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User`s Guide - CTi Automation

1. 17 54 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis 1 Axis 2 Axis3 Axis 4 Axis5 Axis6 Axis 7 Axis 8 Bank No Descriptions OBH 15H 1FH 29H 33H 3DH 47H 51H 000H Starting address of table 572 010H Starting address of table 573 020H Starting address of table 574 030H Starting address of table 575 040H Starting address of table 576 050H Starting address of table 577 060H Starting address of table 578 070H Starting address of table 579 080H Starting address of table 580 090H Starting address of table 581 Starting address of table 582 OBOH Starting address of table 583 Starting address of table 584 ODOH Starting address of table 585 OEOH Starting address of table 586 OFOH Starting address of table 587 100H Starting address of table 588 110H Starting address of table 589 120H Starting address of table 590 130H Starting address of table 591 140H Starting address of table 592 150H Starting address of table 593 160H Starting address of table 594 170H Starting address of table 595 180H Starting address of table 596 190H Starting address of table 597 1A0H Starting address of table 598 1BOH Starting address of table 599 1COH Starting address of table 600 1DOH 1 1FOH 200H 210H 220H 230H 240H 250H 260H 270H Sta
2. Bank lee Name Descriptions address OBOH Group A axis Set either independent or interpolation for each axis in this area In case settings of interpolation each axis belongs to any group among A to D For Group B axis example the axes 1 2 and 3 belong to group A and are 3 axis bd settings interpolation set the corresponding 3 bits to 1 in the interpolation axis Group C axis Setting of group A In case of single axis independent setting it does not agen settings belong to any group Turn on the corresponding bits of the rest of the independent axis settings Maximum number of interpolation axis per group is 3 The same axis cannot be set in more than one group bit Name Default Descriptions 0 Group attribute of axis 1 0 1 Group attribute of axis 2 0 0B3H Group D axis 2 Group attribute of axis 3 0 0 Not belong to the group settings 3 Group attribute of axis 4 0 1 Belong to the group 4 Group attribute of axis 5 0 An error occurs if more than 4 bits are set to 1 in 5 Group attribute of axis 6 0 the group or the same axis is set to 1 in another 00H 6 Group attribute of axis 7 0 group 7 Group attribute of axis 8 0 15 08 For the axes that do not belong to the interpolation relation set the corresponding bits to 1 bit Name Default Descriptions 0 Independent axis attribute of axis 1 0 1 Independent axis attribute of axis 2 0 OB4H Independe
3. programs A Available N A Not available Error as sate os Error name Description Object Clear Countermeasures Check the following items in the settings of the axis group and independent axis The same axis number has been 4000H Axis group setting error The settings of axis groups are Each axis A registered in more than not correct one group Four or more axes have been set in one group The group is composed of one axis only The unit system for the axis Checkifthe Units 4002H Unit setting error UR Each axis N A the followings setting is out of the range Pulse mm inch degree 4004H Pulse number error per The pulse number is out of the Each axis N A Check the setting value rotation range If the setting value is out of the range reduce it by the M t t Th t ti tof following formula 4005H UP amoun h ree eL Each axis N A Pulse number per rotation error per rotation the range Movement amount per rotation 4010H Software limit setting The upper or lower limit value of Each axis N A error software limit is out of the range 4020H Limit stop deceleration The limit stop deceleration time is Each axis A time error out of the range 4021H Error stop deceleration The rror stop deceleration time is Each axis A time error out of the range 4022H Emergency stop The emergency stop deceleration Each axis A deceleration time er
4. 7 4 7 3 Installing Configurator 7 5 7 4 Starting Configurator PM 7 10 7 5 Treating Files n 7 11 NOW sesto odes ettet to feeder ier art 7 11 7 5 2 Reading from 7 18 75 3 Saving Files tte ede tees 7 14 7 5 4 Setting File Properties 7 15 7 6 Exiting Configurator PM ssseeeeenen 7 16 7 7 Connection to Positioning Unit 7 17 7 7 1 Selecting Slot Number seen 7 17 7 7 2 Communication Settings esseeeee 7 18 7 8 Parameter Settings sss 7 19 7 9 Changing Axis Information eene 7 21 7 10 Setting Positioning 7 22 7 11 How to Edit Positioning Data 7 24 7 11 1 Inputting Positioning 7 24 7 11 2 Copying Positioining 7 25 7 11 3 Selecting All Cells eseeeeeeeeeee 7 25 7 11 4 Searching Character 7 26 7 11 5 Replacing Character 5 7 26 7 11 6 Selecting LINES
5. BIB OlO z AR A wo E x wo x A T WX14 BIRD RIA SINISA WX4 gt lt gt lt AJA AJA A A m O O U xx A gt gt lt X Operation done ong ES eed WX2 N NI Be NIN oo axis axis axis axis axis axis axis axis gt lt NIN gt gt lt gt lt gt lt gt lt m O OQ gt lt N Home return done Descriptions Turns on when the operation command for the corresponding axis completed and the position error became in the specified completion width For P point control and C point control of the automatic operation turns on when the operation for all the tables completed After this contact turned on the on state continues until the next control activates Turns on when the home return operation for the corresponding axis completed After this contact turned on the on state continues until the next control activates o X Co BR 5 gt lt WX3 axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis w 63 65 gt gt lt w UJ Near home x Co x lt R Imposition x N T x lt R RIRIRIR DOJO gt
6. seeeese 16 1 16 1 Cannot Communication With 16 2 17 Speclflcatlohs es 17 1 17 1 Table of 17 2 17 1 1 General 17 2 17 1 2 Network 17 2 17 1 3 Performance Specifications of Units 17 3 17 1 4 Common Specifications 17 4 17 2 Table of O Area ssesseseseeseneeeeenenenennnes 17 6 17 3 Configuration of Shared Memory 17 12 17 4 Details of Common Area in Shared Memory 17 13 17 4 1 Configuration of Common Area 17 13 17 4 2 Setting Parameter Control 17 14 17 4 3 Operation Speed Rate 17 14 17 4 4 Setting Parameter Control 17 15 17 4 5 Home Change Data 17 16 17 4 6 Torque Limit Area 17 17 17 4 7 Positioning Table Setting 17 18 17 4 8 Error Annunciation
7. JOG operation Operation stop Pulser operation Synchronous Disabled The master and slave axes is operated with each setting The positioning starts for each axis Synchronous A maximum of 2 groups can be set for the synchronous group setting An individual operation mode can be set for each synchrounous group Enabled disabled of synchronous It can be selected either Enabled or Disabled mds d The Disabled setting is operation Synchronous Enabled Vis Operates with the setting of the master axis Positioning The setting of the slave axis is ignored operation The positioning starts for the master axis Operates with the setting of the master axis The setting of the slave axis is ignored The positioning starts for the master axis Home return The home return is performed for each axis individually Executed with the setting that the synchrounous operaiton is disalbed Set the synchronous operation to be Disabled when performing the home return It is necessary to cancel the synchronous operation If the home return is executed with the setting that the synchronous operaiton is enabled an error will occur The home return cannot be executed It is not possible to perform the home return for each axis individually The synchronous operation cannot be set to be disabaled Therefore the executable home return methods are restricted The connection of sensors
8. AJA AJA A A M O QO gt o x Ix A m 6 4 llocation Target zk N X NIN Operation done MIN ES eed NS axis axis axis axis axis axis axis axis axis WX2 X N RN Be N 2 2 2 gt lt lt gt lt gt lt gt lt NIN m O QO 2 2F gt lt Home return done Descriptions Turns on when the operation command for the corresponding axis completed and the position error became in the specified completion width For P point control and C point control of the automatic operation turns on when the operation for all the tables completed After this contact turned on the on state continues until the next control activates Turns on when the home return operation for the corresponding axis completed After this contact turned on the on state continues until the next control activates o X Co AR X Co WX3 o o 3 3 3 3B axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis gt lt Near home x Co 3 4 4 4 x lt N Imposition x FRIR K 4 4 R gt lt gt X lt gt X lt 41 OD on x 4 4 R RIS DIO a gt gt R m 4F Auxiliary contact Moni
9. H IServo ON Servo on swoon for axis 1 R1 Y150Y130 4 or i Servo OFF Servo off Servooff C ii for axis 1 X100 X0 X104 X4 108 8 X110 X10 2X160 X60 RIO 4 uuo 3j 4 M Start enabled condition ot Tool Connection Servolock Error for aun e stablishment for al axes operation for axis 1 axis 1 enabled flag HH lt 0F Fomv K1 Starting table No Position F151 WRT DTO H100 4 iStarting table setting an ee ees Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R2 R10 X118 X18 Y110 Y90 p Id eS Se med Position Enabled flag Busy flag Positioning control start for axis 1 for axis 1 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e Once starting the table 1 the operation continues up to the table 3 automatically The last table should be set to E End point e f any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depen
10. 10rque judgment Each la FA ER E ne a ian ui oo This error occurs when setting axis value torque judgment to Available Check the torque judgment value annunciation emthod to Error The actual speed exceeded the setting upper and lower limit Design the system within the values a de n This error occurs when setting axis judgment value actual speed judgment to Check the actual speed jdgement Available value annunciation method to Error 15 18 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 5 5 Setting Value Errors From 4000H Ver 1 13 or later These are the errors in the various setting values specified using the Configurator PM or ladder programs Error E T rror name Description Object Clear Countermeasures Check the following items in the settings of the axis group and independent axis The same axis number has The settings of axis groups Each been registered in more than one 4000H Axis group setting error are not correct axis A group Four or more axes have been set in one group The group is composed of one axis only Check if the unit is one of the The unit system for the axis Each 4002H Unit setting error rer A followings Setting is out of the range Pulse mm inch degree 4004H Pulse number error per The pulse number is out of
11. Item Setting example Allowable range Operation pattern E End point C Continuance point E End point Pass point Control method I Increment I Increment A Absolute Pulse 1 073 741 823 to 1 073 741 823 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 um um 1 um 1 073 741 823 to 1 073 741 823 um 10000 pulse inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree X axis movement amount Acceleration decelerati L Linear L Linear S S shaped acceleration deceleration on pattern Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps Target speed 10000 pps um 1 to 32 767 000 um s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram f pps 10000 10000 pulses Positioning start contact Y110 Y90 BUSY flag Y118 X18 Operation done flag X120 X20 Current value A Count The numbers in parenthesis are the flag and contact 20000 numbers for the FP2 Number of counts when starting Number of counts when stopping 8 3 Phone 800 894 0412 Fax
12. RIB nym Auxiliary contact Monitor contact for the near home input connected to the corresnponding AMP Turns on when the position error of the corresponding axis is within the imposition range specified in AMP The setting of the imposition range can be changed by PANATERM that is a tool of AMP Turns on when the corresponding positioning table of the corresponding axis was executed Use Configurator PM or directly write in the shared memory for setting to able disable the auxiliary contact 17 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contact a FP B oa B a x lt Zi ol N N x lt alata Olay ay oa N 15 WX15 o x lt pts a 25 gt 01 O01 O1 mojoj O1 mojoj x lt a ayayaya emo x zz o AR E o a X a x o o WX16 gt Z w x O x O 2 2 op m m QIN 2 o m m x 2 m 5 N B A x E AR x gt lt gt lt gt lt NIN NTN 4 o o1 WX17 WX7 a gt xD NIN nim llocation Target gt lt 2 X gt lt gt 7 axis 8 axis gt lt
13. 21 13 21 3 JOG Positioning Control eene 21 14 21 3 1 Example of Operation 21 14 21 3 2 Setting Method 21 15 21 3 3 Sample Program seen 21 17 21 3 4 Restrictions on JOG Positioning Control 21 18 21 3 5 Repeat Accuracy of JOG Positioning Control 21 18 22 Home Return Ver 1 13 or later 22 1 22 1 Additional of Home Return Method 22 2 22 1 1 Setting Method of Home Return Methods 22 2 22 1 2 DOG Method 1 22 3 221 3 DOG method 2 occ ee ene eee eee 22 3 22 1 4 DOG method 3 deret ees 22 4 22 15 Limit Method i uou cetero t 22 4 22 1 6 Limit Method ae ee ER edt 22 5 2221 7 Phase Z Methodisten aike Teraa 22 5 22 1 8 Stop on contact Method 1 22 5 22 1 9 Home Return Stop on contact Method 2 22 6 22 1 10 Data Set Method 22 6 22 1 11 Sample Program seen 22 6 23 Supplementary functions Ver 1 13 or later 23 1 23 1 Realtime Torque 23 2 23 1 1 Restrictions on Real time Torque 23 2 23 1 2 Sample Program sene 23 2 23 1 3 Each Axis Informatio
14. Bank grset Name Descriptions address 080H 081H osaki System ID of axis 3 083H Brand name or vendor Refer to the descriptions of axis 1 085 name 086H 087H 088H 089H 08AH HESS Refer to the descriptions of axis 1 08DH 08EH 08FH 090H 091H 092H TS Rocce teas Refer to the descriptions of axis 1 095H 096H 097H 098H 099H 01H 09AH HESS Refer the descriptions of axis 1 09DH 9 9 0 0 1 0 2 Ms itai nm Refer to the descriptions of axis 1 0A5H 0A6H 0A7H Status indication of axis 3 Refer to the descriptions of axis 1 0B1H External terminal input Refer to the descriptions of axis 1 monitor of axis 3 0B2H Torque command of axis 3 Refer to the descriptions of axis 1 0B3H Actual speed of axis 3 Refer to the descriptions of axis 1 0B8H Pieve table or execution Refer to the descriptions of axis 1 done table of axis 3 OB9H Auxiliary output codot Refer to the descriptions of axis 1 axis 3 OBCH ae OBDH Feedback value of axis 3 Refer to the descriptions of axis 1 Mises apu Refer to the descriptions of axis 1 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 31 Axis information of axis 4 Bank eot Name Descriptions
15. Link Tool establishment o peration for all axes for all axes Connection Servo lock Error for Start up enabled for axis 2 axis 2 flag for axis 2 X10A XA X112 X12 162 62 R12 Connection Servolock Error for Start up enabled gonfirmation for axis 3 axis 3 flag for mda 3 R2 t DF gt mv K1 DTO 4 Starting table No Dodo NS OM 6 control start aE F151 WRT _HO DTO 1 H100 4 Starting table setting i eS eee Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R2 R10 R11 R12 118 18 119 19 XHAQTA vaiotygo m 1 5 4 4 22 Positioning start Position Enabled flag Enabled flag Enabled flag Busy flag Busy flag Busy flag Positioning control start foraxis1 foraxis2 foraxis3 foraxis1 foraxis2 foraxis3 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e For X Y plane in case of the center point specification the X axis auxiliary point is the center point of X axis and the Y axis auxiliary point is the center point of Y axis In case of the pass point each pass point is set as the pass point of X axis and Y axis These settings are the same for Y Z plane and X Z plane e When the control method is increment both the center point and pass point are the increment
16. Position command range Pulse 1 073 741 823 to 1 073 741 823 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 um um 1 um 1 073 741 823 to 1 073 741 823 um inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 107 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Speed command range Pulse 1 to 32 767 000 pps 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Acceleration deceleration Linear acceleration deceleration S shaped acceleration deceleration Acceleration time Automatic operation Position control 0 to 10 000 ms can set in 1 ms Deceleration time 0 to 10 000 ms can set in 1 ms Number al Each axis Standard area 600 points extended area 25 points positioning tables Independent PTP control E point control C point control CP control P point control 9 2 axis Linear E point P point C point control Composite speed or long axis speed specification inter ircu Del ced oe i E point P point C point control Center point or pass point specification 3 axis Linear E point P point C point control Composite speed or long axis speed specification Spiral point point point control Center point or pass point specificatio
17. Set target interpolation axes as a group using Configurator PM V Set positioning data using Configurator PM In case of circular interpolation and spiral interpolation set a center point or pass point V Transfer the data to the shared memory of Positioning Unit RTEX 2 Set a position control starting table in the positioning table setting area of the shared memory for the axis with the smallest number in the group V Y Turn on the start contact of the axis with the smallest number in the group The procedures to set the positioning data and to start the position control are the same for the E point control P point control and C point control The operation of each cotntrol is determined according to the contents of the positioning data to be set 8 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 1 1 Setting and Operation of E Point Control The example below is the case of a single axis control when using the with the positioning unit RTEX installed in the slot 0 The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Table 10000 pulses A side NC side Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse
18. culis tion mis lock e mon we establishment operation gonfimalon foraxis1 5 1 flag for axis 1 Start enabled condition for all axes for all axes X109 X9 X111 X11 161 61 Connection Servo lock Error for Start up enabled confirmation for axis 2 axis 2 flag for axis 2 for axis 2 R2 5 5 4 DF gt Fo mv K1 4 j Starting table No te Z SLE 4 eee nee control start F151 WRT HO DTO K1 H100 4 Starting table setting p 0579 re Slot No 0 the 1 word contet from are written to the shared memory address H100 R2 R10 R11 X118 X18 X119 X19 Y110 Y90 ee ee X DF 1l y Positioning start Position Enabled flag Enabled flag Busyflag Busy flag Positioning control start for axis 1 for axis 2 foraxis1 for axis 2 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e To start the interpolation control turn on the positioning start contact of the axis with the smallest number in the same group e In case of the center point specification the X axis auxiliary point is the center point of X axis and the Y axis auxiliary point is the center point of Y axis In case of the pass point each pass point is set as the pass point of X axis and Y axis e When the control method is increment both
19. 10000 pulses Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range Operation pattern E End point C Continuance point E End point P Pass point A 0 Linear Composite speed 1 Linear Long axis speed Interpolation operation SEW DARUM S Circular Pass point CW direction Circular Pass point CCW direction U Circular Pass point Control method I Increment I Increment Absolute X axis movement Pulse 1 073 741 823 to 1 073 741 823 pulse amount P um 0 1 um 107 374 182 3 to 107 374 182 3 um X axis auxiliary point 0 pulse um 1 1 073 741 823 to 1 073 741 823 um Y axis movement 20000 pul inch 0 00001 inch 10 737 41823 to 10 737 41823 inch amount pulse inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch Y axi ii int 10000 pul degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree axisrauxitary purses degree 1 degree 1 073 741 823 to 1 073 741 823 degree aaa L Linear L Linear 5 S shaped acceleration deceleration deceleration pattern Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 32 767 000 um 1 to 32 767 000 um s Interpolation sp ed 10000 pps Inch 0 001 to 32 767 000 degree 0 001 to 32 767 000 rev s Operation diagram f p
20. 1 Select File Open in the menu bar or click Open icon in the toolbar The following dialog is shown Look in E Documents ek E3 D samp2 Bi samp3 File name sampi Files of type Configurator PM file npm Y Cancel 2 Select the drive where the file is saved in the Location of File box 3 Select the file name in the box listing the folders and files under the Location of File box If the file you want to read is not indicated double click the folder name where the file is saved Double click the sub folder names until the sub folder where the file is saved is open 4 Click the file name The following contents are recorded in the positioning setting file npm that can be used in this software Axis information Parameter settings Data settings Data comments 5 Click Open u Key Point Click the file name indicated at the bottom of the File menu to open the file that was previously active 7 13 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 5 3 Saving Files Save the parameter settings or data settings in files The contents saved in files are axis information parameter settings data settings and data comments 1 The following methods are available to save files The operation procedures and the behaviors of this software differ depending on the case of overwrite save and the one saves as a new file
21. 13 5 13 5 Actual Speed Torque Value Judgment 13 6 13 6 Imposition Flag and Completion Width 13 7 13 7 Home Change tee e ete pb ede 13 8 14 Precautions During Programming 14 1 14 1 Precautions During Programming 14 2 14 1 1 Turning Off Power Supply Clears Contents in Shared Memory 14 2 14 1 2 Once starting an Operation 14 2 14 1 3 How to Use Standard Area and Extended Area of Positioning Data 14 3 14 1 4 Operation When the Mode of PLC Changed to PROG from RUN 14 4 15 Errors and Warnings 15 1 15 1 Errors and Warnings sesee 15 2 15 1 1 About Errors and 15 2 15 1 2 Error and Warning Logs 15 2 15 1 3 and Warning 15 3 15 1 4 Errro and Warning Code 15 3 15 1 5 Sample Program 15 3 15 2 Change in Error Recovery Process Ver 1 13 or later 15 4 15 2 1 Overview of Operational Change 15 4 15 2 2 State of Servo After an Error Occurred 15 4 15 3 List of Error Codes Ver 1 00 to
22. 7 16 Status Display The states of the motors of each axis can be monitored Make the connection between a PC and PLC Then select Online Status Display in the menu bar The following dialog is shown Motor Status monitor Model Axis Group 1 axis 2 axis 3 axis 4 axis Connection status Brand name Panasonic Panasonic Panasonic Panasonic AMP model code MADDT1107N MADDT1107N MADDT1107N MADDT1107N Motor model code 5 0011 15 MSMDO11P15 MSMDO11P15 MSMDO11P1S I Status display Servo free Status Inactive lnactive Inactive Inactive Completion width External terminal input monitor Home proximity Limit Limit No of writing to FROM Version Model The model name of positioning unit RTEX Axis Group The axis number and group names to be monitored Connection status Monitor the connection statuses of each axis Brand name The individual brand names for each axis AMP model code Obtain and display the model code of AMP Motor model code Obtain and display the model code of a motor servo free The state of the servo of the AMP whether it is locked or free Status The operating states of axes The state of the deviation counter whether it is in the range of the imposition or out of the range of the imposition The state of the AMP input contact whether the home return is input Completion width Home proximity
23. 888 723 4773 Web www ctiautomation net Email info ctiautomation net LO Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 2 Click Teaching after stopping the axis at the desired position by the JOG operation and input the table number to execute the teaching operation 3 Click OK after inputting the table number The current value is registered for the movement amount of the specified table number Also if the axis that the teaching operation is performed is the interpolation axis the current value is registered for the movement amount of the equivalent coordinate in the interpolation group Note e The control method for the table number that the teaching operation was performed is automatically changed to Absolute e The result of the teaching becomes effective once the tool operation quits and the setting data is downloaded to the positioning unit RTEX 4 Click Close to close the dialog C Note This dialog cannot be closed during the JOG operation 7 44 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 8 Automatic Operation Position Control Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 1 Basic Operation Type of
24. mediate stop 0 ms stop tion time Pulse 1 073 741 823 to 1 073 741 823 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 Software um 1 um 1 073 741 823 to 1 073 741 823 um limit oe inch 0 00001 inch 10 737 41823 to 10 737 41823 inch function 9 inch 0 0001 inch 107 374 1823 to 107 374 1823 inch 2 degree 0 1 degree 0 0 to 359 9 degree degree 1 degree 0 to 359 degree Torque Torque judgment Valid invalid Error warning selectable o i 0 a judgment 0 0 to 500 x judgment Actual speed judgment Valid invalid Error warning selectable o Speed 0 0 to 5000 rpm fe judgment Backup Parameters and positioning data are stored in flash memory Battery is not requred Limit input CWL CCWL monitor Near home DOG monitor General purpose input 2 points general purpose output 2 points Input output from AMP Auxiliary output contact auxiliary output code Torque 17 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 2 Table of I O Area Followings are occupied I O when FPX FP2 Positioning unit RTEX is installed in the slot 0 axis Link establishment Indicates that the network link was established and announce All axes md annunciation the system started running All axes Write FROM Announces that data such as positioning parameters in the shared memroy is being written in FROM Contact
25. A lt 14 lt lt lt lt AJAJAJA x 14F lt lt lt lt lt a 2 2 2 2 Qi ooo o lt BN a oa UJ 6 axis 7 ax 8 axis 5 axis 6 axis Request error clear Request warning clear General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 Descriptions Requests the error clear for the corresponding AMP The processing to recover from errors is performed and the error logs are cleared by turning on this signal Requests the warning clear for the corresponding AMP The warning logs are cleared by turning on this signal Contact for the general purpose output connected to the corresponding AMP The input status of this contact does not affect on the operation of the motor or positioning unit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 11 17 3 Configuration of Shared Memory Areas The positioning unit RTEX manages all the setting values of pa
26. Home change data area is changed to Current value update data area The setting method is the same as the one for the home change home offset function Current value update data area Offset Bank addres Name Description S Only when the corresponding bit for each axis changes to 1 from 0 the current coordinate controlled by the positioning unit to the following current value After change the positioning unit clears the corresponding bits to 0 automatically Bit Name Default O Current value update request for axis 1 Current value update request for axis 2 Current value update request for axis 3 Current value update request for axis 4 Current value update request for axis 5 Current value update request for axis 6 Current value update request for axis 7 Current value update request for axis 8 Description 0 No change 1 Changes the current value of a target axis After change the positioning unit clears the correponding bits to 0 automatically Current value update request flag Default Description 15108 ax 00H Current value 0C9H update coordinate Stores the coordinate to update the current value of axis 1 of axis 1 Current value update coordinate Stores the coordinate to update the current value of axis 2 jof axis 2 Current value update coordinate Stores the coordinate to update the current value of axis 3 of axis 3 Curre
27. Saving a file by overwriting an existing file Select File gt Save in the menu bar or click the Save icon in the toolbar Saving a file by naming a new name Select File gt Save As in the menu bar When saving a file by overwriting an existing file the operation completes when the function is selected When saving a file by name a new name the following dialog is shown Save As Save in Documents 0 File name Save as type Configurator PM file npm be Cancel 2 Input a new file name in the File name box 3 Click Save 7 14 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 5 4 Setting File Properties Set the property of a file creator and comment 1 Select File gt File property in the menu bar to specify the file property The following dialog is shown File property File name Files Panasonic MEY Creator MEW Cancel Comment Date 2006 06 16 2 Input the creator and comment and click OK Up to 10 one byte characters 5 two byte characters for the creator and 40 one byte characters 20 two byte characters for the comment can be input 7 15 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 6 Exiting Configurator PM Select File Exit in the menu bar to q
28. a m Name Descriptions Limit Limit Limit Limit Monitor contact of the limit and connected to the Limit corresponding AMP Limit Limit During the positioning operation JOG operation or pulser operation performs the deceleration stop when the limit Limit input that is an extension of the operating direction turned Limit on Limit The deceleration stop time during the limit input can be Limit changed in the shared memory Limit It will be the contact for the automatic inversion when Limit performing the home return Limit Limit Limit lt 6 6 6 64 6 6 6 6 6 6 6B 6 X WX6 gt 0 X X o 6 6 Error annunciation Warning annunciation Turns on when an error occurs on the corresponding axis The contacts of all axes turn on if an error occurs on all axes The details of the error can be confirmed in the error annunciation area of the shared memory Turns on when a warning occurs on the corresponding axis The contacts of all axes turn on if a warning occurs on all axes The details of the warning can be confirmed in the warning annun
29. address 0C1H vee System ID of axis 4 0C3H rr Brand or vendor Refer to the descriptions of axis 1 0C6H 0C7H 0C8H 0C9H OCAH ee eis Refer to the descriptions of axis 1 OCDH OCEH OCFH 0D1H 0D2H EE NO Refer to the descriptions of axis 1 0D5H OD6H 0D7H 0D8H 0D9H 01H ODAH Refer to the descriptions of axis 1 ODDH ODEH ODFH OEOH OE1H OE2H m MES Refer to the descriptions of axis 1 OE5H OE6H 0E7H OEOH Status indication of axis 4 Refer to the descriptions of axis 1 OE1H External terminai input Refer to the descriptions of axis 1 monitor of axis 4 2 Torque command of axis 4 Refer to the descriptions of axis 1 Actual speed of axis 4 Refer to the descriptions of axis 1 OE8H Reitvetanle execution Refer to the descriptions of axis 1 done table of axis 4 9 ud of Refer to the descriptions of axis 1 OECH S OEDH Feedback value of axis 4 Refer to the descriptions of axis 1 TE ras adu de 4 Refer to the descriptions of axis 1 17 32 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis information of axis 5 Bank Descriptions address 100H 101H bon System
30. or not Limit The limit input state of the AMP input setting Limit The limit input state of the AMP input setting Number of writing to FROM The number of writing the setting data to FROM in the positioning unit RTEX Version The version of the positioning unit RTEX Help Indicate the help regarding this function Close Close this dialog 7 35 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 17 Tool Operation As the positioning unit RTEX can activate without a ladder program in the tool operation the operation can be checked quickly Select Online Tool operation in the menu bar and click the Tool operation icon in the toolbar The following dialog is shown Tool operation Homing Positioning JOG Teaching Exit The followings are the operations that are selectable in the tool operation Servo On off Control the on off state of the servo Home return Move to the home position in the machine coordinate Positioning Operate from the starting table number according to the settings of the data stored in the positioning unit RTEX JOG operation The specified axis can be moved to the specified direction with the specified speed while the operation command is on Teaching Control the axis manually using the same operation as the JOG operation and reflect the resulting positioning address on the data editing screen aS
