 UM 047E0 UM 097 0 137E0 379 UM 01FFO UM 04720 UM O6FFO UM 097F0 UM 137F0 380 UM 02000 UM 04800 UM 07000 UM 09800 UM 138
44. 12520 92 UM 00 00 UM 03600 UM 05E00 UM 08600 UM 12600 93 UM 00E10 UM 03610 UM 05E10 UM 08610 UM 12610 94 UM 00E20 UM 03620 UM 05E20 UM 08620 UM 12620 95 UM 00E30 UM 03630 UM 05 30 UM 08630 UM 12630 96 UM 00E40 UM 03640 UM 05E40 UM 08640 UM 12640 97 UM 00E50 UM 03650 UM 05E50 UM 08650 UM 12650 98 UM 00E60 UM 03660 UM 05E60 UM 08660 UM 12660 99 UM 00E70 UM 03670 UM 05E70 UM 08670 UM 12670 100 UM 00 80 UM 03680 UM 05E80 UM 08680 UM 12680 101 UM 00E90 UM 03690 UM 05E90 UM 08690 UM 12690 102 UM 00EAO0 UM 036A0 UM UM 086A0 UM 126A0 103 UM O0EBO UM 036B0 UM 05EBO UM 086B0 UM 12680 104 UM 00ECO UM 036C0 UM 05 UM 086CO UM 126C0 105 UM O0EDO UM 03600 UM 05EDO UM 08600 UM 12600 106 UM OO0EEO UM 036E0 UM 05EEO UM 086 0 UM 126E0 107 UM OOEFO UM 036F0 UM 05EF0 UM 086F0 UM 12620 108 UM 00F00 UM 03700 UM 05F00 UM 08700 UM 12700 109 UM 00F10 UM 03710 UM 05F10 UM 08710 UM 12710 110 UM 00F20 UM 03720 UM 05F20 UM 08720 UM 12720 111 UM 00F30 UM 03730 UM 05F30 UM 08730 UM 12730 112 UM 00F40 UM 03740 UM 05F40 UM 08740 UM 12740 113 UM 00F50 UM 03750 UM 05F50 UM 08750 UM 12750 114 UM OOF60 UM 03760 UM 05F60 UM 08760 UM 12760 115 UM 00F70 UM 03770 UM 05F70 UM 08770 UM 12770 116 UM 00F80 UM 03780 UM 05F80 UM 08780 UM 12780 117 UM OOF90 UM 03790 UM 05F90 UM 08790 UM 12790 118 UM UM 037A0 UM 05FA0 UM 087A0 UM 127A0 119 UM 00FB0 UM 03780 UM 05FBO UM 08780 UM 12780 120 UM 00FC0 UM 037 0 UM 05FCO UM 087 0 UM 127C0 121 UM 00FD0 UM 03700 UM 05FD
45. 3rd axis UM 0024D change of 3rd axis UM 0024E Pulse input value UM 0024F change of 4th axis Set the desired pulse input value for the 4th axis 13 19 Supplementary Functions 13 7 Startup speed The positioning unit allows startup speed settings for the startup of each type of operation The startup speed is available for positioning JOG operation and home return control B Setting method of startup speed Set the startup speed in the parameter setting menu for each axis of the Configurator PM7 m Cautions for start speed settings 1 The startup speed will apply to the end of operation as well The speed at the end of operation cannot be changed The home return creep speed at the time of a home return will not be influenced by t he start speed The target speed of each type of operation is not influenced by the start speed The positioning unit operates at the preset target speed regardless of the preset startup speed f pps Startup speed Startup speed t ms 13 20 13 8 Target Speed Change Function For unit version Ver 1 3 later only 13 8 Target Speed Change Function For unit version Ver 1 3 or later only 13 8 1 Function Explanation The target speed change function is used to change the target speed on an active positioning table to an arbitrary speed Even when the speed changes the operation amount in the table does not change f When increasing the target spee
46. Auxiliary output When the auxiliary output function is enabled output code is output within Output Code code the range of 0 to 65536 and Auxiliary Output Contact C The current value of the positioning unit is displayed It will return to 0 on 13 4 Current urrent value the completion of home return Value The unit converted current value of the positioning unit is displayed Update Unit conversion It will return to 0 on the completion of home return 13 5 current value When the coordinate origin has been set it will be preset to the coordinate Coordinate origin on the completion of home return Origin 6 3 Monitoring on Configurator PM7 Items Description Belated page When the pulse input function is enabled input pulse values are displayed 13 6 Pulse Pulse input value ie di In the case of virtual axes is displayed Input When the movement amount automatic check function is enabled Deviation deviations are displayed In the case of virtual axes is displayed Axis state Running or Stopped is displayed When an error has occurred Error occurred is displayed When an error has occurred the latest error code is displayed 15 1 About Error code Pressing the Clear errors button clears errors Errors and Wami When a warning has occurred the latest warning code is displayed Warnings arning code ii nee Pressing the Clear warnings button clears warnings
47. Change ON OFF 3 axis OFF Change ON OFF 4 axis OFF Change ON OFF 4 Confirm the servo ON OFF states of arbitrary axes and press the Close KEY POINTS button This returns to the Tool operation dialog box If the servo ON OFF has been controlled using ladder programs the servo lock or servo free state before the start of the tool operation is kept and the operation shifts to the tool operation The servo lock or servo free state before the completion will be kept even after finishing the tool operation mode 6 9 Transfer to Unit and Commissioning 6 4 3 JOG Operation with Tool Operation Function e You can perform commissioning with the Configurator PM7 before actually starting the user program e The following procedure is explained on the condition that the Configurator PM7 has already started NT PROCEDURE 1 Select Online Tool Operation from the menu bar The tool operation dialog box will be displayed 2 Select JOG operation from the tool operation dialog box The tool operation JOB operation dialog box will be displayed Tool operation Jog operation Current value Unit Deviation pulses target speed JoG Axis state Error code Warning code hange synchronization Change synchronization Change synchronization Change synchronization Axis Group Virtual axis 1 axis 2 axis 3 axis 4 axis Synchronous master
48. Clear warning Clear warning Clear warning Clear warning E te Speed Rate Perform the JOG operation of the positioning unit to stop the positioning unit at the positioning point Press the Teaching button Input the table number where the desired positioning information is registered and click the OK button The current value will be registered for the amount of movement of the table number specified If the axis that the teaching operation is performed is the interpolation axis the current value is registered for the movement amount of the equivalent coordinate in the interpolation group Press Exit button to terminate teaching 6 17 Transfer to Unit and Commissioning B Dialog box items Pressing the Change synchronization button switches the state between Synchronous and Asynchronous Items Description Releted page When an axis has been set as master axis Master is displayed 8 1 When an axis has been set as slave axis the master axis which this axis Synchronous Synchronous follows is displayed Control master axis Example When the second axis has been set as a slave axis for the master of first axis 1 axis is displayed in the column of 2 axis For axes that are not used for the synchronous control is displayed The functions of synchronous operation that have been set for slave axes are dipslayed Synchronous Gear Clutch Cam output Gear Clutch Gear Ca
49. Date Record of Changes WUME FP7POSP 01 Mar 2013 First Edition WUME FP7POSP 02 Jun 2015 Second Edition Corrected sample programs 18 2 2 18 2 3 Added new functions Unit version Ver 1 3 or later Positioning speed change function Positioning movement amount change function 13 8 13 9 17 8 Input time constant change function 5 3 2 17 6 2 Change related to FPWINGR7 GUI 5 6 6 1 Error correction Please contact Panasonic Industrial Devices SUNX Co Ltd W Overseas Sales Division Head Office 2431 1 Ushiyama cho Kasugai shi Aichi 486 0901 Japan W Telephone 81 568 33 7861 Facsimile 81 568 33 8591 panasonic net id pidsx global For our sale network please visit our website Panasonic Industrial Devices SUNX Co Ltd 2015 June 2015 PRINTED IN JAPAN WUME FP7POSP 02
50. Default 0 ms 17 45 Specifications Offset hens Sets the pattern of the home return DOG method 1 DOG method 2 Home return setting DOG method 3 code Limit method 1 Limit method 2 Phase Z method Data set Any other settings will be errors Set the direction of the home return Mu 0 Elapsed value decrement direction limit negative direction 1 Elapsed value increment direction limit positive direction Any other settings will be errors Sets the acceleration deceleration time while the positioning unit is in Acceleration time in home return operation home return operation When home return control starts the positioning unit will go into acceleration operation in the preset time After near home input is ON the positioning unit will go into deceleration operation in the preset l time and move into creeping speed Deceleration time in home return operation Setting range 0 to 10 000 ms Any other settings will be errors Sets the target speed for home return control After home return control starts the positioning unit will accelerate to target speed if there is no near home input Setting range 1 to 32 767 000 Home return target Any other settings will be errors speed error 4 Set following range according to the unit setting Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 r
51. Description 0 1st axis pulse count enabled 0 0 Pulse count enabled 1 2nd axis pulse count enabled 0 1 Pulse count disabled 2 3rd axis pulse count enabled 0 3 4th axis pulse count enabled 0 15 to 4 13 18 13 6 Pulse Input B Changing pulse input value If the pulse input application is set to high speed counter the pulse input value can be changed to a desired value The following areas are used to change the pulse input value Description UM 00241 Pulse count value The pulse input value will be changed to the set pulse count when the change request corresponding bit for each axis is set to 1 from O flag This flag is an edge trigger Be sure to change the flag to 1 from 0 at the time of the change After the change the positioning unit will clear the corresponding bits to O automatically bit Name Default Description 0 Pulse count change of 1st axis 0 0 Pulse input value not 1 Pulse count change of 2nd axis 0 changed 2 Pulse count change of 3rd axis 0 Pulse input value change 3 Pulse count change of 4th axis 0 15 to 4 00248 Pulse input value Set the desired pulse input value for the 1st axis UM 00249 change of 1st axis 0024A Pulse input value Set the desired pulse input value for the 2nd axis UM 0024B change of 2nd axis 0024C Pulse input value Set the desired pulse input value for the
52. E point Positioning movement ihe movementamount Each 4400H 9 positioning operation is out of Yes amount setting error axis the range we The acceleration Check the set value Positioning deceleration type of the Each If 4401H acceleration deceleratio itioni i Yes error occurs n type error positioning operation is axis repeatedly with the incorrect correct set values Positioning acceleration The acceleration time of the Each dnd cones itioni ioni representative 4402H timecerror positioning operation is out of axis Yes Positioning deceleration The deceleration qme of tng Each 4403H lime error positioning operation is out of axis Yes the range The target speed of the 4404H Positioning target speed positioning operation is out of Each Yes error axis the range 4500H Interpolation type error The setting of the Fach Yes interpolation type is incorrect axis The parameter of the circular 4504H Circular interpolation interpolation such as center Each Yes not executable point or pass point is axis incorrect The error occurred while the 4505H Spiral interpolation not positioning unit is in spiral Each Yes executable interpolation operation as the axis set value is incorrect 15 12 15 3 Error Code Table nd Error name Description Object Recovered Countermeasures Check the set value a The pulse input setti
53. Engagement Methods of Electronic Clutch The electronic clutch function engages the clutch to start operating the slave axes and disengages the clutch to stop operating the slave axes the acceleration or deceleration of the slave axes can be set as shown below B Direct method This method detects the engagement or disengagement of the clutch to adjust the operating speed of the master axis to coincide with that of the slave axes In the direct method the speed of the slave axes with the clutch engaged or disengaged coincides with the operating speed of the master axis with the acceleration and deceleration time set to O Master axis operation Slave axis operation ON OFF B Slip method This method detects the engagement or disengagement of the clutch and set the slip time to acceleration time and deceleration time so that the operating speed of the slave axes to follow the operation speed of the master axis Linear acceleration and deceleration will apply Slip time Slip time Master axis motion i i i i H i Slave axis operation ON 7 CI i utch request signal OFF 8 14 8 5 Electronic Cam Function 8 5 Electronic Cam Function 8 5 1 Outline of Electronic Cam Function Electronic cam function The electronic cam function uses a preset cam pattern determines the movement amount of the slave axes according to the operation of the master axis phase information and cam pa
54. I I I I I I I I B Home position method Edge detection of home switch Moves from the current position in the home return direction and detects the first rising edge of the home switch and stops That point becomes the start point Home switch Home return direction amp gt gt n sa I I Note When the home sensor is ON at startup the unit does not detect the home sensor and operates to the home return direction m Data set method The current value is considered as the origin Home position Current value 10 4 10 2 Setting and Operation of Home Return 10 2 Setting and Operation of Home Return The example below is a case of the positioning unit installed in the slot 1 Settings are made in pulses i Home return g side F3 Near home switch Gy side Home position m Settings Parameters required for the home return operation of the positioning unit is set in the positioning setting menu of the programming tool Items Setting example Return setting code 0 DOG method 1 Return direction 0 Limit direction Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps Return creep speed 1000 pps Deviation counter clear signal ON 1 ms E Operation diagram Target speed me return creep speed Near home switch DOG __
55. Operation of Pulser Operation 13 6 Pulse Input 5 10 5 4 Synchronous Parameter Cam Pattern Settings 5 4 Synchronous Parameter Cam Pattern Settings 5 4 1 Synchronous Parameter Settings Use the Configurator PM7 to allocate parameters necessary for synchronous control The following procedure is explained on the condition that the Configurator PM7 has already started pp PROCEDURE 1 Select Axis Settings Synchronization parameter settings from the menu bar The synchronous parameter dialog box will be displayed Synchronous parameter settings mm axis 2 axis 3 axis 4 axis lt Select synchronous master axis No synchronous master synchronous master synchronous master synchronous master Quick move Deceleration stop method Linear deceleration Linear deceleration Linear deceleration Linear deceleration Deceleration stop time 100 100 100 100 Select master axis Electronic gear operation settings Use Not use Not use Gear ratio numerator 1 1 1 1 Gear ratio denominator 1 1 1 1 Gear ratio change time 1 1 1 1 Olutch operation settings lutch on request Clutch on trigger type lutch on reques Edee selection Method Slip method Specify slip time Specify slip time Specify slip time slip time Slip time 1 1 1 Slip curve select
56. Positioning control will start when J point positioning start contact Y 158 turns ON B Behaviors when the speed change contact turns ON while the positioning unit is accelerating or decelerating the speed speed change is possible during J point control but impossible during acceleration or deceleration speed change will be made after the positioning unit goes to constant speed when the speed change signal turns ON during acceleration or declaration J point speed change contact is not effective 7 8 7 1 Basic Operation 7 1 6 Sample Program E point P point and C point Control m Sample program X100 X104 X160 Operation enabled j condition Ready Tool 1staxis error Operation positioning operation enabled flag Specify slot R2 LH DF POSSET zn sea AN Positioning Slot Axis Table number control start number number number R2 R10 X118 Y110 H DF Positioning Operation 1st axis Positioning control start enabled flag BUSY start for 1st axis j Positioning start up 7 1 7 Sample Program J point Control E Sample program X100 X104 X160 Operation enabled condition Ready Tool 1st axis error Operation positioning operation enabled flag R2 DF POSSET Positioning Slot Axis Table control start number number number gru Y148 DF Speed 1st axis J point Fmsh chan
57. Program Interpolation Control An example of 3 axis interpolation control is shown below m Sample program X100 X104 X160 R10 EAE 1st axis error Operation positioning operation enabled flag R11 ee Operation enabled 2 PTT Operation enabled flag R12 3rd axis error Operation enabled fag Set the slot R2 number axis m HDF POSSET 01 U1 U1 number and table Positioning Slot Axis Table number and start control start number number number positioning R2 R10 R11 R12 X118 X119 11 Y110 Positioning start H HDF as Positioning 151 axis 2nd axis 3rd axis 1staxis 2nd axis 3rd axis Positioning control start operation operation operation BUSY BUSY BUSY start for 1st enabled enabled enabled axis flag flag flag 7 23 Automatic Operation Positioning Control 7 3 Setting and Operation of Positioning Repeat Function The positioning repeat function enables continuous positioning control according to the number of repetitions specified The number of repetitions is set in the area for the number of positioning repetitions on each axis The number of repetitions can be set within a range of 2 to 254 It is possible to specify a limitless number of repetitions by setting 255 for the area of the number of positioning repetitions B Outline of Positioning Repeat Function The positioning unit
58. Synchronous Parameter Cam Pattern Settings 5 11 5 4 1 Synchronous Parameter Settings 5 11 5 4 2 Cam Pattern Settings u u u u L un ine E emen 5 12 5 5 Creating Positioning Data Table 5 13 5 5 1 Construction of Positioning Data 5 13 5 5 2 Table No Positioning Start 5 14 5 5 3 Operation Patterns and Tables 5 15 5 6 Saving Parameters et sad Les RARE 5 16 5 6 1 Saving and Loading of 5 16 Transfer to Unit and Commissioning 6 1 6 1 Check on Setting Contents eeeesssssssseeeeeneeeeernennn 6 2 6 1 1 Check on Parameter 6 2 6 1 2 Comparison of Parameter 6 2 6 2 Transfer Of Parameters 6 4 6 2 1 Writing Parameters to Unit 6 4 6 3 Monitoring on Configurator PM7 6 5 0 3 1 St tus Monltor ene oett e edite ede e 6 5 6 3 2 Data Monil r eo NE dia eni ae 6 5 0 4 Tool ODpGSratlOri 6 8 6 4 1 Tool Operation Function
59. The tool operation home return dialog box is displayed Tool operation Return to home position Es Axis Group Virtual axis 1 axis 2 axis 3 axis 4 axis Synchronous master axis Master Virtual axis Virtual axis Master 3 axis Synchronized output Gear Oltch Gear Clutch Cam Synchronous state Synchronous Synchronous Synchronous Synchronous Es Synchronous jhange synchronization Change synchronization Change synchronization Change synchronization Change synchronization Current value 0 0 0 of 0 ome position coordinate ome position coordinate ome position coordinate ome position coordinate ome position coordinate Unit pulse pulse pulse pulse pulse Deviation pulses 0 0 of 0 Home return mode Data set method Dog method 1 Dog method 1 Dog method 1 Dog method 1 Start Start Start Start Start Axis state Stopped Stopped Stopped Stopped Stopped Luogo M E rere nl ote Sos ES een is ead Clear errors Clear errors Clear errors Clear errors Clear errors Menuet eee eet ji eed Clear warning Clear warning Clear warning Clear warning Clear warning Speed Fate 100 Hb Est 3 Press the Start button for the axis to be returned home Execute the home return 4 Press Quit button to terminate the home return operation Wa neos recoverable error occurs in t
60. UM 03CCO UM 064CO UM 08CCO UM 12CCO 201 UM 014DO UM 03CDO UM 06400 UM 08CDO UM 12CDO 202 UM 014E0 UM UM 064E0 UM 08CEO UM 12CEO 203 UM 01450 UM UM 064F0 UM 08CFO UM 12CFO 204 UM 01500 UM 03D00 UM 06500 UM UM 12D00 205 UM 01510 UM 03D10 UM 06510 UM 08D10 UM 12D10 17 58 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 206 UM 01520 UM 03D20 UM 06520 UM 08D20 UM 12D20 207 UM 01530 UM 03D30 UM 06530 UM 08D30 UM 12D30 208 UM 01540 UM 03D40 UM 06540 UM 08D40 UM 12D40 209 UM 01550 UM 03D50 UM 06550 UM 08D50 UM 12D50 210 UM 01560 UM 03D60 UM 06560 UM 08D60 UM 12D60 211 UM 01570 UM 03D70 UM 06570 UM 08D70 UM 12D70 212 UM 01580 UM 03D80 UM 06580 UM 08D80 UM 12D80 213 UM 01590 UM 03D90 UM 06590 UM 08D90 UM 12D90 214 UM 015A0 UM 03DAO UM 065A0 UM 08DAO UM 12DA0 215 UM 01580 UM UM 06580 UM 08DBO UM 12DBO 216 UM 015CO UM UM 065CO UM 08DCO UM 12DCO 217 UM 01500 UM O3DDO UM 06500 UM 08DDO UM 12DDO 218 UM 015E0 UM 03DE0 UM 065 0 UM 08DEO UM 12DEO 219 UM 015F0 UM O3DFO UM 065F0 UM 08DFO UM 12DFO 220 UM 01600 UM 03E00 UM 06600 UM 08bE00 UM 12bE00 221 UM 01610 UM 10 UM 06610 UM 10 UM 12E10 222 UM 01620 UM 03E20 UM 06620 UM 08bE20 UM 12bE20 223 UM 01630 UM UM 06630 UM 08E30 UM 12 30 224 UM 01640 UM
61. area 17 70 17 7 Unit Memory Synchronous Control Setting Area 17 7 2 Detailed Information on Synchronous Control Setting Area Make synchronous control settings in this area These values set in the Configuration menu will be stored automatically Therefore individual settings are not necessary m Synchronous control common setting area Offset eue Name Default Description Set the master axis for each axis Set value Master axis 0000H No synchronous master axis or the target set axis is the master axis 0001H 1st axis Each axis 0002H 2nd axis synchronous 0003H 3rd axis Mis 0004H 4th axis 0010H Virtual axis 0021H Pulse input 1 0022H Pulse input 2 0023H Pulse input 3 0024H Pulse input 4 The state of the synchronous operating function set for the axis is stored Functions Setting Each axis synchronous output _______ function Clutch operation settings 1 Yes Electronic gear setting 0 No selection Electronic cam operation settings Area reserved for system m Electronic gear setting area onser Description address 010 Each axis gear ratio 1 1 to 2 147 483 647 011H numerator 1 to 2 147 483 647 1 to 10000 012H Each axis gear ratio 013H denominator change time 17 71 Specifications B Clutch setting area Offset address Description OOH I O clutch ON request Set enabled condit
62. axis Master Virtual axis Virtual axis Master 3 axis Synchronized output Gear Cluth Cam Gear Clutch Synchronous state Synchronous Synchronous Synchronous Synchronous Synchronous Change synchronization 0 Current value update 0 Current value update 0 Current value update 0 Current value update 0 Current value update pulse pulse pulse pulse pulse 0 0 0 0 1000 1000 1000 1000 1000 Change Change Change Change Change Stopped Stopped Stopped Stopped Stopped Clear errors Clear errors Clear errors Clear errors Clear warning Clear warning Clear warning Clear warning Clear warning ET Speed Rate 100 X 3 Press or button in the JOG field The JOG operation of the positioning unit starts 4 Press Quit button to terminate the JOG operation HEE e recoverable error occurs in the positioning unit click the Clear errors button to clear the error e Ifa warning occurs in the positioning unit click Clear warning to clear the warning e This dialog box cannot be closed during the operation 6 10 6 4 Tool Operation Dialog box items Items Description Related page When an axis has been set as master axis Master is displayed 8 1 When an axis has been set as slave axis the master axis which t
63. axis Positioning data setting area 600 standard points and 25 expansion points Note Check that the positioning done flag is turned ON in the case of reading each axis information area with a program 17 15 Specifications nit memor SR EUR Area name u y Name of each individual area address Synchronous control common setting area UM 16000 Electronic gear setting area 1st axis to 16006F Clutch setting area Electronic cam setting area Synchronous control common setting area UM 16070 Electronic gear setting area 2nd axis to UM 160DF Clutch setting area Synchronous Electronic cam setting area control setting area Synchronous control common setting area 16020 Electronic gear setting area 3rd axis to UM 1614F Clutch setting area Electronic cam setting area Synchronous control common setting area Electronic gear setting area Clutch setting area Electronic cam setting area UM 17C00 4st axis Speed change setting area to UM 17COF Movement amount change setting area UM 17C10 2nd axis Speed change setting area to UM 17C1F Movement amount change setting area UM 16150 to UM 161BF Ath axis Positioning operation UM 17C20 3rd axis Speed change setting area change to UM 17C2F Movement amount change setting area setting area UM 17C30 Ath axis Speed change setting area to UM 17C3F Movement amount change setting area UM 17C70 Virtual to UM
64. axis control with the positioning unit installed in slot 1 The movement amount setting uses an increment method in pulses Table 18000 pulses f gt Ball screw side side B Settings Use the tool software to make positioning data and parameter settings The unit is set to pulse Items Setting example Table 1 Table 2 Table 3 Operation pattern C Continuance point C Continuance point E End point Control method Increment Increment Increment X axis movement amount 5000 pulses 10000 pulses 3000 pulses aren L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps 20000 pps 5000 pps B Operation diagram f pps 20000 10000 5 Table 2 10000 pulses Table 1 5000 pulses 1 3000 i pulses 1 Positioning start contact Y 110 BUSY flag X118 __ Operation done flag X120 B Operation of each contact e The BUSY flag X118 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes Current value e The operation done flag X120 which indicates the completion of operation will turn ON when the current ope
65. condition _ Operation er el Operation RASNON UNES enabled flag R11 Forward OFF edge R12 Reverse OFF edge Y120 _ 1st axis JOG forward request 1st axis JOG forward Y121 151 axis JOG reverse request 1st axis JOG e The start contact and number varies depending on the number of axes and the installation position of the unit eThe specified slot number varies depending on the installation position of the unit B Operation at limit input Condition Direction Limit status Operation When JOG Forward Limit input ON Not executable Error occurs operation is rotation Limit input ON Executable executed Reverse Limit input ON Executable rotation Limit input Not executable Error occurs During JOG Forward Limit input Deceleration stop Error occurs operation rotation Reverse Limit input Deceleration stop Error occurs rotation 9 3 Manual Operation JOG Operation 9 2 Changing the Speed During JOG Operation The target speed can be changed while the positioning unit is in JOG operation B Settings Parameters required for the JOG operation of the positioning unit is set in the positioning setting menu of the programming tool Items Setting example Acceleration deceleration pattern 0 Linear acceleration deceleration Acceleration time 1
66. connects only to open collector output e g a stepping motor If either type is applicable to your application the use of the unit with line driver output is recommended gm B Setting in configuration menu The dedicated software Configurator PM7 is available which allows ease of creating a variety of parameters and positioning tables required for positioning control Note The Configurator PM7 will start by pressing Advanced button in the I O map dialog box of the configuration menu of the FPWIN GR7 B interpolation control The 2 axis linear interpolation 2 axis circular interpolation 3 axis linear interpolation and 3 axis spiral interpolation control can be performed B Synchronous control The unit supports synchronous control using an electronic gear electronic clutch and electronic cam The unit can perform synchronous control with an actual or virtual axis as a master axis 1 2 1 1 Functions of Positioning Unit 1 1 2 Unit Type m Product type Type Product no 2 axis transistor AFP7PPO2T 2 axis line driver AFP7PPO2L 4 axis transistor 4 4 axis line driver 4 1 3 Functions of Unit and Restrictions on Combinations 1 2 Restrictions on Combinations of Units When the system is configured take the other units being used into consideration and
67. controlled by the positioning unit to the following current value After the change the positioning unit will clear the corresponding bits to O automatically i Name Default Description Current value update 0 0 No change request for 1st axis 1 Update the current value of Current value update the corresponding axis Current value request for 2nd axis ics d 2 e value to 0 automatical UM 000CO update request Current value update y flag after execution request for 3rd axis Current value update request for 4th axis Current value update request for virtual axis UM 000C8 Current value update coordinate Stores the coordinate to be preset as the updating of the current value of 1st axis UM 000C9 of 1st axis UM 000CA Current value update coordinate Stores the coordinate to be preset as the updating of the current value of 2nd axis UM 000CB of 2nd axis UM 000CC Current value update coordinate Stores the coordinate to be preset as the updating of the current value of 3rd axis UM 000CD of 3rd axis UM 000CE Current value update coordinate Stores the coordinate to be preset as the updating of the current value of 4th axis UM 000CF of 4th axis UM 000D6 Current value update coordinate Stores the coordinate to be preset as the updating of the current value of virtual axis UM 000D7 of virtual axis 17 20 17 4 Details of Common Area in Unit Memory 17 4 6 Pos
68. data control pattern adjustment data is out Fach Yes point setting error axis of the range Out of range The adjustment value of cam Each 5414H adjustment data setting pattern adjustment data is out Bis Yes error of the range 15 16 15 4 List of Warning Codes 15 4 List of Warning Codes 15 4 1 Unit Warning from B000H These are the warning codes to be given when the warnings occurred in the positioning unit S Error name Description Object Recovered Countermeasures The following request No requests from the PLC can be signals were turned ON EL positioning unit by the host PLC while ISN 100 0perauon the positioning unit is in The following requests however tool operation can be executed from the PLC while Positioning start the PME unit is in tool request flag each operation B000H Tool operation axis Yes Deceleration stop request flag Home return each axis request flag each Emergency stop request flag axis each axis JOG System stop request flag all forward reverse axes TORO request flag Pulser operation enabled flag each axis each axis No requests to any axes in operation can be executed The following requests however The same axis was can be executed while the requested to start even positioning unit is in operation B010H Duplicate start though the axis Deceleration stop request flag operation has not each axis com
69. e N Descript memory no Hex UM 004B7 UM 004B8 UM 004B9 UM 004BA UM 004BB UM 004BC UM 004BE UM 004BD UM 004BF External terminal input monitor of 3rd axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Deviation of 3rd axis Pulse input value of 3rd axis Implementation or implementation done table of 3rd axis Auxiliary output code of 3rd axis Repeat count set value of 3rd axis Repeat count current value of 3rd axis Current value of 3rd axis Refer to the description for the 1st axis Unit system conversion current value of 3rd axis Refer to the description for the 1st axis 17 36 17 5 Details of Each Axis Information Area in Unit Memory W 4th axis information Unit memory no Hex UM 004F1 UM 004F4 UM 004F6 UM 004F7 UM 004F8 UM 004F9 UM 004FA UM 004FB UM 004FC UM 004FD UM 004FE UM 004FF Name External terminal input monitor of 4th axis Deviation of 4th axis Pulse input value of 4th axis Implementation or implementation done table of 4th axis Auxiliary output code of 4th axis Repeat count set value of 4th axis Repeat count current value of 4
70. e dl center manual Unit name or purpose of use Manual name Manual code FP7 Power Supply Unit FP7 CPU Unit FP7 CPU Unit Users Manual Hardware WUME FP7CPUH FP7 CPU Unit Command Reference Manual WUME FP7CPUPGR FP7 CPU Unit Users Manual Logging Trace Function WUME FP7CPULOG FP7 CPU Unit Users Manual Security Function WUME FP7CPUSEC Instructions for Built in LAN Port FP7 CPU Unit Users Manual LAN Port Communication FP7 CPU Unit Users Manual Ethernet Add ons WUME FP7LAN WUME FP7CPUETEX Instructions for Built in COM Port FP7 Extension Cassette Communication RS 232C RS485 type FP7 series Users Manual SCU communication WUME FP7COM FP7 Extension Cassette Communication FP7 series Users Manual Communication cassette Ethernet type WUME FP7CCET Ethernet type FP7 Extension Function Cassette FP7 Analog Cassette Users Manual Ee Analog Cassette P 9 FP7 Digital Input Output Unit FP7 Digital Input Output Unit Users Manual WUME FP7DIO FP7 Analog Input Unit FP7 Analog Input Unit Users Manual WUME FP7AIH FP7 Analog Output Unit FP7 Analog Output Unit Users Manual WUME FP7AOH Thermocouple multi analog input unit RTD input unit Thermocouple multi analog input unit RTD input unit Users Manual WUME FP7TCRTD FP7 High speed counter Unit FP7 High speed counter Unit Users Manual WUME FP7HSC FP7 Pulse Output Uni
71. each signal in the case of using pulse transistor output open collector output Add appropriate resistance if the current exceeds 15 mA 3 8 3 4 Connecting Pulse Instruction Signal Input 3 4 Connecting Pulse Instruction Signal Input 3 4 4 Line Driver Output Type Pulse command A Line drive Pulse command B Line drive i P amp B2 B11 A External input power Power supply 520 820 GND HH 24V DC Pulse command A 5V DC output en Collector Pulse command B 5V DC output Output specification Output form Open collector Operating voltage range 4 75 to 26 4V DC Max load current ON Max voltage drop SNB Output specification at 5V DC Output power supply range 4 75 to 5 25V DC Current consumption 5V DC 15mA 1 signal Note Make sure that a current not in excess of 15 mA is provided for each signal Add appropriate resistance if the current is in excess e The use of a twisted pair cable is recommended to connect the output of the positioning unit and the motor driver 3 9 Wiring 3 5 Connecting Deviation Counter Clear Output Signal The following diagram shows an example of connection to the counter clear input of the serve motor driver This connection requires an external power supply of 5 to 24 V DC If 10 mA is exceeded Connection Positioning unit Positioning unit Tags registor must be Moto
72. movement amount change request X118 X119 X11A X11B X11F reception annunciation Note 1 The I O numbers in the above table show relative addresses based on the base word number I O numbers actually used vary with the number of the slot where the unit is installed and the first word number Example The home input of 1st axis is X130 for slot number 1 if the first word is number 10 5 3 Unit Allocation and Parameter Settings B O signal allocation output I O number Signal name 1st 2nd 3rd 4th Virtual axis axis axis axis axis System stop YO Axis group setting change request Y5 Axis parameter setting change request Y6 Request recalculation YT Servo ON The operation is the edge type Y8 Y9 YA YB Positioning start The operation is the edge type Y10 Y11 Y12 Y13 Y17 Home return start The operation is the edge type Y18 Y19 Y1A Y1B Y1F JOG forward rotation The operation is the level type Y20 Y22 Y24 Y26 Y2bE JOG reverse rotation The operation is the level type Y21 Y23 Y25 Y27 Y2F Emergency stop The operation is the level type Y30 Y31 Y32 Y33 Y37 Deceleration stop The operation is the level type Y38 Y39 Y3A Y3B Pulser operation permit The operation is the level type Y40 Y41 Y42 Y43 Y47 J point speed change The operation is the edge type Y48 Y49 Y4A Y4B Y4F Servo OFF request The operation is the edge type Y50 Y51 Y52 Y53
73. ms 100 ms Deceleration time 1 ms 50 ms Target speed 1 10000 pps Acceleration time 2 ms 200 ms The set values of acceleration time deceleration time and Deceleration time 2 ms 150 ms target speed after the speed change are Target speed 2 20000 pps written to the unit memory by the program m Operation diagram f pps 20000 JOG forward contact Y120 BUSY flag X118 Operation done flag X120 Writing the target speed 2 B Operation of each contact e The BUSY flag X118 which indicates that the motor is running will turn ON when the Jog operation starts and it will turn OFF when the operation completes e The target speed can be changed freely while the positioning unit is in JOG operation Use program to change the target speed e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts 9 2 Changing the Speed During JOG Operation m Sample program X100 _1 Operation enabled i condition d X104 X160 Ready Tool 1st axis error Operation positioning operation enabled flag R2 R11 DF JOG forward Forward OFF edge R2 R10 X118 R11 Y120 H DF 1st axis JOG it forward request JOG forward Operation 1st axis Forward 1st axis enabled B
74. or less 300 mA less Voltage 21 6 to 26 4 V DC External power consumption Weight Approx 130 g Approx 150 g Approx 130 g Approx 150 g Note 1 The pulser input function and high speed counter function use the same pulse input terminal Therefore the both functions cannot be used simultaneously 17 5 Specifications 17 2 Number Allocation The following I O numbers indicate offset addresses The I O numbers actually allocated are based on the first word number allocated to the unit Example If the first word number of the unit is 10 the positioning ready signal will be X100 Target axis Name Description allocation announce Indicates that the unit is ready to operate internally and announces the start of the system S 75525 7 7 885 0 Axis group setting done Tool All axes operation in progress C i fe ee __ _ ____ Contact to indicate that positioning unit is in tool operation The start from I O is not available during the Tool operation A warning will occur if you attempt to do so Makes axis group setting changes in the unit with the axis group setting request contact Y5 turned ON after making setting changes in the axis group with the program The contact turns ON upon completion of the setting changes Makes axis parameter setting changes in the unit with the axis parameter setting request contact t
