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3F88L-160/162 Cam Positioner USER'S MANUAL

1. Prete Bank number 2 cam number 32 step number display BANK FUN CAM PRMTR e Bel SPEED ON POSITION OFF Up to cam number 16 or 3F88L 160 i Any key Bank number 8 cam number 32 step number display BANK FUN CAM PRMTR 8 32 SPEED ON POSITION OFF u Up to cam number 16 or 3F88L 160 Any key Advance angle compensation data 1 angle data BANK FUN CAM PRMTR SPEED ON POSITION OFF frinnn TIN Advance angle compensation data 2 angle data BANK FUN CAM PRMTR b 4 SPEED ON POSITION OFF nnn ZI Operation Chapter 3 BANK FUN CAM PRMTR SPEED ON POSITION OFF CAW PRMTR Advance angle compensation value 3 Various compensation values and baud rate setting BANKI FUN BANK FUN BANK FUN CAM PRMTR b LS SPEED ON POSITION OFF EN PRMTR Baud rate BANK FUN CAM PRMTR b 65 Cam protect BANK FUN CAM PRMTR T SPEED ON POSITION OFF Cam protect setting Y Teaching SPEED ON POSITION OFF Cam t 1 ZI bank number 1 protect Cam protect bank number 1 cam number 1 BANK FUN CAM PRMTR SET
2. Operation Display BANK FUN CAM PRMTR e TEIN SPEED ON POSITION OFF Chapter 3 Explanation Press the Clear Key three times to delete the displayed bank number The bank number display will start flashing when the Clear Key is pressed three times which means the bank number is ready to be deleted Note If the Clear Key is pressed once the and OFF angle display will start flashing which means the step is ready to be deleted If the Clear Key is pressed twice the cam number will start flashing which means that that cam number is ready to be deleted If the Clear Key is pressed four times the display will return to the original display nothing will be deleted BANK FUN CAM PRMTR SPEED ON POSITION OFF zs e Deleting All Cam Programs Operation Display BANK FUN CAM PRMTR Li t t i SPEED ON POSITION OFF While the bank number display is flashing press the Set Key to delete the bank number that is flashing Once the cam number has been deleted the ON and OFF angle display will be which means data be input Explanation Set the mode selection switch to PRGM mode The data for step 1 of the displayed bank and cam numbers will be displayed Note If there is no data the display will be BA
3. Note 1 this table 0 indicates OFF and 1 indicates ON Note 2 The data on this table is for 3F88L 160 Cam Positioners For 3F88L 162 Cam Positioners CAM16 to 13 will be CAM32 to 29 Refer to 3 6 10 Present Value Output Function Note 3 In PRGM SET mode a code that gives A will be output when the bit is reversed all digits The following cases however are exceptions to this rule During trial operation or teaching The display data will be output according to the present value output settings During origin compensation Display data is output with the origin compensation absolute angle flashing For approximately one second the code all digits that will give E when origin compensation absolute angle changed to bit reversal will be repeatedly output 7 2 Appendix Chapter 7 Note 4 When an error occurs a code that gives E will be output when the bit is reversed Note 5 For M7E Display Units codes that give A to F when bits are reversed will not be displayed For M7F Display Units however to F will be displayed e Ladder Program Bit 11 word 0 H Bit 10 word 0 b Bit 9 word 0 Bit 8 word 0 pF a Bit 11 word 0 p E A a 7 3 7 7 2 Performance This section shows the performance values of the Cam Positioner
4. AR ER da 1 8 1 3 3 Operation Keys e mirerien ren E e a e deeds eee era ae 1 9 1 3 4 Terminal Block and Connectors 1 9 Glossary TT 1 10 Operation Procedure 225225292209 e ete Rer AR Tea Hee e EH E 6 1 11 12521 iBefore Operations sesso vr eror Eee veHnE a gee ay IR E HERE ES 1 11 Chapter 2 DesIgli ovis wisis pe we ws x UC EE ROS 21 2 1 2 2 2 3 System Sere aa eater Ue rea e Eee 2 2 2 1 1 Selecting the Resolver 22 2 2 2 1 2 Selecting the Output Device 2 4 Installationt s ther dort te a i M sd rite Mice n sabes 2 6 2 2 1 External Dimensions 0 4 2 6 2 2 2 Installation Environment 1 2 8 2 2 3 Mounting the Resolver 2 9 WINDS vex eee MENS CETUR HS I 2 13 2 3 1 System Connection Diagram 2 13 2 3 2 Standard Wiring 1 2 14 2 3 3 Terminal Block Wiring 2 16 2 3 4
5. Color Munsell 5Y3 1 Munsell N1 5 Ambient operating temperature 10 to 80 C Connection between Resolver and Cam Positioner e Cam Positioner Connector Use the Resolver Cable sold separately for connecting the Resolver to the Cam Positioner connector Using the Cable will eliminate soldering effort and improve noise immunity D sub Connector 15 pin Viewed from the wiring side Signal name Cable color on Resolver side Cable color on Resolver side Signal name S1 sint Red Shield 53 sin Black R1 OUT Red White FG R2 OUT Yellow White 52 cost Yellow 54 cos Blue Oo O O 5 O I9 Specifications Chapter 6 e 3F88L RS15 Connector RM15WTP 10S 8 5918 sint S3 sin 1 2 3 4 5 6 7 8 9 1 e 3F88L RS15W Resolver Connect the lead wires to the 3F88L CR SA Resolver Cable Wire color Signal name Red Black Yellow Blue Red White Yellow White 6 5 Specifications Chapter 6 6 3 I O Block Specifications G7TC OC16 I O Block m Specifications Rated load Resistive load 0 4 L R 7 ms 2 A at 24 V DC 1 A at 220 V AC Resistive load 1 5Aat24 V DC 2 Aat 220 V AC Rated carry current 5A Maximum contact voltage 250 V AC 125 V DC
6. Note 1 Pin numbers have been given for convenience 1 indicated by the A mark on the protruding side should be used as the starting pin number Note 2 The signal names in parentheses in the table will be applicable if the Cam Connector Cable is connected to the connectors for cam outputs 17 to 32 CAM17 to CAM32 These connectors are not available on the 3F88L 160 16 point Cam Positioner Note 3 The maximum switching capacity for cam outputs is 26 4 V DC 300 mA However keep this at no more than 1 6 A per connector Note 4 The connector is common to both A2 and B2 pins Note 5 If the present value output function is used some cam outputs cannot be used Note 6 Reinforced insulation or double insulation must be used for the DC power supplies used as I O power supplies in order to comply EC Directives 2 24 Design Chapter 2 Cam Output Specifications Item Specifications Maximum switching capacity 24 V DC 15 10 0 3 A point 1 6 A connector Leakage current 0 1 mA max Residual voltage 1 5 V max ON response time 0 05 ms max Off response time 0 07 ms max Internal circuit CAM to 32 COM 0V 2 3 6 Connecting a Display Unit If the Cam Positioner is connected to a Display Unit the present angle and Resolver speed can be displayed The Display Unit is connected to the cam output connectors on the Unit via Cam Output Cables Note 1
7. e Advance Angle Compensation Enable Disable 2 e Set to 1 to enable advance angle compensation 0 Advance angle compensation disabled 1 Ad vance angle compensation enabled e The factory setting is 0 Note This parameter is enabled when the power is turned OFF and then turned ON again Operation PRGM Te Use the mode selection switch to change to SET mode Various compensation value Present value enable disable settings Backlash compensation enable disable Advance angle compensation enable disable output setting BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF e f the advance angle compensation enable disable function Function No H Parameter No 2 is dis played the present settings will flash in the SPEED ON display e Use the Up and Down Keys to set the data e Press the Set Key and the data will stop flashing for approximately one second the setting will be con firmed and the display will resume flashing 3 6 7 Cam Protect m Functions e The cam protect function protects cams and banks from accidental changes or deletion of cam ON OFF data e Operations are limited in the following ways when data is cam protected Protected cam data cannot be changed or deleted Banks containing protected cam data cannot be deleted The P CLR operation clear all cam programs cannot be performed If any of these operations are atte
8. 3F88L 160 H PRMTR Cam protect bank number 8 Cam protect bank number 8 cam number 1 Cam protect bank number 8 cam number 32 BANK FUN CAM PRMTR BANK FUN CAM PRMTR BANK FUN CAM PRMTR lie Een SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF f f Up to cam number 16 for 3F88L 160 f E 1 Use the Bank Function Key to set cam protect Function No C and press the Set Key and the bank number will flash in the Bank Function display indicating that bank number selection is en abled Use the Up and Down Keys to set the bank number containing the cam to be cam protected Next press the Set Key to display the cam number in the Cam Parameter No display The current cam protect status will be displayed in the SPEED ON and POSITION OFF displays and cam protect settings can be made 3 72 Chapter 3 Setting Releasing Cam Protect Procedure 2 Setting Releasing Cam Protect within a Set Bank Setting Releasing Cam Protect by Bank Set BANK FUN CAM PRMTR e ios Cam protect bank number 1 Cam protect bahk number 1 cam number 1 Confirm settings BANK FUN CAM PRMTR SPEED ON POSITION OFF C 181888 SPEED ON POSITION OFF 381888 BANK FUN CAM PRMTR BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF For 3F88L 162 32 point model C flashes twice Rele
9. Step 4 can be input approximately one second after the Set e j Key has been pressed SPEED ON POSITION OFF TIAN The cam program is now complete Note 1 If there is an error with the input data the display will change as outlined below Check and reset the input data If data is duplicated in the ON region the region between an ON angle and OFF angle of a step that has been already input E 22 cam program duplication error will appear in the SPEED ON angle display Press the Clear Key to clear the error and reset with the correct data f the input numeric data exceeds the setting range All displays will flash twice and return to the status before the data was edited Reset with the correct data Note 2 Cam outputs turn ON at the set ON angle and turn OFF at the set OFF angle In this cam pro gram example the cam output number 2 will turn ON at the point when 0 is detected and turn OFF when 90 is detected 3 30 Operation Chapter 3 Cam Program Confirmation PRGM Mode Once a cam program has been created check that it has been created correctly e Procedure Operation Display BANK FUN CAM PRMTR SPEED ON POSITION OFF TITAN Explanation Use the mode selection switch to set to PRGM mode The data for step 1 of the bank and cam numbers displayed will be displayed Note If there is no data the d
10. Up to cam number 16 for 3F88L 160 CAW PRMTR Pulse output bank number 2 cam number 1 Pulse output bank number 2 cam number 32 SET BANK FUN CAM PRMTR BANK FUN CAM PRMTR Pulse output bank number 2 BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF zi TIAN Pulse output bank number 8 cam number 1 Pulse output bank number 8 cam number 32 BANK FUN CAM PRMTR BANK FUN CAM PRMTA 8 5 3 del 8 SPEED ON POSITION OFF SPEED ON POSITION OFF Up to bank number 4 for 720 resolution i H CLR e Use the Bank Function Key to make the pulse output settings Function No P and press the Set Key and the bank number will flash in the Bank Function display Use the Up and Down Keys to set the bank number that contains the cam for which a pulse output program is to be created Next press the Set Key to display the cam number in the Cam Parameter No display Alternatively P first digit flashing will appear in the SPEED ON display and will appear in the POSI TION OFF display e Press the Cam Parameter Key until the cam number to be set appears e The data that appears in the SPEED ON display is the pulse number Set a pulse number between 1 and 180 for 360 resolution or between 1 and 360 for 720 resolution e The data that appears in the POSITION OFF display is the pulse start position Set a pulse star
11. Using manual operation move the machine to the OFF angle position BANK FUN CAM PRMTR SPEED ON POSITION OFF Press the Set Key to set the OFF angle The ON and OFF angles for the step created using the teaching function will be displayed in the SPEED ON and POSITION OFF displays ON BANK FUN CAM PRMTR SPEED ON gu FITTS POSITION OFF To apply the teaching function to the next step in the same cam number press the Set Key while pressing the ON OFF Switching Key again Repeat the same operation as described above Note If the ON or OFF setting overlaps with the ON region for the next step when the Set Key is pressed to save those settings an E23 cam program duplication error will be generated Press the Clear Key if this error occurs The error will be cleared and the status will return to the angle settings that generated the error If an E23 cam program duplication error occurs check the contents of the already input cam program Refer to Deleting Cam Program Steps on the next page for information on how to delete the relevant step 3 85 3 e Changes in Display after Teaching Inputs Teaching bank number 1 cam number 1 ON angle input status OFF angle input status BANK FUN CAM PRMTR BANK FUN CAM PRMTR BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON ZITPYAGNSS POSITION OFF SPEED ON POSITION OFF ZITI
12. Maximum contact current 5A 2A Maximum switching capacity 120 W DC 440 V AC 48 W DC 220 V AC Minimum applicable load P level reference value 10 mA at 5 V DC Coil load current per one relay Coil 21 mA LED 4 mA Electrical life expectancy 1 000 000 times Mechanical life expectancy 50 000 000 times Contact form SPST NO x 16 Contact resistance 50 mQ max Operating time 15 ms max Release time 15 ms max Maximum Mechanical switching 18 000 times hour frequency Rated load 1 800 times hour Insulation resistance 100 at 500 V Dielectric Between coil and strength contact 2 000 V AC at 50 60 Hz for one minute Between contacts of same polarity 1 000 V AC at 50 60 Hz for one minute Between connectors 250 V AC at 50 60 Hz for one minute Malfunction vibration resistance 10 to 55 Hz double amplitude of 1 0 mm Malfunction shock resistance 200 m s Noise immunity Noise level 1 5 pulse width 100 ns to 1 us Operating ambient temperature 0 to 55 C Operating ambient humidity 35 to 85 Tightening torque of external connections 0 78 to 11 8N em Coil surge absorption Diode 1 A 400 V Weight Approx 670 g Specifications Chapter 6 Internal Connection Diagram dero ende ier ord dep dpi onde eri de Connect 7 or Pin E
13. 50081 2 in relation to EMI However the radiated emission 10 m regulations may vary depending on the configuration of the control panel connected devices wiring and other conditions The customer must therefore confirm that devices and the overall machine conform to EC Directives 2 2 3 Mounting the Resolver Use the Resolver Coupling to connect the Resolver to the machinery This Coupling pro tects the Resolver from vibrations and shocks from the machinery Mounting Method e 3F88L RS17 17T Flange mounted Recommended Mounting example mounting holes Four M4 Four M4 screws Screws 5 4 35 0 025 o dia 50 50 3 dia 3 mm sheet min 2 9 Design Chapter 2 e 3F88L RS15 15W Servo mounted Recommended Mounting example mounting hole Three M4 screws Evenly spaced around circumference 33 332 0 025 6 dia 52 dia I 67 dia 3 mm sheet min Mounting hook Resolver attachment 4 4 dia id 26 KM m Connecting with the Coupling As a rule the Resolver Coupling should be used when connecting the Resolver to the machinery The Coupling will break near the center if 1 7 to 2 times the rated tightening torque is applied and therefore protects the Resolver from excessive torque Keep the axle center displacement and bend angle of the Coupling within the specifications when mounting e Coupling Specifications 3F88L Dimensions mm Max Axl
14. Control output RUN ERROR M DET Open collector output maximum switching capacity of 300 mA at 26 4 V DC Speed detection accuracy 5 r min max Specifications Chapter 6 6 2 Resolver Specifications m Specifications Type Large diameter High torque Connector Model 3F88L RS17 3F88L RS17T 3F88L RS15 3F88L RS15W Axial diameter 10 dia 6 dia Axial load Thrust 196 N max Radial 196 N max Thrust 98 N max Radial 98 N max Total length 101 mm 110 mm 154 mm 97 mm Mounting method Flange mounting Fla nge strength 245 N Servo mount mounting hooks included Friction torque 12 mN e m max 49 to 147 mN em 2 9 mN em max Vibration resis tance Frequency range 10 to 500 Hz Total amplitude Test time 1 5 mm or 98 m s whichever is less 3 directions X Y Z 2 hrs each Shock resistance 4 900 m s in X Y and Z directions 3 times each Degree of protec tion Drip proof oil proof IP52F JEM Frequency 5 kHz Primary voltage 10V Electrical malfunc tion 10 minutes Maximum speed 3 000 r min Mechanical Coupling 3F88L RL10 3F88L RL6 Wiring method Cable 3 m end connector included Connector Lead wire 350 mm Applicable cable 3F88L CR 3F88L CR 3F88L CR SA
15. RESET input turned ON due to noise while program being edited Find the source of the noise and take appropriate countermeasures Check and adjust the wiring for control input signals Power failure during write to non volatile memory Power turned OFF during data save to non volatile memory Power turned OFF while writing to memory Check that the voltage supplied to the Cam Positioner meets the specifications 85 to 264 V AC and adjust if necessary Change to PRGM or SET mode and press the Clear Key to clear the error Then re input RESET input turned ON while writing to memory Adjust the RESET input sequence the cam program RESET input turned ON due to noise while writing to memory Find the source of the noise and take appropriate countermeasures Check and adjust the wiring for control input signals Resolver disconnection error Resolver cable disconnected during teaching or trial operation in RUN mode or error in Resolver interface circuit Resolver connector has been disconnected Resolver connector connection imperfect Check that the Resolver connector is connected securely Change to PRGM or SET mode and press the Clear Key to clear the error Resolver cable disconnected Replace the Resolver cable Resolver detection circuit error Replace the Cam Positioner Ope
16. Automatic switching of 3 digit present angle and number of rotations with units Automatic switching of 4 digit present angle and number of rotations with units Chapter 7 POSITION OFF P p see note 4 Pulse output setting Writes pulse output program to any bank or cam number sets pulse number Sets pulse start position t t see note 4 Data transfer Slave setting Operates on a command issued from Master Unit Data transfer Master setting 0 Disabled factory setting Read data Write data Verify data Function level selection Function level 0 monitor only Function level 1 basic operation monitor only factory setting 2 Function level 2 all functions Note Note Error display set and displayed as 1 for 0 5 Note ON again Note 7 14 error display 1 The data for the 3F88L 160 16 point model Cam Positioner is shown in parentheses 2 The data for 720 resolution divisions revolution is shown in parentheses The angles will be 3 Functions A b C F H and U will be enabled after the power has been turned OFF and then 4 Functions P and t are special operations that are not stored as parameters Appendix e RUN Mode Bank Function 1108 1 to 4 see note 2 Cam Parameter Start input SPEED ON Number of Resolver ru rU rotations r min Chapte
17. 3F88L 160 162 Cam Positioner 3F88L CR SA Cable 3F88L RS15W Resolver 2 21 Design Chapter 2 e Resolver Cable Models Resolver Extension Cables for 3F88L RS17 RS17T 3F88L CROO2C 3F88L CROO5C 3F88L CRO10C 3F88L CRO20C 3F88L CRO50C Note 1 A maximum of two extension cables can be joined together Note 2 Refer to 6 2 Resolver Specifications for information on cable wire colors and pin positions Resolver Cables for 3F88L RS15 3F88L CROO3NA 3F88L CROOSNA 3F88L CRO10NA 3F88L CRO15NA 3F88L CRO20NA SF88L CROO3SA SF88L CROO5SA 3F88L CRO10SA 2 3 5 Cam Output Wiring Cam output is an open collector output The wiring connectors are located on top of the Cam Positioner Unit and the wiring is easily performed if Cam Output Cables are used Cam Output Wiring Method Use the 3F88L CG S Cam Output Cable for direct connection to PCs or Relays and the 3F88L CG Cam Output Cable for direct connection to an I O Block Note Cam output is also used for connection to Display Units Refer to 2 3 6 Connecting a Display Unit for details Cam Output Connectors CAM17 to 32 CAM to 16 G7TC OC16 Block 3F88L CG N Cam Output Cable PC or Relay 3F88L 160 162 Cam Positioner 3F88L CG S Cam Output Cable 2 22 Design Chapter 2 Not
18. Cam outputs at 200 r min When advance angle compensation value 1 is set Advance angle amount 338 719 ustedes Advance angle amount Set angle Set speed x Resolver speed Setangle eee Saturation speed Set speed Set angle x 359 or 719 Resolver speed r min 0 Set speed Saturation speed Note The maximum compensation value is 359 for 360 resolution or 719 for 720 resolution com pensation greater than one rotation cannot be made 3 64 3 When advance angle compensation values 1 and 2 are set Advance angle amount 359 719 M Advance angle amount 2 i Set angle 1 Set angle 2 Set angle 1 Set Set angle 2 speed 2 Set speed 1 x Resolver speed Set i speed 1 Set angle 1 d 8 Advance angle amount Set angle 1 Set speed 1 x Resolver speed Saturation speed Set speed 1 359 or 719 Set angle 1 Set angle 2 Set angle 1 x Set speed 2 Set speed 1 i i Resolver speed r min 0 Set Set Saturation peed speed 1 speed 2 speed Note 1 The data for advance angle compensation value with the lower speed out of advance angle compensation values 1 and 2 will become the set speed 1 and the set angle 1 Note 2 The maximum compensation value is 359 for 360 resolution or 719 for 720 resolution A compensation greater
19. Chapter 4 nications Way F the content of the commu communications will nications differ for each mode function Copy SET t 3 6 13 Baud rate SET b 6 4 1 setting 3 6 13 shared with Com poWay F and copy operation Note 1 The data for the 3F88L 160 16 point model Cam Positioner is shown in parentheses Note 2 The data for 720 resolution divisions revolution is shown in parentheses 3 7 Operation m Displays by Mode e SET Mode Bank Func tion 1108 1 to 4 see note 2 Cam Parame ter Function Origin compensation absolute angle Data range SPEED ON Displays the absolute angle for origin compensation Chapter 3 POSITION OFF 1 to 32 1 to 16 see note 1 Program number checking Displays the number of steps for the displayed bank or cam number 1 Resolution selection 0 360 divisions revolution factory setting 1 720 divisions revolution Origin compensation value 010 359 0 to 719 see note 2 Sets origin compensation value angle data Factory setting 0 Backlash compensation value 010179 0 to 359 see note 2 Sets backlash compensation value angle data Factory setting 0 Advance angle compensation value 1 010 1600 0 to 800 see note 2 Sets speed data for advance angle compensation value 1 Factory setting 0 010 359 0 to 719 see note 2 Sets angle data fo
20. Has the product been damaged in shipping Are any screws or bolts loose Have all accessories been correctly delivered together with or attached to the product The acces sories for the SF88L RS17 17T one 3F88L RL10 Coupling and one copy of the user s manual The accessories for the 3F88L RS15 15W are one 3F88L RL6 Coupling and three mounting claws Should there be any problems with this product contact your nearest OMRON sales repre sentative OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual The following conventions are used to indicate and classify precautions in this manual Al ways heed the information provided with them Failure to heed precautions can result in inju ry to people or damage to property NDANGER Indicates an imminently hazardous situation which if not avoided will result in death or serious injury Additionally there may be severe property damage NWARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage N Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Product References All OMRON products are capitalized in this manual The word Unit is also capitalized when it refers to
21. O O No of bytes 2 2 2 2 20 20 Note 1 The model is returned as 3F88L 160 16 pointtype 3F88L 162 amp o 32 point type represents a space code 20 Hex Note 2 The version is returns as Ver e 4 3 4 Unit Attribute Read RUN PRGM SET Reads the model and communications buffer size either send or receive buffer size whichever small er m Structure of FINS mini Command Text PDU MRC SRC o 5 o No of bytes 2 2 m Structure of FINS mini Response Text PDU MRC SRC MRES SRES Model Buffer size o 5 o 3 0 0 0 o 407 5 B E No of bytes 2 2 2 2 10 4 Note 1 The model is returned as 3 881 160 16 point type or 3 881 162 32 point type represents a space code 20 Hex Note 2 The communications buffer size of the Cam Positioner is 05 1 470 bytes 4 3 5 Controller Status Read RUN PRGM SET Reads the error codes and executing status of the Controller m Structure of FINS mini Command Text PDU MRC SRC 0 8 0 17 No of bytes 2 2 4 20 Communications Chapter 4 m Structure of FINS mini Response Text PDU MRC SRC MRES SRES Status Error data o 6 O 1 O Oo O O No of bytes 2 2 2 2 2 2 Note 1 Status is returned as
22. POSITION OFF SPEED ON BANK FUN CAM PRMTR i SPEED ON POSITION OFF Cam protect tank namber 2 777777 cam number 1 BANK FUN CAM PRMTR e SPEED ON f c POSITION OFF BANK FUN CAM PRMTR e I SPEED ON POSITION OFF c Cam protect bank number 8 Cam protect bank number 8 7 cam number 1 BANK FUN CAM PRMTR SPEED ON POSITION OFF r Note Up to bank number 4 for 720 resolution Teaching bank number 1 BANK FUN CAM PRMTR POSITION OFF d SPEED ON BANK FUN Teaching BANK FUN BANK FUN CAM PRMTR SPEED ON POSITION OFF Teaching bank number 2 BANK FUN CAM PRMTR SPEED ON POSITION OFF BANK FUN CAM PRMTR 8 SPEED ON r CAW PRMTA os POSITION OFF Cam protect bank number 1 cam number 32 BANK FUN CAM PRMTR Up to cam number 16 for 3F88L 160 Cam protect bank number 2 cam number 32 SPEED ON POSITION OFF Up to cam number 16 for 3F88L 160 CLR Cam protect bank number 8 cam number 32 CAW PRIMER BANK FUN CAM PRMTR 8 SPEED ON r p to number POSITION OFF 16 for 3F88L 160 cam number 1 BANK FUN CAM PRMTR SPEED ON PO
23. Press the Bank Function Key and set the bank number that contains the cam number to be checked Press the Cam Parameter Key and set the cam number to be checked The number of steps for that cam program will appear in the SPEED ON display Once the number of steps for one cam number have been checked change the cam number using Cam Parameter Key and check another cam number in the same way If multiple bank numbers are used change the bank number using the Bank Function Key and check another bank number in the same way 3 26 3 Cam Program Creation PRGM Mode Before creating cam programs use the information contained in 7 7 Cam Programming Sheet to write down the ON OFF patterns so as to make the process easier e Time Chart The following shows how to create a cam program with the following kind of ON OFF patterns The resolution is set to 360 divisions rotation in this example When the resolution is set to 720 the ON and OFF angle values will be double the values shown here Bank No 2 ON OFF Time chart position position 0 60 90 120 150 180 210 240 270 300 330 360 e Display and Operation Functions in PRGM Mode Display Functions Bank Function display Displays the bank numbers currently being programmed Cam Parameter No display Displays the cam numbers currently being programmed SPEED ON angle d
24. 1 600 r min 800 r min No of cam program steps 180 max 360 max Number of banks 8 4 Note For example to set the ON angle at 90 the setting is 90 for a 360 resolution and 180 for a 720 resolution 1 2 Outline Chapter 1 1 1 3 Modes e The 3F88 L160 and 3F88L 162 Cam Positioners have three modes RUN PRGM and SET These are set using the mode selection switch on the front of the Unit The functions of each mode are out lined below Refer to 3 2 Mode Functions and Display RUN mode Operation and compensation PRGM mode Creation editing deletion and trial operation of cam programs SET mode Unit parameters and various compensation value settings teaching and communica tions settings 1 1 4 Selecting the Function Level e Three function levels are available to limit Cam Positioner functions Refer to 3 4 Selecting Function Levels Function Level 0 Monitor Only Cam output and monitoring are enabled Cam programs are write protected and parameter settings cannot be made This function level is designed to prevent inadvertent changes to the cam program or parameters Function Level 1 Basic Operation Monitor Only In addition to the functions available at function level 0 cam programs may be edited This function level is used for basic operation Function Level 2 All Functions Cam Positioner functions are enabled This function level is for using applied fu
25. Note 2 Use the CW CCW setting switch to set either CW or CCW as the forward direction Refer to 3 5 2 Initial Settings for details 3 75 Chapter 3 Operation PRGM es Use the mode selection switch to change to SET mode i Bank selection i One direction function enabled status i setting enabled status i CAW PRMTR One direction One direction function bank i function bank number 1 cam number 1 cam One direction function setting One direction function bank number 1 number 1 number 32 BANK FUN CAM PRMTR BANK FUN CAM PRMTR BANK FUN CAM PRMTR BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF CAM PRMTR One direction One direction function bank 1 function bank number 2 cam number 2 cam number 32 BANK FUN CAM PRMTR number 1 BANK FUN CAM PRMTR SPEED ON POSITION OFF M SPEED ON POSITION OFF One direction One direction cesset uere function bank i function bank number 8 cam number 8 cam number 1 number 32 BANK FUN CAM PRMTR BANKFUN CAM PRMTR SPEED ON SPEED ON POSITION OFF SPEED ON POSITION OFF EE Up to bank number 4 for 720 resolution i Use the Bank Function Key to set the one direction function Function No and
26. OFF When an error code E or watchdog error has been generated Refer to 5 1 Diagnosis using Error Codes Alternatively during initialization when the power is turned ON Refer to 7 2 Performance for information on initialization times 3 43 Operation Chapter 3 3 6 Applied Functions Function selection Function No U must be set to 2 all functions before the applied functions can be used for 3F88L 160 162 Cam Positioners 3 6 1 Function Level Selection Setting SET Mode m Function Level Selection Setting and Checking Check if the function level is set to function level 2 all functions If another function level is set change the setting to function level 2 all functions Function No e Procedure Parameter No level Function name Function selection Function level 01112 Setting Details range 0 Function level monitor only 1 Function level 1 basic operation monitor only factory setting 2 Function level 2 all functions Set the function level selection to 2 function level 2 Operation PRGM ja mmi Display BANK FUN CAM PRMTR o SPEED ON POSITION OFF Explanation Use the mode selection switch to change to SET mode BANK FUN BANK FUN CAM PRMTR 1 SPEED ON POSITION OFF Keep pressing the Bank Function Key until U appears
27. Resolver Wiring Sere 000 4 pm ede 2 21 2 3 5 Cam Output Wiring cece 2 22 2 3 6 Connecting a Display 2 25 Chapter 3 Operation 3 1 3 1 3 2 3 3 3 4 3 5 Nomenclature of Display and Operation Sections 3 2 Modes Functions and Display 3 4 Operation Procedure isis eoe en Ere peer ree eem er ire 3 12 3 3 1 Before Operation eee epe oie qe e re YE ee ers 3 12 Selecting Function Levels areae n aces eg ee Eee xe oe ee 3 14 Basic Operation ege ace ais ee Red R RR E IRE 3 20 3 5 1 Function Level Selection Setting SET Mode 3 20 32972 Initial TI oa hoa 3 21 3 5 3 Cam Program Creating and Checking Mode SET Mode 3 24 3 5 4 Resolver and Machinery Connection 3 37 3 5 5 Origin Compensation 3 37 3 5 6 Start Operation RUN Mode 3 38 3 5 7 I O Monitor Function RUN 3 40 3 5 8 Control I OcSienals a C ES A EUR E tc
28. eee Note The power must be turned OFF and then ON again to enable this function 7 26 Numbers 4 digit display wiring 2 27 A B adjustment operation 3 93 advance angle compensation 3 62 and teaching 3 87 angle resolution 1 2 applied functions 1 4 1 12 3 44 3 96 backlash compensation 3 60 3 62 and teaching 3 87 bank number bank selection inputs 3 42 deleting programs by bank number 3 34 switching time 7 6 bank selection inputs 3 42 baud rate setting 3 90 C cam number deleting program by cam number 3 33 cam output cam output function 1 3 delay time 7 4 7 7 monitoring 3 41 OFF time 7 5 specifications 2 25 wiring 2 22 Cam Positioner installation 2 6 replacement 5 13 RS 232C connections 3 88 specifications 6 2 standard models 7 11 cam program cam programming sheet 7 21 checking in PRGM mode 3 24 3 31 3 32 checking number of steps 3 26 3 35 3 37 creating and checking 3 24 3 36 creation in PRGM mode 3 24 3 27 3 30 deleting 3 32 write function 1 3 cam protect error 3 92 cam protect function 3 69 3 75 cam protect settings 7 24 chains using 2 12 colors cam output cable colors 2 24 Index command frame 4 5 4 6 commands FINS commands 4 10 communications CompoWay F communications 4 1 4 28 specifications 4 3 communications error 3 92 5 7 5 8 communications ports R
29. 32 7ms 32 7ms 32 7ms 32 78 32 7ms 32 7ms i Note The output timing for each digit of display data CAM 13 to 16 and each digit s LE signal CAM9 to 12 are shown below CAM13 16 1st digit display data CAMI2 LEI 3 6 11 Pulse Output Function m Function e The pulse output function creates cam programs that turn ON and OFF at even intervals at particular bank and cam numbers e The cam programs that turn ON OFF at even intervals can be set from any angle pulse start position Note 1 For pulse settings to be made the resolution pulse number x 2 must be an integer If this equation does not produce an integer the pulse number will be changed to the nearest pulse number that will give an integer The pulse numbers are as follows For 360 resolution 1 2 3 4 5 6 9 10 12 15 18 20 30 36 45 60 90 180 For 720 resolution 1 2 3 4 5 6 8 9 10 12 15 18 20 24 30 36 40 45 60 72 90 120 180 360 If a pulse that falls between any of these pulse numbers is set it will be converted to the next largest pulse number For example if 7 is set for 720 resolution it will be converted to 8 Note 2 If the pulse number and pulse start position are set a cam program that turns ON at the pulse start position will be created 3 80 Chapter 3 Note 3 Cam programs created using the pulse output function like other cam programs can be edited and deleted in PRGM mode and
30. Bank Function Key Down Key Cam Parameter Key Forward Key ON OFF Switching Key Clear Key Up Key Set Key 3 2 3 m Display Patterns for Seven segment Display 8 Marks underneath a character display indicate that the character is flashing 3 3 Chapter 3 3 2 Modes Functions and Display m Modes The 3F88L 160 162 Cam Positioner has three modes SET PRGM and RUN Program Mode PRGM Creation editing and Operation Mode RUN Normal operation Set Mode SET Unit parameter settings Mode Mode Various compensation change deletion of cam programs change Adjustment operation value settings gu Trial operation Cam output and control monitoring Origin shift Teaching Communications settings Origin compensation Changing Modes The mode selection switch is used to change modes Mode selection switch 17 32 omnon 3F88L 162 CAM POSITIONER BANK FUN CAM PRMTR m Functions by Mode Classifi Function name Applicable modes Conditions Front panel Refer cation displays ence sec Function Parame tion No ter No Function Function level selection SET U 1 3 5 1 selection Initial Resolution selection SET 1 3 5 2 settings Rotation direction SET PRGM RUN x Es 3 5 2 selection Not
31. Memory Area Present cam angle Reads present cam angle Read Cam output status Reads cam output status Executing bank Reads the bank being executed Control I O status Reads control status Operating Changes the current operating state to Operation Com State Change the one in which parameters and pro mand grams can be sent and received in RUN mode Returns from the above state to the original state 4 2 Communications Function Read Write Resolution com pensation settings Communications capabilities Reads and writes operation parame ters Compensation val ues Reads and writes compensation value parameters Cam data protect settings Reads and writes cam data protect settings Output hold infor mation Reads and writes output hold informa tion Cam program Reads and writes cam programs Program Clear Clears cam programs Parameter Clear Returns parameters to their default settings Parameter Update m Connecting to Host CPU Connect the Cam Positioner to the host CPU through the communications port Host CPU such as personal computers and CS1 series Programmable Controllers Enables parameters that will be made valid when the power is turned OFF and then ON Using this command makes it unnecessary to turn the pow er OFF and then ON when making pa rameter settings vali
32. Moni tor only 1 Basic opera tion monitor only 2 All func tions Advance angle compensation enable disable setting Enables disables the advance angle compensation value Advance angle compensation When the advance angle compensation value is enabled advances the ON and OFF angles in proportion to the number of Resolver rotations Cam protect setting Cam protect function operation Protects ON OFF angle settings cam programs for each bank and cam One direction function setting One direction function operation Enables cam outputs when the Resolver is rotating in one direction only either forward or reverse Output hold setting Output hold function operation When switching from RUN to PRGM or SET modes or when an error is generated holds the cam output status Present value output setting Present value output function operation Using cam output signals outputs signal connecting to M7E M7F or other Display Units Note Uses CAM 9 7 to 16 for 3F88L 160 and CAM 25 23 to 32 3F88L 162 Operation Classifi cation Applied functions Cam pro gram creat ing changing Function Pulse output setting Contents Creates cam programs that turn ON and OFF at constant intervals in any bank or cam number Chapter 3 Function level 0 1 2 Moni Basic All tor
33. SPEED ON POSITION OFF 0 Function level 0 1 Function level 1 2 Function level 2 3 20 Chapter 3 Operation Display Explanation rz Md x as Press the Set Key to confirm the settings d The setting will stop flashing for approximately SPEED ON POSITION OFF 2 1 second and then resume flashing Note When a setting is flashing the Up and Down Keys are enabled and the setting may be changed BANK FUN CAM PRMTR Press the Bank Function Key 11 O The display will return to only the function number that SPEED ON POSITION OFF appears Turn OFF the power supply The settings will now be enabled Note 1 The functions are enabled once the power has been turned OFF and then ON again Note 2 The display will change as shown below when the Bank Function Key is pressed repeatedly to set the function number Function level 0 1 gt 2 gt gt 3 gt 4 5 gt 6 7 8 4 1 Function level 1 132334556378 A gt t gt U 1 etc Function level 2 1323 45 6 7 8 Ab C gt gt d gt F gt H gt P gt t gt U gt 1 ete If the resolution selection explained in the next section is set to 1 720 divisions rotation 5267 38 will not be displayed 3 5 2 Initial Settings Only the rotation direction CW CCW selection switch and resolution setting SET mode are changed at function level 1 m Rotation Direction S