31. 15108 _ Bit Name Default Description Axis 1 is synchronous Axis 2 is synchronous Axis 3 is synchronous Axis 4 is synchronous 0 0 Not syvchronous 1 2 3 4 Axis 5 is synchronous 5 6 7 1 1 Synchronous operation target axis The bit of the axis whrere the synchronous operation performs is turned on in this area regardless of a synchronous gourp master axis or slave axis Synchronous operation monitor Axis 6 is synchronous Axis 7 is synchronous Axis 8 is synchronous 5108 n Difference threshold of the movement amounts of the master slave axis that the synchronous operation performs If the difference of he movement amounts of master slaves axis exceeds this threshold 3045H error will occur synchronous axis operation mismatch error This difference value is specified in a unit used for the master axis Default 10000 Synchronous operation difference value 1 This area is used to set the synchrounous operation to Enabled or Disabled for the synchronouls gorup that is enabled and to monitor the synchronous state when the synchronous operation setting in the axis group setting area has been set to be enabled 2 When the bit1 in the synchronous operation enabled disabled area is on the synchronous operation can be cancelled temporarily only when using the synchronous mode A and the JOG operation home return and positioning operation can be independently
32. Axis 1 Axis 2 Axis3 Axis 4 5 Axis6 Axis 7 Axis 8 Bank No 0 Descriptions 03H 17H 21H 2BH 35H 3FH 49H 000H Starting address of table 60 010H Starting address of table 61 020H Starting address of table 62 030H Starting address of table 63 040H Starting address of table 64 050H Starting address of table 65 060H Starting address of table 66 070H Starting address of table 67 080H Starting address of table 68 090H Starting address of table 69 Starting address of table 70 OBOH Starting address of table 71 OCOH Starting address of table 72 ODOH Starting address of table 73 OEOH Starting address of table 74 OFOH Starting address of table 75 100H Starting address of table 76 110H Starting address of table 77 120H Starting address of table 78 130H Starting address of table 79 140H Starting address of table 80 150H Starting address of table 81 160H Starting address of table 82 170H Starting address of table 83 180H Starting address of table 84 190H Starting address of table 85 1A0H Starting address of table 86 1BOH Starting address of table 87 1COH Starting address of table 88 1DOH Starting address of table 89 1 Starting address of table 90 1FOH Starting address of table 91 200H Starting address of table 92 210H Starting address of table 93 220H Starting address of table 94 230H Starting address of table 95 240H Starting address of table 96 250H Starting address of table
33. Each A Check the setting value rotation the range axis If the setting value is out of the range reduce it by the following 4005H Movement amount error The movement amount is Each A formula per rotation out of the range axis Pulse number per rotation Movement amount per rotation ET The upper or lower limit 4010H Software limit setting tue of software limit is out 281 A error axis of the range 4020H Limit stop deceleration The limit stop deceleration Each A time error time is out of the range axis 4021H Error stop deceleration The error stop deceleration Each A time error time is out of the range axis The emergency stop 4022H stop deceleration time is out of Pan A 4 eceleration tiem error the range axis Check the settign value The settings of auxiliary If the error occurred repeatedly output are not correct with the correct setting value please contact us A mode other than With mode or Delay mode for the 4028H m output setting auxiliary output mode has aon been set A value other than 0 to 100 96 was specified for the auxiliary output delay ratio in the delay mode Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 19 pu Error name Description Object Clear Countermeasures The settings of synchronous group are not correct The same
34. If the error occurred repeatedly please The AMP with a node contact us number other than the Node No below exists 20301 setting error 2 axis type 1 to 2 Ry ree INA 4 axis type 1 to 4 8 axis type 1 to 8 15 16 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 5 4 Axis Operation Errors From 3000H Ver 1 13 or later These are the errors occurred while various operations are being executed EA Error name Description Object Countermeasures The axis that servo is not locked Each Confirm the servo is locked while POCO ready was started axis each axis is operating Turn off the servo on inptu when 3001H Servo off detection The servo became off during the Each A the Busy signal for the target axis in operation operation being processed axis is not on Check the status of the AMP Turn the servo on after the main The servo on was requested Main power supply Each power supply has been turned on 50054 off error when the main power supply axis A Check the voltage of the main the AMP was off power supply 3010H Limit signal The input on the plus side of the Each A Move the motor into the range fo detection limit turned on axis the limit by an operation such as 3011H Limit signal The input on the minus side of Each A the JOG operation detection the limit turned on
35. JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the stop position of the JOG operation 9 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Sample program RO Y108 Y88 for axis 1 R1 Y150 Y130 Servo off Servo off for axis 1 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 k Tool Connection Servolock Error for Start up establishment i i Y forallaxes operation o confirmation for axis 1 axis 1 ae flag 2 oF Off edge of T JOG JOG 3 Reverse JOG Off edge of 12 15 reverse JOG R2 R10 X118 X18 R11 Y120 Y 100 18 I pF 4 F J Forward JOG Enabled flag Busy flag Off edge of Forward JOG Y120 Y100 for axis 1 for axis 1 forward JOG for axis 1 Forward JOG for axis 1 R3 R10 X118 X18 R12 Y121 Y101 25 Off edge of Reverse JOG reverse JOG for axis 1 Reverse JOG Enabled flag Busy flag Y121 Y101 for axis 1 for axis 1 Reverse JOG for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e The number of the startup contact and flag varies depending on the number of axes and the installation position e The spec
36. Ltd AMP AMP means a servo amplifier which may be called a driver that controls a servo motor Configurator PM Configurator PM is a setting tool for Positioning Unit RTEX Using the Configurator PM enables the settings for positioning data and various parameters and various monitoring As a tool operation mode to activate a motor without using ladder programs is provided in this tool it is convenient especially to confirm the operation at the time of an initial start up PANATERM This is a setup support tool for the servo amplifiers of MINAS series made by Matsushita Electric Industrial Co Ltd By using this tool the parameter settings within the AMP monitoring control statuses the setup support or analysis of machines can be executed on PC E point control This is a method of control which is initiated up to an end point and in this manual is referred to as E point control This method is used for a single speed acceleration deceleration It is also called a trapezoidal control Speed Simple acceleration deceleration control when moving to an end point E point control Time P point control This refers to control which passes through a Pass Point and is called P point control in this manual This method is used when a multi stage speed is to be specified in the same motion Speed Acceleration deceleration control in which multiple pass points can be consecutively specified
37. ON Executable Forward ra When Home return operation Limit input Executable is executed Limit input Executable Reverse aa Limit input Forward Limit input Automatic reverse operaiton Reverse Limit input Automatic reverse operaiton ON ON ON Executable ON ON During Home return operation 10 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 10 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 11 Manual Operation Pulser Operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 11 1 Setting and Operation of Pulser Operation The example below is a case when using the with the positioning unit RTEX installed in the slot 0 The unit is set to pulse When using the FP2 change the contact and flag numbers appropriately aS Manual pulser side side Setting The parameters necessary for the setting of the pulser operation are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range Operation setting code 0 Pulser 1 0 Pulser 1 1 Pulser 2 2 Pulser 3 Pulser operation ratio numerator 2 1 to 32 767 Pulser operation ratio denominator 1 1 to 32 767 Operation diagram Pulser forward Pulser reverse Pee ux
38. The deceleration time in the JOG operation JOG operation JOG target rate The target rate in the JOG operation Emergency stop deceleration time ms Limit stop deceleration time ms The deceleration time when the emergency stop is requested by the input contact The deceleration time for the deceleration operation when the limit is input Error stop deceleration time ms The deceleration time for the deceleration operation when an error occurs Pulser operation setting code Pulser operation ratio numerator Pulser operation ratio denominator The pulser input 1 to 3 in the pulser operation No of movement pulse is calculated by multiplying the No of input pulse from the pulser by the ratio below Numerator of ratio of pulser operation Denominator of ratio of pulser operation OK Update the parameter settings with the specified contents Cancel Close this dialog without updating the parameter settings Copy axis Specify the axes of the source and destination to copy the parameter setting between the axes The following dialog is shown by clicking the Copy axis button Specify the axes and click OK Specify the axis to copy Sowce TT ok Destinatior 1 axis hd Cancel Choose the axes of the source and destination Initialize Initialize the parameter settings Help Indicate the help for this function 3 Click OK to determine the setting
39. The operations can be easily confirmed using the tool operation function of the Configurator PM without ladder programs 1 Confirm the rotating direction and moving direction of the motor by the JOG operation Select the Online Tool operation on the menu of the Configurator PM and make the servo on for the corresponding axis to execute the the JOG operation When using the ladder program turn on the forward JOG and reverse contact after turning on the servo on contact The rotating direction is determined according to the installation of the ball screw or the CW CCW direction setting of the parameter 2 Confirm whether the moving distance is as designed or not by the position control Set the table 1 of the positioning data using the Cofigurator PM and select the Online Tool operation on the menu of the Configurator PM after downloading the table to the positioning unit RTEX and make the servo on for the corresponding axis to execute the the JOG operation When using the ladder program set the position control starting table and then turn on the positioning start contact after turning on the servo on contact The moving distance is determined according to the pitch of the ball screw deceleration gear rate or setting movement amount of the positioning data Note Execute the servo on and make the AMP under the condition that the servo is locked before performing the JOG operation and position control
40. When the positioning data in the standard area is changed the recalculation will be necessary 19 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 19 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 20 Power ON OFF Ver 1 13 or later Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 20 1 Operational Change When System Starts Operational Overview To start the Positioning Unit RTEX Ver 1 00 1 01 both the control power supply and main power supply of the AMP must be on The startup process is changed to enable the unit to normally start even if the main power supply of the AMP is off in order to respond to various startup methods 20 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 21 Position control Ver 1 13 or later Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 1 Positioning Repeat Function When the same operation is repeated in an application for machines such as a coil widing machine 21 1 1 Function and setting method Set the repeat count in a prescribed address to repeat the operation for N times Operation of the positioning unit Set the number of repeat count in the repeat count area of an axis number to be st
41. amp Clear 17 19 17 4 9 Warning Annunciation amp Clear Area 17 23 17 5 Details of Each Axis Information Area in Shared Memory 17 27 17 5 1 Configuration of Each Axis Information Area 17 27 17 5 2 Each Axis Information amp Monitor Area 17 28 17 6 Details of Each Axis Setting Area in Shared Memory 17 37 17 6 1 Configuration of Each Axis Setting Area 17 37 17 6 2 Parameter Setting Area 17 38 17 6 3 Positioning Data Setting Areas 17 43 15 DIMENSIONS c rad na 18 1 18 1 Positioning Unit RTEX seen 18 2 18 2 FP2 Positioning Unit RTEX sesenee 18 3 19 Sample 19 1 19 1 Basic Configuration and Contact Allocations of Sample Programs 19 2 19 2 Sample Programs eese 19 4 19 2 1 When Setting Positioning Data in Extended Area Using Ladder Program 19 6 19 2 2 When Setting Positioning Data in Standard Area Using Ladder Program 19 7 20 Power ON OFF Ver 1 13 or later 20 1 20 1 Operational Change When System Starts 20 2 21 Position control Ver 1 13 or later 21 1 21 1 Po
42. and decelerates and stops The operation completes Speed V1 J point control Speed control Speed can be chagned gt E point control Positioning control Speed V3 Speed V2 TT J point speed change contact J point positioning start contact 21 3 1 Example of Operation The positioning unit RTEX performs the control set for the positioning table up to E point control continuously Therefore numerous operations are achievable by bombining the positioning control P point C point and E point control and speed control J point control The examples are as follows lt lt Example 1 gt gt Speed control gt Positioning control l J point P point point Trg 1 Trg 1 Trg 2 lt lt Example 2 gt gt Positioning control lt 1 Speed control point P point 1 Trg 1 Trg 1 Trg 2 XTrg 1 J point speed change contact Trg 2 J point positioning start contact 21 14 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 3 2 Setting Method Each setting items to perform the JOG positioning control are described below 1 J JOG positioning point is added to the operation patterns of positioning operation The following item is added to the operation of offsett address below of the positioning table starting address of each axis 2 Reference 17 6 3 Positioning Data Setting Area
43. axis Check the limit signal is correct Both inputs on the plus and re 3012H Limit signal erro imnus sides of the limit turned 20 A Check the status of the limit dn axis signal Software limit The movement amount of the 3020H plus side motor exceeded the upper limit E ch A Move the motor into the range of the limit by an operation such as detection of the software limit Soft limit Th t ren the JOG operation e movement Each Check the setting values of the 3021H minus side motor exceeded the lower limit A us software limit detection of the software limit Check the setting values and An error occurred in the parameters of the positioning unit 3030H Axis operation operation processing of each Each A If the error occurred repeatedly error axis due to any reason with the correct settign values please contact us An error occurred in the Each Operation If the error occurred repeatedly 3031H operation processing of each axis A abnormal end axis due to any reason All axes please contact us ue 3032H Axis group a ME OF Each A Also do not make the stop operation error A q axis request EE ee Check the setting of the axis specified for the axis group group Check the setting values of the The operation stopped as an positioning data for the 3033H Interpolation erro
44. mer Note It is not possible to change the mode to the tool operation mode during the ladder operation of PLC If any communication error occurs during the tool operation the positioning unit RTEX detects the error and stops automatically If the previous tool operation did not finish properly due to a communication error etc the tool operation mode will be cancelled forcibly when the next tool operation starts 7 36 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 17 1 Tool Operation Servo On Off Turn the servo on to make the motor be in the state that the servo is locked first in the operation of the servo motor Therefore in the tool operation set the servo to ON using this settin 1 Click Servo ON OFF in Tool operation dialog The following dialog is shown Servo ON OFF se 1 axis OFF Change ON OFF Help 2 axis OFF Change ON OFF 3 axis OFF Change ON OFF 4 axis OFF 2 Set the servo to on off by clicking the Change ON OFF for the equivalent axes If the servo is on for the 1 axis to 3 axis the setting is as below Servo ON OFF EE 1axis Chane ON OFF Help 2axis Change on OFF 3 axis NOFF 4 axis Change ON OFF 3 Click Close to close this dialog after completing the servo ON for the axes operated in the tool operation The tool operation dialog is automatically shown once the dialog is closed iS mer Note If
45. n 3 on control distance is long Po Y axis and Z axis coordinate of center point X axis movement Y axis and Z axis coordinate of center point X axis movement X axis and Z axis coordinate of center point 3 axi Y axis movement axis s LE W spiral Rete direction X axis and Z axis coordinate of center point interpolati Y axis movement Center point CW direction f on control X axis and Y axis coordinate of center point Z axis movement W directi sentar POMME oW direction X axis and Y axis coordinate of center point Z axis movement Pass point X axis movement Y axis and Z axis coordinate of pass point on arc Pass point Y axis movement X axis and Z axis coordinate of pass point on arc Pass point Z axis movement Y axis and Z axis coordinate of pass point on arc Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 9 2 axis linear interpolation 2 axis linear interpolation Composite speed specification Long axis speed specification direction direction Y axis The composite speed Y axis can be specified The axis speed for the axis to be a long axis can be specified direction direction direction gt direction direction X axis direction X axis 2 axis circular interpolation 2 axis circular interpolation Center point specificatio
46. poe The servo became off during the the Busy signal for the target axis 3001H detection in dean 9 Each A y 59 9 Sneration operation being processed is not on P Check the status of the AmP 3010H Limit signal The input on the plus side of the Eachaxis A Move the motor into the range of detection limit turned on the limit by an operation such as Limit signal The input on the minus side of the the JOG operation SOTIN detection limit turned on Baas Rs Check the limit singal is correct Check the status of the limit 25 Both inputs on the plus and minus signal sides of the limit turned on Faci axis Turn off the power supply and turn it on again Software limit The movement amount of the sat Move the motor into the range of 3020H plus side motor exceeded the upper limit of Each axis io 1 i the limit by an operation such as detection the software limit Soft imit Th t tof th the JOG operation diia a S MOVSMENEAMOUNT OR NMS Check the setting values of the 3021H minus side motor exceeded the lower limit of Each axis AA software limit detection the software limit Check the setting values and An error occurred in the operation parameters of the positioning unit 3030H pes processing of each axis due to any axis If the error occurred repeatedly reason with the correct setting values please contact us An error
47. to store them in the FROM flash memory or not at the time of downloading to the positioning unit 14 1 2 Once starting an Operation Once any start up contact of the automatic operation position control manual operations JOG operation home return pulser operation turns on and the operation starts it will not change to another operation even if the contact of the other contact turns on However the stop operation deceleration stop emergency stop system stop can be executed during other operations 14 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 14 1 3 How to Use Standard Area and Extended Area of Positioning Data Phone When executing the automatic operation position control with the positioning unit RTEX specify the number of the positioning table that has been specified in advance and start the position control After the start up the motor is automatically controlled according to the settings of the table There are the method that creates the positioning table using Configurator PM that is an exclusive setting tool and the other method that writes the positioning table in a prescribed address by ladder programs There are the standard area of 600 points that is specified by No 1 to 600 and the extended area of 25 points that is specified by No 10001 to 10025 The standard area is used when the setting values of the positioning table are predetermined It
48. urieni ka ei ass 7 27 7 11 7 Selecting C ME asid 7 27 7 11 8 Editing Data Items Collectively 7 27 7 12 Customizing Software 7 28 7 13 Checking Settings sese 7 30 7 13 1 Checking Parameters and Data Values 7 30 7 14 Transferring Setting 7 31 7 14 1 Uploading Setting Data from Positioning Unit RTEX 7 31 7 14 2 Downloading Setting Data to Positioning Unit RTEX 7 32 7 14 3 Writing Settings to FROM 7 33 TAS Data Monltor negent en aden 7 34 FAG Status DISplay oreet ter theta 7 35 LNT Tool Operation ie ae aeee Pe oper ee 7 36 7 17 1 Tool Operation Servo On Off 7 37 7 17 2 Tool Operation Home 7 38 7 17 3 Tool Operation Positioning 7 39 7 17 4 Tool Operation JOG Operation 7 41 7 17 5 Tool Operation Teaching 7 43 8 Automatic Operation Position Control 8 1 8 4 Basic Operati N se eseri etd ce ret p 8 2 8 1 1 Setting and Operation of E Point Control 8 3 8 1 2 Setting and Operation of
49. www ctiautomation net Email info ctiautomation net Setting Font Select Option Font in the menu bar The following dialog is shown Font Font style Regular Arial Black O Arial Narrow O Arial Rounded MT Bok O Blackadder ITC O Bodoni MT AaBbYyzz Script Western X This is an OpenType font This same font will be used on both your printer and your screen 7 29 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 13 Checking Settings 7 13 1 Checking Parameters and Data Values Collectively check the parameter setting first and then the positioning data if the values are within the range If an error is found in the parameter setting the parameter setting dialog is automatically indicated and the position where the error exists is focused Also if an error is found in the positioning data the cursor moves to the position where the error exists Select Debug Check Parameters and Data the menu bar or click the Check Parameter and Data icon in the toolbar Verifying File Contents Verify the file currently being edited and the files on the disk or the information in the unit The following procedure is for the verification with the files on the disk Verify the axis information parameters and positioning data collectively Select Debug Verify File in the menu bar The dialog to select the file to verify is shown as
50. 000H OOOH Information of axis 1 Axis information 040H 07FH Information of axis 2 area 080H OBFH Information of axis 3 Ais Me a ail A PRESS OCOH OFFH Information of axis 4 3FFH 000H 100H O3FH Information of axis 5 140H 17FH Information of axis 6 180H OBFH Information of axis 7 1COH 1FFH Information of axis 8 Bank 02H to 51H Note Firstly confirm that the link establishment annunciation flag is on when reading the axis information area using the ladder program 17 27 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 5 2 Each Axis Information amp Monitor Area These are the areas for the AMP system information of each axis and monitoring operation states Axis information of axis 1 Offset Default Settin Bank Name Descriptions 9 Unit address value range 000H 001H 0029 System pot Stores the brand name or vendor name 003H axis 1 CAES 004H Brand name or Each information is stored as ASCII code OH of 16 bytes Max 16 characters 005H vendor name 006H 007H 008H 009H System ee Stores the model code of AMP 00BH axis 1 INS Each information is stored as ASCII code OH Q0CH Model cone 0 of 16 bytes Max 16 characters 00DH AMP y O0EH O0FH 010H 011H 2121 ee
51. 1 01 15 5 15 3 1 AMP Errors From 0001H Ver1 00 to 1 01 15 5 15 3 2 System Errors From 1000H Ver 1 00 to 1 01 15 7 15 3 3 AMP Communication Errors From 2000H Ver 1 00 to 1 01 15 8 15 3 4 Axis Operation Errors From 3000H Ver 1 00 to 1 01 15 9 15 3 5 Setting Value Errors From 0 4000 15 10 15 4 List of Warning Codes Ver 1 00 to 1 01 15 12 15 4 1 AMP Warnings From A000H Ver 1 00 to 1 01 15 12 15 4 2 Unit Warnings From BOOOH Ver 1 00 to 1 01 15 13 15 5 List of Error Codes 1 13 or 15 14 15 5 1 AMP Errors From 0001H Ver 1 13 or later 15 14 15 5 2 System Errors From 1000H Ver 1 13 or later 15 15 15 5 3 AMP Communication Errors From 2000H Ver 1 13 or later 15 16 15 5 4 Axis Operation Errors From 3000H Ver 1 13 or later 15 17 15 5 5 Setting Value Errors From 4000H Ver 1 13 or later 15 19 15 6 List of Warning Codes Ver 1 13 or later 15 22 15 6 1 AMP Warning From A000H Ver 1 13 or later 15 22 15 6 2 Unit Warnings From BOOOH Ver 1 13 or later 15 23 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 16 Troubleshooting
52. 125 020H Starting address of table 126 030H Starting address of table 127 040H Starting address of table 128 050H Starting address of table 129 060H Starting address of table 130 070H Starting address of table 131 080H Starting address of table 132 090H Starting address of table 133 Starting address of table 134 OBOH Starting address of table 135 OCOH Starting address of table 136 ODOH Starting address of table 137 OEOH Starting address of table 138 OFOH Starting address of table 139 100H Starting address of table 140 110H Starting address of table 141 120H Starting address of table 142 130H Starting address of table 143 140H Starting address of table 144 150H_ Starting address of table 145 160H Starting address of table 146 170H Starting address of table 147 180H Starting address of table 148 190H Starting address of table 149 1A0H Starting address of table 150 1BOH Starting address of table 151 1COH Starting address of table 152 1DOH Starting address of table 153 1E0H Starting address of table 154 1FOH Starting address of table 155 200H Starting address of table 156 210H Starting address of table 157 220H Starting address of table 158 230H Starting address of table 159 240H Starting address of table 160 250H Starting address of table 161 260H Starting address of table 162 270H Starting address of table 163 280H Starting address of table 164 290H Starting address of table 165 2A0H Starting a
53. 3 Matching Parameters With AMP At the factory setting the operating directions of the positioning unit RTEX and the AMP are different as below e Parameters of positioning unit RTEX CW direction is elapsed value direction e Parameters of AMP CW direction is elapsed value direction Therefore they must be matched according to the following procedures 1 Boot the Configurator PM and set the corresponding axis 2 Specify the Select slot from the Online on the menu and select the slot number that the positioning unit RTEX is installed 3 Specify the Download to unit from the File on the menu and down the axis information and parameter setting data 4 The indication for writing into the FROM flash memory is shown Select Yes to carry out writing to the FROM 5 After the completion of writing turn off the power supplies of AMP and PLC and then turn them on again 6 After turning on the power supplies again the system will be operated with the parameters set in the positioning unit RTEX u Key Point Followings are the parameters to match the operating directions of the positioning unit RTEX and AMP according to the above procedure CW CCW direction setting Limit switch connection As these parameters are important to establish the system they will be reflected to the operation of a motor by turning on the power supply again after writing them into the FROM flash memory of
54. 4 Click Close to close the dialog C Note This dialog cannot be closed during the positioning operation 7 40 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 17 4 Tool Operation JOG Operation Each axis can be operated manually using the tool operation ac Note To perform the JOG operation the equivalent axes should be in the state that the servo is locked servo ON 1 Click JOG operation in the tool operation dialog The following dialog is shown Tool operation JOG operation Axis Group 1 axis 2 axis 3 axis 4 axis Zero offset 1226480 626492 622988 Change Change Change Unit pulse pulse pulse Jog target speed 500000 500000 500000 1000 Change Change Change Change Ej State of axis Inactive Inactive Inactive Inactive Phone Error code Error clear Warning code Warning clear Speed rate 100 Warning clear Warning clear Warning clear ten Axis Group The axis numbers and group names to be monitored Zero offset Monitor the feedback values after the unit system conversion for each axis Click Change to display the dialog for inputting value to change the value of the zero offset Unit The unit of position for each axis specified in the parameter settings Monitor and display the target speed in the JOG
55. 4 Operation When the Mode of PLC Changed to PROG from RUN Any start up contact of the automatic operation position control manual operations JOG operation home return pulser operation turns on and the operation will continue even if the PLC changes to the PROG mode from the RUN mode after starting the operation 14 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 15 Errors and Warnings Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 1 Errors and Warnings 15 1 1 About Errors and Warnings When any operational unconformity occurs in the positioningn unit RTEX errors or warnings will occur When errors or warnings occur the following operations will be performed executed Occurs in any abnormal conditions When a motor is operating the operation stops Errors The motor stopped due to the occurrence of error will not activate until the error clear is Occurs when any operational unconformity not abnormal conditions exist Warnings The operation can continue even after the occurrence of warnings and the motor continues running if the motor is operating The errors and warnings can be confirmed on the data monitor and status monitor screens of the Configurator PM The errors and warnings occur in the positioning unit RTEX and AMP The area that errors warnings occurred and the detai
56. 888 723 4773 Web www ctiautomation net Email info ctiautomation net Operations of each contact The BUSY flag X118 FP2 X18 indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag X120 FP2 X20 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position Sample program RO 108 88 DF 4 H IServo ON Servo on Semoon oo for axis 1 R1 Y150Y130 4 or i Servo OFF Servo off Servooff C ii for axis 1 X100 X0 X104 X4 108 8 X110 X10 2X160 X60 RIO 4 uuo a 4 M Start enabled condition ot Tool Connection Servolock Error for aun e stablishment for al axes operation for axis 1 axis 1 enabled flag mxo H QDTO ee Starting table No Position F151 WRT DTO H100 4 iSta
57. 97 260H Starting address of table 98 270H Starting address of table 99 280H Starting address of table 100 290H Starting address of table 101 2A0H Starting address of table 102 2BOH Starting address of table 103 2COH Starting address of table 104 2DOH Starting address of table 105 2bE0H Starting address of table 106 2FOH Starting address of table 107 300H Starting address of table 108 310H Starting address of table 109 320H Starting address of table 110 330H Starting address of table 111 340H Starting address of table 112 350H Starting address of table 113 360H Starting address of table 114 370H Starting address of table 115 380H Starting address of table 116 390H Starting address of table 117 Starting address of table 118 3BOH Starting address of table 119 3COH Starting address of table 120 3DOH Starting address of table 121 Starting address of table 122 3FOH Starting address of table 123 17 47 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis 1 Axis 2 Axis3 Axis 4 Axis5 Axis6 Axis 7 Axis 8 Bank No oe Descriptions 04H OEH 18H 22H 2CH 36H 40H 4AH 000H Starting address of table 124 010H Starting address of table