75. output function for 4th axis Monitoring information of synchronous master axis for the virtual axis Stores the setting status of the master axis under synchronous control Stored value Under synchronization Under synchronous cancellation Master axis FFFFH FFFFH No synchronous settings 0000H 8000H The master axis is subject to monitoring 0001H 8001H 1st axis 0002H 8002H 2nd axis 0003H 8003H 3rd axis 0004H 8004H 4th axis 0010H 8010H Virtual axis 0021H 0022H 8021H 8022H Pulse input 1 Pulse input 2 0023H 8023H Pulse input 3 0024H 8024H Pulse input 4 The state of the synchronous operating function set for the axis is stored Functions Setting Electronic gear setting 0 Yes Clutch operation settings 1 No Electronic cam operation settings Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis FFFFH 0000H FFFFH 0000H FFFFH 0000H FFFFH 0000H FFFFH 17 30 17 4 Details of Common Area Unit Memory Unit memory no NAE Description Default Hex Monitoring selection
76. positioning The following operation will occur only if the positioning unit in repetitive positioning control is decelerated to stop 7 25 Automatic Operation Positioning Control Repeating E point control with dwell time 0 ms When the positioning unit detects a deceleration stop the positioning unit will come to a stop after repeating positioning control N 2 times Repeat count N1 N N 1 N 2 Deceleration Stop stop request Deceleration stop request signal Busy Operation done Implementing a number of positioning tables continuously When the positioning unit detects a deceleration stop the positioning unit will come to a stop after repeating positioning control 1 times Repeat count N1 N N 1 Deceleration 4 Stop stop request Deceleration stop request signal Busy Operation done The example below is a case of single axis control with the positioning unit installed in the slot 1 The movement amount setting uses an increment method in pulses 54000 pulse 18000 x 3 Table Ball screw side side 7 26 7 3 Setting and Operation of Positioning Repeat Function B Settings Setting example Items Table 1 Table 2 Table 3 Operation pattern P Pass point P Pass point E End point Control method Increment Increment Increment X axis movement amount 5000 pulses 10000 pulses 3000 pulses Acceleration deceleration
77. program varies with the setting method This example shows a program already set with the Configurator PM Replace this part for two other settings R3 DF Positioning start POSSET Slot Axis Table number number number Y110 R100 X118 R200 X119 Operation Operation 1st axis enabled flag enabled flag BUSY for 1st axis for 2nd axis 2nd axis Positioning start for 1st axis JOG operation 18 4 18 2 Sample program R4 DF JOG forward R5 L DF JOG reverse R4 L d DF JOG forward JOG reverse Y121 1st axis JOG reverse R6 DF JOG forward R7 LDF JOG reverse R6 L d DF JOG forward Y122 2nd axis JOG forward R100 X118 a Operation 1st axis enabled BUSY Y120 flag for 1st axis 1st axis JOG forward R5 R100 X118 4 DF Operation 1st axis enabled BUSY flag R200 X119 HH R101 Forward OFF edge R102 Reverse OFF edge R201 Operation 2nd axis Forward enabled BUSY flag for 2nd axis OFF edge R101 O Forward OFF edge R102 O Reverse OFF edge Y120 1st axis JOG forward Y121 1st axis JOG reverse R201 Forward OFF edge R202 Reverse OFF edge Y122 2nd axis JOG forward 18 5 Sample program R7 R200 X119 R202 Y123 H DF JOG Operation 2nd axis Reverse 2nd axis reverse enabled BUSY OFF edge JOG fla rever
78. specification Override Positioning speed change of virtual axis Change mode selection Positioning speed change of virtual axis Change speed Positioning movement amount change of virtual axis Change movement amount Refer to the descriptions of axis 1 Refer to the descriptions of axis 1 Refer to the descriptions of axis 1 Refer to the descriptions of axis 1 Refer to the descriptions of axis 1 Refer to the descriptions of axis 1 Refer to the descriptions of axis 1 UM 17C7C UM 17C7F 17 75 Specifications 17 9 Dimensions m 2 axis type 90 Unit mm 4 type 90 UAI Unit mm 19 80 o H s au LN EI ee If Se t TUJ L 3 1L t1 L J TEFETETETETETT H LN T 17 76 18 Sample program Sample program 18 1 Basic Configuration and Contact Allocations of Sample Programs In the sample programs the internal relays are used for the start contacts of each operation Connect them to th
79. supply for motor driver 4 5 Power and Check Items 4 3 2 Procedure for Turning Off the Power Procedure 1 Check and make sure the rotation of the motor has stopped and then turn off the power supply for the PLC Turn off the power supply to the PLC Turn off the power supplies for input and output devices connected to the PLC The power supplies include those for line driver output or open collector output Positioning unit Power suppy for motor driver 2 Power supply for PLC 3 Power supplies for input and output devices 4 6 4 4 Check with Power Turned 4 4 Check with Power Turned On 4 41 Check Items After Turning Power On Check items after turning power On System configuration example Make checks in the following four major steps Positioning unit Check on rotating direction and moving Check on near home direction input and home input a VLL e 8 CCW drivin nom inhibition Over limit switch switch TUM RM Hs 2 Near home switch Home switch CW driving inhibition Switch Motor driver Over limit switch Driver upper and l
80. t is possible to monitor the connection state of each axis and input state of the external terminal eThe following procedure is explained on the condition that the Configurator PM7 has already started em PROCEDURE 1 Select Online Status monitor from the menu bar The status monitor dialog box will be displayed Model Axis Group Virtual axis 1 axis 2 axis 3 axis 1 axis External terminal input monitor Home position Sa OFF OFF OFF OFF os MENENEENNENNE os oc MENENEENEENN FROM write count Firmware version 123 Hardware version 107 6 3 2 Data Monitor e t is possible to monitor the connection state of each axis and input state of the external terminal p MEI PROCEDURE 1 Select Online Data Monitor from the menu bar The data monitor dialog box will be displayed 6 5 Transfer to Unit and Commissioning m Monitor items Data monitor Axis Group Virtual axis 1 axis 2 axis 3 axis 4 axis Synchronous master axis Master Virtual axis Virtual axis Master 3 axis Synchronized output Gear Glutch Cam acc Gear Clutch Cam Synchronous state Synchronous Synchronous Synchronous Synchronous Synchronous Table number executing 0 0 0 0 0 Auxiliary output code 0 0
81. the positioning unit repeats positioning control an unlimited number of times until you manually stop the operation Stores the number of times for repeating the operation starting from the positioning control Number of 3rd starting table number of the 3rd axis until the E UM 0010A axis positioning Point 0 to 255 repetitions If 255 is stored the positioning unit repeats positioning control an unlimited number of times until you manually stop the operation 17 22 17 4 Details of Common Area Unit Memory 17 4 8 Error Annunciation amp Clear Area If errors involving a stoppage occur data on the errors along with the number of errors will be stored on an axis by axis basis in this area If the error clear is executed the errors and the number of errors that have occurred will be cleared once Then errors will be judged again Therefore the same errors will occur if the error conditions continue If a unit level error such as an entire network failure occurs the data on all the axes will be stored in the error annunciation buffer Up to 7 errors are stored in the error log Errors can be cleared not only in this area but also with the error clear contact Description Clears errors on an axis by axis basis Name Default Description Error clear for 1st axis 0 0 No error clear Error clear for 2nd axis 0 0 to 1 Error clear executed Error clear for 3rd axis 0 The positioning unit will 0 Error cl
82. the start contact of JOG operation is ON the positioning unit will go into deceleration operation in the preset time to come to a stop 02BH JOG operation deceleration time Setting range 0 to 10 000 ms Any other settings will be errors Set the target speed for JOG operation After the start of the JOG operation of the positioning unit the positioning unit will accelerate to move to the target speed while the start contact of the JOG operation is ON 02CH The positioning unit will operate at target speed after the target speed is reached JOG operation target s speed 1 000 Setting range 0 to 32 767 000 02DH 17 47 Specifications Offset address Setting range and description 02EH 02FH 030H 031H 032H This parameter will be enabled if an emergency stop request is made with Emergency the deceleration of the positioning unit will be completed in the stop specified deceleration time 033H 100 deceleration time Setting range 0 to 10 000 ms Any other settings will be errors 034H This parameter will be enabled if limit input is ON while the positioning unit T is in operation and the deceleration of the positioning unit will be Limit stop completed in the specified deceleration time 035H deceleration 100 time Setting range 0 to 10 000 ms Any other settings will be errors 036H This parameter will be enabled if an error occurs and the dec
83. to the descriptions of axis 1 UM 17C13 Change speed UM 17C14 UM 17C19 UM 17C1A Positioning movement amount change of 2nd axis UM17C1B Change movement amount UM 17C1C UM 17C1F B 3rd axis Unit memory um Positioning speed UM 17C20 change of 3rd axis Ratio specification Override Positioning speed UM 17C21 change of 3rd axis Change mode selection UM 17C22 Positioning speed Refer to the descriptions of axis 1 Refer to the descriptions of axis 1 change of 3rd axis Refer to the descriptions of axis 1 UM 17C23 Change speed UM 17C24 UM 17C29 UM 17C2A Positioning movement amount change of 3rd axis UM17C2B Change movement amount UM 17C2C UM 17C2F 17 74 17 8 Positioning Operation Change Setting Area For unit version Ver 1 3 later only W 4th axis Unit memory No Hex UM 17C30 UM 17C31 UM 17C32 UM 17C33 UM 17C34 UM 17C39 UM 17C3A UM17C3B UM 17C3C UM 17C3F Positioning speed change of 4th axis Ratio specification Override Positioning speed change of 4th axis Change mode selection Positioning speed change of 4th axis Change speed Positioning movement amount change of 4th axis Change movement amount m Virtual axis Unit memory No Hex UM 17C70 UM 17C71 UM 17C72 UM 17C73 UM 17C74 UM 17C79 UM 17C7A UM17C7B Positioning speed change of virtual axis Ratio
84. to the settings Cam 100 Add Delete Duplicate Change 100 0 50 100 Cam1 Interval Interval number Start phase 9 End phase Displacement 96 Cam curve a pera a interval RU reed Insert interval ni is set automa ly Ime 1 0 0000000 39 9414063 50 0000000 Cydoid ere eae Delete 2 39 9414063 60 0585938 40 0000000 Modified sine Setting range 1 to 20 default value 0 3 _ 60 0585938 79 8828125 10 0000000 Trapedoid 79 8828125 0 0000000 0 0000000 One dwell trapedoid Adjust b MIL The termination phase cannot be set The termination phase will be changed automatically if the staring phase is changed e Donot make a radical displacement change of set cam curves There is a possibility that the motor cannot keep up with the output in the case of rapid displacement e Similarly make settings that a phase of 0 and that of 100 are the same in displacement 8 20 8 5 Electronic Cam Function m Cam table checks Check the cam table cam curve that has been set The slave axes in synchronous control operate to follow the cam curve cam Therefore there will be a possibility that the motor cannot follow the output if the change in the cam curve is steep In addition it is important to know information on the acceleration as well as the displacement o
85. use a power supply unit with a sufficient capacity B Current consumption Type Product no Current consumption 2 axis transistor AFP7PPO2T 120 mA 2 axis line driver AFP7PPO2L 120 mA 4 axis transistor 4 120 4 axis line driver AFP7PP04L 120 mA 2 Names and Functions of Parts Names and Functions of Parts 2 1 Names and Functions of Parts 4 type AFP7PP04T 2 type AFP7PP02T AFP7PP04L AFP7PPO2L Operation monitor LEDs Displays the operating status of two axes Q Operating monitor switch AFP7PP04T and AFP7PP04L only Toggles between the operating status display of 1st and 2nd axes and that of the 3rd and 4th axes Q User connector 1st axis and 2nd axis A connector for a motor driver and external interface Q User I F connector 3rd axis and 4th axis AFP7PP04T and AFP7PPO04L only A connector for a motor driver and external interface 2 2 Operating Status LEDs 2 2 Operating Status LEDs The LEDs display the operating status of two axes at a time If the unit is of 4 axis type use the switch to toggle between the operating status display of the 1st and 2nd axes and that of the 3rd and 4 axes The contents of the LED display are the same in each axis Operation monitor LEDs LED Description Color ON OFF Flashi
86. 0 570 UM 02BEO UM 053E0 UM 07BEO UM UM 143E0 571 UM 02BFO UM 05320 UM 07BFO UM UM 143F0 572 UM 02C00 UM 05400 UM 07C00 UM 0A400 UM 14400 573 UM 02C10 UM 05410 UM 07C10 UM 0A410 UM 14410 574 UM 02C20 UM 05420 UM 07C20 UM 0A420 UM 14420 575 UM 02C30 UM 05430 UM 07C30 UM 0A430 UM 14430 576 UM 02C40 UM 05440 UM 07C40 UM 0A440 UM 14440 577 UM 02C50 UM 05450 UM 07C50 UM 0A450 UM 14450 578 UM 02C60 UM 05460 UM 07C60 UM 0A460 UM 14460 579 UM 02C70 UM 05470 UM 07C70 UM 0A470 UM 14470 580 UM 02C80 UM 05480 UM 07C80 UM 0A480 UM 14480 581 UM 02C90 UM 05490 UM 07C90 UM 0A490 UM 14490 582 UM 02 UM 054A0 UM 07 UM 0A4A0 UM 144A0 583 UM 02CBO UM 05480 UM 07CBO UM 0A4BO UM 14480 17 67 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 584 UM 02CCO UM 054CO UM 07CCO UM 0A4CO UM 144CO 585 UM 02CDO UM 054DO UM 07CDO UM 0A4DO UM 144DO 586 UM 02 UM 054E0 UM 07CEO UM 4 UM 144E0 587 UM O2CFO UM 054F0 UM 07CFO UM OA4FO UM 14420 588 UM 02D00 UM 05500 UM 07D00 UM 0A500 UM 14500 589 UM 02D10 UM 05510 UM 07D10 UM 0A510 UM 14510 590 UM 02D20 UM 05520 UM 07D20 UM 0A520 UM 14520 591 UM 02D30 UM 05530 UM 07D30 UM 0A530 UM 14530 592 UM 02D40 UM 05540 UM 07D40 UM 0A540 UM 14540 593 UM 02D50 UM 05550 UM 07D50 UM 0A550 UM 14550 594 UM 02D60 UM 05560 UM 07D60 UM 0A560 UM 1456
87. 0 595 UM 02D70 UM 05570 UM 07D70 UM 0A570 UM 14570 596 UM 02D80 UM 05580 UM 07D80 UM 0A580 UM 14580 597 UM 02D90 UM 05590 UM 07D90 UM 0A590 UM 14590 598 UM 02DA0 UM 055A0 UM 07DAO UM 0A5A0 UM 145A0 599 UM 02DBO UM 05580 UM 07DBO UM 0A5BO UM 14580 600 UM 02DCO UM 055CO UM 07DCO UM 0A5CO UM 145CO 10001 UM 02E70 UM 05670 UM 07E70 UM 0A670 UM 14670 10002 UM 02bE80 UM 05680 UM 07E80 UM 0A680 UM 14680 10003 UM 02bE90 UM 05690 UM 07E90 UM 0A690 UM 14690 10004 UM 02EA0 UM 056A0 7 UM 0A6A0 UM 146A0 10005 UM 02bEBO UM 05680 UM 07EBO UM 0A6BO UM 14680 10006 UM 02ECO UM 056C0 UM 07ECO UM 0A6CO UM 146CO 10007 UM 02bEDO UM 056DO UM 07EDO UM 0A6DO UM 146DO 10008 UM 02EE0 UM 056 0 UM 07EEO UM UM 146E0 10009 UM 02EF0 UM 056F0 UM 07EFO UM OA6FO UM 146F0 10010 UM 02F00 UM 05700 UM 07F00 UM 0A700 UM 14700 10011 UM 02F10 UM 05710 UM 07F10 UM 0A710 UM 14710 10012 UM 02F20 UM 05720 UM 07F20 UM 0A720 UM 14720 10013 UM 02F30 UM 05730 UM 07F30 UM 0A730 UM 14730 10014 UM 02F40 UM 05740 UM 07F40 UM 0A740 UM 14740 10015 UM 02F50 UM 05750 UM 07F50 UM 0A750 UM 14750 17 68 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 10016 UM 02F60 UM 05760 UM 07F60 UM 0A760 UM 14760 10017 UM 02F70 UM 05770 UM 07F70 UM 0A770 UM 14770 10018 UM 02F80 UM 05780 UM 07F80 UM 0A780 UM 14780 10019 UM 02F90 UM 05790 UM 07F90 UM 0A790 UM 14790 10020 UM 02FAO0 UM 057A0 UM
88. 00 381 UM 02010 UM 04810 UM 07010 UM 09810 UM 13810 382 UM 02020 UM 04820 UM 07020 UM 09820 UM 13820 383 UM 02030 UM 04830 UM 07030 UM 09830 UM 13830 384 UM 02040 UM 04840 UM 07040 UM 09840 UM 13840 385 UM 02050 UM 04850 UM 07050 UM 09850 UM 13850 386 UM 02060 UM 04860 UM 07060 UM 09860 UM 13860 387 UM 02070 UM 04870 UM 07070 UM 09870 UM 13870 388 UM 02080 UM 04880 UM 07080 UM 09880 UM 13880 389 UM 02090 UM 04890 UM 07090 UM 09890 UM 13890 390 UM 020A0 UM 048A0 UM 070A0 UM 098A0 UM 138A0 391 UM 02080 UM 04880 UM 070BO UM 09880 UM 13880 392 UM 020C0 UM 048CO UM 070CO UM 098CO UM 138C0 393 UM 02000 UM 04800 UM 070DO UM 09800 UM 13800 394 UM 020E0 UM 048E0 UM 070E0 UM 098E0 UM 138E0 395 UM 020F0 UM 048F0 UM 07020 UM 098F0 UM 138F0 396 UM 02100 UM 04900 UM 07100 UM 09900 UM 13900 397 UM 02110 UM 04910 UM 07110 UM 09910 UM 13910 398 UM 02120 UM 04920 UM 07120 UM 09920 UM 13920 399 UM 02130 UM 04930 UM 07130 UM 09930 UM 13930 400 UM 02140 UM 04940 UM 07140 UM 09940 UM 13940 401 UM 02150 UM 04950 UM 07150 UM 09950 UM 13950 402 UM 02160 UM 04960 UM 07160 UM 09960 UM 13960 403 UM 02170 UM 04970 UM 07170 UM 09970 UM 13970 404 UM 02180 UM 04980 UM 07180 UM 09980 UM 13980 405 UM 02190 UM 04990 UM 07190 UM 09990 UM 13990 406 UM 021A0 UM 049A0 UM 071A0 UM 099A0 UM 139A0 407 UM 021B0 UM 04980 UM 07180 UM 09980 UM 13980 408 UM 021C0 UM 049CO UM 071 0 UM 099CO UM 139CO 409 UM 02100 UM 049DO UM 07100 UM 099DO UM 139DO 410 UM 021E0 UM 049E0 UM 071E0 UM 099E0 UM 13
89. 01220 UM UM 062F0 UM UM 12AF0 172 UM 01300 UM 03B00 UM 06300 UM 08B00 UM 12B00 173 UM 01310 UM 03B10 UM 06310 UM 08B10 UM 12B10 174 UM 01320 UM 03B20 UM 06320 UM 08B20 UM 12B20 175 UM 01330 UM 03B30 UM 06330 UM 08B30 UM 12B30 176 UM 01340 UM 03B40 UM 06340 UM 08B40 UM 12B40 177 UM 01350 UM 03B50 UM 06350 UM 08B50 UM 12B50 178 UM 01360 UM 03B60 UM 06360 UM 08B60 UM 12B60 179 UM 01370 UM 03B70 UM 06370 UM 08B70 UM 12B70 180 UM 01380 UM 03B80 UM 06380 UM 08B80 UM 12B80 181 UM 01390 UM 03B90 UM 06390 UM 08B90 UM 12B90 182 UM 013A0 UM 063A0 UM 08BAO UM 12BA0 183 UM 01380 UM O3BBO UM 063B0 UM 08BBO UM 12BBO 184 UM 013C0 UM 03BCO UM 063C0 UM 08BCO UM 12BCO 185 UM 01300 UM UM 06300 UM 08BDO UM 12BDO 186 UM 013E0 UM UM 063E0 UM 08BEO UM 12BEO 187 UM 013F0 UM UM 063F0 UM 08BF0 UM 12BFO 188 UM 01400 UM 03C00 UM 06400 UM 08C00 UM 12C00 189 UM 01410 UM 03C10 UM 06410 UM 08C10 UM 12C10 190 UM 01420 UM 03C20 UM 06420 UM 08C20 UM 12C20 191 UM 01430 UM 03C30 UM 06430 UM 08C30 UM 12C30 192 UM 01440 UM 03C40 UM 06440 UM 08C40 UM 12C40 193 UM 01450 UM 03C50 UM 06450 UM 08C50 UM 12C50 194 UM 01460 UM 03C60 UM 06460 UM 08C60 UM 12C60 195 UM 01470 UM 03C70 UM 06470 UM 08C70 UM 12C70 196 UM 01480 UM 03C80 UM 06480 UM 08C80 UM 12C80 197 UM 01490 UM 03C90 UM 06490 UM 08C90 UM 12C90 198 UM 014A0 UM UM 064A0 08 UM 12 199 UM 01480 UM 03CBO UM 06480 UM 08CBO UM 12CBO 200 UM 014CO
90. 03E40 UM 06640 UM 08E40 UM 12bE40 225 UM 01650 UM 03E50 UM 06650 UM 08bE50 UM 12bE50 226 UM 01660 UM 03E60 UM 06660 UM 08bE60 UM 12bE60 227 UM 01670 UM 03E70 UM 06670 UM 08bE70 UM 12bE70 228 UM 01680 UM 03E80 UM 06680 UM 08bE80 UM 12bE80 229 UM 01690 UM 03E90 UM 06690 UM 08 90 UM 12bE90 230 UM 016A0 UM UM 066A0 UM UM 12EA0 231 UM 01680 UM UM 066B0 UM 08EBO UM 12 232 UM 016CO UM UM 066CO UM UM 12 233 UM 016DO UM 03ED0 UM 06600 UM 08EDO UM 12ED0 234 UM 016E0 UM UM 066 0 UM UM 12EE0 235 UM 016F0 UM UM 066F0 UM O8EFO UM 12EF0 236 UM 01700 UM 03F00 UM 06700 UM 08F00 UM 12200 237 UM 01710 UM 10 UM 06710 UM 08F10 UM 12F10 238 UM 01720 UM 03F20 UM 06720 UM 08F20 UM 12F20 239 UM 01730 UM UM 06730 UM 08F30 UM 12F30 240 UM 01740 UM O3F40 UM 06740 UM 08F40 UM 12F40 241 UM 01750 UM 03F50 UM 06750 UM 08F50 UM 12F50 242 UM 01760 UM 03F60 UM 06760 UM 08F60 UM 12F60 243 UM 01770 UM 03F70 UM 06770 UM 08F70 UM 12F70 244 UM 01780 UM O3F80 UM 06780 UM 08F80 UM 12F80 245 UM 01790 UM 03F90 UM 06790 UM 08F90 UM 12F90 246 UM 017A0 UM 03FA0 UM 067A0 UM 08FA0 UM 12FA0 247 UM 01780 UM UM 06780 UM 08FBO UM 12FBO 17 59 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 248 UM 017CO UM
91. 09310 UM 13310 302 UM 01B20 UM 04320 UM 06B20 UM 09320 UM 13320 303 UM 01B30 UM 04330 UM 06B30 UM 09330 UM 13330 304 UM 01B40 UM 04340 UM 06840 UM 09340 UM 13340 305 UM 01B50 UM 04350 UM 06B50 UM 09350 UM 13350 306 UM 01B60 UM 04360 UM 06B60 UM 09360 UM 13360 307 UM 01B70 UM 04370 UM 06B70 UM 09370 UM 13370 308 UM 01B80 UM 04380 UM 06B80 UM 09380 UM 13380 309 UM 01B90 UM 04390 UM 06B90 UM 09390 UM 13390 310 UM 01BAO UM 043A0 UM 06BAO UM 093A0 UM 133A0 311 UM 01BBO UM 04380 UM 06BBO UM 09380 UM 13380 312 UM 01BCO UM 043CO UM 06BCO UM 093CO UM 133C0 313 UM 01BDO UM 04300 UM 06BDO UM 09300 UM 13300 314 UM 01BEO UM 043E0 UM UM 093E0 UM 133E0 315 UM 01BF0 UM 04320 UM UM 093F0 UM 133F0 316 UM 01C00 UM 04400 UM 06C00 UM 09400 UM 13400 317 UM 01C10 UM 04410 UM 06C10 UM 09410 UM 13410 318 UM 01C20 UM 04420 UM 06C20 UM 09420 UM 13420 319 UM 01C30 UM 04430 UM 06C30 UM 09430 UM 13430 320 UM 01C40 UM 04440 UM 06C40 UM 09440 UM 13440 321 UM 01C50 UM 04450 UM 06C50 UM 09450 UM 13450 322 UM 01C60 UM 04460 UM 06C60 UM 09460 UM 13460 323 UM 01C70 UM 04470 UM 06C70 UM 09470 UM 13470 324 UM 01C80 UM 04480 UM 06C80 UM 09480 UM 13480 325 UM 01C90 UM 04490 UM 06C90 UM 09490 UM 13490 326 UM 01 UM 044A0 UM 06CA0 UM 094A0 UM 134A0 327 UM 01CBO UM 04480 UM 06CBO UM 09480 UM 13480 328 UM 01CCO UM 044CO UM 06CCO UM 094CO UM 134CO 329 UM 01CDO UM 044DO UM 06CDO UM 094DO UM 13400 330 UM 01CEO UM 044E0 UM 06 UM 094E0 UM 134E0 331 UM O1CFO UM 04
92. 100 ms Interpolation speed 10000 pps 7 14 7 2 Interpolation Control m Operation diagram f pps Composite speed t ms Positioning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 lll eee eee Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 T Current value of 1 20000 NYON 30000 Current value of axis2 10000 XN AM 15000 B Operation of each contact e The 1st axis and 2nd axis BUSY flags X118 and X119 indicating the state that a motor is running will turn ON when the positioning control starts and they will turn OFF when the operation completes 1st axis and 2nd axis operation done flags X120 and X121 indicating the state that an operation completed will turn ON when the JOG operation is completed and they will be held until the next positioning control JOG operation home return or pulser operation starts W Programming Precautions e To start the interpolation control turn ON the positioning start contact of the axis with the smallest number in the same group eThe values of the X axis auxiliary point and Y axis auxiliary point are invalid for the linear interpolation e n the case of specifying long axis speed the composite speed will be faster than the long axis speed elf any value such as a moveme
93. 1096 Transistor type 500 Kpps Line driver type 4 Mpps Each axis Yes Check the setting for the operation speed of the target axes B100H Synchronous setting change disable warning The change of the synchronous setting was requested on an operating axis Each axis Yes Changing the synchronous setting should be performed when the busy signal for the axes to be synchronized is off B304H Recalculation error warning An error has occurred while recalculation processing is in process Each axis Yes Check the settings for each axis parameter and interpolation group 15 19 Errors and Warnings 15 20 16 Troubleshooting Troubleshooting 16 1 What to Do If an Error Occurs 16 1 1 Motor is not Rotating or Operating Pulse Output A and B LEDs are Flashing or Lit m Solution 1 Servo motor Check that the servo input is ON p b x H Servo on input Wu ELI un UAR SARI OU RE SARI ARE Positioning unit m Solution 2 Check that the power to the driver is turned on Solution 3 Check that the positioning unit and driver are wired correctly m Solution 4 Check that the pulse output coincides in setting CW CCW or Pulse Sign setting with the driver 16 1 2 Motor is not Rotating or Operating Pulse Output A and B LEDs are Off Solution Review the program Poin
94. 131 2 5 to 8 4 Hz 3 5 mm single amplitude Insulation resistance Vibration resistance 5 8 4 to 150 Hz acceleration of 9 8 m s 10 sweeps each in X Y and Z directions 1 octave min Conforming to JIS B 3502 and IEC 61131 2 Shock resistance UE br 147 m s min in X Y and Z directions three times each Noise resistance 1 000 V p p pulse width of 50 ns 1 us by noise simulator Environment Free from corrosive gases and excessive dust Sef ats directive EN 61131 2 Overvoltage category Category Il or lower Pollution degree Pollution degree 2 or lower Internal current 2 120 mA or less consumption 17 2 17 1 Specifications 17 1 2 Performance Specifications Items 2 axis type 4 axis type AFP7PPO2T AFP7PPO2L AFP7PP04T AFP7PPO4L Voltage output type Transistor Line driver Transistor Line driver Interpolation control m 2 axis linear interpolation 2 axis linear interpolation 3 axis linear interpolation 2 axis circular interpolation 2 axis circular interpolation and 3 axis spiral interpolation No of occupied I O points Input 192 points Output 192 points c gt lt Positioning control Position specification Absolute absolute positioning method Increment specified relative position Pulse a 5 um select a minimum instruction unit of 0 1 um or 1 um Position specified unit 3
95. 17C7F axis Speed change setting area Note For reading each axis information area with the program check if the ready positioning flag X0 turns ON before reading it 17 16 17 4 Details of Common Area in Unit Memory 17 4 Details of Common Area in Unit Memory 17 4 1 Common Area Configuration The common area is allocated to the head of the unit memory to make common settings for each axis Unit memory ma UM 00000 RAUS Common area UM 003FF UM 00400 Each axis information area UM 007FF UM 00800 Each axis setting area UM 16000 Synchronous control setting area UM 16400 UM 17C00 Positioning operation change setting area UM 17C7F Common areas UM 00085 UM 00088 Setting parameter control area Operation speed factor area UM 000B0 UM 000B4 UM 000CO0 UM 00007 Axis group setting area Current value update data area UM 00100 UM 00107 UM 00108 UM 0010F Positioning table setting area Positioning control area UM 00111 UM 001A7 UM 00149 UM 0023F Error annunciation amp clear area Warning annunciation amp clear area UM 00240 UM 0024F UM 002B0 UM 002BF UM 00389 Pulse count control area Synchronous control monitor area System operation setting area 17 17 Specifications 17 4 2 Setting Parameter Control Area Set a recalculation starting table number in order to recalculate the positioning data in the standar
96. 2 15 1 1 Errors and Warnings u uuu t 15 2 15 1 2 Check and Clearing with Configurator 15 2 15 1 3 Check and Clearing with User 15 3 15 1 4 Error and Warning Logs seen 15 4 15 2 Changes in Recovery from 15 5 15 21 Qutllnez zio b e RE ee PIRE 15 5 15 3 Erro Gode Table nec aids Q 15 6 15 3 1 System Error from 1000H u u u u u 15 6 15 3 2 Axis operation error from 3000H a 15 7 15 3 3 Set Value Error from 4000H sss 15 9 15 3 4 Synchronous Parameter Setting Error from 5000H 15 14 15 4 List of Warning Codes ea qs Po pce catu 15 17 15 4 1 Unit Warning from B000H a 15 17 16 Troubleshooting 16 1 16 1 What to Do If an Error Occurs 16 2 16 1 1 Motor is not Rotating or Operating Pulse Output A and B LEDs are Flashing or Lit ies irr anre eii cr dr sei Ene e ote Ud 16 2 16 1 2 Motor is not Rotating or Operating Pulse Output A and B LEDs are Off 16 2 16 1 3 Reversed Rotation or Movement Direction
97. 2 1 Types of Interpolation 7 11 7 2 2 Setting and Operation of 2 Axis Linear Interpolation 7 14 7 2 3 Setting and Operation of 2 Axis Circular Interpolation 7 16 7 2 4 Setting and Operation of 3 Axis Linear Interpolation 7 19 7 2 5 Setting and Operation of Three Axis Linear Interpolation 7 21 7 2 6 Sample Program Interpolation Control 7 23 7 3 Setting and Operation of Positioning Repeat Function 7 24 8 Automatic Operation Synchronous Control 8 1 94 Synchronous Control ete te doit e ede We Cen e sees 8 2 8 1 1 Outline of Synchronous Control eee 8 2 8 2 Settings for Master and Slave Axes 8 3 8 2 1 Selection of Master Axis and Settings 8 3 8 2 2 Selection of Slave Axes and Settings 8 4 8 2 3 Enabling Disabling Synchronous 8 5 8 3 Electronic Gear Function u Eaa 8 7 8 3 1 Outline of Electronic Gear Function 8 7 Table of Contents 10 11 12 8 3 2 Types and
98. 3460 UM 05C60 UM 08460 UM 12460 67 UM 00C70 UM 03470 UM 05C70 UM 08470 UM 12470 68 UM 00C80 UM 03480 UM 05C80 UM 08480 UM 12480 69 UM 00C90 UM 03490 UM 05C90 UM 08490 UM 12490 70 00 UM 034A0 UM 05CAO UM 084A0 UM 124A0 71 UM 00CBO UM 03480 UM 05CBO UM 08480 UM 12480 72 UM 00CCO UM 034CO UM 05CCO UM 084CO UM 124CO 73 UM 00CDO UM 03400 UM 05CDO UM 084DO UM 12400 74 UM UM 034E0 UM 05CEO UM 084E0 UM 124E0 75 UM UM 03420 UM 05CFO UM 084F0 UM 124F0 76 UM 00000 UM 03500 UM 05D00 UM 08500 UM 12500 77 UM 00010 03510 05010 08510 12510 78 00020 03520 05020 08520 12520 79 UM 00030 03530 05030 08530 12530 17 55 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 80 UM 00D40 UM 03540 UM 05D40 UM 08540 UM 12540 81 UM 00D50 UM 03550 UM 05D50 UM 08550 UM 12550 82 UM 00D60 UM 03560 UM 05D60 UM 08560 UM 12560 83 UM 00D70 UM 03570 UM 05D70 UM 08570 UM 12570 84 UM 00D80 UM 03580 UM 05D80 UM 08580 UM 12580 85 UM 00D90 UM 03590 UM 05D90 UM 08590 UM 12590 86 UM 00DAO UM 035A0 UM 05DAO UM 085A0 UM 125A0 87 UM 00DBO UM 03580 UM 05DBO UM 08580 UM 12580 88 UM 00DCO UM 035CO UM 05DCO UM 085CO UM 125C0 89 UM 00DDO UM 03500 UM 05DDO UM 085DO UM 12500 90 UM 00DEO UM 035E0 UM 05DEO UM 085E0 UM 125E0 91 UM OODFO UM 035F0 UM 05DFO UM 085F0 UM
99. 4 17 1 Specifications 2 axis ee l eaxistype 4 axis type AFP7PPO2T AFP7PPO2L AFP7PP04T AFP7PP04L Deceleration Deceleration Deceleration time while in operation stop time Emergency Deceleration stop time Limit stop owe 0 to 10 000 ms adjustable in 1 ms increments Error stop hoo 0 to 10 000 ms adjustable in 1 ms increments System stop oe Immediate stop 0 ms All axes comes to a stop Pulse 1 073 741 823 to 1 073 741 823 pulses 0 to 10 000 ms adjustable in 1 ms increments Stop functions um 0 1 um 107 374 182 3 to 107 374 182 3 um B um 1 um 1 073 741 823 to 1 073 741 823 um Software limit Setting range inch 0 00001 inch 10 737 41823 to 10 737 41823 inches function inch 0 0001 inch 107 374 1823 to 107 374 1823 inches degree 0 1 degree 107 374 182 3 to 107 374 182 3 degrees degree 1 degree 1 073 741 823 to 1 073 741 823 degrees Backu Parameters and positioning data are saved in flash memories with no batteries High speed Counting Counting range 2 147 483 648 to 2 147 483 648 pulses counter range function note Phase difference input direction discrimination input and individual 1 Input mode 8 input with multiplier function for each mode Other specifications Limit input CWL CCWL monitor and near DOG monitor Auxiliary output code and auxiliary output contact Internal current 5 V DC 300 or less 300 mA or less 300 mA
100. 4190 06990 09190 13190 278 019 0 041A0 069A0 091A0 131A0 279 01980 04180 06980 09180 13180 280 UM 019CO UM 041CO UM 069CO UM 091C0 UM 131C0 281 UM 019DO UM 04100 UM 069DO UM 09100 UM 13100 282 UM 019 0 UM 041E0 UM 069E0 UM 091E0 UM 131E0 283 UM 019F0 UM 041F0 UM 069F0 UM 091F0 UM 131F0 284 UM 01A00 UM 04200 UM 06A00 UM 09200 UM 13200 285 UM 01A10 UM 04210 UM 06A10 UM 09210 UM 13210 286 UM 01A20 UM 04220 UM 06A20 UM 09220 UM 13220 287 UM 01A30 UM 04230 UM 06A30 UM 09230 UM 13230 288 UM 01A40 UM 04240 UM 06A40 UM 09240 UM 13240 289 UM 01A50 UM 04250 UM 06A50 UM 09250 UM 13250 17 60 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 290 UM 01A60 UM 04260 UM 06A60 UM 09260 UM 13260 291 UM 01A70 UM 04270 UM 06A70 UM 09270 UM 13270 292 UM 01A80 UM 04280 UM 06A80 UM 09280 UM 13280 293 UM 01A90 UM 04290 UM 06A90 UM 09290 UM 13290 294 UM 01AA0 UM 042A0 UM UM 092A0 UM 132A0 295 UM 01ABO UM 04280 UM 06ABO UM 09280 UM 13280 296 UM 01ACO UM 042CO UM 06ACO UM 092CO UM 132C0 297 UM 01ADO UM 042DO UM 06ADO UM 092DO UM 13200 298 01AE0 UM 042E0 UM UM 092bE0 UM 132bE0 299 UM UM 042F0 UM O6AFO UM 092F0 UM 132F0 300 UM 01B00 UM 04300 UM 06B00 UM 09300 UM 13300 301 UM 01B10 UM 04310 UM 06B10 UM
101. 420 UM 06 UM 094F0 UM 134F0 17 61 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 332 UM 01D00 UM 04500 UM 06D00 UM 09500 UM 13500 333 UM 01D10 UM 04510 UM 06D10 UM 09510 UM 13510 334 UM 01D20 UM 04520 UM 06D20 UM 09520 UM 13520 335 UM 01D30 UM 04530 UM 06D30 UM 09530 UM 13530 336 UM 01D40 UM 04540 UM 06D40 UM 09540 UM 13540 337 UM 01D50 UM 04550 UM 06D50 UM 09550 UM 13550 338 UM 01D60 UM 04560 UM 06D60 UM 09560 UM 13560 339 UM 01D70 UM 04570 UM 06D70 UM 09570 UM 13570 340 UM 01D80 UM 04580 UM 06D80 UM 09580 UM 13580 341 UM 01D90 UM 04590 UM 06D90 UM 09590 UM 13590 342 UM 01DAO UM 045A0 UM UM 095A0 UM 135A0 343 UM 01DBO UM 04580 UM 06DBO UM 09580 UM 13580 344 UM 01DCO UM 045CO UM 06DCO UM 095CO UM 135C0 345 UM 01DDO UM 045DO UM 06DDO UM 095DO UM 13500 346 UM 01DEO UM 045E0 UM 06DEO UM 095E0 UM 135E0 347 UM 01DFO UM 045F0 UM 06DFO UM 095F0 UM 13520 348 UM 01E00 UM 04600 UM 06E00 UM 09600 UM 13600 349 UM 01E10 UM 04610 UM 06E10 UM 09610 UM 13610 350 UM 01E20 UM 04620 UM 06E20 UM 09620 UM 13620 351 UM 01E30 UM 04630 UM 06E30 UM 09630 UM 13630 352 UM 01E40 UM 04640 UM 06E40 UM 09640 UM 13640 353 UM 01E50 UM 04650 UM 06E50 UM 09650 UM 13650 354 UM 01E60 UM 04660 UM 06E60 UM 09660 UM 13660 355 UM 01E70 UM 04670 UM 06E70 UM 09670 UM 13670 356 UM 01E80 UM 04680 UM 06E80 UM
102. 436 UM 02380 UM 04B80 UM 07380 UM 09B80 UM 13B80 437 UM 02390 UM 04B90 UM 07390 UM 09B90 UM 13B90 438 UM 023A0 UM 04BAO UM 073A0 UM 09BAO UM 13BA0 439 UM 02380 UM 04BBO UM 07380 UM 09BBO UM 13BBO 440 UM 023C0 UM 04BCO UM 073C0 UM 09BCO UM 13BCO 441 UM 02300 UM 04BDO UM 07300 UM 09BDO UM 13BDO 442 UM 023E0 UM 04BEO UM 073E0 UM O9BEO UM 13BEO 443 UM 023F0 UM 04BFO UM 073F0 UM O9BFO UM 13BFO 444 UM 02400 UM 04C00 UM 07400 UM 09C00 UM 13C00 445 UM 02410 UM 04C10 UM 07410 UM 09C10 UM 13C10 446 UM 02420 UM 04C20 UM 07420 UM 09C20 UM 13C20 447 UM 02430 UM 04C30 UM 07430 UM 09C30 UM 13C30 448 UM 02440 UM 04C40 UM 07440 UM 09C40 UM 13C40 449 UM 02450 UM 04C50 UM 07450 UM 09C50 UM 13C50 450 UM 02460 UM 04C60 UM 07460 UM 09C60 UM 13C60 451 UM 02470 UM 04C70 UM 07470 UM 09C70 UM 13C70 452 UM 02480 UM 04C80 UM 07480 UM 09C80 UM 13C80 453 UM 02490 UM 04C90 UM 07490 UM 09C90 UM 13C90 454 UM 024A0 UM 04 UM 074A0 UM UM 13CA0 455 UM 02480 UM 04CBO UM 07480 UM 09CBO UM 13CBO 456 UM 024CO UM 04CCO UM 074CO UM 09CCO UM 13CCO 457 UM 02400 UM 04CDO UM 074DO UM 09CDO UM 13CDO 17 64 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 458 UM 024E0 UM 04CEO UM 074 0 UM UM 13CEO 459 UM 024F0 UM 04CFO UM 07420 UM UM 13CFO 460 UM 02500 UM 04D00 UM 07500 UM 09D00 UM 13
103. 490 19683 _ 39 8542498 60 0708008 19684 39 8465787 60 0738525 19685 _ 39 8389076 60 0769043 19686 39 8312366 60 0799561 19687 _ 39 8235655 60 0830078 19688 39 8158944 gt Clear adjustments Cancel Select the data on the target phases control points and change the corresponding displacement data The adjustments will be reflected by selecting OK and the set adjustment data will be cleared by selecting Adjustment clear The numbers of the adjusted sections where the cam curve adjustments have been made are displayed in red which tells that the adjustments have been completed 0 0000000 _ 39 9414063 50 0000000 Jm zi 39 9414063 60 0097656 40 0000000 Modified sine 3 60 0097656 10 0000000 fr 75828125 0 0000000 One dwell trapecoid Adjusted data displayed in red 8 22 8 5 Electronic Cam Function m Cam table shift The created cam pattern is defined with a phase of 096 to 10096 but the actual operation may differ in phase from the reference of the cam pattern The cam table shift is a function to set the percentage of the created cam pattern for the phase at a current coordinate position of zero Shift image of electronic cam n the case of setting coordinate 0 to 096 phase 0 1024 Cam pattern To what value Current example the phase of coordinate Cycle 1000 coordina
104. 60 UM 06160 UM 08960 UM 12960 147 UM 01170 UM 03970 UM 06170 UM 8970 UM 12970 148 UM 01180 UM 03980 UM 06180 UM 08980 UM 12980 149 UM 01190 UM 03990 UM 06190 UM 08990 UM 12990 150 UM 011A0 UM 039A0 UM 061A0 UM 089A0 UM 129A0 151 UM 01180 UM 039BO UM 061B0 UM 08980 UM 12980 152 UM 011 0 UM 039CO UM 061CO UM 089CO UM 129CO 153 UM 01100 UM 039DO UM061D0 UM 089D0 UM 129D0 154 UM 011E0 UM 039E0 UM 061E0 UM 089E0 UM 129E0 155 UM 011F0 UM 039F0 UM 061F0 UM 089F0 UM 129F0 156 UM 01200 UM 03A00 UM 06200 UM 08A00 UM 12A00 157 UM 01210 UM 03A10 UM 06210 UM 08A10 UM 12A10 158 UM 01220 UM 03A20 UM 06220 UM 08A20 UM 12A20 159 UM 01230 UM 03A30 UM 06230 UM 08A30 UM 12A30 160 UM 01240 UM 03A40 UM 06240 UM 08A40 UM 12A40 161 UM 01250 UM 03A50 UM 06250 UM 08A50 UM 12A50 162 UM 01260 UM 03A60 UM 06260 UM 08A60 UM 12A60 163 UM 01270 UM 03A70 UM 06270 UM 08A70 UM 12A70 17 57 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 164 UM 01280 UM 03A80 UM 06280 UM 08A80 UM 12A80 165 UM 01290 UM 03A90 UM 06290 UM 08A90 UM 12A90 166 UM 012A0 UM UM 062A0 12 167 01280 06280 12ABO 168 UM 012C0 UM 03ACO UM 062C0 UM 08ACO UM 12ACO 169 UM 012DO UM 03ADO UM 06200 UM 08ADO UM 12ADO 170 UM 012E0 UM 062bE0 UM 12AE0 171
105. 6E0 4 076E0 UM O9EEO UM 13EE0 491 UM 026F0 UM 4 07620 O9EFO UM 13EF0 492 02700 04200 07700 UM 09F00 UM 13F00 493 UM 02710 UM 04F10 UM 07710 UM 09F10 UM 13F10 494 UM 02720 UM 04F20 UM 07720 UM 09F20 UM 13F20 495 UM 02730 UM 04F30 UM 07730 UM 09F30 UM 13F30 496 UM 02740 UM 04F40 UM 07740 UM 09F40 UM 13F40 497 UM 02750 UM 04F50 UM 07750 UM O9F50 UM 13F50 498 UM 02760 UM 04F60 UM 07760 UM O9F60 UM 13F60 499 UM 02770 UM 04F70 UM 07770 UM 09F70 UM 13F70 17 65 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 500 UM 02780 UM 04F80 UM 07780 UM O9F80 UM 13F80 501 UM 02790 UM 04F90 UM 07790 UM O9F90 UM 13F90 502 UM 027A0 UM 04FA0 UM 077A0 UM 09FA0 UM 13FA0 503 UM 02780 UM 04FBO UM 07780 UM O9FBO UM 13FBO 504 UM 027CO UM 04FCO UM 077CO UM O9FCO UM 13FCO 505 UM 02700 UM 04FDO UM 07700 UM O9FDO UM 13FDO 506 UM 027E0 UM 04FEO UM 077E0 UM O9FEO UM 13FE0 507 UM 027F0 UM 04FFO UM 077F0 UM O9FFO UM 13FFO 508 UM 02800 UM 05000 UM 07800 UM 0A000 UM 14000 509 UM 02810 UM 05010 UM 07810 UM 0A010 UM 14010 510 UM 02820 UM 05020 UM 07820 UM 0A020 UM 14020 511 UM 02830 UM 05030 UM 07830 UM 0A030 UM 14030 512 UM 02840 UM 05040 UM 07840 UM 0A040 UM 14040 513 UM 02850 UM 05050 UM 07850 UM 0A050 UM 14050 514 UM 02860 UM 05060 UM 07860 UM 0A060 UM 14060 515 UM 02870 UM 05070 UM 078
106. 70 UM 0A070 UM 14070 516 UM 02880 UM 05080 UM 07880 UM 0A080 UM 14080 517 UM 02890 UM 05090 UM 07890 UM 0A090 UM 14090 518 UM 028A0 UM 050A0 UM 078A0 UM 0A0A0 UM 140A0 519 UM 02880 UM 050B0 UM 07880 UM 0AO0BO UM 14080 520 UM 028CO UM 050CO UM 078CO UM 0A0CO UM 140CO 521 UM 02800 UM 05000 UM 07800 UM 0AODO UM 140DO 522 UM 028bE0 UM 050 0 UM 078E0 UM UM 140E0 523 UM 028F0 UM 050F0 UM 078F0 UM OAOFO UM 14020 524 UM 02900 UM 05100 UM 07900 UM 0A100 UM 14100 525 UM 02910 UM 05110 UM 07910 UM 0A110 UM 14110 526 UM 02920 UM 05120 UM 07920 UM 0A120 UM 14120 527 UM 02930 UM 05130 UM 07930 UM 0A130 UM 14130 528 UM 02940 UM 05140 UM 07940 UM 0A140 UM 14140 529 UM 02950 UM 05150 UM 07950 UM 0A150 UM 14150 530 UM 02960 UM 05160 UM 07960 UM 0A160 UM 14160 531 UM 02970 UM 05170 UM 07970 UM 0A170 UM 14170 532 UM 02980 UM 05180 UM 07980 UM 0A180 UM 14180 533 UM 02990 UM 05190 UM 07990 UM 0A190 UM 14190 534 UM 029A0 UM 051A0 UM 079A0 UM 0A1A0 UM 141A0 535 UM 02980 UM 051B0 UM 07980 UM 0A1BO UM 14180 536 UM 029CO UM 051C0 UM 079CO UM 0A1CO UM 141CO 537 UM 029DO UM 05100 UM 079DO UM 0A1DO UM 141DO 538 UM 029E0 UM 051E0 UM 079 0 UM UM 141E0 539 UM 029F0 UM 051F0 UM 079F0 UM 0A1F0 UM 14120 540 UM 02A00 UM 05200 UM 07A00 UM 0A200 UM 14200 541 UM 02A10 UM 05210 UM 07A10 UM 0A210 UM 14210 17 66 17 6 Details of Each Axis Setting Area in Unit Memory