34. The speed display can have an error margin or 5 r min max Note 2 Parameters must be set to display present values such as the present angle and Resolver speed The present value output and cam output share termi nals Some cam output signals can no longer be used therefore when pres ent values are being output Connecting a M7E Display Unit Use a 3F88L CG S Cam Output Cable to connect the M7E Display Unit 3F88L 160 162 Cam Positioner 3F88L CG S Cam Output Cable M7E Display Unit e Functions The present angle in degrees or the Resolver speed r min can be displayed on a 3 or 4 digit Display Unit The display data is set using the present value display function parameters 2 25 Design Chapter 2 If set to an automatically switching display the present angle will be displayed when the Resolver speed is less than 4 r min and the Resolver speed will be displayed when it is greater than 4 r min e Unit Models Used Remarks M7E 01DRD2 red decimal one digit Combine as many Display Units M7E 01DGD2 green decimal one Numerals as required to achieve the digit i required number of display digits M7E 01UR2 V red rpm M7E 01UG2 V green rpm M7E 01UR2 A red no display M7E 01UG2 A green no display M7E 2M light blue case M7E 2M 1 black case NRT C soldered terminal type Display Unit Numerals Display Unit Units If the automati
35. the cover under any circumstances Doing so may result in injury or death and may damage the product Never attempt to repair or disassemble the product We recommend that you add the following precautions to any instruction manuals you pre pare for the system into which the product is being installed Precautions on the dangers of high voltage equipment Precautions on touching the terminals of the product even after power has been turned off These terminals are live even with the power turned off Specifications and functions may be changed without notice in order to improve product performance Items to Check Before Unpacking 1 Check the following items before removing the 3F88L 160 162 Cam Positioner from the package Has the correct product been delivered i e the correct model number and specifications Has the product been damaged in shipping Are any screws or bolts loose Have all accessories been correctly delivered together with or attached to the product The acces sory for the 3F88L 160 162 Cam Positioner is the Safety Precautions only Mounting screws and other necessary parts must be provided by the customer Should there be any problems with this product contact your nearest OMRON sales representative 2 Check the following items before removing the 3F88L RS17 17T 15 15W Resolver from the package Has the correct product been delivered i e the correct model number and specifications
36. 4 2 Command and Response 4 5 4 2 1 Command Frame RE ene REINES 4 5 4 2 2 R sponse Frame vio cie sei ea RR Re nu m RU RI Re mper E ERR WR s 4 7 Command Types eere ebbe rne mese rino e ens et n 4 10 4 3 1 Memory Area Read 4 10 4 3 2 Parameter Area Read Write 5 4 12 4 3 3 Controller Data Read RUN SET 4 19 4 3 4 Unit Attribute Read RUN SET 4 20 4 3 5 Controller Status Read RUN 5 4 20 4 3 6 Operation Command 2 4 21 4 3 7 Internode Echo Test RUN SET 4 22 Executing CompoWay F Commands with Protocol Macros 4 23 Chapter 5 Operation 5 1 5 1 5 2 5 3 5 4 5 5 Diagnosis using Error Codes 1 5 2 CompoWay F Communications Errors 5 7 Troubleshooting Le pec ure Lee erem 5 9 Inspection and Maintenance 5 12 Cam Positioner Replacement 5 13 C
37. BANK FUN CAM PRMTR SPEED ON POSITION OFF Explanation Set the mode selection switch to PRGM mode The data for step 1 of the displayed bank and cam numbers will be displayed Note If there is no data the display will be 3 32 BANK FUN CAM PRMTR SPEED ON POSITION OFF Press the Bank Function Key and set the bank number that contains the step to be deleted The Bank Function display will change as shown below each time the Bank Function Key is pressed 1225354955967 8 1 etc Keep pressing the Bank Function Key until the bank number to be set appears Note When the resolution is set to 720 divisions rotation the display will not include 567 8 Operation Operation Display BANK FUN CAM PRMTR SPEED ON POSITION OFF 030 869 Chapter 3 Explanation Press the Cam Parameter Key and set the cam number that contains the step to be deleted The Cam Parameter No display will change as shown below when the Cam Parameter Key is pressed 1 gt 2 53 5 315 16 1 etc Keep pressing the Cam Parameter Key until the cam parameter number to be set is displayed Note For the 3F88L 162 32 point model Cam Positioner the numbers displayed will continue to 32 and then return to 1 BANK FUN CAM PRMTR SPEED ON POSITION OFF 150 188 Press the Set Key to displa
38. Bank Function display flash ing to return to function number setting status C displayed in the Bank Function display 3 73 3 Setting Releasing Cam Protect by Cam Bank selection enabled status Cam protect settings enabled status Bank Function display flashing current setting status displayed Release BANK FUN CAM PRMTR BANK FUN CAM PRMTR Cam protect bank number 1 BANK FUN CAM PRMTR SPEED ON c POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF f c SPEED ON POSITION OFF f c Release BANK FUN CAM PRMTR BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF r nm c uc BANK FUN CAM PRMTR SPEED ON POSITION OFF Release BANK FUN CAM PRMTR SPEED ON POSITION OFF r BANK FUN CAM PRMTR BANK FUN CAM PRMTR 1 13 SPEED ON POSITION OFF SPEEO ON POSITION OFF r c SET settings BANK FUN CAM PRMTR C flashes twice This example shows cam protect set for cam numbers 1 to 9 SPEED ON POSITION OFF 8 e While the bank and cam numbers are being displayed cam protect settings enabled status press the Cam Parameter Key and set the cam number for which cam protect is to be set or released Press the Up Key to set cam protect for that bank and cam number The relevant indicators will turn ON Press the Down
39. CAM PRMTR ru SPEED ON POSITION OFF Explanation Display during normal RUN mode BANKFUN CAM PRMTR SPEED ON POSITION OFF Press the Set Key while pressing the Up or Down Keys The adjustment operation function will now be enabled The cam number will be displayed flashing in the Cam Parameter No display Note Press any key other than the Up Down or Set Keys at this point to return to the previous status BANK FUN CAM PRMTR SPEED ON POSITION OFF Use the Up and Down Keys to set the cam number for which angle data is to be adjusted CAM PRMTR SPEED ON POSITION OFF Press the Set Key The angles for step 1 will be displayed ON angle flashing and OFF angle lit BANK FUN CAM PRMTR SPEED ON POSITION OFF Press the Up and Down Keys to increase or decrease the ON angle The cam output ON angle will change at the same time Note The Up and Down Keys will not work if the ON section overlaps another step BANK FUN CAM PRMTR SPEED ON POSITION OFF TPPPYYAASS Press the ON OFF Switching Key to make the OFF angle flash Use the Up and Down Keys to increase and decrease the OFF angle The cam output OFF angles will be changed at the same time Note The Up and Down Keys will not work if the ON section overlaps another step 3 95 Operation Operation Display BANK FUN CAM PRMTR SPEED ON POSITION OFF Chapter 3 Explanation Press the Se
40. CW and CCW directions e If a compensation value equivalent to the mechanical looseness is set the cam outputs can match the mechanical position e This function is effective for machinery that rotate in both directions Backlash compensation is not required for machinery that rotates in one direction only e f backlash compensation values are set the display will not change until the machine has rotated the opposite direction through a number of degrees for the backlash compensation amount e The backlash compensation function operates when the backlash compensation enable disable pa rameter is set to enable Backlash Absorbs looseness in CW and CCW direction Resolver m Related Parameters SET Mode e Backlash Compensation Value Function level 2 0 e Use this parameter to set the angle equivalent to the mechanical looseness backlash e The factory setting is 0 Note 1 The numeric values for 720 divisions rotation resolution are shown in parentheses Note 2 This parameter is enabled when the power is turned OFF and then turned ON again 3 60 3 Operation PRGM Pyn Use the mode selection switch to change to SET mode Origin compensation value Backlash compensation value Baud rate BANK FUN CAM PRMTR BANK FUN CAM PRMTR 2 BANK FUN CAM PRMTR CAMS BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POS
41. Caution Fail safe measures must be taken by the customer to ensure safety in the event of incorrect missing or abnormal signals caused by broken signal lines momentary power interruptions or other causes Always use the power supply voltages specified in the operation manuals Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in locations where the power sup ply is unstable Install external breakers and take other safety measures against short circuiting in external wiring Disconnect the functional ground terminal from the protective ground terminal when performing insulation resistance or withstand voltage tests Always connect to a ground of 100 Q or less when installing the Unit Do not attempt to disassemble repair or modify the Unit Leave the label attached to the Unit when wiring Remove the label after the completion of wiring to ensure proper heat dissipation Use crimp terminals for wiring Do not connect bare stranded wires directly to termi nals Thoroughly check all wiring before turning ON the power supply Wire all connections correctly Do not place objects on top of the cables or other wiring lines Do not pull on the cables or bend the cables beyond their natural limit Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static built up Be sure that all the moun
42. Design Chapter 2 2 3 2 Standard Wiring Method The number of man hours required for wiring will be reduced and the reliability of the Unit will be improved if OMRON Cables are used Give sufficient consideration to noise countermeasures when wiring Using Connection Cables Use the following Cables to connect the Unit to peripheral devices Always use OMRON Cables when connecting the Resolver in particular to ensure reliability of the Unit Peripheral device Cable name Remarks to be connected Resolver Resolver Cable 3F88L CR Extension Cable for 3F88L RS17 RS17T 3F88L CR Cable for 3F88L RS15 3F88L CR Cable for 3F88L RS15W Block Cam Output Cable 3F88L CG Connectors at both ends PC or similar device Cam Output Cable 3F88L CG Connector on one end for cam output Display Unit Cam Output Cable 3F88L CG Connector on one end Note The in the cable model numbers indicates the length of the cable Refer to 7 4 Standard Models for details Wiring for Improved Noise Resistance The noise resistance of the system can be improved by the wiring method The following points must be given attention when wiring e Connection Method NFB Control panel O O AC power __ Power Lin GRO Surge Dy Control absorber device GRO _ Insulation transformer supply Res
43. Key and create another cam program in the same way If multiple bank numbers are used change the bank number using the Bank Function Key and create another program in the same way e Cam Program Checking PRGM Mode Set the mode selection switch to PRGM mode Press the Bank Function Key and set the bank number Press the Cam Parameter Key and set the cam number Check the ON and OFF angles Press the Set Key and check the next step Return to step 4 of this procedure to check the next step 3 24 Chapter 3 Once a program has been checked for one cam number change the cam number using the Cam Pa rameter Key and check another cam program in the same way If multiple bank numbers are used change the bank number using the Bank Function Key and check another program in the same way e Cam Program Deletion PRGM Mode There four methods to delete cam programs Each of these methods will be explained in this section e ON OFF angle data deleted by steps e ON OFF angle data deleted by cam numbers e ON OFF angle data deleted by bank numbers e All cam programs deleted at once Deleting by Step PRGM Mode Set the mode selection switch to PRGM mode Press the Bank Function Key and set the bank number that contains the step to be deleted Press the Cam Parameter Key and set the cam number that contains the step to be deleted Press the Set Key to display the
44. Key to release cam protect for that bank and cam number The relevant indicators will turn OFF To set or release cam protect for another cam number press the Cam Parameter Key change the cam number and repeat the above operation Once cam protect has been set or released press the Set Key to confirm the setting will flash twice Perform this operation for each bank The setting will be canceled if the Set Key is not pressed before moving to another bank Once the settings have been completed press the Clear Key to return to bank selection enabled status Bank Function display flashing To set or release cam protect for another bank number the above operation use the Up and Down Keys when in bank selection enabled status Bank Function display flashing to select the new bank number and repeat the above operation 3 74 Chapter 3 Press the Bank Function Key when in bank selection enabled status Bank Function display flash ing to return to function number setting status displayed in the Bank Function display 3 6 8 One direction Function m Functions e Enables cam outputs when the Resolver is rotating in one direction only either forward or reverse If the Resolver rotates in the opposite direction the output status will be held e This function can be set for any cam Note 1 The one direction function is disabled when compensation operation trial operation or
45. Keys are enabled and the setting can be changed BANK FUN CAM PRMTR SPEED ON POSITION OFF Press the Bank Function Key The display will return to only the function number appearing Turn OFF the power supply The settings will now be enabled Note These functions are enabled once the power has been turned OFF and then ON again 3 23 Chapter 3 3 5 3 Cam Program Creating and Checking PRGM Mode SET Mode Once the initial settings have been made turn OFF the power and then turn it ON again The initial settings will be enabled once the power has been turned ON again Next create a cam program cam output ON OFF patterns in PRGM mode Once the cam program has been created check the number of cam program steps in SET mode Outline of Program Functions e Cam Program Creation PRGM Mode Set the mode selection switch to PRGM mode Press the Bank Function Key and set the bank number Press the Cam Parameter Key and set the cam number Set the ON angle Use the Up Down and Forward Keys Press the ON OFF Switching Key and set the OFF angle Use the Up Down and Forward Keys Press the Set Key to confirm the settings data The next step can now be input Return to step 4 to input more steps Once a program has been created for one cam number change the cam number using the Cam Pa rameter
46. Model manufacturer Description RS 232C XM2D 0901 OMRON 9 pin D sub connector Connector socket 25 0913 OMRON Connector hood Cable Non UL AWG28x5P IFVV SB Fujikura Ltd Shielded multi con product CO MA VV SB 5Px28AWG Hitachi Cable ductor cable Ltd UL product UL2464 AWG28x5P IFS RVV SB Fujikura Ltd UL2464 SB MA 5Px28AWG Hitachi Cable Ltd Note Keep the RS 232C cable under 5 m Outline of Data Transfer Operation The basic operation when transferring data cam programs and parameters between two Cam Posi tioner Units is outlined below 1 Connect the RS 232C Cable Connect the cable according to the instructions under Connecting RS 232C Cables in the previous section 2 Set the baud rate Set the baud rate Function No b Parameter No 6 Set the same baud rate for both Master and Slave Units 1 9 600 bps factory setting 2 19 200 bps 3 Turn OFF the power supply and turn it ON again If the baud rate setting has been changed turn OFF the power supply and turn it ON again This will enable the baud rate setting 4 Put the Slave Unit into transmission enabled mode Display Function No t Parameter No 0 on the Slave Cam Positioner Unit 5 Put the Master Unit into transmission enabled mode Display Function No t Parameter No 1 on the Master Cam Positioner Unit Set the data as required for the transmission and press the Set Key The data tran
47. No display If there is no cam program for that cam number The SPEED ON display will be and the POSITION OFF display will be If there is a cam program for that cam number The ON and OFF angles for step 1 will be displayed Press the Set Key to display the ON and OFF angles for step 2 Press the Set Key while the last step is displayed The displays will be and e Press the Cam Parameter Key until the cam number to be set is displayed 3 84 Operation Chapter 3 e Input Using the Teaching Function Operation Display BANK FUN CAM PRMTR SPEED ON POSITION OFF Explanation Change the status to display the cam number to which the teaching function is to be applied ON BANKFUN CAM PRMTR SPEED ON 50 TTTYTTYAASS POSITION OFF Press the Set Key while pressing the ON OFF Switching Key The ON angle can now be input The present angle will be flashing in the SPEED ON display Manual operation of machinery BANK FUN CAM PRMTR SPEED ON 89 POSITION OFF Using manual operation move the machine to the ON angle position BANK FUN CAM PRMTR SPEED ON POSITION OFF Press the Set Key to set the ON angle and change the status to enable OFF angle input Note Press the Clear Key to re set the ON angle The system will return to the ON angle input status Manual operation of machinery BANK FUN CAM PRMTR SPEED ON POSITION OFF
48. Note All units are in millimeters unless otherwise indicated m 3F88L 160 and 3F88L 162 Cam Positioners 90 5 pa 110 be Two 4 5 dia 101 0 2 104 7 When the Resolver Cable is connected 2 6 Design Chapter 2 m Resolvers e 3F88L RS17 and 3F88L RS17T 28 0 5 72 81 see note ennt Four 4 5 dia 10 0 005 0 017 dia 40 dia 50 0 3 dia 35 0 0 05 dia OMRON 2 1501 15 pin D sub Plug 16 59 8 6 dia Approx 3m 21 OMRON XM2D 1501 15 pin D sub Socket Note The dimensions in parentheses are for the 3F88L RS17T Resolver 3F88L RS15 S 16 5 0 5 72 44 max gt t F 3 2 5 e gt e lo 9 d n at d 2 1224 2 8j fot 9 Hirose RM15WTP 10S 8 Connector Hirose RM15WTR 10P Connector 2 7 Design Chapter 2 e 3F88L RS15W 16 16 540 5 64 max 350 max gt lt 6 0 004 0 016 dia 39 dia 33 32 0 0 05 2 2 2 Installation Environment Take precautions with the installation environment to improve the reliability and to fully utilize the functions of the Cam Positioner system Do not install the Unit in the following locations e Locations subject to direct sunlight e Locations subject to
49. ON BANK FUN SET POSITION OFF F BANK FUN CAM PRMTR 2 SPEED ON POSITION OFF F uU a TM eot One direction function bank number 8 number 8 cam number 1 BANK FUN CAM PRMTR SPEED ON POSITION OFF E Es SET LE d CLR BANK FUN CAM PRMTR 8 SPEED ON POSITION OFF E Note Up to bank number 4 for 720 resolution Various compensation value enable disable settings Backlash compensation enable disable Various compensation value enable disable output hold and present value output settings 3 54 BANK FUN CAM PRMTR SET BANK FUN CAM PRMTR H i SPEED ON POSITION OFF SPEED ON POSITION OFF BANK FUN gt EN FUN PRMTR Advance angle compensation enable disable BANK FUN CAM PRMTR A SPEED ON POSITION OFF BANK FUN THN CAW PRMTA Output hold BANK FUN CAM PRMTR H 3 SPEED ON POSITION OFF THN CAM PRMTR Current value output settin BANK FUN CAM PRMTR 1 32 CAW PRMTR dM One direction function bank number 1 cam number 32 BANK FUN CAM PRMTR SPEED ON POSIT ION OFF u Up to cam n
50. Power 0 V Power 0V G EX CL Terminal Function symbol Power supply Positive side power supply terminal Zero blanking output The output will be open if PBI is open and the display is 0 The output will be OV if PBI is OV or if the display is other than 0 Zero blanking input 0 will not be displayed if DP is open and is open If connected to OV 0 will be displayed If DP is set to OV the display will not be affected by the state of PBI Data input 2 Decimal hexadecimal display 21 22 23 Decimal display uses 0 to 9 nothing will be displayed for higher values Displays a digit or symbol corresponding to the value of the binary code signal Decimal point The decimal point lights Operates independently from the LE terminal Latch When this signal is present the immediately preceding display condition is retained Power supply 0 V power supply ground input terminal GND Specifications M7F Digital Display m Specifications Chapter 6 Item Specifications Rated voltage Variable voltage between 12 and 24 V DC Current consumption per display 14 mm 200 mA max at 12 V DC 100 mA max at 24 V DC 25 mm 300 mA max at 12 V DC 200 mA max at 24 V DC Input level Positive logic H 4 V to power supply voltage L 0 to 1 5 V Operating ambient temperature 10 to 55 with no
51. RUN mode ser Maun Bank No specified at bank selection SPEED ON POSITION OFF input BANK1 to 3 nlt g a Blank when operation start input signal START is OFF BANK FUN CAM PRMTR SPEED ON POSITION OFF Present angle Resolver speed r min 3 38 Operation Operation Bank selection input BANK1 to 3 Display BANK FUN CAM PRMTR SPEED ON POSITION OFF i23 Chapter 3 Explanation Use the control input bank selection input BANK1 to 3 to specify the bank number to be used Set bank number BANK 1 to 3 E g To set bank No 2 BANK 1 ON BANK 2 OFF BANK 3 OFF Note Refer to 3 5 8 Control I O Signals for information on the relationship between bank selection input BANK1 to 3 and execution bank numbers Operation start input START BANK FUN CAM PRMTR SPEED ON POSITION OFF Turn ON the operation start input signal START for control input When cam output is enabled the control output RUN output signal RUN is turned ON OV START TRIG RESET M DET D Turn ON the operation start signal START Note When the operation start signal START is turned ON ru will appear in the Cam Parameter No display Machinery operation starts Note BANK FUN CAM PRMTR e icu SPEED ON POSITION OFF 001034 and change the angle data Start up
52. Relay No 1 m i AH UH EL ess 6 7 Specifications Chapter 6 6 4 Display Specifications M7E Digital Display Specifications Item Specifications Rated voltage Variable voltage between 12 and 24 V DC Current consumption per display Red LED 35 at 24 V DC 45 mA max at 12 V DC Green LED 40 mA max at 24 V DC 55 mA max at 12 V DC Input level Positive logic 4 V to power supply voltage L 0 to 1 5 V Operating ambient temperature 10 to 55 with no icing Operating ambient humidity 35 to 85 with no condensation Storage temperature 25 to 70 C with no icing Insulation resistance 100 MO min at 500 V DC between each terminal and mounting panel Dielectric strength 500 V AC 50 60 Hz for 1 min between each terminal and mounting panel Noise immunity Power terminal 500 V Input terminals 500 V normal mode 1 500 V common mode Vibration resistance 10 to 55 Hz 0 75 mm double amplitude Shock resistance 300 m s Degree of protection IEC 1 40 portion on panel surface Compatible connector OMRON NRT C NRT CP Display accuracy 5 r min max Specifications Chapter 6 Terminal Arrangement e Decimal Hexadecimal Display e Unit Display Power Power vO Zero blanking Zero blanking input Signal Data input Decimal point Latch
53. The cable length must be 5 m or less SD Host CPU end RD RS cs DR ER SG FG Cam Positioner end D sub 9 pin socket OMRON XM2D 0901 Connector hood OMRON XM2S 0913 Recommended Cables Model manufacturer AWG28 x5P IFVV SB Fujikura Ltd CO MA VV SB 5P x 28AWG Hitachi Cable Ltd UL product UL2464 AWG28 5P IFS RVV SB Fujikura Ltd UL2464 SB MA 5P x 28AWG Hitachi Cable Ltd Remarks Shielded multi conductor cable Quantity Non UL product Note The following cables can be used to connect to CS1 series Programmable Controllers Model manufactured Length Quantity by OMRON Programming Device XW2Z 200S CV For connection to CS1 series PCs Connecting Cables for RS 232C port XW2Z 500S CV 5m 4 4 Communications Chapter 4 4 2 Command and Response Frames 4 2 1 Command Frame m Transmission Protocol When receiving a command from the host CPU the Cam Positioner returns a response frame corre sponding to the command In other words one response frame is returned in response to one command frame Command and response frames are transmitted as shown in the following illustration Host CPU personal computer Command frame Command frame PC etc 3F88L 160 162 Cam Positioner Response frame Command Frame Structure STX Node No Subaddress SID FINS mini command text PDU ETX BCC Aeg sor 90706240 R
54. a long time If cam out puts with short ON OFF durations are set near advance angle compensation value 3 cam outputs may not be made if the advance angle amount is increasing or may be output twice if the advance angle amount is decreasing Note 3 These parameters are enabled by turning OFF the power supply and turning it ON again 3 67 Operation Chapter 3 Operation PRGM seri es Use the mode selection switch to change to SET mode Origin compensation value BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON in SPEED ON NAN yuu BANK FUN CAM PRMTR POSITION OFF PRMTR Backlash compensation value BANK FUN CAM PRMTR POSITION OFF TINS Advance angle compensati SPEED ON NAAN QUUU EN PRMTR BANK FUN CAM PRMTR Advance angle compensation value 1 angle data BANK FUN CAM PRMTR POSITION OFF ion value 1 speed data ON OFF POSITION OFF SPEED ON Gt 0 nnn nnnninnn ow FINN Advance angle compensati SPEED ON NNNM EN BANK FUN CAM PRMTR UUU TI Advance angle compensation value 2 angle data ion value 2 speed data OFF BANK FUN CAM PRMTR POSITION OFF SPEED ON POSITION OFF nnn U U SPEED ON Baud rate FUN SPEED ON PRMTR Advance angle c
55. and the ON OFF status of the control I O signals will be shown in the SPEED ON and POSITION OFF displays Keys other BANK FUN CAM PRMTR than PRMIR i SPEED ON POSITION OFF 0921160 e Cam Output Monitor Display SPEED ON Press any key other than the Cam Parameter Key to return to the display for normal RUN mode POSITION OFF lt TEND 3 41 Operation Chapter 3 e Control I O Signal Monitor Display SPEED ON Control output POSITION OFF Control input COL OQ QJ QU m OOOO 3 5 8 Control Signals In addition to cam outputs CAM 1 to 16 CAM 1 to 32 the 3F88L 160 162 Cam Position ers also have the control inputs and outputs described below Refer to 2 3 3 Terminal Block Wiring for information on wiring control I O signals Cam outputs BANK 1 to 3 select the bank number 4 put eee ey enables cam outputs START input starts cam outputs M DET output TRIG input of esolver rotation executes origin shift ERROR output RESET input outputs errors hardware reset Cam Positioner m Control Inputs Function Bank selection Bank selection input selects which Cam Positioner bank number will be input executed Turns ON when this signal is short circuited with the OV Execution 1 2 3 4
56. appropriate countermeasures against the noise Turn ON the power again The Cam Positioner is malfunctioning system does not recover when power is turned ON again Replace the Cam Positioner 7 17 Appendix Error name System program sum check error Description System program sum check error when power turned ON Probable cause Malfunction due to noise system recovers when power is turned ON again Possible solution Check if noise occurs when or after the power is turned ON and take appropriate countermeasures against the noise Chapter 7 Error reset method Turn ON the power again The Cam Positioner is malfunctioning system does not recover when power is turned ON again Replace the Cam Positioner Memory error Access to non volatile memory not completed within set time Write to non volatile memory not completed due to noise Find the source of the error and take appropriate countermeasures Read from non volatile memory not completed due to noise Find the source of the error and take appropriate countermeasures Change to PRGM or SET mode and press the Clear Key to clear the error Cam data protect input prohibited Attempt made to edit cam protected cam data Attempt made to edit cam protected cam data Once the error has been cleared either remove the cam data protect or e
57. areas or parameter areas Communications Chapter 4 e SRES Subresponse Code SRES name 00 Normal completion Meaning The service was executed normally 01 Unsupported command The service specified in the command is not supported 01 Too long command The command length is above the maximum length 02 Too short command The command length is below the minimum length 03 Item data count mismatch The specified number of items does not match the number of data items to be written 01 Area type error The area type such as memory area or parameter area is not specified correctly 03 Beginning address range error The specified beginning address is outside the allowable range 04 End address range error The specified end address beginning address the number of items is outside the allowable range OB Too long response The response length exceeds the maximum packet length 00 Other parameter errors Other parameter errors 03 Operation error Operation cannot be performed as specified The service cannot be executed in the current mode Write only Read is impossible due to write only area Read only Write is impossible due to read only area No object error No objects such as memory areas or parameter areas exist Communications Chapter 4 4 3 Command Type
58. determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions OMRON USER S MANUAL 3F88L 160 162 Cam Positioner Table of Contents Chapter T Outline ve a X xe ee ssl 1 1 1 2 1 3 1 4 1 5 Iu nnoto M CT CHEER 1 2 T T T Basie Operation uut ose Vp ue ee WES RE e PRO ES 1 2 1 152 ReSOl llOI Ay ois oe a E eau eT EQ 1 2 1 1 3 Modes cere eR ee be CS ps det e Roe ae ce pls 1 3 1 1 4 Selecting the Function Level 1 3 121 5 Basic Functions Guru Eae Y rh ee E da 1 3 1 1 6 Initial Settings Functions 1 4 1 1 7 Applied Functions iie ee eR Re Y eR d 1 4 System Configuration ererie veda uera ex Ri Ee dat Ex qur s 1 6 Name and Function of Each 1 7 1 3 1 Display Section sees roaa Fete e eee RUIT e DR a 1 8 15322
59. display The ON angle for step 1 will appear flashing in the SPEED ON display The OFF angle for step 1 will appear lit in the POSITION OFF display BANK FUN CAM PRMTR SPEED ON POSITION OFF 80 TATPAAWAANS Press the Cam Parameter Key to set the cam number for which angle data is to be adjusted The ON and OFF angles for step 1 will be displayed ON angle flashing OFF angle lit BANK FUN CAM PRMTR SPEED ON POSITION OFF 06 11288 TITTAR Press the Up and Down Keys to increase or decrease the ON angle The ON angle for cam outputs will be changed at the same time Note The Up and Down Keys will not work if the ON section overlaps another step BANK FUN CAM PRMTR e i3 SPEED ON POSITION OFF Press the ON OFF Switching Key to make the OFF angle flash Use the Up and Down Keys to increase and decrease the OFF angle The cam output OFF angles will be changed at the same time Note The Up and Down Keys will not work if the ON section overlaps another step BANK FUN CAM PRMTR SPEED ON POSITION OFF TITTYYYV ANA Press the Set Key to display step 2 Repeat the same procedure to adjust the ON and OFF angles for step 2 onwards Note 1 The display will not move on to step 2 if there is only one step Note 2 During trial operation the data changes will be reflected in the outputs and cam program at the point the changes are made BANKFUN CAM PRM
60. for cams 1 to 8 of bank 1 are parameters in byte units so the number of items is 720 4 12 Communications Chapter 4 To set the number of items represent it as a 4 digit hexadecimal number first set the leftmost bit to 1 then convert the hexadecimal code into ASCII code For example when the number of items is 720 represent it as hexadecimal number 0200 Hex first set the leftmost bit to 1 to obtain hexadecimal number 8200 Hex then set ASCII code 8200 38 32 44 30 Hex e Structure of FINS mini Response Text PDU Parameter MRC SRC MRES SRES area code Beginning address of items Data m LE 0 0 bytes 2 2 2 4 4 4 as required Note The contents of MRC SRC parameter area code beginning address and No of items are the same as those of the command m Parameter Area Write e Structure of FINS min Command Text PDU MRC SRC Parameter area code Beginning address No of items Data No of bytes 2 2 4 4 4 Note 1 Note 2 Note 3 Note 4 The parameter area code is divided into the following three types 4000 Parameters in byte 8 bits units 8000 Parameters in word 16 bits units C000 Parameters in long word 32 bits units Set the parameter area code as ASCII code 4000 8000 or C000 Set the beginning address as 4 digit ASCII code For example to w
61. have knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of installing FA systems Personnel in charge of designing FA systems Personnel in charge of managing FA systems and facilities General Precautions The user must operate the product according to the performance specifications described in the op eration manuals Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems railroad systems aviation systems vehicles combustion sys tems medical equipment amusement machines safety equipment and other systems machines and equipment that may have a serious influence on lives and property if used improperly consult your OMRON representative Make sure that the ratings and performance characteristics of the product are sufficient for the sys tems machines and equipment and be sure to provide the systems machines and equipment with double safety mechanisms This manual provides information for programming and operating the Unit Be sure to read this manu al before attempting to use the Unit and keep this manual close at hand for reference during opera tion NWARNING Itis extremely important that a PC and all PC Units be used for the specified purpose and under the specified conditions especially in applications that can directly or indirectly affect human life You must consult with your OMRON repres
62. is changed to 0 or to the origin compensation value Cam output from cam While the START output connector signal is ON in RUN mode the cam outputs for the specified bank number are turned ON or OFF according to the cam program and present Resolver angle 3 15 Operation Classifi cation Basic functions 3 16 Function START Start operation Contents While the START signal is ON in RUN mode the cam outputs for the specified bank number are turned ON or OFF according to the cam program and present Resolver angle Chapter 3 Function level 0 Moni tor only 1 Basic opera tion monitor only 2 All func tions to Change banks Specifies the bank number to be executed TRIG Origin shift When the TRIG signal is turned ON origin shift is executed RESET Reset When the RESET signal is turned ON hardware reset is executed RUN Cam output enabled Turns ON when cam output is enabled M DET Resolver rotation detection Turns ON when Resolver speed is 4 r min or greater Origin compensation origin shift and teaching operations cannot be performed while M DET is turned ON ERROR Error Turns OFF when an error is generated monitor Monitors Resolver speed present angle cam output status and control I O signal status Note Effective fo
63. less than 4 r min until the M DET output changes Resolver speed M DET output Td Td2 _ Oo Symbol M DET output ON delay time 1 100 ms max M DET output OFF delay time Td2 200 ms max m Bank Switching Time The diagram shows the time taken to switch bank numbers during operation No b BANK input No a RUN output ON i 5 Cam output Enabled Disabled Tdi Pod Td2 Standard time RUN output delay time 10 ms max RUN output OFF time 0 8 to 1 2 s Cam output delay time 10 ms max Cam output OFF time 0 8 to 1 2s 7 Cam Output Delay Time The diagram shows the time taken while the Resolver is rotating from when the machinery arrives at the position where the cam output turns ON ON angle in the cam program until the cam output is actually turned ON ON angle reached v Machinery position Cam output ON 1 OFF Cam output CAM 32 OFF Td1 ata Symbol Cam 1 output delay time Td1 0 35 ms max Cam 32 output delay time Td2 0 35 ms max Note The times shown include all the following times Time taken by the Cam Positioner to detect the Resolver angle Time taken to perform various compensation processing Time taken to change cam outputs according to the cam program m Differences between Cams This diagram shows the differences between different cam outputs
64. may vary depending on the configura tion of the control panel connected devices wiring and other conditions The customer must therefore confirm that devices and the overall machine conform to EC Directives m Points to Consider when Wiring to Peripheral Devices e Install a surge absorber and noise filter on the AC power supply input wiring e Pay attention to the following points when using relays electromagnetic valves and other noise gen erating devices Separate noise generating devices parts and the wiring as much as possible Use a separate power supply system 2 15 Design Chapter 2 Use a separate grounding system Attach a surge absorber or diode to the device or parts generating the noise as shown in the fol lowing diagram AC relays or AC valves DC relays T Surge absorber Note Select withstand pressure and current suitable for the load 2 3 3 Terminal Block Wiring Use crimp terminals and firmly tighten to the appropriate torque Terminal Block Layout i Control input Control output BANK1 2 mal 11 12 13 14 15 16 COM OV START TRIG RESET M DET 10V 5 6 7 8 9 10 Power supply input Power Supply Input Wiring e Wiring Method Terminal screw size M3 5 AC1 2 Tightening torque 0 8 100 to 240 V AC 50 60 Hz Ground to 100 Q or less 2 16 Design Chapter 2 e Terminal Function
65. model Cam Positioner is shown in parentheses 2 The data for 720 resolution divisions revolution is shown in parentheses The angles will be 3 Functions A b C F H and U will be enabled after the power has been turned OFF and then 4 Functions P and t are special operations that are not stored as parameters Operation e RUN Mode Bank Function 1108 1 to 4 see note 2 Cam Parameter Start input ru rU SPEED ON Number of Resolver rotations r min Chapter 3 POSITION OFF Present angle 1108 1 to 4 see note 2 1 to 32 1 to 16 see note 1 Compensation op eration ON angle Compensation op eration OFF angle Cam output monitor Control I O monitor error display Note 1 The data for the 3F88L 160 16 point model Cam Positioner is shown in parentheses Note 2 The data for 720 resolution divisions revolution is shown in parentheses The angles will be set and displayed as 1 for 0 52 e PRGM Mode Bank Function 1108 1 to 4 see note 2 Cam Parameter 1 to 32 1 to 16 see note 1 SPEED ON ON angle POSITION OFF OFF angle 1108 1 to 4 see note 2 1 to 32 1 to 16 see note 1 t t ON angle trial operation OFF angle trial operation error display Note 1 The data for the 3F88L 160 16 point model Cam Positioner is shown in parentheses Note 2 The data fo