58. C Spiral Genter point CW direction Y axis movement D Spiral Center point CCW direction Y axis movement E Spiral Center point CW direction Z axis movement F Spiral Center point CCW direction Z axis movement L Spiral Pass point X axis movement M Spiral Pass point Y axis movement N Spiral Pass point Z axis move ment Ready Setting items Parameter Name Description Operation pattern Select one from the following operation patterns End point control Execute the trapezoidal control of only one table Continuance point control Execute the trapezoidal control continuously Specify the end point at the end of the continuance point control Pass point control Execute the continuous speed change control Specify the end point at the end of the pass point control Interpolation operation Select the operation of interpolation X axis control method Select either increment or absolute coordinate X axis movement Input the movement amount of X axis The movement amount depends on amount the unit system specified in the parameter settings X axis auxiliary point It is used when the circular interpolation is selected and ignored when the linear interpolation is selected The details of the auxiliary points differ depending on the type of circular interpolation Circular interpolation Center point The auxiliary point is used as the X axis of the center point Circular interpolation Pass point The auxiliary
59. Confirm whether the moving distance and moving direction is as designed or not by the specified output pulse number Positioning unit RTEX KYAT 5 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 1 7 Procedure 6 Settings of Parameters and Positioning Data The basic operation of the positioning system was checked in the procedure 5 In the procedure 6 set the parameters and positioning data in accordance with the actual operation The parameters and positioning data is stored in the shared memory of the positioning unit RTEX Although there are two methods to store the data in the shared memory it is recommended to set the parameters that are not changed so often using the Configurator PM e Use the Configurator PM e Use the ladder program to write into the shared memory When using the Configurator PM Boot the Configurator PM and select Set axis Parameter settings on the menu to set the various parameters Also create the table for the positioning table on the positioning data editing screen After setting the parameters and data download them to the positioning unit RTEX Note After the parameters and posiioning data was downloaded the display to select whether to write them into the FROM flash memory or not is shown When they are written into the flash memory the paramet
60. Dot Stores the version of firmware of AMP 01H Version of Each information is stored as ASCII code OH of 16 bytes Max 16 characters 015H firmware 016H 017H 018H 019H aah Stores the model code of motor O1CH Model code of Each information is stored as ASCII code OH of 16 bytes Max 16 characters 01DH motor 01EH 01FH 020H 021H ven System ID of Stores the serial number of motor 023H axis 1 Au Serial number Each information is stored as ASCII code OH of 16 bytes Max 16 characters 025H of motor 026H 027H 17 28 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Offset Defaul Settin Bank Name Descriptions Unit address tvalue range Stores the status indication of AMP bit Name Default Descriptions 0 Imposition 0 0 Deviation counter is outside of the imposition range 1 Deviation counter is in the imposition range 1 0 2 Home return done 0 0 Home return has not compelted 1 Home return has completed 3 Torque limit 0 0 Normal 030H Status indication 1 Contact detection Torque limit of axis 1 4 Warning 0 0 Normal 1 Warning occurred 5 Alarm 0 0 1 Alarm occurred
61. E End D Linear Composite speed E Increment 4 E End 0 Linear Composite speed I Increment 5 E End 0 Linear Composite speed I Increment 6 7 8 E End 0 Linear Composite speed E Increment E End 0 Linear Composite speed E Increment E End 0 Linear Composite speed F Increment End 0 Linear Composite speed Increment E End 0 Linear Composite speed F Increment E End 0 Linear Composite speed F Increment E End 0 Linear Composite speed E Increment E End 0 Linear Composite speed Increment E End 0 Linear Composite speed F Increment E End 0 Linear Composite speed Increment E End 0 Linear Composite speed F Increment E End 0 Linear Composite speed F Increment E End 0 Linear Composite speed F Increment E End 0 Linear Composite speed F Increment E End 0 Linear Composite speed E Increment E End 0 Linear Composite speed F Increment E End 0 Linear Composite speed E Increment End 0 Linear Composite speed F Increment E End 0 Linear Composite speed E Increment E End 0 Linear Composite speed F Increment E End 0 Linear Composite speed E Increment End 0 Linear Composite speed F Increment fal123axis 7N 4Axis 7 lt X Choose the pattern of interpolation operation from D Linear Composite speed 1 Linear Lone axis speed A Spiral Genter point CW direction X axis movement B Spiral Genter point CCW direction X axis movement
62. P Point Control 8 5 8 1 3 Setting and Operation of C Point Control 8 7 8 2 Interpolation Control essen 8 9 8 2 1 Setting and Operation of Two Axis Linear Interpolation 8 12 8 2 2 Setting and Operation of Two Axis Circular Interpolation 8 14 8 2 3 Setting and Operation of Three Axis Linear Interpolation 8 16 8 2 4 Setting and Operation of Three Axis Linear Interpolation 8 19 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 9 Manual Operation JOG Operation 9 1 9 1 Setting and Operation of Home 9 2 9 2 Changing the Speed During JOG Operation 9 4 10 Manual Operation Home Return 10 1 10 1 Setting and Operation of Home Return 10 2 11 Manual Operation Pulser Operation 11 1 11 1 Setting and Operation of Pulser 11 2 12 Stop Functions eee 12 1 12 1 Settings and Operations of Stop Functions 12 2 13 Supplementary Functions 13 1 13 1 DWellTIme ete E RE 13 2 19 2 SOftWare Limib cosi ere deena tet 13 3 19 9 Longue Limit cci er re cetero cta 13 4 13 4 Auxiliary Output Code and Auxiliary Output Contact
63. P point control Time Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net C point control This refers to control which passes through a Continuance Point and is called C point control in this manual This method is used for executing continuous E point controls by one time start Speed C point control Acceleration deceleration control which executes E point control continuously by setting a continuous point Time Acceleration time deceleration time For the E point control or C point contro the acceleration time is the time during which the speed changes from the startup speed of a motor to the target speed The deceleration time is the time during which the speed changes from the target speed to the stop For the P point control the acceleraiton time is the time during which the speed accelerates form the current speed to the next target speed and the deceleration time is the time during which the speed decelerates from the current speed to the next target speed CW CCW Generally these indicate the direction in which the motor is rotating with CW referring to clockwise rotation and CCW to counterclockwise rotation Absolute method absolute value control method This is a control method in which the target position is specified as an absolute position from the home position This is specified on the positioning data editing screen of the Configurator PM Inc
64. Procedure for Turning Off the 4 5 5 Preparation For Operation 5 1 5 1 Procedures For System Establishment 5 2 5 1 1 Procedure 1 5 2 5 1 2 Procedure 2 Axis Numbers and Unit Numbers of AMP 5 3 5 1 3 Procedure 2 Power On and Checking Network Establishment 5 4 5 1 4 Procedure 3 Matching Parameters With AMP 5 4 5 1 5 Procedure 4 Checking Input Signals 5 5 5 1 6 Procedure 5 Checking Rotating and Moving Directions and Moving Distance 5 6 5 1 7 Procedure 6 Settings of Parameters and Positioning Data 5 7 5 2 Preparation For 5 8 5 2 1 Servo On Servo Off 5 8 6 1 0 AlIGCaTOn 6 1 6 1 Occupied l O siisii eonan iii 6 2 6 2 Allocation of Each 6 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 Setting Tool Configurator PM 7 1 7 1 Connection With Compulter ssesseeeeeeeeee 7 2 7 2 Functions of Configurator PM 7 3 Ti2V Overview o ae cis el 7 3 7 2 2 Basic
65. address of table 262 OBOH Starting address of table 263 Starting address of table 264 ODOH Starting address of table 265 OEOH Starting address of table 266 OFOH Starting address of table 267 100H Starting address of table 268 110H Starting address of table 269 120H Starting address of table 270 130H Starting address of table 271 140H Starting address of table 272 150H_ Starting address of table 273 160H Starting address of table 274 170H Starting address of table 275 180H Starting address of table 276 190H Starting address of table 277 1A0H Starting address of table 278 1BOH Starting address of table 279 1COH Starting address of table 280 1DOH Starting address of table 281 1E0H Starting address of table 282 1FOH Starting address of table 283 200H Starting address of table 284 210H Starting address of table 285 220H Starting address of table 286 230H Starting address of table 287 240H Starting address of table 288 250H Starting address of table 289 260H Starting address of table 290 270H Starting address of table 291 280H Starting address of table 292 290H Starting address of table 293 2A0H Starting address of table 294 2BOH Starting address of table 295 2COH Starting address of table 296 2DOH Starting address of table 297 2bE0H Starting address of table 298 2FOH Starting address of table 299 300H Starting address of table 300 310H Starting address of table 301 320H Starting address of ta
66. and flag numbers appropriately Reverse JOG Forward JOG n Table NCC So side side Ball screw VILE TEL LTT Setting The parameters necessary for the setting of the JOG operation are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range 0 Linear acceleration deceleration 1 S shaped acceleration deceleration Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Acceleration deceleration pattern 0 Linear acceleration deceleration Target speed 10000 pps Operation diagram t ms Forward JOG contact Y 120 Y100 SEE aware Reverse JOG contact Y121 Y101 ELORE eens BUSY flag Y118 X18 L 3 J F Operation done flag X120 X20 The numbers in parenthesis are the flag and contact numbers for the FP2 Operations of each contact e The BUSY flag X118 FP2 X18 indicating the state that a motor is running turns on when the JOG operation started and it turns off when the operation completed The operation done flag FP X120 FP2 X20 indicating the state that an operation completed turns on when the JOG operation completed and it will be held until any operation among the position control
67. auxiliary point 0 degree 1 degree 1 073 741 823 to 1 073 741 823 degree ACCE eration L Linear L Linear S S shaped acceleration deceleration deceleration pattern Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps pm 1 to 32 767 000 mm s Interpolation speed 10000 pps Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 8 16 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Operation diagram Positioning start contact of axis 1 Y110 Y90 BUSY flag of axis 1 Y118 X18 BUSY flag of axis 2 Y119 X19 BUSY flag of axis 3 Y11A X1A Composite speed t ms Operation done flag of axis 1 X120 X20 E D ll Operation done flag of axis 2 X121 X21 T Operation done flag of axis 3 122 22 1 curert vate ot i 1 Am curent vate of axis 2 MC cunt vate ot ie Operations of each contact e The BUSY flag for the axes 1 2 and 3 X118 X119 X11A FP2 X18 X19 X14 indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag for the axes 1 2 and FP X120 X121 X122 FP2 X20 X21 X22 indicating the state that an operation completed turns on whe
68. axes operation for axis 1 axis 1 de flag 12 pF 41 Off edge of Forward JOG forwan JOG R R10 X118 X18 R11 Y120 Y100 er Forward JOG Enabled flag Busy flag Y120 Y100 for axis 1 for axis 1 15 Forward JOG forward JOG for axis 1 Forward JOG for axis 1 R 2 I DF 4 Fo K 100 DTO Forward JOG JOG acceleration time 1 Fo mv K50 DT4 JOG deceleration time 1 K1000 DT2 JOG target speed 1 F151 WRT H200 DTO K4 H2A JOG acceleration time 1 4 gt Fo K 200 DT 10 Speed change JOG acceleration time 2 Fo MV K150 DT JOG deceleration time 2 F1 DMV K 20000 DT 12 JOG target speed 2 F151 WRT H200 DT10 K4 JOG acceleration time 2 22 50 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e As the acceleration time and deceleration time will be retrieved when the speed is changed during the JOG operation the acceleration deceleration speed can be changed e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit 9 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 9 6 Phone 800 894 0412 Fax 8
69. axis In case of the interpolation operaiton it is the target speed of the interpolation Positioning In the interpolation operation the target speed for the axis of the smallest number target speed in a group is valid interpolation bit Name Default Descriptions 007H speed 31 to 0 Psotioning target 1000 Setting range 1 to 32 767 000 Interpolation speed Any other settings will be errors The interpretation is changed by the unit setting pulse 1 to 32 767 000 pps 1 to 32 767 000 u m s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 17 44 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Offset eee Name Descriptions address The area to set the movement amount for the positioning operation The interpretation is chagned for the increment movement amount or absolute 008H coordiate by the control code setting bit Name Default Descriptions Positioning 31 to 0 Positioning 0 Setting range 1 073 741 823 to 1 073 741 823 movement movement amount Any other settings will be errors oveme The interpretation alters depending on the unit setting amount pulse 1 073 741 823 to 1 073 741 823 pulse u m 0 1 um 107 374 182 3 to 107 374 182 3 009H 1 1 073 741 823 to 1 073 741 823 um inch 0 00001inch 10 737 41823 to 10 737 41823 inch inch 0 0001inch 107 374 1823 to
70. can be set using Configurator PM and can be rewritten from the ladder programs too However if the positioning table is changed by the ladder program the caulculation is necessary to restructure the positioning data before executing the automatic operation This function enables to read the positioning data of 600 points in advance and to prepare for the start up within the positioning unit and enables to shorten the start up time for the positioning When using Configurator PM to download the positioning data the data is restructured automatically so the calculation is not necessary However the calculation is necessary after rewriting the poisitoning data from the ladder program The procedures for the calculation are as follows 1 Change the positioning table in the shared memory 2 Turn on the output contact Y_7 recalculation request contact 3 Confirm the input contact X_7 recalculation done contact is on Confim the completion of the recalculation If the data is not recalculated after rewriting the positioning table by the ladder program note that the operation will be executed with the positioning table before the rewriting The extended area is used when the setting values of the positioning table cannot be determined until just before executing the positioning operation For example in the application of alignment using an image processing the moving distance is determined by the image processing Therefore the p
71. can be restructured Recalculation and will be executable by turning on this signal request When restructuring of the positioning data completes the recalculation done contact X_7 will turn on All axes Note It is used only when the positioning data has been rewritten by laddar programs WY10 o N o N O1 A o m 8 8 Requests the servo lock for the corresponding AMP Y10A Y8A The servo lock is executed by the ON edge of this contact Y10B Y8B 4axis The servo cannot be free automatically even in the program Y106 Servo ON request node 6 axis To make the servo free turn on the servo OFF request contact 7 axis The operation is the edge type Y8F B8 axis 1 axis ne 2 Requests the positioning control for the corresponding AMP a axis The starting table is specified in the area for specifying the Y113 Yo3 4 axis E position control starting table number in the shared memory axis Positioning start up The operation is the edge type 6 AXIS If this contact turns on during the Tool operation by Configurator E 7 axis PM a warning will be output 7 je ver 8 2 118 98_ 1 axis Requests the home return for the corresponding AMP o9 2 axis The settings for the direction or pattern of the home return are Y9A 3 axis specified by Configurtor PM or the home return operation s
72. code annunciation Announces the code when an error occurred 161H buffer 4 of axis 4 162H Error code annunciation Announces the code when an error occurred 163H buffer 5 of axis 4 164H Error code annunciation Announces the code when an error occurred 165H buffer 6 of axis 4 166H Error code annunciation Announces the code when an error occurred 167H buffer 7 of axis 4 17 20 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Offset Bank addigss Name Descriptions Number of error 169H occurrences of Announces the number of occurrences of errors at axis 5 axis 5 16AH Error code annunciation Announces the code when an error occurred 16BH buffer 1 of axis 5 16CH Error code annunciation Announces the code when an error occurred 16DH buffer 2 of axis 5 16EH Error code annunciation Announces the code when an error occurred 16FH buffer 3 of axis 5 170H Error code annunciation Announces the code when an error occurred 171H buffer 4 of axis 5 172H Error code annunciation Announces the code when an error occurred 173H buffer 5 of axis 5 174H Error code annunciation Announces the code when an error occurred 175H buffer 6 of axis 5 176H Error code annunciation Announces the code when an error occurred 00H 177H buffer 7 of axis 5 Number of error 179H occurrences of Announces the number of
73. contact This flag is assigned to the following I O that is directly controlled from the CPU unit Note that the I O allocation varies according to the type of the JOG operation deceleration time CPU or the number of connected units Reference 17 2 Table of I O Area pend of 17 2 Table of I O Area ver 1 13 or later Y14B E Y14D Y14E Y14F Y12F 8 axis The speed changes by turning on this signal during the J point operation to the target speed with the specified acceleration deceleration time and pattern The operation is the edge type J point speed change contact 3 Turning on J point positioning start contact in the J point operation proceeds the operation to the positioning process for the next table and completes the operation after performing the process for the E point table J point positioning start contact 2 Reference 17 2 Table of I O Area nantes of 17 2 Table of I O Area ver 1 13 or later Y158 1 axis Y159 Y139 2 axis EE Y15A 3 axis Turning on this signal during the J poing operation for the Y15B i J point positioning appropriate axis ends the J point operation and moves to the Y1 EET 5 axis start contact process for the next table Mj XE The operation is the edge type Y15E Y15F 6 axis 7 axis 8 axis 21 3 3 Sample Program Refer to J poin
74. coordinatefrom the start point e When the start point and the operaton done point is the same it performs one circular operation when using the center point method However when using the pass point method an error occurs e In case of the pass point method when the start point pass point and operation done pont exsit in the same straight line an arc is not comprised and an error occurs e When setting the long axis speed the composite speed is faster than the long axis speed f any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit 8 21 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 22 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 9 Manual Operation JOG Operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 9 1 Setting and Operation of Home Return The example below is a case when using the with the positioning unit RTEX installed in the slot 0 The unit is set to pulse When using the FP2 change the contact
75. ctiautomation net Table of contents Glossary About Illustrations in This Manual 1 Functions of Unit and Restrictions on Combination 1 1 1 1 Functions of Positioning Unit RTEX 1 2 1 1 1 Functions of UMT ae a iea 1 2 T 4 2 Unit TY EA E 1 3 1 2 Restrictions on Units Combination 1 4 1 2 1 Restrictions on Combinations Based on Current Consumption FP2 only 1 4 1 2 2 Restrictions on the Number of Units Installed 1 4 2 Parts and Functions 2 1 2 1 Parts and Functions 2 2 2 2 Operation Status Display 5 2 3 Sera EE D 3 1 3 1 Wiring of Network essssseeeeennmeenn 3 2 3 2 Network Connector nix aci re 3 3 3 3 Wiring of Pulser Input Connector 3 4 3 3 1 Input Specifications and Pin Configuration 3 6 4 Power On Off and Items to Check 4 1 4 1 Safety Circuit Design 4 2 4 2 Before Turning On the 4 3 4 3 Procedure for Turning On the 4 4 4 3 1 Procedure for Turning On the 4 4 4 3 2
76. each axis JOG forward reverse rotation Re stop request flag all request flag each axis Pulser operation enabled flag each axis The requests for the axes being operated cannot be executed except the following requests The same axis was requested to Each Deceleration stop request flag B010H Duplicate startup start even though the axis axis A each axis operation has not completed Emergency stop request flag each axis System stop request flag all axes J point sepped change contact When the both contacts have NM and J point positioning start been turned on simultaneously J B030H pun eua contact was turned on zd O point positioning start contact p 9 simultaneously during the JOG has a priority and J point speed positioning J point operation change contact is ignored The monitored torque value exceeded the specified upper lower limit value Design the system within the Torque judgment range that the torque of the motor BO50H value warning This warning occurs when axis A does not exceed the judgment setting value torque judgment to Available Check the torque judgment value annunciation method to Warning The monitored actual speed exceeded the specified upper lower limit value Design the system within the Actual speed range that the actual speed of the BO051H ljudgment value This warning occurs when Each A motor does not exceed the warning Setting axis judgment value actual speed
77. error occurred will not be operated until the execution of the error clear 15 1 4 Errro and Warning Code Format The error and warning codes are 32 bit data and in the format as follows 32 bits double word 16 bits word 16 bits word Not used Error warning code 15 1 5 Sample Program The program below is a sample program to detect the occurrence of error and to clear the error after reading the error log X160 X60 DF gt _ F150READ HO H128 K16 DT100 Error annunciation BankO Starting address No of Data register of flag for axis 1 Slot No 0 for reading reading storage location shared memory words R100 X160 X60 Y160 140 14 DF Error clear Error annunciation Error clear flag request flag flag for axis 1 for axis 1 Y160 Y140 Error clear flag for axis 1 The numbers in parenthesis the I O numbers for the FP2 Error logs will be stored in the following registers DT101 Number of occurrences DT103 Error log buffer 1 DT105 Error log buffer 2 DT107 Error log buffer 3 DT109 Error log buffer 4 DT111 Error log buffer 5 DT113 Error log buffer 6 DT115 Error log buffer 7 15 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 2 Change in Error Recovery Process Ver 1 13 or later 15 2 1 Overview of Operational Change For the Positioning Unit RTEX th
78. error occurs on the corresponding axis The contacts of all axes turn on if an error occurs on all axes The details of the error can be confirmed in the error annunciation area of the shared memory Turns on when a warning occurs on the corresponding axis The contacts of all axes turn on if a warning occurs on all axes The details of the warning can be confirmed in the warning annunciation area of the shared memory Monitor contact for the general purpose input connected to the corresnponding AMP The input status of this contact does not affect on the operation of the motor or positioning unit 6 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contact allocation Target Descriptions Contact for requesting the system stop When it turns on all BO All axes System stop axes will stop at the deceleration time 0 lt lt lt lt XX lt o ABIo m o WY10 X EE ojo o a O cc arai amp Turn on this signal when each positioning data standard area in the shared memory was changed The positioning data after the table number starting the recalculation specified in the shared memory can be restructured Y87 All axes Recalculation and will be executable by turning on this signal request When restructuring
79. flag each axis flag each axis JOG forward reverse rotation System stop request flag request flag each axis aliaxes q 9 Pulser operation enabled flag each axis The requests for the axes being operated cannot be executed except the following The same axis was requested to start requests Each Deceleration stop B010H Duplicate startup even though the axis operation has 5 axis request flag each axis completed Emergency stop request flag each axis System stop request flag all axes The monitored torque value exceeded Design the system within the the specified upper lower limit value range that the torque of the Torque judgment Each motor does not exceed the BO50H A value warning This warning occurs when setting axis judgment value torque judgment to Available Check the torque judgment annunciation method to Warning value The monitored actual speed exceeded Design the system within the the specified upper lower limit value range that the actual speed of Actual speed Each the motor does not exceed the B051H judgment value 3 A rn This warning occurs when setting axis judgment value 9 actual speed judgment to Available Check the actual speed annunciation method to Warning judgment value Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 13 15 5 List of Error Codes Ver 1 13 or
80. i Doc Home return i 1 deceleration Target speed time Limit stop t Bme sangon imu d is between the near home DOG and limit Home return creep speed deceleration i 1 D lime i The starting point i i is on the near home 0 i DOG and limit input Home retum deceleration i i lime 22 1 3 DOG method 2 The rising edge of near home DOG is detected It becomes the starting point Home return direction 44 Limit input Near home DOG input Limit input LI The starting point is between the near home DOG and limit input including the point on the limit Home return deceleration time Target speed input LI 2The starting point Home return crebp speed is on the near home 1 DOG Home return i deceleration Target speed time Limit stop Target speed i S i 1 Home return creep sj The starting point deceleretion 1 PP spe is between the near l home DOG and limit 1 input jee time 4 i 4 amp Home return credp speed The starting point spee is on the near home DOG and limit input Target speed Porna ratom 1 dime L 22 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 22 1 4 DOG method 3 Stops at the first phase Z in the home ret
81. judgment to Check the actual speed judgment Available value annunciation method to Warning Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 23 15 24 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 16 Troubleshooting Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 16 1 Cannot Communication With AMP Is the STATUS LED of the positioning unit flashing No Is the ERR LED of the positioning unit lighted Is the LINK LED of the positioning unit lighted Turn on the power supply of The connection with the Check the error code and the system next node is incorrect take appropriate measures again Check if the connection of for the error content If the similar Are the LINK LEDs of all the network cable is correct Check if the network cable error repeatedly connected AMPs lighted Check if the network cable is is normal occurs please normal Check if an excessive noise e is applied on the system Check if the length of the network cable is the f regulation size Did the error occur on all connected AMPs Turn on the power supply of the system again Check the settings of the AMP that If the similar error repeatedly the error occurred occurs
82. occurred in the operation t Turno ie POMS supply and Operation Each axis turn it on again 3031H processing of each axis due to any N A abnormal end reason All axes If the error occurred repeatedly please contact us Check the setting values of the The operation stopped as an error positioning gata tor the Interpolation interpolation operation 3033H occurred on other interpolation axis Each axis operation error If the error occurred repeatedly during the interpolation operation with the correct setting values please contact us The torque value exceeds the sotting upperand loner mn Design the system within the values Torque range that the torque of the motor 3050H Eachaxis A does not exceed the judgment judgment error This error occurs when setting valie torque judgment to Available j at Check the torque judgment value annunciation method to Error The actual speed exceeded the setting upper and lower limit Design the system within the values range that the actual speed of the Un Spend motor does not exceed the 3051H judgment value Eachaxis A judgment value Check the actual speed judgment value Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 9 15 3 5 Setting Value Errors From 0x4000 These are the errors in the various setting values specified using the Configurator PM or ladder
83. occurrences of errors at axis 6 axis 6 17AH Error code annunciation Announces the code when an error occurred 17BH buffer 1 of axis 6 17CH Error code annunciation Announces the code when an error occurred 17DH buffer 2 of axis 6 17EH Error code k annunciation Announces the code when an error occurred 17FH buffer 3 of axis 6 180H Error code annunciation Announces the code when an error occurred 181H buffer 4 of axis 6 182H Error code annunciation Announces the code when an error occurred 183H buffer 5 of axis 6 184H Error code annunciation Announces the code when an error occurred 185H buffer 6 of axis 6 186H Error code annunciation Announces the code when an error occurred 187H buffer 7 of axis 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 21 Bank oireet Name Descriptions address Number of error 189H occurrences of Announces the number of occurrences of errors at axis 7 axis 7 18AH Error code annunciation Announces the code when an error occurred 18BH buffer 1 of axis 7 18CH Error code annunciation Announces the code when an error occurred 18DH buffer 2 of axis 7 18EH Error code annunciation Announces the code when an error occurred 18FH buffer 3 of axis 7 190H Error code annunciation Announces the code when an error occurred 191H buffer 4 of axis
84. operation sample Set the synchronous group to Enabled you want to change the setting for changing the synchronous group 21 12 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 2 10 Sample Program Refer to Synchronous operation ladder program for demo fp 21 2 11 Errors occurred in Synchronous Operation The following operations are errors in the synchronous operation The operating synchronous group cannot be changed during the synchronous operation If the group is changed during the synchronous operation the synchronous group error 3040H will occur and the the operating axis will stop If the AMP error occrus during the synchronous operation the synchronous operation error 3043H will occru on other corresponding axes and the axes will stop The home return method during the synchronous operation vaires depending on the synchronous modes Synchronous mode A There is no restriction on the home return method however it is necessary to set the synchoronous operation to disabled before the home return If the synchronous operation is set to enabled the home return prodess will be an error Synchronous mode B If a home return method other than usable methods has been set an error occurs when starting the home return process and the home return process cannot be executed The following settings specified for the synchronous group become erro
85. parenthesis are the flag and contact numbers for the FP2 Precautions on programming e Once starting the table 1 the operation continues up to the table 3 automatically The last table should be set to E End point e f any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation Limit input ON Not executable Error occurs When C point control is read Limit input ON Not executable Error occurs executed Beverse Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs During C paint contr l Forward Limit input ON Deceleration stop Error occurs Reverse Limit input ON Deceleration stop Error occurs 8 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 2 Interpolation Control Type of perations For the interpolation control there are 2 axis linear interpolation control 2 axis circular interpolation control 3 axis linear interpolation control and 3 axis spiral interpolation contro