107. 9E0 411 UM 021F0 UM 04920 UM 07120 UM 099F0 UM 139F0 412 UM 02200 UM 04A00 UM 07200 UM 09A00 UM 13A00 413 UM 02210 UM 04A10 UM 07210 UM 09A10 UM 13A10 414 UM 02220 UM 04A20 UM 07220 UM 09A20 UM 13A20 415 UM 02230 UM 04A30 UM 07230 UM 09A30 UM 13A30 17 63 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 416 UM 02240 UM 04A40 UM 07240 UM 09A40 UM 13A40 417 UM 02250 UM 04A50 UM 07250 UM 09A50 UM 13A50 418 UM 02260 UM 04A60 UM 07260 UM 09A60 UM 13A60 419 UM 02270 UM 04A70 UM 07270 UM 09A70 UM 13A70 420 UM 02280 UM 04A80 UM 07280 UM 09A80 UM 13A80 421 UM 02290 UM 04A90 UM 07290 UM 09A90 UM 13A90 422 UM 022A0 UM 04AA0 UM 072A0 UM UM 13AA0 423 UM 022B0 04ABO 07280 09ABO UM 13ABO 424 UM 022C0 UM 04ACO UM 072C0 UM 09ACO UM 13ACO 425 UM 02200 UM 04ADO UM 07200 UM 09ADO UM 13ADO 426 UM 022bE0 UM 04AE0 UM 072bE0 UM UM 13AE0 427 UM 022F0 UM 04AF0 UM 072F0 UM O9AFO UM 13AF0 428 UM 02300 UM 04B00 UM 07300 UM 09B00 UM 13B00 429 UM 02310 UM 04B10 UM 07310 UM 09B10 UM 13B10 430 UM 02320 UM 04B20 UM 07320 UM 09B20 UM 13B20 431 UM 02330 UM 04B30 UM 07330 UM 09B30 UM 13B30 432 UM 02340 UM 04B40 UM 07340 UM 09B40 UM 13B40 433 UM 02350 UM 04B50 UM 07350 UM 09B50 UM 13B50 434 UM 02360 UM 04B60 UM 07360 UM 09B60 UM 13B60 435 UM 02370 UM 04B70 UM 07370 UM 09B70 UM 13B70
108. Contents of Setting Parameters 8 8 8 3 8 Gear Ratio Changes while in 8 9 8 4 Electronic Clutch Function 8 11 841 Electronic Clutch Function 8 11 8 4 2 Types and Contents of Setting 8 12 8 4 3 Trigger Types for Electronic Clutch 8 13 8 4 4 Engagement Methods of Electronic Clutch 8 14 8 5 Electronic Cam ae 8 15 8 5 1 Outline of Electronic Cam Function 8 15 8 5 2 Types and Contents of Setting Parameters 8 16 8 5 3 Cam Pattern Setting Method e 8 17 Manual Operation JOG Operation 9 1 9 1 Setting and Operation of JOG Operation 9 2 9 2 Changing the Speed During JOG 9 4 Manual Operation Home Return 10 1 10 1 Pattern of Home 10 2 10 2 Setting and Operation of Home Return 10 5 Manual Operation Pul
109. D00 461 UM 02510 UM 04D10 UM 07510 UM 09D10 UM 13D10 462 UM 02520 UM 04D20 UM 07520 UM 09D20 UM 13D20 463 UM 02530 UM 04D30 UM 07530 UM 09D30 UM 13D30 464 UM 02540 UM 04D40 UM 07540 UM 09D40 UM 13D40 465 UM 02550 UM 04D50 UM 07550 UM 09D50 UM 13D50 466 UM 02560 UM 04D60 UM 07560 UM 09D60 UM 13D60 467 UM 02570 UM 04D70 UM 07570 UM 09D70 UM 13D70 468 UM 02580 UM 04D80 UM 07580 UM 09D80 UM 13D80 469 UM 02590 UM 04D90 UM 07590 UM 09D90 UM 13D90 470 UM 025A0 UM 04DAO UM 075A0 UM 09DAO UM 13DA0 471 UM 02580 UM 04DBO UM 07580 UM 09DBO UM 13DBO 472 UM 025CO UM 04DCO UM 075CO UM 09DCO UM 13DCO 473 02500 UM 04DDO UM 07500 UM 09DDO UM 13DDO 474 UM 025E0 UM 04DEO UM 075 0 UM 09DEO UM 13DEO 475 UM 025F0 UM 04DFO UM 07520 UM O9DFO UM 13DFO 476 UM 02600 UM 04E00 UM 07600 UM 09 00 UM 13E00 477 02610 04 10 07610 10 UM 13E10 478 UM 02620 UM 04E20 UM 07620 UM 09E20 UM 13E20 479 UM 02630 UM 04E30 UM 07630 UM 09E30 UM 13E30 480 UM 02640 UM 04E40 UM 07640 UM 09E40 UM 13E40 481 UM 02650 UM 04E50 UM 07650 UM 09E50 UM 13E50 482 UM 02660 UM 04E60 UM 07660 UM 09E60 UM 13E60 483 UM 02670 UM 04E70 UM 07670 UM 09E70 UM 13E70 484 UM 02680 UM 04E80 UM 07680 UM 09E80 UM 13E80 485 UM 02690 UM 04E90 UM 07690 UM 09E90 UM 13E90 486 UM 026A0 UM 4 UM 076A0 UM UM 13EA0 487 UM 026B0 UM 04EBO UM 076BO UM O9EBO UM 13 488 UM 026C0 UM 04ECO UM 076CO UM UM 13 489 UM 02600 UM 04ED0 UM 076DO UM O9EDO UM 13ED0 490 UM 02
110. G operation The upper limit value of the software limit Lower limit of software limit Auxiliary output mode The lower limit value of the software limit Operating mode of the auxiliary output contact and auxiliary output code Auxiliary output ON time ms The period in which the auxiliary output contact is ON Auxiliary output Delay rate Rate to perform output when using the delay mode for auxiliary output 13 2 Software Limit 13 3 Auxiliary Output Code and Auxiliary Output Contact Movement amount check Post check operation with the movement amount check function used Movement amount check value Pulse Check threshold of the movement amount check function Numerator of movement amount check correction Denominator of movement amount check correction The function of movement amount checking is executed based on the pulse input value multiplied by the following ratio Numerator of movement amount check correction Denominator of movement amount check correction Movement amount check interval ms Time interval to execute the movement amount check function 13 6 Pulse Input Note 1 Set only if the set unit is um inch or degree It should be cancelled down with the movement amount per rotation Note 2 Available for the unit version Ver 1 3 or later 5 8 5 3 Parameter Settings V eros Inthe positioning unit CW r
111. Lu inch select a minimum instruction unit of 0 00001 inch or 0 0001 inch degree select a minimum instruction unit of 0 1 degree or 1 degree Pulse 1 073 741 823 to 1 073 741 823 pulses 0 1 um 107 374 182 3 to 107 374 182 3 um 1 um 1 073 741 823 to 1 073 741 823 um Position reference range inch 0 00001 inch 10 737 41823 to 10 737 41823 inches inch 0 0001 inch 107 374 1823 to 107 374 1823 inches degree 0 1 degree 107 374 182 3 to 107 374 182 3 degrees degree 1 degree 1 073 741 823 to 1 073 741 823 degrees Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation max speed 500 kpps 4 Mpps 500 kpps 4 Mpps Acceleration deceleration Linear acceleration deceleration pattern S shaped acceleration deceleration Acceleration time 0 to 10 000 ms adjustable in 1 ms increments Deceleration time 0 to 10 000 ms adjustable in 1 ms increments No of positioning tables Each axis 600 points in standard area and 25 points in extended area Speed reference range 17 3 Specifications AFP7PP02T Product no AFP7PPO2L AFP7PPO4L PTP control E and C point control Independent CP control P point control Speed control J point control Linear E P C point control composite speed or long 2 axis interpolation axis speed specification Interpolation Circular E P C point control center or passing poi
112. M 030F0 UM 058F0 UM 080F0 UM 12020 12 UM 00900 UM 03100 UM 05900 UM 08100 UM 12100 13 UM 00910 UM 03110 UM 05910 UM 08110 UM 12110 14 UM 00920 UM 03120 UM 05920 UM 08120 UM 12120 15 UM 00930 UM 03130 UM 05930 UM 08130 UM 12130 16 UM 00940 UM 03140 UM 05940 UM 08140 UM 12140 17 UM 00950 UM 03150 UM 05950 UM 08150 UM 12150 18 UM 00960 UM 03160 UM 05960 UM 08160 UM 12160 19 UM 00970 UM 03170 UM 05970 UM 08170 UM 12170 20 UM 00980 UM 03180 UM 05980 UM 08180 UM 12180 21 UM 00990 UM 03190 UM 05990 UM 08190 UM 12190 22 UM 009A0 UM 031A0 UM 059A0 UM 081A0 UM 121A0 23 UM 00980 UM 03180 UM 05980 UM 08180 UM 121B0 24 UM 009CO UM 031C0 UM 059CO UM 081C0 UM 121C0 25 UM 009DO UM 03100 UM 059DO UM 081D0 UM 12100 26 UM UM 031E0 UM 059E0 UM 081E0 UM 121E0 27 UM 009F0 UM 031F0 UM 059F0 UM 081F0 UM 121F0 28 UM 00A00 UM 03200 UM 05A00 UM 08200 UM 12200 29 UM 00A10 UM 03210 UM 05A10 UM 08210 UM 12210 30 UM 00A20 UM 03220 UM 05A20 UM 08220 UM 12220 31 UM 00A30 UM 03230 UM 05A30 UM 08230 UM 12230 32 UM 00A40 UM 03240 UM 05A40 UM 08240 UM 12240 33 UM 00A50 UM 03250 UM 05A50 UM 08250 UM 12250 34 UM 00A60 UM 03260 UM 05A60 UM 08260 UM 12260 35 UM 00A70 UM 03270 UM 05A70 UM 08270 UM 12270 36 UM 00A80 UM 03280 UM 05A80 UM 08280 UM 12280 37 UM 00A90 UM 03290 UM 05A90 UM 08290 UM 12290 17 54 17 6 Details of Each Axis Setting Area in Unit Memory Table
113. O UM 08700 UM 127DO 17 56 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 122 UM OOFEO UM 037E0 UM 05FEO UM 087E0 UM 127E0 123 UM OOFFO UM 037F0 UM 05FFO UM 087F0 UM 127F0 124 UM 01000 UM 03800 UM 06000 UM 08800 UM 12800 125 UM 01010 UM 03810 UM 06010 UM 08810 UM 12810 126 UM 01020 UM 03820 UM 06020 UM 08820 UM 12820 127 UM 01030 UM 03830 UM 06030 UM 08830 UM 12830 128 UM 01040 UM 03840 UM 06040 UM 08840 UM 12840 129 UM 01050 UM 03850 UM 06050 UM 08850 UM 12850 130 UM 01060 UM 03860 UM 06060 UM 08860 UM 12860 131 UM 01070 UM 03870 UM 06070 UM 08870 UM 12870 132 UM 01080 UM 03880 UM 06080 UM 08880 UM 12880 133 UM 01090 UM 03890 UM 06090 UM 08890 UM 12890 134 UM 010A0 UM 038A0 UM 060A0 UM 088A0 UM 128A0 135 UM 01080 UM 038B0 UM 060B0 UM 088B0 UM 12880 136 UM 010CO UM 038CO UM 060CO UM 088CO UM 128CO 137 UM 01000 UM 03800 UM 06000 UM 08800 UM 12800 138 UM 010E0 UM UM 060 0 UM 088E0 UM 128E0 139 UM 010F0 UM 038F0 UM 060F0 UM 088F0 UM 128F0 140 UM 01100 UM 03900 UM 06100 UM 08900 UM 12900 141 UM 01110 UM 03910 UM 06110 UM 08910 UM 12910 142 UM 01120 UM 03920 UM 06120 UM 08920 UM 12920 143 UM 01130 UM 03930 UM 06130 UM 08930 UM 12930 144 UM 01140 UM 03940 UM 06140 UM 08940 UM 12940 145 UM 01150 UM 03950 UM 06150 UM 08950 UM 12950 146 UM 01160 UM 039
114. Panasonic PROGRAMMABLE CONTROLLER FP7 Positioning Unit User s Manual WUME FP7POSP 02 2015 6 panasonic net id pidsx global 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 turnin
115. Positioning start control start enabled flag BUSY for 1st axis 7 28 8 Automatic Operation Synchronous Control Automatic Operation Synchronous Control 8 1 Synchronous Control 8 1 1 Outline of Synchronous Control B Synchronous control The positioning unit in synchronous control operates a master axis so that salve axis will operate in synchronization with the master axis The use of synchronous control provides the following merits 1 Ease of setting A number of related axes can be operated with ease by designing the operation of the axes based on the master axis 2 Ensuring operational safety If an axis comes to a stop for some reason while the positioning unit is in synchronous control all the relevant axes under synchronous control will come to a stop Therefore you can easily increase the safety of the positioning unit B Outline of Synchronous Control The synchronous control provides the following functions These functions are executed in order and the slave axes operate according to the operation result of each function Functions Outline Electronic The number of pulses multiplied by the preset electronic gear ratio is output according to the gear operation of the master axis Electronic The operation of the salve axes can be separated from the operation of the master axis by clutch disengaging the clutch Electronic A function to output pulses according to the preset cam pattern c
116. Pulse input value ou wd Deviation pem mmm em Error code 00000 3012 00000 3043 j Warning code EUR Clear warning Clear warning Clear warning Clear warning Olear warning m n 15 2 15 1 About Errors and Warnings 15 1 3 Check and Clearing with User Program W Check on error and warning information Use the dedicated command PERED to get errors and warnings and read information X160 Hor 1st axis error lannunciation flag X168 Hor 1st axis warning annunciation flag Slot number Axis number Get errors and warnings with the storage destination specified Slot Axis Storage number number destination Error and warning codes are stored as shown below DT100 Error code DT101 Warning code m Clearing all axes with UCLR command e When the dedicated UCLR command to clear errors and warnings the errors and warnings on all the axes of the positioning unit will be cleared R100 Clears errors and DF UCLR warnings with the Unit clear Slot number slot number request specified m Clearing with I O signal on each axis It is possible to clear errors and warnings on an axis by axis basis by turning ON the error warning clear request flags allocated to the I O area The following program shows the clearing of errors on each axis
117. RENCE For the difference in programming method between the standard area and extended area refer to Section 18 Sample program 14 4 15 Errors and Warnings Errors and Warnings 15 1 About Errors and Warnings 15 1 1 Errors and Warnings If any operational unconformity occurs in the positioning unit an error or warning will occur When an error or warning occurs the following operation will be performed running if the motor is operating Errors Occurs in any abnormal conditions When a motor is operating the operation stops The motor stopped due to the occurrence of error will not be activated until the error clear is executed Warnings Occurs if there is any operational unconformity but not abnormal The operation can continue even after the occurrence of warnings and the motor continues 15 1 2 Check and Clearing with Configurator PM7 It is possible to check and clear data on an axis by axis basis by selecting Online gt monitor on the Configurator PM7 programming tool Axis Group Virtual axis Synchronized output Synchronous state Synchronous Asynchronous Synchronous Asynchronous Asynchronous Table number executing 1 0 0 0 0 Auxiliary output code 0 0 0 0 0 Current value om 108712 s Unit conversion current value __ Dpuse 1887122 pulse _____ O pulse _ 82820 pulse
118. Recalculation done flag X118 1st axis BUSY flag X119 2nd axis BUSY flag X160 Error occurrence annunciation for 1st axis X161 Error occurrence annunciation for 2nd axis Y107 Request recalculation Y110 Positioning start for 1st axis Y118 Home return of 1st axis Y119 Home return of 2nd axis Y120 1st axis JOG forward Y121 1st axis JOG reverse Y122 2nd axis JOG forward Y123 2nd axis JOG reverse Y160 Error clear for 1st axis Y161 Error clear for 2nd axis Number Description DTO Starting table number DT101 Number of errors of 1st axis DT102 DT115 Error contents of 1st axis DT121 Number of errors of 2nd axis DT122 DT135 Error contents of 2nd axis DT10 DT25 Positioning data of 1 table of 1st axis DT30 DT45 Positioning data of 1 table of 2nd axis 18 3 Sample program 18 2 Sample program 18 2 1 When Settings Done in Standard Area with Programming tool m Sample program Operation enabled condition X100 X104 X160 Ready Tool 1st axis error Operation enabled positioning operation flag for 1st axis X161 R200 2nd axis error Operation enabled flag for 2nd axis Home return R R100 X118 2 H DF Home return Operation ast axis Start of 1st axis enabled flag BUSY h id for 1st axis ome position R200 X119 Y119 Operation ond axis Start of 2nd enabled flag BUSY i for 2nd axis Positioning start Positioning start This part of the
119. Settings Setting example Items Table 1 Table 2 Table 3 Operation pattern P Pass point P Pass point E End point Control method Increment I Increment Increment X axis movement amount 5000 pulses 10000 pulses 3000 pulses Acceleration deceleration pattern L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps 20000 pps 5000 pps m Operation diagram f pps 20000 10000 7 Table 2 10000 pulses T Table3 1 3000 pulses 1 100 1 2200 27 1 150 150 i t ms 1 Table 1 5000 pulses BUSY flag X118 Operation done flag X120 Current value 20000 _____ m Operation of each contact e The BUSY flag X118 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts The flag will turn ON after the positioning unit transmits a reference for the target position 7 5 Automatic Operation Positioning Control 7 1 4 Setting and Operation of C point Control The example below is a case of single
120. Spiral interpolation Pass point Z axis movement Any other settings will be errors 001H 17 51 Specifications Offset Default Setting range and description 2 The setting area for acceleration time and deceleration time for positioning Positioning operation acceleration time Different settings can be made for acceleration and deceleration The settings for the axis with the smallest number in the axis group are enabled for interpolation operation Positioning deceleration time Setting range 0 to 10 000 ms Any other settings will be errors The target axis will operate at target speed in the case of single axis operation and operate at target interpolation speed in the case of interpolation operation The settings for the axis with the smallest number in the axis group are enabled for interpolation operation Positioning target speed Setting range 1 to 32 767 000 Int lati Any other settings will be errors nterpolation speed Set the following range according to the unit setting Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 17 52 17 6 Details of Each Axis Setting Area in Unit Memory Offset WINS The setting area for the positioning movement amount for positioning operation The amount
121. UM 001C2 1st axis warning code annunciation buffer 1 1st axis warning code annunciation buffer 2 1st axis warning code annunciation buffer 3 1st axis warning code annunciation buffer 4 1st axis warning code annunciation buffer 5 1st axis warning code annunciation buffer 6 1st axis warning code annunciation buffer 7 No of occurrences of warnings on the 2nd axis 2nd axis warning code annunciation buffer 1 2nd axis warning code annunciation buffer 2 2nd axis warning code annunciation buffer 3 Clears warnings on an axis by axis basis bit Name Default Description 0 Warning clear on 1st axis 0 0 No warning clear 1 Warning clear on 2nd axis 0 0 to 1 Warning 2 Warning clear on 3rd axis 0 clear executed 3 Warning clear on 4th axis 0 The positioning 4 unit will set the 5 value to 0 6 _ H automatically 7 Warning clear for virtual 0 aenea axis 15108 Annunciates the number of occurrences of warnings on the 1st axis The latest warning codes are stored in order from buffer number Annunciates the number of occurrences of warnings on the 2nd axis A code will be annunciated if a warning occurs A code will be annunciated if a warning occurs A code will be annunciated if a warning occurs 17 26 17 4 Details of Common Area in Unit Memory Unit ae UM 001D8 2nd axis warning code bie A code will be annunciat
122. USY OFF edge JOG forward flag Y120 1st axis JOG forward R 4 H DF Speed change MV SS K200 1 UM0082A MV SS K150 1 UM0082B i Rewrite i acceleration time MV SL K10000 51 UM0082C and target speed JOG target speed 2 W Programming Precautions To change the JOG operation speed use a user program and rewrite the unit memory UM0082A to UM0082C e The start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit 9 5 Manual Operation JOG Operation 10 Manual Operation Home Return Manual Operation Home Return 10 1 Pattern of Home Return The home return is a function to move the current position to the reference origin and set the coordinates as 0 The following home return methods are available for the positioning unit DOG method 1 Edge detection of near home switch First rising edge of home position as reference The first rising edge of home position switch is detected after detecting the rising edge of the near home switch It becomes the start point Home return direction 4 amp Limit Limit switch switch Near home swith home switch Limit switch 1 aim 1 i J Target speed D The starting point is Home return creep speed A between the near home switch and
123. a Axis 1st axis 2nd axis 3rd axis 4th axis Virtual axis Unit memory UM 00800 UMO03000 UM 05800 UM 08000 UM 12000 address Positioning parameters Data in the following format is stored from the first address of positioning parameters for each axis Offset CP Name Setting range and description Set the movement unit system for the positioning control of each axis Make sure that all the interpolation axes use the same unit system 0000H Pulse 0100H um minimum position reference of 0 1 um 000H Unit setting OH 0101H um minimum position reference of 1 um 0200H inch minimum position reference of 0 1 inch 0201H inch minimum position reference of 1 inch 0300H degree minimum position reference of 0 1 degree 0301H degree minimum position reference of 1 degree Any other settings will be errors 001H Set the number of pulses per motor rotation Settings in mm inch or 002H degree are required for pulse count conversion Number of pulses 1 per rotation Setting range 1 to 32 767 Any other settings will be errors Set the movement amount per motor rotation Settings in mm inch or degree are required for pulse count conversion 004H Setting range 1 to 32 767 Movement amount 1 Any other settings will be errors per rotation Set the following range according to the unit setting um 1 um inch 1 10 000 inch degree 1 degree 005H 17 39 17 40 Specif
124. a used used Suitable to applications where the This is suitable for cases where Application movement amount target speed and positioning data fluctuates according to the operation results of the PLC Note 1 Positioning parameters refer to operating conditions such as the JOG operation and home return conditions along with the limit input logic and deceleration stop time Note 2 Positioning data refers to the individual positioning information such as the movement amount target speed acceleration and deceleration time and operating pattern data and other individual positioning information m Calculation of reconstructing of standard area The calculation of reconstruction recalculation will be required if the standard positioning data area is overwritten with a user program If the data is not recalculated after rewriting the positioning table by the program note that the operation will be executed with the previous positioning table The recalculation procedure is as follows 1 Change the positioning table in the unit memory 2 Turn ON the recalculation request signal Y7 in the I O area 3 Check that the recalculation completion signal X7 in the I O area turns ON and start a desired type of operation Note The I O numbers of the recalculation request signal Y7 and the recalculation completion signal X7 vary with the first word number allocated to the unit 14 3 Programming Cautions REFE
125. al ED EL T Tose ma fA 5 000 5 14 8 000pls e py Movement amount change request contact ON Because of the increment setting the stop position of the table 2 also changes B Example of operation 4 When a continuous table operation is performed Absolute Parameter Setting value Control method Absolute First table positioning movement amount Before change 5 000 pls First table positioning movement amount After change 8 000 pls f 5 000pls f 8 000 5 t t t py A Movement amount change request contact ON Because of the absolute setting the stop position of the table 2 does not change 13 32 13 9 Movement Amount Change Function For unit version 1 3 or later only m Example of operation For repetitive operations When the movement amount change is performed during the positioning repeat operation only the movement amount of the active table in an active repeat period is changed Repeat 1st time Repeat 2nd time Repeat 3rd time A B A A 2 t Repeat 1st time Repeat 2nd time Repeat 3rd time Only the movement amount of the table 1 in the first repeat period is changed to 8 000 pls B The movement amounts of the table 1 in the second and third repeat periods are not changed m Auxiliary output when changing movement amounts Even if the movement amount is chang
126. am Calculates the operation phase of the master axis and outputs cam pulses according to the phase The cam pattern is set with a setting tool B Execution Order of Synchronous Control and Setting Procedures The following section provides information on the outline of functions achieved by synchronous control and setting procedures for the functions Master axis operation Master axis Make master axis settings for each operating axis settings Each operating axis will work as a slave axis if master axis settings are made for the operating axis Electronic gear Select the use or non use of the electronic gear Various electronic settings gear settings are required if the electronic gear is used Electronic clutch Select the use or non use of the electronic clutch Various settings electronic cutch settings are required if the electronic gear is used Electronic cam Select the use or non use of the electronic cam Various electronic settings cam settings are required if the electronic gear is used In addition electronic cam pattern settings are required in the case of using the electronic cam Slave axis output 8 2 Settings for Master and Slave Axes 8 2 Settings for Master and Slave Axes 8 2 1 Selection of Master Axis and Settings The master axis serves as a reference for synchronization control Start and stop requests for various operations are made to the master axis under synchron
127. and PB will be displayed Note 4 The LEDs may be continuously lit with or without pulse output if the electronic clutch or electronic cam is in operation 2 3 Names and Functions of Parts 2 4 3 Wiring Wiring 3 1 Connection over Wire pressed Terminal Cable 3 1 1 Specifications of Wire pressed Terminal Cable This is a connector that allows loose wires to be connected without removing the wires insulation The pressure connection tool is required to connect the loose wires Discrete wire connector 40P Suitable wires strand wire Size Nominal cross sectional area jos utto Rated current thickness AWG 22 0 3 mm 5 1 5 to 1 1 dia 3A AWG 24 0 2mm Connector for wire pressed terminal cable provided with the unit Unit type and required quantity Manufacturer Composition of parts 2 axis type 4 axis type Housing 40P 1x1 set 1x2 sets Panasonic made Semi cover 40P 2x1 set 2x2 sets 5 pin contact for AW22 and AW24 8 x 1 set 8 x 2 sets Note One set is provided for the 2 axis type and two sets are provided for the 4 axis type If you need more connectors purchase AFP2801 2 sets pack Pressure connection tool Manufacturer Product no M Pressure connection tool 3 2 3 1 Connection over Wire pressed Terminal Cable 3 1 2 Assembly of Connector for Wire pressed Terminal Cable The wire end can be directly crimped without removing the wire s insul
128. and stops multiple axes simultaneously are available for positioning control End point E point control which uses the positioning data of a single table and pass point P point control and continuous point C point control both of which use multiple tables are available for single axis control and interpolation control These types of control are described below and acceleration time and deceleration time can be set individually For P point control and C point control an E point should be set as the last table In P point control and C point control the operation done flag turns ON after the last table is executed JOG positioning J point control i e speed control is available in addition to P point control C point control and E point control J point control operates until the start contact of J point positioning turns ON after the operation of the positioning unit starts and the next positioning control will start when the start contact of J point positioning turns ON In J point control the operation done flag turns ON after the last table is executed J point control can be used for a single axis only Speed Speed f pps E point control f pps P point control E point i table P point P point Time table1 table2 Time 4 4 t ms t 4 t ms Speed Speed f pps C point control f pps J point control C point C point Jpoint E point table 1 table 2 Time table table gt Time
129. ar warning Olear warning 4 Speed Rate 100 Exit 3 Press the Change button under the target start table number field The dialog box to set the start table number will be displayed Input the start table number Press the Operate button Positioning will start from the specified start table number 6 Press Exit button to terminate the positioning operation 6 14 6 4 Tool Operation e When conditions are changed during the tool operation the unit memory will be updated temporarily and the operation will be performed however the changed conditions will not be reflected in the configuration data written in the CPU unit Therefore when the mode is changed to the RUN mode again the unit will start based on the configuration data downloaded to the CPU unit Yg e For the positioning operation the setting data should be downloaded to the positioning unit in advance The operations after the starting table number vary depending on the operation patterns e Ifan recoverable error occurs the positioning unit click the Error clear button to clear the error Ifa warning occurs in the positioning unit click Warning clear to clear the warning e positioning operation of the interpolation group starts and stops the axis with the smallest number in the group If the tool operation function is used positioning will start by pressing the Run button for any axis A war
130. arameter settings for the axis whose attributes have changed will be initialized No N 6 Check the contents of the change and press the Yes button A data table tab each is created for the groups set 13 E End point 1 Increment 0 L Linear 100 E End L ient 0 L Linear 100 Virtual axis A 1 2Axis 3Axis X 4Axis Yg neos e Setting items such as the movement and interpolation of X Y and Z axis will be added to the data table and group name A or B will be displayed on the tab when the interpolation group is set e The virtual axis and slave axes under synchronous control cannot be set to the interpolation groups e Closing the window with the X mark during editing cancels and stops the operation 5 3 Parameter Settings 5 3 Parameter Settings 5 3 1 Parameter Settings in Configurator 7 Use the Configurator 7 to allocate the most fundamental parameters for positioning control such as the motor rotation direction pulse output method CW CCW and Pulse Sign home input limit input logic and positioning control The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Set axis Set parameters from the menu bar The Parameter settings dialog box will be displayed Parameter settings Virtual axis 1 axis A 2 axis A 3 axis 1 axis
131. area unit memory Warning log area unit memory UM 00128 Error log area oco Warning log area 00137 of axis 1 M 001CF of axis 1 No of occurrences of warnings e annunciati s Warning cod UM 00138 Error log area er 1 00100 Warning log area annunciation buffer 1 UM 00147 of axis 2 Error code annunciati UM 001DF of axis 2 Warning cod butter annunciation buffer 2 UM 00148 Error log area m O0fEO Warning log area n UM 00157 of axis 3 Error code anuncia UM 001 of axis Wamng oda Error code annunciati i Warning cod SUMMER ed un ourer pai agieren annunciation buffer 4 Error code annunciati Warning cod 00198 Error log area buffer 00230 Warning log area annunciation buffer 5 001A7 of virtual axis Error code annunciati M 0023F of virtual axis Warning cod buffer 6 annunciation buffer 6 Error code annunciati Warning cod buffer 7 annunciation buffer 7 Number of occurrences of Stores the number of occurrences of errors and warnings errors warnings Error warning annunciation Stores error and warning codes buffers Errors and warnings are stored in chronological order beginning with buffer 1 followed by buffer 2 3 etc 15 4 15 2 Changes in Recovery from Errors 15 2 Changes in Recovery from Errors 15 2 1 Ou
132. atio Specification Method W Setting procedures and operations of ratio specification method Override When setting the ratio specification the command speed is immediately reflected in the specified ratio once the Ratio specification in the shared memory is changed f 200 000pps 100 000pps 50 000pps t Ratio specification 100 96 X 200 50 X 100 Note 1 The acceleration time to the change speed and the deceleration time from the change speed follows the setting values of the active table Note 2 The movement amount does not change when the speed change is performed Setting parameters of ratio specification method The following parameters are used in the target speed change function of the ratio specification method Positioning operation change setting area Unit memory Name Default Description No Hex UM17C00 poe Positioning speed Area for setting the change ratio override to the command Be U M17C10 AM change speed for the positioning speed change The speed change UM17C20 ee K100 request by I O is not necessary and the change becomes a ae Ratio specification valid when the set value ratio is set po eee Override 1 to 300 96 UM17C70 Note The unit memory numbers in the above table are for the axis 1 axis 2 axis 3 axis 4 and virtual axis from the top 13 27 Supplementary Functions B Example of Operation When
133. ation which saves wiring effort Procedure 1 Bend the contact back from the carrier and set it in the pressure connection tool e Contact puller pin to redo wiring If there is a wiring mistake or the wire is incorrectly pressure connected use the contact puller pin provided with the fitting to remove the contact 29 against the pressure SSX connection tool so that the contact puller pin comes in contact with this section F Press the houseing 3 3 Wiring 3 2 I O Specifications and Terminal Wiring 3 2 1 2 Ug Specifications 2 axis type 4 axis type Axes PPORT Connector for 1 and 2 axis Connector for 3 and 4 axis Connector for 1 and 2 axis The 4 axis type and 2 axis type use two connectors and one connector respectively Signal pins for two axes are allocated to a single connector There is no difference in pin arrangement between the AX1 and AX2 connector and the AX3 and AX4 connector if the unit is of the 4 axis type Any pins with the same in number have the same function The transistor type and line driver type are the same in input terminal and power terminal specifications Only the performance of the pulse output terminal of the transistor type and that of the line driver type are different from each other Output terminal transistor output type
134. ation speed is the tangential velocity of arc 3 axis spiral interpolation Pass point specification Z axis movement direction 4 Z axis Y axis gt direction X axis o direc di direction The pass point on an arc can be specifed The interpolation speed is the tangential velocity of arc 3 axis spiral interpolation Center point specification CCW direction Z axis movement direction Z axis The center position can be specified Y axis X axis direction direction The interpolation speed is the tangential velocity of arc When the X axis and Y axis is the moving axes each axis in the above diagram is replaced 7 13 Automatic Operation Positioning Control 7 2 2 Setting and Operation of 2 Axis Linear Interpolation The example below is a case of E point control with the positioning unit installed in slot 1 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method in pulses B Settings 10000 pulses Items Setting example Operation pattern E End point Interpolation operation 0 Linear Composite speed Control method I Increment X axis movement 10000 pulses X axis auxiliary point 0 Y axis movement 5000 pulses Y axis auxiliary point 0 Acceleration deceleration method L Linear Acceleration time ms 100 ms Deceleration time ms
135. buffer 4 UM 001A2 i i Virtual s ood A code will be annunciated if an error occurs UM 001A3 annunciation buffer 5 UM 001A4 Virtual axis error code A code will be annunciated if an error occurs UM 001A5 annunciation buffer 6 UM 001A6 Virtual axis error code 7 A code will be annunciated if an error occurs UM 001A7 annunciation buffer 7 17 25 Specifications 17 4 9 Warning Annunciation amp Clear Area If warnings not involving a stoppage occur data on the warnings along with the number of warnings will be stored on an axis by axis basis in this area If the warning clear is executed the warnings and the number of warnings occurred will be cleared once Then warnings will be judged again Therefore the same warnings will occur if the warning conditions continue The number of warnings for each axis is annunciated If a total warning occurs the data on all the axes will be stored in the warning annunciation buffer Up to 7 warnings are stored in the warning log Warnings can be cleared not only in this area but also with the warning clear contact Unit D memory no Hex 001 9 UM 001C1 UM 001C3 UM 001 4 UM 001C5 UM 001C6 UM 001C7 UM 001C8 UM 001C9 UM 001CA UM 001CB UM 001CC UM 001CD UM 001CE UM 001CF UM 001D1 UM 001D2 UM 001D3 UM 001D4 UM 001D5 UM 001D6 UM 001D7 Warning clear settings on axis by axis basis No of occurrences of warnings
136. c Gear Function 8 3 3 Gear Ratio Changes while in Operation W Precautions for gear ratio changes while the positioning unit is in operation e f the gear ratio is changed with a new gear ratio while the electronic gear is in operation the new gear ratio will be effective with an elapse of a preset gear change time elf the gear ratio change time is 1 the gear ratio will be changed at an acceleration deceleration time of 0 Acceleration or deceleration during the gear ratio change results in linear acceleration or deceleration S shaped acceleration or deceleration cannot be used Gear ratio numerator Gear ratio denominator 100 100 200 100 50 2 100 Gear raio charge ime Gear ratio change time Gear ratio change time 1 ms 100 ms EN Input speed Output speed Time T Gear ratio change request signal dl T B Programming Follow the procedure below and write a user program in the case of changing the gear ratio while the positioning unit is in operation 1 Change the gear ratio Change the gear ratio numerator and denominator of the electronic gear in the setting area for the electronic gear The gear ratio at the time of starting the positioning unit is set for this area It is recommended to save the initial gear ratio before change so that the initial gear ratio can be reused with ease 2 Turn ON the gear ratio change request contact Turn ON I O signal electronic gear ratio
137. ch Clutch OFF The setting for the clutch ON Each 5211H E Yes method setting error method is incorrect axis Clutch Clutch OFF slip The setting for the clutch OFF Each 5212H Yes method setting error slip method is incorrect axis Clutch Clutch OFF slip The setting for the clutch OFF Each 5213H P EE Yes time setting error slip time is incorrect axis Clutch Clutch OFF slip 5 The setting for the clutch OFF Each 5214H curve selection setting slip curve is incorrect axis Yes error 15 15 Errors and Warnings B Synchronous parameter Electronic cam related error from 5300H miel Error name Description Object Recovered Countermeasures Electronic cam setting for the cam control synchronous Each 5300H control synchronous master Yes masteraxis cycle axis cycle is incorrect axis setting error y i Check the set value The used cam pattern number If the error occurs Electronic cam Used is out of the range Each repeatedly with the 5301H cam pattern no setting correct set values eor The used cam pattern number 5 TM consult your Panasonic is not registered representative Electronic cam Cam 5302H stroke amount setting The setting for the cam stroke Each Yes amount is incorrect axis error B Cam pattern related error from 5400H