66. numeral display character height of 14 mm M7F 4D1R red M7F 4D1G green 4 digit numeral display units character height of 14 mm M7F 4D1RT red M7F 4D1GT green Units nameplate character height of 14 mm M7F 1 not displayed M7F RPN 1 r min 4 digit numeral display character height of 25 mm M7F 4D2R red M7F 4D2G green 4 digit numeral display units character height of 25 mm M7F 4D2RAT red M7F 4D2GT green Unit nameplate character height of 25 mm M7F 2 not displayed M7F RPM 2 r min Resolver Extension Cable for 3F88L RS17 17T Resolvers With connectors at 2m 3F88L CROO2C both ends 5m 3F88L CRO05C 10m 3F88L CRO10C 20m 3F88L CRO20C 50m 3F88L CRO50C Resolver Cable for 3F88L RS15 Resolvers With connectors at 3m 3F88L CROO3NA both ends 5m 3F88L CROOSNA 3F88L CRO10NA 3F88L CRO15NA 3F88L CRO2Z0NA Resolver Cable for 3F88L RS15W Resolvers With connector at 3F88L CRO03SA one end 3F88L CROO5SA 3F88L CRO10SA Cam Output Cable for connection to I O Block With connectors at 3F88L CGORS5N both ends 3F88L CGO01N Cam Output Cable for connection to other devices and Display Units With connector at 3F88L CG001S one end 3F88L CG003S 7 11 Appendix Chapter 7 7 5 Displays by Mode e SET Mod
67. on FINS mini command text m Structure of FINS mini Command Text PDU FINS mini command text consists of MRC SRC and data MRC SRC Data No of bytes 2 2 Main request code and subrequest code Various commands can be set by combining these two codes Settings differ depending on the command executed Refer to 4 8 Command Types for details e Contents of MRC and SRC Function Reference section 01 Memory Area Read 01 Parameter Area Read 02 Parameter Area Write 01 Controller Data Read 03 Unit Attribute Read 01 Controller Status Read 05 Operation Command 01 Internode Echo Test Communications Chapter 4 4 2 2 Response Frame m Response Frame Structure e When Command Frame is Normal STX Node No Subaddress End code FINS mini response text PDU ETX BCC 02 ans ey 03 Hex 0 0 0 0 0 0 No of bytes 1 2 2 2 1 1 STX A code signifying the beginning of a communications frame text 02 Hex is set Node No The node number of a Cam Positioner 00 is set Subaddress The subaddress of a Cam Positioner 00 is set End code 00 is set at normal termination FINS mini response text A response PDU protocol data unit is set ETX A code signifying the end of text O3 Hex is set BCC BCC is set as the calculation result of exclusive OR of the data fr
68. on the display Note The display will change from 1 2 58A t U 1 in the basic settings BANK FUN CAM PRMTR lit SPEED ON POSITION OFF FIN Press the Set Key to allow settings to be made e Cam Parameter number display 1 e SPEED ON angle display Flashes current setting 3 44 BANK FUN CAM PRMTR 1 SPEED ON POSITION OFF If the setting value is not 2 use the Up Key and change the setting to 2 all functions 0 Monitor 1 Basic settings If the setting is not on 2 use the Up or Down Key to change to 2 all functions 0 Monitor 1 Basic settings 2 All functions 2 All functions Operation Operation Display BANK FUN CAM PRMTR it ul SPEED ON POSITION OFF Explanation Press the Set Key to confirm the settings Chapter 3 The setting will stop flashing for approximately 1 second and then resume flashing Note When a setting is flashing the Up and Down Keys are enabled and the setting may be changed BANK FUN CAM PRMTR 1 SPEED ON POSITION OFF Press the Bank Function Key The display will return to only the function number that appears Turn OFF the power supply The settings will now be enabled Note 1 The functions are enabled once the power has been turned OFF and then ON again Note 2 The display will change as shown below when the Bank Func
69. opera func only tion tions monitor only Teaching Inputs data from the Resolver as ON OFF angle settings Cam program changing outputs cam Trial operation When the system starts up checks the cam output status in PRGM mode and changes adjusts the ON OFF angle one setting at a time Adjustment operation After the system has started operating checks the cam output status in PRGM mode and changes adjusts the ON OFF angles one setting at a time tions Communica CompoWay F communica tions function Acts as the Slave Unit for CompoWay F communications and reads writes Cam Positioner programs and parameters from the host CPU and monitors present angle and number of rotations Section 4 Transfers data cam programs parameters between Cam Positioners Baud rate setting Baud rate setting operation Sets a common baud rate for the CompoWay F and copy functions 3 19 Chapter 3 3 5 Basic Operation 3 5 1 Function Level Selection Setting SET Mode m Function Level Selection Setting and Checking Check if the function level is set to function level 1 basic operation monitor only Change to function level 1 basic operation monitor only if set to a different level Function Parameter Function Setting Details No No range Function 0 Function level O monitor o
70. origin compensation has been completed After origin compensation has been completed BANK FUN CAM PRMTR SPEED ON POSITION OFF i e3 The original display will appear when origin compensation has been completed Note If the bank number appears the Bank Function display and 0 appears in the Cam Parameter No display the absolute angle for origin compensation will be displayed in the SPEED ON display PRGM pen BANK FUN CAM PRMTR SPEED ON POSITION OFF 1 Use the mode selection switch to change to RUN mode The speed display will be 0 and present angle will be 0 if the machinery is not moving 3 37 Chapter 3 Origin Compensation and Origin Shift e Both origin compensation and origin shift functions match the mechanical origin and the Cam Posi tioner origin e The differences between origin compensation and origin shift are outlined as follows Origin Compensation Press the ADJ switch in SET mode to set the present angle at that point to zero If an origin com pensation value has been set the present angle will change to that origin compensation value This value the origin position after compensation for the Resolver s electrical 0 will not be lost even if the power is turned OFF Origin Shift Turn ON the origin shift input TRIG in RUN mode to set the present angle at that point to zero If an
71. origin compensation value has been set the present angle will change to that origin compensation value This value will be lost if the power is turned OFF e Origin compensation is used to align the mechanical origin and the Cam Positioner origin for exam ple when the system is first introduced when the system is adjusted or when Resolvers or Cam Posi tioners are exchanged Origin shift is used during normal operation when the present angle origin is to be changed Both origin compensation and origin shift functions are enabled when the Resolver speed is less than 4 r min Neither function will be executed when the Resolver speed is 4 r min or greater e The absolute angle will be flashing in the POSITION OFF display during execution of origin com pensation or origin shift Note When origin compensation values have been set turn OFF the power supply to the Cam Position er turn it ON again and then execute origin compensation or origin shift The origin compensation value is enabled once the power has been turned ON again If origin compensation or origin shift are executed without the power being turned OFF and then ON again the origin compensation or origin shift function will not be executed properly 3 5 6 Start Operation RUN Mode Once origin compensation has been executed check the operation of the machinery e Procedure Operation Display Explanation PRGM BANK FUN CAM PRMTR Use the mode selection switch to change to
72. parameters for a different function number When setting parameters for the same function number Use the Cam Parameter Key to change the parameter number e Individual Operations Individual operations differ for each parameter A status flowchart like the one shown below will be shown for each parameter in each section The following example shows the status flowchart when displaying function No b parameters CAM PRMTR Origin compensation value BANK FUN CAM PRMTR BANK FUN CAM PRMTR b SPEED ON POSITION OFF SPEED ON POSITION OFF nnn yuu 771 Backlash compensation value Baud rate BANK FUN CAM PRMTR SPEED ON POSITION OFF BANK FUN CAM PRMTR CAM CAME PRMTR PRMTR s SPEED ON POSITION OFF yuu TW BANK pany FUN FUN B Note Set the function number use the Bank Function Key to change the function number and press the Set Key display the parameter numbers and then use the Cam Parameter Key to set the parameter numbers for functions with multiple parameter numbers The parameter number will increase each time the Cam Parameter Key is pressed If the Cam Parameter Key is pressed on the last parameter number parameter number 6 in the above example the display will return to parameter number 1 3 50 Chapter 3 e Setting Parameters Once the parameters have been displayed
73. press the Set Key to make the bank number flash in the Bank Function display bank selection enabled status Use the Up and Down Keys to set the bank number that contains the cam for which one direction function is to be set Next press the Set Key to display the cam number in the Cam Parameter No display The present settings will flash in the POSITION OFF display one direction function setting enabled status e While the bank and cam numbers are displayed one direction function setting enabled status press the Cam Parameter Key to change the cam number Set the cam number for which the one direction function is to be set e Use the Up and Down Keys to set the data e Press the Set Key The data will remain lit for approximately one second the data will be confirmed and the display will start flashing again 3 76 Chapter 3 Operation Example Cam Program Cam outputs ON between 100 and 200 360 resolution One direction Setting Enabled in the forward direction cam output status held for rotation in the opposite direction Rotation Forward Reverse Forward direction Time Resolver 0 100 200 100 0 200 100 100 200 0 100 200 angle Time Cam outputs Time Cam output status held Note If both the one direction function and the advance angle compensation function are set at the same time cam outputs may be left out or output twice when the advance angle data is comp
74. resolution Data transfer Slave settings BANK FUN CAM PRMTR E SPEED ON POSITION OFF BANK FUN Eunction level selection BANK FUN CAM PRMTR SPEED ON POSITION OFF PRMTR PRMTR Data transfer Master settings BANK FUN CAM PRMTR SPEED ON POSITION OFF Function level selection BANK FUN CAM PRMTR SPEED ON POSITION OFF BANK FUN BANK FUN CAM PRMTR Origin compensation absolute angle display BANKFUN CAM PRMTR 8 SPEED ON POSITION OFF CAW PRATR Pulse output bank number 1 cam number 32 BANK FUN CAM PRMTR 3e SPEED ON POSITION OFF Up to cam number 16 for 3F88L 160 ana Pulse output bank number 2 cam number 32 BANKFUN CAM PRMTR 32 POSITION OFF SPEED ON Up to cam number 16 for 3F88L 160 CAM PAMTA PRMTR te os CLA Pulse output di number 8 cam number 32 BANK FUN CAM PRMTR 8 32 SPEED ON POSITION OFF p to cam number 16 for 3F88L 160 3 55 Chapter 3 3 6 4 Origin Compensation and Origin Shift m Functions e Both origin compensation and origin shift functions match the mechanical origin and the Cam Posi tioner origin e The differences between origin compensation and
75. than one rotation cannot be made Note 3 Except for 0 the same speed data cannot be set for advance angle compensation values 1 and 2 When advance angle compensation values 1 and 2 are set and the set angle 2 is smaller than the set angle 1 Advance angle amount Setanglee1 L7 Advance angle amount Set angle 1 Set speed 1 x Resolver speed Set angle 2 Qua RIDE Advance angle amount w Set angle 1 Set angle 2 Set angle 1 Set speed 2 Set speed 1 x Resolver speed Set speed 1 Resolver speed r min 0 Set Set Saturation speed 1 speed 2 speed Saturation speed Set speed 1 Set angle 1 Set angle 1 Set angle 2 x Set speed 2 Set speed 1 Note The lowest compensation value is O 3 65 Operation Chapter 3 Advance Angle Compensation Function Processing to the Resolver angle Detects Resolver angle dds the advance angle amoun alculates and displays the present angle Detects Resolver speed alculates advance angle amount Re writes advance angle amount nsum Suns Calculates advance angle amount from the advance angle compensation values 1 and 2 The advance angle amount is re written when the present angle equals the advance angle compensation value 3 parameter Note 1 Resolver angle detection and Resolver speed detection are performed in different cycles Note 2 The Resolver an
76. the characters during data reception The communications cable is wired incorrect ly Check the cable wiring Data has been cor rupted due to noise du ring communications Check the cause of the noise Framing error A framing error has oc curred at the response frame The communications cable is wired incorrect ly Check the cable wiring Data has been cor rupted due to noise during transmission Check the cause of the noise Overrun error An overrun error has occurred The communications cable is wired incorrect ly Check the cable wiring Data has been cor rupted due to noise du ring communications Check the cause of the noise BCC error BCC for response frame is incorrect Data has been cor rupted due to noise du ring communications Check the cause of the noise The BCC operation is incorrect Check the communica tions protocol Operation End code Error name Format error Description FINS frame is incorrect Probable cause The communications cable is wired incorrect ly Chapter 5 Probable solution Check the cable wiring The frame has been corrupted due to noise during communications Check the cause of the noise The incorrect frame has been transmitted Check the communica tions protocol Subaddress error Subaddress for re ceived frame is incor rect not sup
77. the following one byte data that is converted into ASCII code b7 50 L Executing status 0 When an error occurs in RUN mode or PRGM or SET mode is entered 1 When there is no error in RUN mode 1 When the communications function is being executed to change the operating state 1 When an error occurs Bit O executing status is also set to 1 when the communications function is being executed to change the operating state such as parameter settings in RUN mode For example when the operating state is changed in RUN mode and there are no errors Status will be set to 41 Note 2 Error data is returned as an error code of E 4 3 6 Operation Command RUN e Executing the Operation Command Operating State Change Command with command code 01 allows parameters to be changed while in RUN mode e The Operation Command can be used to change parameters only when the Cam Positioner is in RUN mode the START signal is OFF and there are no errors e Execute the Operation Command with command code 00 to return from the state in which parame ters can be changed to RUN mode This command is valid only when the Cam Positioner is in RUN mode the START signal is OFF and there are no errors e f the mode selection switch on the Cam Positioner is operated in the state in which parameters be changed communications will be interrupted and the mode specified by the switch w
78. the machinery and start operation Note Observe the movement of peripheral devices to check if the cam output signals are being output at the correct timing 1 To change the ON and OFF angles follow the directions in 3 5 3 Cam Program Creating and Checking Note 2 Use the compensation operation function to change the angle data during operation Refer to 3 6 Ap plied Functions for details 3 39 3 3 5 7 O Monitor Function RUN Mode The 3F88L 160 162 Cam Positioners have the following monitor functions in RUN mode If the system does not perform properly at start up use this monitor function first and check the I O status Resolver speed and present angle Error display output status Control I O signal status Resolver Speed and Present Angle Monitoring RUN Mode If the Cam Positioner is set to RUN mode the Resolver speed r min will be displayed in the SPEED ON display and the present angle in 1 units for 360 resolution and 0 5 units for 720 resolution is dis played in the POSITION OFF display Bank No being executed ru Shows that START input is ON in RUN mode BANK FUN A as D Ou SPEED ON POSITION OFF zr a Present angle Resolver speed m Error Display If an error is generated an error code E will appear in the SPEED ON display If an error has been genera
79. the power power supply for control I O supply Provide a 24 V DC power supply Rated power supply voltage 20 4 to 26 4 V DC Operation START Cam output will start if the START signal is shorted with OV start input Bank BANK1 The BANK signals are used to select the execution bank for the switching Cam Positioner input The BANK signals turn ON when shorted with OV Bank No 14 2 3 4 5 6 BANK1 OFF ON OFF 2 OFF OFF OFF OFF OFF OFF OFF ON Origin shift Origin shift is performed when this signal is shorted with OV input Note 1 The TRIG signal is disabled when the Resolver rotates at 4 r min or greater Note 2 The TRIG signal is enabled when it is ON for 10 ms or more TRIG New origin value A Origin shift execution Reset input If this signal is shorted with OV a hardware reset will be performed and the Unit will return to the state it was in upon power ON Regardless of output hold settings all outputs will be turned OFF Also the origin value for the origin shift will be lost Note 1 Use 5 round or forked crimp terminals for functional ground and protective ground termi nals Round crimp terminal Forked crimp terminal 6 2 mm Om 6 2 mm eal max max Note 2 Reinforced insulation or double insulation must be used for the DC power supplies used a
80. these functions have been changed to the enabled status Origin compensation origin shift Refer to 3 6 4 Origin Compensation and Origin Shift Backlash compensation Refer to 3 6 5 Backlash Compensation Advance angle compensation Refer to 3 6 6 Advance Angle Compensation 3 86 Chapter 3 One direction function setting Not related to the teaching function These settings will become enabled after the power has been turned OFF and then ON again Therefore always turn OFF the power once before starting the teaching operation Teaching and Backlash Compensation Backlash compensation operates when the Resolver rotates in the reverse direction In other words the present angle does not change until the Resolver rotating in the reverse direction has turned the amount for the backlash compensation When using the teaching function therefore the machine must be manually operated to rotate the Resolver axis For example when the Resolver is connected to the drive axle that is driven by a motor and if there is backlash between the drive axle and the driven side load side teaching must be performed by moving the drive axle If the driven side is moved for teaching the backlash compensation will work in the opposite direction and teaching will not be performed correctly Correct Incorrect Er Driven side Driven side Drive axle Drive axle Resolver Resolver Drive axle moved and teaching performed Driven side move
81. to change the operating status 1 When an error occurs In this example status 80 indicates that an error has occurred 4 27 Communications Chapter 4 Note 2 An error code is stored when an error has occurred In this example error data 10 indi cates a Resolver disconnection error 4 28 TIT im Chapter 5 Operation 5 Diagnosis using Error Codes 5 2 CompoWay F Communications Errors 5 3 Troubleshooting 5 4 Inspection and Maintenance 5 5 Positioner Replacement Chapter 5 5 1 Diagnosis using Error Codes If the SF88L 160 162 Cam Positioner detects an error the error code E will appear the SPEED ON display All control outputs RUN M DET ERROR will turn OFF The cam output will vary depending on the output hold function settings The Cam Positioner errors will be detected during the following processes At power ON Hardware check program check and power interrupt check during pro gram write save During operation Error check in RUN mode During programming ON region duplication errors in PRGM mode cam data protect input prohibit checking etc While setting parameters Communications error checks in SET mode If an error code is displayed determine the cause and take appropriate countermea sures m Errors Codes and Countermeasures Note The mark in the cam output column indicates that cam outpu
82. to change to SET mode H Bank number Input by teaching and selection enabled step deletion enabled Teaching Teaching bank number 1 Teaching bank number 1 cam number 1 Teaching bank number 1 cam number 32 BANK FUN CAM PRMTR BANK FUN CAM PRMTR ce Be SPEED ON POSITION OFF BANK FUN CAM PRMTR BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF POSITION OFF SPEED ON Up to cam number 16 for sew PRMTR Teaching bank number 2 cam number 32 Teaching bank number 2 cam number 1 BANK FUN CAM PRMTR BANK FUN CAM PRMTR oe Teaching bank number 2 BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF Up to cam number 16 for ae Z5 i 3F88L 160 Teaching bank 8 cam number 32 Teaching bank number 8 cam number 1 BANKFUN CAM PRMTR BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF Up to bank number 4 for 720 i Up to cam number 16 for resolution A ar 3F88L 160 e Use the Bank Function Key to set teaching Function No d and press the Set Key to display the bank number in the Bank Function display flashing Use the Up and Down Keys to set the bank number that contains the cam to which the teaching function will be applied e Next press the Set Key to display the cam number in the Cam Parameter
83. will increase or decrease as these keys are pressed Press the Set Key enabling cam protect settings The cam number will appear in the Cam Parameter No display Set bank number Set or release cam protect There are two ways to set or release cam protect Setting releasing by bank Up ON OFF Switching Keys Sets cam protect for all cams in the bank Down ON OFF Switching Keys Releases cam pro tect from all cams in the bank Setting releasing by cam Use the Cam Parameter Key to set the cam number and then press one of the following Up Key Sets cam protect for the specified cam Down Key Releases cam protect for the specified cam Confirm settings Once cam protect has been set cleared for one bank press the Set Key and save the setting C will flash twice to confirm the settings have been saved Set or release cam protect The cam protect settings can be adjusted again if required Press the Clear Key enables bank number selection The Bank Function display will flash The Cam Parameter No display will turn OFF Press the Bank Function Key enables function number settings The operation to set or release cam protect has now been completed Exit Cam protect BANK FUN CAM PRMTR Lu SPEED ON POSITION OFF BANK FUN CAM PRMTR SPEED ON r c POSITION OFF BANK FUN CAM PRMTR SPEED ON f c 54 P
84. wiring Chapter 7 Error reset method Press the Clear Key to clear the error Verification error Slave and Master data do not match Different programs or parameters are verified Check that the cam program and parameters are correct for each Cam Positioner Data corrupted due to noise during com munications Find the source of the noise and take appropriate countermeasures Press the Clear Key to clear the error 7 19 Appendix 7 20 Error name Power OFF watchdog error Description Power is not turned ON RESET input has been turned ON software error Probable cause Power has turned OFF Possible solution Check that the voltage supplied to the Cam Positioner meets the specifications 85 to 264 V AC and adjust if necessary Chapter 7 Error reset method Turn ON the power again RESET input has been turned ON Adjust the RESET input sequence RESET input has been turned ON due to noise Find the source of the noise and take appropriate countermeasures Check and adjust the wiring for control input signals The Cam Positioner is malfunctioning system does not recover when power is turned ON again Replace the Cam Positioner Appendix Chapter 7 7 7 Cam Programming Sheet Machine Name Cam No Signal name ON angle OFF angle Adjusted d
85. 1 Functions The SF88 L160 and 3F88L 162 Cam Positioners are Units that detect angles through Resolver a sensor that detects absolute angles and turn output signals ON and OFF at a preset angle through a cam program The 3F88L 160 Cam Positioner has 16 cam output points and the 3F88L 162 Cam tioner has 32 cam output points 1 1 1 Basic Operation e Input a cam program the ON OFF pattern for cam outputs into the Cam Positioner use the bank switching signal to select the bank number and turn ON the operation signal to start operation Resolver angle 0 90 180 270 0 Cam output 1 Cam output 2 H i Cam output 3 Programming example for 360 resolution Cam Program Bank No 1 Cam No Step ON angle OFF angle 1 1 90 180 2 1 315 45 Ell User ma 2 2 135 225 chine or 3 1 0 45 Resolver device Cam Positioner E Control input Bank switching signal Bank numbers 1 to 3 Operation signal START 1 1 2 Resolution e The angle resolution can be set to 360 divisions revolution or 720 divisions revolution e The following table shows how functions and performances are affected by resolution settings Function or Characteristic Angle setting and display units 360 resolution 1 is set and displayed as 1 720 resolution 0 5 is set and displayed as 1 Permissible Resolver speed
86. 16 Address CAM 0011 24 Address CAM 0010 32 4 14 Communications Chapter 4 Address Parameter Explanation Default area code Bank 1 One direction function setting One direc tion Func tion Setting 0 OFF 1 ON b7 Address CAM8 0017 Address CAM CAM 0016 16 15 Address CAM CAM 0015 24 23 Address CAM CAM 0014 32 31 Bank 1 Rotation direction setting Rotation Direction Setting 0 Forward 1 Reverse b7 Address CAM8 001B Address CAM CAM 001A 16 15 Address 0019 24 23 Address 0018 32 31 Bank 2 Same as for bank 1 Addresses 0020 to 0023 Bank 2 cam data protect setting Setting Addresses 0024 to 0027 Bank 2 one direction function setting One direc Addresses 0028 to 002B Bank 2 rotation direction setting tion Func tion Set ting and Rotation Direction Setting Bank 3 Same as for bank 1 2 2 Addresses 0030 to 0033 Bank 3 cam data protect setting Setting Addresses 0034 to 0037 Bank 3 one direction function setting One direc Addresses 0038 to 003B Bank 3 rotation direction setting tion Func tion Set ting and Rotation Direction Setting Bank 4 Same as for bank 1 Addresses 0040 to 0043 Bank 4 cam data protect setting Setting Addresses 0044 to 0047 Ban
87. 18 Communications Chapter 4 Address Parameter Explanation Default area code Cam Program status Programs for Cams 0 Output OFF 25 to 32 of 1 Output ON Bank 1 b7 Address Cam 25 angle 0 state 1900 d Cam 26 angle 0 state Cam 32 angle 0 state Address 1BCF Cam 25 angle 719 state Cam 26 angle 719 state Cam 32 angle 719 state Cam Same as for bank 1 Programs of Bank 2 Cam Same as for bank 1 Programs of Bank 3 Cam Same as for bank 1 Programs of Bank 4 Cam Same as for bank 1 Programs of Bank 5 Cam Same as for bank 1 Programs of Bank 6 Cam Same as for bank 1 Programs of Bank 7 Cam Same as for bank 1 Programs of Bank 8 Note 1 The SF88L 160 16 point type has an area for storing cam programs for cams 17 to 32 but the contents of these programs cannot be displayed from the Unit Note 2 Even if the resolution is set to 360 divisions per revolution there is an area for storing the state of cam angles 360 to 719 4 3 3 Controller Data Read RUN PRGM SET Reads the model and version of the Controller m Structure of FINS mini Command Text PDU MRC SRC o 5 o p No of bytes 2 2 4 19 Communications Chapter 4 m Structure of FINS mini Response Text PDU MRC SRC MRES SRES Model Version 0 5 O 1 O O
88. 1990 A B C D NC NC NC NC OV V Case mark The cam output signal names not in parentheses will be displayed for 3F88L 160 Cam Posi tioners and the names in parentheses will be displayed for 3F88L 162 Cam Positioners The circled terminal numbers have been provided for convenience When assembling the Socket pay attention to the direction of the polarity guide and connect the wires as shown in the above terminal layout The case mark indicates the first digit of the terminal number and is different from the connector A mark described previously A display example is shown below Resolver speed display Unit Nameplate 2 29 Chapter 3 Operation 3 1 3 2 3 3 3 4 3 5 3 6 Nomenclature of Display and Operation Sections Modes Functions and Display Operation Procedure Selecting Function Levels Basic Operation Applied Functions 3 3 1 Nomenclature of Display and Operation Sections Bank Function display Cam Parameter No display Mode selection switch switch ADJ switch CW CCW setting switch M17 32 onmnon 3F88l CAM POSITIONER SANIGEUN TES K area C SPEED ON POSITION OFF Operation keys Present angle OFF angle display No of revolutions ON angle display Operation Keys
89. 40 permissible resolver speed 1 2 I 3 standard models 7 11 start input 3 42 start operation 3 38 steps checking number of program steps 3 26 3 35 3 37 deleting by steps 3 32 switches functions 1 8 location 1 7 system configuration 1 6 system design 2 2 T teaching function 3 83 3 87 Terminal Block wiring 2 16 terminal block function 1 9 terminals 2 18 2 20 time chart example 3 27 I 4 Index timing data output timing 3 80 timing belt using 2 12 timing compensation 3 63 transferring cam programs and parameters 3 91 transistor output open collector 2 4 trial operation 3 93 troubleshooting 5 9 5 11 V W verification error 3 92 wiring 2 13 4 digit display 2 27 cam output 2 22 control inputs 2 17 control outputs 2 19 power supply input 2 16 Resolver 2 21 standard method 2 14 Terminal Blocks 2 16 write protection write protecting cam data 3 69 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No O008 E1 03 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code September 1999 Revised content Original production July 2005 Following changes made to front matter Notice Information on general precautions notation added Conformance to EC Directives EN500
90. 5 6 7 8 bank BANK1 OFF OFF OFF BANK2 OFF OFF ON ON OFF BANKS OFF OFF OFF ON Note Refer to 7 2 Performance for information on bank selection timing when in operation mode Operation start When the operation start input is turned ON in RUN mode the operation input will start and cam outputs are enabled When operation start input is turned OFF in RUN mode cam outputs are disabled Note 1 START input is ignored when the Unit is in modes other than RUN Note 2 Cam outputs will turn ON and OFF during a trial operation in PRGM mode regardless of the START input status Note 3 Refer to ntl7 2 Performance for information on delay times for cam outputs and RUN outputs after START input is turned ON 3 42 Operation Origin shift input Chapter 3 Function When the origin shift input is turned from OFF to ON in RUN mode origin shift is executed Note 1 TRIG input is ignored when the Unit is in modes other than RUN Note 2 TRIG input is disabled when Resolver speed is 4 r min or great er Note 3 The TRIG signal is enabled when it has been turned ON for 10 ms or longer Note 4 Referto 7 2 Performance for information on the relationship be tween TRIG inputs RUN outputs and cam outputs Reset input m Control Outputs RUN output Regardless of the current operati
91. 8 29 25 26 27 28 29 30 31 In this way the present angles do not continue in numerical order from the angle where the present angle and the advance angle compensation value 3 coincide The following points must be taken into consideration therefore when using the advance angle compensation function e Set advance angle compensation value 3 in a section where the cam output does not change Set in the middle of a section where ON or OFF status continues for a long time e As much as possible do not operate the machinery while the advance angle amount is changing accelerating or decelerating Start real operation after the speed has stabilized f the machinery must be operated during acceleration or deceleration change the system set tings to minimize the change in advance angle amounts as much as possible Consider gentle acceleration or deceleration and minimizing the change in advance angle amount or speeding up the peripheral devices or slowing down the drive axle side and reducing the size of the com pensation amount itself 3 66 3 Make sure that the machinery is operating normally m Related Parameters SET Mode e Advance Angle Compensation Value 1 2 Parameter 3 Setting range Speed data 0 to 1600 800 No see note 1 Angle data 0 to 359 719 see note 1 e Advance Angle Compensation Value 2 2 Parameter 4 Setting ra
92. 81 2 changed to EN61000 6 4 Read and Understand this Manual Information on liability and warranty add ed July 2011 General Precautions Changed the fifth precaution from the start of the general precautions section Page 3 93 Added note Page 6 2 Added note Authorized Distributor
93. ANK FUN CAM PRMTR e 3 SPEED ON POSITION OFF naninucn Press the Cam Parameter Key to check the contents of other cam numbers The data for step 1 of the bank and cam number displayed will be displayed Note If there is no data the display will be BANK FUN CAM PRMTR e SPEED ON POSITION OFF 150 180 TW Press the Set Key to check data for step 2 3 31 Operation Display BANK FUN CAM PRMTR SPEED ON POSITION OFF e rin j nn uu Chapter 3 Explanation Check the data for step 3 in the same way BANK FUN CAM PRMTR e SPEED ON POSITION OFF Check data through to the last step Check the data for all cam programs that have been created If there are errors in any cam program follow the procedure outlined in the previous section and set the correct data m Cam Program Deletion PRGM Mode This section explains how to delete cam programs after they have been created or while they are being created The four methods to delete cam programs are shown below Each of these methods will be explained in this section ON OFF angle data deleted by steps ON OFF angle data deleted by cam numbers ON OFF angle data deleted by bank numbers All cam programs deleted at once e Deleting by Steps Operation Display
94. BANK FUN CAM PRMTR SPEED ON POSITION OFF Deleting Cam Program Steps e Perform the following operation to delete steps in an existing cam program for a particular cam num ber Teaching bank number 1 cam number 1 Step data ready to be deleted Deleting step data BANK FUN CAM PRMTR BANK FUN CAM PRMTR BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF Ex e Display the step to be deleted Press the Set Key to display the steps in order e Press the Clear Key while pressing the ON OFF Switching Key The ON and OFF angles will flash indicating that the step data is ready to be deleted e Press the Set Key to delete the data The displays will change to and e f the Clear Key is pressed when the step data is ready to be deleted the delete operation will be can celed and the display will return to the original display Note The and displayed after the step has been deleted indicate the next status after the last step Therefore press the Set Key while pressing the ON OFF Switching Key to display the ON and OFF angles for step 1 Relationship between Teaching and Various Compensation Functions f the teaching function is used while other compensation functions are set the present angle as adjusted by the compensation function will be read as ON angle or OFF angle data When using compensation functions perform teaching after
95. EED ON POSITION OFF n Uu BANK FUN CAM PRMTR Use the Bank Function Key to set the bank number to be FUN e checked T m p OTONO Keep pressing the Bank Function Key until the bank number to uU be checked is displayed BANK RUN GAN PRMTH Use the Cam Parameter Key to set the cam number to be checked SPEED ON POSITION OFF Keep pressing the Cam Parameter Key until the cam number to be checked is displayed The number of steps for that cam program will be shown in the SPEED ON display Repeat these steps to check other cam numbers PRMTR SPEED ON POSITION OFF 3 than Keys other BANK FUN CAM PRMTR Press any key other than the Cam Parameter Key to return the PRMTR e Cam Parameter display to 0 SPEED ON POSITION OFF 9 BANK FUN Press the Bank Function Key while the Cam Parameter No FUN 3 Di display is 0 to display the next bank number or function SPEED ON POSITION OFF num ber U 3 36 Operation Chapter 3 3 5 4 Resolver and Machinery Connection Once the cam programs have been completed turn OFF the power supply for safety and connect the Resolver and the machinery Resolver and Machinery Connection e Turn OFF the system power supply before connecting t
96. IBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or
97. ITION OFF SPEED ON POSITION OFF e When the backlash compensation value Function No b Parameter No 2 is displayed the present setting will be displayed in the SPEED ON display and the first digit rightmost digit will flash e Use the Forward Up and Down Keys to change the data e Press the Set Key and the data will remain lit for approximately one second the setting will be con firmed and the display will resume flashing e f the data is inappropriate and the Set Key is pressed all displays will flash twice and then return to the settings before the data was edited Re input the correct data e Press the Clear Key to return the data to the factory settings If the Clear Key is pressed the three digits of data will start flashing Press the Set Key while the data is flashing and the display will change to and the factory settings will be restored If the Clear Key is pressed again while the three digits of data are flashing the data will not be initialized and the display will return to the edited state e Backlash Compensation Enable Disable 2 e Set this parameter to 1 to enable backlash compensation 0 backlash compensation disabled 1 backlash compensation enabled e The factory setting is 0 Note This parameter is enabled when the power is turned OFF and then turned ON again Operation PRGM Te Use the mode selection switch to change to SET mode Backla
98. Ij The speed display will be 0 and present angle will be 0 if the PEEEDION Positioner machinery is not operatin m nm y p g UJ 3 58 Operation Chapter 3 m Origin Shift Execution RUN Mode e Procedure Operation Display Explanation BANKFUN CAM PRMTR Use the mode selection switch to change to RUN mode PRGM ser SPEED ON POSITION OFF 0 Manual BANK FUN Rotate the machinery to the position to be set as zero or to the origin operation of the SPEED ON POSITION OFF compensation value machinery 0 Origin shift BANK FUN CAWPRMTR Turn ON the origin shift input TRIG to execute origin shift input TRIG The absolute angle Resolver s electrical angle will flash in the a POSITION OFF display until origin shift has been completed OV START TRIG J O T Turn ON origin shift input TRIG After origin BANK FUN CAM PRMTR The original display will appear when origin shift has been completed shift bn The Speed display will be 0 and present angle will be 0 if the completed 7 n machinery is not operating 3 59 Chapter 3 3 6 5 Backlash Compensation Functions e The backlash compensation function absorbs mechanical looseness by creating a gap between the detection angles in the