86. point is used as the X axis of the pass point 7 22 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Parameter Name Description Y axis movement amount Input the movement amount of Y axis The movement amount depends on the unit system specified in the parameter settings Y axis auxiliary point It is used when the circular spiral interpolation is selected and ignored when the linear interpolation is selected The details of the auxiliary points differ depending on the type of circular interpolation Circular interpolation Center point The auxiliary point is used as the Y axis of the center point Circular interpolation Pass point The auxiliary point is used as the Y axis of the pass point Acceleration decelera tion pattern Select the pattern to accelerate decelerate Acceleration time ms Set the acceleration time It is set in the ms unit Deceleration time ms Set the deceleration time It is set in the ms unit Interpolation speed Set the interpolation speed Dwell time ms Set the time from when the positioning command in the end point control completes till when the completion flag Y contact turns on For the continuance point control it is the wait time between each table For the pass point control the dwell time is ignored Auxiliary output Set the auxiliary output code When the au
87. program 0000H and write AAAAH over Time out of 6666H is 30 seconds 4 The positioning unit copies the content of the shared memory into FROM 5 The positioning unit checkes writing When OK The unit sets 0000H When NG The unit sets FFFFH 6 When confirming 0000H by the ladder program the operation will be completed successfully When confirming FFFFH an error will occur In that case write OOOOH over in this area When the recalculation request signal Recalculation Y_7 contact turns on the positioning 085H starting table unit will recalculate the positioning data 1 1 to 600 number of all the axes from this table number to No 600 Request for 0816 writing to FROM 00H 17 4 3 Operation Speed Rate Area Offset Default Settin Bank Name Descriptions E address value range Unit All operations relating to axes positioning JOG home return can be perfomred at the specified rate 100 1to 100 96 The unit is and can be input in the range of 1 to 100 96 Operation speed 00H 088H rate 17 14 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 4 4 Setting Parameter Control Area The interpolation groups for each axis are set in this area For the axis connected to network set the bit of the corresponding axis to 1 in any setting as below
88. pulse widths 50ns 1500 V P P with pulse widths 50ns and 1us based on in house and 1ps based on in house measurements measurements Operating environment Free of corrosive gases and excessive dust Internal current consumption 300 mA or less 300 mA or less Weight Approx 90 g Approx 120 g 17 1 2 Network Specifications Item Description Baud rate 100 Mbps Physical layer 100 BASE TX Full duplex Cable Shielded twisted pair cable category 5e or more Topology Ring Insulation Pulse transformer Common mode choke is built in Connector 8 pin RJ45 Max cable length Between nodes 60 Total length 200 m Communication cycle 0 5 ms 1 ms for update of position command Max number of axes 8 axes Operation command Position command 17 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 1 3 Performance Specifications of Units Positioning unit RTEX individual specifications Hem Description 2 axis type 4 axis type 8 axis type Product number AFPG43610 AFPG43620 AFPG43630 Part number FPG PN2AN FPG PN4AN FPG PN8AN mariner 2 axes 1 system 4 axes 1 system 8 axes 1 system controlled Occupied I O points Input 128 points Output 128 points SX128 SY128 Restriction on installation A maximum of 2 units can be connected on the left side of th
89. sensor of the master axis to the AMP of the slave axis too Limit method Connect the master sensor of the master axis to the AMP of the slave axis too 21 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 2 4 Synchronous Operation Setting Note the precautions below when using the synchronous operation One slave axis can be specified for each synchronized master axis The master axis can belong to an inerpolation group however the slave can be specified for independent axis Up to 2 groups of master slave axes can be set If the synchronous setting is specified the synchronous operation is always performed on the master and slave axes The slave axis can be oprated individually by the setting Synchronous group n Enabled Disabled in the shared memory In the synchronous mode A only The slave axis is synchronized with the master slave during the synchronous operation however the operations of the master and slave axes may not be synchronized due to a reason such as a mechanical error The Positioning Unit RTEX monitors the current values of the master and slave axes and it stops the operation if the difference in the operations of the master and slave axes exceeds a certain value synchronous operation difference value 21 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 2 5 Synchronous Operation Setti
90. the positioning unit RTEX Positioning unit RTEX ia 1 Change to Positioning unit RTEX gt gt 2 lt 1 CW cw gt 5 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 1 5 Procedure 4 Checking Input Signals Check the input of the over limit switch for the protection circuit connected to the AMP and the input of the near home DOG switch Confirm whether the input of the signals is properly loaded into the positioning unit RTEX or not with operating each switch forcibly The statuses of the input of switches can be confirmed on the status indication disply of the Configurator PM u Key Point If the operating direction of the motor is opposite to the position of the limits and after the installation of the over limit switch the connection of the limits and can be set to Reverse connection in the parameter setting of the Configurator PM Positioning unit RTEX 4 Near home ON Over Near Over limit home limit switch switch switch 5 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 1 6 Procedure 5 Checking Rotating and Moving Directions and Moving Distance Check whether the rotating and moving direction of the motor and the moving distance is correct or not
91. the next table from the completion of the positioning talble deceleraiton stop For the last table E point as well as the E point control the dwell time is the time taken from the completion of the position command until the operation done flag turns on Dwell time Dwell time Dwell time BUSY flag L Operation done flag 13 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 2 Software Limit The system is designed to mechanically set the limit and limit to restrict the moving range of a motor Separately from the mechanical limits and the software limit is a function to add the limits for the absolute coordinate managed within the positioning unit RTEX As the software limit is a function for the protection of the motor and AMP it is recommended to set them to the values within the range of the mechanical limits and as below Limit Table Limit 0 Ball screw uin lpm CT side 0 i Lower limit value of Upper limit value M wes software limit of software limit When exceeding the setting range of the software limit upper and lower limit values an error occurs and the deceleration stop is executed It is necessary to clear the erro and move the motor into the range of the softwarelimit using an operation such as JOG operation after the stop Table The table can move within the setting range of the softwa
92. the pulser operation of the corresponding AMP Pulser operation The multiple setting and other settings for the pulser operation enabled are specified by Configurator PM or the pulser operation setting area in the shared memory The operation is the level type lt PO lt 2 N e gt lt 2 N w Requests the servo free for the corresponding AMP The servo free is executed by the ON edge of this contact The operation is the edge type 6 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contact allocation Target 6 8 lt lt lt lt aN o N lt 2 e o gt lt lt Xxx XII m b ece3 n o ql R lt N a lt RN a a lt si NIN NIN lt 5 O a O E N Ex N m lt Eh m A a lt xxx Aa 2 2 2 2 01 O1 O1 C1 WY15 P o c o 91 UJ ol Request error clear Request warning clear General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 G
93. this button when a warning occurred The target speed of the home return specified in the parameter settings for each axis is regarded as 100 and the operation is executed in the specified speed rate Spesdtote Clicking Speed rate shows the dialog for inputting the value The speed rate changed here is effective only in the tool operation and it changes to the original speed rate automatically once the tool operation quits ae Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 2 Click Change in the starting table number field to specify the starting table number Specify the starting table number and click Operate to start the positioning opration Note e In the positioning unit RTEX the positioning operation for the interpolation group is performed to request the start and stop for the smallest number of axes in the group e In the tool operation the positioning operation for the interpolation group is performed by clicking Operate for any axes However due to the above specifications a warning message is shown when any Operate button other than the one for the smallest axis number is clicked 3 Click Change for the zero offset to change the offset after the home return operation The value can be changed during the positioning operation as well
94. to indicate the Tool operation from Configurator PM All axes Tool operation The start up from I O is not available during the Tool operaiton If it performs a warning will occur euam o gt If the recalculation request contact Y_7 turns on the positioning data of the shared memory standard area will be restructured This contact will turn on after restructuring completes If the recalculation request contact Y 7 turns on again this contact will be off once Note It is used only when the positioning data has been rewritten by laddar programs All axes Recalculation done Each axis connection Turns on when the corresponding axis exists 5 axis confirmation 6 axis 7 axis Turns on when the corresponding axis is in the state of servo lock 16 BUSY Turns on when the corresponding axis is operating 1D 1F 17 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contact allocation Target ER N a x a N x lt 2 N x lt zr N x x lt X lt m Olas an x x x lt a N 26 m gt ed pe x DOP PO x 2 lt gt lt gt lt lt ayayaya w o e 99 R x lt zz oe WX13 w a a a P eo o 1 o 25 wo to Z w O gt lt w B in wo
95. warning code from the buffer number 1 in order 1C8H Warning code annunciation bit Name Default Descriptions 1C9H buffer 4 of axis 1 31 to 0 Warming code annunciation buffern Announces warning codes 1CAH Warning code annunciation 1CBH buffer 5 of axis 1 1CCH Warning code annunciation 1CDH buffer 6 of axis 1 1CEH Warning code annunciation 1CFH buffer 7 of axis 1 No of warning 1D1H occurrences of Announces the number of occurrences of warnings at axis 2 axis 2 1D2H Warning code annunciation Announces the code when a warning occurred 1D3H buffer 1 of axis 2 1D4H Warning code annunciation Announces the code when a warning occurred 1D5H buffer 2 of axis 2 1D6H Warning code annunciation Announces the code when an error occurred 1D7H buffer 3 of axis 2 17 23 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Bank oireet Name Descriptions address 1D8H Warning code annunciation Announces the code when a warning occurred 1D9H buffer 4 of axis 2 1DAH Warning code annunciation Announces the code when a warning occurred 1DBH buffer 5 of axis 2 1DCH Warning code annunciation Announces the code when a warning occurred 1DDH buffer 6 of axis 2 1DEH Warning code annunciation Announces the code when a warning occurred 1DFH buffer 7 of axis 2 No of war
96. where the first phase Z was detected performing the reverse operation after the stop by a stopper is regarded as origin Home return direction 44 Phasez J _L Home return creep speed t L a 2 22 1 10 Data Set Method The current value is considered as the origin Home 4 Current value position 22 1 11 Sample Program Refer to Home return ladder program for demo fp 22 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 23 Supplementary functions Ver 1 13 or later Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 23 1 Realtime Torque Limit Operational Overview It enables the torque limit value to be changed during the Busy state of the JOG operation or positioning operation The torque value cannot be changed during the Busy state in axis operation by the Positioning Unit RTEX Ver 1 00 and ver 1 01 23 1 1 Restrictions on Real time Torque Limit The realtime torque limit function cannot be used for the home return operation As a paramter of AMP Primary torque limit value is used do not change the used torqu e limit by PANATERM etc when using the torque limit 23 1 2 Sample Program Refer to Real time limit ladder program for demo fp 23 1 3 Each Axis Information amp Monitor Area la Reference 17 5 2 Each Axis Information amp Mon
97. 0 pps Target speed 2 20000 pps lir 110 32 1075 009 unis Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram BUSY flag Y118 X18 BUSY flag Y118 X18 4 Operation done flag X120 X20 j t LR J2 J1 The numbers in parenthesis are the flag and contact numbers for the FP2 Writing the target speed 2 Operations of each contact e The BUSY flag X118 FP2 X18 indicating the state that a motor is running turns on when the JOG operation started and it turns off when the operation completed The operation done flag FP X120 FP2 X20 indicating the state that an operation completed turns on when the JOG operation completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the stop position of the JOG operation 9 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Sample program RO Y108 Y88 for axis 1 R1 Y150 Y130 3 pF Servo off Servo off for axis 1 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 6 s Tool Connection Servolock Error for Start up for all
98. 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 3 Installing Configurator PM Procedure for installing Configurator PM in a personal computer The Configurator PM is installed in a personal computer using the procedure outlined below For Windows NT Windows 2000 please be aware that the Configurator PM cannot be installed unless you log in at the Administrator level when booting the system 1 Exit any applications currently running If there are any applications currently running exit them 2 Insert the setup CD Insert the Configurator PM setup CD in the CD drive 3 Select Run Click on the Start button at the lower left of the screen or press the Ctrl ESC keys to display the start menu of Windows Operation System Select Run Internet 22 My Documents Internet Explorer 2 Recent Documents gt E mail E e My Pictures My Musi MSN Explorer 7 My Music ws My Computer Windows Media Player 4 gt Control Panel Q Windows Movie Maker Microsoft Office Outlook Set Program Access and Defaults Tour Windows Printers and Faxes g Files and Settings Transfer Wizard and Support B Microsoft Office Excel 2003 Search 2 Log Off Turn OFF Computer All Programs gt 4 Enter the name of the file on which the function is to be run When Run is selected the dialog box shown at the
99. 073 741 823 to 1 073 741 823 pulse X axis auxiliary point 0 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 um Y axis movement amount 20000 pulses um 1 1 073 741 823 to 1 073 741 823 um Y axis auxiliary point 10000 pulses inch 0 00001 inch 10 737 41823 to 10 737 41823 inch Z axis movement amount 5000 pulses inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree Z axis auxiliary point 0 degree 1 degree 1 073 741 823 to 1 073 741 823 degree Acceleration L Linear L Linear S S shaped acceleration deceleration deceleration pattern Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps pm 1 to 32 767 000 um s mierpolation speed 10000 pps Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 8 19 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Operation diagram Composite speed t ms Positioning start contact of axis 1 Y110 Y90 BUSY flag of axis 1 Y118 X18 PARR wee E a EE EE BUSY flag of axis 2 Y119 X19 ee Sy grat BUSY flag of axis 3 YTTYAQCA 3 Teu RIelrll Operation done flag of axis 1 X120 X20 Operation done flag of axis 2 X121 X21 Operation done flag of axis 3 X122 X22 Current value of axis 1 20000 XXXAXX X 20000 Current value of axis 2
100. 1 H 100 Starting table setting o 0 c Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R2 R10 R1 R12 118 18 119 19 1 or 4 4 Posttoning star Position Enabled flag Enabled flag Enabled flag Busy flag Busy flag Busy flag Positioning control start foraxis1 foraxis2 foraxis3 foraxis1 foraxis2 foraxis3 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e To start the interpolation control turn on the positioning start contact of the axis with the smallest number in the same group e The values of the X axis auxiliary point and Y axis auxiliary point are invalide for the linear interpolation e When setting the long axis speed the composite speed is faster than the long axis speed f any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit 8 18 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 2 4 Setting and Operation of Three Axis Linear Interpolation The example below is
101. 10000 30000 Current value of axis ____________ Operations of each contact e The BUSY flag for the axes 1 2 and X118 X119 X11A FP2 X18 X19 X1A indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag for the axes 1 2 and 3 FPX X120 X121 X122 FP2 X20 X21 X22 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position 8 20 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Sample program RO Y108 Y88 L o Servo Servo on for ads 1 Y109 Y89 Servo on for axis 2 Y10A Y8A Servo on for axis 3 R1 Y150 Y130 e DF Servo off Servo off for axis 1 Y151 Y131 Servo off for axis 2 Y152 Y132 Servo off for axis 3 X100 X0 X104 X4 2X108 X8 X110 X10 160 60 R10 tion Servolock Error for Start up enabled e Beto foraxis 1 axis 1 flag for axis 1 X109 X9 X111 X11 X161 X61 R11
102. 107 374 1823 inch degree 0 1degree 107 374 182 3 to 107 374 182 3 degree idegree 1degree 1 073 741 823 to 1 073 741 823 degree The area to set the auxiliary points center poijnt pass point coordinates in case of the circular interpolation or spiral interpolation control 00AH bit Name Default Descriptions 31 to 0 Auxiliary point 0 Setting range 1 073 741 823 to 1 073 741 823 Any other settings will be errors Auxiliary point The interpretation alters depending on the unit setting pulse 1 073 741 823 to 1 073 741 823 pulse 4t m0 um 107 374 182 3 to 107 374 182 3 um u m 1 ym 1 073 741 823 to 1 073 741 823 um 00BH inch 0 00001inch 10 737 41823 to 10 737 41823 inch inch 0 0001inch 107 374 1823 to 107 374 1823 inch degree 0 1degree 107 374 182 3 to 107 374 182 3 degree idegree 1degree 1 073 741 823 to 1 073 741 823 degree After the completion of the positioning control of this table when the mode is C Continuation point stops the motor operation for the dwell time and starts the operation of the next table when the mode is P Pass point this setting is ignored 00CH Dwell time when the mode is E End point the positioning done contact will turn on after waiting for the dwell time bit Default Descriptions 15 to 0 Dwell time 0 0 to 32 767 The unit is ms Any other settings will be errors Sets the data to be output to the auxiliary output code in each axis information amp monitor area by th
103. 18FH 190H 191H 192H 1995 Refer to the descriptions of axis 1 195H 196H 197H 198H 199H 01H 19AH Kan a Refer to the descriptions of axis 1 19DH 19EH 19FH 1A0H 1A1H 1A2H UH ricus Refer to the descriptions of axis 1 1A5H 1A6H 1A7H 1BOH Status indication of axis 7 Refer to the descriptions of axis 1 1B1H Sc termina input Refer to the descriptions of axis 1 monitor of axis 7 1B2H Torque command of axis 7 Refer to the descriptions of axis 1 1B3H Actual speed of axis 7 Refer to the descriptions of axis 1 1B8H Pieve table or execution Refer to the descriptions of axis 1 done table of axis 7 1B9H Auxiliary output cogot Refer to the descriptions of axis 1 axis 7 1BCH jo 1BDH Feedback value of axis 7 Refer to the descriptions of axis 1 EEN pela ata y Refer to the descriptions of axis 1 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 35 Axis information of axis 8 Bank ote Name Descriptions address 1C0H 1C1H ean System ID of axis 8 1C4H Brand name or vendor Refer to the descriptions of axis 1 1C5H name 1C6H 1C7H 1C8H 1C9H 1CAH EE a eis queen Refer to the descriptions of axis 1 1CDH 1CEH 1CFH 1DOH 1D1H 1D2H ae ona Refer to the descriptions of axis 1 1D5H 1D6H 1D
104. 398 130H Starting address of table 399 140H Starting address of table 400 150H Starting address of table 401 160H Starting address of table 402 170H Starting address of table 403 180H Starting address of table 404 190H Starting address of table 405 1A0H Starting address of table 406 1BOH Starting address of table 407 1COH Starting address of table 408 1DOH Starting address of table 409 1E0H Starting address of table 410 1FOH Starting address of table 411 200H Starting address of table 412 210H Starting address of table 413 220H Starting address of table 414 230H Starting address of table 415 240H Starting address of table 416 250H Starting address of table 417 260H Starting address of table 418 270H Starting address of table 419 280H Starting address of table 420 290H Starting address of table 421 2A0H Starting address of table 422 2BOH Starting address of table 423 2COH Starting address of table 424 2DOH Starting address of table 425 2bE0H Starting address of table 426 2FOH Starting address of table 427 300H Starting address of table 428 310H Starting address of table 429 320H Starting address of table 430 330H Starting address of table 431 340H Starting address of table 432 350H Starting address of table 433 360H Starting address of table 434 370H Starting address of table 435 380H Starting address of table 436 390H Starting address of table 437 Starting address of table 438 3BOH Starting addres
105. 47H 148H 149H 14AH HESS vide Refer to the descriptions of axis 1 14DH 14EH 14FH 150H 151H 152H 1935 Refer to the descriptions of axis 1 155H 156H 157H 158H 159H 01H 15AH E circo Refer to the descriptions of axis 1 15DH 15EH 15FH 160H 161H 162H n Refer to the descriptions of axis 1 165H 166H 167H 170H Status indication of axis 6 Refer to the descriptions of axis 1 171H External terminai input Refer to the descriptions of axis 1 monitor of axis 6 172H Torque command of axis 6 Refer to the descriptions of axis 1 173H Actual speed of axis 6 Refer to the descriptions of axis 1 178H Reltveataoe execution Refer to the descriptions of axis 1 done table of axis 6 179H Auxiliary utput code of Refer to the descriptions of axis 1 axis 6 17CH ve 17DH Feedback value of axis 6 Refer to the descriptions of axis 1 19 ro od Aso Refer to the descriptions of axis 1 17 34 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis information of axis 7 Bank eget Name Descriptions address 180H 181H 182 System ID of axis 7 184H Brand name or vendor Refer to the descriptions of axis 1 name 185H 186H 187H 188H 189H 18AH ER d eA Refer to the descriptions of axis 1 18DH 18EH
106. 5H EEPROM check code error protection Refer to the specifications of AMP Each axis 0026H Drive inhibit input protection Refer to the specifications of AMP Each axis O 0028H Absolute system down error Refer to the specifications of AMP Each axis 0029H Absolute counter over error Refer to the specifications of AMP Each axis 002AH Absolute overspeed error Refer to the specifications of AMP Each axis 002CH Absolute one rotation counter error Refer to the specifications of AMP Each axis 002DH Absolute multi rotations counter error Refer to the specifications of AMP Each axis 002FH Absolute status error Refer to the specifications of AMP Each axis 15 14 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Error code Error name Description Object Clear 0030H Encoder phase Z error Refer to the specifications of AMP Each axis 0031H Encoder CS signal error Refer to the specifications of AMP Each axis 0032H External scales status 0 protection error Refer to the specifications of AMP Each axis 0033H External scales status 1 protection error Refer to the specifications of AMP Each axis 0034H External scales status 2 protection error Refer to the specifications of AMP Each axis 0035H External scales status 3 protection error Refer to the specifications of AMP Each axis 0036H External scales status 4 protection error R
107. 6 Servo ready 0 0 Cannot shift to the on state 1 Servo ready 7 Servo active 0 0 Servo off 1 Servo on 15 to 8 0 Stores the information of I O connected to the AMPs of each axis bit Name Default Descriptions 0 CWL 0 1 CCWL 0 01H External terminal 2 HOME proximi 0 0 Non active 031H input monitor of 3 EX IN1 0 1 Active axis 1 4 EX IN2 0 5 EX IN3 0 6 EX SON EX IN4 0 7 EMG STP 15 08 Torque 0 to 032H command of Stores the torque monitor value 5000 0 1 96 axis 1 0 1 Actual speed of i 0 to rps or 033H Stores the actual speed monitor value axis 1 5000 0 1 Acitve table m Stores the number of active positioning 1 to 038H execution done 1 table or when the operation completed 600 table of axis 1 Auxiliary output 039H y Stores the auxiliary output code 0 code of axis 1 03CH Feedback value Stores the current value absolute 0 pulse 03DH of axis 1 coordinate of AMP 03EH Unit system conversion Stores the current value after the unit 0 _ feedback value was converted 03FH 7 of axis 1 17 29 Axis information of axis 2 Offset Bank Name Descriptions address P 040H 041H 42H 0 System ID of axis 2 043H re Brand name or vendor Refer to the descriptions
108. 7 192H Error code annunciation Announces the code when an error occurred 193H buffer 5 of axis 7 194H Error code annunciation Announces the code when an error occurred 195H buffer 6 of axis 7 196H Error code annunciation Announces the code when an error occurred 00H 197H buffer 7 of axis 7 Number of error 199H occurrences of Announces the number of occurrences of errors at axis 8 axis 8 19AH Error code annunciation Announces the code when an error occurred 19BH buffer 1 of axis 8 19CH Error code annunciation Announces the code when an error occurred 19DH buffer 2 of axis 8 19EH Error code annunciation Announces the code when an error occurred 19FH buffer 3 of axis 8 1A0H Error code annunciation Announces the code when an error occurred 1A1H buffer 4 of axis 8 1A2H Error code annunciation Announces the code when an error occurred 1A3H buffer 5 of axis 8 1A4H Error code annunciation Announces the code when an error occurred 1A5H buffer 6 of axis 8 1A6H Error code annunciation Announces the code when an error occurred 1A7H buffer 7 of axis 8 17 22 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 4 9 Warning Annunciation amp Clear Area When a warning occurs that does not lead to the stop the warning and the number of occurrences for each axis will be stored in this area Once the warning clear is executed the warning and number of occurrences will be clea
109. 73 Web www ctiautomation net Email info ctiautomation net 17 4 8 Error Annunciation amp Clear Area When an error occurs that leads to the stop the error and the number of occurrences for each axis will be stored in this area Once the error clear is executed the error and number of occurrences will be cleared and then the error will be judged again If the error condition still continues the error will occur again even after the execution of error clear When an error targeted to all axes such as a network failure occurs it will be stored in the error annunciation buffers of all axes Up to 7 errors are stored in the error history The error clear can be executed by the error clear contact as well Bank orree Name Descriptions address Executes the error clear for each axis bit Name Default Descriptions 0 Error clear of axis 1 0 1 Error clear of axis 2 0 Error clear 2 Error clear of axis 3 0 111H individual axis 3 Error clear of axis 4 0 0 No error clear setting 4 Error clear of axis 5 0 1 Executes error clear 5 Error clear of axis 6 0 clear the positioning unit 6 Error clear of axis 7 0 7 Error clear of axis 8 0 8to 15 Number of error Announces the number of occurrences of errors at axis 1 129H occurrences of bit Name Default Descriptions axis 1 15 to 0 NO of error occurrences Announces No of error of axis 1 currently occurre
110. 73 Web www ctiautomation net Email info ctiautomation net 3 1 Wiring of Network Use the LAN cable with the category 5e shielded type for the wiring of the network To prevent the cable from coming off securely connect the connector of the cable to the network connector RJ45 connector of the unit The length between each node should be within 60 m and the total length of the communication loop should be within 200 m AMP AMP AMP Positioning unit RTEX EJ Total length Within200 m IHJ 7 Ue 3 Within 60 m Within 60 m Within 60 m 3 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 2 Network Connector RJ45 plug is connected to the network connector Pins of RJ45 plug 1 8 Connecting diagram AMP Positioning unit RTEX i 3 White Green n t T 1 White Orange IN lt s RJ45 5 White Blue T puo 1 1 7 56 4 7 White Brown 3 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 3 Wiring of Pulser Input Connector Supplied connector Suitable wire A connector of the spring connection type is used Use the following suitable wires for the wiring Supplied connector socket The connector socket manufactured by Phoenix Contact Co
111. 7H 1D8H 1D9H 01H 1DAH a EBH NS Refer to the descriptions of axis 1 1DDH 1DEH 1DFH 1E0H 1E1H 1E2H E pedea RES Refer to the descriptions of axis 1 1E5H 1E6H 1E7H 1FOH Status indication of axis 8 Refer to the descriptions of axis 1 1F1H External terminai input Refer to the descriptions of axis 1 monitor of axis 8 1F2H Torque command of axis 8 Refer to the descriptions of axis 1 1F3H Actual speed of axis 8 Refer to the descriptions of axis 1 1F8H Reig iano or execution Refer to the descriptions of axis 1 done table of axis 8 1F9H Auxiliary gutput code of Refer to the descriptions of axis 1 axis 8 1FCH 1FDH Feedback value of axis 8 Refer to the descriptions of axis 1 Sea se Refer to the descriptions of axis 1 17 36 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 6 Details of Each Axis Setting Area in Shared Memory 17 6 1 Configuration of Each Axis Setting Area The shared memory is composed of banks The each axis setting area is allocated in the banks 02H to 51H in the shared memory The each axis setting area is used to store positioning parameters and positioning data and the setting values are allocated to every address from the axes 1 to 8 The positioning setting area of each axis is composed of 600 tables of the standard area and 25 tables of the extended area Shared memory map Bank 02H 000 Bank 02H Parameter setting a
112. 823 to 1 073 741 823 pulse pper limit o ut m 0 1 u m 107 374 182 3 to 107 374 182 3 software limit um 1 ut m 1 073 741 823 to 1 073 741 823 inch 0 00001inch 10 737 41823 to 10 737 41823 00DH inch 0 0001inch 107 374 1823 to 107 374 1823 degree 0 1degree 0 0 to 359 9 degree degree 1degree 0 to 359 degree Any other settings will be errors 17 38 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Offset es Default Setting Descriptions Unit address value range Sets the lower limit value of the software limit for absolute coordinates bit Name Default Descriptions OOEH 31 to 0 Lower limit of 1 073 741 823 Lower limit of software limit software limit Interpretation is changed by the unit setting L limit of pulse 1 073 741 823 to 1 073 741 823 pulse OWO IMIE O 0 1 107 374 182 3 to 107 374 182 3 software limit um 1 1 073 741 823 to 1 073 741 823 inch 0 00001inch 10 737 41823 to 10 737 41823 O0FH inch 0 0001inch 107 374 1823 to 107 374 1823 degree 0 1degree 0 0 to 359 9 degree degree 1degree 0 to 359 degree Any other settings will be e