138. change request for the target axis allocated to the unit This signal enabled is of edge type Starts the gear ratio change triggered by the gear ratio change request signal turned ON E allocation Signal name 1st axis 2nd axis 3rd axis 4th axis Slave axis gear ratio change request Y90 Y91 Y92 Y93 Slave axis gear ratio change request X90 X91 X92 X93 Turn OFF the gear ratio change request signal after changing the gear ratio 8 9 Automatic Operation Synchronous Control REFERENCE For detailed information on the gear ratio setting area refer to 17 7 1 Synchronous Control Setting Area 8 10 8 4 Electronic Clutch Function 8 4 Electronic Clutch Function 841 Electronic Clutch Function The electronic clutch function is used to engage or disengage the clutch for output from the electronic gear When the electronic clutch is disengaged the master axis will be separated from the slave axes and the slave axes not in synchronization with the master axis will come to a stop When the electronic clutch is engaged the master axis and slave axes will operate in synchronization Speed V Clutch OFF _ ty Synchronized Stop Input speed Electronic gear output Output speed Electronic clutch output Keep in mind that the slave axes may come to a sudden stop if the clutch is disengaged while making a gear ratio change Automatic Operation Synch
139. changing the ratio from 10096 to 15096 Parameter Setting value Ratio specification 100 96 to 150 96 200 000pps 150 000pps 100 000pps 300 000pps 200 000 5 150 000 100 000pps 225 000 5 gt The ratio specification is changed from 100 to 150 B All consecutive tables follow the set ratio 13 28 13 9 Movement Amount Change Function For unit version 1 3 or later only 13 9 Movement Amount Change Function For unit version Ver 1 3 or later only 13 9 1 Function Explanation e The movement amount change function is used to change the movement amount on active positioning table to an arbitrary amount Even when the movement amount is changed the target speed is the same When increasing the movement amount N When decreasing the movement amount F 4 m Use Conditions The use conditions of the movement amount change function are as follows A Available N A Not available Single axis A control In the case of the synchronous control the movement amount can be Control Interpolation N A changed only for the master axis method control Slave axes operate according to the master axis Synchronous control E point A The movement amount can be changed more than once in one table P point A The movement amount cannot be changed during the
140. cleared when the error is cleared 1 Warning A warning will occur and the operation of the positioning unit will come to a stop if the difference between the feedback value and reference movement exceeds the movement check value threshold The pulse input will be cleared when the warning is cleared 2 No No movement check is made Set the threshold to use the automatic check function of movement amount Automatic movement amount check UM 00818 value Automatic movement amount check interval Set the interval of automatic movement amount checking Unit UM 0081A ms 2nd axis Description UM 03008 Numerator of automatic movement amount check correction UM 03009 Denominator of automatic movement amount check correction Refer to the description for the 1st axis UM 0300A Automatic movement amount checking UM 03018 Automatic movement amount check value UM 0301A Automatic movement amount check interval 13 15 Supplementary Functions 3rd axis Unit memory no Description Hex UM 05808 Numerator of automatic movement amount check correction UM 05809 Denominator of automatic movement amount check correction Refer to the description for the 1st axis UM 0580A Automatic movement amount checking UM 05818 Automatic movement amount check value UM 0181A Automatic movement amount check interval 4th axis Unit memory no Description H
141. cription Auxiliary Turns ON when the corresponding positioning table of the corresponding contact axis is executed Auxiliary Turns ON when the corresponding positioning table of the virtual axis is contact executed Limit Monitor contact of the limit and Limit Decelerates to stop when the limit input that is on an extension of the Limit operating direction turns ON while the positioning unit is in positioning mi operation JOG operation or pulser operation Limit The deceleration stop time during the limit input can be changed in the unit Limit memory Limit It will be the contact for the automatic inversion when performing a home return Limit 3 The input logic be changed in the parameter setting menu of the Limit Configurator PM7 Turns ON when an error occurs on the corresponding axis Error The contacts of all axes turn ON if all axes have errors annunciation The details of the error can be confirmed in the error annunciation area of the unit memory Error annunciation Warning annunciation Turns ON when an error occurs on the virtual axis Turns ON when a warning occurs on the corresponding axis The contacts of all axes turn ON if a warning occurs on all axes The details of the warning can be confirmed in the warning annunciation area of the unit memory Warning annunciation Turns ON when a warning occurs on the virtual axis 17 8 17 2 Number A
142. ction of movement amount will be disabled if the synchronous control function is used Checks if axes is operating in accordance with the command from the unit i Unit command value i Feedback pulse i input value Feedback pulse Encoder 13 14 13 6 Pulse Input The automatic check function of movement amount is set in the following areas 1st axis Description Numerator of automatic movement amount check correction Set a correction value of pulse input at the time of making an automatic movement amount check UM 00808 The following formula is used to calculate a deviation feedback value pulse input value with a correction from pulse input and UM 00809 Denominator of automatic make an automatic movement amount check movement amount check correction di Deviation feedback value Correction numerator Correction denominator x Pulse input Set an action when the difference between the instruction value and feedback value exceeds the movement check value at the time of automatic movement amount check 0 Error An error will occur and the operation of the positioning unit will come to a stop if the difference between the feedback value and reference movement exceeds the movement check value UM 0080A Automatic movement amount threshold checking The pulse input will be
143. d When decreasing the target speed m Use Conditions The use conditions of the target speed change function are as follows A Available N A Not available Single axis A control In the case of the synchronous control the speed can be changed Control Interpolation N A only for the master axis method control Slave axes operate according to the master axis Synchronous A control E point A The speed can be changed more than once in one table P point A The speed cannot be changed during the deceleration in accordance C point A with the stop operation J point N A The speed cannot be changed during the deceleration in the C point control Operation JOG pattern operation The speed cannot be changed during the dwell time in the C point control For the J point control use J point speed change contact to change Repeat the speed control F For the JOG operation change JOG operation target speed directly to change the speed 13 21 Supplementary Functions B Speed change method Speed direct This is a method in which a desired speed is specified directly and the change is requested by I O specification The valid range of the function can be selected from two patterns which are Active table only and Active table to completion of operation This is a function to change a set speed using a specified ratio Ratio The chan
144. d change e J point control can be used for single axis control only It is not available for interpolation control Set the positioning unit to increment mode to implement P point control C point control or E point control with positions specified after J point control is implemented Speed control is performed while the positioning unit is in J point control in which case be sure to input the amount of movement for positioning with a value that can secure a target constant speed area 7 7 Automatic Operation Positioning Control B Operation diagram J point Table 1 parameter Table 2 Table 3 f pps 30000 20000 10000 6000 t ms Positioning start contact Y110 BUSY flag X118 Operation done flag X120 h J point speed change contact Y148 J point positioning start contact Y158 curentvaiue WOK B Operation of each contact e The BUSY flag X118 will turn ON when the operation starts and turn OFF when the operation is completed e The operation done flag X120 indicating the state that an operation completed will turn ON when the JOG operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts eThe target speed will be changed when the J point speed change contact Y148 turns ON The change will be enabled at the edge where the contact turns ON e
145. d area Unit Set memory no Name Description Default range unit Hex If the ON state of the recalculation request signal contact YT is detected the positioning unit will recalculate 1 1 to 600 positioning data on all axes beginning with this table number up to number 600 Recalculation UM 00085 starting table number 17 4 3 Operating Speed Factor Area Unit Setti Set memory no Name Description Default ena m range unit Hex It is possible to perform all types of axial control ositioning JOG and home return control at a magnified UM 00088 Operating p 9 100 1to 100 96 speed factor rate of this speed Values can be input in percent within a range of 1 to 100 17 4 4 Axis Group Setting Area Set an interpolation group on an axis by axis basis in this area Unit memory no Description Hex Make independent and interpolation settings for each axis in this area In the case of UM 000B0 Group Aaxis interpolation each axis belongs to group A B C or D For example if the 1st 2nd settings and 3rd axes belong to group A for three axis interpolation set the three corresponding bits for the interpolation settings for group A to 1 In the case of single independent settings the axis will not belong to any group Then turn ON the corresponding bit for the following independent axis settings UM 000B1 Group B axis settings A maximum of th
146. deceleration in accordance with the stop operation Operation C point ESE PEN pattern J point N A The movement amount cannot be changed during the deceleration in the C point control JOG operation N A The movement amount cannot be changed during the dwell time in Repeat control A the C point control 13 29 Supplementary Functions 13 9 2 Setting Procedures and Operations B Setting procedures and operations of movement amount change function The movement amount change function is activated by the following procedure during a positioning operation 1 Set Change movement amount the shared memory 2 Turn on the Movement amount change request contact during a positioning operation Movement amount change reception annunciation turns ON when the movement amount change is actually started Once the Speed change request contact turns OFF the Speed change reception annunciation also turns OFF Positioning movement amount Before change 100 000pls Change movement amount X 150 000pls Movement amount change request Positioning movement amount change reception annunciation B Setting parameters The following parameters are used in the movement amount change function Positioning operation change setting area Unit memory Name Default Description No Hex UM17COA UM17COB 17 18 Position
147. dinate origin The coordinate origin is out of Each Yes error the range axis JOG operation The target speed of the JOG Each 4201H M Yes target speed error operation is out of the range axis JOG operation The acceleration deceleration Each 4203H acceleration deceler type of the JOG operation is axis Yes ation type error incorrect JOG operation The acceleration time of the Each 4204H acceleration time JOG operation is out of the auis Yes error range JOG operation The deceleration time of the Each 4205H deceleration time JOG operation is out of the axis Yes error range Countermeasures Check the set value If an error occurs repeatedly with the correct set values consult your Panasonic representative 15 11 Errors and Warnings is Error name Description Object Recovered Countermeasures Current value update The set value of the current Each 4250H p value update is out of the Yes error axis range A value other than the 4301H Absolute incremental absolute increment is set for Fach Yes setting error axis the move method 4302H Dwell time error The set value of the dwell Each Yes time is out of the range axis TT The specified table number is 4303H Positioning starting 0 or it exceeds the maximum Fach Yes table No error axis table number The last table of the Each 4304H Table setting error positioning setting tables is axie Yes not the
148. ding axis will turn ON after completion of the operation of the clutch 17 9 Specifications tact Target axis Name Description allocation Contact for requesting the system stop When it turns ON all axes will stop at the deceleration time 0 LIN NEN NENNEN SERA ME re pe ec me c ule s NI Y4 o MR Axis group setting This contact will turn ON after the axis group settings are Y5 All axes change request changed Axis parameter gt All axes setting change This contact will turn ON after the axis parameter settings are changed request Turns ON this signal when each positioning data standard area in the unit memory was changed The positioning data after the table number starting the Request recalculation specified in the unit memory can be restructured and Y7 All axes ae mi will be executable by turning ON this signal When restructuring of the positioning data completes the recalculation done contact X7 will turn ON Note It is used only when the positioning data has been rewritten by ladder programs The serve ON signal for the corresponding axis turns ON at the ON edge of this contact EU The servo ON signal will not turn OFF automatically while the Servo ON positioning unit is in program mode To turn OFF the servo ON signal turn ON the servo OFF request YB 4thaxis Y50 to Y53 The operation is the edge type Yc
149. ding by 90 degrees in electrical angle than the phase B the count value is incremented When the phase A is delayed by 90 degrees in electrical angle than the phase B the count value is decremented Unit Incremental encoder Addition pulse input Pulse generator In the individual input method the counter is incremented when the Count direction Individual input A signal rises or falls and Incremental decremented when the input B encoder signal rises or falls e Pulse generator Subtraction pulse input Unit For the direction detection input Incremental the count signal is connected to the input A signal The count direction TES Pulse generator Pulse Input is controlled by the level of the Direction direction signal of input B signal discrimi nation When the input B signal is on the counter is incremented when the input A signal rises or falls When the input B signal is off the counter is decremented 13 11 Supplementary Functions B Count operation of 2 phase input Phase difference input Multiple Time chart Addition Subtraction nput A 1 multiple nput B nput A 2 multiple nput B A 4 multiple o p nputB B Count operation of individual input Multiple Time chart Addition Subtraction Input A 1 multiple input B Input A 2 multiple Input B ol
150. does not coincide with that of the slave axes Movement amount of slave axes Movement amount of master axis x gear ratio numerator Gear ratio denominator On the condition that the gear ratios are constant Do not use the electronic gear function if the movement amount of the master axis needs to coincide with that of the salve axes Keep in mind that the slave axes may come to a sudden stop if an emergency stop or deceleration stop is executed while making a gear ratio change 8 7 Automatic Operation Synchronous Control 8 3 2 Types and Contents of Setting Parameters The use of the electronic gear requires the following parameter settings Parameter name Outline Electronic gear operation settings Set to use or not to use the electronic gear function The gear ratio of the electronic gear will be set to 1 1 if the electronic gear is not used and the operation of the master axis will be input as it is into the electronic clutch Gear ratio numerator Gear ratio denominator Gear ratio change time Determines the gear ratio of the electronic gear Electronic gear ratio is determined by the following formula Output speed of electronic gear Operating speed of master axis x Gear ratio numerator Gear ratio denominator The time required to change the current gear ratio to a new gear ratio if the new gear ratio is set for the electronic gear in operation 8 8 8 3 Electroni
151. e B Settings Items Setting example Operation pattern E End point Control method Increment X axis movement amount 10000 pulses Acceleration deceleration pattern L Linear Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps B Operation diagram f pps 10000 10000 pulses t 400 100 t ms Positioning start contact 110 BUSY flag X118 Operation done flag X120 Current value 20000 WAY 30000 abs eds Cic 1 B Operation of each contact e The BUSY flag X118 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts The flag will turn ON after the positioning unit transmits a reference for the target position 7 1 Basic Operation 7 1 3 Setting and Operation of P point Control The example below is a case of single axis control with the positioning unit installed in slot 1 The movement amount setting uses an increment method in pulses Table 18000 pulses Ball screw side 4 side B
152. e input contacts such as switches as needed m Basic Configuration Motor driver O Q Lil Motor driver oor B Motor O E Motor The positioning unit is installed in slot 1 The 1st axis and 2nd axis of the positioning unit connect to a stepping motor each with the linear interpolation of the 2nd axis sampled This example is shown on the condition that parameter settings for each axis are made in the positioning setting menu of the programming tool and saved in the positioning unit m Used contacts and data registers Number Description R2 Request home return R3 Request positioning start R4 1st axis JOG forward request R5 1st axis JOG reverse request R6 2nd axis JOG forward request R7 2nd axis JOG reverse request R10 Error clear R11 Request set value change R100 Operation enabled flag for 1st axis R101 1st axis JOG forward OFF edge R102 1st axis JOG reverse OFF edge R200 Operation enabled flag for 2nd axis R201 2nd axis JOG forward OFF edge R202 2nd axis JOG reverse OFF edge 18 2 18 1 Basic Configuration and Contact Allocations of Sample Programs Number Description X100 Ready positioning flag X104 Tool operation for all axes X107
153. e of 1st axis Setting range Description Default Set unit Stores I O information connected to each axis Name Default Description 0 Non active 1 Active Limit 0 Limit 0 Near home 0 0 Home position Stores the maximum value of the deviation the difference between the pulse input value and instruction value Stores pulse input values according to the pulse input application e g pulser feedback pulse or counter Pulse input values will be integrated and stored until the pulse input application is changed or the pulse input is cleared Stores the positioning table number being executed or done Stores the auxiliary output code Stores the set value for the number of positioning repeat count This area will be set to 1 if the positioning repeat is not implemented 0 to 255 Stores 255 if the number of positioning repeat times is unlimited Stores the number of repeat count in operation Stores 1 if the positioning repeat is not implemented Returns to 0 when the repeat count exceeds the upper limit Stores the current value based on a mechanical origin in pulse units It will be reset to 0 on the completion of home return The value will not be updated when the current value update function is executed 17 34 17 5 Details of Each Axis Information Area in Unit Memory range Stores the current value based on an electric origin
154. ear for 4th axis set the value to 0 automatically after execution c Error clear settings on axis by axis basis UM 00111 Error clear for virtual axis No of occurrences of errors on 1st axis Annunciates the number of occurrences of errors on the 1st axis 1st axis error code annunciation buffer 1 UM 00129 UM 0012A UM 0012B UM 0012C UM 0012D 1st axis error code annunciation buffer 2 UM 0012E 1st axis error code UM 0012F annunciation buffer 3 UM 00130 UM 00131 UM 00132 UM 00133 UM 00134 UM 00135 UM 00136 UM 00137 1st axis error code annunciation buffer 4 The latest error codes are stored in order from buffer number 1 1st axis error code annunciation buffer 5 1st axis error code annunciation buffer 6 1st axis error code annunciation buffer 7 No of occurrences of errors Annunciates the number of occurrences of errors the 2nd axis on 2nd axis 2nd axis error code L 2 A code will be annunciated if an error occurs annunciation buffer 1 2nd axis error code b A code will be annunciated if an error occurs annunciation buffer 2 2nd axis error code d A code will be annunciated if an error occurs annunciation buffer 3 17 23 UM 00139 UM 0013A UM 0013B UM 0013C UM 0013D UM 0013E UM 0013F Specifica
155. eck the settings System If an error occurs repeatedl An error has occurred in the system All 1003H processing processing due to some reason axes Yes with the correct set values error consult your Panasonic representative Tool An error in communication with the E the Desi a i i i cable connecting the an 1020H operation PC has occurred while operating the All Yes BC 9 programming tool with the positioning axes end setting menu Reboot the PC Check the condition of the 1030H CPU unit An alarm has occurred to the CPU All No CPU unit error unit axes Turn off the power supply and turn it on again Check the condition of the CPU unit The system in operation has come to All CPU unit 1031H operation a stop because the CPU unit is aes Yes mode error switched to PROG Mode Set the CPU unit to RUN Mode 15 6 15 3 Error Code Table 15 3 2 Axis operation error from 3000H These are the errors that will occur while various operations are being executed Error odo Error name Description Object Recovered Countermeasures 3010H Limit signal The input on the positive side of Each Yes Move the motor into the range detection the limit has turned ON axis of the limit by an appropriate 3011H Limit signal The input on the negative side Each Yes mode such as JOG operation detection of the limit has turned ON axis Check the l
156. ed if a warning occurs UM 001D9 annunciation buffer 4 UM 001DA 2nd axis warning code T x A code will be annunciated if a warning occurs UM 001DB annunciation buffer 5 UM 001DC i i 2nd ans Warming code A code will be annunciated if a warning occurs UM 001DD annunciation buffer 6 UM 001DE 2nd axis warning code pee A code will be annunciated if a warning occurs UM 001DF annunciation buffer 7 UM 001E1 No of occurrences of Annunciates the number of occurrences of warnings on the 3rd warnings on the 3rd axis axis UM 001E2 i i 3rd AKS WITH code A code will be annunciated if a warning occurs UM 001E3 annunciation buffer 1 UM 001E4 3rd axis warning code 3 Ae A code will be annunciated if a warning occurs UM 001E5 annunciation buffer 2 UM 001E6 3rd axis warning code Sr A code will be annunciated if a warning occurs UM 001E7 annunciation buffer 3 UM 001E8 3rd axis warning code A code will annunciated if a warning occurs UM 001E9 annunciation buffer 4 UM 001EA 3rd axis warning code UM 001EB annunciation buffer 5 UM 001EC 3rd axis warning code ie A code will be annunciated if a warning occurs UM 001ED annunciation buffer 6 UM 001EE 3rd axis warning code i s A code will annunciated if a warning occurs UM 001EF annunciation buffer 7 No of occurrences of Annunciates the number of occurrences of warnings on the 4th UM 001F1 warnings the 4th axis axis UM 001F2 4th axis
157. ed in the P specified speed rate Clicking Speed Rate shows the dialog for inputting the value Yg e For the positioning operation the setting data should be downloaded to the positioning unit in advance The operations after the starting table number vary depending on the Operation patterns If a recoverable error occurs in the positioning unit click the Clear errors button to clear the error If a warning occurs in the positioning unit click Clear warning to clear the warning The positioning operation of the interpolation group starts and stops the axis with the smalles number in the group In the case of the tool operation function the positioning operation starts by pressing the Operate button of any axes however a warning message is displayed when the Operate button other than that for the smallest axis number is pressed This dialog box cannot be closed during the operation When conditions are changed during the tool operation the unit memory will be updated temporarily and the operation will be performed however the changed conditions will not be reflected in the configuration data written in the CPU unit Therefore when the mode is changed to the RUN mode again the unit will start based on the configuration data downloaded to the CPU unit 6 16 6 4 Tool Operation 6 4 6 Teaching by Tool Operation Function Activate each axis manually by the tool operation and regist
158. ed when the auxiliary output is set in the delay mode the auxiliary contact turns ON at the position of the delay ratio to the movement amount before the change If the delay ratio is set to100 however the auxiliary contact turns ON on the completion of the operation 13 33 Supplementary Functions 13 34 14 Programming Cautions Programming Cautions 14 1 Programming Cautions 14 1 1 Turning Off Power Supply Clears Contents of Unit Memory The unit memory data of the positioning unit will be cleared when the PLC is turned off 14 1 2 Not Going to Other Operation from Current Operation Automatic operation positioning control or manual operation JOG operation home return or pulser operation that has started with the start contact turned ON will continue even if the contact of other operation turns ON However the stop operation deceleration stop emergency stop system stop can be executed during other types of operation 14 1 3 Operation with the PLC Set to PROG Mode from RUN Mode Automatic operation positioning control or manual operation JOG operation home return or pulser operation that has started with the start contact turned ON will continue even if the PLC is switched to PROG mode from RUN mode 14 2 14 1 Programming Cautions 14 1 4 Types of Positioning Data Setting Areas The positioning unit has a standard 600 point positioning data setting area and 25 point extended area w
159. efers to the rotating direction with a count increase and CCW refers to the direction with a count decrease Therefore limit input in the CW direction is limit input and that in the CCW direction is limit 5 9 Unit Allocation and Parameter Settings Parameter name Description Related page Startup speed Startup speed initial speed of all types of operation 13 7 Startup speed Home return Return setting code Home return Return direction The pattern of the home return The operating direction of the home return Home return Return acceleration time ms The acceleration time of the home return Home return Return deceleration time ms The deceleration time of the home return Home return Return target speed The target speed of the home return Home return Return creep speed The speed to search the home position after the proximity input Home return Home coordinates Unit system conversion current value after the completion of the home return Home return Deviation counter clear time ms Output time of deviation counter clear signal 10 1 Pattern of Home Return JOG operation Acceleration Deceleration pattern settings The acceleration deceleration type of JOG operation JOG operation Jog acceleration time ms The acceleration time of JOG operation JOG operation Jog deceleration time ms
160. eleration of Error stop the positioning unit will be completed in the specified deceleration time 037H deceleration 100 time Setting range 0 to 10 000 ms Any other settings will be errors If a pulse operation request is made with I O select the desired pulser input from pulser inputs 1 to 4 Pulser 0 Pulser input 1 038H operation 0 1 Pulser input 2 tti d SEDES 2 Pulser input 3 3 Pulser input 4 Any other settings will be errors Set a multiplier for the input pulse train for the operation of the pulser The number of reference pulses is obtained from the pulse train input from Pulser the pulser multiplied by the numerator of the pulser operation 039H operation ratio 1 ratio denominator of pulser operation ratio numerator Setting range 1 to 32 767 Any other settings will be errors Set a divisor for the input pulse train for the operation of the pulser The number of reference pulses is obtained from the pulse train input from Pulser the pulser multiplied by the numerator of the pulser operation operation ratio 1 denominator ratioldenominator of pulser operation ratio Setting range 1 to 32 767 Any other settings will be errors 17 48 17 6 Details of Each Axis Setting Area in Unit Memory Offset address 03BH Name Pulser operation Setting range and description Area to set the single and interpolation operation pattern of positioning 0 Standard operation
161. ell time in the case of the continuance point C point the dwell time will be ignored in the case of the passing point P point and the positioning done contact will turn ON after a pause of the dwell time in the case of end point E point control Setting range 0 to 32 767 ms Any other settings will be errors Make auxiliary output mode settings for the parameter setting area to specify data to be output to the auxiliary output codes for the each axis Auxiliary output information amp monitor area code No setting ranges in particular 17 53 Specifications neos The unit memory address of each item on the positioning table is based on a separate address allocated to each axis and table added with the offset address B First address of each positioning table Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 1 UM 00850 UM 03050 UM 05850 UM 08050 UM 12050 2 UM 00860 UM 03060 UM 05860 UM 08060 UM 12060 3 UM 00870 UM 03070 UM 05870 UM 08070 UM 12070 4 UM 00880 UM 03080 UM 05880 UM 08080 UM 12080 5 UM 00890 UM 03090 UM 05890 UM 08090 UM 12090 6 UM 008A0 UM 030A0 UM 058A0 UM 080A0 UM 120A0 7 UM 008B0 UM 03080 UM 05880 UM 080B0 UM 12080 8 UM 008CO UM 030CO UM 058CO UM 080CO UM 120C0 9 UM 00800 UM 03000 UM 05800 UM 08000 UM 12000 10 UM 008bE0 UM 030E0 UM 058E0 UM 080E0 UM 120E0 11 UM 008F0 U
162. en the near home deceleration time q 1 switch and limit switch Targetspeed j Home return 1 deceleration time 1 Home return creep speed The starting point is on the a T wawa 1 limit switch Target speed Home return 1 1 10 2 10 1 Pattern of Home Return DOG method 3 Edge detection of near home switch Falling edge of home position as reference The falling edge of the near home switch is detected The first rising edge of the home switch in the home return direction becomes the start point Home return direction Limit switch Near home switch Limit switch 1 Home switch 1 Home return The starting point is En deceleration time Target speed between the near home 1Hom return creep speed p switch and limit switch including limit switch I I I I Home return creep speed The starting point is on the near home switch Limit stop I 1 I I deceleration time 1 return creep speed 3 The starting point is between the near home switch and limit switch Home return deceleration time 1 1 1 1 1 1 return craep speed 1 1 1 1 I I 1 I T The starting point is on the n i limit switch Target speed lt I i deceleration time Note When
163. enable or disable the limit input bit Name Default Description 1 Limit 1 enabled disabled 0 Disables the input of limit signal 1 Enables the input of limit signal Make pulse output home position near home and limit signal settings Name Default Description Pulse Sign CW CCW Count Direction CW Count Direction CCW Output mode 0 Rotating direction Home logic Normal Open Normal Close Near home logic Normal Open Normal Close Limit Logic Normal Open Normal Close Limit Logic Normal Open gt Oj Oj Oj O oj Normal Close 17 44 17 6 Details of Each Axis Setting Area in Unit Memory Offset ae Make startup speed settings for each type of operation Make a startup speed change before starting each type of operation Setting range 0 to 32 767 000 Startup speed Any other settings will be errors Set the following range according to the unit setting Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Set the threshold to use the automatic check function of movement amount Automatic movement 10000 amount check value Setting range 0 to 65536 Default 10000 pulses Set the interval of automatic movement amount checking in ms Automatic movement amount check interval Setting range 0 to 32767 ms
164. er can be changed by setting the ratio numerator and ratio denominator for the input signal of the pulser e The start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit B Operation at limit input Condition Direction Limit status Operation When Pulser Forward rotation Limit input Not executable Error occurs operationis Limit input ON Executable executed Reverse rotation Limit input ON Executable Limit input ON Not executable Error occurs During Pulser operation Forward rotation Limit input ON Deceleration stop Error occurs Reverse rotation Limit input ON Deceleration stop Error occurs 12 Stop Functions Stop Functions 12 1 Settings and Operations of Stop Functions Following stop functions are available during operations Each deceleration time can be set individually Set the deceleration time according to each occurrence condition of the stop operation Name Occurrence condition Stop axis Stop Deceleration stop Deceleration stop contact Each axis Stops control with an elapse of deceleration turns ON time Stops control with an elapse of deceleration Each axis time and resume control upon cancellation of the deceleration stop Deceleration stop contact Pause turns ON
165. er the positioning addresses where the axes come to a stop as the point data vm Pp PROCEDURE 1 Select Online Tool Operation from the menu bar The tool operation dialog box will be displayed Select Teaching from the tool operation dialog box The tool operation teaching dialog box will be displayed Tool operation Teaching men Axis Group Virtual axis 1 axis 2 axis 3 axis 4 axis Synchronous master axis Master Virtual axis Virtual axis Master 3 axis Synchronized output Gear Oltth Gear Clutch Synchronous state Synchronous Synchronous Synchronous Synchronous Synchronous hange synchronization Change synchronization Change synchronization Change synchronization Change synchranization Current value 0 of 0 0 0 Current value update Current value update Current value update Current value update Current value update Unit pulse pulse pulse pulse pulse Deviation pulses mm 0 0 0 0 Joe target speed 1000 1000 1000 1000 1000 Change Change Change Change Change Table number 1 1 1 1 1 Teaching Teaching Teaching Teaching Teaching Axis state Stopped Stopped Stopped Stopped Stopped Enorcode mm ETE SSO ERES Clear errors Olear errors Clear errors Clear errors Clear errors Warning code Eure Clear warning
166. erpolation operation E Spiral Center CW direction Z axis movement Control method Increment X axis movement amount 0 pulse X axis auxiliary point 0 pulse Y axis movement amount 20000 pulses Y axis auxiliary point 10000 pulses Z axis movement amount 5000 pulses Z axis auxiliary point 0 Acceleration deceleration pattern L Linear Acceleration time ms 100 ms Deceleration time ms 100 ms Interpolation speed 10000 pps 7 21 Automatic Operation Positioning Control B Operation diagram f pps Composite speed Positioning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 BUSY flag of axis 3 X11A Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 Operation done flag of axis 3 X122 Current value of axis 1 current vai of is 2 AG Curent vaue of axis 3 o MM MAC _ B Operation of each contact e The 1st axis 2nd axis and 3rd axis BUSY flags X118 X119 and X114 indicating the state that a motor is running will turn ON when the positioning control starts and they will turn OFF when the operation completes e The 1st axis 2nd axis and 3rd axis operation done flags X120 X121 and X122 indicating the state that an operation completed will turn ON when the JOG operation is completed and they will be held until the next positioning control JOG operation home return or pulser
167. et for the synchronous groups 1 and 2 Either master axis or slave axis has not been set 4030H Synchronous group Multiple axes have been set Each axis Yes setting error for the master or slave axis The same axis has been set for the master and slave axes The slave axis has been set to the interpolation group Sr 4031H operation mode p Each axis Yes setting error Pulser setting error differential check function are incorrect The pulser input mode is incorrect Pulser operation method is incorrect Pulser operation max Speed is incorrect Each axis Check the set value If an error occurs repeatedly with the correct set values consult your Panasonic representative Pulse operation disabled error The pulse input application is not set to pulser for the axis for which pulse input is permitted Each axis Check the pulse input application Set the input application to pulser at the time of using the pulser 15 10 15 3 Error Code Table Eun Error name Description Object Recovered code 4044H Speed factor error The setting of the speed factor Each Yes is out of the range axis 4050H Startup speed error The startup speed is out of the Each Yes range axis JOG positioning The acceleration deceleration Each 4080H acceleration deceler method of the JOG positioning axis Yes ation type error
168. et the upper limit of the software limit for the absolute coordinates Set the following range according to the unit setting Pulse 1 073 741 823 to 1 073 741 823 pulses 0 1 um 107 374 182 3 to 107 374 182 3 um 1 um 1 073 741 823 to 1 073 741 823 um inch 0 00001 inch 10 737 41823 to 10 737 41823 inches inch 0 0001 inch 107 374 1823 to 107 374 1823 inches degree 0 1 degree 0 0 to 359 9 degrees 17 43 Specifications Offset 1 d Poggi RE AX 012 013H 014H 015H Auxiliary output mode Auxiliary output Delay rate Limit switch Pulse output control code Set whether to use or not to use the auxiliary output contact and auxiliary output function of the auxiliary output code whether to be used or unused The ON time of the auxiliary output contact is determined by the following auxiliary output ON time bit 0to 7 Name Default Description 0000H The auxiliary output function auxiliary output contact or code is not used 0001H With mode used 0002H Delay mode used Auxiliary output 0 mode Auxiliary output ON time Setting range 00H 0 ms to FFH 255 ms When using the delay mode for the auxiliary output specify the ratio 96 to output The setting range is 0 to 100 If the setting is 50 the auxiliary output will be performed when the positioning movement amount exceeds 50 Set