99. Macros Communications Chapter 4 4 1 Overview of CompoWay F Communications The SF88L 160 162 Cam Positioner has a communications port that conforms to Com poWay F Type B Through communications the 3F88L 160 162 is capable of reading and writing cam programs and parameters as well as monitoring the present cam angle and Resolver speed Note CompoWay F is OMRON s standard protocol for serial communications It provides a standard frame format and commands based on the Factory Interface Network Service FINS used by OMRON Programmable Controllers in order to facilitate communications between components or between a personal computer and a component Note FINS is a protocol used for message communications between controllers on OMRON FA net works m Cam Positioner Communications In communications between a Cam Positioner and a host CPU communications capabilities differ de pending on the operating mode of the Cam Positioner Function Communications capabilities Command name Error code Reads error code Controller Status Executing status Reads Cam Positioner status Read Model and commu Reads model and communications Unit Attribute nications buffer size buffer size send or receive buffer size Read whichever smaller Internode Echo test Conducts an internode echo test Internode Echo Test Model and version Reads model and version Controller Data Read Monitor Resolver speed Reads Resolver speed
100. NK FUN CAM PRMTR Li 1 t i SPEED ON POSITION OFF Press the P CLR switch to clear all cam programs in the Cam Positioner Note The P CLR switch will be ignored by the system even in PRGM mode if the trial operation function is being used Trial operation cannot be performed in function level 1 Program Number Checking SET Mode The number of steps in a new program are checked in SET mode e Program Number Checking Information Parameter No Function name Program num The number of steps for the PL NEN bank and cam ber checking numbers will be shown in the SPEED ON display 1 The numeric values for the 3F88L 160 16 point model Cam Positioner are shown in parentheses 1108 1 to 4 see note 2 Note 0 to 32 1 to 16 see 1 Function level 0 1 2 GNE 3 35 Chapter 3 Note 2 The numeric values for 720 divisions rotation resolution are shown in parentheses Bank No BANK FUN CAM PRMTR SPEED ON POSITION OFF 5 Number of steps for the set bank and cam numbers Note When the parameter number PRMTR is 0 the absolute angle for origin compensation is shown in the SPEED ON display e Procedure Operation Display Explanation BANK FUN CAM PRMTR Use the mode selection switch to change to SET mode n E SP
101. Note This performance data is for reference only and cannot be guaranteed Initial Processing Time The diagram shows the times from when the START input is turned ON and the power supply to the Cam Positioner is turned ON until cam outputs RUN outputs and ERROR outputs are made ON Power supply OFF RUN output Sn OFF Enabled Disabled Cam output ERROR output oN Standard time RUN output delay time Cam output delay time ERROR output delay time 7 4 Appendix Chapter 7 m Time from START Input to Start of Operation The diagram shows the time from when the START input is turned ON until cam outputs can be con trolled ON START input OFF ON RUN output OFF Enabled Cam output Disabled Standard time RUN output delay time Cam output delay time Origin Shift Processing Time The diagram shows the time from when TRIG input is turned ON until cam outputs and RUN outputs change TRIG input ON lo dl OFF RUN output ON OFF Enabled Cam outpu occum Disabled Standard time RUN output delay time 15 ms max RUN output OFF time 0 8 to 1 2 s Cam output delay time 15 ms max Cam output OFF time 0 8 to 1 2 s Min TRIG input enabled time 10 ms min 7 5 7 M DET ON OFF Time The diagram shows the time from when the Resolver speed is greater or
102. OMRON Mi USER S MANUAL 3F88L 160 162 Cam Positioner Thank you for choosing this 3F88L 160 162 Cam Positioner Proper use and handling of the product will ensure proper product performance will lengthen product life and may prevent possible accidents Please read this manual thoroughly and handle and operate the product with care 1 To ensure safe and proper use of the OMRON Cam Positioners please read this USER S MANUAL Cat No O008 E1 to gain sufficient knowledge of the devices safety information and precautions before actual use 2 The products are illustrated without covers and shieldings for closer look in this USER S MANUAL For actual use of the products make sure to use the covers and shieldings as speci fied 3 This USER S MANUAL and other related user s manuals are to be delivered to the actual end users of the products 4 Please keep this manual close at hand for future reference 5 If the product has been left unused for a long time please inquire at our sales representative NOTICE This manual describes the functions of the product and relations with other products You should assume that anything not described in this manual is not possible Although care has been given in documenting the product please contact your OMRON representative if you have any suggestions on improving this manual The product contains potentially dangerous parts under the cover Do not attempt to open
103. OSITION OFF BANK FUN CAM PRMTR SPEED ON r c POSITION OFF BANK FUN CAM PRMTR le SPEED ON POSITION OFF 38 888 BANK FUN CAM PRMTR SPEED ON r POSITION OFF 181888 BANK FUN CAM PRMTR E SPEED ON POSITION OFF If setting or clearing cam protect for other bank numbers BANK FUN CAM PRMTR c SPEED ON POSITION OFF 3 71 3 Setting Releasing Cam Protect Procedure 1 Enabling Cam Protect Settings PRGM Jes Use the mode selection switch to change to SET mode Bank number Cam protect settings selection possible possible Cam protect Cam protect bank number 1 protect bank number 1 cam number 1 Cam protect bank number 1 cam number 32 BANK FUN CAM PRMTR SET BANK FUN CAM PRMTR SET BANK FUN CAM PRMTR BANK FUN CAM PRMTR eee SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF E pE C Up to cam number 16 for 3F88L 160 A xz T H Bi Em E i CLR CAM PRMTR Cam protect bank number 2 Cam protect bank number 2 cam number 1 Cam protect bank number 2 cam number 32 BANK FUN CAM PRMTR SPEED ON BANK FUN CAM PRMTR CAM BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF f c POSITION OFF Up to cam number 16 for
104. PRGM mode and if required adjust the cam program while checking the timing of the cam output Operation monitoring Change to RUN mode and check the operation of the machinery and monitor the I O status Correct the cam program if required PRGM mode Origin shift execution If required turn ON TRIG input and execute origin shift RUN mode Compensation operation If required adjust the cam program while checking the timing of the cam output Function level selection If required set to function level O monitor only to prevent faulty operation 3 13 Chapter 3 3 4 Selecting Function Levels Three function levels are available to limit 3F88L 160 162 Cam Positioner functions by setting the function level selection Function No U Limiting the Cam Positioner functions protects it from being incorrectly set or operated by the user Function Level 0 Monitor Only Cam output and monitoring are enabled Cam program writing and parameter setting cannot be made Function level 0 is designed to prevent inadvertent changes to the cam program or parameters Functions for which the settings have already been completed are enabled and may be used at this level e Function Level 1 Basic Operation Monitor Only Factory Setting In addition to the functions available at function level 0 cam programs may be edited This function level is used for basic operat
105. Protocol macro instruction 01E1 Control data Communications port No 0 serial port No 1 and inner board are used 0258 Control data Send receive sequence No 600 with ASCII code conversion and response is set D00000 First word No of send data DM00000 is set D00500 First word No of received data storage 0 00500 is set Send Data Word Allocations DM address Data D00000 0004 No of send data words There are four words from 000000 to 000003 so 0004 Hex is set D00001 0000 Node No The node number of Cam Positioner is 00 so 0000 Hex is set D00002 0601 MRC SRC Controller Status Read is used so MRC 06 and SRC 01 are set D00003 0000 No of sent data bytes There is no data to be sent so 0000 Hex is set Receive Data Word Allocations DM address Data No of received data words There are three words from D00500 to D00502 D00500 0003 so 0003 Hex is stored D00501 0000 Response code MRES 00 and SRES 00 are stored at normal completion Received data Status 80 in this example and error data 10 in this example D00502 8010 are stored after being ei from ASCII code to values Note 1 The content of Status is as follows b7 50 Executing status 0 While in error status or in PRGM or SET mode 1 When there is no error in RUN mode 1 When the communications function is being executed
106. S 232C connections 3 88 components name and function of each part 1 7 CompoWay F Communications commands 4 10 Controller Data Read command 4 19 Controller Status Read command 4 20 errors 5 7 5 8 Internode Echo Test command 4 22 Memory Area Read command 4 10 Operation Command 4 21 overview 4 2 4 4 Parameter Area Read command 4 12 Unit Attribute Read command 4 20 Connection Cables models 2 14 connections wiring connections 2 13 connectors functions 1 9 control inputs description 3 42 3 43 monitoring 3 41 specifications 2 19 wiring 2 17 control outputs description 3 43 monitoring 3 41 specifications 2 20 wiring 2 19 copy function 1 5 3 88 3 92 Coupling See Resolver Coupling crimp terminals recommended terminals 2 18 2 20 CW CCW setting switch using 3 21 D data output timing 3 80 data transfer 3 88 deleting cam program 3 32 deleting all cam programs 3 35 in PRGM mode 3 25 direction of rotation one direction function 3 75 setting 3 21 I 1 display display changes in SET mode 3 52 3 56 displays by mode 3 8 7 12 7 15 functions 1 8 nomenclature of display section 3 2 seven segment display patterns 3 3 specifications 6 8 Display Unit connecting 2 5 2 13 2 25 2 29 standard models 7 11 E EC Directives conformance 2 9 environmental conditions 2 8 error codes 5 2 5 7 7 16 7 20 error output 3 43 delay time 7 4 errors communications erro
107. SITION OFF cam number 1 BANK FUN CAM PRMTR SPEED ON POSITION OFF ng bank number 8 cam number 1 Teaching bank number 8 Teachi BANK FUN CAM PRMTR em 8 SPEED ON POSITION OFF BANK FUN CAM PRMTR 8 SPEED ON POSITION OFF Note Up to bank number 4 for 720 resolution A Teaching bank number 1 cam number Era BANK FUN CAM PRMTR 32 SPEED ON POSITION OFF L Teaching bank number 2 cam number 32 BANK FUN CAM PRMTR e 32 SPEED ON POSITION OFF Up to cam number 16 for 3F88L 160 i Es Teaching bank number 8 cam number 32 BANK FUN CAM PRMTR 8 32 SPEED ON POSITION OFF CAW PRMTA Up to number 16 for 3F88L 160 3 53 Operation Chapter 3 One direction function setting One direction function setting One direction function bank number 1 One direction function bank number 1 cam number 1 BANK FUN CAM PRMTR ser BANK FUN CAM PRMTR BANKFUN CAM PRMTR F SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF H CLR BANK FUN EI One direction function bank number 2 number 2 cam number 1 BANK FUN CAM PRMTR e SPEED
108. TR SPEED ON POSITION OFF Press the Cam Parameter Key to adjust other cam numbers Step 1 of the next cam number will be displayed Repeat the same procedure to adjust the angles for each step 3 94 BANK FUN CAM PRMTR SPEED ON POSITION OFF Press the Clear Key to exit the trial operation function Note To adjust the cams in another bank number exit the trial operation press the Bank Function Key to set the next bank number to be ad justed and re enter trial operation mode Operation Chapter 3 m Adjustment Operation RUN Mode e Outline of Operation o gt nm Keys Change RUN mode Press the Set Key while press the Up and Down Keys to enable the adjustment operation function Use the Up and Down Keys to set the cam number to be adjusted Press the Set Key Adjust the ON angle using the Up and Down Keys Adjust the OFF angle by pressing the ON OFF Switching Key and then using the Up and Down Press the Set Key to display the next step The message Do you want to adjust the next step will appear Select Y to return to 5 above Select N to continue 9 Press the Cam Parameter Key 10 The message Do you want to adjust another cam number will appear Select Y to return to 3 above Select N to continue 11 Press any key other than the Up Down or Set Keys to exit the procedure e Procedure Operation Display BANK FUN
109. W Axle diameter 10mm 6mm Rated axle load Thrust load 196 N max Radial load 196 N max Thrust load 98N max Radial load 98 N max Total length 101 mm 110 mm 154 mm 97 mm Attachment method Flange Connected to the servo Friction torque 12 mN m max 49 to 147 mN 2 9 mN m max Connection to Cam Positioner Shown in diagram A Shown in diagram Shown in diagram B C Note High torque Resolvers have oil seals 2 2 Design Chapter 2 m Cam Positioner and Resolver Configuration 3F88L 160 or 3F88L 162 Cam Positioner 3F88L CR Resolver Extension Cable 3 m Plug in cable 3F88L RS17 RS17T Resolver 3F88L 160 or 3F88L 162 Cam Positioner 3F88L CR Resolver Cable Connector type 3F88L RS15 Resolver 3F88L 160 or 3F88L 162 Cam Positioner 3F88L CR Resolver Cable 35 cm Separate wire plug in cable 3F88L RS15S Resolver Note 1 3F88 RS17 and 3F88 RS17T Resolvers have 3 m cables Use the 3F88L CR C Re solver Extension Cable if more cable is required Note 2 The in the Extension Cable model number indicates the length of the Extension Cable For example the 3F88L CRO10C Extension Cable is 10 m in length Note 3 The distance between the Cam Positioner and the Resolver can be up to 100 m Design C
110. a format of operand S and subsequent operands in the PMCR instruction Spec ify this format of data in operand S and subsequent operands 3 The second table Receive Data Word Allocations Fourth Operand of PMCR Instruction on the fol lowing page shows the data format of operand D and subsequent operands in the PMCR instruc tion This format of data will be set in operand D and subsequent operands Normally set 0000 Hex as the default value D 0 Control data Communications port No serial port No destination unit address Control data Send receive sequence No 0258 Hex for sequence No 600 025A Hex for sequence No 602 First word No of send data First word No of received data storage 4 24 Communications Chapter 4 e Control Data C1 b15 b12 b11 bB b7 b4 b3 bo Destination unit address Serial Communications Unit Unit number 10 Hex Serial Communications Board E1 Hex C1 Serial port No physical port Communications port internal logical port O to 7 Hex e Send Data Word Allocations Third Operand of PMCR Instruction Word No Data format No of send data words Set the number of words of data to be sent from S 0 to the end 4 digit Hex of the data Setting range 0005 Hex to Hex 5 to 250 in decimal Reserved Node No The node number of the Cam Positioner is 00 Hex 2 digit BCD set 0000 Hex in 5 1 MRC SRC Set the command code of the service to be used Refer to 2 digit He
111. am are the terminal numbers for the NRT connectors Reinforced insulation or double insulation must be used for the DC power supply used as an 2 27 Design Note 5 Some display examples are given below Present angle display note Chapter 2 Resolver speed display Note Write deg in the space when using a no display Unit m Connecting a M7F Display Unit Use a 3F88L CG 3F88L 160 162 Cam Positioner e Functions 3F88L CG S Cam Output Cable S Cam Output Cable to connect the M7F Display Unit M7F Display Unit The present angle in degrees or the Resolver speed r min can be displayed on a 4 digit numeric Display Unit The display data is set using the present value display function parameters Note The Display Unit does not have a function to change the unit of display Do not use this Unit in automatically switching display mode e Unit Models Used 4 digit Display Unit character height 14 mm M7F 4D1R red M7F 4D1G green 4 digits Display Unit Units character height 14 mm M7F 4D1RT red M7F 4D1GT green Units Nameplate character height 14mm M7F 1 no display M7F RPM 1 r min 4 digit Display Unit character height 25 mm M7F 4D2R red M7F 4D2G green 4 digits Display Unit Units character height 25 mm M7F 4D2RT red M7F 4D2GT green Uni
112. ambient temperatures or relative humidities outside the following ranges Ambient temperature 0 to 55 Cam Positioner Unit and 10 to 80 C Resolver Ambient humidity 10 to 90 with no condensation e Locations subject to condensation as the result of severe changes in temperature e Locations subject to corrosive or flammable gases e Locations subject to dust especially iron dust or salts e Locations subject to exposure to water oil or chemicals e Locations subject to shock or vibration Take appropriate and sufficient countermeasures when installing the Unit in the following locations e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies 2 8 Design Chapter 2 m Conformance to EC Directives The SF88L 160 162 Cam Positioner complies with EC Directives To ensure that the system in which the 3F88L 160 162 is installed complies with EC Directives the following precautions must be ob served e The 3F88L 160 162 is defined as an in panel device according to the Low voltage Directive The 3F88L 160 162 must therefore be installed within a control panel e Reinforced insulation or double insulation must be used for the DC power supplies used as I O power supplies e The 3F88L 160 162 conforms to the Common Emission Standard
113. an OMRON product regardless of whether or not it appears in the proper name of the product The abbreviation Ch which appears in some displays and on some OMRON products of ten means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product OMRON 1999 rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Never theless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for dam ages resulting from the use of the information contained in this publication Intended Audience This manual is intended for the following personnel who must also
114. and text PDU Memory area code Beginning address No of items o No of bytes after 2 6 4 ASCII conversion Memory area code The memory area code for Resolver speed and present cam angle is 80 Beginning address The address for Resolver speed is 0000 No of items There are two items Resolver speed and present cam angle so 0002 is set Receive Data Word Allocations DM address Data No of received data words There are four words from 000500 to 000503 so 0004 D00500 0004 Hex is stored D00501 0000 Response code MRES 00 and SRES 00 are stored at normal completion Received data The present cam angle 359 in this example is stored D00502 0359 after being converted from ASCII code Re a hexadecimal ae Received data The cam speed 800 r min in this example is stored after 000503 0800 being converted from ASCII nee into a hexadecimal 4 26 Communications Chapter 4 Note For sequence 600 received data is stored from the largest word number sequentially to D 2 In the above example Resolver speed data 08 and 00 and present cam angle data 03 and 59 are received as ASCII data in this order and 000503 000502 are converted into hexade cimal values in this order e Examples of Monitoring Errors Protocol Macro Communications Always ON Executing Flag Port Enabled Flag ee a ee D00500 PMCR
115. angle compensated position Factory setting 0 Baud rate 1 9 600 bps factory setting 2 19 200 bps Bank Func tion Cam Parame ter Function Cam protect Data range SPEED ON Protection can be set or released for each cam number or for all cams in a bank number Factory setting unprotected Chapter 7 POSITION OFF Protect can be set or released for each cam number or for all cams in a bank number Factory setting unprotected Teaching Present Resolver angle can be input as ON angle data Present Resolver angle can be input as OFF angle data One direction function setting 0 One direction function disabled factory setting 1 Enabled in forward direction 2 Enabled in reverse direction Backlash compensation enable disable setting Backlash compensation disabled factory setting Backlash compensation enabled Advance angle compensation enable disable setting Advance angle compensation disabled factory setting Advance angle compensation enabled Output hold Output hold disabled factory setting Output hold enabled 7 13 Bank Func tion Cam Parame ter Function Present value output setting Data range SPEED ON No present value output function factory setting 4 digit present angle no units 4 digit number of rotations no units
116. ar the error Cam data protect input prohibited Attempt made to edit cam protected cam data Attempt made to edit cam protected cam data Once the error has been cleared either remove the cam data protect or edit different cam data that has not been cam data protected Press the Clear Key to clear the error Operation Error name Cam program duplication error Description Attempt made to write program to the ON section of an existing program including attempt with the teaching function Probable cause Attempt made to write program to the ON section of an existing program including attempt with the teaching function Possible solution Once the error has been cleared write the correct steps that are not duplicated Chapter 5 Error reset method Press the Clear Key to clear the error Communica tions error No response from the Slave Unit commu nications data error different baud rate to Slave Different baud rate to Slave Unit Align the Master and Slave Unit baud rates Function No b Parameter No 6 Press the Clear Key to clear the error Slave Unit not operating Check the display on the Slave Unit Bank Function display t Cam Parameter display O and re transmit the data from the Master Unit Slave Unit error Clear the errors on both the Master and Slave Units and re transmit t
117. ase Cam Positioners Confirm settings Bank number selection enabled Cam protect settings possible BANK FUN CAMPAMTR Bank Function display flashing present setting status displayed 34 H SPEED ON POSITION OFF f c SPEED ON POSITION OFF f c ZINS C flashes twice While the bank and cam numbers are displayed cam protect settings enabled press the ON OFF Switching Key while pressing the Up Key to set cam protect for all cams within that bank num ber While the bank and cam numbers are displayed cam protect settings enabled press the ON OFF Switching Key while pressing the Down Key to release cam protect for all cams within that bank number Once cam protect has been set or released press the Set Key to confirm the cam protect settings C will flash twice on the display Perform this operation for each bank The setting will be can celed if the Set Key is not pressed before moving to another bank Once the settings have been completed press the Clear Key to return to bank selection enabled status Bank Function display flashing To set or release cam protect for another bank number the above operation use the Up and Down Keys when in bank selection enabled status Bank Function display flashing to select the new bank number and repeat the above operation Press the Bank Function Key when in bank selection enabled status
118. ate Time chart 0 0 30 60 90 120 150 180 210 240 270 300 330 360 Appendix Chapter 7 7 8 Parameter Settings Log Chart e Unit Model Cam Positioner 3F88L 160 16 point model 3F88L 162 32 point model Remarks e Switch Setting CW CW CCW setting switch e Parameter Settings Function Function level selection Function level for settings CCW Setting range Settings Function level 0 monitor only Function level 1 basic operation monitor only Function level 2 all functions Settings Settings when parameter setting is made Settings when machine is operating Resolution selection 0 1 360 divisions revolution factory setting 1 720 divisions revolution Origin compensa tion value 0 to 359 0 to 719 see note 1 Sets origin compensation value angle data Factory setting Backlash compensa tion value to 179 0 to 359 see note 1 Sets backlash compensation value angle data Factory setting Advance angle com pensation value 1 0 to 1600 0 to 800 see note 1 Sets speed data for advance angle compensation
119. ation greater detection trial operation ERROR SET PRGM RUN OFF when an error has been generated monitor RUN Possible when 1 2 3 5 7 START signal is or OFF 3 Classifi Function name Applicable modes Conditions Front panel Refer cation displays ence sec Function Parame tion No ter No Applied Origin compensation SET b 1 3 6 4 functions value setting Note Origin com pensation can also be per formed as a ba sic function at function level 0 or 1 Origin shift operation TRIG input in RUN Resolver speed must Note Used for both mode possible when be less than 4 r min origin com START signal is ON pensation op or OFF eration and compensation value Backlash compensation SET b 2 3 6 5 value setting Enable disable SET H 1 backlash compensation setting Backlash compensation RUN Only when backlash PRGM trial compensation value operation only is enabled SET only when teaching Advance angle SET b 3 4 5 3 6 6 compensation setting Advance angle SET H 2 compensation enable disable setting Advance angle RUN compensation PRGM trial operation only SET only when teaching Cam protect setting SET 3 6 7 Cam protect function PRGM The power must be operation reset to ON after cam protect has been
120. ation enable disable setting Advance angle compensation disabled factory setting Advance angle compensation enabled Output hold Output hold disabled factory setting Output hold enabled Operation Bank Func tion Cam Parame ter Function Present value output setting Data range SPEED ON No present value output function factory setting 4 digit present angle no units 4 digit number of rotations no units Automatic switching of 3 digit present angle and number of rotations with units Automatic switching of 4 digit present angle and number of rotations with units Chapter 3 POSITION OFF P p see note 4 Pulse output setting Writes pulse output program to any bank or cam number sets pulse number Sets pulse start position t t see note 4 Data transfer Slave setting Operates on a command issued from Master Unit Data transfer Master setting 0 Disabled factory setting Read data Write data Verify data Function level selection Function level 0 monitor only Function level 1 basic operation monitor only factory setting 2 Function level 2 all functions Note Note Error display set and displayed as 1 for 0 5 Note ON again Note 3 10 error display 1 The data for the 3F88L 160 16 point
121. ations Note CompoWay F is a uniform procedure in OMRON serial communications CompoWay F has uni form frame formats and commands that conform to FINS Factory Interface Network Service that is used in OMRON PCs It facilitates easier communications between multiple components and between personal computers and components 1 5 Outline Chapter 1 1 2 System Configuration Control Section Output Section Cam SYSMAC CS1 series PC or other PC output signal Control I O signal 3F88L 160 or 3F88L 162 Cam Positioner Detection Section M7E or M7F Display Unit Note Refer to 2 3 Wiring or 7 4 Standard Models for information on various connection cables 3F88L RS17 3F88L RS17T 3F88L RS15 or 3F88L RS15W Resolver Chapter 1 1 3 and Function of Each Part 1 Bank Function display 2 Cam Parameter No display 5 Mode selection switch 6 P CLR switch 7 ADJ switch 8 CW CCW setting Switch 11 Cam output connector top Mounting hole CAM17 32 SPEED ON 12 Commu nications port 10 Resolver connector 9 Operation keys 13 Terminal block 71 under the cover Mounting hole 4 POSITION OFF Present angle OFF angle display 5 SPEED ON Number of revo lutions ON angle display 1 7 Outline Chapter 1 1 3 1 Display Section e Displays the ope
122. ay Additional Information on the Copy Function Data Transferred All cam programs and parameters will be transferred from one Cam Positioner Unit to the other The contents of Function No t data transfer and Function No P pulse output setting will not be transferred 3 91 Chapter 3 Data Transfer between Different Cam Positioner Models When data is transferred between 3F88L 160 and 3F88L 162 Cam Positioner Units cam pro grams for cam numbers 17 to 32 will be transferred However if these programs have been transferred to 3F88L 160 Cam Positioner Units they cannot be displayed or checked If data is transferred to a 3F88L 162 Cam Positioner from a 3F88L 160 Cam Positioner that has cam pro grams for cam numbers 17 to 32 these cam programs can be checked on the 3F88L 162 Cam Positioner side Operation after Data Transfer Once the data transfer has been completed turn OFF the power for the Cam Positioner that re ceived the data transfer and then turn it ON again The parameters will be enabled when the power is turned ON again The power must be turned OFF and then ON again to determine if the data has been correctly transferred Communications Errors 3 92 The following communications errors may occur E 22 Cam Protect Error This cam protect error will occur on the receiving side if there is a cam that has been cam pro tected in that Cam Positioner The parameters will be transferred
123. but the cam program will termi nate with an error Clear all cam protects on the receiving Cam Positioner and then re transfer the data Refer to 3 6 7 Cam Protect If the Cam Positioner transmitting the data is a Master Unit an E 31 communications error will be generated in the Master Unit E 31 Communications Error This communications error is generated in the Master Unit when there has been no response from the Slave Unit or when there has been a communications data error in the Slave Unit If this error occurs while data is transferred transfer of some parameters or partial cam programs may result Press the Clear Key to delete the error This error will not occur in the Slave Unit E 33 Verification Error This verification error is generated when the cam programs or parameters on the Master Unit do not match those on the Slave Unit Press the Clear Key to delete the error This error will not occur in the Slave Unit Chapter 3 3 6 14 Trial Adjustment Operation The trial adjustment operation function is used to adjust ON and OFF angles while checking the cam output status This function is made up of the trial operation function and the adjustment operation function The differences between these two functions is outlined below Trial operation function This function is operated in PRGM mode Regardless of the status of the START input control and cam outputs are made and the Up and Down Ke
124. cally switching display function is to be used two Display Units Units are required an r min Unit and a degrees Unit End Plate One set is required Display Unit Connector Cam Output Cable Enough connectors for the number of Display Units is required One Cam Output Cable is required 3F88L CG001S 3F88L CG003S e Display Contents and Required Number of Units Display Resolution setting Parameter for present value output function Display range 0 to 359 Required number of Units Numeric Display Unit Units Display Unit Display Unit Connectors 0 to 719 0 to 999 0 to 1 600 0 to 800 Switching present angle r min display Note 0 to 359 degrees 4 to 999 r min 1 no display Unit and 1 rpm Unit 0 to 359 degrees 4 to 1 600 r min 1 no display Unit and 1 rpm Unit 0 to 719 degrees 4 to 800 r min 1 no display Unit and 1 rpm Unit 1 Refer to 3 5 2 Initial Settings for information on setting the display resolution Note 2 Refer to 3 6 10 Present Value Output Function for information on parameters for this function Note 3 One 3F88L CG S Cam Output Cable and one End Plate set are required when connect ing Units other than those listed in the above table Note 4 When the resolution is set at 720 the present angle display will rea
125. changed turn OFF the power supply and turn it ON again e Data Transfer Slave Unit Settings 1 2 m eec 0 e Use this parameter to make the settings on the Slave Unit to enable data transfer e Data Transfer Master Unit Settings 112 quee eese 0 e Use this parameter to make the settings the Master Unit to enable data transfer e The settings are shown below 0 Disabled factory setting 1 Data read Reads cam programs and parameters from the Slave to the Master Unit 2 Data write Writes cam programs and parameters from the Master to the Slave Unit 3 Data verification Verifies the Master programs and parameters against the Slave programs and parameters 3 90 Chapter 3 Operation Data transfer Data transfer Slave Unit settings Data transfer Master Unit settings BANK FUN CAM PRMTR SPEED ON POSITION OFF e Slave Cam Positioner Settings e Use the Bank Function Key to set data transfer Function No t and press the Set Key 0 Slave Unit settings will appear in the Cam Parameter No display e The settings for the Slave Unit have now been completed While this data is displayed make the set tings for the Master Cam Positioner Unit e Master Cam Positioner Settings e Use the Bank Function Key to set data transfer Function No t and press the Set Key 0 Slave Unit settings will appear in the Cam Paramet
126. ching Key to set the OFF angle The rightmost digit the first digit in the POSITION OFF display will start flashing BANK FUN CAM PRMTR SPEED ON POSITION OFF nnn n 9 NM VUO TIAM Set the OFF angle in the same way the ON angle was set The ON angle for cam number 2 is 90 and must therefore be set to 90 BANK FUN CAM PRMTR SPEED ON nnn 090 UUU JU POSITION OFF Press the Set Key to confirm the ON and OFF angle settings The data will stop flashing for approximately one second after the Set Key is pressed BANK FUN CAM PRMTR POSITION OFF SPEED ON TT Approximately one second after the Set Key has been pressed the next step can be input BANK FUN CAM PRMTR SPEED ON POSITION OFF TIAM There is only one step for cam number 2 Proceed therefore to the settings for cam number 3 Press the Cam Parameter Key The Cam Parameter No display will change from 2 to 3 BANK FUN CAM PRMTR e 3 SPEED ON POSITION OFF MINNEN 63 a 0 60 In step 1 of cam number 3 set the ON angle to 30 and the OFF angle to 60 The setting method is the same as outlined previously BANK FUN CAM PRMTR SPEED ON POSITION OFF nmnanmincn 8308 0850 Press the Set Key to save the ON and OFF angle settings for step 1 When the Set Key is pressed the
127. compensation enable disable setting Backlash compensation disabled factory setting Backlash compensation enabled Advance angle compensation enable disable setting Advance angle compensation disabled factory setting Advance angle compensation enabled Output hold Output hold disabled factory setting Output hold enabled Present value output setting No present value output function factory setting 4 digit present angle no units 4 digit number of rotations no units Automatic switching of 3 digit present angle and number of rotations with units Automatic switching of 4 digit present angle and number of rotations with units 3 47 Chapter 3 Bank Func Cam Parame Function name Setting SPEED ON POSITION OFF tion ter range P p Pulse output Writes pulse output Sets pulse start see note 4 setting program to any position bank or cam number sets pulse number t t Data transfer Operates on a see note 4 Slave setting command issued from Master Unit Data transfer 0 Disabled factory Master setting setting Read data Write data Verify data Function level Function level 0 selection monitor only Function level 1 basic operation monitor only factory setting Function level 2 all functions Note 1 The
128. d RS 232C cable port Communications SS Chapter 4 Command name Parameter Area Read Write 3F88L 160 162 Cam Positioner Communications Specifications The communications specifications of the Cam Positioner are shown below Set the communications conditions of the host CPU to these specifications Communications method RS 232C Synchronization method Start stop synchronization 9 600 or 19 200 bps parameter setting Baud rate Transmission code Data bit length Stop bit Parity Node number Subaddress ASCII 7 bits 2 bits Even 00 00 Note 1 The Cam Positioner is factory set to a baud rate of 9 600 bps To use 19 200 bps relevant parameters must be set Refer to 3 6 13 Copy Function Data Transfer for details 4 3 Communications Chapter 4 Note 2 Node numbers and subaddresses are the codes used when executing commands In this chapter numeric values enclosed in double quotation marks such as 00 represent ASCII codes Numeric values followed by Hex such as 02 Hex represent hexadecimal values For example ASCII code 00 can be represented as 30 30 Hex in hexadecimal notation m Communications Cables RS 232C Cables e Communications Port Pin Arrangement on Cam Positioner End Signal name Signal name Receive data Request to send Send data Clear to send Signal ground Frame ground e Assembling RS 232C Cables
129. d 1 for every 0 5 2 26 Design Chapter 2 e Wiring Example The following wiring example is for automatically switching the 4 digit display between the present angle and the Resolver speed with units also displayed Cam Output Connectors noten ES Display data cee eI CAMIS CAMBI Oange LT H 16 2 1 digit LE signal 8 2 digit LE signal CAM11 27 G Degrees r min 23 output terminal Note COM OV 12 to 24 V DC ph LII OO600000090 oocoeoeoceocg oeeeeoeeee oeceeoeeeo output of O would appear as 0000 Note M7E Display Unit 5 4th digit 1 000 s digit 3rd digit 100 s digit 2nd digit 10 s digit M7E 010002 1st digit 175 digit No display 010 2 r min 010 2 If pin 9 4th digit is left open a zero 0 will appear as 0 In the above wiring example The cam output signal names not in parentheses will be displayed for 3F88L 160 Cam Posi tioners and the names in parentheses will be displayed for 3F88L 162 Cam Positioners Note Note I O power supply in order to comply to EC Directives The circled numbers in the diagr
130. d will be displayed Note If there is no data the display will be BANK FUN CAM PRMTR e i SPEED ON POSITION OFF Press the Bank Function Key and set the bank number that contains the cam number to be deleted The Bank Function display will change as shown below each time the Bank Function Key is pressed 122345567841 etc Keep pressing the Bank Function Key until the bank number to be set appears Note When the resolution is set to 720 divisions rotation the display will not include 5 gt 6 gt 7 gt 8 3 33 Operation Display BANK FUN CAM PRMTR e 3 SPEED ON POSITION OFF o Chapter 3 Explanation Press the Cam Parameter Key and set the cam number that is to be deleted The Cam Parameter No display will change as shown below when the Cam Parameter Key is pressed 122235 2155161 etc Keep pressing the Cam Parameter Key until the cam parameter number to be deleted is displayed Note For the 3F88L 162 32 point model Cam Positioner the numbers displayed will continue to 32 and then return to 1 BANK FUN CAM PRMTR YN SPEED ON POSITION OFF 8030 0850 Press the Clear Key twice to delete the displayed cam number The cam number display will start flashing when the Clear Key is pressed twice which means the cam number is ready to be deleted Note If the Clear K