113. 88 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 10 Manual Operation Home Return Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 10 1 Setting and Operation of Home Return The example below is a case when using the with the positioning unit RTEX installed in the slot 0 The unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Home return Table Ball screw zrn VL side F3 Near home switch side Home position Setting The parameters necessary for the setting of the home return are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range Return setting 0 Near point dog type 0 Near point dog type Return direction 0 Limit direction 0 Limit direction 1 Limit direction Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps Target TOC ODED um 1 to 32 767 000 um s polum ease speed 1000 pps Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram Target speed Home return creep speed Near home DOG i o phase i l i Home return start contact Y118 Y98 D BUSY flag X118 X18 4 EN Home return done flag X128 X28 AM 7 Operati
114. 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 2 Parts and Functions Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 1 Parts and Functions Positioning Unit RTEX Expansion cover Operation status T display ei LEDs Pulser input connector connector Expansion hook DIN hook 3 poisitions FP2 Positioning Unit RTEX Operation status display LEDs Network N connector Pulser input j connector H 2 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 2 Operation Status Display LEDs 4 gt 02090 2 3 2 205020280 lt 2 axis type gt STATUS LINK ERROR ALARM AB 1 2 FP Positioning Unit RTEX Name Color Status Remarks STATUS Green LED blinks Waiting for network establishment LED on Network establishment LINK Green LED off Not connected The state that the TX of LED on Normal connection the sending node and the RX of the own node are electrically connected properly ERROR Red LED off Normal In case of warning the LED blinks warning occurred operation continues LED on An error occurred In case of error the operation stops ALARM Red LED off Normal If the LED tu
115. 9H 4 axis Positioning data setting area Standard for Each axis setting 600 points Extended for 25 points area Parameter setting area 2AH to 33H 5 axis Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area 34H to 3DH 6 Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area 3EH to 47H 7 axis Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area 48H to 51H 8axis Positioning data setting area Standard for 600 points Extended for 25 points Note Firstly confirm that the link establishment annunciation flag is on when reading the axis information area using the ladder program 17 12 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 4 Details of Common Area in Shared Memory 17 4 1 Configuration of Common Area The shared memory is composed of banks The common area is allocated in the bank 00H in the shared memory and is used for the common settings of each axis Shared memory map 4 080H 085H Setting parameter control area Common areas 088H Operation speed rate area ee ce ee OBO 0B4H Axis group setting area 000H 000H 0D7H Home change data area OD8H OE7H Torque change area 100H 107H Positioning table se
116. Busy flag Positioning control start for axis 1 foraxis2 foraxis1 foraxis2 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e To start the interpolation control turn on the positioning start contact of the axis with the smallest number in the same group e The values of the X axis auxiliary point and Y axis auxiliary point are invalide for the linear interpolation e When setting the long axis speed the composite speed is faster than the long axis speed f any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit 8 13 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 2 2 Setting and Operation of Two Axis Circular Interpolation The example below is the case of a single axis control when using the with the positioning unit RTEX installed in the slot 0 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately
117. ID of axis 5 104H Brand name or vendor Refer to the descriptions of axis 1 name 105H 106H 107H 108H 109H 10AH SER Refer to the descriptions of axis 1 10DH 10EH 10FH 110H 111H 112H nau Refer to the descriptions of axis 1 115H 116H 117H 118H 119H 01H 11AH HIA Refer to the descriptions of axis 1 11DH 11EH 11FH 120H 121H 122H 1225 ead Refer to the descriptions of axis 1 125H 126H 127H 130H Status indication of axis 5 Refer to the descriptions of axis 1 131H External terminal input Refer to the descriptions of axis 1 monitor of axis 5 132H Torque command of axis 5 Refer to the descriptions of axis 1 133H Actual speed of axis 5 Refer to the descriptions of axis 1 138H Leta Or ioc Refer to the descriptions of axis 1 done table of axis 5 139H Auxiliary output cod ot Refer to the descriptions of axis 1 axis 5 13CH jo 13DH Feedback value of axis 5 Refer to the descriptions of axis 1 EH E AA Refer to the descriptions of axis 1 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 33 Axis information of axis 6 Bank eot Name Descriptions address 140H 141H on System ID of axis 6 144H Brand name or vendor Refer to the descriptions of axis 1 name 145H 146H 1
118. LC Positioning unit RTEX Power supply for PLC Power supply for AMP 3 Power supply for O device 4 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 5 Preparation For Operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 1 Procedures For System Establishment 5 1 1 Procedure 1 Wiring Use the LAN cable with the Ethernet category 5e shielded type for the wiring of the network Connect the positioning unit RTEX with each AMP in a loop Connect the TX of the positioning unit RTEX to the RX of an AMP and then connect the TX of the AMP to the RX of the next AMP At the end connect the TX of the last AMP to the RX of the positioning unit RTEX Note Turn off the power supply of the system before wiring cables Positioning unit RTEX 1 grevsreters 5 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 1 2 Procedure 2 Axis Numbers and Unit Numbers of AMP The axis numbers of the positioning unit RTEX agree with the unit numbers of the rotary switch of the AMP As the connected order on the network is not related to the axis numbers the axis numbers can be determined a
119. Panasonic PROGRAMMABLE CONTROLLER FP gt FP2 Positioning Unit RTEX Technical Manual ee P X FP2 ES RTEX Technical Manual ARCTIFAPTE S Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Safety Precautions Observe the following notices to ensure personal safety or to prevent accidents To ensure that you use this product correctly read this User s Manual thoroughly before use Make sure that you fully understand the product and information on safe This manual uses two safety flags to indicate different levels of danger WARNING If critical situations that could lead to user s death or serious injury is assumed by mishandling of the product Always take precautions to ensure the overall safety of your system so that the whole system remains safe in the event of failure of this product or other external factor Do not use this product in areas with inflammable gas It could lead to an explosion Exposing this product to excessive heat or open flames could cause damage to the lithium battery or other electronic parts Battery may explode if mistreated Do not recharge disassemble or dispose of fire CAUTION If critical situations that could lead to user s injury or only property damage is assumed by mishandling of the product To prevent excessive exothermic heat or smoke generation use this product at the values less than the maximum of the characte
120. Pass point Control method I Increment I Increment A Absolute X axis movement 40000 Pulse 1 073 741 823 to 1 073 741 823 pulse pulses amount um 0 1 um 107 374 182 3 to 107 374 182 3 um X axis auxiliary point 0 um 1 1 073 741 823 to 1 073 741 823 um Y axis movement 5000 pulses inch 0 00001 inch 10 737 41823 to 10 737 41823 inch amount inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch Y axis auxiliary point 0 degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree L Linear L Linear S S shaped acceleration deceleration deceleration pattern Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps 1 to 32 767 000 um s Interpolation sp ed 10080 ppe Inch 0 001 to 32 767 000 inchs degree 0 001 to 32 767 000 revis Operation diagram Positioning start contact of axis 1 Y 110 Y90 BUSY flag of axis 1 Y118 X18 BUSY flag of axis 2 Y119 X19 Operation done flag of axis 1 X120 X20 Operation done flag of axis 2 X121 X21 Current value of axis 1 Current value of axis 2 10000 8 12 Composite speed t ms Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Operations of each contact The BUSY flag for the axis 1 and 2 FP X118 X119 FP2 X18 X19 indicating the state that a motor is runn
121. R101 Y120 Y100 DF 1 Forward JOG Enabled flag Busy flag Off edge of Forward JOG for axis 1 for axis 1 forward JOG for axis 1 The numbers in parenthesis are the contact numbers for the FP2 19 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Positioning start The programs in this part vary depending on the setting methods This program is the one when the data has been already set by the configurator PM When the data is set using other 2 methods please replace this part R100 X118 X18 R102 66 H pF 5 4 Reverse JOG Enabled flag Busyflag Off edge of Reverse JOG Y121 Y101 for axis 1 foraxis1 reverse JOG for axis 1 Reverse JOG R201 73 1 DF e Forward JOG Off edge of forward JOG 202 76 DF R6 R200 X119 X19 R201 Y122 Y102 79 HK 3 4 Forward JOG Enabled flag Busy flag Off edge of Forward JOG Y122 Y102 for axis 2 foraxis2 forward JOG for axis 2 Forward JOG for exis 2 R200 X119 X19 R202 86 m 9 4 Reverse JOG Enabled flag Busy flag Off edge of Reverse JOG Y123 Y103 for axis 2 foraxis2 reverse JOG for axis 2 Reverse JOG for axis 2 Pulser operation 93 R103 DF oe Off edge of Pulser operation pulser operati R100 X118 X18 R101 140 120 96 DF m Pulser operation Enabled flag Busy flag Off edge of Puls
122. Set the grouping that the interpolation operation is executed for the selected axes in the above setting interpolation group settings Independent 8 2 axis 3 axis 4 axis Interpolation group Change group Independent The area of the axes to be used as independent axes without performing the interpolation operation Interpolation group The area of the groupings of the axes to perform the interpolation operation Up to 4 groups can be specified Change group It is used to register the interpolation groups by other way than the drag and drop with the mouse Click the axis icon at the top of the window and select the groups to allocate by executing this function OK Determine the allocation of the interpolation groups Cancel Back to the previous setting for the axes to use 4 Drag the axis icon at the top of the window with the mouse and drop it in any area of the groups A to D at the bottom of the window to determine the axes of the interpolation groups interpolation group settings Independent 1 ik ik hterpolation group Change group Click OK to determine the interpolation groups 5 The data setting screen is shown which enables the setting 7 12 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 5 2 Reading from Files Read the parameter settings or data settings from files
123. Speed Torque Value Judgment These are the functions that monitor the actual speed torque of the AMP in real time and to give an error or warning when the monitored values exceed the judgment values The judgment values for the actual speed and torque can be specified for axis each and it is possible to select either to give an error or warning When an error occurs the oprationstops with the error stopdeceleration time and the next operation cannot be executed until performing the error clear When giving a warning the warning is just informed and the operation continues Actual speed judgment value Torque judgment value 94 Error stop i deceleration time Error annunciation flag 13 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 6 Imposition Flag and Completion Width Imposition The imposition flag is a flag to inform the imposition status of the AMP allocated to the I O and it turns on when the position error of the corresponding axis is within the setting range speciifed in the AMP It does not relate to the control of the positioning RTEX It is the imposiiton monitor of the AMP The imposition range must be directly specifieid in the AMP Use the PANATERM that is a setting tool for the AMP Note The PANATERM is the setting tool software for the AMP manufactured by Matsushita Electric Industrial Co Ltd Completion width It is used
124. UB Bots oto Pulser input A phase Pulser input B phase Pulser operation enabled contact Y 140 Y 120 BUSY flag Y118 X18 Operation done flag X120 X20 Current value 1000 X 1002 X 100 X 1006 X 1008 X 100 1004 The numbers in parenthesis are the contact and flag number for the FP2 i J i 1 D i 1000 Operations of each contact e The BUSY flag X118 FP2 X18 indicating the state that a motor is running turns on when a pulser operation enabled contact turned on and it turns off when the pulser operation enabled contact turned off e The operation done flag FPX X120 FP2 X20 indicating the state that an operation completed turns on when an pulser operation enabled contact turned off and it will be held until any operation among the position control JOG operation Home return and pulser operation starts 11 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Sample program RO oe Y108 Y88 Servo on for axis 1 Y150 Y130 for axis 1 X100 X0 X104 X4 X108 X8 X110 X10 160 60 R10 6 Link Connection Servolock Error for Start up Lor pl for axis 1 axis 1 enabled flag R2 R11 12 DF T zi jJ i e ol opinion Pulse operation R2 R10 X118 X18 R11 140 15 gt Pulser operation Enabled flag Busy flag Off edge of Pul
125. X with the following illustration FP X Positioning Unit RTEX F Re 2 Positioning Unit RTEX Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 1 Functions of Unit and Restrictions on Combination Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 1 1 Functions of Positioning Unit RTEX 1 1 1 Functions of Unit Network control The motion only network Realtime Express RTEX enables to easily construct a system of network servo motors using the cables with a category 5e shield AMP AMP Positioning unit RTEX ee ee LEE JM Motor Configuration of axes according to the system In accordance with the number of required axes 2 axis 4 axis and 8 axis unit are available Can confirm operations without ladder programs Using the tool operation function of the Configurator PM enables a test run without a ladder program and enables to confirm various items such as the rotating direction various input contacts or automatic operation settings Positioning unit RTEX i i Motor Servo on off Position control JOG operation Home return Start Stop Monitor Two axis and three axis interpolation controls The 2 axis
126. an error was recovered If the state when an errro occcurred is Recovered state after restoring the power supply remove the error factor and restore the power supply of the AMP After that clear the error and make the servo on request Y88 to 8F again Error type Error code State of servo when an error occurred AMP error From 0000H When an error occurred on the AMP the servo automatically becomes free regardless of the state of the error occurrence The servo lock flags X10 to X17 also turns off automatically Network communication time out 2003H When communication time out occurrred the error information on the AMP may not be obtained Therefoere the state of servo at that time is one of the followings When the Communication time out protection error occurred on the AMP When an error occurred the serveo automatically becomes free When an error occurred on the Positioning Unit RTEX no AMP error The state of servo is held even if an error occurred When the Communication time out protection error occurred on the AMP After an error was recovered make the Servo on request Y88 to 8F again lock the servo When an error occurred on the Positioning Unit RTEX no AMP error After an error was recovered the servo automatically returns to the state before the occurrence of error Other errors The state of servo is held even if an error occurred After an erro
127. art before startring positioning The positioning unit refers to the repeat count positioning control area when starting positioning When the operation completes repeats for N times the operation done signal will turn on The repeat count area will be cleared when the repeat operation completes for the target axes regardless of a single axis and interpolation group 2 Reference 17 4 7 Positioning Table Setting Area Addition of 17 4 7 Position control area Ver 1 13 or later Bank Descriptions Setting range Sets the No of times for repeating the operation starting from the position 0 to 255 Times control starting table No of the first axis until the E point non 00H Positioning repeat count ofaxs 2 Samessabow o 0 255 Times 10AH Positioning repeat count of axis 3 Same as above o _ 0to255 Times 10BH Positioning repeat countofaxis4 as above o 0to255 Times 10CH__ Positioning repeat count of axis 5 Sameasabove X 0 010255 Times I0DH Positioning repeat count of axis 6 Sameasabove o 00255 Times 10EH Positioning repeat 7 Sameasabove o 0to255 Times 10FH_ Positioning repeat count of axis 8 Sameasabove X 0 to 255 Times The following operations are performed depending on the setting values of the positioning repeat count Positioning 7 repeat count Positioning operation 0 1 The positioning repeat opera
128. art up Offset Default Settin Bank Name Descriptions e Unit address value range Sets whehter to enable or disable the execution of the torque limit for each axis To enable the torque limit set the corresponding bit to 1 bit Name Default Descriptions 0 Torque limit of axis 0 1 Torque limit of axis 0 Torque limit 2 Torque limit of axis 0 enabled flag 3 Torque limit of axis 0 0 Torque limit disabled Default 4 Torque limit of axis 0 1 Torque limit enabled 5 Torque limit of axis 0 6 Torque limit of axis 0 7 Torque limit of axis 0 15 to 8 Torque limit Stores the torque limit value of axis 1 3000 11 0 1 00H value of axis 1 3 i 5000 is Torque limit 1 to 1 valde of ade Stores the torque limit value of axis 2 3000 5000 0 1 Torque limit D 1 to T OE2H valus ot axis d Stores the torque limit value of axis 3 3000 5000 0 1 Torque limit E 1 to 5 valie of aid Stores the torque limit value of axis 4 3000 5000 0 1 Torque limit TM 3 1 to 5 0E4H val eof axis Stores the torque limit value of axis 5 3000 5000 0 1 Torque limit oe 1 to T OE5H value Stores the torque limit value of axis 6 3000 5000 0 1 Torque limit E 1 to OE6H valueof xis 7 Stores the torque limit value of axis 7 3000 5000 0 1 96 Torque limit P 1 to 5 0E7H Stores the torque limit valu
129. ation of the 2 axis motor with the grouped X axis and Y axis becomes a circular arc Therea re tow setting methods which are a center point specification and pass point specification Spiral interpolation This is the interpolation control that controls positions as the loca of the operation of the 3 axis motor with the grouped X axis Y axis and Z axis becomes a spiral Arbitrary 2 axes describe an arc and the remaining one axis moves to achieve a spiral There are two setting methods which are a center point specification and pass point specification Edge type This is one of the methods to detect the request signals allocated to this unit It executes each requested process by detecting a trigger that is the leading edge when the request signal turns on Therefore the next request cannot be accepted until the request signal turns off Level type This si one of the methods to detect the request signals allocated to this unit It executes each requested process by detecting a trigger that the request signal is on and continues the requested process while the request signal is on Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net About Illustrations in This Manual The Positioning Unit RTEX and FP2 Positioning Unit RTEX are described in this manual The illustrations in this manual shows the status with the If you use the FP2 please replace the illustrations of the FP
130. axis 1 3000 1105000 0 1 OE1H Torque limit value of axis 2 Stores the torque limit value of axis 2 3000 1105000 0 1 OE2H Torque limit value of axis 3 Stores the torque limit value of axis 3 3000 1105000 0 1 Torque limit value of axis 4 Stores the torque limit value of axis 4 3000 1105000 0 1 OE4H Torque limit value of axis 5 Stores the torque limit value of axis 5 3000 1105000 0 1 OE5H Torque limit value of axis 6 Stores the torque limit value of axis 6 3000 1105000 0 1 OE6H Torque limit value of axis 7 Stores the torque limit value of axis 7 3000 1105000 0 1 OE7H Torque limit value of axis 8 Stores the torque limit value of axis 8 3000 1105000 0 1 Torque limit enabled flag bit Name Default value Descriptions 0 Torque limit of axis 1 0 1 Torque limit of axis 2 0 2 Torque limit of axis 3 0 3 Torque limit of axis 4 0 0 Torque limit desabled Default 4 Torque limit of axis 5 0 1 Torque limit enabled 5 Torque limit of axis 6 0 6 Torque limit of axis 7 0 7 Torque limit of axis 8 0 15 to 8 Torque limit values of axes 1 to 8 bit Name Default value Descriptions 3000 Sets the torque limit value Ped The unit is 0 1 199 Torque limit value If 2000 is E i this area it operates with 2000 x 0 1 200 as the maximum torque 13 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email i
131. axis 2 DT30 K16 2 Control code of axis 1 Starting table DTO QK1 Starting table R100 118 18 R200 X119 X19 Enabled flag Busy flag Enabled flag Busy flag for axis 1 foraxis1 foraxis2 foraxs2 The numbers in parenthesis are the contact numbers for the FP2 19 6 H270 H 100 Y110 Y90 Positioning for axis 1 Data of 1 table of axis 1 J gt The setting for table 1110001 of axis 1 p Data of 1 table of axis 2 The setting for table 4270 7 10001 of axis 2 gt The starting table is from 10001 J Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 19 2 2 When Setting Positioning Data in Standard Area Using Ladder Program Write positioning data in the standard area using the ladder program Recalculating the positioning data is necessary after setting the positioining data Replace the part of the positioning start program in the sample program Positioning start program R11 oF DT10 Setting value Control code of axis 1 ha rowv Operation pattern of axis 1 or1 2 J rFowv oT Fowmv DT 14 Acceleration time of axis 1 Fowmv DT15 Deceleration time of axis 1 F10Mv Ks500000 DT16 Auxiliary speed of axis 1 K1000000 DT18 Movement amount of axis 1 F1oMv DT20 Auxiliary
132. axis has been set for the synchronous groups 1 and 2 Synch Either master axis or slave axis 4030H dm ae group has not been set All bits are off Eachaxis lA ening Emo Multiple axes have been set for the master or slave axis The same axis has been set for the master and slave axes The slave axis has been set to the interpolation group Positioning completion The positioning completion width is 4041 width error out of the range Each axis A 4042H Pulser setting error The pulser inptu mode is incorrect Each axis A The stting of th speed rate is out of 4044H Speed rate error the range Each axis A JOG positioning The acceleration deceleration 4080H _ acceleration deceleratio method of the JOG positioning is Each axis A n method error out of the range JOG positioning The acceleration time of the JOG 10811 acceleration time error positioning is out of the range Each axis JOG positioning The deceleration time of the JOG 4082H deceleration time error positioning is out of the range A MANT JOG positioning target The target speed of the JOG eck the settign 4083M speed error positioning is out of the range Equi axis A F Home return target The target speed of the home the error occurre 4102H speed error return is out of the range He Home return The acceleration time of the home correct setting value 4105H acceleration time error return is out of the range Eachaxis
133. ay E lt a o JOG forward JOG reverse JOG forward JOG reverse 124 Y104 JOG forward Requests the JOG operation for the corresponding AMP JOG reverse The settings for acceleration time etc are specified by Y126 Y106 JOG forward Configurator PM or the JOG operation settings in the shared T JOG reverse memory JOG forward The operation is the level type JOG reverse JOG forward If this contact turns on during the Tool operation by Configurator Y12B Y10B JOG reverse PM a warning will be output JOG forward Y12D Y10D JOG reverse JOG forward N o m JOG reverse 6 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contact allocation Target RE Requests the emergency stop for the corresponding AMP The deceleration time for the emegency stop is specified by Configurator PM or the emergency stop setting in the shared Emergency stop jmemory The operation is the level type Note The deviation counter cannot be cleared Requests the deceleration stop for the corresponding AMP The deceleration time for the deceleration stop is specified by Configurator PM or the deceleration stop setting in the shared Deceleration stop memory WD The operation is the level type Note The deviation counter cannot be cleared BN EN ER o mim Requests the permission for
134. below Select the file to verify The contents of the file currently being edited are verified with the selected file and the result is indicated in the dialog below Result of verification Tareet OXProgram Files Panasonic MEW Control Configurator Verification data Click Close to close the dialog 7 30 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 14 Transferring Setting Data 7 14 1 Uploading Setting Data from Positioning Unit RTEX Read the parameters and positioning data of the positioning unit RTEX 1 Make the connection between a PC and PLC and configure the settings Then select File gt Upload from Unit in the menu bar or click the Upload from Unit icon in the toolbar 2 Execute reading the unit Note The process of reading may take for a few minutes Click Cancel to stop the read 3 When the read completes successfully a message asking if the data comment will be held is indicated Click Yes to leave all the comments set in the data Click No to clear all the comments cS Note To execute the upload previously determine the target positioning unit RTEXby the communication settings and selecting the slot number The data comments are not stored in the positioning unit RTEX They are managed in the setting files of the PC 7 31 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctia
135. ble 302 330H Starting address of table 303 340H Starting address of table 304 350H Starting address of table 305 360H Starting address of table 306 370H Starting address of table 307 380H Starting address of table 308 390H Starting address of table 309 Starting address of table 310 3BOH Starting address of table 311 3COH Starting address of table 312 3DOH Starting address of table 313 Starting address of table 314 3FOH Starting address of table 315 17 50 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis 1 Axis 2 Axis3 Axis 4 Axis5 Axis6 Axis 7 Axis 8 Bank No ee Descriptions 07H 11H 1BH 25H 2FH 39H 43H 4DH 000H Starting address of table 316 010H Starting address of table 317 020H Starting address of table 318 030H Starting address of table 319 040H Starting address of table 320 050H Starting address of table 321 060H Starting address of table 322 070H Starting address of table 323 080H Starting address of table 324 090H Starting address of table 325 Starting address of table 326 OBOH Starting address of table 327 Starting address of table 328 ODOH Starting address of table 329 OEOH Starting addres
136. ch positioning table is being executed The exeuction fo the position control can be confirmed by turning an exclusive auxiliary output contact on for a constant time Software limi Limits can be set for the absolute coordinate managed within the positioning unit RTEX When exceeding the setting range of the software limit an error occurs and the system decelerates and stops The decelration time can be set individually Torque limit The output torque of the AMP can be limited arbitrary Servo lock Servo free According the command from the positioning unit the state that the motor is controllable is called a servo lock state and the state that the motor is uncontrollable is called a servo free state The servo on operation is necessary to make it to the servo lock state Servo ON Servo OFF The operation that changes the servo free state to the servo lock state is called a servo on and the operation that changes the servo lock state to the servo free state is called a servo off Linear interpolation This is the interpolation control that controls positions as the locas of the operations of the 2 axis motor with the grouped X axis and Y axis or 3 axis motor with the grouped X axis Y axis and Z axis becomes a straight line There are two setting methods which are a composition speed specification and long axis speed specification Circular interpolation This is the inerpolation control that controls positions as the locas of the oper
137. ciation area of the shared memory General purpose input 1 1 axis gt lt 4 N 2 axis General purpose input 2 General purpose input 1 x AR General purpose input 2 General purpose input 1 3 axis EI General purpose input 2 General purpose input 1 Monitor contact for the general purpose input connected to 4 axis SINIS DINAJA General purpose input 2 the corresnponding AMP General purpose input 1 The input status of this contact does not affect on the 5 axis gt lt 6 General purpose input 2 operation of the motor or positioning unit General purpose input 1 General purpose input 2 7 axis General purpose input 1 gt lt X lt X lt DLO gt General purpose input 2 N m General purpose input 1 8 axis E m General purpose input 2 17 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contact allocation Target 7 Name Descriptions axis Contact for requesting the system stop When it turns on all axes will stop at the deceleration time 0 Turn on this signal when each positioning data standard area in the shared memory was changed The positioning data after the table number starting the recalculation specified in the shared memory
138. d 12AH Error code annunciation 12BH buffer 1 of axis 1 12CH Error code annunciation 12DH buffer 2 of axis 1 12EH Error code annunciation 2FH buffer of axis 1 Stores the latest error code from the buffer number 1 in order 130H Error code annunciation bit Default Descriptions 131H buffer 4 of axis 1 31to0 Emor annuncialion buffer nof j Announces error codes 132H Error code annunciation 133H buffer 5 of axis 1 134H Error code annunciation 135H buffer 6 of axis 1 136H Error code annunciation 137H buffer 7 of axis 1 Number of error 139H occurrences of Announces the number of occurrences of errors at axis 2 axis 2 13AH Error code annunciation Announces the code when an error occurred 13BH buffer 1 of axis 2 13CH Error code annunciation Announces the code when an error occurred 13DH buffer 2 of axis 2 13EH Error code annunciation Announces the code when an error occurred 13FH buffer 3 of axis 2 17 19 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Bank oireet Name Descriptions address 140H Error code annunciation Announces the code when an error occurred 141H buffer 4 of axis 2 142H Error code annunciation An
139. d Exiting Configurator PM Note Never eject the CD during the installation process 7 9 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 4 Starting Configurator PM Click the Start button on Windows and click Program Panasonic MEW Control and Setting software in the order And then click Configurator PM The following dialog is shown Configurator PM Open Upload from unit Exit New Create a new setting data for the positioning unit RTEX Open Read the existing setting data Upload from Unit Read the setting data of the positioning unit RTEX Exit End this software 7 10 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 5 Treating Files 7 5 1 New Create a new file 1 Select File New in the menu bar or click New file icon in the toolbar The Select axes dialog is shown Settine used axis 2axis 3axis 4 axis 6axis 7axis 8 axis Choose the axis to use 2 Check the axes to use and click OK Setting used axis laxis 2axis M axis 5axis 6axis Taxis Cancel Choose the axis to use 7 11 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 The Interpolation group settings dialog is shown
140. d Increment Increment Increment Pulse 1 073 741 823 to 1 073 741 823 pulse 0 1 um 107 374 182 3 to 107 374 182 3 um X axis um 1 um 1 073 741 823 to 1 073 741 823 um movement inch 0 00001 inch 10 737 41823 to 10 737 41823 inch amount P inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Acceleration deceleration L Linear L Linear L Linear L Linear S S shaped acceleration deceleration pattern Acceleration 100 ms 200 ms 30 ms 0 to 10000 ms time ms Deceleration 10 ms 20 ms 150 ms 0 to 10000 ms time ms Pulse 1 to 32 767 000 pps pm 1 to 32 767 000 um s Target speed 10000 pps 20000 pps 5000 pps Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram Positioning start contact Y110 Y90 BUSY flag Y118 X18 Operation done flag X120 X20 Current value The numbers in parenthesis are the flag and contact numbers for the FP2 8 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Operations of each contact The BUSY flag X118 FP2 X18 indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag X120 FP2 X20 in