169. ev s 17 46 17 6 Details of Each Axis Setting Area in Unit Memory Offset NM 026H Home return creep speed 027H Set the ON time of the deviation counter clear signal after home return completion Deviation counter 028H clear signal ON time Setting range 1 to 100 ms The deviation counter clear signal is set to 100 ms even if a setting in excess of 100 ms is made 10 1 029H JOG operation setting code 10 Set the speed to search the home position after near home input Set a speed lower than the target home return speed Setting range 1 to 32 767 000 Any other settings will be errors Set the following range according to the unit setting Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Sets the operation mode of the JOG operation Name Default Description Acceleration 0 0 Linear Deceleration acceleration deceleration 1 S shaped acceleration deceleration pattern settings Any other settings will be errors Set the following range according to the unit setting Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Sets the acceleration deceleration time for JOG operation 02AH JOG operation When JOG operation starts the positioning unit will go into acceleration time acceleration operation in the preset time After
170. ex UM 08008 Numerator of automatic movement amount check correction UM 08009 Denominator of automatic movement amount check correction Refer to the description for the 1st axis UM 0800A Automatic movement amount checking UM 08018 Automatic movement amount check value UM 0801A Automatic movement amount check interval B Operation of automatic check function of movement amount The automatic check function of movement amount operates in the following procedure while the positioning unit is in operation 1 The current position of the positioning unit will be saved in the unit the moment the positioning unit starts operating 2 Afterthe positioning unit starts operating the automatic check function of movement amount will come to a stop until the automatic movement check interval elapses 3 After the movement amount automatic interval elapses the deviation feedback value calculated from the current pulse input value will be compared with the saved pulse input value and the difference deviation will be checked whether it is in excess of the value set for the automatic movement check value 4 The current position of the positioning unit will be saved in the unit Steps 2 to 4 above will be repeated Set the automatic movement check interval with consideration of the response time of the encoder in use 13 16 13 6 Pulse Input W Deviation monitoring The value deviatio
171. f the cam as factors affecting the change of the cam curve The Cam Table Settings screen can display information on the following items besides the displacement Display item Outline Displacement An item set on the cam table Speed The operating speed of the cam table for the amount of displacement that has been set is displayed The relative value is displayed Acceleration The acceleration in each phase is displayed Pay attention to points of significant acceleration changes which involve radical speed changes Jerk Jerk which is obtained from acceleration differentiated by time represents the rate of change of acceleration Each display item is set by checking the following boxes in the Cam Table Settings screen Refer to each display item and make setting changes in the cam table N Disa Spee Jump Resolution 32768 faeces p GSS V ZX Disa V Spee N Acelere V Jump adjustment data Cam 100 La Delete Duplicate Change 0 100 1 1 H H H H H 0 50 100 Cami Interval t Interval number Start phase End phase Displacement 26 Cam curve pany a interval by nabr Insert Daa interval number is set automatically 1 0 0000000 39 9414063 50 0000000 Cycloid bad on the sperilied e order 2 _ 39 9414063 60 0585938 40 0000000 Modified sine Setting ra
172. following ones Uniform velocity Constant acceleration Simple harmonic motion Cycloid Modified trapezoid Modified sine Trapecloid One dwell cycloidal m 1 One dwell cycloidal m 2 3 One dwell modified trapezoid m 2 3 One dwell modified trapezoidal Ferguson One dwell modified sine One dwell trapecloid No dwell modified trapezoid NC2 curve Asymmetric cycloid Asymmetric modified trapezoid Adjustment function Function to adjust the displacement of desired point data 1 000 points max in units of cam data Shift function Phase shift in created cam data 0 to 100 Indication Displacement Speed Acceleration Jerk A check box allows desired display 8 5 2 Types and Contents of Setting Parameters The use of the electronic cam requires the following parameter settings Parameter name Outline Electronic cam use non use Select the use or non use of the electronic cam function When the electronic cam is not used the electronic cam function will not work and output from the electronic clutch will be output as pulses Cam pattern The cam pattern is the most fundamental setting for using the electronic cam function The cam pattern is set in the cam pattern settings window in the FPWIN GR7 Configuration screen The positioning unit converts cam patterns into point data based on the preset cam curves and resolutions Cam control master axis period Set the number of pulses corresponding t
173. for BKMV SS DT10 0725 51 UM02E70 table no 10001 of 1st axis 18 7 Sample program R3 DF MV SS HO DT30 Positioning 2nd axe E start MV SS DT31 2nd axis control pattern MV SS DT32 MV SS HO DT33 MV SS K100 DT34 2nd axis acceleration time MV SS K100 DT35 2nd axis deceleration time MV SL K1000 DT36 1 table data on 2nd axis target 2nd axis speed MV SL K100000 DT38 2nd axis movement amount MV SL 0740 2nd auxiliary point MV SS 0742 2nd axis dwell time MV SS DT43 2nd auxiliary output MV SS DT44 MV SS DT45 Settings for table no 10001 BKMV SS DT30 0745 51 UM05670 05670 of 2nd axis R3 H DF POSSET U10001 Positioning Slot Axis Table start number number number Mi iue TT R100 X118 R200 X119 me Operation 4staxis Operation 2nd axis um start enabled flag BUSY enabled flag BUSY for 1st axis for 1st axis for 2nd axis 18 8 18 2 Sample program 18 2 3 When Setting Positioning Data in Standard Area by Programming Write positioning data in the standard area by programming Recalculating the positioning data is necessary after setting the positioning data Replace the part of the positioning start program in the sample program m Positioning start program R11 I DF MV SS HO DT10 change MV SS H0 DT11 151 axis control pattern w MV SS H0 DT13 di MV SS K100 DT14 1st axis acceleration time MV SS K100 DT15 1st axis deceleration time MV SL
174. g area of each axis consists of a standard area with 600 tables and extended area with 25 tables Unit memory map UM 00000 Common area UM 003FF UM 00400 Each axis information area UM 007FF UM 00800 Each axis setting area Axis 1 Each axis setting area Axis 2 Each axis setting area Axis 3 Each axis setting area Axis 4 Each axis setting area Virtual axis UM 147FF UM 16000 Synchronous control setting area UM 163FF UM 17C00 Positioning operation change setting area UM 17C7F Parameter setting area Axis 1 UM 00800 UM 0084F Positioning data setting area Axis 1 UM 00850 UM 02FFF UM 00850 UM 0085F Table 1 UM 00860 UM 0086F Table 2 UM 00870 UM 0087F Table 3 UM 00880 UM 0088F Table 4 Parameter setting area Axis 2 UM 03000 UM 0304F Positioning data setting area Axis 2 UM 03050 UM 057FF Parameter setting area Axis 3 UM 05800 UM 0584F Positioning data setting area Axis 3 UM 05850 UM 07FFF Parameter setting area Axis 4 UM 08000 UM 0804F Positioning data setting area Axis 4 UM 08050 UM AFFF Parameter setting area Virtual axis UM 12000 UM 1204F Positioning data setting area Virtual axis UM 12050 UM 147FF 17 38 17 6 Details of Each Axis Setting Area in Unit Memory 17 6 2 Parameter Setting Area E First address of each axis positioning parameter are
175. g made v axes to be synchronized is 3040H operation The settings of axis groups are nn Yes OFF group error outside the range It should be performed when An error has occurred during a various stop request signals home return while the positioning system stop emergency stop unit is in synchronous operation deceleration stop are OFF The home return process was executed with setting the Set the simultaneous operation synchronous operation to to Disabled while the Synchronous Enabled when using positioning unit is in 3042H Operation synchronous mode A Each Yes synchronous mode A home return axis error A method other than the usable Select a usable home return home return methods was method while the positioning executed when using unit is in synchronous mode B synchronous mode B Check the unit setting of the The operation has stopped as an stopped axis Synchronous d th Each 3043H operation ano ner ars Yes If an error occurs repeatedly eor while the positioning unit is in axis with the correct set values synchronous operation consult your Panasonic representative Synchronous Changing the setting of the operation not Each synchronous operation should 3044H settable Yes be performed when the pulser positioning unit is in pulser axis In pulser Operation operation enabled signal is operation p i OFF The difference between the Synchrono
176. g 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 Introduction Thank you for buying a Panasonic product Before you use the product please carefully read the installation instructions and the users manual and understand their contents in detail to use the product properly Types of Manual e There are different types of users manual for the FP7 series as listed below Please refer to a relevant manual for the unit and purpose of your use e The manuals can be downloaded on our website http industrial panasonic com ac
177. g unit Input unit M Check to see if there is any offset 1 HH 8 from the home stopping position 8 9 9 E i Home switch Near home switch 4 9 Power On Off and Check Items 4 4 5 Checking Rotating and Moving Directions and Moving Distance Step 1 Confirm the rotating direction and moving direction of the motor by the JOG operation of the positioning unit Use the tool operation function of the Configurator PM7 and perform the JOG operation of the positioning unit Point of confirmation The rotating direction is determined according to the installation of the ball screw or the CW CCW direction setting parameter Step 2 Perform positioning control and check that the moving distance is correct as designed Use the tool operation function of the Configurator PM7 and perform the JOG or positioning operation of the positioning unit Point of confirmation The moving distance is determined according to the pitch of the ball screw deceleration gear ratio or setting movement amount of the positioning data Check to see if the specified number of output pulse produces the travel distance and travel direction indicated by the design Table Q eea Positioning unit Motor driver oora Motor HNSSSRSSSNSSSSSSSSS
178. ge request by I O is not necessary and the change is reflected when the set value ratio is changed specification D Override The function is valid for all the positioning operations after the set timing The ratio specification also becomes valid when the speed is changed by the speed direct specification 13 22 13 8 Target Speed Change Function For unit version Ver 1 3 later only 13 8 2 Setting Procedures and Operations Speed Direct Specification Method B Setting procedures and operations of speed direct specification method The target speed change function in the speed direct specification method is activated by the following procedure during a positioning operation 1 Set Change mode selection and Change speed in the shared memory 2 Turn on the Speed change request contact during a positioning operation Speed change reception annunciation turns ON when the speed change is actually started Once the Speed change request contact turns OFF the Speed change reception annunciation also turns OFF 200000 100000 Change mode selection X Active table only Change speed X 200000pps Speed change request Positioning speed change reception annunciation Note 1 The acceleration time to the change speed and the deceleration time from the change speed follows the setting values of the active table Note 2 The movement amount does
179. ge start speed change R4 Y158 H DF J point 1st axis J point positioning start positioning start R2 R10 X118 Y110 I Positioning Operation 1st axis BUSY 1st axis J point control start enabled flag positioning start Set the slot number axis j number and table number and start positioning 7 9 Automatic Operation Positioning Control 7 1 8 Programming Precautions B Programming Precautions e The last table should be set to E End point f any value such as a movement amount acceleration time deceleration time or target Speed is out of the specified range a set value error will occur when the positioning control starts e The start contact and flag number varies depending the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit B Operation at limit input of control Condition Direction Limit status Operation At each control Forward rotation Limit input ON Not executable Error occurs Pu Limit input ON Not executable Error occurs Reverse rotation Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs During each type Forward rotation Limit input Deceleration stop Error occurs Reverse rotation Limit input ON Deceleration stop Error occurs
180. h axis Number of pulses per rotation Number of pulses per motor rotation note 1 Movement amount per rotation Pulse output method Movement amount per motor rotation note 1 Pulse output method Pulse Sign or CW CCW Rotating direction of pulse output direction direction is CCW direction direction is CCW Limit switch Enable disable the limit switch Limit switch logic Limit switch logic in the positive direction Limit switch logic Limit switch logic in the negative direction 4 4 Check with Power Turned On Home logic Home switch logic Near home logic Input time constnat Pulse input Near home switch logic Set the time constant of each pulse input signal Note 2 10 1 Pattern of Home Return Input time constant Home input Set the time constant of home input signal Note 2 Pulse input application Rotating direction of pulse input Pulse input application Rotating direction of pulse input Forward Reverse Pulse input mode Mode of pulse input Pulse input multiplication Multiplication of pulse input 13 6 Pulse Input Software limit positioning control Enables disables the software limit for positioning control Software limit Home return Software limit JOG operation Upper limit of software limit Enables disables the software limit for home return control Enables disables the software limit for JO
181. have been set for the Configurator PM7 are saved as configuration information along with information on I O map allocations on a unit by unit basis Save and load the configuration information as necessary e Specified basic parameters and positioning parameters can be saved or loaded on the Configurator 7 e Information on positioning parameters and positioning tables saved by using the save function can be reused between projects PROCEDURE 1 Select File Save Setting from the menu bar The saving destination and file names are displayed 2 Enter the saving destination and file name and press Save button Information on the parameters and positioning data tables is saved in a file with a pm7 extension Yg neos e When Save Setting is executed information on the positioning data tables will be saved along with information set in the parameter setting menu Closing the window with the X mark during editing cancels and stops the operation e The menu names of Configurator PM7 have been changed from FPWIN GR7 Ver 2 7 Menu names of Configurator 7 FPWINGR7 FPWINGR7 Function Ver 2 6 or older Ver 2 7 or later New N Initialize Setting N Positioning parameters and positioning data table are newly created on Configurator 7 Load Configuration J None Positioning parameters and positioning table data Save Configuration Apply Setting K being edited on Configurat
182. he positioning unit click the Error Clear button to clear the error e lfawarning occurs in the positioning unit click Warning clear to clear the warning This dialog box cannot be closed during the operation 6 12 6 4 Tool Operation Dialog box items Items Description Related page When an axis has been set as master axis Master is displayed 8 1 When an axis has been set as slave axis the master axis which this axis Synchronous Synchronous follows is displayed Control master axis Example When the second axis has been set as a slave axis for the master of first axis 1 axis is displayed in the column of 2 axis For axes that are not used for the synchronous control 15 displayed The functions of synchronous operation that have been set for slave axes are dipslayed Synchronous Gear Clutch Cam output Gear Clutch Gear Cam Clutch Cam Gear Clutch Cam For axes that are not used for the master axes and synchronous control um is displayed The states synchronous asynchronous that have been set for each axis Synchronous are displayed state Pressing the Change synchronization button switches the state between Synchronous and Asynchronous Current value Displays the feedback values after the unit system conversion for each axis Click Home position coordinate to display the dialog box for inputting value to change the value after home return The units of positi
183. he pulse input value is 1 Pulse count change of 2nd axis 0 not changed 2 Pulse count change of 3rd axis 0 0 1 gt value 3 Pulse count change of 4th axis 0 15104 2 00248 Pulse input value UM 00249 change of 1st axis 0024A Pulse input value UM 0024B change of 2nd axis Set the desired pulse input value for the 1st axis Set the desired pulse input value for the 2nd axis UM 0024C Pulse input value Set the desired pulse input value for the 3rd axis UM 0024D change of 3rd axis 0024E Pulse input value UM 0024F change of 4th axis Set the desired pulse input value for the 4th axis 13 6 7 High speed Counter Function By setting the positioning unit to high speed counter for the pulse input application pulse input can be used as an external counter B Controlling pulse input By setting the positioning unit to high speed counter for the pulse input application the pulse input count can be stopped as desired The current pulse input value will be kept on hold when the pulse input count is stopped The pulse input count is enabled or disabled with settings in the following areas Unit memory no Name Description Hex UM 00240 Pulse count enable The pulse input value will be changed to the set pulse count when the corresponding bit for each axis is set to 0 from 1 bit Name Default
184. his axis Synchronous Synchronous follows is displayed Control master axis Example When the second axis has been set as a slave axis for the master of first axis 1 axis is displayed in the column of 2 axis For axes that are not used for the synchronous control 15 displayed The functions of synchronous operation that have been set for slave axes are dipslayed Synchronous Gear Clutch Cam output Gear Clutch Gear Cam Clutch Cam Gear Clutch Cam For axes that are not used for the master axes and synchronous control um is displayed The states synchronous asynchronous that have been set for each axis Synchronous are displayed state Pressing the Change synchronization button switches the state between Synchronous and Asynchronous Current value Monitors the feedback values after the unit system conversion for each axis Click Current value update to display the dialog for inputting value to change the preset value The units of position for each axis specified in the parameter settings are 13 4 Current Value Update init displayed m When the movement amount automatic check function is enabled 13 6 Pulse Deviation ghe pulse deviations are displayed n e Input In the case of virtual axes 0 is displayed when the function is not used JOG target Monitors and displays the target speed in the JOG operation Click Change 9 1 Setting speed to change the target speed for the JOG opera
185. home return control Power supply terminal common Pin no Circuit Signal name Items Description o 5 20 20 External power supply 21 4 to 26 4 V input 24 V DC V DC 3 Q o gt amp 4 axis type 2 B20 B20 External power supply Current 90 9 input 24 V DC g consumption 2 axis type 50 Note In the case of the 4 axis type the external power supply input terminals of the two connectors are connected internally 3 5 Wiring Input terminal common Pin no 150 Circuit Signal Items Description 3rd 4th name axis axis Operating 21 6 to 26 4 V DC voltage range 2 Minimum ON Home input voltage current 12 24 V Maximum OFF 2 V DC 2 mA 224 voltage current 8 Input impedance Approximately 3 ai pulse width 100 us or over 3 5 to 5 25 V DC bo 13 Operating a Voltage range 5 V DC line driver o 3 812 S specifications input Minimum ON 3 V DC 4 mA voltage current A4 A13 5 V DC E OFF aximum 25 voltage current T DOOS MA Q Input impedance Approx 390 Q Minimum input pulse width 100
186. ic operation E point control C point control P point control and J point control is executed The auxiliary output contact and auxiliary output code are available by setting parameter auxiliary output to With mode or Delay mode on an axis by axis basis B Auxiliary output contact The auxiliary output contact operates either in With mode or Delay mode Auxiliary output Operation mode With mode When the automatic operation starts the auxiliary contact flag of the corresponding axis allocated to I O will turn ON Delay mode The auxiliary contact flags for corresponding axes allocated to the I O area will turn ON according to the ratio of positioning movement 96 while the positioning unit is in automatic operation The turn ON ratio while the positioning unit is in Delay mode is set in the Delay ratio area of auxiliary output in the unit memory There will be no difference between the With mode and Delay mode in operation if J point control is set for the automatic operation of the positioning unit The ON time of the auxiliary contact flag can be specified in ms increments There will be no difference between the Delay mode and With mode in operation while the positioning unit is in J point control 13 4 13 3 Auxiliary Output Code and Auxiliary Output Contact W Auxiliary output data The auxiliary output data 1 word can be set for each table of the positioning data The content of the proces
187. ications KEY POINTS The unit memory address of a parameter is based on the first address of the corresponding axis added with the offset address The first number of the positioning parameter setting area of each axis 1st axis 2nd axis UM 00800 3rd axis 4th axis UM 03000 UM 05800 UM 08000 Virtual axis UM 12000 17 6 Details of Each Axis Setting Area in Unit Memory Offset Setting range and description Makes pulse input signal settings Make settings according to the application of pulse input i Name Description Rotating Set the rotating direction of pulse input direction 0 Forward 1 Reverse Pulse input Set the pulse input mode mode Bit3 Bit2 0 0 2 input 0 1 Direction discrimination input 1 0 Individual input 1 1 Reserve set by default Input Set the desired multiplication of the pulse input count if multiplication the pulse input mode with bits 2 and 3 to 2 phase 20H input Bit5 Bit4 0 0 x1 multiplied by 1 0 1 x2 multiplied by 2 1 0 x4 multiplied by 4 1 1 Reserve set by default Pulse input Specify the pulse input application of each axis application Pulser Connects a manual pulser to pulse input Feedback pulse Connects the feedback pulses of the encoder to pulse input High speed counter Bit7 Bit6 0 0 Pulser 0 1 Feedback pulse 1 0 High speed counter 1 1 Reserve set by default 8to 15 Set a cor
188. ime change time of the electronic 205 setting error gear is incorrect 15 14 15 3 Error Code Table m Synchronous parameter Clutch related error from 5200H Error Description Object Recovered Countermeasures Clutch Clutch ON The setting for the clutch ON Each 5200H i uen Yes trigger type setting error trigger type is incorrect axis Clutch Clutch ON The setting for the clutch ON Each 5201 edge selection setting edge selection is incorrect axis Yep error Clutch Clutch OFF The setting for the clutch OFF Each 5203H Yes trigger type setting error trigger type is incorrect axis Clutch Clutch OFF The setting for the clutch OFF Each 5204H edge selection setting edge selection is incorrect axis Yes error 5207H Clutch Clutch ON The setting for the clutch ON Each Yes method setting error method is incorrect axis Check the set value 5208H Clutch Clutch ON slip The setting for the clutch ON Each Yes If the error occurs method setting error slip method is incorrect axis repeatedly with the 5209H Clutch Clutch ON slip The setting for the clutch ON Each Yes correct set values time setting error slip time is incorrect axis consult your Panasonic representative 5210H ie The setting for the clutch ON Each Yes slip curve is incorrect axis error Clut
189. imit signal is correct EE Both inputs on the positive and s 3012H Limit signal negative sides of the limit have Each Yes Check the status of the limit error turned ON axis signal Software limit The movement amount of the Each Move the motor into the range 3020H positive side motor has exceeded the upper axis Yes of the software limit by an detection limit of the software limit appropriate mode such as JOG Software limit The movement amount of the Each operation 3021H negative side motor has exceeded the lower axis Yes Check the set values of the detection limit of the software limit software limit Command Each 3025H speed operation axis Yes error 1 T s i d ower the set speed Command The internal operation of Each il 3026H speed operation command speed failed due to Yes Check the settings of the pulse error 2 overflow axis number per rotation and i movement amount per rotation omman 3027H speed operation Check the set values and parameters for the positioning An error has occurred in the unit Axis operation gt 3030H enr operation processing of each xis Yes If an error occurs repeatedly axis due to some reason with the correct set values consult your Panasonic representative Each Operation An error has occurred in the axis If an error occurs repeatedly 3031H operation processing of each Yes consult your Panasonic axis due to some reason All re
190. ing movement Area for setting a change movement amount for UM17C2A amount change changing the positioning movement amount UM17C2B Change movement 1 073 741 823 to 1 073 741 823 Specified unit UM17C3A amount System UM17C3B UM17C7A UM17C7B Note The unit memory numbers in the above table are for the axis 1 axis 2 axis 3 axis 4 and virtual axis from the top 13 30 13 9 Movement Amount Change Function For unit version 1 3 later only W Example of operation 1 When reducing the movement amount Change movement amount gt Current value Parameter Setting value Control method Incremental Positioning movement amount Before 10 000 pls change Positioning movement 7 000 pls amount After change 10 000pls t t A Movement amount change request contact ON m Example of operation 2 When reducing the movement amount Change movement amount Current value Parameter Setting value Control method Incremental Positioning movement amount Before 10 000 pls change Positioning movement 1 000 pls amount After change 10 000pls F A Movement amount change request contact ON 13 31 Supplementary Functions B Example of operation 3 When a continuous table operation is performed Incremental Parameter Setting value Control method Increment
191. ion Linear Linear Linear Linear Clutch off trigger type 10 clutch off request vo ich off request Vo ch off request 10 clutch off request Edge selection Disabl Disable Method Direct Direct Direct X Select the axis and master axis to synchronize Please select from the following synchronous master Axis 1 Axis 2 Axis 3 Axis 4 Virtual axis Pulse input 1 Pulse input 2 Pulse input 3 Pulse input 4 Cancel axis _ hitalze 2 Make necessary parameter settings according to the application and press the OK button Yg Closing the window with the X mark during editing cancels and stops the operation PL A REFERENCE Refer to Chapter 8 Automatic Operation Synchronous Control for parameter settings related to synchronous control 5 11 Unit Allocation and Parameter Settings 5 4 2 Cam Pattern Settings Make electronic cam settings in the case of using an electronic cam Use the Configurator 7 to allocate necessary parameters The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Axis Settings pattern settings from the menu bar The cam pattern setting dialog box will be displayed BE Cam pattern settings ea RES File Cam Interval Resolution 1024 N
192. ion edited in the Configurator 7 will be compared with configuration information saved in the unit memory UM of PLC and the results of comparison will be displayed 2 Select the target file from the dialog box for the selection of the comparison file and press the OK button The information being edited in the Configurator PM7 is compared with the configuration information saved and the comparison results will be displayed 6 1 Check on Setting Contents KEY POINTS F Verification result Verification content Verification 1 Home Slot No 1 Comments associated with positioning settings data are not Even if Save Setting is executed on Configurator 7 data will not be saved in the unit memory UM of the PLC When PLC is selected as the verification target verification results may not coincide The menu names of Configurator PM7 have been changed from FPWIN GR7 Ver 2 7 Menu names of Configurator 7 Function FPWINGR7 aps Ver 2 7 or later older Data being edited on Configurator 7 is collated File F File with saved files Extension PM7 Data is being edited on Configurator 7 is collated Unit U PLC U with data stored in the unit memory UM of the PLC Config C None 6 3 Transfer to Unit and Commissioning 6 2 Transfer of Parameters 6 2 1 Writing Parameters to Unit e Information on parame
193. ions for the trigger signal 00H Level 020H Clutch ON trigger types 021H Clutch ON edge selection 02H Falling edge 028H Clutch OFF trigger types OOH I O clutch OFF request Set enabled conditions for the trigger signal 00H Level 029H Clutch OFF edge selection 00H ra 01H Rising edge 02H Falling edge 01H Rising edge 00H Direct 030H Clutch ON method 01H Slip 032H Clutch ON slip method 00H Slip time setting 033H Clutch ON slip time 1 to 10000 ms 036H Clutch ON slip curve selection 00H 00H Linear 00H Direct 040H Clutch OFF method 00H 01H Slip 042H Clutch OFF slip method 00H 00H Slip time setting 043H Clutch OFF slip time 1 to 10000 ms 046H Clutch OFF slip curve selection 00H Linear m Electronic cam setting area Offset mm 050H Cam control Settings for cam control synchronous master cycle 051H synchronous master axis cycle 1 to 2 147 483 647 Registered cam pattern number for use 053H Cam pattern number used 1 1 to 16 Displacement upper limit settings for cam control 054 Cam stroke amount 1 P Be P 055H 1 to 2 147 483 647 17 72 17 8 Positioning Operation Change Setting Area For unit version Ver 1 3 later only 17 8 Positioning Operation Change Setting Area For unit version Ver 1 3 or later only 17 8 1 Positioning Speed Movement Amount Change Parameter m 1st axis Unit memory aa Area for setting the change rate to the ratio Positioning speed s
194. is for the specified master axis Up to four slave axes can be set for a single master axis Axes set as slave axes operate in synchronization with the master axis as long as synchronous control is enabled No slave axes can perform positioning and other control independently from the master axis while synchronous control is enabled B Settings for Slave Axes The slave axes operate in synchronization with the master axis Set the following items however for each individual salve axis e Unit setting Number of pulses per rotation Movement amount per rotation 8 2 Settings for Master and Slave Axes 8 23 Enabling Disabling Synchronous Control m Settings to Enable Disable Synchronous Control e t is possible to cancel the synchronous state temporarily with a sync cancel request signal turned ON elt is possible to operate any slave axes individually while the synchronous state is canceled e The slave axes will go into the state of synchronization again with the sync cancel request signal turned OFF B 1 O signal allocation alarm OFF Under synchronous control Signal name 1st 2nd 3rd 4th Operation axis axis axis axis Synchronous cancel Y88 Y89 Y8A Y8B ON Cancel synchronous control OFF request Execute synchronous control Synchronous cancel X88 X89 X8A X8B ON Synchronous control canceled 8 5 Automatic Operation Synchronous Control B Difference between synchrono
195. is out of the range JOG positioning EET 4081H deceleration time The de leration time of the JOG Each Yes positioning is out of the range axis error JOG positioning The acceleration time of the Each 4082H acceleration time JOG positioning is out of the axis Yes error range JOG positioning The target speed of the JOG Each 4083H Yes target speed error positioning is out of the range axis 4102H Home return target The target speed of the home Each Yes Speed error return is out of the range axis Home return T 4105H acceleration time The acceleration time of the Each Yes home return is out of the range axis error Home return 4106H deceleration time The deceleration time of the Each Yes home return is out of the range axis error 4107H Home return setting The home return setting code is Each Yes code error incorrect axis 4110H Home return creep The creep speed of the home Each Yes speed error return is out of the range axis Home return a The moving direction of the Each 4111H returning direction hme ret m isincorrect axis Yes error The limit switch is disabled 4112H Home return limit It occurs when the home return Each Yes error method is set to the limit axis method 1 or 2 Hame return disable The pulse input application for 4113H error by the target axis is set to Each Yes I feedback and the pulse input is axis synchronous setting set to synchronous master 4120H Coor
196. it Memory 17 5 Details of Each Axis Information Area in Unit Memory 17 5 1 Each Axis Information amp Monitor Area Unit memory map UM 00000 Common area 400H 5FFH Axis information amp monitor area UM 00400 UM 0043F Information of axis 1 4 UM 00440 0047F Information of axis 2 information area UM 00480 UM 004BF Information of axis 3 00460 UM 004FF Information of axis 4 UM 005 0 UM 005FF Information of virtual axis UM 003FF UM 00400 Each axis AXIS information area UM 007FF UM 00800 Each axis setting area UM 16000 Synchronous control setting area UM 163FF UM 17C00 Positioning operation change setting area UM 17C7F Check that the positioning ready flag X0 is turned ON in the case of reading each axis information area with a program 17 33 Specifications 17 5 2 Each Axis Information amp Monitor Area W 1st axis information Unit memory no Hex UM 00431 UM 00434 UM 00435 UM 00436 UM 00437 External terminal input monitor of 1st axis Deviation of 1st axis Pulse input value of 1st axis Implementation or implementation done table of 1st axis UM 00438 UM 00439 Auxiliary output code of 1st axis Repeat count set value of UM 0043A 8 1st axis UM 0043B UM 0043C UM 0043D Repeat count current value 1st axis Current valu
197. ith the following characteristics Use either of them according to the application B Comparison of standard area and expansion area Positioning data settings on Configurator PM7 note 2 Data that has been set is downloaded along with other project data including the program to the CPU unit Positioning data will be calculated and each type of operation will be ready to start when the power is turned on or the CPU unit is set to RUN mode Items Standard area Extended area No of positioning data 600 tables 25 tables tables Table number 1 to 600 10001 to 10025 Positioning parameter settings 7 Available Available note 1 Available Not available Positioning data setting with user program Available Each type of operation will be ready to start after the data is transferred to the unit memory UM area with the user Available Each type of operation will be ready to start after the data is transferred to the unit memory UM area with the user other positioning data are determined note 2 program and a recalculation request is program No recalculation request is made required In the case of setting positioning data In the case of setting positioning data Characteristics with the Configurator 7 the start will with a user program the start will be be quicker than that with the extended quicker than that with the standard area are
198. itioning Control Starting Table Number Setting Area Set the starting table number of positioning data on each axis at the time of staring positioning control The setting ranges are 1 to 600 for the standard area and 10001 to 10025 for the extended area Description Default Setting range The starting table number 1 to 600 UM 00100 for the positioning control of Stores he positioning control 1 starting table number of 1st axis 10001 to 1st axis 10025 The starting table number Stores the positioning control 1 to 600 UM 00101 for the positioning control of starting table number of the 2nd 1 10001 to 2nd axis axis 10025 The starting table number 1 to 600 UM 00102 for the positioning control of Stores te positioning control 1 starting table number of the 3rd axis 10001 to the 3rd axis 10025 The starting table number E 1 to 600 UM 00103 for the positioning control of Stores the positioning control starting table number of the 4th axis 10001 to 4th axis 10025 The starting table number Stores the positioning control 1to 600 UM 00107 for the positioning control of starting table number of the virtual 1 10004 to the virtual axis axis 10025 17 21 Specifications 17 4 7 Positioning Control Area e Set the number of repetitions of positioning control per axis e The positioning unit repeats positioning control for the number of repetitions set and finishes operating The number of repetitions