131. d and teaching performed For example in the right hand example even if the driven side is moved to the right for the amount of the backlash compensation the Resolver will not rotate and therefore the present angle will not change Even if the driven side is moved to the left for the amount of the backlash compensation the backlash compensation function will work and the present angle will not change Teaching and Advance Angle Compensation Advance angle compensation is performed when the Resolver is rotating Teaching in principle is performed while the Resolver is stationary Advance angle compensation therefore generally does not affect the teaching function However advance angle compensation does affect the teaching function for teaching that can be executed only when the Resolver is rotating at less than 4 r min In particular if a large advance angle compensation is set at low speed the present angle may not be continuous in the region where the advance angle is compensated and the angle to which the teaching function has been applied will become inappropriate When using the advance angle function therefore pay attention to the following points when using the teaching function also Perform teaching while the Resolver is not rotating When the Resolver cannot be stopped keep the advance angle amount as small as possible for rotation at low speed less than 4 r min e When the Resolver cannot be stopped perform t
132. d data for advance angle compensation value 1 Factory setting 0 010 359 0 to 719 see note 2 Sets angle data for advance angle compensation value 1 Factory setting Advance angle compensation value 2 010 1600 0 to 800 see note 2 Sets speed data for advance angle compensation value 2 Factory setting 0 010 359 0 to 719 see note 2 Sets angle data for advance angle value 2 Factory setting 0 Advance angle compensation value 3 010 359 0 to 719 see note 2 Sets angle data for advance angle compensation value 3 advance angle compensated position Factory setting Baud rate 1 9 600 bps factory setting 2 19 200 bps Cam protect Protection can be set or released for each cam number or for all cams in a bank number Factory setting unprotected Protect can be set or released for each cam number or for all cams in a bank number Factory setting unprotected 3 46 Teaching Present Resolver angle can be input as ON angle data Present Resolver angle can be input as OFF angle data Operation Bank Func tion Cam Parame ter Function name One direction function setting Setting range SPEED ON Chapter 3 POSITION OFF 0 One direction function disabled factory setting 1 Enabled in forward direction 2 Enabled in reverse direction Backlash
133. data for the 3F88L 160 16 point model Cam Positioner is shown in parentheses Note 2 The data for 720 resolution divisions revolution is shown in parentheses The angles will be set and displayed as 1 for 0 52 Note 3 Functions A b C F H and U will be enabled after the power has been turned OFF and then ON again Note 4 Functions P and t are special operations that are not stored as parameters 3 48 Chapter 3 3 6 3 Parameter Explanation and Operation m Explanation In this section individual parameters will be explained in the following format 7 Parameter name Function level setting e Origin Compensation Value Function level 2 Function p b Parameter 1 Setting range 0 to 359 0 to 719 see note 1 No No e Function explanation Note Additional information Parameter Name Parameter names such as origin compensation value and backlash compensation value will ap pear here Function Level Setting The function level at which this parameter can be set will appear here In the above example this parameter can be set at function level 2 all functions only Function No The function number of this parameter will appear here The 7 segment indicator display will appear in parentheses after function numbers that appear as letters rather than numerals Parameter No The parameter number for this parameter will ap
134. data will stop flashing for approximately one second BANK FUN CAM PRMTR e SPEED ON POSITION OFF FTW Step 2 can be input approximately one second after the Set Key has been pressed 3 29 Operation Display example BANK FUN CAM PRMTR Chapter 3 Explanation In step 2 of cam number 3 set the ON angle to 150 and the c SPEED ON POSITION OFF cn 150 8 u TP BANK FUN CAM PRMTR e L3 SPEED ON POSITION OFF iC en i Qn 5 8 BANK FUN CAM PRMTR OFF angle to 180 The setting method is the same as outlined previously Press the Set Key to save the ON and OFF angle settings for step 2 When the Set Key is pressed the data will stop flashing for approximately one second Step 3 can be input approximately one second after the Set Key has been pressed SPEED ON POSITION OFF ZTN BANK FUN CAM PRMTR e i3 SPEED ON POSITION OFF nn 3 rin Ww ou BANK FUN CAM PRMTR e SPEED ON POSITION OFF e nn 3 rin BANK FUN CAM PRMTR In step 3 of cam number 3 set the ON angle to 270 and the OFF angle to 300 The setting method is the same as outlined previously Press the Set Key to save the ON and OFF angle settings for step 3 When the Set Key is pressed the data will stop flashing for approximately one second
135. dit different cam data that has not been cam data protected Press the Clear Key to clear the error 7 18 Cam program duplication error Attempt made to write program to the ON section of an existing program including attempt with the teaching function Attempt made to write program to the ON section of an existing program including attempt with the teaching function Once the error has been cleared write the correct steps that are not duplicated Press the Clear Key to clear the error Appendix Error name Communica tions error Description No response from the Slave Unit commu nications data error different baud rate to Slave Probable cause Different baud rate to Slave Unit Possible solution Align the Master and Slave Unit baud rates Function No b Parameter No 6 Slave Unit not operating Check the display on the Slave Unit Bank Function display t Cam Parameter display O and re transmit the data from the Master Unit Slave Unit error Clear the errors on both the Master and Slave Units and re transmit the data Slave Unit not in communica tions mode Check the display on the Slave Unit Bank Function display t Cam Parameter display 40 and re transmit the data from the Master Unit Communica tions cable wired incor rectly Check and adjust the communications cable
136. e Bank Func tion 1to8 1 to 4 see note 2 Cam Parame ter Function Origin compensation absolute angle Data range SPEED ON Displays the absolute angle for origin compensation POSITION OFF 1 to 32 1 to 16 see note 1 Program number checking Displays the number of steps for the displayed bank or cam number 1 Resolution selection 0 360 divisions revolution factory setting 1 720 divisions revolution 7 12 Origin compensation value 010 359 0 to 719 see note 2 Sets origin compensation value angle data Factory setting 0 Backlash compensation value 010179 0 to 359 see note 2 Sets backlash compensation value angle data Factory setting 0 Advance angle compensation value 1 010 1600 0 to 800 see note 2 Sets speed data for advance angle compensation value 1 Factory setting 0 010 359 0 to 719 see note 2 Sets angle data for advance angle compensation value 1 Factory setting 0 Advance angle compensation value 2 010 1600 0 to 800 see note 2 Sets speed data for advance angle compensation value 2 Factory setting 0 010 359 0 to 719 see note 2 Sets angle data for advance angle value 2 Factory setting 0 Advance angle compensation value 3 010 359 0 to 719 see note 2 Sets angle data for advance angle compensation value 3 advance
137. e The 3F88L 160 16 output Cam Positioner does not have cam output connector terminal numbers 17 to CAM32 e Cam Output Cable Models Cam Output Cables for Connection to I O Blocks 0 5m 3F88L CGOR5N 1m 3F88L CGO01N Cam Output Cables for Connection to Other Devices 1m 3F88L CG001S 3m 3F88L CG003S Cam Outputs for I O Blocks 3F88L 160 162 Cam iMd G7TC OC16 I O Block gt sese pna CAM CAM 10 11 12 10 n 12 18 2 23 Design Chapter 2 m Cam Output Cable Connection Pin Positions and 3F88L CG S Cam Output Cable Colors Pin Layout B1 B2 B3 B4 B5 B6 B7 B8 9 10 A1A2 A4 A5 AG A7 AB ASAIO A Cam External Positioner Cam output COM OV Signal name Cable color Signal name Cable color NC Brown NC Brown COM OV Red COM 0V Red CAM16 CAM32 Orange 8 24 Orange 15 1 Yellow CAM23 Yellow 30 Green CAM6 CAM22 Green 29 5 21 Blue 12 28 Purple 20 Purple 27 19 10 CAM26 White 2 CAM18 White 9 25 1 17
138. e The CW CCW setting switch is used 3 4 3 Classifi Function name Applicable modes Conditions Front panel Refer cation displays ence sec Function Parame tion No ter No Basic Cam program writing PRGM 1108 11032 3 5 3 functions 1 to 4 1 to 16 see note see note 2 1 Program number SET 0to 8 3 5 3 checking 0 to 4 see note 2 Origin compensation Press the ADJ switch The Resolver speed 3 5 5 SET mode must be less than 4 r min Cam output from cam RUN only when Output during normal 3 5 6 output connector START signal is ON operation Depending on the PRGM Only during trial operation output holding function when error is generated and the type of error cam outputs may be held or turned OFF Con In START RUN 3 5 8 trol put Start Note This signal is sig operation disabled and nals cam output is executed when in PRGM mode and a trial op eration BANK1 to RUN 3 Change banks TRIG RUN Origin shift RESET SET PRGM RUN Reset Out RUN Cam RUN Only when ON during normal put output START signal is ON operation cam MEA enabled PRGM Only during output enabled trial operation M DET RUN ON when Resolver Resolver PRGM Only during speed is 4 r min or rot
139. e a CompoWay F command for the Cam Positioner execute sequence No 600 0258 or sequence No 602 40254 within the standard system protocol by using a PMCR instruction e The following table shows a relationship between sequence numbers and CompoWay F commands for the Cam Positioner Standard system protocol CompoWay F commands for Cam Positioner Sequence No 600 0258 Memory Area Read 0101 Hex Data transfer with ASCII code i Sonv rsi n e Parameter Area Write 0202 Hex With response e Parameter Area Read 0201 Hex Controller Status Read 0601 Hex Operation Command 3005 Hex Sequence No 602 40254 e Controller Data Read 0501 Hex Data transfer without ASCII code conversion e Unit Attribute Read 0503 Hex With response e Internode Echo Test 0801 Hex Using CompoWay F Standard System Protocol To send CompoWay F commands from a CS1 series Programmable Controller to a Cam Positioner by using protocol macros execute the send receive sequences of the CompoWay F Master protocol provided as a standard system protocol by using protocol macro PMCR instructions within the ladder program of the CS1 series CPU Unit e Use the following procedure to specify PMCR instructions 1 Specify the sequence number as a hexadecimal value in the second operand of the PMCR instruc tion 2 The first table Send Data Word Allocations Third Operand of PMCR Instruction on the following page shows the dat
140. e radiated emission 10 m regulations may vary depending on the configuration of the control panel connected devices wiring and other conditions The user must therefore confirm that devices and the overall machinery conform to EC Directives Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONS
141. eaching when there is no acceleration when the speed is constant Furthermore when teaching has been completed change the advance angle compensation position advance angle compensation value 3 to a section where the cam output does not change the middle of a section where the ON or OFF status continues for a long time 3 87 Chapter 3 3 6 13 Copy Function Data Transfer m Function e The copy function receives and transmits data cam programs and parameters between two Cam Positioners e By setting one Cam Positioner as the Master and one as the Slave data can be read written and verified e Cam Positioners are connected via communications ports by RS 232C cables m Connecting RS 232C Cables e Connecting Cam Positioners RS 232C cables are connected via the Cam Positioner communications ports Communications RS 232C cable 3F88L 160 162 Cam Positioner Cam Positioner e Communications Port Pin Arrangement Pin No Symbol Signal name Pin No Symbol Signal name 1 NC 6 NC 2 RD Receive data 7 RS Send request 3 SD Send data 8 CS Send enabled 4 NC 9 NC 5 SG Signal Shell FG Frame ground ground e RS 232C Cable Assembly An RS 232C cross cable is used for communications between Cam Positioners 9 pin D sub socket socket type 3 88 3 Recommended Products
142. ecen Rated tightening Screw sets Resolvers bend ter dis torque angle place Edia L P A 01 see ment 20 C 80 C Size Tighten note 2 t1 see ing note 3 torque RS17 RS17J RS15 RS15W 2 10 Design Chapter 2 Note 2 Maximum bend angle Note 3 Axle center displacement t1 e Precautions when Connecting with the Coupling Take the following precautions when connecting the Resolver to the machinery via the Coupling e Make sure the axle center does not protrude into the area marked C in the diagram If the axle center is protruding when the Resolver rotates the Coupling will no longer function and the machinery may be damaged e f the bend angle or displacement of the axle center is large the life of the Coupling will be shortened and the accuracy of the Resolver rotation angle will be adversely affected Mechanical axle center Resolver axle center m Connecting without the Coupling Give sufficient consideration to the load that will be applied to the Resolver axle if it is connected to the machinery without the Coupling Make sure the applied load will be below the rated load e i Resolver Axle Load 3F88L RS17 3F88L RS17T 3F88L RS15 3F88L RS15W axle load Thrust load 196 N max Thrust load 98 N max Radial load 196 N max Radial load 98 N max Thrust load load parallel to the axle adi Ru Radial load load p
143. edited freely using compensation and trial operations Note 4 The pulse output function creates cam programs and does not store the parameters set here in memory Note 5 Refer to 3 5 3 Cam Program Creating and Checking for information on how to check cam pro grams that have been created using this function Note 6 If the pulse output function is used to create a new cam program for a cam number that al ready has a cam program input the existing cam program does not have to be cleared before hand When pulse output settings are made all existing cam programs are cleared and over written by the pulse output cam program Operation Example For Pulse Number 4 Pulse Start Position 30 0 0 30 60 90 120 150 180 210 240 270 300 330 360 Cam output program i m Related Parameters SET Mode e Pulse Output Setting 2 e Use this parameter to create pulse output programs 3 81 Chapter 3 Operation PRGM ev Use the mode selection switch to change to SET mode F Pulse number mia Pulse output setting selection enabled enabled CAM PRMTR Pulse output setting Pulse output bank number 1 Pulse output bank number 1 cam number 1 Pulse output bank number 1 cam number 32 BANK FUN CAM PRMTR BANK FUN CAM PRMTR BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF POSITION OFF SPEED ON
144. efer to 4 3 Command Types 103 No of bytes 1 2 2 1 1 1 STX A code signifying the beginning of a communications frame text Always set 02 Hex Node No The node number of a Cam Positioner Always set 00 Subaddress The subaddress of a Cam Positioner Always set 00 SID service ID Set the number of retries using a value from 0 to F See note 1 FINS mini command text Set a service request PDU protocol data unit See note 2 ETX A code signifying the end of text Always set 03 Hex BCC Set BCC as the calculation result of exclusive OR of the data from the node block check character number to ETX Communications Chapter 4 Note 1 Operations on the Cam Positioner side are shown below Errors other than Y end code Checks command frame Sends error response Y Y SID no of retries 0 Saves the following information on N current command frame 5 ons MRC SRC command code CORPS excluding SID MRC SRC command code Y excluding SID Analyzes command and sends response Y Y Sends the last response frame Y When initially sending a command frame set SID to 0 If the corresponding response frame is abnormal set SID to 1 and then resend the command frame Note 2 Refer to 4 3 Command Types for details
145. election Setting The CW CCW setting switch is used to change the direction of rotation CW CCW setting switch CAM17 32 CAM1 16 omron 3 881 162 PROM CAM POSITIONER N BANK FUN CAM PRMTR re d P CLR ADJ CW 99 4 Set the direction of increasing angles to for clockwise direction when viewed from the Resolver axis and CCW for counterclockwise direction as shown in the following diagram Note These settings will be enabled by turning the power supply OFF and then ON again 3 21 Chapter 3 e Relationship between Resolver Rotation Direction and Rotation Direction Selection Increasing angles Increasing angles Direction of increasing angles when Direction of increasing angles when setting switch is set to CW setting switch is set to CCW m Resolution Selection SET Mode Select a resolution of either 360 or 720 divisions rotation e Resolution Selection Details Function level level Parameter Setting No enge Resolution 0 360 divisions rotation factory setting selection 1 720 divisions rotation e Functions and Performances Affected by Resolution Setting Function or Characteristic 360 resolution 720 resolution Angle setting and display units 1 is set and displayed as 1 0 5 is set and displayed as 1 Permissible Resolver speed 1 600 r min 800 r min No of cam program steps 180 max 360 max Nu
146. en sated Refer to 3 6 6 Advance Angle Compensation 3 6 9 Output Hold Function m Functions e The output hold function holds the cam output status when an error has been generated or when switching from RUN mode to SET or PRGM mode e When the output hold function is enabled the cam output status is held even in the following circum stances When banks are switched during operation When in PRGM or SET mode only when START signal is ON During origin shift processing When an error has been generated except E 10 or watchdog errors e Even when the output hold function is enabled cam outputs are OFF in the following circumstances When the START signal is OFF When the RESET signal is being input When a E 10 or watchdog error has been generated m Related Parameters Output Hold z e Settings 0 Output hold disabled factory setting 1 Output hold enabled Note This parameter is enabled when the power is turned OFF and then ON again 3 77 3 Operation PRGM Jes Use the mode selection switch to change to SET mode Various compensation values enable disable setting BANK FUN CAM PRMTR Backlash compensation enable disable Output hold SPEED ON POSITION OFF SPEED ON POSITION OFF U e When output hold Function No H Parameter No 3 is displayed the present settings will flash in the SPEED ON display e Use the Up and Down Keys t
147. ence or absence of backlash and Com advance angle compensations pensation b7 bO Settings Present value output 0 OFF 1 to 4 Set value Output hold 0 OFF 1 ON Advance angle 0 OFF 1 ON Backlash compensation 0 OFF 1 ON Resolution 0 360 divisions per revolution 1 720 divisions per revolution Origin Origin compensation value 4 digit BCD from 0000 to 0359 0719 Com Address 0002 Leftmost byte pensation Value Address 0003 Rightmost byte Backlash Backlash compensation value 4 digit BCD from 0000 to 0359 0719 Com Address 0004 Leftmost byte pensation Value Address 0005 Rightmost byte Advance Advance angle compensation value 1 4 digit BCD Pda Addresses 0006 and 0007 Speed data 0000 to 1600 0800 pensation Addresses 0008 and 0009 Angle data 0000 to 0359 0719 Value 1 Advance Advance angle compensation value 2 4 digit BCD Addresses 000A 000B Speed data 0000 to 1600 0800 pensation Addresses 000C and 000D Angle data 0000 to 0359 0719 Value 2 Advance Advance angle compensation value 3 4 digit BCD from 0000 to 0359 Angle 0719 Com Address 000 Leftmost byte pensation Value 3 Address 000F Rightmost byte Bank 1 Cam data protect setting Cam Data Protect Setting 0 Not protected 1 Protected b7 Address CAM8 0013 Address CAM 0012
148. entative before applying a PC System to the above mentioned applications Safety Precautions General Warnings NWARNING Do not attempt to disassemble the Unit while power is being supplied Doing so may result in electrical shock NWARNING Do not touch any of the terminals while power is being supplied Doing so may result in electrical shock NWARNING Take safety measures outside the Cam Positioner to ensure safety for the entire system in the event of Cam Positioner failure or error caused by external factors of the Cam Positioner Faulty operations may result in serious accidents Emergency stop circuits interlock circuits limit circuits and similar safety mea sures must be included in control circuits outside the Cam Positioner The Cam Positioner turns OFF all outputs when its self diagnostic function detects an error ERROR is OFF when TRIG input turns ON or when RESET input turns ON Take safety measures outside the Cam Positioner to ensure safety for the en tire system in such an event The Cam Positioner output may remain ON or OFF due to damage to an output transistor or for some other reason Take safety measures outside the Cam Posi tioner to ensure safety for the entire system in such an event General Precautions A Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N
149. er 1 step number display CAM PRMTR BANK FUN CAM PRMTR SPEED ON POSITION OFF LUE Keys other than Origin compensation CAW PRMTA Bank number 8 cam number 1 BANK FUN CAM PRMTR absolute angle display step number display BANK FUN CAWPRMTR B SPEED ON POSITION OFF SPEED ON POSITION OFF Note Up to bank number 4 Keys for 720 resolution other than FUN BANK FUN CAM PRMTR A SPEED ON POSITION OFF CAW nud Resolution selection BANK FUN CAM PRMTR B SPEED ON POSITION OFF BANKS FUN BANK FUN CAM PRMTR bl Origin compensation value BANK FUN CAM PRMTR SPEED ON POSITION OFF SPEED ON POSITION OFF nnn yuu rN FIN E PRMTR Backlash compensation value BANK FUN CAM PRMTR b Le SPEED ON POSITION OFF nnn uuu AAS CAME Advance angle PET compensation value 1 speed data BANK FUN CAM PRMTR FUN 9 A SPEED ON ISITION OFF NNNM cuu ow ETEN oF CAM Advance angle eran compensation value 2 speed data BANK FUN CAM PRMTR b uw S SPEED ON POSITION OFF ANNA ANN Uu THX CAW PRMTR Bank number 1 cam number 32 step number display BANK FUN CAM PRMTR 1 SPEED ON POSITION OFF p to cam number 16 or 3F88L 160
150. er No display e Press the Cam Parameter Key to display 1 Master Unit settings 0 will flash in the SPEED ON display e Use the Up and Down Keys to set the data 0 Disabled factory setting 1 Data read Reads cam programs and parameters from the Slave to the Master Unit 2 Data write Writes cam programs and parameters from the Master to the Slave Unit 3 Data verification Verifies the Master programs and parameters against the Slave programs and parameters e f the incorrect setting is made e g if data read setting 1 and data write setting 2 settings mistaken important data may be deleted Check again that the correct setting has been selected e Press the Set Key to start communications with the Slave Cam Positioner Unit During the transfer the data being transferred P parameter b1 to b8 bank numbers 1 to 8 will be appear in the POSITION OFF display The communications will take approximately 40 seconds to be completed Note 1 The data being transferred will be displayed on the Master Unit only Note 2 The display will not include b5 to b8 for 720 resolution e When the communications have been completed normally press the Set Key to return to the previous display e f a communications error has occurred the error code will appear in the SPEED ON display Check the error and press the Clear Key The error will be cleared Press the Set Key to return to the previous displ
151. eripheral devices Power ON Before the power is turned ON e Check that the wires and connectors for the Resolver and peripheral devices have been connected properly e Check that the Resolver and the machinery not con nected After the power is turned ON e Check that there no error codes displayed E e Set the mode selection switch to RUN and check that the number of revolutions and the present angle display changes when the Resolver axis is rotated by hand Function level selection Select function level 2 all functions Initial settings Set the resolution SET mode and rotation direction CW CCW to suit the application Power resetting OFF to ON Turn ON the power to enable the set parameters Parameter settings Make the parameter settings Power resetting OFF to ON Turn ON the power to enable the set parameters 3 6 2 and 3 6 3 Creation and confirmation of cam programs Create and check cam programs PRGM mode Check the number of programs SET mode Connection between Resolver and machinery Turn OFF the power and connect the Resolver and the machinery Execution of origin compensation Turn ON the power and execute origin compensation use the ADJ switch in SET mode Teaching If required use the teaching function SET mode and create a cam program while operating the machinery manually Trial operation Change to
152. erpendicular to the axle 2 11 Design Chapter 2 e Connection Examples Using a Timing Belt A pulley is attached directly onto the Resolver axle and connected to a rotating machinery by a timing belt In this case the load on the axle is the tension on the timing belt and the weight of the pulley Using Gears Pitch errors total alignment errors and other gear errors apply a repeated load in the radial direction Resolver Using Chains A sprocket can be attached directly to the Resolver axle and the axle then connected to a rotating machinery with a chain The weight of both the sprocket and the chain will be a load on the axle Rattles in the sprocket and chain will become shock loads applied to the axle when machine movement stops and starts Resolver 2 12 Design Chapter 2 2 3 Wiring 2 3 1 System Connection Diagram G7TC OC16 I O Block SYSMAC CS1 or other Display Units Programmable Controller 3F88L CG N 3F88L CG S 3F88L CG S Cam Output Cable Cam Output Cable Cam Output Cable 3F88L 160 162 Cam Positioner non aos HL B les ab 3F88L CR C 3F88L CR NA 3F88L CR SA Resolver Extension Cable Resolver Cable Resolver Cable 3F88L RS17 RS17T Resolver 3F88L RS15 Resolver 3F88L RS15W Resolver 2 13
153. es supported 1 The Cam Positioner does not respond until ETX and BCC are completed Note 2 Error detection priority is applicable when multiple errors occur at the same time m Structure of FINS mini Response Text PDU FINS mini response text consists of MRC SRC MRES SRES and data MRC SRC MRC SRC MRES SRES Data No of bytes 2 2 2 2 The same main request code and subrequest code as the command are returned MRES SRES Main response code and subresponse code Processing results are indicated by combining these two codes Each code is 00 at normal completion Data e MRES Main Response Code MRES name Normal completion Data differs with each command Refer to 4 8 Command Types for details Meaning The service was executed normally Service unsupported The Cam Positioner does not support the service specified in the command Command format error The command PDU length differs from the length specified in the service The specified number of items does not match the number of data items to be written Parameter error Because the specified parameters data following the command codes are incorrect the service cannot be executed Check the parameters Status error The service cannot be executed due to the current status of the Cam Positioner Access error An error relating to access to objects such as memory
154. ey is pressed once the ON and OFF angle display will start flashing which means the step is ready to be deleted If the Clear Key is pressed three times the bank number will start flashing which means that that bank number is ready to be deleted If the Clear Key is pressed four times the display will return to the original display nothing will be deleted BANK FUN CAM PRMTR e SPEED ON POSITION OFF BANK FUN CAM PRMTR Li t t i SPEED ON POSITION OFF While the cam number display is flashing press the Set Key to delete the cam number that is flashing Once the cam number has been deleted the ON and OFF angle display will be which means data can be input Explanation Set the mode selection switch to PRGM mode The data for step 1 of the displayed bank and cam numbers will be displayed Note If there is no data the display will be 3 34 BANK FUN CAM PRMTR e i SPEED ON POSITION OFF Press the Bank Function Key and set the bank number that is to be deleted The Bank Function display will change as shown below each time the Bank Function Key is pressed 1223455567841 etc Keep pressing the Bank Function Key until the bank number to be deleted appears Note When the resolution is set to 720 divisions rotation the display will not include 567 58
155. g 1 1 6 Initial Settings Functions Switching Resolution e Switches between 360 and 720 divisions per Resolver revolution Refer to 3 5 2 Initial Settings Changing Rotation Direction e Sets the direction of increasing angle to suit the mechanical configuration Refer to 3 5 2 Initial Set tings 1 1 7 Applied Functions Origin Compensation e Sets any angle to 0 according to the mechanical origin Refer to 3 6 4 Origin Compensation and Origin Shift Origin Shift e Sets any angle to 0 according to the mechanical origin when the trigger turns ON in RUN mode Re fer to 3 6 4 Origin Compensation and Origin Shift m Backlash Compensation e Sets a difference between the detection angles in CW and CCW directions to absorb mechanical vibration Refer to 3 6 5 Backlash Compensation m Advance Angle Compensation e Advances the cam output angle in proportion to the number of Resolver revolutions Refer to 3 6 6 Advance Angle Compensation m Cam Protect e Protects each bank cam to prevent the cam ON OFF data being inadvertently changed or de leted One direction Function Setting e Enables cam output in one rotational direction only Refer to 3 6 8 One direction Function 1 4 Outline Chapter 1 m Output Hold Function e Holds the immediately preceding cam output status when the user switches to PRGM mode or when there is an error Refer to 3 6 9 Output Hold Function m Present Value Ou
156. g from D 2 4 25 Communications Chapter 4 m Examples of Executing CompoWay F Commands with Protocol Macros e Examples of Monitoring Resolver Speed and Present Cam Angle Always Protocol Macro Communications Executing Flag Port Enabled Flag ON ME PMCR Protocol macro instruction 01E1 Control data Communications port No 0 serial port No 1 and inner board are used 0258 Control data Send receive sequence No 600 with ASCII code conversion and response is set D00000 First word No of send data DM00000 is set D00500 First word No of received data storage DM00500 is set Send Data Word Allocations DM address Data 000000 0007 of send data words There seven words from 000000 to 000006 so 0007 Hex is set D00001 0000 Node No The node number of Cam Positioner is 00 so 000 Hex is set D00002 0101 MRC SRC Memory Area Read is used so MRC 01 Hex and SRC 01 Hex are set Hexadecimal settings are converted into ASCII code during communications D00003 000C No of send data bytes If send data from D00004 to D00006 6 bytes are converted into ASCII code it will become 12 bytes So 000C Hex is set D00004 8000 Data part of FINS mini command text PDU Data is set in Hex The settings will be converted into ASCII code during communications D00005 0000 Same as above D00006 0002 Same as above Note Data part of FINS mini comm
157. gle is the angle after origin compensation or origin shift has been performed for the electrical absolute angle of the Resolver For example assume that the advance angle compensation value 3 is set to 30 and the result of the advance angle calculation has changed from 0 to 1 This calculation result is reflected not immediately but when the present angle reaches 30 In other words when the present angle 30 is detected the present angle is compensated to 31 When this compensation is performed is skipped An operation example is shown below therefore present angle Resolver angle Advance angle amount Present angle 25 26 27 28 20 31 32 33 34 35 36 Je 25 26 27 28 29 31 32 35 36 37 The processing is the same when the advance angle amount is to be reduced For example if the advance angle amount changes from 10 to 5 the Resolver angle advance angle amount present angles will be as shown below In this instance the present angles 25 through 29 are repeated Resolver angle Advance angle amount Present angle 15 16 17 18 19 20 21 22 23 24 25 26 _ 10 5 5 25 26 27 2
158. government regulations e Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in
159. hapter 2 2 1 2 Selecting the Output Device Select the device and connection method for ON OFF outputs from the Cam Positioner Refer to 2 3 Wiring for information on connecting output devices For Relay Output Use an I O Block for relay output RZ W a 3F88L 160 or 3F88L 162 3F88L CG N G7TC OC16 Cam Positioner Cam Output Cable Block m For Transistor Open Collector Output Use the outputs straight from the Cam Output Cable j Open collector output 3F88L 160 or 3F88L 162 3F88L CG S Cam Positioner Cam Output Cable m For Mostly Relay Output with Some Open Collector Output Use an 1 0 Block and use an Output Short circuit Module to give some open collector output 3F88L 160 or 3F88L 162 3F88L CG N G7TC OC16 Output Cam Positioner Cam Output Cable I O Block Short circuit Module 2 4 Design Chapter 2 To Display Present Angles and Other Data on a Display Unit Connect M7E or M7F Display Unit to the Cam Output Cable 3F88L 160 or 3F88L 162 3F88L CG S Cam Positioner Cam Output Cable or M7F Display Unit Note Parameters must be set to output present values The present value output and cam output termi nals will be shared which means that some cam output signals can no longer be used 2 5 Design Chapter 2 2 2 Installation 2 2 1 External Dimensions
160. hapter 6 Specifications 6 1 6 1 6 2 6 3 6 4 Cam Positioner Specifications 6 2 Resolver Specifications 22 6 4 YO Block Specifications zie e Ee REIS RR E E WERE 6 6 Display Specifications sg oser mae eer iR ba obs mews Homage eR yds boos 6 8 Chapter 7 Appendix 0500066 od Seeds rr re oa 7 1 7 1 72 7 3 7 4 Application Examples RR RH RR REESE ERE RR RR 7 2 Performance e yhrTPCINCRIAPREREAWCPERMOUAO URS es 7 4 Resolver Life Expectancy eee re eva ee ee e er ee Ve Hee 7 8 St ndard Models uices pd oS t Ra LR RH be er ey 7 11 Table of Contents 7 5 Displays by Mode eile tou uuu Ee DER RUNDE RR Dee e ad o RR INE ERA 7 12 7 6 Brror Codes 4 sis dicen eg REUS 7 16 7 7 Cam Programming 7 21 7 8 Parameter Settings Log Chart 04 7 22 Inde V evi del Revision R II Mh Chapter 1 Outline 1 1 Functions 1 2 System Configuration 1 3 Name and Function of Each Part 1 4 Glossary 1 5 Operation Procedure Chapter 1 1
161. have already left that position when the cylinder descends Therefore the drive sig nal must be output at an earlier point That point is determined by the speed of the conveyor and the cylinder descending time If the conveyor speed is high the drive speed must be output earlier For example if the drive signal output position for a Resolver speed of 100 r min is B then the drive signal output position will be C for a speed of 200 r min e f the cylinder descending time is constant the distance between the drive signal output position and the work position A will be proportional to the Resolver speed This proportional relationship is set as an advance angle compensation parameter and enables the cylinder descending time and the arrival of the workpiece to coincide regardless of the conveyor speed Resolver speed 3 63 Chapter 3 setting example is shown in the following diagram Advance angle amount Set angle distance between A and B Resolver speed 0 Set speed 100 r min r min Note For example set the speed to 100 r min and set a Resolver angle corre sponding to the distance between A and B as the set angle e For example if the advance angle amount is 5 for 100 r min when the distance between A and B corresponds to a Resolver angle of 5 the advance angle compensation will be as shown below Cam program settings 80 85 90 95 100 105 110 115 120 Cam outputs at 100 r min
162. he Resolver and machinery e Follow the directions in 2 2 3 Mounting the Resolver and attach the Resolver correctly 3 5 5 Origin Compensation Once the Resolver and machinery have been connected turn ON the power supply and execute origin compensation m Origin Compensation Execution SET Mode e Once the Resolver and machinery have been connected turn ON the system power supply e Switch the Cam Positioner to SET mode and use the ADJ switch to execute origin compensation The Resolver present position is set to 0 at this point Note 1 Origin compensation will not be executed if the Resolver speed is 4 r min or greater Note 2 If the origin compensation value is set to a value other than 0 parameter settings origin compensation value settings must be made at function level 2 Refer to 3 6 4 Origin Com pensation and Origin Shift e Procedure Operation PRGM ET Display BANK FUN CAM PRMTR H i U SPEED ON POSITION OFF Explanation Use the mode selection switch to change to SET mode Manual operation of the machinery BANK FUN CAM PRMTR SPEED ON POSITION OFF Rotate the machinery to the position to be set to zero BANK FUN CAM PRMTR SPEED ON POSITION OFF ie3 Press the ADJ switch Origin compensation will be executed The absolute angle electrical angle of the Resolver will be flashing in the POSITION OFF display until
163. he data Slave Unit not in communica tions mode Check the display on the Slave Unit Bank Function display t Cam Parameter display O and re transmit the data from the Master Unit Communica tions cable wired incor rectly Check and adjust the communications cable wiring Verification error Slave and Master data do not match Different programs or parameters are verified Check that the cam program and parameters are correct for each Cam Positioner Press the Clear Key to clear the error Data corrupted due to noise during com munications Find the source of the noise and take appropriate countermeasures Operation Error name Power OFF watchdog error Description Power is not turned ON RESET input has been turned ON software error Probable cause Power has turned OFF Possible solution Check that the voltage supplied to the Cam Positioner meets the specifications 85 to 264 V AC and adjust if necessary Chapter 5 Error reset method Turn ON the power again RESET input has been turned ON Adjust the RESET input sequence RESET input has been turned ON due to noise Find the source of the noise and take appropriate countermeasures Check and adjust the wiring for control input signals The Cam Positioner is malfunctioning system does not recover when