141. ddress of table 166 2BOH Starting address of table 167 2COH Starting address of table 168 2DOH Starting address of table 169 2bE0H Starting address of table 170 2FOH Starting address of table 171 300H Starting address of table 172 310H Starting address of table 173 320H Starting address of table 174 330H Starting address of table 175 340H Starting address of table 176 350H Starting address of table 177 360H Starting address of table 178 370H Starting address of table 179 380H Starting address of table 180 390H Starting address of table 181 Starting address of table 182 3BOH Starting address of table 183 3COH Starting address of table 184 3DOH Starting address of table 185 Starting address of table 186 3FOH Starting address of table 187 17 48 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis 1 Axis 2 Axis3 Axis 4 Axis5 6 Axis 7 Axis 8 Bank No Descriptions 05H OFH 19H 23H 2DH 37H 41H 4BH 000H Starting address of table 188 010H Starting address of table 189 020H Starting address of table 190 030H Starting address of table 191 040H Starting address of table 192 050H Starting address of table 193 060H S
142. ddress of table 27 200H Starting address of table 28 210H Starting address of table 29 220H Starting address of table 30 230H Starting address of table 31 240H Starting address of table 32 250H Starting address of table 33 260H Starting address of table 34 270H Starting address of table 35 280H Starting address of table 36 290H Starting address of table 37 2A0H Starting address of table 38 2BOH Starting address of table 39 2COH Starting address of table 40 2DOH Starting address of table 41 2bE0H Starting address of table 42 2FOH Starting address of table 43 300H Starting address of table 44 310H Starting address of table 45 320H Starting address of table 46 330H Starting address of table 47 340H Starting address of table 48 350H Starting address of table 49 360H Starting address of table 50 370H Starting address of table 51 380H Starting address of table 52 390H Starting address of table 53 Starting address of table 54 3BOH Starting address of table 55 3COH Starting address of table 56 3DOH Starting address of table 57 3E0H Starting address of table 58 3FOH Starting address of table 59 17 46 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net
143. ddress of table 535 1C0H Starting address of table 536 1DOH Starting address of table 537 1 Starting address of table 538 1FOH Starting address of table 539 200H Starting address of table 540 210H Starting address of table 541 220H Starting address of table 542 230H Starting address of table 543 240H Starting address of table 544 250H Starting address of table 545 260H Starting address of table 546 270H Starting address of table 547 280H Starting address of table 548 290H Starting address of table 549 2A0H Starting address of table 550 2BOH Starting address of table 551 2COH Starting address of table 552 2DOH Starting address of table 553 2bE0H Starting address of table 554 2FOH Starting address of table 555 300H Starting address of table 556 310H Starting address of table 557 320H Starting address of table 558 330H Starting address of table 559 340H Starting address of table 560 350H Starting address of table 561 360H Starting address of table 562 370H Starting address of table 563 380H Starting address of table 564 390H Starting address of table 565 Starting address of table 566 3BOH Starting address of table 567 3COH Starting address of table 568 3DOH Starting address of table 569 Starting address of table 570 3FOH Starting address of table 571
144. dicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position Sample program RO 108 88 a H IServo ON Servo on swoon for axis 1 R1 Y150Y130 4 or i Servo OFF Servo off Servooff C ii for axis 1 X100 X0 X104 X4 108 8 X110 X10 2X160 X60 RIO 4 uuo 3j 4 M Start enabled condition ot Tool Connection Servolock Error for aun e stablishment for al axes operation for axis 1 axis 1 enabled flag HH lt 0F Fomv K1 Starting table No Position F151 WRT DTO H100 4 iStarting table setting an ee ees Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R2 R10 X118 X18 Y110 Y90 p Id eS Se med Position Enabled flag Busy flag Positioning control start for axis 1 for axis 1 start for axis 1 The numbers in
145. ding on the installation position of the unit Operation at limit input Condition Direction Limit status Operation Limit input ON Not executable Error occurs When P point control is read Limit input ON Not executable Error occurs executed Beverse Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs During P point control Forward Limit input ON Deceleration stop Error occurs Reverse Limit input ON Deceleration stop Error occurs 8 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 1 3 Setting and Operation of C Point Control The example below is the case of a single axis control when using the with the positioning unit RTEX installed in the slot 0 The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Table 18000 pulses gt side side Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse Setting example Item Allowable range Table1 Table2 Table3 g C C Operation Continu Continuan E End C Continuance point E End point P Pass point pattern point ance point ce point Control l l I I Increment A Absolute metho
146. e PLC in the PROG mode Setting it in the RUN mode can cause inadvertent operation Lo Note When the power to the PLC is turned on the start flags for the various operations of the positioning unit RTEX should be off If they are on they may activate improperly 4 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 3 Procedure for Turning On the Power When turning on the power to the system incorporating the positioning unit RTEX the nature and statuses of any external devices connected to the system should be taken into consideration and sufficient care should be taken that turning on the power does not initiate unexpected movements or operations 4 3 1 Procedure for Turning On the Power Procedure 1 Turn on the power supplies for input and output devices connected to the PLC 2 Turn on the power supply for the AMP 3 Turn on the power supply for the PLC Positioning unit RTEX 4 Power supply for device Power supply for AMP Power supply for PLC 4 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 3 2 Procedure for Turning Off the Power Procedure 1 Check to make sure the rotation of the motor has stopped and then turn off the power supply for the PLC 2 Turn off the power supply for the AMP 3 Turn off the power supplies for the input and output devices connected to the P
147. e combo box as below the data item can be set only by inputting the initial character on the keyboard For example input C directly in the column of the pattern Then the data item will be C Continuance point Also it is possible to select with the arrow keys after the input is enable rna Line inc E End 0 Line I hc 0 Line I Inc I hce I Inc D Line Tf Inc 0 EIlc 0 Line Ine 3 4 5 6 7 8 9 Press Enter key to determine Press ESC key to cancel Click the tab of a sheet to change to the sheet When using the keyboard press Ctrl Page Up or Ctrl Page Down 23 E End Increme 24 E End I Increme 25 E End I Increme 26 E End I Increme 2 E End I Increme Taxis 7 24 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 11 2 Copying Positioining Data The data contents can be stored in the clipboard by setting the preference field of the cells on the positioning data editing screen The data stored in the clipboard are pasted in Microsoft Excel as well as the data editing screen of this software cS Note Pasting is not possible if the content in the clipboard is different from the attributes of the pasted area If values are contained in the contents of the clipboard the values can be pasted up to the maximum digit number of the data item u Key Point If th
148. e control unit regardless of number of axes FP2 Positioning unit R TEX individual specifications Occupied I O points Description 2 axis type 4 axis type 8 axis type Product number AFP243610 AFP243620 AFP243630 Part number FP2 PN2AN FP2 PN4AN FP2 PN8AN Number Ot axes 2 axes 1 system 4 axes 1 system 8 axes 1 system controlled Input 128 points Output 128 points SX128 SY128 Restriction on installation Only the restriction of the supply current of power supply unit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 3 17 1 4 Common Specifications Item Description 2 axis type 4 axis type 8 axis type Number of axes controlled 2 axes 1 system 4 axes 1 system 8 axes 1 system Interpolation control 2 axis linear interpolation 2 axis linear interpolation 3 axis linear interpolation 2 axis circular interpolation 2 axis circular interpolation 3 axis sprial interpolation Occupied I O points Input 128 points Output 128 points SX128 SY128 Position setting modes Position setting units Absolute absolute position setting Increment relative position setting pulse um Minimum command unit is selected from 0 1 um or 1 um inch Minimum command unit is selected from 0 00001 inch or 0 0001 inch degree Minimum command unit is selected from 0 1 degree or 1 degree
149. e manual of the AMP A Available Warning code Warning name Description Object Clear A010H Overload warning Refer to the specifications of AMP Each axis A A012H Regenerative warning Refer to the specifications of AMP Each axis A A028H Battery warning Refer to the specifications of AMP Each axis A A053H eure communication error Refer to the specifications of AMP Each axis A A054H m error aceumulatea Refer to the specifications of AMP Each axis A A056H Update Counter warning Refer to the specifications of AMP Each axis A A058H Fan lock warning Refer to the specifications of AMP Each axis A A059H External scale warning Refer to the specifications of AMP Each axis A 15 22 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 6 2 Unit Warnings From BOOOH Ver 1 13 or later These are the warning codes to be given when the warnings occurred in the positioning unit Eua Error name Description Object Clear Countermeasures Various requests from the PLC The following request signals cannol executed during the ool operation except the were turned on by the host PLC following requests during the Tool operation Decelerati t T Positioning startup request flag ee BOOOH operation each axis Each A each axis Home return request flag each axis Emergency stop request flag axis
150. e of axis 8 3000 5000 0 1 17 17 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 4 7 Positioning Table Setting Area Used to specify the table number to start the position control The setting ranges are 1 to 600 in the standard area and 10001 to 10025 in the extended area Offset Default Settin Bank Name Descriptions Unit address value range Position control 1 to 600 100H starting table md dou Quai 19i eue 1 10001 to number of 1st axis guep 10025 Position control 1 to 600 101H starting table pud bp ltl 10001 to number of 2nd axis 9 10025 Position control 1 to 600 102H starting table ne 1 10001 to number of 3rd axis 10025 Position control 1 to 600 103H starting table 1 10001 to 00H number of 4th axis 9 P 10025 Position control 1 to 600 104H starting table pu Mies a 1 10001 to number of 5th axis 10025 Position control 1 to 600 105H starting table pus idus omais 1 10001 to number of 6th axis SPRP 10025 Position control 1 to 600 106H starting table cas M ise 1 10001 to number of 7th axis 9 10025 Position control 1 to 600 107H starting table dd Ure i iie BI exte 1 10001 to number of 8th axis SERRE 10025 17 18 Phone 800 894 0412 Fax 888 723 47
151. e origin managed in the positioning unit will be changed to the following home change coordiates Afther the change the positioning unit clear the corresponding bits to 0 automatically bit Name Default Descriptions 0 Request home change of axis 1 o ROI ioo 1 Request home change ofaxis2 O request Tag 2 Request home change ofaxis3 0 0 No change 3 Request home change of axis 4 0 1 Change the coordinate origin 4 Request home change of axis 5 0 After the change the positioning unit sets to 0 Request home change of axis 6 0 OY 6 Request home change of axis 7 0 7 Request home change of axis 8 0 15 to8 0C8H Home change Stores the coordinate to change the original point of axis 1 OC9H coordinate of axis 1 OCAH eine change Stores the coordinate to change the original point of axis 2 OCBH coordinate of axis 2 OCCH 08 change Stores the coordinate to change the original point of axis 3 OCDH coordinate of axis 3 OCEH ome Change Stores the coordinate to change the original point of axis 4 OCFH coordinate of axis 4 nome change Stores the coordinate to change the original point of axis 5 OD1H coordinate of axis 5 0D2H Home change Stores the coordinate to change the original point of axis 6 0D3H coordinate of axis 6 0D4H Home change Stores the coordinate to change the original point of axis 7 OD5H coordinate of axis 7 OD6H nome change Stores the coordinate to change the ori
152. e pasted area is different from the data in the clipboard paste as shown below coocoooocooco 7 11 3 Selecting All Cells All cells can be selected before the operations such as copy or paste are done It is convenient to copy all the settings of the specified axis to another axis Press Ctrl A on the keyboard or click the Table No header on the upper left corner of the data editing screen with the mouse to select all cells 7 25 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 11 4 Searching Character Strings 1 Select Edit data Find in the menu bar or click the Find icon in the toolbar The following dialog is shown Find what End xi Olose Replace Column Pattern zi Match Gase Find entire cells only 2 Input the character string to search in the Character string to find box and select the target line setting item 3 Click Next u Key Point Press Esc to end the search Press Replace to change the replacement screen 7 11 5 Replacing Character Strings 1 Select Replace Find in the menu bar The following diaglo is shown Replace Find what Continuati ontinuation Close Replace with Replace a __Beplace Column Pattern Match Case Find entire cells only Replace All 2 Input the character string to searc
153. e return completed the coordinate origin is changed to a set value 23 3 6 Sample Program Current Value Update Refer to Current value update ladder program for demo fp Coordinate Origin Refer to Coordinate origin ladder program for demo fp 23 3 7 Restrictions on Operation The current value update can be executed only when the target axes stop The current updated executing during the axis operation Busy is ignored and the current value will be updated once the axis operation stops 23 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 23 4 Position Deviation Simple Monitor Functional Overview The position deviation is the difference between the current value controlled by the positioning unit RTEX and the AMP current position fed back from the AMP This function is the same as the deviation counter provided in the AMP The difference between the command value of the positionign unit in the positioning process and the current value of the AMP can be confirmed by indicating this deviation in the monitor area on the positioning unit 23 4 1 Monitoring Method Positioning deviation is added in the each axis information amp monitor area 2 Reference 17 5 2 Each Axis Information amp Monitor Area of 17 5 2 Axis information of axis 1 to 8 Ver 1 13 or later Offset 034H Posiition deviation of axis 035H 1 074H j Posiition deviatio
154. e setting of the auxiliary output mode in the parameter setting Auxiliar O00DH output area bit Default Descriptions 15to 0 Auxiliary output code 0 No specific setting range OOEH O00DH 17 45 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Starting address of each positioning table Axis 1 Axis 2 Axis3 Axis 4 Axis5 Axis6 Axis 7 Axis 8 Bank No Descriptions 02H OCH 16H 20H 2AH 34H 3EH 48H 050H Starting address of table 1 060H Starting address of table 2 070H Starting address of table 3 080H Starting address of table 4 090H Starting address of table 5 Starting address of table 6 OBOH Starting address of table 7 Starting address of table 8 ODOH Starting address of table 9 OEOH Starting address of table 10 OFOH Starting address of table 11 100H Starting address of table 12 110H Starting address of table 13 120H Starting address of table 14 130H Starting address of table 15 140H Starting address of table 16 150H Starting address of table 17 160H Starting address of table 18 170H Starting address of table 19 180H Starting address of table 20 190H Starting address of table 21 1A0H Starting address of table 22 1BOH Starting address of table 23 1COH Starting address of table 24 1DOH Starting address of table 25 1EOH Starting address of table 26 1FOH Starting a
155. e the starting contact of the JOG operation is on After reaching the target speed operates with the target speed JOG operation bit Name Default Descriptions target speed 31 to 0 JOG operation target 1 000 Setting range 1 32 767 000 speed Any other settings will be errors The interpretation is changed by the unit setting 02DH pulse 1 to 32 767 000 pps 1 to 32 767 000 u m s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 02EH 02FH 030H When the deceleration stop is requested by O it will be valid and the Deceleration deceleraiton operation will complete in this deceleration time sto 031H bit Default Descriptions deceleration time 15 to 0 Deceleration stop 100 Setting range 0 to 10 000 ms deceleration time Any other settings will be errors 032H When the emergency stop is requested by O it will be valid and the deceleration Emergency stop operation will complete in this deceleration time 033H deceleration bit Name Default Descriptions time 15 to 0 Emergency stop 100 Setting 0 to 10 000 ms deceleration time Any other settings will be errors 034H When the limit is input the deceleration operation will complete in this deceleration Limit stop time 035H deceleraiton bit Default Descriptions time 15 to 0 Limit stop 100 Setting range 0 to 10 000 ms deceleration time Any other settings will be errors 036H When an e
156. e whole sysmem RTEX and AMP should be rebooted when an unrecoverable error occurred The methods to recover errors have been changed to decrease the man hour taken to recover errors The method to recover from error occurrence varies according to the states when errors occur Status when an error occurred Description Error type After an error occurred the operating axes stop After an error occurred the Positioning Unit RTEX can recover the error at any timing Error when a critical trouble occurred on the Positioning Unit Recoverable state O All error types RTEX system System error Unrecoverable state When an unrecoverable error occurred the power supply of the AMP communication x Positioning Unit RTEX should be restored error However the power supply of the AMP does not need to be Axis operation error restored Error occurred when a problem was cuased on AMP such as a network error and proteciton error during operation When an error occurred the error can be recoevered by restoring the power supply of the AMP after removing the error factor Refer to List of Error Code for the details of error types Recovered state after restoring the power supply of the AMP A AMP error 15 2 2 State of Servo After an Error Occurred The state of the servo of the AMP after an error occurred varies depending on the occurred error types and code State of servo after
157. ed 1FDH buffer 6 of axis 4 1FEH Warning code annunciation Announces the code when a warning occurred 1FFH buffer 7 of axis 4 17 24 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Offset buffer 7 of axis 6 Bank address Name Descriptions No of warning 201H occurrences of Announces the number of occurrences of warnings at axis 5 axis 5 202H Warning code annunciation Announces the code when a warning occurred 203H buffer 1 of axis 5 204H Warning code annunciation Announces the code when a warning occurred 205H buffer 2 of axis 5 206H Warning code annunciation Announces the code when a warning occurred 207H buffer 3 of axis 5 208H Warning code annunciation Announces the code when a warning occurred 209H buffer 4 of axis 5 20AH Warning code annunciation Announces the code when a warning occurred 20BH buffer 5 of axis 5 20CH Warning code FL 4 annunciation Announces the code when a warning occurred 20DH buffer 6 of axis 5 20EH Warning code annunciation Announces the code when a warning occurred aos buffer 7 of axis 5 No of warning 211H occurrences of Announces the number of occurrences of warnings at axis 6 axis 6 212H Warning code annunciation Announces the code when a warning occurred 213H buffer 1 of axis 6 214 Warning code annunciation Announces the c
158. eed The ranges vary depending on the unit settings as below pulse 1to 32 767 000 pps 027H um 1 to 32 767 000 ums inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 028H Sets the mode of the JOG operation bit Name Default Descriptions 029H JOG operation 0 setting code 1 Acceleration deceleration pattern 0 0 Linear acceleration deceleration setting 1 S shaped acceleration deceleration 2 to 15 17 40 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Offset Default Setting Descriptions Unit address value range JOG operation Sets the acceleration deceleraion time when performing the JOG operaiton 02AH acceleraiton At the beginning of the JOG operation accelerates for the specified acceleration time time decelerates for specified deceleraiton time when the starting contact of the JOG operation turns off and stops 02BH ae bit Name Default Descriptions 15 to 0 JOG operation acceleration time 100 Setting range 0 to 10 000 ms time JOG operation deceleration Any other settings will be errors Sets the target speed when performing the JOG operation After starting the JOG operation accelerates with the specified operation to the 02CH target speed whil
159. efault Description Oto7 Auxiliary output mode 0 0000H Not use the auxiliary output function auxiliary output contact and code 0001H Use With mode 0002H Use Delay mode Auxiliary output mode 15 to 8 Auxiliary output on time 10 The setting range is 00H 0 ms to FFH 225 ms When using the delay mode for the auxiliary output specify the ratio 96 to output Auxiliary outptu The setting range is 0 to 100 If the setting is 50 the auxiliary output will be Delay rate perfomred when the positioning movement amount exceeds 5096 Default O 96 23 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 23 3 Current Value Update Function Functional Overview of Current Value Update The current value update function is a function to change the current value controlled by the Positioning Unit RTEX to an arbitrary value The home change home offset function is provided for the Positioning Unit RTEX Ver 1 00 and Ver 1 01 however the home offset function is eliminated on the Positioning Unit RTEX of Ver 1 13 or later and the current update and coordinate origin functions are added 23 3 1 Differences with Home Offset Function The differences in the home change home offset current value update and coordinate origin are as below Version of Function Operation Positioning Unit RTEX This is a functi
160. efer to the specifications of AMP Each axis 0037H External scales status 5 protection error Refer to the specifications of AMP Each axis 003AH External scale other error protection Refer to the specifications of AMP Each axis 0052H Node address setting error Refer to the specifications of AMP Each axis 0053H Continuous communication error protection Refer to the specifications of AMP Each axis O 0054H Communication timeout error protection Refer to the specifications of AMP Each axis O 0056H Cyclic data not receivable Refer to the specifications of AMP Each axis O 0057H Emergenty stop input error Refer to the specifications of AMP Each axis O 005FH S al recognition error Refer to the specifications of AMP Eachaxis A Other errors Contact the dealer of the AMP Each axis 15 5 2 System Errors From 1000H Ver 1 13 or later These are the errors that occur due to any failure within the positioning unit The system errors are defined as the fatal errors for the system Except for some items the power supply must be turned off and on again to recover from the errors A Available N A Not available a Error name Description Object Clear Countermeasures System runaway If the error 1000H System runaway occurred the ALARM LED onthe All axes N A positioning unit is lighted Turn off the power supply and An error occurred in the hardware turn it on again 1001H Hardware err
161. eneral purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 Descriptions Requests the error clear for the corresponding AMP The processing to recover from errors is performed and the error logs are cleared by turning on this signal Note Unrecoverable errors cannot be recovered even if this signal turned on Requests the warning clear for the corresponding AMP The warning logs are cleared by turning on this signal Contact for the general purpose output connected to the corresponding AMP The input status of this contact does not affect on the operation of the motor or positioning unit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 7 Setting Tool Configurator PM Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 1 Connection With Computer AMP AMP Positioning unit RTEX Tool port 7 Connection cable AFC8503 packaged with tFPWIN GR Motor Motor unit RTEX Exclusive tool software Configurator PM A UM Install the Configurator PM on a computer and connect it to the tool port of the control unit like the above example as well as a programming tool For the FP2 connect to the tool port of the FP2 CPU unit 7 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomat
162. ent value update can be executed only when the target axes stop The current updated executing during the axis operation Busy is ignored and the current value will be updated once the axis operation stops The coordinate origin does not change The current value update can be set in the unit specified in the parameter setting The settable range varies depending on the unit to be used as below Specified unit Settable range pulse 1 073 741 823 to 1 073 741 823 um 0 1 m 107 374 182 3 to 107 374 182 3 um um 1 073 741 823 to 1 073 741 823 inch 0 00001 inch 10 737 41823 to 10 737 41823 inch 0 0001inch 107 374 1823 to 107 374 1823 degree 0 1degree 107 374 182 3 to 107 374 182 3 degree 1degree 1 073 741 823 to 1 073 741 823 23 3 3 Coordinate Origin Changes the coordinate origin to an arbitrary value After setting the coordinate origin the coordinate origin set by the coordinate origin is registered as origin by performing the home return and when the home return completed The coordinate origin is set in pulse units in regardless of the unit specified in the parameter setting The coordinates after the home return are as follows Positioning Unit RTEX control coordinate Specified coordinate origin AMP coordinate 0 23 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 23 3 4 Setting Method Current Value Update The
163. er The communication parameters ot Each axis Also check if any excessive noise error each AMP are incorrect is caused in the usage environment If the error occurred repeatedly please contact us AMP Excess The number of the AMPs connected to the network exceeded 2010H No of Pr All axes A connections the limit maximum No of axes of the positioning unit Afer checking the connection and 2020H AMP Node The AMPs with the same node Allaxes N A settings of the AMP turn off the duplication number exist in the network power supply and turn it on again The AMP with a node number other If the error occurred repeatedly than the numbers below exists please contact us 2030H irae 2 axis type 1 to 2 All axes N A 4 axis type 1 to 4 8 axis type 1 to 8 15 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 3 4 Axis Operation Errors From 3000H Ver 1 00 to 1 01 These are the errors occurred while various operations are being executed A Available N A Not available error This error occurs when setting actual speed judgment to Available annunciation method to Error Error E do Error name Description Object Clear Countermeasures 3000H Not servo ready The axis that servo is not locked Each axis Confirm the servo is locked while was started each axis is operating Turn off the servo on input when
164. er Y140 Y120 for axis 1 foraxis1 pulser enabled flag operation for axis 1 esr R203 103 I DF a moi Pulser operation Off edge of R200 X119 X19 R201 106 H Hc oF 01 Pulser operation Enabled flag Busy flag Pulser for axis 2 for axis 2 pulser operation enabled flag Y141 Y121 v axis for axis 2 Pulser enabled flag for axis 2 113 Error annunciation and clear DT101 Announces the number of errors occurred on the axis 1 DT102 to 115 Error codes occurred on the axis 1 DT121 Announces the number of errors occurred on the axis 2 DT122 to 135 Error codes occurred on the axis 2 R9010 H F150 READ HO H129 K15 DT 101 Error content for axis 1 F150 READ HO H139 K15 f axis 0 X160 X60 Y160 Y140 133 H DF Error clear Error for Error clear Y160 Y140 axis 1 for axis 1 Error clear for axis 1 R10 X161 X61 Y161 Y141 138 HY DF Error clear Error for Error clear YA64 Y141 t2 mae Error clear for axis 2 The numbers in parenthesis are the contact numbers for the FP2 19 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 19 2 1 When Setting Positioning Data in Extended Area Using Ladder Program Write positioning data in the extended area using the ladder program Recalculating the positioning data is not necessary as the extended area is used Replace the part of the positioning start program in the sa
165. er programs to output the contact signals affect on the error note that when creating ladder programs 21 18 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 22 Home Return Ver 1 13 or later Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 22 1 Additional of Home Return Method The following 8methods are added to the home return method in addition to the DOG method A total of 9 types are supported DOG method 2 Edge detection of near home DOG DOG method3 Near home ODG Phase Z based on back end Limit method 1 Limit switch Phase Z Limit method 2 Edge detection of limit switch Phase Z method Stop on contact method 1 Stop on contact Stop on contact method 2 Stop on contact amp phase Z Data set method 22 1 1 Setting Method of Home Return Methods The type of the home return is set to a prescribed address in the shared memory 2 Reference 17 6 2 Parameter Setting Area Addition of 17 6 2 Positioning parameters of each axis Ver 1 13 or later Sets the pattern of the home return Bit Name Default Descriptions 15 to 0 Home return setting code 0 0 DOG method 1 DOG method 2 DOG method 3 Limit method 1 Limit method 2 1 2 Home return 3 4 5 Phase Z method 6 7 8 A Setting code Stop on contact method 1 Stop on contact method 2 Data set ny other se
166. er to the specifications of AMP Each axis N A 003CH Self diagnosis error Refer to the specifications of AMP Each axis N A 003DH Self diagnosis error Refer to the specifications of AMP Each axis N A 003EH Self diagnosis error Refer to the specifications of AMP Each axis N A 003FH Self diagnosis error Refer to the specifications of AMP Each axis N A 0040H Self diagnosis error Refer to the specifications of AMP Each axis N A 0041H Self diagnosis error Refer to the specifications of AMP Each axis N A 0042H Self diagnosis error Refer to the specifications of AMP Each axis N A 0043H Self diagnosis error Refer to the specifications of AMP Each axis N A 0044H Self diagnosis error Refer to the specifications of AMP Each axis N A 0045H Self diagnosis error Refer to the specifications of AMP Each axis N A 0046H Self diagnosis error Refer to the specifications of AMP Each axis N A 0047H Self diagnosis error Refer to the specifications of AMP Each axis N A 0048H Self diagnosis error Refer to the specifications of AMP Each axis N A 0049H Self diagnosis error Refer to the specifications of AMP Each axis N A 004AH Self diagnosis error Refer to the specifications of AMP Each axis N A 004BH Self diagnosis error Refer to the specifications of AMP Each axis N A 004CH Self diagnosis error Refer to the specifications of AMP Each axis N A 004DH Self diagnosis error Refer to