199. l completes until the positioning done flag turns ON For the continuance point control it is the wait time between each table For the pass point control the dwell time is ignored Auxiliary output Set the auxiliary output code When the auxiliary output is set to enable in the parameter settings the auxiliary output code specified here is output Note 1 The details for the settings in each parameter are indicated in the guidance bar Note 2 In the case of selecting interpolation control interpolation Y axis movement amount X axis auxiliary point Y axis auxiliary point and interpolation speed as items are displayed as well 5 13 Unit Allocation and Parameter Settings 5 5 2 Table No Positioning Start e Execute the POSSET command in the user program to specify table numbers on the Configurator 7 e The positioning unit will start control under the conditions set in the table by executing the POSSET reference and turning the corresponding positioning start contact ON after specifying the desired slot number axis number and table number X100 X104 X160 R10 Ready Tool 1st axis error Operation positioning operation enabled flag R2 LH DF POSSET Positioning Slot Axis Table control start number number number R2 R10 X118 Y110 m rm Positioning Operation 1st axis Positioning control start enabled flag BUSY start for 1st axis Operation enabled conditio
200. limit switch including limit switch Home return deceleration time Home return creep speed 1 1 1 L 1 L i 2 The starting point is on near home switch 1 H Home return Target spebd deceleration time Limit stop Target speed deceleration time 1 1 1 0 1 J Home return creep speed 8 The starting point is between the near home switch and limit switch 1 1 1 Target speed return deceleration time 1 T 1 1 1 1 Home return deceleration time The starting point is on the limit switch 1 Target speed Note When the home sensor is ON at startup the operation is similar to 2 B DOG method 2 Edge detection of near home switch The rising edge of the near home switch is detected It becomes the start point Home return direction Limit switch Near home switch Limit switch Target speed Home return creep speed 1 D The starting point is between the near home Switch and limit switch including limit switch Home return deceleration time 1 1 1 1 1 I 1 Home return creep speed Q The starting point is on the near home switch Lt deceleration time Target sped Limit stop Target speed deceleration Jd Home return ofeep speed The starting point is betwe
201. llocation X70 E X7F X82 3rd axis X84 E X87 X8C E X8F X91 2ndaxis X92 3rd axis X93 4th axis X94 ex g X97 x98 1st axis X99 2nd axis X9A 3rd axis X9B 4th axis X9F X100 _ X110 z Target axis Name Description allocation Synchronous setting done Synchronous cancel alarm Slave axis gear ratio change annunciation Slave axis clutch operation annunciation Changes synchronous settings in the unit with the synchronous setting request contact Y80 to Y83 turned ON after changing the settings of synchronous control with the program The contact turns ON upon completion of the setting changes This contanct turns OFF with the synchronous setting request contact Y80 to Y83 turned OFF Turns ON when the synchronous operation of the positioning unit is canceled with the synchronous setting cancel request contact Y88 to Y8B turned ON The synchronous operation of axes cannot be executed if this contact is ON for the axes Makes gear ratio changes with the slave axis gear ratio change request contact Y90 to Y93 The contact for the corresponding axis will turn ON after the gear ratio is changed The clutch will start operating when the slave axis clutch ON re request contact Y98 to Y9B or clutch OFF request contacts Y100 to 103 turn ON The contact for the correspon
202. m Clutch Cam Gear Clutch Cam For axes that are not used for the master axes and synchronous control uu 15 displayed The states synchronous asynchronous that have been set for each axis Synchronous are displayed state Current value Monitors the feedback values after the unit system conversion for each axis Click Current value update to display the dialog for inputting value to change the preset value The units of position for each axis specified in the parameter settings are 13 4 Current Value Update Warning code When a warning has occurred the latest warning code is displayed Pressing the Clear warnings button clears warnings Unit displayed Deviati When the movement amount automatic check function is enabled 13 6 Pulse eviation ena pulse deviations are displayed un M Input In the case of virtual axes 0 is displayed when the function is not used JOG target Monitors and displays the target speed in the JOG operation 9 1 Setting speed Click Change to change the target speed for the JOG operation Operation of JOG Click to perform the forward rotation JOG JOG Click to perform the reverse rotation Operation Displays the table number to perform the teaching Click Teaching to Creating Table No Positioning change the table number for the teaching and register the current value Data Table Running or Stopped is displayed state When an e
203. m Emergency Yes Yes No Deceleration stop Questionable Stop functions Limit stop Yes Stops only with software No limit because of no limit signal input Error stop Yes Yes No Synchronizes with external pulse input Necessary to make and no master axis Others settings to use the virtual control is possible To stop synchronous control stop the slave axes 8 3 Automatic Operation Synchronous Control Wa neos e While the positioning unit is in synchronous control slave axes set to use the master axis will operate only in synchronization with the master axis i e the slave axes cannot operate independently The virtual axis is assigned to a single axis only In the case of using the virtual axis check the box for the virtual axis in the dialog box to set the operating axes on the Configurator 7 e The home return of the virtual axis is possible only by data setting e f pulse input is set for the master axis the master axis will synchronize with pulse input from an external device such as an encoder Therefore the master axis cannot be stopped arbitrarily 8 2 2 Selection of Slave Axes and Settings m Selection of Slave Axes The 1st to 4th axes are available as slave axes The virtual axis can be used only as the master axis When Synchronous master axis is selected in the synchronous parameter dialog box of the Configurator 7 the corresponding axis will operate as a salve ax
204. method However when using the pass point method an error will occur n the case of the pass point method when the start point pass point and operation done point exist in the same straight line an arc will not be comprised and an error will occur n the case of specifying long axis speed the composite speed will be faster than the long axis speed e any value such as a movement amount acceleration time deceleration time or target Speed is out of the specified range a set value error will occur when the positioning control starts e The start contact and flag number varies depending the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit 7 18 7 2 Interpolation Control 7 2 4 Setting and Operation of 3 Axis Linear Interpolation The example below is a case of E point control with the positioning unit installed in slot 1 The X axis is set to the 1st axis the Y axis is set to the 2nd axis and the Z axis is set to the 3rd axis The movement amount setting is the increment method and the unit is set to pulse 5000 pulses y A Z axis 000000 LULA 20000 pulses LC CC lI m Settings Items Setting example Operation pattern E End point Interpolation operation 0 Linear Composite speed Control me
205. n Specify slot number axis number and table number Positioning start up 5 14 5 5 Creating Positioning Data Table 5 5 3 Operation Patterns and Tables eUse a number of tables if the positioning patterns consist of pass point control continuance point control and JOG positioning control e n these types of control the tables will be created continuously the Configurator 7 and select the end point control for the operation pattern for the last table e Specify the first data table number for each control in the program Example Pass point control Create three positioning data tables and select E End point for the last table Furthermore start the first table number for each control in the user program Speed f pps P point control P point P point table table Ti ime 1 t ms Start Stop Table Control method Operation pattern X axis virtual movement Acceleration deceleration method P Pass point I Increment 50000 L Linear P Pass point I Increment 100000 L Linear E End point I Increment 30000 L Linear REFERENCE For detailed information on each control refer to Chapter 7 Automatic Operation Positioning Control 5 15 Unit Allocation and Parameter Settings 5 6 Saving Parameters 5 6 1 Saving and Loading of Configuration Information on the basic parameters and positioning data tables that
206. n calculated by the automatic check function of movement amount can be checked with the program The deviation monitor uses the following areas Description UM 00434 Deviation of 1st axis UM 00435 UM 00474 Deviation of 2nd axis UM 00475 The maximum value of the deviation the difference between the pulse UM 00484 input value and instruction value will be stored Deviation of 3rd axis UM 004B5 UM 00424 D eviation of 4th axis UM 004F5 B Clearing pulse input value Pulses input as feedback pulses are integrated and stored as a pulse input value The pulse input value will be cleared at completion of home return when feedback pulses are used for the pulse input application 13 17 Supplementary Functions B Changing pulse input value If the pulse input application is set to feedback pulse the pulse input value can be changed to a desired value The following areas are used to change the pulse input value Unit memory no Description Hex UM 00241 Pulse count value The pulse input value will be changed to the set pulse count when the change request corresponding bit for each axis is set to 1 from O flag This flag is an edge trigger Be sure to change the flag to 1 from 0 at the time of the change After the change the positioning unit will clear the corresponding bits to O automatically bit Name Default Description 0 Pulse count change of 1st axis 0 0 T
207. n the parameter settings are In the case of virtual axes 0 is displayed when the function is not used Unit displayed Deviation When the movement amount automatic check function is enabled 13 6 Pulse pulse deviations are displayed Input 6 15 Transfer to Unit and Commissioning Items Description Related page Table Displays the table number during the operation or when it completes m Creating executing Positioning Start table The starting table number for the positioning control Data Table number Click Change to change the starting table number Execute the operation to start stop the home return Click Operate to execute the positioning operation The button name Operate Stop changes to Stop Click Stop to execute the deceleration stop operation The button name changes to Operate Running or Stopped is displayed When an error has occurred Error occurred is displayed When an error has occurred the latest error code is displayed 15 1 About Error code Pressing the Clear errors button clears errors Errors and Wami When a warning has occurred the latest warning code is displayed Warnings arning code Mais Pressing the Clear warnings button clears warnings The target speed of the JOG operation specified in the parameter settings Speed rate for each axis is regarded as 10096 and the operation is execut
208. nchronous state turn OFF this contact 17 13 Specifications tact Compe Target axis Name Description allocation 90 1st axis Y91 2nd axis Y92 3rd axis Y93 4th axis gt 1st axis 2nd axis 3rd axis Y9B 4th axis Y100 1st axis Y101 2nd axis Y102 3rd axis 4th axis WY10 Slave axis gear ratio change request Slave axis clutch ON request Slave axis clutch OFF request A gear ratio change is made with the contact for the corresponding axis turned ON while the positioning unit is in synchronous operation The operation is the edge type The engagement of the clutch starts by turning ON the contact for the corresponding axis while the positioning unit is in synchronous operation No axes start unless the clutch is used Set the operation to level type rising edge or falling edge The disengagement of the clutch starts by turning ON the contact for the corresponding axis while the positioning unit is in synchronous operation No axes start unless the clutch is used Set the operation to rising edge or falling edge These signals will be disabled while the slave axis clutch ON request signal is set to level type 17 14 17 3 Entire Configuration of Memory Unit Area 17 3 Entire Configuration of Memory Unit Area The unit memory is in control of parameter and positioning data set values for the positioning u
209. necting Home Input Connecting External Switch Sensor Connection Positioning unit 24V DC i 4 GND Switch 5V DC Home input Input specifications at 24V DC Input voltage range 21 6 26 4V DC Min ON voltage current 19 2V DC 5 5mA Max OFF voltage current 2V DC 2mA Input impedance Approx 3k Q Min input pulse width 3 12 3 7 Connecting Home Input Near Home Input Signal 3 7 3 Connecting Near Home Input Signal a Positioning unit Power supply 24V DC GND Switch a M ee 00 006 Input specifications Input voltage range 21 6 to 26 4V DC Min ON voltage current 19 2V DC 5 0mA Max OFF voltage current 2V DC 1 5mA Input impedance Approx 3 6kQ Min input pulse width Note B4 and B13 are common to near home input limit input limit input and positioning control start input timing input 3 7 4 Connecting Limit Input Signal Connection Posiionngunt _ unit Power supply Switch i 24V DC GND lt Power supply 24V DC GND Switch Over limit input Input specifications Note B4 and B13 are common to near home input limit input and limit input 3 13 Wiring 3 8 Connecting Pulse Input 3 8 4 Line Driver Type Connection Positioning unit Encoder pulser Encoder pulser i A8 A17 T5 3H0 OOO lt
210. ng With pulse sign Not in Pulse output settings Green note 4 operation output Pulse output A signal Not in In pulse A displ output isplay With CW CCW Green te 4 operation operation note 1 output settings note 4 forward p forward rotation rotation Reverse Forward With pulse sign Green rotation rotation _ output settings Pulse output instruction instruction B B signal Not in In pulse E With CW CCW t ouput note 1 Green operation operation output settings reverse reverse rotation rotation CL Displays counter clear signal output Green Output ON Output OFF Displays near home state note 2 Green ON OFF 2 Displays home input state note 2 Green ON OFF PA Pulse input A signal display note 3 Green Displays the input status of pulse input A signal PB Pulse input B signal display note 3 Green Displays the input status of pulse input B signal Displays the occurrence of error or If an error Normal If a warning ERR Red warning occurs operation occurs ALARM Displays hardware error Red ifa ardwar Normal error occurs operation Note 1 The LED for the pulse output A signal flashes at a cycle speed of output frequency thus looking as if it were continuously lit if the speed is high So is the LED for the pulse output B signal Note 2 Near home input D and home input Z will be lit if the respective inputs are enabled Note 3 The input status of pulse input signals PA
211. nge 1 to 20 default value 0 3 60 0585938 79 8828125 10 0000000 Trapedoid Shift 79 8828125 0 0000000 0 000000 One dwell trapedoid 8 21 Automatic Operation Synchronous Control B Cam table adjustments The Cam Table settings screen is provided with a function to make the fine tuning of set cam curve data In order to mitigate radical changes this adjustment function makes it possible to fine tune cam data that has been set To make adjustments select the target section number and press the Adjust button The adjustment screen is displayed The Adjustment screen displays the tables corresponding to the numbers of the designated sections out of all the sections 0 to 100 divided by the resolution 1 Adjust cam curve S 60 0097656 19664 40 0000000 60 0128174 19665 39 9923289 60 0158691 19666 39 9846579 60 0189209 19667 39 9769868 60 0219727 19668 39 9693157 60 0250244 19669 39 9616447 60 0280762 19670 39 9539736 60 0311279 19671 39 9463025 60 0341797 19672 39 9386315 60 0372314 19673 39 9309504 60 0402832 19674 39 9232894 60 0433350 19675 39 9156183 60 0463867 19676 39 9079472 60 0494385 19677 _ 39 9002762 60 0524902 19678 39 8926051 60 0555420 19679 39 8849340 60 0585938 19680 39 8772630 60 0616455 19681 39 8695919 60 0646973 19682 39 8619208 60 0677
212. ngs Each Check the combination 4600H Pulse input setting error incorrect axis Yes of the input type input multiplication and input application 4605H Pulse count value The set pulse count change Each Yes change setting error value is out of the range axis Automatic movement The operational tho 4609H amount check method automatic check function of Each Yes w movement amount is axis setting error incorrect Automatic movement The automatic movement 4610H amount correction amount correction numerator Fach Yes axis Check the set value numerator setting error is out of the range Automatic movement The automatic movement 4611H amount correction amount correction Each Yes denominator setting denominator is out of the axis error range Automatic movement The automatic movement Each 4613H amount check interval amount check interval is out axis Yes setting error of the range 15 13 Errors and Warnings 15 3 4 Synchronous Parameter Setting Error from 5000H B Synchronous parameter Common error from 5000H Error code Error name Description Object Recovered Countermeasures 5000H Synchronous master setting value error The setting for the synchronous master axis is incorrect Setting error Value is incorrect Own axis setting Each axis Yes 5001H Synchronous master pulse input application error The pulse input other than High speed counter a
213. ngs deceleration Area to set the single and interpolation operation pattern of positioning The relationship of interpolation is in conformity with the settings for the axis group setting area in the unit memory common area The settings for the axis with the smallest number in the axis group are enabled for interpolation control bit Name Default Description 7100 Control 00H 00H E point control End point control pattern 01H P point control Pass point control 02H C point control Continuation point 03H J point control Speed point control Any other settings will be errors 15to 8 Interpolation OOH 00H Linear interpolation Composite speed setting 01H Linear interpolation Long axis speed 10H Circular interpolation Center point CW direction 11H Circular interpolation Center point CCW direction Operation 20H Circular interpolation Pass point pattern 50H Spiral interpolation Center point CW direction X axis movement 51H Spiral interpolation Center point CCW direction X axis movement 52H Spiral interpolation Center point CW direction Y axis movement 53H Spiral interpolation Center point CCW direction Y axis movement 54H Spiral interpolation Center point CW direction Z axis movement 55H Spiral interpolation Center point CCW direction Z axis movement 60H Spiral interpolation Pass point X axis movement 61H Spiral interpolation Pass point Y axis movement 62H
214. ning message however will be displayed unless the Run button for the axis with the smallest number is pressed e This dialog cannot be closed while the positioning unit is in home return operation Dialog box items Items Description When an axis has been set as master axis Master is displayed When an axis has been set as slave axis the master axis which this axis Synchronous follows is displayed master axis Example When the second axis has been set as a slave axis for the master of first axis 1 axis is displayed in the column of 2 axis For axes that are not used for the synchronous control is displayed The functions of synchronous operation that have been set for slave axes are dipslayed v ahronous Gear Clutch Cam ut E Gear Clutch Gear Cam Clutch Cam Gear Clutch Cam For axes that are not used for the master axes and synchronous control is displayed The states synchronous asynchronous that have been set for each axis Synchronous are displayed state Pressing the Change synchronization button switches the state between Synchronous and Asynchronous Related page 8 1 Synchronous Control Current value Monitors the feedback values after the unit system conversion for each axis Click Current value update to display the dialog for inputting value to change the preset value 13 4 Current Value Update The units of position for each axis specified i
215. nit All set values are set with the programming tool software or a user program Unit memory Area nam Name of each individual area Setting parameter control area Operating speed factor area Axis group setting area Current value update data area Positioning table setting area Common UM 00009 Positioning control area area to UM 003FF 9 Error annunciation amp clear area Warning annunciation amp clear area Pulse count control area Synchronous control monitor area System operation setting area 1st axis Each axis information amp monitor area md Sa Each axis information amp monitor area information UM 00400 n S area to 007FF Each axis information amp monitor area Note Each axis information amp monitor area Each axis information amp monitor area to UM 057FF Positioning data setting area 600 standard points and 25 expansion points Parameter setting area UM 05800 3rd axi rq axis Positioning data setting area 600 standard points and 25 expansion points ints ints Parameter setting area UM 08000 4th axis ints ints Each axis setting to UM 07FFF to UM OA7FF Parameter setting area UM 00800 1st axis to UM O2FFF Positioning data setting area 600 standard points and 25 expansion points Parameter setting area UM 03000 2 i Positioning data setting area 600 standard points and 25 expansion points Parameter setting area UM 12000 to UM 147FF Virtual
216. no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 38 UM 00AA0 UM 032A0 UM UM 082A0 UM 122A0 39 UM 00ABO UM 032B0 UM 05ABO UM 08280 UM 12280 40 UM 00ACO UM 032C0 UM 05ACO UM 082CO UM 122C0 41 UM 00ADO UM 03200 UM 05ADO UM 08200 UM 12200 42 UM 00AEO0 UM 032E0 UM 05AE0 UM 082bE0 UM 122bE0 43 UM 00AF0 UM 032F0 UM 05AF0 UM 082F0 UM 122F0 44 UM 00B00 UM 03300 UM 05B00 UM 08300 UM 12300 45 UM 00B10 UM 03310 UM 05B10 UM 08310 UM 12310 46 UM 00B20 UM 03320 UM 05B20 UM 08320 UM 12320 47 00830 03330 05830 08330 12330 48 00840 03340 05840 08340 12340 49 00850 03350 05850 08350 12350 50 UM 00B60 UM 03360 UM 05B60 UM 08360 UM 12360 51 UM 00B70 UM 03370 UM 05B70 UM 08370 UM 12370 52 UM 00B80 UM 03380 UM 05B80 UM 08380 UM 12380 53 UM 00B90 UM 03390 UM 05B90 UM 08390 UM 12390 54 UM 00BAO UM 033A0 UM 05BAO UM 083A0 UM 123A0 55 UM 00BBO UM 033B0 UM 05BBO UM 083B0 UM 12380 56 UM 00BCO UM 033C0 UM 05BCO UM 083CO UM 123C0 57 UM 00BDO UM 03300 UM 05BDO UM 08300 UM 12300 58 UM UM UM 05BEO UM 083E0 UM 123E0 59 UM UM UM 05BFO UM 083F0 UM 123F0 60 UM 00C00 UM 03400 UM 05C00 UM 08400 UM 12400 61 UM 00C10 UM 03410 UM 05C10 UM 08410 UM 12410 62 UM 00C20 UM 03420 UM 05C20 UM 08420 UM 12420 63 UM 00C30 UM 03430 UM 05C30 UM 08430 UM 12430 64 UM 00C40 UM 03440 UM 05C40 UM 08440 UM 12440 65 UM 00C50 UM 03450 UM 05C50 UM 08450 UM 12450 66 UM 00C60 UM 0
217. not change when the speed change is performed 13 23 Supplementary Functions B Setting parameters of speed direct specification method The following parameters are used in the target speed change function of the speed direction specification method Positioning operation change setting area Unit memory Name Default Description No Hex UM17C01 Area for setting the range of the positioning speed change Positioning speed OOOOH Active table only UM17C21 change H0 0001H Active table to E point table until the completion of w 5 tonta Change mode the operation UM17C31 selection L In the case of other values the unit operates as the setting UM17C71 of 0000H Active table only UM17C02 UM17C03 UM17C12 UM17C13 2 Area for change speed for changing the positioning L pur EE Positioning speed speed UM17C22 change K100 UM17C23 Set using unit system conversion values UM17C32 1 to 32 767 000 Specified unit system UM17C33 UM17C72 UM17C73 Note The unit memory numbers in the above table are for the axis 1 axis 2 axis 3 axis 4 and virtual axis from the top 13 24 13 8 Target Speed Change Function For unit version Ver 1 3 later only B Example of operation 1 Speed direct specification Active table only Parameter Setting value Change mode selection 0000H Active table only Change speed 150 000 pps
218. nput Types Each axis of the positioning unit has pulse input thus connecting to a variety of input devices Select the desired type of pulse input in the positioning setting menu of the tool software B Purpose of pulse input Input target Description Pulser Feedback pulse Select this to use manual pulsers The use of a pulser operation setting code allows to specify the target axis ch where the pulser will be used Set feedback pulse input in the case of connecting an encoder in order to monitor the rotation of the motor When feedback pulse input is selected the positioning unit uses pulse input to perform the feedback pulse count of its own axis thus detecting the difference between the instruction value and pulse input value Automatic check function of movement amount High speed counter Set high speed counter input to be used as general purpose counter input High speed counter input supports a variety of input types i e two phase input direction discrimination input and individual input The positioning unit stores the number of input pulses in the monitor area 8 L3 Each axis Axes 1 to 4 EE Pulse input Manual pulser Feedback pulse Encoder High speed counter 13 9 Supplementary Functions 13 6 2 Restrictions on Combinations of Pulse Inputs B Restrictions on combinations of pulse inputs Pulse input purpose
219. nput application Pulser operation Pulser connecting Pulser operating Operation Outline axis axis Feedback pulse Feedback pulse The positioning unit does not recognize High speed counter No pulse input as the manual pulser thus not High speed counter allowing the operation of the pulser Pulser The pulser operates Feedback pulse Yes The feedback pulse function is available while the pulser is in operation Pulser The pulser operates High speed counter Yes The high speed counter function is available while the pulser is in operation Pulser Yes The pulser operates 13 6 6 Feedback Pulse Function By setting the pulse input application to feedback pulse the positioning unit can use the function to utilize feedback pulses from the encoder W Automatic check function of movement amount The automatic check function of movement amount is used to check whether each axis in operation is operating according to the instruction value and the function compares the difference between the current value absolute under the internal control of the unit and the feedback pulse input deviation with a threshold preset The automatic check function of movement amount works for all types of operation The automatic check function of movement amount will work only if the pulse input application is set to feedback pulse and will not work if it is set to pulser or high speed counter The automatic check fun
220. ns of Sample Programs 18 2 18 2 SambleDrOg afflx x sco ecu D a E a aksa 18 4 18 2 1 When Settings Done in Standard Area with Programming tool 18 4 18 2 2 When Setting Positioning Data in Extended Area by Programming 18 7 18 2 3 When Setting Positioning Data in Standard Area by Programming 18 9 1 Functions of Unit and Restrictions on Combinations Functions of Unit and Restrictions on Combinations 1 1 Functions of Positioning Unit 1 1 4 Functions of Unit B The positioning unit can perform positioning control when it is used in combination with a stepping motor or servomotor equipped with a driver of pulse string input type Positioning control with stepping motor Pulse train 9o C 4 j Positioning Unit Driver Stepping motor Positioning control with servomotor e le le 0 Pulse train por Encoder AA EE 1 Positioning Unit Driver Servo motor B Transistor output open collector type and line driver output type available Two types are available a line driver output type for high speed control and a transistor output type for a motor equipped with a driver that
221. nt interpolation specification Linear E P C point control composite speed or long 3 axis interpolation axis speed specification Interpolation Spiral E P C point control center or passing point interpolation specification 3 ms max in standard area and 5 ms max in extended area Other functions Dwell time 0 to 32 767 ms adjustable in 1 ms increments Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Linear acceleration deceleration Acceleration deceleration pattern S shaped acceleration deceleration Acceleration time 0 5 10 000 Ins adjustable in 1 ms increments Deceleration time 0 to 10 000 ms adjustable in 1 ms increments Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Acceleration deceleration pattern Linear acceleration deceleration Acceleration time 0 to 10 000 Ins adjustable in 1 ms increments Deceleration time 0 to 10 000 ms adjustable in 1 ms increments DOG methods 3 types limit methods 2 Return method types data set method and home method Speed reference range Operates in synchronization with pulser input operation Control method Automatic operation Positioning control Start speed Speed reference range 2 5 g o o Speed reference range Manual operation Home return 17
222. nt amount acceleration time deceleration time or target speed is out of the specified range a set value error will occur when the positioning control starts e The start contact and flag number varies depending on the number of axes and the installation position of the unit eThe specified slot number varies depending on the installation position of the unit 7 15 Automatic Operation Positioning Control 7 2 3 Setting and Operation of 2 Axis Circular Interpolation The example below is a case of E point control with the positioning unit installed in slot 1 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method in pulses B Settings CC rand 3 10000 pulses Use the tool software to make positioning data and parameter settings The unit is set to pulse Items Setting example Operation pattern E End point Interpolation operation S Circular Pass point CW direction Y axis movement Y axis auxiliary point Control method l Increment X axis movement 0 pulse X axis auxiliary point 0 pulse 20000 pulses 10000 pulses Acceleration deceleration pattern L Linear Acceleration time ms 100 ms Deceleration time ms 100 ms Interpolation speed 10000 pps 7 16 7 2 Interpolation Control m Operation diagram f pps Composite speed Positi
223. number varies depending on the installation position of the unit B Operation at limit input Condition Direction Limit status Operation When Home return Forward rotation Limit input Executable operation is Limit input ON Executable executed Reverse rotation Limit input ON Executable Limit input ON Executable During Home Forward rotation Limit input ON Automatic reverse operation return operation Reverse rotation Limit input Automatic reverse operation 10 6 11 Manual Operation Pulser Operation Manual Operation Pulser Operation 11 1 Setting and Operation of Pulser Operation m Types of Pulser Operation Pulser operation pulses manually is a function that uses a pulser connected to the positioning unit to output The following pulser operation methods are available pulses hold Operation Operation method Standard Obtains the number of pulser pulses in 1 ms units and operates operation Reflects the content of pulse input directly in the actual operation of the positioning unit Speed limits When the speed of pulse input exceeds the preset maximum speed the operation will continue with the maximum speed maintained The number of pulser pulses input will be maintained Therefore pulses not output will be maintained Therefore pulses may be output even if there is no pulser input Speed unit is Set unit x 1000 s Speed limit
224. o the total phase of the cam pattern used one rotation data on the master axis Cam pattern number to use Cam stroke Specify the cam pattern number to be used from cam patterns created Set the number of pulses corresponding to the total displacement 100 of the cam pattern to use 8 16 8 5 Electronic Cam Function 8 5 3 Cam Pattern Setting Method W Starting Cam Pattern Setting Screen Open the Configuration screen on the FPWIN GR7 and select Positioning settings so that the setting tool for the positioning unit will start Select Axis settings Cam pattern settings from the toolbar of the setting tool for the positioning unit or click the following icon 9 The Cam Pattern Settings screen is displayed A blank screen will be displayed for a new file and settings for cam pattern 1 will be displayed if data already exists Bl Cam pattern settings x File Cam Interval Resolution 16384 Number of cams Number of settable __ 009 EA essen eere FN dela TN Spee N Aen cam 100 add s ow 100 w m reba Interval number Start phase End phase Displacement omare 3 m Resolution settings Press the Resolution button on the Cam Pattern screen The Resolution Settings screen will be displayed Select the desired resolution and press the OK button
225. occurs annunciation buffer 4 Virtual AXIS Warming code A code will be annunciated if a warning occurs annunciation buffer 5 UM 00238 UM 00239 Virtual axis warning code annunciation buffer 6 UM 0023A UM 0023B UM 0023C UM 0023D UM 0023E virtual code A code will be annunciated if a warning occurs UM 0023F annunciation buffer 7 A code will be annunciated if a warning occurs 17 28 17 4 Details of Common Area in Unit Memory 17 4 10 Pulse Count Control Area Makes input pulse changes if high speed pulses are set for pulse input Description The pulse input will be counted when the corresponding bit for each axis is set to 0 This flag will be enabled only if the pulse input application is set to high speed counter bit Name Default Description 0 1st axis pulse count enabled 0 0 Pulse input count enabled 1 2nd axis pulse count enabled 0 1 Pulse input count disabled 2 3rd axis pulse count enabled 0 Pul t 3 4th axis pulse count enabled 0 UM 00240 coun enable flag 4 5 6 7 15 to 8 _ _ The pulse input value will be changed to the set pulse count when the corresponding bit for each axis is set to 1 from 0 This flag is an edge trigger Be sure to change the flat to 0 from 1 at the time of the change bit Name Default Descripti
226. of increment movement or absolute coordinates will be set according to the control code settings 008H Setting range 1 073 741 823 to 1 073 741 823 Any other settings will be errors Positioning 0 Set following range according to the unit setting movement amount Pulse 1 073 741 823 to 1 073 741 823 pulses um 0 1 um 107 374 182 3 to 107 374 182 3 um um 1 um 1 073 741 823 to 1 073 741 823 um 009H inch 0 00001 inch 10 737 41823 to 10 737 41823 inches inch 0 0001 inch 107 374 1823 to 107 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degrees degree 1 degree 1 073 741 823 to 1 073 741 823 degrees The setting area for auxiliary points center and passing points in the case of circular interpolation or spiral interpolation operation 04AH Setting range 1 073 741 823 to 1 073 741 823 Any other settings will be errors Set the following range according to the unit setting Pulse 1 073 741 823 to 1 073 741 823 pulses Auxiliary point 0 0 1 um 107 374 182 3 to 107 374 182 3 um um 1 um 1 073 741 823 to 1 073 741 823 um inch 0 00001 inch 10 737 41823 to 10 737 41823 inches COBH inch 0 0001 inch 107 374 1823 to 107 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degrees degree 1 degree 1 073 741 823 to 1 073 741 823 degrees On completion of the positioning of this table the operation of the next table will start after stopping the motor for the dw
227. on 0 1st axis pulse count change 0 0 1 2nd axis pulse count change 0 input count change disabled Pulse count d UM 00241 value 2 3rd axis pulse count change 0 Pulse input count change enabled request flag 3 4th axis pulse count change 0 4 _ 5 6 7 15108 S UM 00248 Pulse input changed value of UM 00249 1st axis UM 0024A Pulse input changed value of UM 0024B 2nd axis Set desired pulse input value to replace the current value for each axis UM 0024C Pulse input changed value of UM 0024D 3rd axis UM 0024E Pulse input changed value of UM 0024F 4th axis 17 29 Specifications 17 4 11 Synchronous Control Monitor Area This is an area for monitoring the setting status of synchronous control Unit memory no Name Description Default Hex UM 002B0 Monitoring selection UM 002B1 state of synchronous output function for 1st axis Monitoring information of synchronous master axis for the 1st axis Monitoring information of synchronous master axis for the 2nd axis UM 002B2 UM 002B3 UM 002B4 UM 002B5 UM 002B6 UM 002B7 UM 002BE Monitoring selection state of synchronous output function for 2nd axis Monitoring information of synchronous master axis for the 3rd axis Monitoring selection state of synchronous output function for 3rd axis Monitoring information of synchronous master axis for the 4th axis Monitoring selection state of synchronous
228. on for each axis specified in the parameter settings are 13 4 Current Value Update Unit displayed T When the movement amount automatic check function is enabled 13 6 Pulse Deviation ee pulse deviations are displayed Input Home return In the case of virtual axes 0 is displayed when the function is not used Displays the content of the home return setting code registered in the 10 1 Pattern mode positioning setting data EUR Executes the operation to start stop the home return Click Start to execute the home return operation The button name Start Stop changes to Stop Click Stop to execute the deceleration stop operation The button name changes to Start Axis state Running or Stopped is displayed When an error has occurred Error occurred is displayed When an error has occurred the latest error code is displayed 15 1 About Error code Pressing the Clear errors button clears errors Errors and Warnings Warning code Speed rate When a warning has occurred the latest warning code is displayed Pressing the Clear warnings button clears warnings The target speed of the home return specified in the parameter settings for each axis is regarded as 10096 and the operation is executed in the specified speed rate Clicking Speed rate shows the dialog box for inputting the value 6 13 Transfer to Unit and Commissioning 6 4 5 Positioning by Tool Ope