164. he parameters val id Default Function Level Selection Data Function level selection data 2 digit BCD 00 Function level 0 for monitor only 01 Function level 1 for basic operations and monitor only 02 Function level 2 for all functions 4 17 Communications Chapter 4 Address Parameter Explanation Default area code Cam Program status Programs 7 tar Came 0 Output OFF to 8 of 1 Output ON Bank 1 b7 Address Bp 1000 1 angle 0 state Cam 2 angle 0 state Cam 8 angle 0 state Address gui 19CF 1 angle 719 state Cam 2 angle 719 state Cam 8 angle 719 state Cam Program status Programs 3 tor Cams 9 0 Output OFF to 16 of 1 Output ON Bank 1 b7 b0 Address n 1300 Cam 9 angle 0 state Cam 10 angle 0 state Cam 16 angle 0 state Address PU 15CF Cam 9 angle 719 state Cam 10 angle 719 state Cam 16 angle 719 state Cam Program status Programs for Cams 0 Output OFF 17 to 24 of 1 Output ON Bank 1 b7 bO Address Cam 17 angle 0 state 1600 Cam 18 angle state Cam 24 angle 0 state Cam 17 angle 719 state Cam 18 angle 719 state Cam 24 angle 719 state 4
165. hecking the timing of the cam output Function level selection 1 12 If required set to function level O monitor only to prevent faulty operation Chapter 2 Design 2 System Design 2 2 Installation 2 3 Wiring Design Chapter 2 2 1 System Design NWARNING Take safety measures outside the Cam Positioner to ensure safety for the entire system in the event of Cam Positioner failure or error caused by factors external to the Cam Positioner Faulty operation may result in a serious accident Emergency stop circuits interlock circuits limit circuits and similar safety mea sures must be included in control circuits outside the Cam Positioner The Cam Positioner turns OFF all outputs when its self diagnostic function detects an error ERROR is OFF when TRIG input turns ON or when RESET input turns ON Take safety measures outside the Cam Positioner to ensure safety for the en tire system in such an event The Cam Positioner output may remain ON or OFF due to damage to an output transistor or for some other reason Take safety measures outside the Cam Posi tioner to ensure safety for the entire system in such an event 2 1 1 Selecting the Resolver There are four Resolver models available Select the Resolver suitable for the application m Resolvers Type Large diameter High torque Connector Lead wire Model 3F88L RS17 3F88L RS17T 3F88L RS15 3F88L RS15
166. icing Operating ambient humidity 35 to 85 with no condensation Storage temperature 25 to 70 C with no icing Insulation resistance 100 min at 500 V DC between each terminal and mounting panel Dielectric strength 1 000 V AC 50 60 Hz for 1 min between each terminal and mounting panel Noise immunity Power terminal 500 V normal mode Input terminals 41 500 V common mode cable 800 V when the specified cable is used Vibration resistance 10 to 55 Hz 1 5 mm double amplitude Shock resistance 300 m s Degree of protection IEC 40 Compatible connector OMRON XG5M 2035 N XG5S 1001 or 2012 Display accuracy Terminal Arrangement Terminal symbol Data input 5 r min max 50 S1 S2 S3 S4 NC NC NC OV V e 6 9 9 0 9 9 99 C D NC NC NC NC ov V Function The numeral or symbol corresponding to the binary code signal will be displayed Control input Designates the digit to be displayed Each digit will maintain the previous value when this signal is input 54 104 Power supply Power supply and output terminal Power supply Power supply 0 output terminal GND Chapter 7 Appendix 7 1 Application Examples 7 2 Performance 7 3 Resolver Life Expectancy 7 4 Standard Models 7 5 Displays by Mode 7 6 Error Codes 7 7 Cam Programming Sheet 7 8 Parameter Setti
167. igin shift The origin com pensation value is enabled once the power has been turned ON again If origin compensation or origin shift are executed without the power being turned OFF and then ON again the origin compensation or origin shift function will not be executed properly Note 2 When origin shift has been used to change the origin position the origin position value will be lost when the power is turned OFF The present angle after the power is turned ON again will therefore be different from the present angle before the power was turned OFF and the cam output timing will be out of synch When using origin shift stop the machinery and turn ON the power supply while the START input is OFF Execute origin shift at the correct position and then turn ON the START input and start the machinery operation m Example Operation e When the origin compensation value is 0 resolution 360 Present angle before 101 102 104 105 106 compensation E Lan Execution position for origin compensation origin shift Present angle after 357 358 359 0 1 2 3 pos compensation Mos Eo ded 3 56 Operation Chapter 3 e When the origin compensation value is 200 resolution 360 Present angle before 101 102 108 104 105 106 compensation ee P Execution position for origin compensat
168. ill be turned OFF Refer to 3 6 9 Output Hold Function for information Error name Hardware failure Description Memory read write check error when power turned ON Probable cause Malfunction due to noise system recovers when power is turned ON again Possible solution Check if noise has been generated when or after the power was turned ON and take appropriate countermeasures against the noise Error reset method Turn the power ON again The Cam Positioner is malfunctioning system does not recover when power is turned ON again Replace the Cam Positioner Power interruption during programming Power turned OFF while program being edited Power turned OFF while program being edited Check that the voltage supplied to the Cam Positioner meets the specifications 85 to 264 V AC and adjust if necessary RESET input turned ON while program being edited Adjust the RESET input sequence RESET input turned ON due to noise while program being edited Find the source of the noise and take appropriate countermeasures Check and adjust the wiring for control input signals Change to PRGM or SET mode and press the Clear Key to clear the error Then re input the cam program Appendix Error name Power failure during write to non volatile memory Description Power turned OFF during data save to non vo
169. ill be entered m Structure of FINS mini Command Text PDU MRC SRC Command code 4 o 0 52 No of bytes 2 2 2 Note The meaning of the command code is as follows 01 Start Switches from RUN mode to the state in which parameters can be changed 00 Stop Switches from the state in which parameters be changed to RUN mode m Structure of FINS mini Response Text PDU MRC SRC MRES SRES Command code 3 o o b 0 0 o o No of bytes 2 2 2 2 2 4 21 Communications Chapter 4 4 3 7 Internode Echo Test RUN PRGM SET Performs an internode echo test between the host CPU and the Cam Positioner m Structure of FINS mini Command Text PDU MRC SRC Test data 0 8 0 LU No of bytes 2 2 Note Any data except 02 Hex start and 03 Hex stop can be used for internode echo tests m Structure of FINS mini Response Text PDU MRC SRC MRES SRES Test data 40 8 o 1 0 o o o No of bytes 2 2 2 2 4 22 Communications Chapter 4 4 4 Executing CompoWay F Commands with Protocol Macros CompoWay F communications can be easily performed by using the protocol macros of the CS1 series Serial Communications Boards and Units The Serial Communications Boards and Units are provided with standard CompoWay F communication protocol called Co
170. ime 7 4 program See cam program program functions outline 3 24 Programmable Controller communications with 4 2 connecting 2 13 reading present value output from 7 2 protocol macros executing CompoWay F commands with 4 23 pulse output function 3 80 3 83 R relay output 2 4 reset input 3 43 resolution 1 2 setting 3 22 Resolver Cables 2 3 connecting 2 3 2 13 connection to machinery 3 37 installation 2 7 life expectancy 7 8 mounting 2 9 specifications 6 4 6 5 standard models 7 11 wiring 2 21 Resolver Cables 2 22 6 4 Resolver Coupling connecting with 2 10 life expectancy 7 9 precautions 2 11 replacement 5 12 specifications 2 10 Resolver speed displaying 2 28 monitoring 3 40 response frame 4 7 4 10 rotation detection output 3 43 rotation direction setting 3 21 RS 232C Cables Cam Positioner connections 3 88 connection to a PC or host computer 4 3 specifications 4 4 RUN mode displays 3 11 function 1 3 starting operation 3 38 3 39 RUN output 3 43 delay time 7 4 OFF time 7 5 S safety measures 2 2 SET mode displays 3 8 function 1 3 selecting the function level 3 20 Slave Cam Positioner Settings 3 91 specifications 6 1 6 10 cam output 2 25 Cam Positioner 6 2 communications 4 3 control inputs 2 19 control outputs 2 20 display 6 8 I O Block 6 6 Resolver 2 2 6 4 Resolver Coupling 2 10 speed monitoring Resolver speed 3
171. inforced insulation or double insulation must be used for the DC power supplies used as power supplies in order to comply EC Directives Note 3 The control I O power supply must be turned ON to operate the control output circuit e Control Output Specifications Maximum switching capacity 24 V DC 1596 1096 0 3 A point Leakage current 0 1 mA max Residual voltage 1 5 V max ON response time 0 5 ms max OFF response time 1 0 ms max Internal circuit 24V RUN M DET ERROR COM 0V 2 20 Design Chapter 2 2 3 4 Resolver Wiring Use OMRON Resolver Cables which are designed to reduce noise Resolver Cables transfer signals that require a high degree of accuracy Separate the Resolver Cables from other cables as much as possible to prevent the accuracy being affected by induction noise resulting from low signal voltage e Separate Resolver Cables as much as possible from control and drive wiring inside the control panel For external wiring house the cables in a low current duct and shield with grounded conduction plates The Cam Positioner and Resolver can be separated by a maximum distance of 100 m m Resolver Wiring Method 3 m plug in cable es 3F88L CR C Extension Cable 3F88L RS17 RS17T Resolver Connector type gt J 3F88L CR NA Cable 3F88L RS15 Resolver 35 cm Separate wire plug in cable man s
172. ion e Function Level 2 All Functions Cam Positioner functions are enabled This function level is for using applied functions It is recommended therefore that cam programs be created and parameters set at level 2 or level 1 first and then the 3F88L 160 162 Cam Positioner be used at level 0 or level 1 Limiting Functions by Function Level The following table shows how functions are limited by the function level settings The Yes indicates that that function is enabled and indicates that the function is disabled Classifi Function Contents Function level cation 0 1 2 Moni Basic All tor opera func only tion tions monitor only Resolution selection setting Set the resolution for one Resolver rotation Resolution selection 360 or 720 operation divisions rotation Rotation direction selection Select either CW or setting CCW direction Rotation direction selection operation 3 14 Chapter 3 Classifi Function Contents Function level cation 0 1 2 Moni Basic All tor opera func only tion tions monitor only Basic Cam program writing Writes and edits cam functions programs settings for cam output ON OFF angles Program number checking Checks the number of cam program steps Origin compensation When the ADJ switch is pressed in SET mode the present Resolver angle at that time
173. ion does not operate normally use the operation keys on the new Cam Positioner to input the data and make the settings based on the original cam program data and parameter settings 1 Preparation a Check that the original Cam Positioner data cam programs and parameters is correct Refer to 3 5 3 Cam Program Creating and Checking and 3 6 Applied Functions b Set the CW CCW setting switch on the new Cam Positioner to the same position as on the origi nal Cam Positioner Refer to 3 5 2 Initial Settings Delete all cam data protects on the new Cam Positioner and then turn OFF the power supply and turn it ON again to enable this setting Refer to 3 6 7 Cam Protect d Use the copy function and copy the data cam programs and parameters from the original Cam Positioner to the new Cam Positioner Refer to 3 6 13 Copy Function e Check that the data cam programs and parameters on the new Cam Positioner is correct Re fer to 3 5 3 Cam Program Creating and Checking and 3 6 Applied Functions 2 Replacement Replace the Cam Positioner and check the wiring Refer to Chapter 2 Design 3 Compensation Move the machinery to the origin compensation value position and perform origin compensation Refer to 3 6 4 Origin Compensation and Origin Shift 4 Confirmation Start operation using the new Cam Positioner Make adequate checks to ensure that the machinery is operating without any problem Adjust the cam programs if necessa
174. ion origin shift Present angle after 197 198 199 200 201 202 208 compensation Aie te m Related Parameters SET Mode e Origin Compensation Value 2 rep c eno No e Use this parameter to set the present angle for when origin compensation or origin shift function is executed e f this value is set to 0 factory setting the present angle will change to the origin 0 when the origin compensation or origin shift function is executed Note 1 The numeric values for 720 divisions rotation resolution are shown in parentheses Note 2 This parameter is enabled when the power is turned OFF and then turned ON again Operation PRGM Use the mode selection switch to change to SET mode CAW Origin compensation value Backlash compensation value Baud rate BANK FUN CAM PRMTR SET BANK FUN CAM PRMTR AM BANK FUN CAM PRMTR BANK FUN CAM PRMTR RMTR b gt e 5 SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF e When the origin compensation value Function No b Parameter No 1 is displayed the present set ting will be displayed in the SPEED ON display and the first digit rightmost digit will flash e Use the Forward Up and Down Keys to change the data e Press the Set Key and the data will remain lit for appro
175. ionship between the Resolver speed and advance angle is set in the first two parameters advance angle compensation values 1 and 2 The third parameter advance angle compensation value 3 indicates the position where the advance angle is to be changed For example if the ad vance angle amount changes from 0 to 1 the angle must be increased by 1 somewhere in the rotation This parameter designates the position for that increase e The advance angle compensation function operates when the advance angle compensation enable disable setting parameter is set to enable 3 62 Chapter 3 e Timing Compensation Example e This example shows a peripheral device cylinder operating on workpieces on a conveyor belt In this application the Resolver is mounted on the drive axle of the conveyor and the drive signal for the cylin der is output by the Cam Positioner A Working position Peripheral device B Drive signal output position for 100 r min cylinder C Drive signal output position for 200 r min The cylinder and workpiece are timed to coincide here Conveyor Cam Positioner Drive signal m cam output e The position where work is performed by the cylinder on the workpiece is indicated by A If the convey or is moving and the drive signal cam output is output when the workpiece has arrived at position A the workpiece will
176. isplay Displays ON angles or errors POSITION OFF angle display Displays OFF angles 3 27 Operation Chapter 3 Operation Key Functions Operation keys Functions Bank Function Key Increases the bank number used for setting bank numbers Cam Parameter Key Increases the cam number used for setting cam numbers ON OFF Key Switches between ON and OFF angles Up Key Increases the numeral currently flashing used for setting ON and OFF angles Down Key Decreases the numeral currently flashing used for setting ON and OFF angles FUN Forward Key Changes the digit of the numeral to be set used when setting ON and OFF angles D Clear Key Clears data Set Key e Procedure Operation PRGM TUER Display example BANK FUN CAM PRMTR SPEED ON POSITION OFF TT Confirms input data Explanation Use the mode selection switch to change to PRGM mode BANK FUN CAM PRMTR e SPEED ON POSITION OFF ZTN Use the Bank Function Key to set the bank number to be used The Bank Function display will change as shown below each time the Bank Function Key is pressed 12345567841 etc Keep pressing the Bank Function Key until 2 appears in the Bank Function display Note When the resolution is set to 720 divisions rotation the display
177. isplay will be BANK FUN CAM PRMTR i SPEED ON POSITION OFF TT Use the Bank Function Key to set the bank number to be checked The Bank Function display will change as shown below each time the Bank Function Key is pressed 1 gt 2 gt 3 gt 4 gt 5 gt 6 gt 7 gt 8 1 etc Keep pressing the Bank Function Key until the bank number to be checked appears Note When the resolution is set to 720 divisions rotation the display will not include 567 8 BANK FUN CAM PRMTR SPEED ON POSITION OFF 9 N 470 TES Use the Cam Parameter Key to set the cam number to be checked The Cam Parameter No display will change as shown below when the Cam Parameter Key is pressed 122535 2155161 etc Keep pressing the Cam Parameter Key until the cam number to be checked is displayed Note For the 3F88L 162 32 point model Cam Positioner the numbers displayed will continue to 32 and then return to 1 BANK FUN CAM PRMTR e SPEED ON POSITION OFF TIAN Press the Set Key to display the data for the next step The display will be for the last step BANK FUN CAM PRMTR e ie SPEED ON POSITION OFF rinnrn g f1 THN If the Set Key is pressed while the display shows the data for step 1 will be displayed again B
178. ix Cam Protect Status Display POSITION OFF SPEED ON 7 25 7 e One direction Function Setting Function No F f Function Level 2 0 One direction function disabled factory setting 1 Forward direction function enabled 2 Reverse direction enabled Bank No 1 1 2 3 4 5 6 7 8 9110 11 12 13114 15 16 e EE Az te lis a0 232s m 26 27 28 ame Bank No 2 15 617 Lx se e SES e ec edes 17 MEDIE cese p epe spe Bank 3 i1 2js 4 s e v 8 9 10 11 12 15 t4 ED Xx gg sepes 3 d Az te 19 021 22 25 24 26 126 27 28 29 so or sed Bank No 4 1 2 3 14 5 6 7 8 9 40141 12 13 14 15 pL 17 18 19 20 21 22 23 24 25 26 27 28 ope mgr Bank No 5 112 8 4 s e z s 9 t0 11 12 13 14 pe 17 18 19 20 21 22 23 24 25 26 27 p pr Sp Wu SE Bank No 6 1 2 s8 4 s e v s eo rol iia spp uror 17 18 19 20 21 22 23 24 25 26 27 28 29 nre querer es s Bank No 7 iets eft fete folie vfs se ee ae ee RI ae 17 18 19 20 21 22 23 24 28 29 aaa Se Bank No 8 Heste sie re 14 pu E E d EE MM 28 28 20 31 32
179. k 4 one direction function setting One direc Addresses 0048 to 004B Bank 4 rotation direction setting tion Func tion Set ting and Rotation Direction Setting 4 15 Communications Address Parameter area code Bank 5 Cam Data Protect Setting One direc tion Func tion Set ting and Rotation Direction Setting Same as for bank 1 Addresses 0050 to 0053 Addresses 0054 to 0057 Addresses 0058 to 005B Explanation Bank 5 cam data protect setting Bank 5 one direction function setting Bank 5 rotation direction setting Chapter 4 Default Bank 6 Cam Data Protect Setting One direc tion Func tion Set ting and Rotation Direction Setting Same as for bank 1 Addresses 0060 to 0063 Addresses 0064 to 0067 Addresses 0068 to OO6B Bank 6 cam data protect setting Bank 6 one direction function setting Bank 6 rotation direction setting Bank 7 Cam Data Protect Setting One direc tion Func tion Set ting and Rotation Direction Setting Same as for bank 1 Addresses 0070 to 0073 Addresses 0074 to 0077 Addresses 0078 to 007B Bank 7 cam data protect setting Bank 7 one direction function setting Bank 7 rotation direction setting 4 16 Bank 8 Cam Data Protect Setting One direc tion Func tion Set ting and Rotation Direction Setting Same as for bank 1 Addresses 0080 to 0083 Addresses 0084 to 0087 Addresses 0088 to 008B Ba
180. l eie 3 42 3 6 Table of Contents Applied Functions relevo lv ee ee a we e ped kie 3 44 3 6 1 Function Level Selection Setting SET Mode 3 44 3 6 2 Parameter List SET Mode 3 45 3 6 3 Parameter Explanation and Operation 3 49 3 6 4 Origin Compensation and Origin 5 3 56 3 6 5 Backlash Compensation 3 60 3 6 6 Advance Angle Compensation 3 62 320 7 Cam Protect sie eS AERE ea AE WA ERG in ota 3 69 3 6 8 One direction 3 75 3 6 9 Output Hold Function 3 77 3 6 10 Present Value Output Function 3 78 3 6 11 Pulse Output Function 3 80 3 6 12 Teaching EVE We Nr aep S EE ac rece 3 83 3 6 13 Copy Function Data 3 68 3 6 14 Trial Adjustment Operation 3 93 Chapter 4 4 1 4 1 4 2 4 3 4 4 Overview of CompoWay F Communications 1
181. latile memory Probable cause Power turned OFF while writing to memory Possible solution Check that the voltage supplied to the Cam Positioner meets the specifications 85 to 264 V AC and adjust if necessary Chapter 7 Error reset method Change to PRGM or SET mode and press the Clear Key to clear the error Then re input RESET input turned ON while writing to memory Adjust the RESET input sequence the cam program RESET input turned ON due to noise while writing to memory Find the source of the noise and take appropriate countermeasures Check and adjust the wiring for control input signals Resolver disconnection error Resolver cable disconnected during teaching or trial operation in RUN mode or error in Resolver interface circuit Resolver connector has been disconnected Resolver connector connection imperfect Check that the Resolver connector is connected securely Change to PRGM or SET mode and press the Clear Key to clear the error Resolver cable disconnected Replace the Resolver cable Resolver detection circuit error Replace the Cam Positioner Sum check error in program memory Memory sum check error when power turned ON Malfunction due to noise system recovers when power is turned ON again Check if noise has been generated when or after the power was turned ON and take
182. lection If required set to function level 0 monitor only to prevent faulty operation Note This procedure is applicable when only the basic functions function level 1 are used In the cases outlined below the applied functions function level 2 must be used Refer to 3 6 Applied Functions When setting origin compensation values using backlash compensation advance angle com pensation and other compensation functions When executing a trial or compensation operation 1 11 Outline Chapter 1 When using the teaching function e When making pulse output cam data protect output hold one direction function and present value output settings m Applied Functions e The procedure for using the Cam Positioner at function level 2 all functions is outlined below Procedure Installation Contents Install the Cam Positioner according to the installation environment conditions Reference section Wiring Connect the wiring for the power supply Resolver and peripheral devices Power ON Before the power is turned ON e Check that the wires and connectors for the Resolver and peripheral devices have been connected properly e Check that the Resolver and the machinery not con nected After the power is turned ON e Check that there no error codes displayed E e Set the mode selection switch to RUN and check that the number of revolutions and the prese
183. mA Allowable I O power supply voltage 20 4 to 26 4 V DC Insulation resistance 20 MQ min between all AC power supply external terminals and the protective ground terminal 500 V see note Dielectric strength 2 300 V AC 50 60 Hz for 1 minute between all AC power supply external terminals and the protective ground terminal leakage current of 10 mA max See note Noise immunity 1 500 Vp p pulse width of 0 1 to 1 us 1 ns rising pulse noise simulator Vibration resistance 10 to 57 Hz 0 075 mm single amplitude 57 to 150 Hz with an acceleration of 9 8 m s for 80 minutes each in X Y and Z directions 8 minutes x 10 times 80 minutes Shock resistance 147 m s 3 times each in X Y and Z directions Ambient operating temperature 0 to 55 C Ambient operating humidity 10 to 90 with no condensation Ambient operating environment No corrosive gases Ambient storage temperature 20 to 75 C Terminal screws Power supply input section M3 5 screws Control I O section M3 screws Momentary power interruption detection time Power interruptions of 15 ms or less are not detected External dimensions 110 x 100 x 82 5 mm W x H x D Weight 1 kg max Degree of protection Panel mounting Mounting method 4 screws 2 points or DIN track mounting Note Disconnect the functional ground terminal from the protective ground ter
184. mber of banks 8 4 Note For example to set the ON angle at 90 the setting is 90 for a 360 resolution and 180 for a 720 resolution 3 22 Operation Chapter 3 e Procedure Operation Display BANK FUN CAM PRMTR u SPEED ON POSITION OFF Explanation Use the mode selection switch to change to SET mode BANK FUN CAM PRMTR H SPEED ON POSITION OFF Keep pressing the Bank Function Key until A appears on the Bank Function display Note The display for level 1 will change from 1 to 2 through to 8 then to A t U and back to 1 and so on When the resolution is set to 720 5 through 8 will not be displayed BANK FUN CAM PRMTR H SPEED ON POSITION OFF B TI Press the Set Key to enable settings to be made Cam Parameter number display 1 SPEED ON angle display Flashes current setting BANK FUN CAM PRMTR A SPEED ON POSITION OFF TIN Press the Up or Down Keys and select the resolution to be used 0 360 divisions rotation 1 720 divisions rotation BANK FUN CAM PRMTR A SPEED ON POSITION OFF Press the Set Key to confirm the settings The setting will stop flashing for approximately 1 second and then resume flashing Note When a setting is flashing the Up and Down
185. ment volume e Tightening Torque and Rotation Life Rotation life expectancy No of rotations Tightening torque Note Tightening torque is given as a percentage of allowable tightening torque Refer to 2 2 3 Mount ing the Resolver e Bend Angle and Rotation Life 109 108 107 108 105 104 Rotation life expectancy No of rotations 0 20 40 60 80 100 Bend angle 96 Note Bend angles are given as a percentage of allowable bend angles Refer to 2 2 3 Mounting the Resolver 7 e Axle Core Displacement and Rotation Life Rotation life expectancy No of rotations Axle core displacement 96 Note Axle core displacement is given as a percentage of allowable axle core displacement Refer to 2 2 3 Mounting the Resolver 7 10 7 7 4 Standard Models Product name Cam Positioner Specifications 16 point type 3F88L 160 32 point type 3F88L 162 Resolver Large diameter type 3F88L RS17 High torque type 3F88L RS17T Connector type 3F88L RS15 Lead type 3F88L RS15W Block 16 point relay unit G7TC OC16 Display Unit Numeric display M7E 01DRD2 red decimal M7E 01DGD2 green decimal Units display M7E 01UR2 V red r min M7E 01UG2 V green r min M7E 01UR2 A red no display M7E 01UG2 A green no display 4 digit
186. minal when performing insulation resistance or withstand voltage tests Specifications Chapter 6 m Performance Specifications Model 3F88L 160 3F88L 162 Number of outputs 16 Output performance Open collector output Maximum switching capacity 300 mA at 26 4 V DC 1 6 A max per connector Number of banks 8 banks at the resolution of 360 4 banks at the resolution of 720 Display 7 segment LED execution bank number of revolutions and present cam angle Response revolutions 1 600 r min at the resolution of 360 800 r min at the resolution of 720 Detection cycle 100 us max Repeatability 0 2 Memory backup Non volatile memory EEPROM number of write operations 100 000 Control resolution 1 360 at the resolution of 360 1 720 at the resolution of 720 Origin compensation 1 to 359 at the resolution of 360 1 to 719 at the resolution of 720 Backlash compensation 1 to 179 at the resolution of 360 1 to 359 at the resolution of 720 Advance angle compensation Advance angle input range 1 to 359 at the resolution of 360 1 to 719 at the resolution of 720 Speed input range 1 to 1 600 at the resolution of 360 1 to 800 at the resolution of 720 Note When the speed input is set to 0 the advance angle input must be 0 Control input START TRIG BANK1 to BANK3 RESET Photocoupler input with an input impedance of 4 7
187. mpoWay F Master which allows the Programmable Controller to execute CompoWay F commands for the 3F88L 160 162 Cam Positioner without having to be aware of CompoWay F protocols Configuration e SYSMAC CS1 series Programmable Controller CompoWay F Master Serial Communications Board or Unit CPU Unit PMCR send receive sequences of standard system protocol CompoWay F Master 3F88L 160 162 Cam Positioner CompoWay F Slave m System Components CS1 series Programmable Controller High speed type CS1H CPU67 CPU66 CPU65 CPU64 CPU63 Standard type CS1G CPU45 CPU44 CPU43 CPU42 Serial Communications Board CS1W SCB21 RS 232C x 2 ports CS1W SCB41 RS 232C x 1 port RS 422 485 x 1 port Serial Communications Unit CS1W SCU 21 RS 232C x 2 ports Programming Device Connecting XW2Z 200S CV 2 m Cables for RS 232C port XW2Z 500S CV 5 m Note The following support tool is required to trace the executing status of protocol macros WS02 PSTC1 E CX Protocol 4 23 Communications Chapter 4 m Manuals for Related Devices and Support Tools SYSMAC CS1 series Programmable Controllers Operation Manual SYSMAC CS1 series Programmable Controllers Programming Manual SYSMAC CS1 series Serial Communications Boards Unit Operation Manual CX Protocol Operation Manual m Standard System Protocols Sequence Numbers execut
188. mpted an E 22 cam protect input prohibited error will be dis played The program will not be changed or deleted 3 69 Operation Chapter 3 m Related Parameters SET Mode Cam Protect z 0 e Use this parameter to set or release cam protection for individual banks and cams e The factory setting is no cam protection for any cam Note This parameter is enabled when the power is turned OFF and then turned ON again Cam Protect Display SPEED ON POSITION OFF e The cam protect status for a particular cam number is shown by the ON OFF status of the a 7 segment indicator ON Cam protected OFF Not cam protected Note The 3F88L 160 16 point model Cam Positioner does not have cam numbers 17 to 32 Those indicators will remain OFF 3 70 Chapter 3 Operation Outline for Setting and Releasing Cam Protect Change to SET mode using the mode selection switch PRGM _ Set the cam protect function number Use the Bank Function Key to set function number C Press the Set Key enabling bank number selection The Bank Function display will start flashing C will appear in the leftmost Bank Function digit Set the bank number to which cam protect is to be set or cleared Use the Up and Down Keys to set the bank number Set function number C Change mode The Bank Function numeral
189. nctions 1 1 5 Basic Functions m Cam Program Write Function e Cam programs set the angle at which the cam output is turned ON and OFF Up to 180 steps can be set and up to 8 banks registered for 360 resolution and up to 360 steps and 4 banks for 720 resolution can be set for each cam output point Refer to 3 5 3 Cam Program Creating and Checking programs are normally input by using the operation keys on the front of the Unit but settings can be made from a personal computer by using a special communications protocol CompoWay F Re fer to Chapter 4 Communications Note 1 A step is one ON OFF combination for one cam Note 2 A bank is a program unit made up of cam outputs 1 to 32 for the 3F88L 162 and cam outputs 1 to 16 for the 3F88L 160 By changing the bank the program that will be operated will change m Cam Output e While START input is ON this function turns cam outputs ON and OFF in the bank specified at BANK input according to the ON OFF angles set for each cam Monitor e Monitors cam output and control I O status Refer to 3 5 7 Monitor Function 1 3 Outline Chapter 1 m Data Save e Saves parameters and cam programs in non volatile memory EEPROM As the data is stored in non volatile memory battery replacement and other maintenance is not required Program Number Check e The number of programs and origin compensation angle can be checked Refer to 3 5 3 Cam Pro gram Creating and Checkin
190. ner Unprogrammed outputs are being made A new cam program has been input without clearing the existing cam program Check the cam program When copying a cam program from a 3F88L 160 Cam Positioner to a 3F88L 162 Cam Positioner a cam program containing CAM17 to 32 has been input to the 3F88L 160 Cam Positioner when a cam program has been copied to the 3F88L 160 from a 3F88L 162 beforehand Check the cam program and delete any unnecessary cam programs Program memory error Replace the Cam Positioner Operation Problem Cam outputs are strange Probable cause A new cam program has been input without clearing the existing cam program Chapter 5 Possible solution Check the cam program When using the advance angle compensation function a cam program containing changing cam outputs has been input near the advance angle compensation position the position where the advance angle will be compensated during acceleration cam outputs may be missed or output twice Set advance angle compensation value 3 advance angle compensation position to a section where the cam outputs do not change Do not use cam outputs during acceleration as operation signals When using the copy function data has been mistakenly copied from another Cam Positioner when reading data from that Cam Positioner Check the parameters and cam programs of the source Cam Positioner and then perform
191. nge Speed data 0 to 1600 800 No see note 1 Angle data 0 to 359 719 see note 1 e Use these parameters to set the Resolver speed and advance angle amount e The Resolver speed r min is set as the speed data and the compensation amount is set as the angle data e The factory settings for both speed and angle data is 0 Note 1 The data for 720 resolution divisions revolution is shown in parentheses Note 2 When the speed data is set to 0 the angle data can only be set to 0 Note 3 The same speed data cannot be set for advance angle compensation values 1 and 2 unless the settings are 0 Note 4 These parameters are enabled by turning OFF the power supply and turning it ON again e Advance Angle Compensation Value 3 2 0 e Use this parameter to set the point to change the angle based on the advance angle compensation For example if the advance angle amount changes from 0 to 1 the angle must increase by 1 somewhere in the rotation This parameter sets the position for that change The advance angle amount is updated when the Resolver angle matches advance angle compensation amount 3 e The factory setting is Note 1 The data for 720 resolution divisions revolution is shown in parentheses Note 2 Set advance angle compensation value 3 in a section where the cam output does not change Set in the middle of a section where ON or OFF status continues for
192. ngs Log Chart 7 7 1 Application Examples m Reading Present Value Output Signals with an OMRON PC e System Configuration e Cam Positioner 3F88L 160 16 point type e Present angle value output setting Function No Parameter No 4 1 4 digit present angle no units e CIO bits a b c d e e Data memory used to store present value data D01000 work 001001 present value data storage e Wire cam outputs 1 to 16 to INO to IN15 on the Input Unit allocated to word 0 in the PC Cam output Input Unit 16 Bit 15 word 0 CAM15 Bit 14 word 0 Display CAM14 gata Bit 13 word 0 CAM13 Bit 12 word 0 12 1 digit LE signal Bit 11 word 0 11 2 digit LE signal Bit 10 word 0 10 3 digit LE signal Bit 9 word 0 9 4 digit LE signal Bit 8 word 0 CAMB Cam No 8 output signal Bit 7 word 0 e Points to Consider The SF88L 160 162 Cam Positioner present value outputs have been adjusted to suit the M7E Display Unit The displayed data is therefore the reverse of the normal signal display For If errors PRGM SET occur 3 4 6 mode Display data signal status
193. nical operation Origin compensation When in SET mode the mechanical origin and the Resolver origin can be aligned by pressing the ADJ switch on the front of the Cam Positioner Origin shift When in RUN mode this function can be used to temporarily shift the displayed angle to the origin by shorting the TRIG terminal with the 0 terminal Origin value The origin value is a value set as the origin of the Resolver This value can be set to any angle when origin compensation or origin shift has been performed The default setting is O Resolver The Resolver is a sensor that detects the absolute angle One of four Resolver models 3F88L RS17 3F88L RS17T 3F88L RS15 and 3F88L RS15W can be selected for 3F88L 160 and 3F88L 162 Cam Positioners Trial operation When in PRGM mode this function can be used to adjust the cam output ON and OFF angles by using the operation keys in order to check mechanical operation The greatest difference from compensation operation is the ability to adjust the ON and OFF angles of any bank or cam number without any external control signal input during trial operation 1 10 Outline Chapter 1 1 5 Operation Procedure 1 5 1 Before Operation Basic Use e The procedure for using the Cam Positioner at function level 1 basic operation monitor only is out lined below Procedure Installation Contents Install the Cam Positioner according to the in
194. nk 8 cam data protect setting Bank 8 one direction function setting Bank 8 rotation direction setting Communications Address Parameter area code Clear Command Chapter 4 Explanation Program Clear Parameter Clear and Parameter Update b7 bO Program Clear Setting this bit to 1 executes Program pra nenn Clear Setting this bit to 1 executes Parameter S Palmer Update Setting this bit to 1 executes Parameter Update Note 1 Setting the respective bits to 1 executes Program Clear Pa rameter Clear and Parameter Update When the commands are completed the Cam Positioner sets these bits to 0 There fore after the Clear Command is submitted reading address 0100 allows the user to check whether the command is being executed or completed When these bits are turned ON set to 1 at the same time Pro gram Clear Parameter Clear and Parameter Update will be processed in this order The specified commands will be all processed Executing Program Clear erases all cam programs If there is even one cam for which cam data protect has been set Pro gram Clear will not be executed 4 Executing Parameter Clear initializes all parameters 5 Executing Parameter Update enables the parameters that are made valid after the power is turned OFF and then ON There fore if Parameter Update is used there will be no need to turn the power OFF and then ON when making t
195. nly level 1 Function level 1 basic operation monitor selection only factory setting 2 Function level 2 all functions e Procedure Set the function level selection to 1 function level 1 Operation Display Explanation BANK FUN CAM PRMTR If the Cam Positioner power is turned ON while in RUN mode the display will appear as shown to the left SPEED ON POSITION OFF e Bank Function Displays the bank number specified 93 by the bank selection input banks 1 to 3 e Cam Parameter Clear e SPEED ON angle display Displays the Resolver speed r min e POSITION OFF Displays the present angle BANI FUN CAM ERMTR Use the mode selection switch to change to SET n i U mode SPEED ON POSITION OFF n BANK FUN CAM PRMTR Keep pressing the Bank Function Key until U appears on the display SFEEDION Note The display will change from 1 gt 2 gt 8 4 gt 4 51 gt BANK FUN CAM PAMTR Press the Set Key to allow settings to be made ae f Cam Parameter number display 1 SPEED ON POSITION OFF e SPEED ON angle display Flashes current setting THN BANIURUN CAWERMTE If the setting is not on 1 use the Up or Down Key to i change to 1 function level 1