167. eration The acceleration deceleration 4203H acceleration decelera type of the JOG operaiton is Each axis A tion type error incorrect 4204H JOG operation The acceleraiton time of the JOG Each axis A acceleration time error operation is out of the range 4205H JOG operation The deceleraiton time of the JOG Each axis A deceleration time error operation is out of the range Absolute Incremental Avale than ifie 4301H absolute increment is set for the Each axis A setting error move method 4302H Dwell time error The setting value of the dwell time E axis A is out of the range Positioning startin The specified table number is 0 4303H 9 9 or it exceeds the maximum table Each A table No error number The last table of the positioning 4304H Table setting error setting tables is not point E The movementamouhtof th Check the setting value 44ooH Positioning movement Sitioning operation is out of the Each axis a f the error occurred amount setting error 5 9 op P repeatedly with the correct TEST setting value please Positioning rotating The acceleration deceleration contact us 4401H acceleration decelera type of the positioning operation is Each axis A i tion type error incorrect Positionin The acceleration time of the 4402H 9 positioning operation is out of the Each A acceleration time error range Positionin The deceleration time of the 4403H d
168. ers and positioning data in the flash memory will be automatically reflected to the shared memory when the power supply of the PLC turns on When they are not written into the flash memory the parameters and positioning data finaly stored in the flash memory will be reflected when the power supply of the PLC turns on When using the ladder program to write into the shared memory Use the F151 instruction to write various parameters and positioning data into the shared memory 2 Reference e For the information on the storage addresses of various parameters and postioning data lt 17 6 Details of Each Axis Setting Area in Shared Memory gt e For the information on writing positioning data using ladder programs lt 14 1 3 How to Use Standard Area and Extended Area of Positioning Data gt 5 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 2 Preparation For Operation 5 2 1 Servo On Servo Off The servo motor should be in the state that the servo is locked in order to perform the JOG operation and position control Turn on the servo on request contat to make the servo motor to be the state that the servo is locked Turn on the servo off request contact to change the state that the servo is locked to the state that the servo is free Set either the servo on servo off by the tool operation of the Configurator PM without using the ladder program Each contact when the positioning uni
169. etting Home return start in the shared memory 5axis up The operation is the edge type Y11D Y9D_ 6 axis 7 axis If this contact turns on during the Tool operation by Configurator PM a warning will be output lt BN zi m x Z o JOG forward JOG reverse JOG forward JOG reverse Y 124 Y104 JOG forward Requests the JOG operation for the corresponding AMP JOG reverse The settings for acceleration time etc are specified by Y126 Y106 JOG forward Configurator PM or the JOG operation settings in the shared T JOG reverse memory JOG forward The operation is the level type JOG reverse JOG forward If this contact turns on during the Tool operation by Configurator Y12B Y10B JOG reverse PM a warning will be output JOG forward Y12D Y10D JOG reverse JOG forward N T a JOG reverse 17 9 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contact allocation Target S Requests the emergency stop for the corresponding AMP The deceleration time for the emegency stop is specified by Configurator PM or the emergency stop setting in the shared Emergency stop jmemory The operation is the level type Note The deviation counter cannot be cleared Requests the deceleration stop for the corresponding AMP The deceleration time for the deceleration stop is specified by Configurat
170. executed 3 The bit 1 in the synchronous operation enabled disabled area is off the synchronous operation is enabled The operation of the slave axis is perfectly synchronized with the master axis 4 In the synchronous operation monitor area when the synchronous operation is enalbed the target bits of all master slave axes to be synchronized are turned on and the bits of axes to be normally operated and the axes of synchronous groups that the synchronous operation is disabled are turned off 21 10 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 2 7 Positioning Parameters in Synchronous Operation Operational Overview of Positioning Parameters Various positioning parameters should be set to perform operations on the positioning unit RTEX As the table below there are the parameters that operate by the types of positioning parameters and the ones that operate by the settings for each axis during the synchronous operation Note that when setting the positioning parameters Positioning parameters Parameter name Operation during synchronous operation Unit setting Pulse number per rotation Movement amount per rotation CW CCW direction setting Operates by the setting of each axis Specify the same settings for the axes to be synchronized when performing the synchronous operation Limit switch Limit switch connection Software limit Positio
171. for all parameters and positioning data Shows the guidance for all parameters and positioning data when making the settings Up to 100 one byte characters of data comments can be input Up to 100 one byte characters 50 two byte characters of comments can be input for thepositioning data of 1 table each It is useful for the revision or the control of programs However the comments cannot be stored within the positioning unit RTEX Tool operation The tool operation enables to check the operation at the time that the system is installed or the operation of setting parameters without any ladder program Also the teaching function is provided which reflects the current position to the movement amount of data item 7 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 2 2 Basic Specifications Operating environment Applicable OS Windows 95 OSR or higher Windows 98 Windows Me WindowsNT Ver 4 0 or higher Windows 2000 Windows XP Required HDD capacity 20MB or more Recommended CPU Pentium 200MHz or higher Recommended resolution 800 600 or more Recommended memory 64MB or more Depending on OS Recommended display colors 256 colors or more Application specifications No of characters of data comment 100 bytes table No of histories of search replace strings 20 each 7 4 Phone 800 894
172. fter the establishment of the network AMP rotary switch number 1 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis number Oo P Positioning unit RTEX Motor Motor Motor Axis 1 Axis 3 Axis 2 cS Note An error occurs when the settings as below were specified e When the same unit number is redundantly specified on the same network e When a unit number was set to 0 e When a unit number larger than the maximum axis number of the unit used was specified For the 4 axis type the settable unit numbers are 1 to 4 5 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 1 3 Procedure 2 Power On and Checking Network Establishment The power on procedure is as follows 1 Turn on the power supplies for input and output devices connected to the PLC 2 Turn on the power supply for the AMP 3 Turn on the power supply for the PLC After the power turned on check if the operation status display LEDs of the positioning unit RTEX is in the following state STATUS Lights up LINK Lights up u Key Point If the STATUS LED is blinking the network is not established e f the LINK LED is off the connection between the RX of the positioning unit RTEX receiver and the TX of the AMP sender is not electrically correct 5 1 4 Procedure
173. g address of table 467 180H Starting address of table 468 190H Starting address of table 469 1A0H Starting address of table 470 1BOH Starting address of table 471 1COH Starting address of table 472 1DOH Starting address of table 473 1 Starting address of table 474 1FOH Starting address of table 475 200H Starting address of table 476 210H Starting address of table 477 220H Starting address of table 478 230H Starting address of table 479 240H Starting address of table 480 250H Starting address of table 481 260H Starting address of table 482 270H Starting address of table 483 280H Starting address of table 484 290H Starting address of table 485 2A0H Starting address of table 486 2BOH Starting address of table 487 2COH Starting address of table 488 2DOH Starting address of table 489 2bE0H Starting address of table 490 2FOH Starting address of table 491 300H Starting address of table 492 310H Starting address of table 493 320H Starting address of table 494 330H Starting address of table 495 340H Starting address of table 496 350H Starting address of table 497 360H Starting address of table 498 370H Starting address of table 499 380H Starting address of table 500 390H Starting address of table 501 Starting address of table 502 3BOH Starting address of table 503 3COH Starting address of table 504 3DOH Starting address of table 505 Starting address of table 506 3FOH Starting address
174. ginal point of axis 8 0D7H coordinate of axis 8 Procedures of home change 1 Write an coordinate to be the home in the home change coordinate area of the target axis 2 Write the value at the time that the bit of the target axis set to 1 in the home change request flag area As the home change process is performed for the axis that is 1 in the home request flag area do not set any bit to 1 other than the target axis 3 Execute the home return for the target axis to make the home change value valid After the completion of the home return the operation is carried out with the coordinate specified in the above 1 as the home position 13 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 14 Precautions During Programming Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 14 1 Precautions During Programming 14 1 1 Turning Off Power Supply Clears Contents in Shared Memory The data in the shared memory of the positioning unit RTEX is cleared when the power supply of the PLC turns off So if you want to perform the positioning control with the current settings of the shared memory the next time the power supply turns on the positioning data should be written in the FROM flash memory within the positioning unit RTEX When parameters and positioning data has been set using the Configurator PM it is selectable whether
175. gment Available Warning If the torque of the AMP exceeded the judgment value a warning occurs Monitor error Torque judgment value The torque command value of the motors controlled by the AMP of each axis Monitor error Actual speed judgment The judgment operation for the actual speed of the motors controlled by the AMP of each axis Not available Not perform the actual speed judgment Available Error If the actual speed of the AMP exceeded the judgment value an error occurs Available Warning If the actual speed of the AMP exceeded the judgment value a warning occurs Monitor error Actual speed judgment value The actual speed of the motors controlled by the AMP of each axis Home return Setting code The pattern of the home return Home return Direction The operating direction of the home return Home return Acceleration time The acceleration time in the home return Home return Deceleration time The deceleration time in the home return Home return Target speed The target speed in the home return Home return Creep speed The speed to search the home position after the proximity input JOG operation Acceleration Deceleration type The acceleration deceleration type in the JOG operation JOG operation Acceleration time The acceleration time in the JOG operation JOG operation Deceleration time
176. gram in the displayed folder click on the Next button The standard destination is c Program Files Panasonic MEW Control To install the program in a different folder click on the Browse button and specify a folder Configurator PM Setup Choose Destination Location Select folder where Setup will install files amp Q Setup will install Configurator PM in the following folder To install to this folder click Next To install to a different folder click Browse and select another folder r Destination Folder C Program Files Panasonic MEW Control Browse 3 Cancel 7 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 9 Select the program folder A dialog box is displayed where the program folder name can be confirmed To use the displayed folder name click on the Next button The standard folder name is Panasonic MEW Control To use a different folder name simply enter that name Configurator PM Setup Select Program Folder Please select a program folder Setup will add program icons to the Program Folder listed below You may type a new folder name or select one from the existing folders list Click Next to continue Program Folders sonic M Existing Folders Accessories Administrative Tools Ethereal Games Java Web Start Panasonic MEW Control Realtek Sound Manager Startup lt Back Cancel 10 The
177. gs and Operations of Stop Functions Following stop functions are available during operations Each deceleration time can be set individually Set the deceleration time according to each occurrence condition of the stop operation Name Occurrence condition Operation Time until stop Deceleration condtion for Decelerate and stop the control being operated when the deceleration lerati step stop contact turns on when the emergency stop contact turns on when the input of limit switch turns on when exceeding the range of the software limit Error stop when an error occurred Decelerate and stop Can be set individually when the system stop Stop without 0 contact turns on deceleraiton time Emergency stop Decelerate and stop Can be set individually Limit stop Decelerate and stop Can be set individually Software limit stop Decelerate and stop Same as limit stop System stop Refer to the following table for the stop by turning contacts on It indicates the allocated I O when the FPX FP2 positioning unit RTEX is installed in the slot O i axes will stop with 0 deceleration time Requests the emergency stop for the corresponding AMP The deceleration time for the emegency stop is specified by Configurator PM or the emergency stop setting in the shared memory The operation is the level type Note The deviation counter cannot be cleared Requests the decelerat
178. h in the Character string to find box 3 Input the character string after the replacement in the Character string after replacement 4 Select the target line setting item 5 Click Next and Replace or Replace all 7 26 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 11 6 Selecting Lines The cells in a line or multiple lines can be selected before the operations such as copy or paste are done Click the Table No header on the upper left corner of the positioning data editing screen with the mouse to select the all the cells in one line Drag the mouse up and down holding down the left click to select multiple lines 7 11 7 Selecting Colums It is convenient for editing data collectively before the operations such as copy and paste or for data item each Click the header on the upper corner of the data editing screen to select all the cells in one column Drag the header holding down the left click on the mouse to select multiple columns 7 11 8 Editing Data Items Collectively Select a series of the data item in the same column and change them all at once Select this area Type A Press Enter Key Increme b Hep CHIC Increme I Increme I Increme Increme Absolu I Increme Increme Increme 1 Select the part to change with the mouse or the up and down arrows on the keyboard 2 In
179. h the PLC that the positioning unit RTEX has been installed Select Option Communication settings in the menu bar The following dialog is shown Communication Settine Network type COM port COMI Cancel Baud rate 115200 bps ACE Initialize Data length C 8bits Stop bit 1 bit C 2bits Parity C Non Odd C Even C0 Time out 5 vj sec Parameter for automatic setting Baud rate Data Length Parity Name Setting value Default Port number Select a COM port to be used COM1 Baud rate 1200 to 115200 bps 9600 Data length 7 bits 8 bits Set either 7 bits or 8 bits to send 1 byte 8 bits Stop bit 1 bit 2 bits 1 bit Parity None Odd Even Odd Timeout Set the communication timeout time with PLC 0 to 60 seconds 5 seconds Automatic When the communication condition is different from the PLC All items are communication check the items to search the matched conditions checked settings If all items are not checked the communication condition is not automatically searched 7 18 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 8 Parameter Settings Set the initial operation for the positioning unit RTEX 1 Select Set axis Parameter settings in the menu bar or click the Parameter setting icon in the toolbar 2 The parameter setting dialog is shown Set the parameters Unit
180. h the pulse number per rotation CW CCW direction setting The directions of CW and CCW CW direction is CW CCW direction is CCW Limit switch Enable disable the limit switch Limit switch connection The connections of the direction limit switch and direction limit switch Standard direction limit is CWL direction limit is CCWL Reverse connection direction limit is CCWL direction limit is CWL Software limit Positioning control Enable disable the software limit in the positioning control Software limit Home return Enable disable the software limit in the home return Software limit JOG operation Enable disable the software limit in the JOG operation Upper limit of software limit The upper limit value of the software limit Lower limit of software limit The lower limit value of the software limit Auxiliary output mode Enable disable the auxiliary output contact and auxiliary output code Auxiliary output ON time ms The time that the auxiliary output contact is ON Completion width pulse The width of the completion of command operation 7 19 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Parameter name Description Monitor error Torque judgment The judgment operation of the torque command for the motors controlled by the AMP of each axis Not available Not perform the torque jud
181. he error Error stop deceleration time when code occurred on the master axis is set for the master slave axes Both master and slave axes stop with the deceleraiton time for the master axis After those stopped the error code occurred on the slave axis is set for the master slave axes 21 2 9 Precautions When Using Synchronous Operation The positioning unit RTEX always performs the ysnchronous operation if the setting has been set to the synchronous group Set the settings of the master and slave axes in the synchronous groups 1 and 2 to OH all bits off not to perform the synchronous operation During the synchronous operation the Busy signal of the slave axis turns on once the operation of the master axis starts and the operaiton doen signal of the slave axis turns on when the operation of the master slave completes When the synchronous operation is enalbed a request for the slave axis to operate is not accepted The servo on off can be executed independently regardless of whether the synchronous operation is enabled or disabled The slave axis can accept the request to stop the operation deceleration stop emergency stop and System stop regardless of whether the synchronous operation is enabled or disabled When requested to stop the master axis also stops being perfectly synchronized When the synchronous group has been set to be disabled the setting of the synchronous group cannot be changed in the
182. he following offset address in the each axis positioning parameter area 21 15 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Each Axis Positioning Parameter Area The parameters for the JOG positionign control are set in the following offset addresses words in each axis positioning parater area 2 Reference 17 6 2 Parameter Setting Area Addition of 17 6 2 Parameter Setting Area ver 1 13 or later Sets the mode of the JOG positioning operation Bit Name Default Description 0 JOG positioning 1 Acceleration 0 0 Linear cceleration deceleration operation setting code deceleration pattern setting 1 S shaped acceleration deceleration 21015 Name Default Description 15to 0 JOG operation 100 Setting range 0 to 10 000 ms acceleration time Any other settings will be an error JOG operation deceleration time Set the target speed when performing the JOG positioning operation i Name Defaul Description JOG operation 1 000 Setting range 1 to 32 767 000 target speed Any other settings will be an error Interpretation is changed by the unit setting Pulse 1 to 32 767 000 pps to 32 767 000 u m s Inch 0 001 to 32 767 000 inch s Degree 0 001 to 32 767 000 rev s JOG positioning operation target speed 21 16 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net J point speed change
183. he standard area by the Configurator PM Servo on Servo off RO DF Servo on R1 HoF Servo off Operation enabled condition X100 X0 X104 X4 X108 X8 Link nr ction establishment operation for ex A for all axes forallaxes X109 X9 Confirmation for axis 2 Home return R2 R100 H lt DF Home Enabled flag retum for axis 1 R200 Enabled flag for axis 2 Positioning start R3 T DF Fo mv Positioning start R100 X1 for axis 1 JOG operation F151 WRT X110 X10 160 60 Servo lock Error for for axis 1 axis 1 X111 X11 X161 X61 Servo lock Error for for axis 2 axis 2 X118 X18 Busy flag for axis 1 X419 X19 Busy flag for axis 2 K1 DTO Starting table DTO Starting table 18 X18 R200 X119 X19 Enabled flag Busy flag Enabled flag Busy flag for axis 1 for axis 2 for axis 2 K1 H100 Y108 Y88 Servo on for axis 1 Y109 Y89 Servo on for axis 2 Y150 Y130 Servo off for axis 1 Y151 Y131 Servo off for axis 2 R100 Enabled flag for axis 1 R200 Enabled flag for axis 2 Y118 Y98 Home start for axis 1 Y119 Y99 Home start for axis 2 Y110 Y90 Positioning for axis 1 Y120 Y 100 Forward JOG for axis 1 R4 R101 DF Forward JOG om forward JOG R5 R102 IL DF Reverse JOG Off edge Al reverse R4 R100 X118 X18
184. i Change Change Operate Operate Operate Operate State of axis Inactive Inactive Inactive Inactive Error code Warning code Speed rate 100 X 7 39 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis Group The axis numbers and group names to be monitored Zero offset Monitor the feedback values after the unit system conversion for each axis Click Change to display the dialog for inputting value to change the value of the zero offset Unit The unit of position for each axis specified in the parameter settings Active table number Monitor the table number during the operation or when it completes Starting table number The starting table number for the positioning control Click Change to change the starting table number Operate Stop Execute the operation to start stop the home return Click Operate to execute the positioning operation The button name changes to Stop Click Stop to execute the deceleration stop operation The button name changes to Operate State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking
185. i positioning operation is out of the Each A deceleration time error range Positioning target The target speed of the 4404H g targ positioning operation is out of the Each axis speed error range 4500H Interpolation type error 6 setting Shing interpolation Each A type is incorrect Circular interpolation The parameter of the circular 4504H p interpolation such as center point Each axis A not executable PRIM or pass point is incorrect Spiral interpolation Hot The error occurred during the 4505H p spiral interpolation as the setting Each A executable us value is incorrect Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 11 15 4 List of Warning Codes Ver 1 00 to 1 01 Warning codes are from 0xA000 to differentiate from the error codes 15 4 1 AMP Warnings From Ver 1 00 to 1 01 These are the warning codes to be given by the unit when warnings occurred in the AMP The warning codes to be output are represented by the warning codes output from the AMP 0xA000 The warning codes of the AMP are written in decimal however the warning codes of the positioning unit are written in hexadecimal For the details of each warning code and the way of handling refer to the manual of the AMP N A Not available Warning 2 Warning name Description Objec
186. ial velocity of arc velocity of arc 3 axis spiral interpolation Pass point specification Z axis movement direction 4 Z axis Y axis direction X axis 1 diret direction e The pass point on an arc can be specifed The interpolation speed is the tangential velocity of arc When the X axis and Y axis is the moving axes each axis in the above diagram is replaced 8 11 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 2 1 Setting and Operation of Two Axis Linear Interpolation The example below is the case of a single axis control when using the with the positioning unit RTEX installed in the slot 0 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Setting 10000 pulses The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range Operation pattern E End point C Continuance point E End point P Pass point 0 Linear 0 Linear Composite speed 1 Linear Long axis speed Interpolation operation Composite speed S Circular Pass point CW direction T Circular Pass point CCW direction U Circular
187. ified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation Forward Limit input ON Not executable Error occurs When JOG operation is Limit input Executable executed Limit input Executable Reverse SES Limit input Forward Limit input Deceleration stop Error occurs Reverse Limit input Deceleration stop Error occurs During JOG operation ON ON ON Not executable Error occurs ON ON 9 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 9 2 Changing the Speed During JOG Operation The target speed can be changed during the JOG operation Setting The parameters necessary for the setting of the JOG operation are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range 0 Linear acceleration deceleration 1 S shaped acceleration deceleration Acceleration time 1 ms 100 ms 0 to 10000 ms Deceleration time 1 ms 50 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s Acceleration deceleration pattern 0 Linear acceleration deceleration Target speed 19090 PES Inch 0 001 to 32 767 00 inch s degree 0 001 to 32 767 000 rev s Acceleration time 2 ms 200 ms 0 to 10000 ms Deceleration time 2 ms 150 ms 0 to 10000 ms Pulse 1 to 32 767 00
188. ing turns on when the position control started and it turns off when the operation completed e The operation done flag for the axis 1 and 2 FP X120 X121 FP2 X20 X21 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position Sample program RO Y108 Y88 e DF Servo on Servo on for axis 1 Y109 Y89 Servo on for axis 2 R1 Y150 Y130 DF Servo off Servo off for axis 1 Y151 Y131 Servo off for axis 2 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 Link 0 Servo lock X Error for Start bled establishment operation enm fmaton foraxis 1 axis 1 flag for axis 1 royal one pi X111 X11 161 61 R11 Connection Servo lock Error for Start up enabled confirmation for axis 2 axis 2 flag for axis 2 for axis 2 R2 H H oF gt Fomv_ K1 4 Position control start F151 WRT _HO DTO K1 H100 J 4 istarting table setting Bank 0 Slot No 0 the 1 word contet from DTO R10 R11 X118 X18 X119 X19 Y110 Y90 DF gt i Position Enabled flag Enabled flag Busy flag
189. installation process begins A message is displayed on the screen indicating that the installation is in progress and the Configurator PM setup begins Configurator PM Setup Setup Status Configurator PM Setup is performing the requested operations Installing C Program Files NAIS MEWNETSNAIS_MEWINTER dll 77 Cancel 7 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 11 Display the Readme file When the setup process has been completed a dialog box showing the completion is displayed The latest information is described in the Readme file Click on Yes Question Setup is completed The Readme contains the latest information that is not contained in the Help files Do you want to display the Readme file 12 Reboot the computer When all of the process has been completed a dialog box is displayed confirming that the computer will be rebooted Select either radio button reboot at once or reboot later aand click on Finish Configurator PM Setup InstallShield Wizard Complete Setup has finished installing Configurator PM on your computer will restart my computer later Remove any disks from their drives and then click Finish to complete setup 2 Reference The above group icon is displayed only when the installation completed The procedures of the start up refer to the sections of Starting Configurator an
190. ion Emergency stop deceleration time ms Limit stop deceleration time ms Error stop deceleration time ms The operation varies according to the type of stop operations For the details refer to 3 5 2 Stop Operation During Synchronous Operation Pulser operation setting code Pulser operation ratio numerator Pulser operation ratio denominator Operates by the setting of each axis Specify the same settings for the axes to be synchronized when performing the synchronous operation 21 11 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 2 8 Stop Operation During Synchronous Operation If the stop operaiton is executed for the master and slave axis during the synchronous operation the operation is as follows Axis requested to stop Stop operation Operational overview Master axis Slave axis Emergency All axes stop without stop deceleration time All axes stop regardless the master or slave axis Deceleration A specified axis stops Both master and slave axes stop with the deceleraiton time for the The request to stop the slave axis an error occurs is ignored stop with a deceleration time master axis Stops with a Emit stop hes prd nen Both master and slave axes stop with the deceleraiton time for the master axis Stop the operation with a After those stopped t
191. ion 15 to 0 Home return 0 0 Elapsed value decreasing direction Limit direction direction 1 Elapsed value increasing direction Limit direction Any other settings will be errors Home return Sets the acceleration deceleration time when performing the home return 022H acceleration At the beginning of the home return accelerates for the specified acceleration time time decelerates for the specified deceleration time after the proximity input and changes to the creep speed Home bit Default Descriptions 023H deceleration 7 ti 15 to 0 Home return acceleration time 100 Setting range 0 to 10 000 ms Ime Home return deceleration time Any other settings will be errors Sets the target speed when performing the home return When there is no proximity input after starting the home return accelerates to the 024H target speed bit Name Default Descriptions Home return 31 to 0 Home return target Setting range 1 to 32 767 000 target speed Any other settings will be errors The ranges vary depending on the unit 025H pulse 1to 32 767 000 pps 1 to 32 767 000 ums inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Sets the speed to search the home position after the proximity input T Sets the value lower than the home return target speed bit Name Default Descriptions Home return 31 to 0 Home return searching 100 Setting range 1 to 32 767 000 speed Any other settings will be errors creep sp
192. ion net Email info ctiautomation net 7 2 Functions of Configurator PM 7 2 1 Overview The Configurator PM is the Windows compliant setting software for our FP2 FP Positioning Unit RTEX The positioning operations can be set by the input method similar to Microsoft Excel Copy amp Paste Copies and pastes the data you are editing into Microsoft amp Excel etc Also pastes the position data calculated in Microsoft amp Excel into Configurator PM Parameters and data transfer Transfers the setting parameter or positioning data to the positioning unit RTEX Also reads the parameters or positioning data within the positioning unit RTEX Batch checking of parameters and data Checks the contents of parameters and positioning data all at once Jumps to the place automatically if there are parameters or data out of the range Also this function is automatically executed when sending parameters or positioning data to the positioning unit RTEX Verify function Verifies the parameter or positioning data you are editing with the files on the disk or the settings values in the positioning unit RTEX You can jump the cursor to the data with differences from the dialog of the result of verification Search and Replace functions The search or replacement for data item each is possible Twenty search strings and twenty replace strings can be memorized so it is convenient for the repeated search or replacement Showing comments