229. oning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 Current value of axis 1 Current value of axis 2 B Operation of each contact e The 1st axis and 2nd axis BUSY flags X118 and X119 indicating the state that a motor is running will turn ON when the positioning control starts and they will turn OFF when the operation completes eThe 1st axis and 2nd axis operation done flags X120 and X121 indicating the state that an operation completed will turn ON when the JOG operation is completed and they will be held until the next positioning control JOG operation home return or pulser operation starts Automatic Operation Positioning Control B Programming Precautions To start the interpolation control turn ON the positioning start contact of the axis with the smallest number in the same group n the case of the center point specification the X axis auxiliary point is the center point of X axis and the Y axis auxiliary point is the center point of Y axis In the case of the pass point each pass point is set as the pass point of X axis and Y axis e When the control method is increment both the center point and pass point will be increment coordinates from the start point When the start point and the operation done point is the same it performs one circular operation when using the center point
230. operates as shown below in the case of repeating positioning control three times If a dwell time of 0 is set for E point control i e the end point of positioning control the positioning unit will perform E point control as P point control and complete positioning control after repeating positioning control three times continuously If the dwell time is set to a value other than 0 for E point control i e the end point of positioning control the positioning unit will perform E point control as C point control and repeat positioning control with a pause specified by the dwell time ms The positioning unit will finish operating after repeating positioning control three times lt Dwell time lt Dwell time 7 24 7 3 Setting and Operation of Positioning Repeat Function Setting area for positioning repeat function Set the number of repetitions of positioning control per axis before starting positioning control The positioning unit repeats positioning control for the number of repetitions set and finishes operating The number of repetitions will be reset to the default value on completion of positioning control Unit memory Name Description Default un Set unit no Hex range Stores the number of repetitions Number of starting from the starting table number of positioning 1st axis control of the 1st axis until the E point UM 00108 nope M ak Sa positioning If 255 is stored the p
231. or PM7 are saved as K data being edited Import O Read Setting O Saved files Extension pm7 are read Export S Save Setting S Data being edited offline on Configurator 7 is saved as a file Extension pm7 5 16 6 Transfer to Unit and Commissioning Transfer to Unit and Commissioning 6 1 Check on Setting Contents 6 1 1 Check on Parameter Data e The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Debug Check parameters and data values from the menu bar A message box will be displayed to show the check result If there is an error in the settings for the positioning data tables an error message will appear and the cursor will move to the corresponding error position n Configurator PM7 e An error was found in the following location Table No 1 Target speed 6 1 2 Comparison of Parameter Information e t is possible to compare information on parameters being edited with information saved in the Configurator PM7 The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Debug Compare File or PLC from the menu bar When File is selected a dialog box for comparison file selection will be displayed When PLC is selected informat
232. ositioning unit repeats positioning repetitions control an unlimited number of times until you manually stop the operation Stores the number of repetitions Number of starting from the starting table number of positioning UM 00109 2nd axis control of the 2nd axis until the E point positioning If 255 is stored the positioning unit repeats positioning repetitions control an unlimited number of times until you manually stop the operation Stores the number of repetitions Number of starting from the starting table number of positioning UM 0010A 3rd axis control of the 3rd axis until the E point positioning If 255 is stored the positioning unit repeats positioning repetitions control an unlimited number of times until you manually stop the operation Stores the number of repetitions Number of starting from the starting table number of positioning UM 00108 4th axis control of the 4th axis until the E point positioning If 255 is stored the positioning unit repeats positioning repetitions control an unlimited number of times until you manually Stop the operation Stores the number of repetitions Number of starting from the starting table number of positioning virtual axis control of the virtual axis until the E point UM 0010F SS AA T positioning If 255 is stored the positioning unit repeats positioning repetitions control an unlimited number of times until you manually stop the operation E Interruption of repetitive
233. ous control It is possible to select one of the following master axes m Types of master axis unit Type Outline Axes the 1st to 4th axes available for the positioning unit Use one of them if the master axis needs to object of control as well Existing axis If an existing axis is used as the master axis the rest of the existing axes three axes can be used as slave axes A virtual axis exists in the positioning unit The existing axes 1st to 4th axes can be used effectively if the virtual axis is used Virtual axis The virtual axis cannot output pulses externally The virtual axis cannot receive any external input signals either The master axis operates according to pulse value input into the positioning unit Use pulse input in the case of connecting an external device such as an encoder for the r reference of synchronous control Pulse input In the case of using pulse input as the master axis the slave axes will operate according to the pulse input Therefore be careful when starting or stopping the operation of the positioning E Types and restrictions of master axis Type Existing axis Virtual axis Pulse input Available to data setting axis on the Configuration screen Home return m No only JOG operation Yes Yes No Single axis Yes Yes No Positioning No Interpolation Yes Available to single axis No only Syste
234. ower limit inputs Check on safety circuit with positioning unit Check on external safety unit 4 7 Power On Off and Check Items 4 4 2 Check on External Safety Circuit Make a check on the safety circuit recommended by the motor manufacturer which includes a check on the disconnection of the power supply to the motor driver with CW and CCW drive inhibition switch input from an external circuit 44 3 Check on Safety Circuit with Positioning Unit Step 1 Forcibly operate the over limit switch for the positioning safety circuit and check that the positioning unit correctly receives limit input The state of limit input can be checked with the input contact The valid logic of limit input can be changed in the parameter setting menu of the Configurator 7 Step 2 Input a program if necessary to perform the JOG operation of the positioning unit Then forcibly operate limit input and check that the motor will come to a stop You can use the tool operation of the Configurator 7 to make a check without using program Step 3 Perform the JOG operation of the positioning unit and check that the over limit switch will operate normally Positioning unit ds C Over limit switch Over limit switch To motor driver Connect to the positioning unit B Operation at limit input
235. pattern L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps 20000 pps 5000 pps Dwell Time ms 0 ms 0 ms 0 ms Number of positioning repetitions 3 written to the setting area of the unit memory m Operation diagram f pps 20000 Positioning start contact Y 110 BUSY flag X118 Operation done flag X120 B Operation of each contact e The BUSY flag X118 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts 7 27 Automatic Operation Positioning Control B Sample program X100 X104 X160 __ Operation enabled condition Ready Tool 1st axis error Operation positioning operation enabled flag R2 LH DF Positioning Slot Axis Table Specify slot number axis number and table number 1 control start number number number MV US Slot number Repeat UM No count Specify repeat count Y110 R10 R2 I DF X118 Positioning start up Positioning Operation 1st axis
236. pecification override command speed of the positioning change of 1st axis speed change The speed change request by I O is not UM 17C00 Ratio specification necessary and the change becomes valid when the set Override value ratio is set 1 to 300 Area for setting the range of the positioning speed change Positioning speed 0000H Active table only UM 17C01 change of 1st axis 0001H Active table to E point until the completion of the Change mode operation selection In the case of other values the unit operates as the setting of 0000H Active table only M Area for setting a change speed for changing the UM 17C02 Positioning speed positioning speed change of 1st axis OMS ZEE UM 17C03 Change speed Speed specification method Speed direct specification 1 to 32 767 000 Specified unit system UM 17C04 UM 17C09 UM 17COA Positioning movement amount Area for setting a change movement amount for changing change of 1st axis the positioning movement amount UM17COB Mac movement 1 073 741 823 to 1 073 741 823 Specified unit system amoun UM 17COC UM 17COF 17 73 Specifications m 2nd axis Unit memory Ue Positioning speed UM 17C10 change of 2nd axis Ratio specification Override Positioning speed UM 17 11 change of 2nd axis Change mode selection Refer to the descriptions of axis 1 Refer to the descriptions of axis 1 UM 17C12 Positioning speed change of 2nd axis Refer
237. pecification CW direction direction Y axis The center position can be specified direction direction X axis direction 2 axis circular interpolation Pass point point specification direction Y axis direction direction direction X axis 2 axis linear interpolation Long axis speed specification direction Y axis The axis speed for the axis to be a long axis can be specified direction direction X axis direction 2 axis circular interpolation Center point specification CCW direction direction The center position can be specified VR i direction direction direction X axis The pass point on an arc can be specified 7 12 7 2 Interpolation Control 3 axis linear interpo Composite speed 5 ation pecification direction Z axis The composite speed can be specified Y axis E CU io 2 75 direction X axis direction ation Long axis speed specification 3 axis linear interpo direction Zaxis The axis speed for the axis to be a long axis can be specified Y axis direction direction 3 axis spiral interpolation Center point specification CW direction Z axis movement direction Z axis The center position can be specified Y axis directi X axis direction direction The interpol
238. peration home return or pulser operation starts Programming Precautions e To start the interpolation control turn ON the positioning start contact of the axis with the smallest number in the same group e The values of the X axis auxiliary point and Y axis auxiliary point are invalid for the linear interpolation the case of specifying long axis speed the composite speed will be faster than the long axis speed e If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a set value error will occur when the positioning control starts e The start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit 7 20 7 2 Interpolation Control 7 2 5 Setting and Operation of Three Axis Linear Interpolation The example below is a case of E point control with the positioning unit installed in slot 1 The X axis is set to the 1st axis the Y axis is set to the 2nd axis and the Z axis is set to the 3rd axis The movement amount setting is the increment method and the unit is set to pulse 20000 pulses x A Center point X axis 0 Y axis 10000 CN CCS 5000 pulses 000 pulses UU LG m Settings Items Setting example Operation pattern E End point Int
239. pleted Emergency stop request flag each axis System stop request flag all axes The J point speed pies When the both contacts turn ON ERE tUm ON simultaneously the J point simultaneously during positioning start contact will have a boi n s riority and the J point speed B030H W the JOG positioning J Each Yes contact vil be peur point operation axis start warning The contact are Make settings so that the J point AS ON while the speed change contact will be turned Svetomisraceoleratin ON while the positioning unit is in y 9 operation at constant speed or decelerating the speed 15 17 Errors and Warnings Error Description Object Recovered Countermeasures J point speed The J point speed Check the timing that the J point change contact turned Each B031H change request Speed change request contact turns Warnin ON when J point axis 9 operation is not active i J point The J point positioning points start contact turned ON Each Check the timing that the J point B032H positioning start Yes r dtiest warnin when J point operation axis positioning start contact turns ON q 9 is not active The difference between the movement amounts of the target axes in synchronous operation has exceeded the Synchronous specified difference BO45H axis difference threshold Each Yes Check the operation of the target
240. pplication was selected when setting the synchronous master axis to pulse input Each axis Yes 5002H Synchronous setting disable error The synchronous setting rquest was made in the following axis setting Its own axis slave axis is set as the master of another axis The master axis is set as the slave axis of another axis Its own axis slave axis belongs to the interpolation group Each axis Yes 5006H Synchronous slave single deceleration stop deceleration time The setting for the synchronous slave single deceleration stop time is incorrect Each axis Yes Check the set value If the error occurs repeatedly with the correct set values consult your Panasonic representative B Synchronous parameter Electronic gear related error from 5100H Error codo Error name Description Object Recovered Countermeasures Electronic gear Gear The setting for the gear ratio Each 5100H ratio numerator setting numerator of the electronic eds Yes error gear is incorrect Check the set value Electronic gear Gear The setting for the gear ratio Each If the error occurs 5101H ratio denominator denominator of the electronic Yes repeatedly with the setting error gear is incorrect correct set values gt consult your Panasonic Electronic gear Gear The setting for the gear ratio Each representative 5102H ratio change t
241. presentative axes Axis group settings are changed Changing the axis group should while the positioning unit is in be performed when the axes Axis group operation or stop requestis Each are not in operation 3032H d Yes operation error eing made axis Do not make a stop request Axis group settings are outside either the range Check the axis group settings Check the set values for ositioning data on The operation has stopped due Ine palin 3033H Interpolation to an error in another Each Yes operation error interpolation axis during axis If an error occurs repeatedly interpolation with the correct set values consult your Panasonic representative 15 7 Errors and Warnings Error Ge Error name Description Object Recovered Countermeasures Axis group not Changing the axis group should settable The axis group settings are Each be performed when the pulser 3034H changed while the positioning Yes In pulser MM axis operation enabled signal is unit is in pulser operation OFF operation Positioning The positioning movement Each 3035H movement amount has exceeded the upper axis Yes Check the set value amount error or lower limit The synchronous group Changing the synchronous changed while the positioning group should be performed unit is in synchronous operation when the busy signal for the Synchronous F a Stop request is bein
242. processing when this signal axis p 9 turns ON during the JOG J point positioning of the virtual axis Turns OFF the servo ON signal for the corresponding axis start 17 12 17 2 Number Allocation Contact allocation Y60 1st axis 1st axis 2nd axis 3rd axis Ath axis Error clear request Error clear request Request warning clear Request warning clear Synchronous setting request Synchronous cancel request Requests the error clear of the corresponding axis The processing to recover from errors is performed and the error logs are cleared by turning ON this signal Note Unrecoverable errors cannot be recovered even if this signal turns ON Requests the error clear of the virtual axis Requests the warning clear of the corresponding axis The warning logs are cleared by turning ON this signal Requests the warning clear of the virtual axis This contact will turn ON after the synchronous operation settings are changed Turn ON this contact for reflecting the setting changes in the synchronous control common area of the unit memory This flag is an edge trigger Turns ON the contact for the axis to cancel the synchronous operation The unit will not perform the synchronous operation of the axis for which this contact is ON Turn ON this contact for canceling the synchronous state temporarily during synchronous control To make the sy
243. r driver Note e Be sure to use a twisted pair cable maximum of 10 mA can flow as a deviation counter clear output signal Add appropriate resistance if the current is in excess 3 10 3 6 Connecting Servo On Output Signal 3 6 Connecting Servo On Output Signal The following diagram shows an example of connection to the servo on of the serve motor driver This connection requires an external power supply of 5 to 24 V DC If 15 mA is exceeded Connection Positioning unit Positioning unit registor must be Motor driver Servo ON Open collector erg Power supply Output specifications Output form Open collector GND 540 24V pc Operating voltage range 4 75 26 4V DC Max load current ON Max voltage drop Note sure to use a twisted pair cable maximum of 10 mA can flow as a servo ON output signal Add appropriate resistance if the current is in excess Wiring 3 7 Connecting Home Input Near Home Input Signal 3 7 1 Connecting Home Input Connecting Motor Driver Z phase Output Connection Positioning unit Home input 24V DC Home input Eg A3 A12 ve 83 812 B12 2 e signal Input specifications at 5V DC 5V DC Home input Kz e use of a twisted pair cable is recommended to connect the output of the positioning unit and the motor driver 3 7 2 Con
244. ratio Target speed Dwell time ms 1 E End point I Incr O L Linear 100 100 1000 2 E End point I Incr L Linear 100 100 1000 3 End point Es O L Linear 100 100 1000 4 End point I Incr O L Linear 100 100 1000 5 E End point I Incr O L Linear 100 100 1000 B Setting items Parameter name Description Operation pattern Select one from the following operation patterns E point Executes the trapezoidal control of only one table C point Executes the trapezoidal control continuously Specify an end point E point at the end of the continuance point C point control P point Executes the continuous speed change control Specify an end point E point at the end of the pass point P point control J point Executes speed control Specify an end point E point at the end of the speed control J point Control method Select either increment or absolute coordinate X axis movement Input the movement amount of X axis The movement amount depends on the unit amount system specified in the parameter settings Acceleration deceleration Select the acceleration deceleration pattern pattern Acceleration time ms Set the acceleration time Setting unit ms Deceleration time ms Set the deceleration time Setting unit ms Target speed Set the target speed Set in ms Setting unit pps m s inch s rev s Dwell Time ms Set the time from when the positioning instruction in the end point contro
245. ration and reflects the resulting positioning address on the Data Editing screen Teaching e The positioning unit cannot go into tool operation while the positioning unit is in user program operation e Operation requests with I O signals will be disabled while the positioning unit is in tool operation If any communication error occurs while the positioning unit is in tool operation the positioning unit will detect the error and stop automatically Also If the previous tool operation does not finish properly due to a communication error etc the tool operation mode will be cancelled forcibly when the next tool operation starts Exit the operation once and start the tool operation again 6 8 6 4 Tool Operation 6 4 2 Serve ON OFF with Tool Operation Function The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Online Tool Operation from the menu bar The Tool operation dialog box will be displayed Select Servo ON OFF in the Tool operation dialog box The Servo ON OFF dialog box will be displayed Servo ON OFF ee _ Chanee ON OFF 2 axis ON Change ON OFF 3 axis 4 axis OFF Change ON OFF 3 Press the Change ON OFF button for an arbitrary axis The state is switched between servo lock and servo free Servo ON OFF 1 axis OFF 2 axis OFF
246. ration Function Specifying a starting table number enables to check if positioning from the starting table operates properly PROCEDURE 1 Select Online Operation from the menu bar The tool operation dialog box will be displayed 2 Select Positioning from the tool operation dialog box The tool operation positioning dialog box will be displayed Axis Group Synchronous master axis Synchronized output Synchronous state Current value Unit Deviation pulses Table number executing Start table number Virtual axis 1 axis 2 axis 3 axis 4 axis Master Virtual axis Virtual axis Master 3 axis Synchronous Synchronous Synchronous Synchronous Synchronous Change synchronization Change synchronization Change synchronization Change synchronization OS Current value update Current value update Current value update Current value update Current value update pulse pulse pulse pulse pulse EE s ERES SS tt Change Change Change Change Change Operation Operation Operation Operation Operation Axis state Stopped Stopped Stopped Stopped Stopped Error code Olear errors Olear errors Olear errors Olear errors Olear errors Warning code Clear warning Clear warning Clear warning Cle
247. ration is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts The flag will turn ON after the positioning unit transmits a reference for the target position 7 6 7 1 Basic Operation 7 1 5 Setting and Operation of J point Control JOG positioning J point control operates at target speed until the start contact of J point positioning turns ON after the operation of the positioning unit starts and the next positioning control will start when the start contact of J point positioning turns ON m Settings Setting example Items J point Table 1 axis parameter Table 2 Table 3 setting Operation pattern J Speed point _ P Pass point E End point Control method l Increment _ Increment Increment X axis mov ment 5000 pulses 10000 pulses 3000 pulses amount Acceleration deceleration E Linear ineat pattern Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps _ 20000 pps 5000 pps J point operation setting Linear acceleration code deceleration E J point acceleration time 10 _ ms J point deceleration time _ 10 ms _ ms J point target speed _ 30000 pps gem e Specify parameters for the start of operation in the positioning data table Specify parameters in the axis parameter setting menu at the time of spee
248. rdinate origin Stores the value of coordinate origin after the home return pi Input constant Pulse input Note Input time constant Home input Note Set the time constant of each pulse input signal The pulse inputs A and B of the same axis are the same input time constant bit Default Description 2100 OH 0 1 us 1H 0 2 us 2H 0 5 us 3H 1 0 us 4H 2 0 us 5H 10 0us 6H No input time constant 7H No input time constant Set the time constant of home input signal bit Default Description 1100 OH input constant 1H 10 0 us 2H 100 0 us 3H No input time constant Note Available for the unit version Ver 1 3 or later 17 50 17 6 Details of Each Axis Setting Area in Unit Memory 17 6 3 Positioning Data Setting Areas Positioning table Data in the following format is stored from the first address of the positioning table for each axis Refer to the list in and after page 17 52 for the first address of each positioning table Offset AES Name Default Setting range and description Area to set the position specification method and acceleration deceleration pattern of positioning Name Default Description Increment absolute 00H 0 Increment mode setting 1 Absolute mode 000H Control code OH Acceleration 00H 0 Linear acceleration deceleration Deceleration pattern 1 S shaped acceleration setti
249. rection value of pulse input at the time of making an automatic movement amount check of machinery or equipment 1 The following formula is used to calculate a deviation feedback value pulse input value with a correction from the pulse input terminal and make an automatic movement amount check Pulse input mode Numerator of automatic movement amount check correction Denominator of Deviation feedback value Correction numerator Correction denominator x automatic Pulse input movement amount check correction Setting range 1 to 32767 17 41 Specifications Offset T Set an action when the difference between the instruction value and feedback value exceeds the movement check value at the time of automatic movement amount check 0 Error Automatic An error will occur and the operation of the positioning unit will come to a stop movement if the difference between the feedback value and reference movement 00AH amount 0 exceeds the movement check value threshold checking 1 Warning An error will occur and the operation of the positioning unit will come to a stop if the difference between the feedback value and reference movement exceeds the movement check value threshold 2 No No movement amount check is made 17 42 17 6 Details of Each Axis Setting Area in Unit Memory Offset 5 155 Default Setting range and description 00BH 00CH Software limi
250. ree axes can be set for interpolation per group Duplicated settings for the same axis in different groups are not possible i i Name Default Description UM 000B2 Group C axis settings Group attribute of 1st axis 0 0 Not belongs to any group Group attribute of 2nd axis 0 Belongs tea group Group attribute of 3rd axis 0 An error occurs if four or more bits for the same group are set to 1 or the UM 000B3 Group D axis Group attribute of 4th axis 0 settings same axis is set to 1 for another group 17 18 17 4 Details of Common Area in Unit Memory Unit memory no Description Hex Set the corresponding bit to 1 in this area if the axis is not related to interpolation Name Default Description Group attribute of 1st axis 0 Not belongs to any group 1 Belongs to a group Independent UM 00084 axis settings Group attribute of 2nd axis Group attribute of 3rd axis An error will occur if the same axis is set to 1 in another group Group attribute of 4th axis 17 19 Specifications 17 4 5 Current Value Update Data Area To change the current value of each axis under the control of the positioning unit store the changed coordinates in this area and turn ON the current value update request flag Unit memory no Description Hex Only when the corresponding bit for each axis changes to 1 from 0 the current coordinate
251. ress the Insert button from the Interval field Select the desired starting phase and press the OK button The cam pattern is by default set to a single section at a phase of 0 to 100 The above section is divided into a number of sections by setting the starting phase Insert interval Settable range 0 000 to 99 902 Start m L e 8 18 8 5 Electronic Cam Function The selected sections are displayed with a white background and the non selected sections are displayed with a gray background r Interval imber Start phase End phase Displacement Cam curve Display a segmented interval by number Insert 0 0000000 Constant ion The interval number is set automatically based on the specified start phase order 2 39 9414063 60 0097656 0 0000000 Constant acceleration Setting range 1 to 20 default value 0 3 60 0097656 79 8828125 0 0000000 Constant acceleration Shift 4 ___79 8828125 0 0000000 0 0000000 Constant acceleration Adjust In relation to the resolution the starting phase may not be set to the specified phase value 8 19 Automatic Operation Synchronous Control B Editing of the cam table Edit the cam table data that was created Set the following items for each section set e Starting phase 96 e Displacement 96 e Cam curve The cam curve changes according
252. restart when the deceleration stop request signal is canceled turned OFF The positioning unit will perform the same operation as a deceleration stop unless the positioning unit is in positioning operation While the positioning unit is in repetitive operation the positioning unit will come to a stop after the position moves to the E point of the repetitive target and repetitive control will restart when the deceleration stop request signal is canceled turned OFF If a system stop or emergency stop is executed while the positioning unit is paused the pause state will be canceled and the operation will not restart with the deceleration stop request signal is canceled turned OFF Default 0 Nodeceleration stop can be executed while the pause function is in use Use the emergency stop function in the case of executing a stop while the pause function is in use e The pause function is enabled only when the positioning unit is in automatic operation positioning control There will be no difference in operation from a deceleration stop while the positioning unit is in manual operation 12 3 Stop Functions Like other stop functions the pause function will maintain the stop state while the deceleration stop pause request signal is ON The pause will be canceled if an emergency stop or system stop is executed while the positioning unit is not operating and the positioning unit will go into the emergency stop or s
253. ronous Control 8 4 2 Types and Contents of Setting Parameters The use of the electronic clutch requires the following parameter settings Parameter name Outline Electronic clutch used unused Set to use or not to use the electronic clutch function The electronic clutch is by default disengaged Be sure to engage the electronic clutch in response to the operation The electronic clutch will be always engaged when the electronic clutch is not in use in which case output data from the electronic gear will be input as it is into the electronic cam At that time the master axis will always operate in synchronization with the slave axes Trigger type Set an I O clutch ON request as a trigger to be detected Select the method of trigger signal detection from Level Rising edge or Clutch Edge selection Falling edge ON Method Select Direct or Slip for the engagement of the clutch Slip time If Slip is selected set the slip time Trigger type Set an I O clutch OFF request as a trigger to be detected Clutch Edge selection ieee of trigger signal detection from Level Rising edge or Method Select Direct or Slip for the engagement of the clutch Slip time If Slip is selected set the slip time 8 12 8 4 Electronic Clutch Function 8 43 Trigger Types for Electronic Clutch The following methods are available for
254. rror has occurred Error occurred is displayed When an error has occurred the latest error code is displayed 15 1 About Error code Pressing the Clear errors button clears errors Errors and Warnings Speed rate The target speed of the home return specified in the parameter settings for each axis is regarded as 10096 and the operation is executed in the specified speed rate Clicking Speed Rate shows the dialog for inputting the value 6 18 6 4 Tool Operation Wa eec e Ifan recoverable error occurs the positioning unit click the Error clear button to clear the error e Ifa warning occurs in the positioning unit click Warning clear to clear the warning e control method for the table number that the teaching operation was performed is automatically changed to Absolute Theresult of the teaching becomes effective once the tool operation quits and the setting data is downloaded to the positioning unit e This dialog cannot be closed while the positioning unit is in home return operation 6 19 Transfer to Unit and Commissioning 6 20 T Automatic Operation Positioning Control Automatic Operation Positioning Control 7 1 Basic Operation 7 1 4 Positioning Control Patterns B Type of operations The automatic operation is an operation mode to perform positioning control A single axis control and an interpolation control that starts
255. s Truncate When the speed of pulse input exceeds the preset maximum speed the operation will continue with the maximum speed maintained Pulses are output in synchronization with the operation of the pulser while pulses not output are discarded Speed unit is Set unit x 1000 s Pulser input kHz Pulse output kHz Standard operation Speed limit pulse hold Speed limit truncate Max speed kHz Min speed kHz The example below is a case of the positioning unit installed in the slot 1 Settings are made in pulses 11 1 Setting and Operation of Pulser Operation T dion lt Ay Manual pulser Ball screw side side m Settings Parameters required for the pulser operation of the positioning unit is set in the positioning setting menu of the programming tool Items Setting example Settable range 0 Pulser 1 1 Pulser 2 Operation setting code 0 Pulser 1 2 Pulser 3 3 Pulser 4 Pulser operation ratio numerator 2 1 to 32 767 Pulser operation ratio denominator 1 1 to 32 767 2 Speed limits 0 Standard operation 1 Speed limits pulse hold Pulser operation method truncated 2 Speed limits truncated Pulser operation max speed 500 Pulse 1 to 32 767 000 pps m Operation diagram Pulser reverse Pulser forward A T E m un Be Aphase LL B phase J L_D L Pulser input A phase
256. s currently carried out can be confirmed by setting auxiliary output The values in the auxiliary output data are held until the next positioning table is executed The auxiliary output data that was output just before the completion of the automatic operation is held Busy flag Operation done flag With mode Auxiliary output data 1H 2H Auxiliary contact flag Auxiliary output Auxiliary output N time ON time ms 14 ms Auxiliary contact flag Delay mode Auxiliary output data 1H 2H Auxiliary output Auxiliary output ON time ON time Lo ms L ms Auxiliary contact flag Delay rate Delay rate Auxiliary output data will maintain the value regardless of the type of auxiliary output mode the with mode or delay mode until the next positioning table is executed 13 5 Supplementary Functions 13 4 Current Value Update The current value update function is a function to change the current value controlled by the positioning unit to a desired preset value Refreshing the current value requires data writing to the unit memory B Current value update area Unit memory Unit m memory no Hex Only when the corresponding bit for each axis changes to 1 from 0 the current coordinate controlled by the positioning unit to the following current value After the change the positioning unit will clear the corresponding bits to O automatically bit Name Default Description Curren
257. se Y123 9 2nd axis JOG reverse Error annunciation and clear DT101 Annunciates the number of errors occurred to 1st axis DT102to DT115 Error codes occurred to 1st axis DT121 Annunciates the number of errors occurred to 2nd axis 4 DT122to DT135 Error codes occurred to 2nd axis X100 Slot Axis Storage Unit ready number number destination Slot Axis Storage number number destination R10 X160 Y160 H DF Error clear 1st axis Error clear error for axis 1 Y160 Error clear for axis 1 R10 X161 Y161 pr 5 4 Error clear 2nd axis Error clear error for axis 2 Y161 Error clear for axis 2 ED 18 6 18 2 Sample program 18 2 2 When Setting Positioning Data in Extended Area by Programming Write positioning data in the extended area by programming Recalculating the positioning data is not necessary as the extended area is used Replace the part of the positioning start program in the sample program m Positioning start program R3 H DF MV SS DT10 Positioning FEE 1 axis control code start 55 0711 1 axis control pattern 55 DT12 MV SS K100 DT14 1st axis acceleration time MV SS K100 DT15 MV SL K500000 DT16 qata on 1st axis 1st axis target speed MV SL K1000000 DT18 1st axis movement amount MV SL DT20 1st axis auxiliary point MV SS DT22 MV SS KO DT23 1st axis auxiliary output MV SS DT24 MV SS DT25 Settings
258. ser Operation 11 1 11 1 Setting and Operation of Pulser Operation 11 2 Stop Functions circo Rec eed Eee CD Red 12 1 12 1 Settings and Operations of Stop 12 2 12 2 Settings and Operations of Pause 12 3 vi Table of Contents 13 Supplementary 13 1 13 1 Dwell 1er R KR 13 2 13 2 Software LITE soni oat te eS se 13 3 13 3 Auxiliary Output Code and Auxiliary Output Contact 13 4 13 4 Current Value Update 13 6 13 5 Coordinate Origi soii wisi E S ot Ei Duet E MP 13 8 13 6 Pulse 13 9 13 6 1 Pulse Input Typ S uuu uu ai rene inta ee nad 13 9 13 6 2 Restrictions on Combinations of Pulse Inputs 13 10 13 6 3 Input Mode to Pulse 13 11 13 6 4 Monitoring Pulse Input Values u 13 13 13 6 5 Pulser Input Function l n Su us 13 14 13 6 6 Feedback Pulse 13 14 13 6 7 High speed Counter Function
259. switc switch Driver upper and lower limit input External safety circuit Input to positioning unit Safety Circuit with Positioning Unit Install over limit switches as shown above Connect the switch to the limit input and limit input of the positioning unit External safety circuit Install the safety circuit recommended by the manufacturer of the motor being used 4 2 Before Turning On the Power 4 2 Before Turning On the Power B Check items before turning on the power System configuration example Positioning unit wer supply for input output device Power supply for motor driver Motor driver 0 _ Over limit Over limit switch switch CCW driver CW driving inhibition switch inhibition switch safety a Connect to positioning unit 1 Checking connections to the various devices Driver upper and lower limit inputs Check and make sure the various devices have been connected as indicated by the design 2 Checking the installation of the external safety circuit Check and make sure the safety circuit wiring and installation of over limit switch based on an external circuit has been installed securely 3 Checking the safety circuit with the positioning unit Check the connections of the positioning unit and over limit switch