196. nt angle display changes when the Resolver axis is rotated by hand Function level selection Select function level 2 all functions Initial settings Set the resolution SET mode and rotation direction CW CCW to suit the application Power resetting OFF to ON Turn ON the power to enable the set parameters Parameter settings Make the parameter settings Power resetting OFF to ON Turn ON the power to enable the set parameters 3 6 2 and 3 6 3 Creation and confirmation of cam programs Create and check cam programs PRGM mode Check the number of programs SET mode Connection between Resolver and machinery Turn OFF the power and connect the Resolver and the machinery Execution of origin compensation Turn ON the power and execute origin compensation use the ADJ switch in SET mode Teaching If required use the teaching function SET mode and create a cam program while operating the machinery manually Trial operation Change to PRGM mode and if required adjust the cam program while checking the timing of the cam output Operation monitoring Change to RUN mode and check the operation of the machinery and monitor the I O status Correct the cam program if required PRGM mode Origin shift execution If required turn ON TRIG input and execute origin shift RUN mode Compensation operation If required adjust the cam program while c
197. nt or machines can easily comply with the EMC standards However the systems used by customers are diverse and EMC related performance of the OMRON devices that com ply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel in which the OMRON devices are installed The customer must therefore perform final checks to confirm that devices and the overall machine con form to EMC standards Note Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnetic Susceptibility EN61131 2 EMI Electromagnetic Interference EN61000 6 4 Radiated emission 10 m regulations Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 V AC or 75 to 1 500 V DC meet the required safety standards 61131 2 Conformance to EC Directives The 3F88L 160 162 Cam Positioner complies with EC Directives To ensure that the system in which the 3F88L 160 162 is installed complies with EC Directives the following precautions must be ob served 1 The 3F88L 160 162 is defined as an in panel device according to the Low voltage Directive The 3F88L 160 162 must therefore be installed within a control panel 2 Reinforced insulation or double insulation must be used for the DC power supplies used as I O power supplies 3 The SF88L 160 162 conforms to the Common Emission Standard EN61000 6 4 in rela tion to EMI However th
198. o set the data e Press the Set Key The data will remain lit for approximately one second the settings will be confirmed and then the data will resume flashing again 3 6 10 Present Value Output Function m Function The present value output uses the cam output signal and output signals that are sent to the M7E or M7F Display Units m Related Parameter SET Mode e Present Value Output Setting 2 e Use this parameter to set the present value output function e The settings are as follows 0 No present value output function factory setting 1 4 digit present angle output no units 2 4 digit speed output no units 3 3 digit automatically switching present angle speed output with units 4 4 digit automatically switching present angle speed output with units For automatically switching data output the present angle data will be output when the speed is less than 4 r min and the speed data will be output when the speed is 4 r min or greater e Use settings 1 to 4 for M7E Display Units and 1 or 2 for M7F Display Units e The present value output signals are the same as cam output signals When this function is used therefore some cam outputs can no longer be used Different cam outputs are used for 3F88L 160 and 3F88L 162 Cam Positioners Note 1 This parameter is enabled when the power is turned OFF and then ON again 3 78 Operation Chapter 3 Note 2 Use setting 2 or 4 when displaying speeds
199. of 1 000 r min or greater Cams used for 3FF88L 160 CAM 13 to 16 Display data CAM 12 1st digit LE signal 11 2nd digit LE signal 10 3rd digit LE signal CAM 9 4th digit LE signal Display data 4 digit present angle output no units Setting Cams used for 3FF88L 162 CAM 29 to 32 Display data CAM 28 1st digit LE signal CAM 27 2nd digit LE signal CAM 26 3rd digit LE signal CAM 25 4th digit LE signal 4 digit speed output no units CAM 13 to 16 Display data CAM 12 1st digit LE signal 11 2nd digit LE signal 10 3rd digit LE signal CAM 9 4th digit LE signal CAM 29 to 32 Display data CAM 28 1st digit LE signal CAM 27 2nd digit LE signal CAM 26 3rd digit LE signal CAM 25 4th digit LE signal 3 digit automatically switching present CAM 13 to 16 Display data CAM 12 1st digit LE signal 11 2nd digit LE signal 10 3rd digit LE signal CAM 9 Degrees units output CAM 8 r min units output angle speed output with units CAM 29 to 32 Display data CAM 28 1st digit LE signal CAM 27 2nd digit LE signal CAM 26 3rd digit LE signal CAM 25 Degrees units output CAM 24 r min units output 4 digit automatically switching present angle speed output with units CAM 13 to 16 Display data CAM 12 1st digit LE signal 11 2nd digit LE signal 10 3rd digit LE signal CAM 9 4th digit LE signal CAM 8 Degrees units output CAM 7
200. olver Ce If metal ducted 5 Ground to 100 or less 2 0 ground min 2 14 Design Chapter 2 e Use a ground board as shown in the diagram and ground FG each Unit to one point on the ground board e Do not bundle the ground together with the power supply motor drive or Resolver signal wires or run the ground through the same duct as these wires e f using metal conduit or running wires through metal duct ground the metal to one point Note To make the 3F88L 160 162 Cam Positioner conform to EC Directives be sure to install the Unit within a control panel e External Wiring e Use a different cable for the Cam Positioner I O and the control wire Do not run these wires through the same cable e t is recommended that the Cam Positioner cables and other control and power cables are wired as shown below e Parallel cable racks must be a minimum of 300 mm apart e f multiple terminals are to be housed in one duct shield the terminals with a grounded conductive plate Low current cable Conductive plate steel 1 Resolver cable 2 Cam Positioner input cable 300 mm min 3 Cam Positioner power supply cable General control cable 300 mm min 4 Power cable Conductive plate steel 200 mm min Ground to 100 Q or less Note The 3F88L 160 162 conforms to the Common Emission Standard 50081 2 in relation to EMI However the radiated emission 10 m regulations
201. om the block check character node number to ETX e When FINS mini Command is Not Executed STX Node No Subaddress End code FINS mini response text PDU ETX BCC 02 an p 03 Hex 0 0 0 0 0 F Hex No of bytes 1 2 2 2 1 1 End code OF is set when the specified FINS mini command is not executed Details on non execution can be checked with FINS response code e When Command Frame is Abnormal STX Node No Subaddress End code ETX BCC lapi caes Fane wane 03 ed 0 0 0 0 No of bytes 1 2 2 2 1 1 End code differs with the type of error 4 7 Communications Chapter 4 e Error Code and Error Detection Priority Normal completion Error detection priority Meaning The command terminated normally FINS command error The specified FINS mini command failed to be executed Parity error A parity error occurred in any of the received characters Framing error A framing error occurred in the received frame Overrun error An overrun error occurred in any of the received characters BCC error BCC in the received frame is invalid Format error The FINS frame is invalid Subaddress error The subaddress in the received frame is invalid Note Frame length error The received frame exceeded the maximum number of byt
202. ompensation value 3 BANK FUN CAM PRMTR PRMTR BANK FUN CAM PRMTR ON OFF TR POSITION OFF NNN FTW POSITION OFF f the advance angle compensation value Function No b Parameters to 5 is displayed the present settings will be displayed in the SPEED ON and POSITION OFF displays and the first digit rightmost digit will be flashing The SPEED ON display will be blank for advance angle compensation value 3 e Use the Forward Up and Down Keys to change the data For advance angle compensation values 1 and 2 use the ON OFF Switching Key to switch between speed and angle data Press the Set Key and the data will remain lit firmed and the display will resume flashing e f the data is inappropriate and the Set Key is p for approximately one second the setting will be con ressed all displays will flash twice and then return to the settings before the data was edited Re input the correct data 3 68 3 e Press the Clear Key to return the data to the factory settings If the Clear Key is pressed the three digits of data will start flashing Press the Set Key while the data is flashing and the display will change to and the factory settings will be restored If the Clear Key is pressed again while the data is flashing the data will not be initialized and the display will return to the edited status
203. on Keys Bank Function Key Function PRGM SET Increases bank and function numbers Cam Parameter Key Increases cam and parameter numbers ON OFF Switching Key Switches between ON and OFF angles Up Key Increases the numeral that is flashing Down Key Decreases the numeral that is flashing Forward Key BANK FUN BS a Changes the digit of the numeral to be set Clear Key E D Clears data Set Key Saves input data 1 3 4 Terminal Block and Connectors 10 Resolver connector Connects to the Resolver cable connector 11 Cam output connector Used for cam output 12 Communications port CompoWay F communications connector connects to a personal computer and other Cam Positioners 9 pin D sub connector 13 Terminal block Power input control input and control output terminals Outline Chapter 1 1 4 Glossary Term Meaning Cam output Cam output consists ON OFF outputs for the Resolver angle according to the ON OFF angles set by the user the cam program Cam program A cam program consists ON OFF angle data set by the user Cam protect The cam data protect function protects the cam ON OFF data from being inadvertently changed or deleted Compensation operation When in RUN mode this function can be used to adjust the cam output ON and OFF angles by using the operation keys in order to check mecha
204. on mode hardware reset is performed when the reset input is turned ON and the system will return to the startup status Note 1 All outputs will turn OFF regardless of the output hold settings Note 2 The origin values retained for origin shift will be lost Function ON Cam outputs enabled OFF Cam outputs disabled In any of the following circumstances cam outputs will be enabled if no errors have been generated e When the START signal is ON in RUN mode including during compensa tion operation e When the trial operation function is started in PRGM mode Cam outputs will be disabled under any of the following circumstances e When the START signal is OFF in RUN mode e When an error has been generated error code or a watchdog error Refer to 5 1 Diagnosis using Error Codes e When changing from RUN to PRGM mode or from RUN to SET mode e When the trial operation function is completed in mode Note Refer to 7 2 Performance for information on ON and OFF delay times for RUN outputs Resolver rotation detection output ON When Resolver speed is 4 r min or greater OFF When Resolver speed is less than 4 r min or an error has been generated Refer to 5 1 Diagnosis using Error Codes Note Refer to 7 2 Performance for information on ON and OFF delay times when the Resolver speed is 4 r min or greater Error output ON While error code E or watchdog errors have not been generated
205. operation keys 1 9 functions in PRGM mode 3 28 origin compensation 3 56 3 59 and origin shift 3 38 executing 3 37 3 38 3 58 origin compensation absolute angle 3 58 origin compensation value 3 57 origin shift 3 56 3 59 and origin compensation 3 38 executing 3 59 origin shift input 3 43 processing time 7 5 output hold function 3 77 3 78 output timing data output timing 3 80 Index P parameters advance angle compensation values 3 62 3 67 3 69 backlash compensation enable disable 3 61 3 69 backlash compensation value 3 60 baud rate setting 3 90 cam protect settings 3 70 data transfer Master Unit settings 3 90 data transfer Slave Unit settings 3 90 displaying and setting 3 50 explanation and operation 3 49 3 55 log chart 7 22 one direction function setting 3 75 origin compensation absolute angle 3 58 origin compensation value 3 57 output hold 3 77 parameter list 3 45 present value output setting 3 78 pulse output setting 3 81 reading parameter area 4 12 teaching setting 3 83 parts name and function of each part 1 7 performance 7 4 peripheral devices reducing noise 2 15 personal computer communications with 4 2 PMCR instruction 4 24 power supply wiring 2 16 present angle displaying 2 5 2 28 monitoring 3 40 reading from OMRON PC 7 2 present value output 3 78 3 80 PRGM mode displays 3 11 function 1 3 procedure operation procedure 3 12 processing t
206. origin shift are outlined as follows Origin Compensation Press the ADJ switch in SET mode to set the present angle at that point to zero If an origin com pensation value has been set the present angle will change to that origin compensation value This value the origin position after compensation for the Resolver s electrical 0 will not be lost even if the power is turned OFF Origin Shift Turn ON the origin shift input TRIG in RUN mode to set the present angle at that point to zero If an origin compensation value has been set the present angle will change to that origin compensation value This value will be lost if the power is turned OFF e Origin compensation is used to align the mechanical origin and the Cam Positioner origin for exam ple when the system is first introduced when the system is adjusted or when Resolvers or Cam Posi tioners are exchanged Origin shift is used during normal operation when the present angle origin is to be changed e Both origin compensation and origin shift functions are enabled when the Resolver speed is less than 4 r min Neither function will be executed when the Resolver speed is 4 r min or greater e The absolute angle will be flashing in the POSITION OFF display during execution of origin com pensation or origin shift Note 1 When origin compensation values have been set turn OFF the power supply to the Cam Posi tioner turn it ON again and then execute origin compensation or or
207. pear here Setting Range The setting range for this parameter will appear here Function Explanation The functions and factory settings for this parameter will be explained here Additional Information Additional information for items with See note as well as information on restrictions or cautions pertaining to the use of that function will appear here m Items to be Checked before Setting Parameters The functions and parameter setting for 3F88L 160 162 Cam Positioners will be explained in the next section Before proceeding be sure to check that the following two settings have been made e Set the function level Function No U to 2 function level 2 e Set the resolution selection Function No A to the resolution to be used Once these settings have been made turn OFF the Cam Positioner and then turn it ON again If additional parameters are set without the power being turned OFF and then ON again the function levels and resolution selections will not be enabled and the parameters therefore will not be set proper ly 3 49 Chapter 3 Operation The method for basic parameter display and settings is shown in the following diagram Change to SET mode using the mode selection switch Set the function number with the Bank Function Key Press the Set Key Individual operations display parameters Set parameters set parameter values lt When setting
208. ported Data has been cor rupted due to noise during communications Check the cause of the noise The transmitted subad dress is not 00 Check the communica tions protocol Frame length er ror Received frame ex ceeds available sup ported number of by tes The received frame ex ceeds the number of supported bytes Check the communica tions protocol Operation Chapter 5 5 3 Troubleshooting Problem Nothing appears on the display The ERROR terminal is H Probable cause Power supply error Possible solution Supply the correct power supply voltage RESET signal has been input Check the connected wiring Circuit error Watchdog timer error Replace the Cam Positioner Nothing appear on the display The ERROR terminal is L Display circuit error Replace the Cam Positioner There are no cam outputs A cam program has not been input Check the cam program Cam output power supply error Check the power supply voltage BANK selection fault START signal input fault Check the connected wiring Control signal power supply fault Circuit error Replace the Cam Positioner A specific cam output does not turn ON Wiring error Check the connected wiring Externally connected part error Replace the externally connected part Output transistor error Replace the Cam Positio
209. power is turned ON again Replace the Cam Positioner Operation Chapter 5 5 2 CompoWay F Communications Errors If the SF88L 160 162 Cam Positioner detects an error when data is being transferred using the CompoWay F it will return end code other than 00 indicating a commu nications error If an end code indicating a communications error has been returned determine the cause and take the appropriate countermeasures Communications errors may be caused by incorrect wiring of the communications cable or noise during transmission Therefore always check the following points first Check that communications cables are correctly wired e Check that communications cable connectors are securely connected Check that there is no source of noise in the vicinity and that data has not been cor rupted by noise during transmission m Communications Errors Error name FINS command error End code Description The specified FINS mini command cannot be executed Probable cause A command not sup ported by the Cam Po sitioner has been is sued Probable solution Check the communica tions command The Cam Positioner has an error Check the Cam Posi tioner The Cam Positioner is in a different mode not in a mode for which the issued command is en abled Check the Cam Posi tioner mode Parity error A parity error has oc curred for one of
210. r advance angle compensation value 1 Factory setting 0 Advance angle compensation value 2 010 1600 0 to 800 see note 2 Sets speed data for advance angle compensation value 2 Factory setting 0 010 359 0 to 719 see note 2 Sets angle data for advance angle value 2 Factory setting 0 Advance angle compensation value 3 010 359 0 to 719 see note 2 Sets angle data for advance angle compensation value 3 advance angle compensated position Factory setting 0 Baud rate 1 9 600 bps factory setting 2 19 200 bps Operation Bank Func tion Cam Parame ter Function Cam protect Data range SPEED ON Protection can be set or released for each cam number or for all cams in a bank number Factory setting unprotected Chapter 3 POSITION OFF Protect can be set or released for each cam number or for all cams in a bank number Factory setting unprotected Teaching Present Resolver angle can be input as ON angle data Present Resolver angle can be input as OFF angle data One direction function setting 0 One direction function disabled factory setting 1 Enabled in forward direction 2 Enabled in reverse direction Backlash compensation enable disable setting Backlash compensation disabled factory setting Backlash compensation enabled Advance angle compens
211. r troubleshooting at startup Operation Classifi cation Applied functions Function Origin compensation value setting Contents Sets the compensation value to match the mechanical origin to the Cam Positioner origin Note The compensa tion value is shared by the origin shift op eration and the origin com pensation op eration The origin com pensation op eration is pos sible even with the basic func tions function levels 0 and 1 Chapter 3 Function level 0 Moni tor only 1 2 Basic All opera func tion tions monitor only Origin shift operation When the TRIG input is turned ON in RUN mode the present Resolver angle at that time is changed to 0 or to the origin compensation value Backlash compensation value setting Sets a value equivalent to the mechanical looseness Enable disable backlash compensation setting Enables disables the backlash compensation value Backlash compensation When the backlash compensation value is enabled provides cam outputs in conformance with the mechanical looseness 3 17 Operation Classifi cation Applied functions 3 18 Function Advance angle compensation setting Contents Sets a compensation value to advance all cam output ON and OFF angles in proportion to the number of Resolver rotations Chapter 3 Function level 0
212. r 7 POSITION OFF Present angle 1108 1 to 4 see note 2 1 to 32 1 to 16 see note 1 Compensation op eration ON angle Compensation op eration OFF angle Cam output monitor Control I O monitor error display Note 1 The data for the 3F88L 160 16 point model Cam Positioner is shown in parentheses Note 2 The data for 720 resolution divisions revolution is shown in parentheses The angles will be set and displayed as 1 for 0 52 e PRGM Mode Bank Function 1108 1 to 4 see note 2 Cam Parameter 1 to 32 1 to 16 see note 1 ON angle SPEED ON POSITION OFF OFF angle 1108 1 to 4 see note 2 1 to 32 1 to 16 see note 1 t t ON angle trial operation OFF angle trial operation error display Note 1 The data for the 3F88L 160 16 point model Cam Positioner is shown in parentheses Note 2 The data for 720 resolution divisions revolution is shown in parentheses The angles will be set and displayed as 1 for 0 52 7 15 7 7 6 Error Codes Note The mark in the cam output column indicates that cam outputs are turned OFF regardless of the output hold settings The mark indicates that if output hold is set the output status immedi ately before the error was generated will be maintained If output hold is not set cam outputs w
213. r 720 resolution divisions revolution is shown in parentheses The angles will be set and displayed as 1 for 0 52 3 11 Chapter 3 3 3 Operation Procedure 3 3 1 Before Operation m Basic Use e The procedure for using the Cam Positioner at function level 1 basic operation monitor only is out lined below Procedure Installation Contents Install the Cam Positioner according to the installation environment conditions Reference section Wiring Connect the wiring for the power supply Resolver and peripheral devices Power ON Before the power is turned ON e Check that the wires and connectors for the Resolver and peripheral devices have been connected properly e Check that the Resolver and the machinery are not con nected After the power is turned ON e Check that there are no error codes displayed E e Set the mode selection switch to RUN and check that the number of revolutions and the present angle display changes when the Resolver axis is rotated by hand Function level selection Select function level 1 basic operation monitor only Initial settings Set the resolution SET mode and rotation direction CW CCW to suit the application Power resetting OFF to ON Turn ON the power to enable the set parameters Creation and confirmation of cam programs Create and check cam programs PRGM mode Check the number of p
214. r min units output Operation PRGM ill Various compensation value enable disable setting BANK FUN CAM PRMTR SPEED ON Backlash compensation enable disable CAW PRMTR PRMTR POSITION OFF Use the mode selection switch to change to SET mode Output hold SPEED ON CAM 29 to 32 Display data CAM 28 1st digit LE signal CAM 27 2nd digit LE signal CAM 26 3rd digit LE signal CAM 25 4th digit LE signal CAM 24 Degrees units output CAM 23 r min units output Present value output setting BANK FUN CAM PRMTR SPEED ON POSITION OFF POSITION OFF e Display the present value output setting Function No H Parameter No 4 and the present settings will flash in the SPEED ON display e Use the Up and Down Keys to set the data 3 79 Chapter 3 e Press the Set Key The data will remain lit for approximately one second the settings will be confirmed and then the data will resume flashing again Data Output Timing 3F88L 160 16 point Model For Present Value Outputs Set to 2 4 digit Resolver Speed No Units 1st digit display 2nd digit display 3rd digit display 4th digit display Output Tr ON CAM13 16 1st digit Time CAMI2 LED Time CAM11 LE2 i Time CAMIO LES Output THOFF i Output Tr ON Output Time CAM9 LE4 Time 32 715 32 7ms
215. ration Error name Sum check error in program memory Description Memory sum check error when power turned ON Probable cause Malfunction due to noise system recovers when power is turned ON again Possible solution Check if noise has been generated when or after the power was turned ON and take appropriate countermeasures against the noise Chapter 5 Error reset method Turn ON the power again The Cam Positioner is malfunctioning system does not recover when power is turned ON again Replace the Cam Positioner System program sum check error System program sum check error when power turned ON Malfunction due to noise system recovers when power is turned ON again Check if noise occurs when or after the power is turned ON and take appropriate countermeasures against the noise Turn ON the power again The Cam Positioner is malfunctioning system does not recover when power is turned ON again Replace the Cam Positioner Memory error Access to non volatile memory not completed within set time Write to non volatile memory not completed due to noise Find the source of the error and take appropriate countermeasures Read from non volatile memory not completed due to noise Find the source of the error and take appropriate countermeasures Change to PRGM or SET mode and press the Clear Key to cle
216. ration status error status and settings data e The data displayed will differ depending on the mode 1 Bank and function display Display Display the number of the operating bank Display the number of the bank being programmed Display the number of the function being set 2 Cam and parameter number display Displays when the START signal is ON and is blank when the START signal is OFF Displays the number of the cam being programmed Different for different settings functions 3 Number of revolutions and ON angle display Displays the number of revolutions or an error message Displays the ON angle or an error message Differs for different settings functions 4 Present angle and OFF angle display 1 3 2 Switches 5 Mode selection switch Displays the present angle Displays the OFF angle Different for different settings functions Function Switches between the three operation modes RUN PRGM and SET 6 CLR switch Deletes all cam programs in the Cam Positioner 7 ADJ switch SET Adjusts the compensation by executing origin compensation 8 CW CCW setting switch When power is turned ON Changes the rotation direction The direc tion of increasing angle is set to either CW clockwise or CCW counterclockwise when viewed from the Resolver axle side Outline Chapter 1 1 3 3 Operati
217. rite an origin compensa tion value to address 8000 set 8000 In No of items set the number of items in the unit specified for the parameter area code For example resolution compensation settings are parameters in byte units so the number of items is 1 Origin compensation values are parameters in word units so the number of items is 1 Cam programs for cams 1 to 8 of bank 1 are parameters in byte units so the number of items is 720 To set the number of items represent it as a 4 digit hexadecimal number first set the leftmost bit to 1 then convert the hexadecimal code into ASCII code For example when the number of items is 720 represent it as hexadecimal number 0200 Hex first set the leftmost bit to 1 to obtain hexadecimal number 82D0 Hex then set ASCII code 8200 38 32 44 30 Hex In Data set all data as ASCII code Example 1 Writing 200 as an origin compensation value Parameter area code 8000 Beginning address 0002 No of items 8001 Data 0200 Example 2 Clearing cam programs Parameter area code 4000 Beginning address 0100 No of items 8001 Data 20 e Structure of FINS mini Response Text PDU MRC SRC MRES SRES ipe cani ager No of bytes 2 2 2 2 4 13 Communications Chapter 4 m Contents of Parameter Area Address Parameter Explanation Default area code Resolution Resolution selection and the pres
218. rograms SET mode Connection between Resolver and machinery Turn OFF the power and connect the Resolver and the machinery Execution of origin compensation Turn ON the power and execute origin compensation use the ADJ switch in SET mode Operation monitoring Change to RUN mode and check the operation of the machinery and monitor the I O status Correct the cam program if required PRGM mode Function level selection If required set to function level O monitor only to prevent faulty operation Note This procedure is applicable when only the basic functions function level 1 are used In the cases outlined below the applied functions function level 2 must be used Refer to 3 6 Applied Functions When setting origin compensation values using backlash compensation advance angle com pensation and other compensation functions When executing a trial or adjustment operation 3 12 Chapter 3 When using the teaching function When setting pulse output cam protect output hold one direction function and present value output m Applied e The procedure for using the Cam Positioner at function level 2 all functions is outlined below Procedure Installation Contents Install the Cam Positioner according to the installation environment conditions Reference section Wiring Connect the wiring for the power supply Resolver and p
219. rs 3 92 diagnosing with error codes 5 2 5 6 displaying 3 40 error codes 5 2 5 7 7 16 7 20 error codes in FINS response frames 4 8 error output 3 43 examples application examples 7 2 7 3 F FINS communications See CompoWay F communications function level selecting 3 44 3 45 function level 0 selecting 3 14 function level 1 selecting 3 14 using 1 11 3 12 function level 2 selecting 3 14 using 1 12 3 13 functions basic functions 1 3 by mode 3 4 functions allowed in each function level 3 14 3 20 program functions 3 24 3 26 G H gears using 2 12 glossary glossary of terms 1 10 host computer communications with 4 2 I 2 Index LK I O Block cam outputs for 2 23 connecting 2 4 2 13 specifications 6 6 6 7 standard models 7 11 I O monitor function 3 40 initial settings descriptions 3 21 3 23 functions 1 4 inspection regular inspections 5 12 installation 2 6 Cam Positioners 2 6 environmental conditions 2 8 Resolvers 2 7 internode echo test 4 22 keys See operation keys M DET output OFF delay time 7 6 ON delay time 7 6 maintenance 5 12 Master Cam Positioner Settings 3 91 modes 1 3 3 4 3 11 changing 3 4 monitoring operation 3 40 noise wiring to reduce noise 2 14 one direction function 3 75 3 77 settings 7 26 operation basic operation 1 2 nomenclature of operation section 3 2 procedure 1 11 3 12 3 13
220. ry Refer to 3 5 6 Start Operation 3 5 7 I O Monitor Function and 3 5 8 Control I O Signals Note If the machinery cannot be moved to the origin compensation position from when the original Cam Positioner was set up perform origin compensation at a different position as outlined below The settings can be changed to the same as the original Cam Positioner by re writing the origin com pensation value parameters a Write the origin compensation value for the original Cam Positioner Function No b Parameter No 1 b After the Cam Positioner has been replaced move the machinery to the position where origin compensation will be performed Set the origin compensation value for that position and turn OFF the power supply and turn it ON again to enable this setting 5 13 Chapter 5 d Perform origin compensation e Change the origin compensation value to that of the original Cam Positioner 5 14 Chapter 6 Specifications 6 1 Positioner Specifications 6 2 Resolver Specifications 6 3 I O Block Specifications 6 4 Display Specifications Specifications Chapter 6 6 1 Cam Positioner Specifications m General Specifications Model 3F88L 160 3F88L 162 Power supply voltage 100 to 240 V AC 50 60 Hz Allowable power supply voltage 85 to 264 V AC Current consumption 18 VA max Inrush current 40 A 10 ms max power supply 24 V DC 145
221. s The following commands are used to communicate with a Cam Positioner e Memory Area Read Reads the Resolver speed present cam angle cam output status executing bank and control I O status Parameter Area Read Reads various parameters and cam programs Parameter Area Write Writes various parameters and cam programs Controller Data Read Reads the model and version Unit Attribute Read Reads the model and communications buffer size Controller Status Read Reads error codes and executing status Operation Command Changes the executing status Internode Echo Test Executes an internode echo test This section describes the contents of these FINS mini command text PDU and FINS mini response text PDU The following examples show FINS mini response text where communications has terminated normally MRES SRES 00 For the entire frame structure or the contents of MRES and SRES where communications has terminated abnormally refer to 4 2 1 Command Frame and 4 2 2 Response Frame The following symbols indicate which Cam Positioner mode can be used to execute each command RUN Indicates a command that can be executed in RUN mode PRGM Indicates a command that can be executed in PRGM mode SET Indicates a command that can be executed in SET mode Note The commands that can be executed only in SET mode can also be executed in RUN mode if the Operation Command Operating Status Change Command is exec
222. s Terminal name Function Recommended connection wire diameter Main circuit power supply Inputs the AC power supply for the Cam input terminal Positioner Provide a 100 to 240 V AC 50 60 Hz power supply Rated power supply voltage 85 to 264 V AC Function earth terminal This is the primary ground terminal connected for the power supply Protect earth terminal This is the frame ground terminal Note 1 Use M3 5 round crimp terminals for 1 L and AC 2 N terminals Note 2 Use M3 5 round or forked crimp terminals for function earth and protect earth terminals Round crimp terminal Forked crimp terminal 7 mm max 7 Note If the power supply voltage of the Cam Positioner slowly increases or decreases at less than 85 of the rated voltage i e less than 85 V operation may stop intermittently If this affects the op eration of equipment provide protective circuits that interrupt output enough to cause the voltage to increase to more than 85 of the rated value Control Input Wiring e Wiring Method YY 24V BANK1 BANK2 BANK3 2 11 12 13 14 2 2 Lv m TRIG RESET 5 6 7 8 Terminal screw size M3 NS Tightening torque 0 5 N m SS 2 22 2 17 Design Chapter 2 e Terminal Functions Terminal Function Recommended name connection wire diameter Control I O The control I O power supply terminal is used for
223. s I O power supplies in order to comply EC Directives 2 18 Design Chapter 2 e Control Input Specifications Specification Rated input voltage 24 V DC 15 10 Input impedance 4 7 KQ Input current 4 7 mA TYP for 24 V DC input ON voltage 17 V min between 24 V terminal and control input terminals OFF voltage 5 V max between 24 V terminal and control input terminals ON OFF response time 1 0 ms Internal circuit 24V START BANK1 to 3 TRIG RESET oV m Control Output Wiring e Wiring Method Terminal screw size M3 24V DC Tightening torque 0 5 N for load e Terminal Functions Terminal name Function Recommended connection wire diameter Control output common COM 0 V The COM O V terminal is the common terminal terminal for control output It is connected to the OV terminal on the control I O output power supply RUN output The RUN terminal indicates the operation status of the Unit It turns ON when cam output is enabled Resolver movement The M DET terminal turns ON when the detection output Resolver is rotating at 4 r min or faster Error output The ERROR terminal turns OFF when an error is generated 2 19 Design Chapter 2 Note 1 Use 5 round or forked crimp terminals for functional ground and protective ground termi nals Round crimp terminal Forked crimp terminal 6 2 mm Cm 6 2 mm D max max Note 2 Re
224. s of the maximum switching capacity Do not touch the terminals for one minute after the power is turned OFF Installation Precautions Caution Install the Unit properly as specified in the operation manual N Caution Do not install the Unit in the following locations Locations subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration N Caution Take appropriate and sufficient countermeasures when installing the Unit in the fol lowing locations e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies Conformance to EC Directives m Applicable Directives EMC Directives Low Voltage Directive Concepts EMC Directives EMC Directives stipulate that the system must comply with both EMS and EMI standards see the following note Because OMRON devices are designed for installation in various equipment or machines they comply with the relevant EMC standards so that the equip me
225. sation absolute angle display absolute angle display absolute angle display BANK FUN CAM PRMTR BANK FUN CAM PRMTR BANK FUN CAM PRMTR BANKS a mW SPEED ON POSITION OFF 123 SPEED ON POSITION OFF i293 SPEED ON POSITION OFF 123 m Origin Compensation Execution SET Mode e Procedure Operation Display Explanation PRGM EANIST UN CAMIRRMTR Use the mode selection switch to change to SET mode v L SPEED ON POSITION OFF Manual operation BANK FUN Rotate the machinery to the position to be set to zero of the machinery SPEED ON POSITION OFF BANK FUN CAM PRMTR Press the ADJ switch Origin compensation will be executed o The absolute angle electrical angle of the Resolver will be SPEED ON POSITION OFF flashing the POSITION OFF display until origin compensation has been completed After origin BANK FUN CAM PRMTR The original display will appear when origin compensation has compensation has H been completed been completed SPEEpoN Note f the bank number appears in the Bank Function display 0 appears in the Cam Parameter No display the absolute angle for origin compensation will be displayed in the SPEED ON display PRGM BANK FUN CAM PRMTR Use the mode selection switch to change to RUN mode seri
226. set One direction function SET 3 6 8 setting One direction function RUN except during operation compensation operation Output hold setting SET H 3 3 6 9 3 6 Chapter 3 Classifi Function name Applicable modes Conditions Front panel Refer cation displays ence sec Function Parame tion No ter No Applied Output hold function When switching from The power must be 3 6 9 functions operation RUN mode to PRGM reset to ON after or SET mode when output hold has been the START signalis set ON The START signal must be ON cam outputs will be OFF if the START signal is OFF The RESET signal must be OFF cam outputs will be OFF if the RESET signal is ON Present value output SET H 4 3 6 10 setting Present value output SET PRGM RUN The power must function operation reset to ON after present value output has been set Shared with a cam output Cam pro Pulse SET P 3 6 11 gram output creating setting changing Teaching SET Resolver speed must d 3 6 12 be less than 4 r min Cam out Trial PRGM 1to8 1 to 32 3 6 14 puts cam operation 1 to 4 1 to 16 program see note see note changing 2 1 Adjustment RUN 1108 1 to 32 3 6 14 operation 1 to 4 1 to 16 see note see note 2 1 Commu Compo SET PRGM RUN
227. sfer will begin 1 Data read Reads programs and parameters from the Slave to the Master 2 Data write Writes programs and parameters from the Master to the Slave 3 Data verification Verifies the Master programs and parameters against the Slave programs and parameters 3 89 Chapter 3 m Related Parameters SET Mode e Baud Rate Setting 2 S 0 e The Baud rate setting function sets the baud rate for data transmission e The baud rate settings are explained below 1 9 600 bps factory setting 2 19 200 bps e Set the same baud rate for both the Master and Slave Units Note This parameter is enabled after the power has been turned OFF and then ON again Operation PRGM ser i Jes Use the mode selection switch to change to SET mode PAMTA Origin compensation Backlash compensation value Baud rate BANK FUN CAM PRMTR BANK FUN CAM PRMTR EUR BANK FUN CAMPRMTA SPEED ON POSITION OFF SPEED ON POSITION OFF SPEED ON POSITION OFF BANK FUN CAM PRMTR SPEED ON POSITION OFF e When the baud rate Function No b Parameter No 6 is displayed the present baud rate settings flash in the SPEED ON display e Use the Up and Down Keys to change the data e Press the Set Key and the data will remain lit for approximately one second the setting will be con firmed and the display will resume flashing e f the baud rate setting has been
228. sh Various compensation value compensation Advance angle compensation Present value enable disable setting enable disable enable disable output setting BANK FUN CAM PRMTR BANK FUN CAM PRMTR H LS SPEED ON POSITION OFF SPEED ON POSITION OFF 1 3 61 Chapter 3 e When the backlash compensation enable disable setting Function No Parameter No 1 is dis played the current settings will be flashing in the SPEED ON display e Use the Up and Down Keys to change the data e When the Set Key is pressed the data will remain lit for approximately one second the setting will be confirmed and then the data will resume flashing 3 6 6 Advance Angle Compensation m Functions e The advance angle compensation function advances the ON and OFF angles for all cams in propor tion to the speed of the Resolver e When cam output signals are used to move peripheral devices this function is used to adjust the tim ing of peripheral device movement This function can also be used to minimize angle deviation caused by a delay in signal transmission e There are three advance angle compensation parameters for 3F88L 160 162 Cam Positioners Advance angle compensation value 1 Speed and angle data settings Advance angle compensation value 2 Speed and angle data settings Advance angle compensation value 3 Angle data settings for advance angle compensation posi tion The relat
229. stallation environment conditions Reference section Wiring Connect the wiring for the power supply Resolver and peripheral devices Power ON Before the power is turned ON e Check that the wires and connectors for the Resolver and peripheral devices have been connected properly e Check that the Resolver and the machinery are not con nected After the power is turned ON e Check that there are no error codes displayed E e Set the mode selection switch to RUN and check that the number of revolutions and the present angle display changes when the Resolver axis is rotated by hand Function level selection Select function level 1 basic operation monitor only Initial settings Set the resolution SET mode and rotation direction CW CCW to suit the application Power resetting OFF to ON Turn ON the power to enable the set parameters Creation and confirmation of cam programs Create and check cam programs PRGM mode Check the number of programs SET mode Connection between Resolver and machinery Turn OFF the power and connect the Resolver and the machinery Execution of origin compensation Turn ON the power and execute origin compensation use the ADJ switch in SET mode Operation monitoring Change to RUN mode and check the operation of the machinery and monitor the I O status Correct the cam program if required PRGM mode Function level se
230. step to be deleted Press the Clear Key once The ON angle and OFF angle displays will start flashing Press the Set Key to delete the step Set the mode selection switch to PRGM mode Press the Bank Function Key and set the bank number that contains the cam number to be deleted Press the Cam Parameter Key and set the cam number that is to be deleted Press the Clear Key twice The cam number display will start flashing Press the Set Key to delete the cam number 3 25 Chapter 3 Deleting by Bank Number PRGM Mode Operation Explanation 1 PRGM Set the mode selection switch to PRGM mode Press the Bank Function Key and set the bank number that is to be zd deleted Press the Clear Key three times The bank number display will start Press the Set Key to delete the bank number SET Deleting All Cam Programs PRGM Mode Operation Explanation 1 Set the mode selection switch to PRGM mode Press the P CLR switch to clear all cam programs in the Cam Positioner Note The P CLR switch will be ignored by the system even in PRGM mode if the trial operation function is being used Trial operation cannot be performed in function level 1 e Checking Number of Programs SET Mode Check the number of cam program steps that have been created Operation Explanation Set the mode selection switch to SET mode
231. t Key to save the adjusted angle data and display step 2 Use the same procedure to adjust the ON and OFF angles for step 2 onwards Note 1 The display will not move on to step 2 if there is only one step Note 2 During adjustment operation the data changes will be re flected in the outputs and cam program at the point the changes are made PRMTR BANK FUN CAM PRMTR POSITION OFF SPEED ON j nn uy Press the Cam Parameter Key to adjust other cam numbers The display will return to a flashing cam number Repeat the same operation to adjust the angles for each step in other cam numbers Use the Up and Down Keys to set the cam number use the Set Key to display the ON and OFF angle data use the Up and Down Keys to adjust the ON angle data use the ON OFF Switching Key to make the OFF angle flash use the Up and Down Keys to adjust the OFF angle and use the Set Key to save the adjusted data Repeat this operation as required Other Keys 3 96 BANK FUN CAM PRMTR SPEED ON POSITION OFF To exit the adjustment operation function press any key other than the Up Down or Set Keys while the cam number is flashing The display will exit the adjustment operation function and return to normal RUN mode Chapter 4 Communications 4 1 Overview of CompoWay F Communications 4 2 Command and Response Frames 4 3 Command Types 4 4 Executing CompoWay F Commands with Protocol
232. t ON again The advance angle compensation function is not enabled Enable the advance angle compensation function Function No H Parameter No 2 and turn OFF the power and turn it ON again 5 11 Chapter 5 5 4 Inspection and Maintenance m Regular Inspections There are no parts that need to be constantly maintained for the Cam Positioner equipment operation but the following items should be checked during regular inspections to maintain performance e Check that the connectors are firmly connected e Check that there is no excessive strain on or any damage to the cables e Check that the Resolver rotates smoothly Check that the axle is not displaced e Check that there is no excessive force on the couplings Check that they are securely fastened e Check that the screws for all the terminals on the Unit are securely fastened m Replacement Couplings If a Coupling has been lost purchase the following replacement items Coupling for 3F88L RS17 Resolver 3F88L RL10 Coupling for 3F88L RS15 Resolver 3F88L RL6 5 12 Chapter 5 5 5 Positioner Replacement Procedure Perform the following procedure when replacing the Cam Positioner Unit This procedure is applicable when the data cam programs and parameters in the original Cam Posi tioner is normal and the copy function is operating normally If the data has been corrupted or the copy funct
233. t nameplate character height 25 mm M7F 2 no display M7F RPM 2 r min Remarks Select the appropriate Unit based on the display character height requirements for units display and color of displayed characters When using a Unit with units display select a Unit Nameplate with the same height character display There is no Unit Nameplate for degrees Select the no display Unit Nameplate instead Display Unit Connector XG5M 2035 N separately wired pressure welded type One Display Unit Connector is required Display Unit Connector Cover XG5S 1001 XG5S 2012 Two XG5S 1001 Covers or one XG5S 2012 Cover is required Cam Output Cable 1m 3F88L CG001S 3m 2 28 3F88L CG003S One Cable is required Design Chapter 2 e Wiring Example The following wiring example is for four digit display of the Resolver speed Cam Output Connectors M7F Display Unit 13 29 6 0 reen Display data CAM14 CAM30 BON 15 1 A4 16 CAM32 899 D 5 NC i NC Common cam ea CAMS CAMIS CANS A8 rs Q si 16 CAM32 _ A9 Lu 49 S2 16 CAM32 A10 Note 1 Note 2 Note 3 Note 4 12 to 24 V DC 50 S1 S2 S3 S4 NC NC NC V amp jere e je e je e e e 010910196 0
234. t posi tion between 0 and 359 for 360 resolution and 0 719 for 720 resolution e Use the Forward Up and Down Keys to set the data Use the ON OFF Switching Key to switch be tween pulse number and pulse start position data 3 82 Chapter 3 e Press the Set Key The data will remain lit for approximately one second the settings will be confirmed and then the data will resume flashing again e f the data is inappropriate and the Set Key is pressed all displays will flash twice and then return to the settings before the data was edited Re input the correct data 3 6 12 Teaching m Function e The teaching function is used to input data from the Resolver as ON OFF angle settings while the ma chinery is being manually operated e The only editing of cam programs allowed while using this function is the registration or deletion of ON OFF angle data Note 1 If the teaching function is used on cam numbers for which a cam program has already been input steps will be added to that cam program Note 2 The ON or OFF angles for cam programs that have been already input cannot be changed separately Note 3 The teaching function cannot be used if the Resolver speed is 4 r min or greater m Related Parameter SET Mode e Teaching Function level 2 0 e Use this parameter to create cam programs 3 83 Chapter 3 Operation Operation PRGM eu Use the mode selection switch
235. t present angle no units 4 digit number of rotations no units Automatic switching of 3 digit present angle and number of rotations with units Automatic switching of 4 digit present angle and number of rotations with units Note 1 The data for 720 resolution divisions revolution is shown in parentheses The angles will be set and displayed as 1 for 0 5 Note 2 The power must be turned OFF and then ON again to enable these functions 7 23 Appendix Chapter 7 e Cam Protect Settings Function No c Function Level 2 Cam protect Bank No 1 11 See ie 19 20 21 22 23 24 12 13 14 15 16 1 2 3 4 5 6 7 8 9 10111 12 13 14 15 16 po Eu egeat ees qs Bank No 6 1 2 3 14 5 6 7 81 9110 11 cq 17 18 19 20 21 22 23 24 25 26 27 Bank No 7 1 2 3 4 5 _ 17 18 19 20 21 22 23 24 25 26 27 12 1 Ep Ere ETE El e a sns TERAS Fill in the bit corresponding to the cam number for which cam data protect has been set This makes it easier to display and compare the cam data protect statuses Note The power must be turned OFF and then ON again to enable this function 7 24 7 Append
236. teaching is being executed Note 2 When backlash compensation is enabled the one direction function works at the angle after backlash compensation has been executed For example even if the Resolver rotates in the opposite direction the system will not consider this as the reverse direction until the backlash compensation amount has been exceeded Note 3 When advance angle compensation is enabled cam outputs are made at the angle after ad vance angle compensation has been made Rotation direction for the one direction function is determined by the increasing or decreasing angles after backlash compensation has been performed the angle after advance angle compensation is not used to determine the rotation direction Therefore even when the present angle is decreasing when decelerating or due to a reduction in the advance angle amount this is not considered as reverse direction Re fer to 3 6 6 Advance Angle Compensation m Related Parameters SET Mode e One direction Function Setting 2 wr qe sl 0 e Use this parameter to set or clear the one direction function for each cam e The settings are as follows 0 One direction function disabled factory setting 1 Enabled in the forward direction cam output status held when rotating in reverse 2 Enabled in the reverse direction cam output status held when rotating forward Note 1 This parameter is enabled when the power is turned OFF and then ON again
237. ted refer to Chapter 5 Operation for countermeasures BANK FUN SPEED ON POSITION OFF d i t Error code 3 40 Operation Chapter 3 m Cam Outputs and Control I O Signal Monitoring RUN Mode Function No Parameter No Function name Cam output monitor Display ON OFF state of cam outputs 1 to 32 see note will be displayed by lighting or not lighting each one of the 7 segment indicators lit when cam is OFF Control I O sig nal monitor ON OFF state of control I O signals see note will be displayed by lighting or not lighting each one of the 7 segment indicators lit when signal is OFF Note The 3F88L 160 16 point model Cam Positioner does not have cam outputs 17 to 32 The relevant indicators will remain OFF e Procedure Operation Display BANK FUN CAM PRMTR i ru SPEED ON POSITION OFF 00 88 Explanation Displayed in normal RUN mode BANK FUN CAM PRMTR i SPEED ON POSITION OFF 8888 Press the Bank Function Key The Bank Function display will show 0 and the Cam Parameter No display will show 1 The ON OFF status of cam outputs will be shown in the SPEED ON and POSITION OFF displays BANK FUN CAM PRMTR e Le SPEED ON POSITION OFF Press the Cam Parameter Key The Cam Parameter No display will show 2
238. the operation When using the copy function data has been mistakenly written to another Cam Positioner when reading data from that Cam Positioner Set the parameters for the source Cam Positioner and once all cam programs have been re input perform the copy operation Program memory error Replace the Cam Positioner Exiting of a cam program that shouldn t be there CAM17 to 32 When copying a cam program from a 3F88L 160 Cam Positioner to a 3F88L 162 Cam Positioner a cam program containing CAM17 to 32 has been input to the 3F88L 160 Cam Positioner when a cam program has been copied to the 3F88L 160 from a 3F88L 162 beforehand Check the cam program and delete any unnecessary cam programs Origin compensation has been performed but the origin does not return to O An origin compensation value has been set Check the origin compensation value The Resolver is rotating Check the machinery operation Circuit error Replace the Cam Positioner The origin position is displaced The present angle is displaced A TRIG signal has been input Check the connection wiring The coupling is displaced Check the Resolver coupling The temperature variation is great Check the ambient temperature variation The Resolver cable is corrupted and shorted with the frame ground FG Check the Resolver cable Circuit error Replace the Cam Posi
239. ting screws terminal screws and cable connector screws are tightened to the torque specified in the operation manual For DIN track mount ing push the Cam Positioner forward until the lock snaps into place N Caution A Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution Be sure that cables and other items with locking devices are properly locked into place Always turn OFF the power supply to the Unit before attempting any of the following e Assembling the Unit e Setting switches e Connecting cables or wiring the system e Connecting or disconnecting the connectors Thoroughly check the newly created cam programs parameter settings and switch settings for proper execution before actually running them Confirm that no adverse effect will occur in the system before attempting any of the following e Switching the operating mode of the Unit e Origin compensation e Switching the execution bank When installing the Unit adjust the origin before starting operation Be sure that the number of resolver rotations is always within the allowable range When replacing the Unit transfer all the parameters and cam programs from the old Unit to the new Unit before restarting operation Do not apply voltages to the input terminal in excess of the rated input voltage Do not apply voltages or connect loads to the output terminal or cam output connec tor in exces
240. tion 360 divisions per revolution 0000 to 0800 resolution 720 divisions per revolution Address 0000 Leftmost byte Address 0001 Rightmost byte Present Present cam angle in set unit 4 digit BCD Cam Angle 0000 to 0359 resolution 360 divisions per revolution 0000 to 0719 resolution 720 divisions per revolution Address 0002 Leftmost byte Address 0003 Rightmost byte Cam output status 0 Output OFF 1 Output ON b7 Address 8 CAM7 CAM6 0007 Address CAM16 15 CAM14 0006 Address CAM24 CAM23 CAM22 0005 Address 2 CAM31 CAM30 0004 Executing Executing bank No 2 digit BCD Bank 01 to 08 resolution 360 divisions per revolution 01 to 04 resolution 720 divisions per revolution 4 11 Communications Chapter 4 Address Explanation Control Control I O signal status output Status o OFF 1 ON Address 000A Control input b7 START Address 000B Control output b7 Note Bits indicated by are set to 0 Note 1 Specify the beginning address of FINS mini command text as 4 digit ASCII code 00 For example when reading the executing bank specify 000800 as the beginning address Note 2 The data structure shown in the Explanation column is the one inside the Cam Positioner If the data is read thro
241. tion Key is pressed repeatedly to set the function number Function level 0 1 gt 2 gt gt 3 gt 4 5 gt 6 7 8 4 1 Function level 1 122345565 7 8 A1 U 41 etc Function level 2 122535455565 7585Ab Cd FH P t U 1 etc If the resolution selection explained in the next section is set to 1 720 divisions rotation 5267 8 will not be displayed 3 6 2 Parameter List SET Mode Bank Func see note 2 Cam Parame ter Function name Origin compensation absolute angle Setting range SPEED ON Displays the absolute angle for origin compensation display only no settings can be made POSITION OFF 1 to 32 1 to 16 see note 1 Program number checking Displays the number of steps for the displayed bank or cam number display only no settings can be made Resolution selection 0 360 divisions revolution factory setting 720 divisions revolution 3 45 Operation Bank Func tion Cam Parame ter Function name Origin compensation value Setting range 010 359 0 to 719 see note 2 SPEED ON Sets origin compensation value angle data Factory setting 0 Chapter 3 POSITION OFF Backlash compensation value 010179 0 to 359 see note 2 Sets backlash compensation value angle data Factory setting 0 Advance angle compensation value 1 010 1600 0 to 800 see note 2 Sets spee
242. tioner The operation keys do not work 5 10 The functions are limited by the function level selection Check and if necessary adjust the function level selection Function No U and turn OFF the power and then turn it ON again Circuit error Replace the Cam Positioner Operation Problem The cam output position is different to the one set using the teaching function Probable cause Backlash compensation has been enabled after teaching has been performed Chapter 5 Possible solution With the backlash compensation already enabled perform the teaching operation again With backlash compensation enabled the load side driven side instead of the Resolver axle drive side has been manually rotated and teaching performed Backlash compensation will work in reverse Manually rotate the Resolver axle drive side and perform teaching again Teaching has been performed while the Resolver is rotating less than 4 r min Perform teaching again with the Resolver stationary Use the trial operation and adjustment operation functions to adjust the cam program ON OFF angle data When the speed increases the timing of peripheral device operation is late The advance angle compensation function is not used Set the advance angle compensation function Function No b Parameter No 3 to 5 and Function No H and Parameter No 2 and turn OFF the power and turn i
243. tput Function e Uses the cam output signal and outputs the signal to the Display Unit M7E M7F or other Display Units The present angle or number of revolutions can be displayed on the Display Unit Refer to 3 6 10 Present Value Output Function m Pulse Output Function e Automatically sets data that turns ON and OFF at regular intervals in a desired bank or cam in order to edit memory contents Refer to 3 6 11 Pulse Output Function Teaching Resolver angle data be input as cam program settings during manual operation of the machinery Refer to 3 6 12 Teaching m Copy Function e By making the settings for one Cam Positioner the cam program the various compensation values and settings in one operation may be copied to another Cam Positioner m Trial Operation e When adjusting the ON OFF angles to suit the machinery performs cam output and changes the ON OFF angle in real time regardless of the control input signal status Refer to 3 6 14 Trial Adjustment Operation m Compensation Operation e When adjusting the ON OFF angles to suit the machinery changes the ON OFF angles in real time while in operation status cam output status Refer to 3 6 14 Trial Adjustment Operation m Communications Function e Has a communications port that conforms to shape B in CompoWay F Communications can be used to read and write cam programs and monitor present angles and number of revolutions Refer to Chapter 4 Communic
244. ts are turned OFF regardless of the output hold settings The mark indicates that if output hold is set the output status immedi ately before the error was generated will be maintained If output hold is not set cam outputs will be turned OFF Refer to 3 6 9 Output Hold Function for information Error reset Error name Hardware failure Description Memory read write check error when power turned ON Probable cause Malfunction due to noise system recovers when power is turned ON again Possible solution Check if noise has been generated when or after the power was turned ON and take appropriate countermeasures against the noise method Turn the power ON again The Cam Positioner is malfunctioning system does not recover when power is turned ON again Replace the Cam Positioner Operation Error name Power interruption during programming Description Power turned OFF while program being edited Probable cause Power turned OFF while program being edited Possible solution Check that the voltage supplied to the Cam Positioner meets the specifications 85 to 264 V AC and adjust if necessary Chapter 5 Error reset method Change to PRGM or SET mode and press the Clear Key to clear the error Then re input RESET input turned ON while program being edited Adjust the RESET input sequence the cam program
245. ugh CompoWay F communications it will be converted into ASCII code For example when the Resolver speed is 800 r min data is stored as 08 Hex leftmost byte Address 0000 and 00 Hex rightmost byte Address 0001 inside the Cam Positioner This data will be read as ASCII code 0800 30 38 30 30 Hex during communications When CAM1 to CAM8 are all ON hexadecimal value FF is written to address 0004 but it will be read as ASCII code FF 46 46 Hex during communications 4 3 2 Parameter Area Read Write SET Parameter Area Read e Structure of FINS mini Command Text PDU MRC SRC Parameter area code Beginning address No of items Phe No of bytes 2 2 4 4 4 Note 1 The parameter area code is divided into the following three types 4000 Parameters in byte 8 bits units 8000 Parameters in word 16 bits units C000 Parameters in long word 32 bits units Set the parameter area code as ASCII code 4000 8000 or C000 Note 2 Set the beginning address as 4 digit ASCII code For example to read an origin compensa tion value from address 8000 set 8000 Note 3 In No of items set the number of items in the unit specified for the parameter area code For example resolution compensation settings are parameters in byte units so the number of items is 1 Origin compensation values are parameters in word units so the number of items is 1 Cam programs
246. umber 16 for 3F88L 160 TERES One direction a number 2 cam number 32 bank BANK FUN CAM PRMTR e 3e SPEED ON POSITI PRMTR ION OFF F fr a 7 Up to cam number 16 for 3F88L 160 One direction func bank number 8 cam number 32 CAW BANK FUN CAM PRMTR 8 SPEED ON POSITION OFF E Up to cam number 16 for 3F88L 160 Operation Chapter 3 Pulse output settings Pulse output bank number 1 Pulse output settings Data transfer Function level selection BANK FUN CAM PRMTR SPEED ON POSITION OFF FUN Y Data transfer BANK FUN CAM PRMTR SPEED ON POSITION OFF BANK FUN EH ik BANK FUN FUN BANKFUN CAM PRMTR SPEED ON P Pulse output bank number 2 POSITION OFF Pulse output bank number 1 cam number 1 Pulse output bank number 2 cam number 1 BANK FUN CAM PRMTR E SPEED ON POSITION OFF BANK FUN CAM PRMTR e SPEED ON POSITION OFF p Ju Pulse output bank number 8 cam number 1 BANK FUN CAM PRMTR 8 SPEED ON POSITION OFF P Note Up to bank number 4 for 720
247. using the individual operations perform the following opera tions to set the parameter data e Use the Up and Down Keys to increase or decrease the numeric value of the digit that is flashing e Press the Forward Key to shift to the next digit to the left If the Forward Key is pressed while the left most digit is flashing the rightmost digit will start flashing f a parameter has two items to be set e g advance angle compensation value 1 the data will be displayed in the SPEED ON and POSITION OFF displays e As the final step press the Set Key to confirm the settings When the Set Key is pressed the data will remain lit for approximately one second and then one of the digits will start flashing again 3 51 Operation Chapter 3 Display Changes in SET Mode 3 52 Origin compensation absolute angle display Program number checking display Resolution selection Various compensation values and baud rate setting Origin compensation absolute angle display Bank number 1 cam number 1 step number display BANK FUN CAM PRMTR I SPEED ON 93 POSITION OFF BANK FUN CAM PRMTR SPEED ON CAW PRMTA POSITION OFF Keys other than BANK FUN CAN PRMTR Origin compensation absolute angle display BANK FUN CAM PRMTR 210 POSITION OFF SPEED ON Bank number 2 cam numb
248. uted in RUN mode when the START signal is OFF and the status is normal 4 3 1 Memory Area Read RUN m Structure of FINS mini Command Text PDU Memory MRC SRC area code Beginning address No of items 1 1 i 0 No of bytes 2 2 2 6 4 Note 1 The memory area code is divided into the following three types 40 Memory area data in byte 8 bits units 80 Memory area data in word 16 bits units C0 Memory area data in long word 32 bits units Set the memory area code as ASCII code 40 3430 Hex 80 3830 Hex or CO 4330 Hex 4 10 Communications Chapter 4 Note 2 Set the beginning address as a four digit ASCII code 00 For example the present cam angle address 0002 is set as 000200 Note 3 In No of items set the number of items in the unit specified for the memory area code For example revolver speed is memory area data in word units so the number of items is 1 set 0001 Control I O status is memory area data in byte units so the number of items is 2 when both input and output are read m Structure of FINS mini Response Text PDU MRC SRC MRES SRES Data 0 1 o 1210 1 0 0 No of bytes 2 2 2 2 as required m Contents of Memory Area Address Explanation Resolver Current Resolver speed r min 4 digit BCD Speed 0000 to 1600 resolu
249. value 1 Factory setting 0 to 359 0 to 719 see note 1 Sets angle data for advance angle compensation value 1 Factory setting Advance angle com pensation value 2 0 to 1600 0 to 800 see note 1 Sets speed data for advance angle compensation value 2 Factory setting 0 to 359 0 to 719 see note 1 Sets angle data for advance angle value 2 Factory setting Advance angle com pensation value 3 0 to 359 0 to 719 see note 1 Sets angle data for advance angle compensation value 3 advance angle compensated position Factory setting Baud rate 7 22 1 2 1 9 600 bps factory setting 2 19 200 bps Appendix Function Backlash compensa tion enable dis able set ting Function level for settings Setting range Settings Backlash compensation disabled factory setting Backlash compensation enabled Chapter 7 Settings Advance angle com pensation enable dis able set ting Advance angle compensation disabled factory setting Advance angle compensation enabled Output hold Output hold disabled factory setting Output hold enabled Present value output setting No present value output function factory setting 4 digi
250. when the same cam program is set for a different cam ON Cam output 1 ON Cam output E INVE T CAM 32 Td2 LL Ba Sm ON time difference 10 to 10 us OFF time difference T 10 to 10 us 7 7 7 7 3 Resolver Life Expectancy This section shows the life expectancy of the Resolver and couplings Note This performance data is for reference only and cannot be guaranteed m Resolvers The life of the Resolver is determined by the life of the Resolver axle bearings e 3F88L RS17 RS17T Resolvers Axle End Load Radial and Thrust both 19 6 108 107 108 105 HELLE TI hec liil Life expectancy for rated wear h 104 Speed r min e 3F88L RS15 RS15W Resolvers Axle End Load Radial and Thrust both 19 6 N 108 107 108 105 Life expectancy for rated wear h 104 Speed r min 7 Couplings The life expectancy of couplings is determined by tightening torque bend angle and axle core displace
251. will not include 5567 8 3 28 BANK FUN CAM PRMTR e ie SPEED ON POSITION OFF 77 Use the Cam Parameter Key to set the cam number to be used The Cam Parameter No display will change as shown below when the Cam Parameter Key is pressed 1 gt 2 gt 3 gt gt 15 gt 16 gt 1 gt etc Keep pressing the Cam Parameter Key until 2 appears in the Cam Parameter No display Note For the 3F88L 162 32 point model Cam Positioner the numbers displayed will continue to 32 and then return to 1 Operation Operation Display example BANK FUN CAM PRMTR SPEED ON POSITION OFF Chapter 3 Explanation Set the ON angle Under the initial settings the rightmost digit the first digit will be flashing Press the Forward Key to move the position of the flashing digit from the first to the second digit from the second to the third digit and then back to the first digit again Use the Up and Down Keys to increase or decrease the numerical value of the flashing digit The operated digit will be carried over If the Up and Down Keys are continually pressed they will automatically increment and decrement and the automatic changes will become faster the longer the key is pressed The ON angle for cam number two is 0 and must therefore be set to 0 BANK FUN CAM PRMTR e SPEED ON POSITION OFF _ uuu FTW Press the ON OFF Swit
252. x 2 digit Hex 4 2 1 Command Frame No of send data bytes Set the amount of data that follows the command code MRC 4 digit Hex SRO and ends immediately before ETX Setting range 0000 Hex to 0492 Hex 0 to 984 in decimal For sequence No 600 set the number of bytes of data that has been converted into ASCII code that is the number of bytes set in S 4 and subsequent operands multiplied by 2 For sequence No 602 set the number of bytes set in S 4 and subsequent operands Send data 4 digit Hex Set the data to be sent For sequence No 600 data that has been converted from hexadecimal to ASCII code is sent For sequence No 602 data is sent without being converted e Receive Data Word Allocations Fourth Operand of PMCR Instruction Data format No of received data number of received data words from 0 0 to the end of received words 4 digit Hex data is stored Range 0003 Hex to OOFA Hex 3 to 250 in decimal Response code Response code MRES SRES is stored as a 4 digit hexadecimal 4 digit Hex value Received data 4 digit Data that follows the response code MRES SRES and ends Hex immediately before ETX is stored For sequence No 600 data that starts from the largest word number of the received data words D number of received data words 1 and continues until D 2 in descending order is stored For sequence No 602 data is stored sequentially startin
253. ximately one second the setting will be con firmed and the display will resume flashing e If the data is inappropriate and the Set Key is pressed all displays will flash twice and then return to the settings before the data was edited Re input the correct data e Press the Clear Key to return the data to the factory settings If the Clear Key is pressed the three digits of data will start flashing Press the Set Key while the data is flashing and the display will change to and the factory settings will be restored If the Clear Key is pressed again while the three digits of data are flashing the data will not be initialized and the display will return to the edited state 3 57 Chapter 3 e Origin Compensation Absolute Angle Display 0 1 2 1to8 1to4 Parameter Setting range Display only see note No e Use this parameter to display the origin compensation absolute angle origin position after origin com pensation or origin shift for the Resolver s electrical 0 in the SPEED ON display e f the parameter number is 0 the same numeric value will be displayed regardless of the function number 1 to 8 or 1 to 4 Note The numeric values for 720 divisions rotation resolution are shown in parentheses Operation PRGM Use the mode selection switch to change to SET mode Origin compensation Origin compensation Origin compen
254. y pressing the ON OFF Switching Key and then using the Up and Down Keys Press the Set Key to display the next step 8 The message Do you want to adjust the next step will appear 10 11 Select Y to return to 5 above Select to continue The message Do you want to adjust another cam number will appear Select Y to return to 4 above Select to continue Press the Clear Key to exit the trial operation function The message Do you want to adjust another bank number will appear Select Y to return to 2 above Select N to exit the procedure 3 93 Operation Chapter 3 e Procedure Operation PRGM Display BANK FUN CAM PRMTR SPEED ON POSITION OFF D IODegG Explanation Use the mode selection switch to change to PRGM mode BANK FUN BANK FUN CAM PRMTR SPEED ON POSITION OFF Use the Bank Function Key to display the bank number for the trial operation ON BANK FUN CAM PRMTR SPEED ON POSITION OFF Press the Set Key while pressing the ON OFF Switching Key The trial operation function is now enabled Note 1 Press the Clear Key at this stage to return to the previous sta tus Note 2 From this point cam outputs corresponding to the Resolver angle will be output BANK FUN CAM PRMTR SPEED ON POSITION OFF TETPYYYAANA Press the Cam Parameter Key The cam number will appear in the Cam Parameter No
255. y the step to be deleted Press the Set Key to display the cam program steps in order Keep pressing the Set Key until the step to be deleted appears When the display is blank press the Set Key to return to step 1 BANK FUN CAM PRMTR 3 SPEED ON POSITION OFF IS non 6712 ZEEAAS Press the Clear Key to delete the step that is displayed If the Clear Key is pressed once the ON angle and OFF angle displays will start flashing which means the step is ready to be deleted Note If the Clear Key is pressed twice the cam number will start flashing which means that cam number is ready to be deleted If the Clear Key is pressed three times the bank number will start flashing which means that that bank number is ready to be deleted If the Clear Key is pressed four times the display will return to the original display nothing will be deleted BANK FUN CAM PRMTR e 3 SPEED ON POSITION OFF BANK FUN CAM PRMTR Li 1 t i SPEED ON POSITION OFF Press the Set Key while the ON and OFF angle displays are flashing and that step will be deleted Once the step has been deleted the final step for that cam number will be displayed ready for input Explanation Set the mode selection switch to PRGM mode The data for step 1 of the bank and cam numbers displaye
256. ys are used to change the ON and OFF angles of any cam number in any bank num ber The angles can be changed in units of 1 Adjustment operation function This function is executed in RUN mode when the START input is ON If the current bank number is being operated the ON and OFF angles of any cam number within that bank number can be changed by using the Up and Down Keys The angles can be changed in units of 1 Normally the trial operation function is used to check the contents of cam programs when the system is started up and the adjustment operation is used to change angles after the system has started operation The data changes made using the trial opera tion and adjustment operation functions are reflected in the outputs at the point the data is changed using the Up and Down Keys To use the trial adjustment operation the function level selection must be set to func tion level 2 all functions in the same way as for other application functions m Trial Operation PRGM Mode e Outline of Operation 1 Use the Bank Function Key to set the bank number containing the cam that is to be adjusted a A C I N Use the mode selection switch to change to PRGM mode Press the Set Key while pressing the ON OFF Switching Key to enable the trial operation function Use the Cam Parameter Key to set the cam number to be adjusted Adjust the ON angle using the Up and Down Keys Adjust the OFF angle b

3F88L-160/162 Cam Positioner USER'S MANUAL

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