260. t to restrict the moving range of a motor Separately from the mechanical limits and the software limit is a function to add the limits for the absolute coordinate managed within the positioning unit As the software limit is a function for the protection of the motor and AMP it is recommended to set them to the values within the range of the mechanical limits and as below Limit Table Limit 0 Ball screw side side Lower limit value of Upper limit value software limit of software limit If the operating range of the motor exceeds the setting range of the software limit upper and lower limit values an error will occur and the deceleration stop will be executed It is necessary to clear the error and move the motor into the range of the software limit using an operation such as JOG operation after the stop Table The table can move within the setting X range of the software limit side side Lower limit value of software limit Whether the software limit enabled or disabled can be specified individually for the positioning control JOG operation and home return operation For example it is possible to disable the limit software only in home return operation 13 3 Supplementary Functions 13 3 Auxiliary Output Code and Auxiliary Output Contact The auxiliary output contact is a function to announce externally which table is in operation when the automat
261. t FP7 Pulse Output Unit Users Manual WUME FP7PG FP7 Positioning Unit FP7 Positioning Unit Users Manual WUME FP7POSP FP7 Serial Communication Unit FP7 series Users Manual SCU communication WUME FP7COM PHLS System Programming Software FPWIN GR7 PHLS System Users Manual FPWIN GR7 Introduction Guidance WUME PHLS WUME FPWINGR7 Table of Contents Table of Contents Functions of Unit and Restrictions on Combinations 1 1 1 1 Functions of Positioning 1 2 1 4 4 Functions of Unit ru nel rte age 1 2 121 2 Unit Type inii cn n eo ete 1 3 1 2 Restrictions on Combinations of 7 1 4 Names and Functions of Parts 2 1 2 1 Names and Functions of Parts s 2 2 2 2 Operating Status LEDS ter teda 2 3 WING 3 1 31 Connection over Wire pressed Terminal Cable 3 2 3 1 1 Specifications of Wire pressed Terminal Cable 3 2 3 1 2 Assembly of Connector for Wire pressed Terminal Cable 3 3 3 2 O Specifications and Terminal 3 4 3 2 1 JO Specificationis ceci detenti aee d ene 3 4 3 3 Supply of Power to Drive Internal Circuit
262. t enabled disabled settings Upper limit of software limit 00DH 00EH 00FH Lower limit of software limit 1 073 741 823 1 073 741 832 bit 0 OH Enables or disables the software limit on each control Name Default Description Enables disables the software limit for positioning control 0 0 Disables the software limit for positioning control 1 Enables the software limit for positioning control Enables disables the software limit while the positioning unit is in home return operation 0 Disables the software limit for home return control 1 Enables the software limit for home return control Enable disable the software limit in the JOG operation 0 Disables the software limit for JOG operation 1 Enables the software limit for JOG operation Set the upper limit of the software limit for the absolute coordinates Set the following range according to the unit setting Pulse 1 073 741 823 to 1 073 741 823 pulses 0 1 um 107 374 182 3 to 107 374 182 3 um 1 1 073 741 823 to 1 073 741 823 um inch 0 00001 inch 10 737 41823 to 10 737 41823 inches inch 0 0001 inch 107 374 1823 to 107 374 1823 inches degree 0 1 degree 107 374 182 3 to 107 374 182 3 degrees degree 1 degree 1 073 741 823 to 1 073 741 823 degrees Any other settings will be errors degree 1 degree 0 to 359 degrees Any other settings will be errors S
263. t value update 0 0 No change request for 1st axis 1 Changes the Current value update 0 corresponding request for 2nd axis coordinate origin Current value update Current value update 0 After change the request flag request for 3rd axis positioning unit clears Current value update the corresponding bits UM 000CO request for 4th axis to 0 automatically Current value update request for virtual axis UM 000C8 UREDGOES pini p x D Stores the coordinate to be preset as the current value of 1st axis UM 000CA URESOUGE SE cuan Stores the coordinate to be preset as the current value of 2nd axis UM 000CC Current value update UM 000CD coordinate of 3rd axis Stores the coordinate to be preset as the current value of 3rd axis UM 000CE Current value update Stores the coordinate to be preset as the current value of 4th axis coordinate of 4th axis UM 000D6 Current value update UM 000D7 coordinate of virtual axis Stores the coordinate to be preset as the current value of virtual axis B Current value update procedure 1 Write a coordinate to be preset in the current value update coordinate area of the axis to update the current value 2 Preset target axis bit to 1 in the current value update request flag area As the current value update process is performed for the axis that is 1 in the current value request flag area do not set an
264. te 0 is A system after Resolution set 1000 0 1000 the clutch 1024 i DIL lt In the case of setting coordinate 0 to 80 phase 819 1024 Current coordinate position 1000 0 1000 after the clutch Current B coordinate system after 100011 1000 the clutch 819 1024 Select the shift from Interval and set the shift amount Phase shift settings Settable range 0 000 to 99 997 Phase shift The created cam pattern is shifted 10 and the display is updated 100 100 0 50 100 100 100 0 Display example The shift is set to 10 m Cam table saving The created cam table is saved automatically by pressing the OK button in the Cam Table Settings screen Cam table stored is managed by FPWIN GR7 and set for the positioning unit when it is downloaded to the CPU module 8 23 Automatic Operation Synchronous Control 8 24 9 Manual Operation JOG Operation Manual Operation JOG Operation 9 1 Setting and Operation of JOG Operation The example below is a case of the positioning unit installed in the slot 1 Settings are made in pulses Reverse JOG Forward JOG o Table 8 oce Ball screw side side B Settings Parameters required for the JOG operation of the positioning unit is set in the positioning setting menu of the programming tool
265. ters that have been set is transferred as a part of project information to the CPU unit along with other configuration information e The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 2 3 4 Select File Exit from the menu bar of the Configurator PM7 When Save data in the configuration area appears press Yes Y Press the OK button in the FP7 configuration dialog box Select Online Download to PLC from the FPWIN GR7 menu bar Parameters for the positioning unit will be downloaded to the CPU unit along with the program and other configuration information Set the FP7 CPU unit to RUN mode The configuration information will be transferred to the positioning unit so that the positioning unit will be read for commissioning with I O signals or the Configurator 7 Select Option FP7 configuration from the menu bar The FP7 configuration dialog box will be displayed Select I O map from the left pane Select the positioning unit from the I O map and press the Advanced settings A button The Configurator PM7 will be activated Select Online Data monitor Status display Tool operation so that each menu items of the positioning unit will be available 6 4 6 3 Monitoring on Configurator PM7 6 3 Monitoring on Configurator PM7 6 3 1 Status Monitor e
266. th axis Current value of 4th axis Unit system conversion current value of 4th axis W Virtual axis information Unit memory no Hex UM 005F8 UM 005F9 UM 005FA UM 005FB UM 005FC UM 005FD UM 005FE UM 005FF Name Implementation or implementation done table of virtual axis Auxiliary output code of virtual axis Repeat count set value of virtual axis Repeat count current value of virtual axis Current value of virtual axis Unit system conversion current value of virtual axis Description Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Description Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis 17 37 Specifications 17 6 Details of Each Axis Setting Area in Unit Memory 17 6 1 Configuration of Each Axis Setting Area Each axis setting area stores the parameter setting area and positioning data The positioning data settin
267. the engagement or disengagement of the electronic clutch B Clutch request signal Y98 to Y9B and Y100 to Y103 An I O signal clutch request signal allocated to the unit is in control of the electronic clutch E allocation Signal type 1st 2nd 3rd 4th Operation axis axis axis axis Slave axis clutch ON request Y98 Y99 Y9A Y9B Slave axis clutch OFF request Y100 Y101 Y102 Y103 Slave axis clutch operation X98 X99 X9A X9B ON Engaged annunciation OFF Disengaged Master axis operation Slave axis operation ON Clutch request signal Note The above shows an example of the direct method selected for the engagement of the clutch W Edge selection Edge selection Operation The clutch operation is switched by turning on or off the slave axis clutch ON request Y98 Level Y9B The slave axis clutch OFF request signal is not used When the edge selection is level the slave clutch OFF request Y100 Y 103 is invalid The clutch turns ON by the leading edge of the slave clutch ON request Y98 Y9B Also the clutch turns OFF by the leading edge of the slave clutch OFF request Y100 Y 103 The clutch turns ON by the trailing edge of the slave clutch ON request Y98 Y9B Also the clutch turns OFF by the trailing edge of the slave clutch OFF request Y 100 Y 103 Leading edge Trailing edge 8 13 Automatic Operation Synchronous Control 8 4 4
268. the home sensor is ON at startup the operation is similar to m Limit method 1 Edge detection of limit switch First rising edge of home position as reference Reverses after detecting the rising edge of the limit switch on the opposite side of the home return direction The first rising edge of the home switch is detected It becomes the start point Home return direction 4 amp 4 Limit switch Limit switch Home switch D The starting point is I between the near home return creep speed switch and limit switch including limit switch Target speed Home return deceleration time I I 1 1 Home return creep speed Q The starting point is on the limit switch Note When the home sensor is ON at startup the operation is similar to 10 3 Manual Operation Home Return B Limit method 2 Edge detection of limit switch Detects the rising edge of the limit switch in the home return direction and stops That point becomes the start point Home return direction 4 amp Limit switch Limit switch Home return Home switch D The starting point is deceleration time Home return creep speed between the near home switch and limit switch including limit switch Home return creep speed 2 The starting point is on the near home switch Target speed T I II I
269. thod l Increment X axis movement amount 10000 pulses X axis auxiliary point 0 Y axis movement amount 5000 pulses Y axis auxiliary point 0 Z axis movement amount 20000 pulses Z axis auxiliary point 0 Acceleration deceleration pattern L Linear Acceleration time ms 100 ms Deceleration time ms 100 ms Interpolation speed 10000 pps 7 19 Automatic Operation Positioning Control B Operation diagram f pps Composite speed 100 100 t ms Positioning start contact of axis 1 Y110 LL BUSY flag of axis 1 X118 tier H BUSY flag of axis 2 119 Pa ww a rrr R a BUSY flag of axis 3 X11A Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 Operation done flag of axis 3 X122 t Curentvalecfaxs W AN es Current value of axis 2 roo KKK XXX 15000 current vue otas s oY MMC _ Operation of each contact e The 1st axis 2nd axis and 3rd axis BUSY flags X118 X119 and X11A indicating the state that a motor is running will turn ON when the positioning control starts and they will turn OFF when the operation completes e The 1st axis 2nd axis and 3rd axis operation done flags X120 X121 and X122 indicating the state that an operation completed will turn ON when the JOG operation is completed and they will be held until the next positioning control JOG o
270. tion and JOG Click to perform the forward rotation yd of JOG Click to perform the reverse rotation Operation Running or Stopped is displayed When an error has occurred Error occurred is displayed When an error has occurred the latest error code is displayed 15 1 About Error code Pressing the Clear errors button clears errors Errors and Warnings Warning code Speed rate When a warning has occurred the latest warning code is displayed Pressing the Clear warnings button clears warnings The target speed of the JOG operation specified in the parameter settings for each axis is regarded as 10096 and the operation is executed in the specified speed rate Clicking Speed Rate shows the dialog for inputting the value 6 11 Transfer to Unit and Commissioning 644 Home Return by Tool Operation Function When the power is turned on the coordinates of the positioning unit do not coincide with those of the machine position Execute a home return before starting positioning e You can perform commissioning with the Configurator PM7 before actually starting the user program e The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Online Operation from the menu bar The tool operation dialog box will be displayed 2 Select Home Return from the tool operation dialog box
271. tions Unit Port UM 00140 UM 00141 2nd axis error code annunciation buffer 4 A code will be annunciated if an error occurs UM 00142 UM 00143 UM 00144 UM 00145 2nd axis error code annunciation buffer 6 A code will be annunciated if an error occurs UM 00146 2nd axis error code annunciation buffer 7 A code will be annunciated if an error occurs UM 00147 UM 00149 No of occurrences of errors on 3rd axis Annunciates the number of occurrences of errors on the 3rd axis UM 0014A 3rd axis error code annunciation buffer 1 A code will be annunciated if an error occurs UM 0014B UM 0014C 3rd axis error code annunciation buffer 2 A code will be annunciated if an error occurs UM 0014D UM 0014E 3rd axis error code annunciation buffer 3 A code will be annunciated if an error occurs UM 0014F UM 00150 3rd axis error code annunciation buffer 4 A code will be annunciated if an error occurs UM 00151 UM 00152 3rd axis error code annunciation buffer 5 A code will be annunciated if an error occurs UM 00153 UM 00154 3rd axis error code annunciation buffer 6 A code will be annunciated if an error occurs UM 00155 UM 00156 CERE ER 3rd axis error code annunciation buffer 7 A code will be annunciated if an error occurs Annunciates the number of occurrences of errors on the 4th axis UM 0015A 4th axis error code annunciation buffer 1 A code will be annunciated if an error occurs UM 0015B UM 0015C Ath axis error code annunciation b
272. tline The method to recover from error occurrence varies according to the states when errors occur Status if an error Description Error type occurs Recoverable state After an error occurs the operating axes stop All errors After an error occurs the Positioning Unit can recover from the Type Yes error at any timing Unrecoverable state No A critical error on the positioning unit system If an unrecoverable error occurs the power supply of the positioning unit should be turned off and on System Error Axis operation error 15 5 Errors and Warnings 15 3 Error Code Table 15 3 1 System Error from 1000H These are the errors that occur due to any failure within the positioning unit The system errors are defined as fatal errors for the system Except for some items the power supply must be turned off and on again to recover from the errors Error Code Error name Description Object Recovered Countermeasures System runaway 1000H System All No runaway If the error occurs the ALARM LED axes Turn off the power supply and on the positioning unit will be lit turn it on again Hardware An error has occurred in a hardware All If an error occurs repeatedly 1001H error test with the power supply turnedon axes consult your Panasonic 2 representative 1002H Unit error Any error has occurred in the internal All No processing axes Ch
273. trol is activated Operation Virtual axis done Turns ON when the operation instruction to the virtual axis is completed Ist ax Turns ON when the home return operation for the corresponding axis is 2nd axis Home return completed 3rd axis done After this contact turns ON the ON state will continue until the next Ath axis control is activated Home return Turns ON when the home return operation for the virtual axis is done completed A contact to monitor external home position input signal for the Home corresponding axis position The input logic can be changed in the parameter setting menu of the Configurator 7 1st axi Ars tum UE A contact to monitor external near home position input signal for the 2nd axis corresponding axis Near home 3rd axis The input logic can be changed in the parameter setting menu of the Ath axis Configurator 7 17 7 Specifications Contact e 99 X40 X47 X48 1st axis X49 2nd axis z axis X4B 4th axis X4C E X4E xar Virtual axis 1st axis X51 X52 2nd axis X53 X54 2 3rd axis z X56 4th axis X57 X58 xs X5F X60 1st axis X61 2nd axis X62 3rd axis X63 4th axis X64 X66 Virtual e axis x X68 1st axis X69 2nd axis 3rd axis X6B 4th axis X6C E X6E xor Virtual axis Name Des
274. ts of confirmation 1 Check that the I O numbers are correct 2 Check that the start contact has not been overwritten in the program 3 Check the input logic of the over limit switch The error LED is lit if the logic is incorrect 16 2 16 1 What Do If an Error Occurs 16 1 3 Reversed Rotation or Movement Direction Example of reversed rotation or movement direction Reverse direction Intended direction _____ nnnnnnnr gt W Solution 1 Check that the positioning unit and driver are wired correctly Points of confirmation Check that the CW CCW output or Pulse Sign output is connected to the corresponding input of the driver B Solution 2 Change the pulse output rotation direction of each axis parameter to set the reversed rotating direction 16 3 Troubleshooting 16 4 17 Specifications Specifications 17 1 Specifications 17 1 1 General Specifications Items Description Operating ambient temperature 0 C to 55 C Storage ambient 40 C to 70 C temperature Operating ambient humidity 10 to 95 RH at 25 C with no condensing Storage ambient humidity 10 to 95 RH at 25 C with no condensing Each external connector pin and entire power supply terminals of CPU unit Breakdown voltage 500 V AC for 1 minute Each external connector pin and entire power supply terminals of CPU unit 100 MO min at 500 V DC Conforming to JIS B 3502 and IEC 61
275. ttern and outputs the movement amount The cam pattern uses one rotation of the master axis as an operation reference based on which the displacement of the slave axes in each phase rotation angle is defined on the Configurator screen Input value Current value L Electronic clutch output Time T Input axis phase Time T Output axis i displacement Cam pattern Slave axis output Time T B Cam pattern The cam pattern uses one rotation of the master axis as an operation reference based on which the displacement of the slave axes in each phase rotation angle is defined The cam pattern is defined with the phase rotation angle of the master axis based on one rotation as a reference on the X axis and the displacement on the Y axis in percent The cam pattern is set with the desired settings for the positioning unit selected from the FPWIN GR7 Configuration screen 1008 100 03 50 1008 8 15 Automatic Operation Synchronous Control B Cam pattern specifications The following specifications of cam patterns can be set Setting items Description Resolution 1024 2048 4096 8192 16384 32768 No of cam patterns Section setting Displacement setting Resolutions of 1024 2048 4096 and 8192 16 Resolution of 16384 8 Resolution of 32768 4 100 20 sections max 100 setting Cam curve Selected from the
276. uest come to a stop The master axis and other salve axes set on the same master axis continue Deceleration The slave axes come to stop a stop in synchronization with the master axis All the axes in interpolation operation come to a stop Stop functions operating Only axes resulting a Limit sto rig The master axis and all the slave axes come to a limit error come to a stop stop ina Error stop p Only axes resulting in an error come to a stop 8 6 8 3 Electronic Gear Function 8 3 Electronic Gear Function 8 3 4 Outline of Electronic Gear Function B Electronic Gear Function The electronic gear function operates the positioning unit at the speed of the master axis multiplied by a preset gear ratio Gear ratio numerator Master axis operation Output speed Input speed Speed after gear change Information on master axis speed Gear ratio denominator Speed Output d P M Liput spoe Gear ratio Set to 2x Input speed Time T Speed V Electronic gear 4 PutsPeed Gear ratio Set to 0 5x output Output spe d Time T Cautions for using the electronic gear function The use of the electronic gear function makes it possible to set the slave axes to a desired speed relative to the master axis The movement amount of the slave axes however is obtained from the following formula Therefore the movement amount of the master axis
277. uffer 2 A code will be annunciated if an error occurs UM 0015D UM 0015E 4th axis error code annunciation buffer 3 A code will be annunciated if an error occurs UM 0015F UM 00160 Ath axis error code annunciation buffer 4 A code will be annunciated if an error occurs UM 00161 UM 00162 4th axis error code annunciation buffer 5 A code will be annunciated if an error occurs UM 00163 UM 00164 Ath axis error code annunciation buffer 6 A code will be annunciated if an error occurs UM 00165 UM 00166 Ath axis error code annunciation buffer 7 A code will be annunciated if an error occurs UM 00167 UM 00199 No of occurrences of errors on virtual axis Annunciates the number of occurrences of errors on the virtual axis A code will be annunciated if an error occurs 2nd axis error code annunciation buffer 5 UM 00159 No of occurrences of errors on 4th axis 17 24 17 4 Details of Common Area in Unit Memory Unit TUE memory no Hex UM 0019A i i Virtual AXIS Error code A code will be annunciated if an error occurs UM 0019B annunciation buffer 1 UM 0019C Virtual axis error code I E A code will be annunciated if an error occurs UM 0019D annunciation buffer 2 Virtual SOF code A code will be annunciated if an error occurs annunciation buffer 3 UM 0019E UM 0019F UM 001A0 i i Virtual axis error code A code will be annunciated if an error occurs UM 001A1 annunciation
278. umber of cams 6 Number of settable 1000 Disp lution Pragati dots wDispa Spee Accelere Jump 100 0 NEEDED 100 0 50 100 Interval Interval number Start phase End phase Displacement Cam curve d 2 Make necessary parameter settings according to the application and press the OK button 3 Select File Save Configuration from the menu bar ez e Parameter information saved can be read on the Configurator 7 e Inthe case of synchronous control basic parameters related to I O operate according to 5 3 Parameter Settings 5 12 5 5 Creating Positioning Data Table 5 5 Creating Positioning Data Table 5 5 1 Construction of Positioning Data Table Use the Configurator PM7 to allocate the positioning data table The following procedure is explained on the condition that the Configurator PM7 has already started E Initial display screen of Configurator PM7 e Sheets are divided for each axis and 600 tables ranging No 1 to No 600 can be set BE Configurator PM7 Eile Edit View Online Debug Axis Settings Options Help a gt Ba 15 Ao eo Communications destination Home Slot No 1 Position unit pulse Speed unit pulse Table number Operation Control x axis virtual Accelerat Acceleratio Decele
279. urned ON after making setting changes in the axis parameter with the program The contact turns ON upon completion of the setting changes Axis All axes parameter setting done If the recalculation request contact Y7 turns ON the positioning data of the unit memory standard area will be restructured This contact will turn ON after restructuring completes Recalculation done Servo lock Turns ON only if there is servo ON output with servo ON signals Y8 to YB BUSY Turns ON when the corresponding axis is operating BUSY Turns ON when the virtual axis is operating XT All axes If the recalculation request contact Y7 turns ON again this contact will be off once Note It is used only when the positioning data has been rewritten by ladder programs X10 1st axis 2nd axis 3rd axis 4th axis X X X X X X X X 2 4th axis X1C X1E Virtual axis 1st axis 3 4 5 6 8 F 14 17 1A 17 6 17 2 Number Allocation Contact allocation X20 1st axis Turns ON when the operation instruction for the corresponding axis 2nd axis completed and the position deviation became in the specified completion width 3rd axis Operation done Turns ON when the operation for all the tables completed for P point control and C point control of the automatic operation 4th axis After this contact turns ON the ON state will continue until the next con
280. us movement amounts of the target Each Check the operation of the 3045H axis difference axes under synchronous control axis Yes target axes for the synchronous check error exceeded the specified operation difference movement amount Check the operation of the Automatic check function has detected that target axes 3046H movement the difference between the Each Yes amount check instruction value and feedback axis Check the parameters of the error value is in excess of the preset automatic movement amount automatic check function of movement amount 15 8 15 3 Error Code Table 15 3 3 Set Value Error from 4000H The following errors occur to various set values made in the positioning setting menu of the programming tool and ladder programs Error code Error name Description Object Recovered Countermeasures 4000H The settings of axis groups are not correct The settings of axis groups are not correct Each axis Yes Check the following items in the settings of the axis group and independent axis The same axis number has been registered in more than one group Four or more axes have been set in one group The group is composed of one axis only 4002H Unit setting error The unit system for the axis setting is out of the range Each axis Yes Check if the unit is one of the followings pulse um
281. us control enabled disabled 4 Operates with Operates with synchronous control synchronous control Operation request axis enabled disabled Master axis set Slave axis set Master Slave axis set No The master axis performs a home return The slave axes do not perform a home return Yes but operate in The master axis or slave Home return synchronization with axes will perform a home output from the master return only if the master axis axis or the slave axes are To enable the slave axes requested to perform a home return operate them with synchronous control No disabled The slave axes do JOG operation Y not operate in Yes response to The slave axes operate operation requests The master axis or slave in synchronization with axes will go into JOG Single axis the operation request of operation only if the master axis the slave the master axis axes are so requested Yes Positioning Interpolation will be Yes executed upon request if the master axis is the Interpolation will be Interpolation start axis of interpolation executed upon request if the requested axis is the The slave axes operate start axis of interpolation in synchronization with the master axis System stop All the axes come to a stop regardless of the synchronization settings Emergency Yes stop Yes Only axes Yes The master axis comes Eiji cometo Only axes requested to a stop upon req
282. us or over B3 B12 us input S 4 B13 COM s J ss Operating 21 6 to 26 4 V DC voltage range Near home input DOG 19 2 V DC 5 0 mA A5 A14 Near home input DOG Minimum ON rv Oltage current Limit input Limit 5 Limit input Limit zit S 19 2 V DC 2 6 mA 1 6 15 Limit A6 15 E input mA tay Limit 5 voltage current B6 B15 i B Near home input DOG Approximately 3 6 kO Limit B6 B15 input Input impedance bo Limit Limit input Limit Limit input Limit Approximately 6 8 kO 3 6 3 2 I O Specifications and Terminal Wiring Pin no 1st 2 Circuit Signal Items Description 3rd 4th name axis axis Pil a i 3 5 to 5 25 V DC ulse erating voltage A8 17 input Pange 9 9898 5v DC line driver specifications c Pulse Sg Minimum ON BP B 8 voltage current 3 VDC 3 2 mA zy 9 i A gbopiz Pulse gl Maximum OFE 1 V DC 0 5 mA B9 B18 input B D voltage current 8 Input impedance Approx 390 O Pulse 0 5 us over B9 B18 input B Minimum input pulse width 1 MHz max on each phase Note Use pulse input signals A and B within the following specifications B Using pulse input A and B for 2 phase input Pulser input is used for 2 phase input
283. value set as home UM 0043E position coordinate Values converted with the unit system pulse um inch degree selected in each axis setting area are stored Unit system conversion current value of 1st axis When the home return is completed the value set as home position coordinate will be stored When 0 is set as home UM 0043F position coordinate it will be reset to This area is also updated when the current value update function is used 17 35 Specifications m 2nd axis information External terminal input monitor of 2nd axis Refer to the description for the 1st axis Deviation of 2nd axis Refer to the description for the 1st axis Pulse input value of 2nd axis Refer to the description for the 1st axis Unit memory no Hex UM 00471 UM 00474 UM 00476 UM 00477 UM 00478 UM 00479 UM 0047A UM 0047B UM 0047C Refer to the description for the 1st axis UM 0047D UM 0047E U EU or implementation done table of Refer to the description for the 1st axis Auxiliary output code of 2nd axis Refer to the description for the 1st axis Repeat count set value of 2nd axis Refer to the description for the 1st axis Repeat count current value of 2nd axis Refer to the description for the 1st axis C urrent value of 2nd axis nit system conversion current value of 2nd axis Refer to the description for the 151 axis UM 0047F m 3rd axis information UM 004B1 UM 004B4 UM 004B6 Unit
284. vie Requests the deceleration stop of the corresponding axis Y139 The deceleration stop time becomes the deceleration time of the Y13A FEE positioning unit in operation sto Y13B P The operation is of level type YA3F Note The deviation counter cannot be cleared 12 2 12 2 Settings and Operations of Pause Functions 12 2 Settings and Operations of Pause Functions The pause function temporarily stops operation Toggle between the pause function and the deceleration stop function for use The pause function performs a deceleration stop in the deceleration time of operation when the deceleration stop request contact turns ON After that the stop state will be maintained while the deceleration stop request contact is ON and the control stopped will restart when the deceleration stop request contact turns OFF Toggle between the pause function and deceleration stop function in the system operation setting area in the unit memory System operation setting area Unit memory no Hex bud UM 00389 Deceleration stop operation NOTES Description Specify the operation of the positioning unit with the deceleration stop request signal activated turned ON 0 Deceleration stop 1 While the positioning unit is in repetitive control the positioning unit will come to a stop after the position moves to E point of the repetitive target Pause Performs a deceleration stop and positioning will
285. warning code UM 001 annunciation buffer 1 UM 001F4 i i SD axis warning code A code will be annunciated if a warning occurs 001F5 annunciation buffer 2 UM 001F6 i i ath SAIS warning code A code will be annunciated if a warning occurs UM 001 7 annunciation buffer 3 UM 001F8 i i ath axis Warning code A code will be annunciated if a warning occurs UM 001 9 annunciation buffer 4 UM 001FA i i Ah axis warning code A code will be annunciated if a warning occurs UM 001FB annunciation buffer 5 UM 001FC i i ath axis warning A code will be annunciated if a warning occurs UM 001FD annunciation buffer 6 UM 001FE i i eth sxs warning code A code will be annunciated if a warning occurs UM 001FF annunciation buffer 7 UM 00231 No of occurrences of Annunciates the number of occurrences of warnings on the virtual warnings on the virtual axis axis A code will be annunciated if a warning occurs A code will be annunciated if a warning occurs 17 27 Specifications Unit UR UM 00232 Virtual axis warning code Son A code will be annunciated if a warning occurs UM 00233 annunciation buffer 1 UM 00234 Virtual axis warning code f in A code will be annunciated if a warning occurs UM 00235 annunciation buffer 2 UM 00236 i i i Virtual axis warning code A code will be annunciated if a warning occurs UM 00237 annunciation buffer 3 Virtual SS warning code A code will be annunciated if a warning
286. will be reset to the default value on completion of positioning control Unit memory no Name Description Default Setting range Setunit Hex Stores the number of times for repeating the operation starting from the positioning control Number of 1st Starting table number of the 1st axis until the E UM 00108 axis positioning Point 0 to 255 repetitions If 255 is stored the positioning unit repeats positioning control an unlimited number of times until you manually stop the operation 0 to 255 Stores the number of times for repeating the operation starting from the positioning control Number of 2nd Starting table number of the 2nd axis until the E UM 00109 axis positioning Point repetitions If 255 is stored the positioning unit repeats positioning control an unlimited number of times until you manually stop the operation 0 to 255 0 to 255 Stores the number of times for repeating the operation starting from the positioning control Number of 4th Starting table number of the 4th axis until the E UM 0010B axis positioning Point repetitions If 255 is stored the positioning unit repeats positioning control an unlimited number of times until you manually stop the operation Stores the number of times for repeating the operation starting from the positioning control Number of starting table number of the virtual axis until the UMOo10r Virtual axis E point positioning EP repetitions If 255 is stored
287. xis of which moving distance is long X axis and Y axis coordinates of center ere Center specified CCW direction X axis and Y axis coordinates of center Pass point X axis and Y axis coordinate of pass point on arc 3 axis linear Composite speed Composite speed of X axis Y axis and Z interpolation axis control Long axis speed Speed of long axis Axis of which moving distance is long 3 axis spiral Center CW direction X axis movement Y axis and Z axis coordinates of center Center CCW direction Y axis movement Y axis and Z axis coordinates of center Center CW direction Y axis movement X axis and Z axis coordinates of center Center CCW direction Y axis movement Center CW direction Z axis movement Center CCW direction Z axis movement Pass point X axis movement X axis and Z axis coordinates of center X axis and Y axis coordinates of center X axis and Y axis coordinates of center Y axis and Z axis coordinate of pass point on arc Pass point Y axis movement X axis and Z axis coordinate of pass point on arc Pass point Z axis movement X axis and Y axis coordinate of pass point on arc 7 11 Automatic Operation Positioning Control 2 axis linear interpolation Composite speed specification direction The composite speed can be specified Y axis direction direction direction X axis 2 axis circular interpolation Center point s
288. y bit to 1 other than the target axis 3 The current value after unit conversion in each axis information and monitor area is changed to the specified current value 13 6 13 4 Current Value Update The value to be changed by updating the current value is the current value after unit conversion 13 7 Supplementary Functions 13 5 Coordinate Origin The positioning unit performs a home return to set the managing coordinate to 0 The coordinate origin is a function that allows to set the coordinate to a desired value after home return processing B Coordinate origin processing procedure 1 Write a coordinate to be the home in the home coordinate area of the target axis for which the coordinate is to be changed after a home return 2 Execute the home return process After the completion of the home return the coordinate specified in the above 1 will become the home position Unit memory no Name Default Setting range and description Hex UM 0084A Coordinate origin of 1st axis UM 0084B UM 0304A 2 Coordinate origin of 2nd axis UM 0304B UM 0584A T Stores the value of coordinate origin after the home Coordinate origin of 3rd axis UM 0584B return UM 0804A 2 Coordinate origin of 4th axis UM 0804B UM 1204A 2 Coordinate origin of virtual axis UM 1204B Set the coordinate origin in the specified unit 13 8 13 6 Pulse Input 13 6 Pulse Input 13 6 1 Pulse I
289. ystem stop state Switch the operation of the pause function by rewriting the value in the above unit memory address 12 4 13 Supplementary Functions Supplementary Functions 13 1 Dwell Time The time taken until the next operation after the completion of an executed positioning table in the automatic operation is called dwell time B For E point control The dwell time is the time taken from the completion of the position reference until the operation done flag turns ON Dwell time BUSY flag N Operation done flag B For P point control While the positioning unit is in P point control the positioning table will operate consecutively and the dwell time will be ignored For the last table E point like E point control dwell time is a period required from the completion of the position reference until the operation done flag turns ON Dwell time 5C p Operation done flag B For C point control The dwell time is the waiting time for executing the next table from the completion of the positioning table deceleration stop For the last table E point like E point control dwell time is a period required from the completion of the position reference until the operation done flag turns ON Dwell time Dwell time Dwell time BUSY flag zl NE Operation done flag 13 2 13 2 Software Limit 13 2 Software Limit The system is designed to mechanically set the limit and limi

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