193. ion stop for the corresponding AMP The deceleration time for the deceleration stop is specified by Configurator PM or the deceleration stop setting in the shared Deceleration stop memory The operation is the level type Note The deviation counter cannot be cleared 12 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 13 Supplementary Functions Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 1 Dwell Time The time taken until the next operation after the completion of an executed positioning table in the automatic operation is called dwell time The operations of the dwell time vary according to control methods slightly Followings are the operations in each control method For E point control The dwell time is the time taken from the completion of the position command until the operation done flag turns on Dwell time BUSY flag _ Operation done flag ees ee For P point control In the P point control the positioning table operates consecutively therefore the dwell time is ignored For the last table E point as well as the E point control the dwell time is the time taken from the completion of the position command until the operation done flag turns on Dwell time BUSY flag Operation done flag For C point control The dwell time is the waiting time for executing
194. it RTEX 4 id TUTMTTA External safety circuit Install over limit switches as shown above Connect them to the CW and CCW driving inhibition input of the parallel I O connector of AMP For the positioning unit RTEX connect them to the limit input and limit input through the network Install the safety circuit recommended by the manufacturer of the motor being used 4 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 2 Before Turning On the Power Items to check before turning on the power System configuration example Positioning unit RTEX aoe Be EXER ta a anne ee 1 i i i Ai kj Dee riu L d Over limit Lo Over limit switch Switch External safety circuit Checking connections to the various devices Check to make sure the various devices have been connected as indicated by the design amp Checking the installation of the external safety circuit Check to make sure the safety circuit wiring and installation of over limit switch based on an external circuit has been installed securely Checking the procedure settings for turning ON the power supplies Make sure settings have been entered so that power supplies will be turned on according to the procedure outlined in section Procedure for Turning On the Power Checking the CPU mode selection switch Set th
195. itor Area 23 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 23 2 Auxiliary Contact Delay Mode Overview of Operation The Delya mode is a new operation mode added to the auxiliary output contacts Using this mode enables the auxiliary output contact to turn on according to the ratio of the positioning movement amount Example If the rate has been set to 50 in the delay mode the auxiliary output contact will turn on once it moves to the position where is 50 of the movement amount of the positioning table Busy flag Operation done flag Auxiliary output data Auxiliary output Auxiliary output ON time With mode ms Auxiliary contact flag Auxiliary output T Delay mode Auxiliary contact flag i Delay rate 23 2 1 Delay Mode Setting Delay mode is added to the auxiliary output mode The Ver1 00 and Ver 1 01 auxiliary output mode is With mode Also the delay rate of the delay mode is added to Each axis positioning parameter setting area 2 Reference 17 6 2 Parameter Setting Area Addition of 17 6 2 Each axis positioning parameter setting area Ver 1 13 or later Offset addres Name Descriptions S Set the auxiliary output contact and auxiliary output function of the auxiliary output code whether to be used or unused The on time of the auxiliary output contact is determined by the following auxiliary output D
196. jA please contact us Home return The deceleration time of the home 860 deceleration time error return is out of the range Eachaxis A Home return setting The home return setting code is SABER code error incorrect East aus Home return creep The creep speed of the home 108 speed error return is out of the range axis A Home return returning The moving direction of the home direction error return is out of the range pauio B The limit switch is disabled un It occurs when the home return 4112H Home return limit error method is set to the stop on contact Each axis A method 1 or 2 The home return stop on contact Home return stop on torque value is out of the range 4115H contact torque value It occurs when the home return Each axis A error method is set to the stop on contact method 1 or 2 The home return stop on contact Home return stop on judgment time is out of the range 4116H contact judgment time It occurs when the home return Each axis A error method is set to the stop on contact method 1 or 2 4120H Coordinate origin error SUPOP e Each axis A JOG operaiton target The target speed of the JOG speed error operation is out of the range Fach axis A 15 20 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net ae Error name Description Object C
197. l The following methods are available to specify the operation of each interpolation control Select any of them as usage The axes in the relation of an interpolation are called X axis and Y axis for the 2 axis interpolation and are called X axis Y axis and Z axis for the 3 axis interpolation In each interpolation control the E point control tha tuses one table P point control and C point control that uses multiple tables can be combined arbitrarily as positioning data For example using the P point control enables the continuous interpolation control from the 2 axis linear control to the 2 axis circular interpolation control The acceleration time and deceleration time can be specified individually For the P point control and C point control the E point should be set as the last table Type Operation specification method Necessary data dis Composite speed Composite speed of X axis and Y axis interpolati f long axis Axis of which movin Long axis speed Speed eng axe 5 on control distance is long 2 axis Center point CW direction X axis and Y axis coordinate of center point crear Center point CCW direcvtion X axis and Y axis coordinate of center point interpolati on control Pass point X axis and Y axis coordinate of pass point on arc dixe Composite speed Composite speed of X axis and Y axis interpolati f long axis Axis of which movin Long axis speed peed
198. later The followings are the list of error codes to be displayed on the RTEX of Ver 1 13 or later The areas that errors occurred can be identified according to the range of error codes When the error code is in the range of 0001H to OFFFH it indicates that the error occurred in the AMP When the error code is one from 1000H it indicates that the error occurred in the positioning unit Also the recovery method for each error code varies according to the state when each error occurred In the following list of error code the recoverable state is indicated with the unrecoverable state is indicated with and the recovered state after restoring the power supply of the AMP is indicated with 15 5 1 AMP Errors From 0001 Ver 1 13 or later The alarms to be output from the AMP are output as error codes as they are The alarms occurred in the AMP is written in decimal however the error codes of the positioning unit are written in hexadecimal For the details of each error code and the way of handling refer to the manual of the AMP When an AMP error occurs When an error occurred on the AMP the servo automatically becomes free Execute the servo on request again after clearing the error Error code Error name Description Object Clear 000BH unen d supply shortage voltage Refer to the specifications
199. lear Countermeasures JOG operation The acceleration deceleration 4203H acceleration deceleratio type of the JOG operation is Each axis A n type error incorrect The acceleration time of the 4204H HOG operation JOG operation is out of the Each axis A acceleration time error range The deceleration time of the JOG operation M Lid 4205H ao is out of the Each axis A Current value update The setting value of the current 4250 error value update is out of the range Realtime torque limit The specified realtime torque 4251H value error value is out of the range Each axis A A value other than the 4301H absolute increment is set for the axis A setting error move method The setting value of the dwell 4302H Dwell time error time is out of the range Each axis A Dade The specified table number is 0 4303H oe starting table or it exceeds the maximum table Each axis A table of the positionin Check this serian value 4304H Table setting error po 9 Each axis A If the error occurred setting tables is not point E The movement amount of the repeatecly Positioning movement Freee correct setting value 4400H amount setting error positioning operation is out of Each axis A please contact us the range Positioning The acceleration deceleration 4401H acceleration deceleratio type of the posi
200. left is displayed Enter d setup exe and click on the OK button Type the name of a program Folder document or Internet resource and Windows will open it For you Open d setup v ne Note The drive name d varies depending on the computer configuration 7 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 A confirmation message is displayed When the setup program is booted a confirmation dialog box is displayed Confirm the contents and click on the Next button To interrupt the installation click on Cancel Configurator PM Setup Welcome to the InstallShield Wizard for Configurator The InstallShield Wizard will install Configurator PM on your computer To continue click Next 6 Confirm the licensing agreement The licensing agreement confirmation box is displayed If you agree to all of the items in the displayed license agreement click on Yes The setup process begins Configurator PM Setup License Agreement Please read the following license agreement carefully Press the PAGE DOWN key to see the rest of the agreement Licensing terms for the software This Agreement is legally binding agreement between the final user and Matsushita Electric Works Ltd hereinafter referred to as MEW By clicking the Yes button you signify your assent to this Agreement If you do not agree with the terms and co
201. linear interpolation 2 axis circular interpolation 3 axis linear interpolation and 3 axis spiral interpolation contols can be performed 1 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net required for the control is aggregated in the AMP As the limit input and near home input is connected to the AMP and given to the positioning unit RTEX through the network the wiring can be simplified Positioning unit RTEX CW drive prohibited input CCW drive prohibited input Near home input General purpose output 1 2 Servo alarm output Extemal brake cancellation signal L Phase A B Z output General purpose output 1 2 CESR Motor Remote I O of 2 input and 2 output for AMP The 2 point general purpose input and output transistors can be connected to the AMP and they can be programmed by the X contact and Y contact of the positioning unit RTEX They can be used as the remote I O for the input and output neighboring the AMP Supports the manual pulser The maximum of three manual pulsers can be connected It is possible to change the axes corresponding to each pulser by the setting of the positioning unit RTEX 1 1 2 Unit Types FP Positioning Unit RTEX Type Function Part number Product number 2 axis
202. ls can be indentified by the error warning codes 15 1 2 Error and Warning Logs There are log areas to store the error warning logs within the positioning unit RTEX Error log Max 7 error codes can be stored for each axis axis 1 to 8 Warnings log Max 7 warning codes can be stored for each axis axis 1 to 8 Once an error warning occurs the error warning code will be stored in the log area of the axis that the error occurred When an error warning that is not related to the axes occurs such as an failure in the unit the error warning code will be stored in the log areas of all axes The latest error warning codes for each axis can be checked with the Configurator PM When referring the error and warning logs for each axis read the following shared memory from the PLC Error log area Shared memory Bank 0 Warning log area Shared memory Bank 0 Address Name 128H Error log area of axis 1 pS e a 01H No of occurrences of errors Address Name Waming log area of axis 1 Waming log area Offset Name aT H Warning code annunciation 1 g H Error log area 148H Error log area of axis 3 158H Error log area of axis 4 OBH Error code annunciation 07H buffer 3 Error code annunciation 09H buffer 4 Error code annunciation uffer 5 of axis 2 buffer 2 buffer 3 buffer 4 Warning code annu
203. m conversion for each axis Zero offset Click Change to display the dialog for inputting value to change the value of the zero offset Unit The unit of position for each axis specified in the parameter settings Home return mode Indicate the contents of the home return setting code specified in parameters Execute the operation to start stop the home return Click Start to execute the home return operation The button name Start Stop changes to Stop Click Stop to execute the deceleration stop operation The button name changes to Start State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred The target speed of the home return specified in the parameter settings for each axis is regarded as 10096 and the operation is executed in the specified speed rate Speed rate Clicking Speed rate shows the dialog for inputting the value The speed rate changed here is effective only in the tool operation and it changes to the original speed rate automatically once the tool operation quits Note If an recoverable error occurred in the positioning unit RTEX click Error Clear
204. mands are being input This is used to forcibly rotate the motor using input from an external switch for instance when to make adjustments Depending on the circumstances this can also be applied to unlimited feeding in some cases Home return The reference position for positioning is called a Home position and an operation to travel to a Home position is called Home return The home position should be set in advance This operation moves to the home position and its coordinate is set to be 0 The motor rotation is reversed automatically when the limit input or the limit input is input and the home position or the near home position is searched to return to the home position automatically Pulser operation A manual operation is available using a device pulser which generates pulses manually The output similar to an encoder is obtained from the pulser and the positioning unit RTEX is equipped with exclusive input terminals It is also called a manual pulse generator Deceleration stop This is a function that interrupts the operation in progress slows the rotation and brings it to a stop The deceleration time can be specified individually Emergengy stop This is a function that interrupts the operation in progress slows the rotation and brings it to a stop Generally a time shorter than a time for a deceleration stop is set The deceleration time can be specified individually Positioning table Table A series of positioni
205. mit Limit 8 axis gt lt a m axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis 6 6 6 64 6 6 6 6 6 6 6B 6 X X X o 6 6 Limit Error annunciation Warning annunciation General purpose input 1 1 axis gt lt N N 2 axis General purpose input 2 General purpose input 1 x lt Si AR General purpose input 2 General purpose input 1 3 axis EI General purpose input 2 General purpose input 1 4 axis SINIS DINAJA General purpose input 2 General purpose input 1 5 axis gt lt General purpose input 2 6 axis General purpose input 1 A General purpose input 2 7 axis General purpose input 1 General purpose input 2 N General purpose input 1 8 axis E m General purpose input 2 Descriptions Monitor contact of the limit and connected to the corresponding AMP During the positioning operation JOG operation or pulser operation performs the deceleration stop when the limit input that is an extension of the operating direction turned on The deceleration stop time during the limit input can be changed in the shared memory It will be the contact for the automatic inversion when performing the home return Turns on when an
206. mple program Positioning start program R3 H DF Fom HO Positioning start r Fomv Fomv Fomv FoMv K100 FoMv F1DMv K500000 F1DMv K1000000 F1DMv FoMwv FoMv F151 WRT R3 2 DF Fomv__ HO Positioning start a5 Fowv FoMv K100 FoMv K100 F1DMv K1000 1 K100000 1 FoMv FoMv FoMv F 1500 R3 164 1 DF FOMV K10001 Positioning start F151 WRT DT10 OT DT12 DT 13 DT 14 DT 15 DT 16 DT20 DT22 DT23 DT24 DT25 DT30 DT31 0732 DT33 DT34 DT35 DT36 DT38 DT 40 DT42 DT43 DT44 DT45 DTO Control code of axis 1 Operation pattern of axis 1 Acceleration time of axis 1 Deceleration time of axis 1 Auxiliary speed of axis 1 DT 18 J Movement amount of axis 1 Auxiliary point of axis 1 Dwell time of axis 1 Auxiliary output of axis 1 DT 10 K16 Control code of axis 1 Control code of axis 2 Operation pattern of axis 2 Acceleration time of axis 2 Deceleration time of axis 2 Auxiliary speed of axis2 Movement amount of axis 2 Auxiliary point of axis 2 Dwell time of axis 2 Auxiliary output of
207. n Start up speed Standard area 3 ms or less extended area 5 ms or less Other Nen 0 to 32 767 ms can set in 1ms functions time 17 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Description 2 axis type 4 axis type 8 axis type Item Pulse 1 to 32 767 000 pps Speed command um 1 to 32 767 000 um s range inch 0 001 to 32 767 000 inch s S degree 0 001 to 32 767 000 rev s E CEI alow Linear acceleration deceleration S shaped acceleration deceleration deceleration Acceleration time 0 to 10 000 ms can set in 1 ms Deceleration time 0 to 10 000 ms can set in 1 ms Pulse 1 to 32 767 000 pps a Speed command um 1 to 32 767 000 um s range inch 0 001 32 767 000 inch s degree 0 001 to 32 767 000 rev s Linear acceleration deceleration amp deceleration I Acceleration time 0 to 10 000 ms can set in 1 ms Deceleration time 0 to 10 000 ms can set in 1 ms Return method DOG method 2 Speed command Activates in synchronization with pulser input amp range Decelera Decelera tion stop tion time Emergen Decelera Deceleration time of active operation S ibn 0 to 10 000 ms can set in 1 ms 5 cy stop tion time 5 Limit stop De elera 0 to 10 000 ms can set in 1 ms tion time i Error stop 0 to 10 000 ms can set in 1 ms tion time ESO Decelera
208. n amp Monitor Area 23 2 23 2 Auxiliary Contact Delay 23 3 23 2 1 Delay Mode Setting sesseseeee 23 3 23 3 Current Value Update 23 4 23 3 1 Differences with Home Offset Function 23 4 23 3 2 Current Value 23 5 23 3 3 Coordinate Origin sssseeeeene 23 5 23 3 4 Setting Method Current Value Update 23 6 23 3 5 Coordinate Origin sessseeeeee 23 7 23 3 6 Sample Program essen 23 7 23 3 7 Restrictions on 23 7 23 4 Position Deviation Simple 23 8 23 4 1 Monitoring Method sse 23 8 23 4 2 Sample Program concedere cde d 23 8 23 4 3 Restrictions on 23 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Glossary RTEX RTEX which stands for Realtime Express is the network exclusive for motion connecting the Positioning Unit RTEX and AMP Realtime Express is the name of the network servo system produced by Matsushita Electric Industrial Co
209. n CW direction Center point specification CCW direction direction direction Y axis Y axis The center position can be specified an _ The center position UT i can be specified direction direction direction direction direction X axis direction X axis 2 axis circular interpolation Pass point point specification direction Y axis The pass point on a arc can be specified direction direction direction X axis 8 10 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 axis linear interpolation Composite speed specification direction 4 Z axis The composite speed can be specified Y axis EN cE 77 direction direction X axis 3 axis linear interpolation Composite speed specification direction The axis speed for the axis to be a long axis can be specified Y axis 4 Kads 1 direction 3 axis spiral interpolation Center point specification 3 axis spiral interpolation Center point specification CW direction Z axis movement CCW direction Z axis movement direction Z axis direction Z axis The center position can be specified The center position can be Y axis specified Y axis X axis direction X ds direction direction j direction The interpolation speed is the tangential The interpolation speed is the tangent
210. n of axis 2 Posiition deviation of axis OB5H Posiition deviation of axis 4 Posiition deviation of axis 135H 5 174H Posiition deviation of axis 175H 6 Posiition deviation of axis 1B5H 7 1F4H Posiition deviation of axis 1F5H 8 The posiition deviation calculated on the unit of axis 1 is stored The posiition deviation calculated on the unit of axis 2 is stored The posiition deviation calculated on the unit of axis 3 is stored The posiition deviation calculated on the unit of axis 4 is stored 01H The posiition deviation calculated on the unit of axis 5 is stored The posiition deviation calculated on the unit of axis 6 is stored The posiition deviation calculated on the unit of axis 7 is stored The posiition deviation calculated on the unit of axis 8 is stored 23 4 2 Sample Program Refer to Position deviation ladder program for demo fp 23 4 3 Restrictions on Operation As the deviation to be displayed with the position deviation simple monitor is calculated within the positioning unit a deffirence may occur with the deviation counter value of the AMP The display of the position deviation monitor is updated in 10 ms units 23 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Record of changes Manual No Date Desceiption of changes ARCT1F421E NOV 2006 First Editi
211. n the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position 8 17 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Sample program RO Y108 Y88 L DF Servo on Servo on for axis 1 Y109 Y89 sal Servo ON L for axis 2 Y10A Y8A Servo on for axis 3 R1 Y150 Y130 L HoF Servo off Servo off for axis 1 Y151 131 Servo OFF Serooff for axis 2 Y152 Y132 Servo off for axis 3 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 Link Servolock Error fi ace operation foraxs T axis 1 Pero ca for all axes X4109 X9 X111 X11 X161 X61 RA pee te 5 Start enabled condition Servo lock X Error for Start up enabled for axis 2 axis 2 flag for axis 2 X112 X12 X162 X62 R12 Servo lock Error for Start up enabled for axis 3 axis 3 flag for axis 3 R2 H Hor Fomv 4 Starting table Postion t Te sonet 5 lO Pec control start co F151 WRT HO DTO K
212. nciation H Waming log area 1 of axis 3 g lel aolola pzas OT TAHTI 1D8H Waming log area of axis 4 168H Error log area OCH of axis 5 Error code annunciation buffer 6 1E8H Waming log area of axis 5 Error log area OEH Error code annunciation Hoa feror 0 Error code annunciation 05H buffer 2 Error code annunciation buffer 7 1F8H Waming log area of axis 6 of axis 6 Error log area Error log area Waming log area of axis 7 Waming log area i of axis 8 Number of occcurrences of errors warnings Stores the number of occurrences of errors and warnings Error warning annunciation buffers 1 to 8 Stores error and warning codes The buffer 1 is always the latest code 15 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 1 3 Errro and Warning Clear When an error warning occurred it can be cleared at the each axis that the error occurred Note that all the contents of the error log will be initialized once the error warning clear is executed The error warning clear can be executed on the data monotor screen of the Configurator PM but errors warnings can be cleared by the error clear request flag or warning clear request flag allocated for the I O Note When an error occurred the axis that the
213. nd AME occurred after the network breaking of the communication cable 2000H Communication Koh All axes N A zaron communication has been Also check if any excessive noise is error established caused in the usage environment If the error occurred repeatedly please contact us AMP Data Failed in the data Each Check the status of the AMP that the error 2001H Ces tek A acquisition error acquisition of each occurred Check the communication pathway Carefully check the connector failure and AMP Parameter The communication Each breaking of the communication cable 2002H Sitot parameters of each AMP axis A Also check if any excessive noise is are incorrect caused in the usage environment If the error occurred repeatedly please contact us Check the status of the AMP Network PERRA As information on the AMP cannot be oer the Positioning Unit RTEX Each V Tus 2003H communication A obtained when communication is cut off an timeout and DN Scri axis error on the AMP may not be obtained communication was cut ayr off Check the communication cable The number of the AMPs connected to the network 2010H AMT Excess NO lexceeded the limit N A maximum No of axes of the positioning unit Afer checking the connection and settings AMP Node ad of the AMP turn off the power supply and 2020H ORRE node number exist the All axes N A duplication network turn it on again
214. nditions of this Agreement you will not be able to use the Software 1 Grant of License MEW hereby grants you the nonexclusive license to use the Software acquired under this Agreement for the operation of a single user computer provided that the Software will at Do you accept all the terms of the preceding License Agreement If you choose No the setup will close To install Configurator you must accept this agreement nstallShield 7 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 Register the user information A user information dialog box is displayed Fill in the User Name Company Name and Serial Number items and click on the Next button The serial number is noted on the user card included in the Configurator PM package Make sure it is entered correctly Configurator PM Setup Customer Information Please enter your information amp Please enter your name the name of the company for whom you work and the product serial number User Name Panasonic Company Name MEW Serial Number lt Back Cancel The contents entered here can be confirmed under Version Information on the splash screen and in the Help function when the Configurator PM is booted 8 Select the installation destination A dialog box is displayed where the folder to which the Configurator PM is to be installed can be confirrmed To install the pro
215. net Email info ctiautomation net 21 2 Synchronous Operation Overview of Synchronous Operation The synchronous operation is a function to set master and slave axes and operate a slave axis with the same operation synchrounous as the master axis The features of the synchronous operation are as below A maximum of 2 groups can be set for the synchronous operation The master and slave axis can be set for laxis each Supports two types of synchronous operation 1 Synchronous mode A Synchronous d Master axis Slave axis This is a standard mode of the synchronous operation It is possible to switch the setting of the synchronous operation between enabled and disabled and perform the synchronous operation as necessary 2 Synchronous mode B This mode is used to drive a large sized table such as a carrier machine with two motors The synchronous operation cannot be cancelled as the target axes master and slave are mechanically coupled Master axis Slave axis It is possible to switch the setting of the synchronous operation between enabled and disabled In the synchronous mode A only 21 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 2 1 Synchronous Mode The followings are the differences in the operations between the synchronous modes supported with the synchronous operation Synchronous mode A Synchronous mode B
216. nfo ctiautomation net 13 4 Auxiliary Output Code and Auxiliary Output Contact The auxiliary output contact is a function to inform about which table s operation is performing when the automatic operation E point control C point control P point control is executed The auxiliary output contact and the auxiliary output code can be used by setting the parameter auxiliary output mode of each axis to the With mode Note that it is not available if the auxiliary output mode is not used Auxiliary output contact When the automatic operation started the auxiliary contact flag of the corresponding axis allocated to I O turns on Also the ON time of the auxiliary contact falg can be specified in the ms unit Auxiliary output data The auxiliary output data 1 word can be set for each table of the positioning data The content of the process currently carried out can be confirmed by setting the auxiliary output The values in the auxiliary output data are held until the next positioning table is executed Also the auxiliary output data that was output just before the completion of the automatic operation is held BUSY flag Operation done flag Lodo ol Auxiliary output data Auxiliary output Auxiliary output ON time ON time ms ms Auxiliary output flag 13 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 5 Actual
217. ng For the synchronous operation one slave axis is set for one master axis Up to two groups can be set gt Reference 17 4 4 Setting Parameter Control Area ronde of 17 4 4 Setting Parameter Control Area ver 1 13 or later Offset Bank oo Name Description Synchronous group 1 Sets the operation mode of the synchronous operation Synchronous mode 00H Synchronous mode A 01H Synchronous mode B Turn on the corresponding bit for the axes to be the master and slave axes in the synchronous operation Synchronous group 1 Master axis Bit Name Default Description 0 Synchronous attribute of axis 1 0 Not execute the 1 Synchronous attribute of axis 2 synchronous operation 2 Synchronous attribute of axis 3 1 Synchronous 3 Synchronous attribute of axis 4 operation 4 Synchronous attribute of axis 5 master slave 5 Synchronous attribute of axis 6 axis setting of group 6 Synchronous attribute of axis 7 7 Synchronous attribute of axis 8 15108 Synchronous group 1 Slave axis Each synchronous axis can be set for only one axis Synchronous group 2 Sets the operation mode of the synchronous operation Synchronous mode OOH Synchronous mode A 01H Synchronous mode B Turn on the corresponding bit for the axes to be the master and slave axes in the synchronous operation Synchronous group 1 Bit Master axis 0 Name Default Description Synchronous attribute of axis 1 0 Not execute the 1 Synchronous at
218. ng address of table 371 380H Starting address of table 372 390H Starting address of table 373 Starting address of table 374 Starting address of table 375 3COH Starting address of table 376 3DOH Starting address of table 377 Starting address of table 378 3FOH Starting address of table 379 17 51 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis 1 Axis 2 Axis3 Axis 4 Axis5 Axis6 Axis 7 Axis 8 Bank No Descriptions 08H 12H 1CH 26H 30H 3AH 44H 4EH 000H Starting address of table 380 010H Starting address of table 381 020H Starting address of table 382 030H Starting address of table 383 040H Starting address of table 384 050H Starting address of table 385 060H Starting address of table 386 070H Starting address of table 387 080H Starting address of table 388 090H Starting address of table 389 Starting address of table 390 OBOH Starting address of table 391 OCOH Starting address of table 392 ODOH Starting address of table 393 OEOH Starting address of table 394 OFOH Starting address of table 395 100H Starting address of table 396 110H Starting address of table 397 120H Starting address of table
219. ng data such as acceleration deceleration time target speed and interpolation operation that is necessary for a position control is managed as a positioning table For example one table is necessary for the E point control and multiple tables are necessary for the P point control and C point control depending on the number of pass points and continuance points Limit input limit input This is an input to set a limit the motor movement Limit input is the maximum limit and the limit input is the minimum limit They are connected to the AMP for the positioning unit RTEX Near home DOG input In order to stop the table at the home position a position at which deceleration begins is called the near home position This is connected to an external input switch or sensor It is connected to the AMP for the positioning unit RTEX Dwell time In case of the E point control a time from the completion of a position commande until the operation done flag turns on can be specified as a dwell time In case of the C point control a time from the deceleration stop until the next table activates can be specified Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Auxiliary output code auxiliary output contact They are used to check the operation of a position control The auxiliary output code is a 16 bit code that can be specified for each positioning table and enables to monitor whi
220. nge of axis 6 0 6 Request home change of axis 7 0 7 Request home change ofaxis8 O 15 to 8 0C8H Home change coordinate of Stores the coordinate to change the original point of axis 1 0C9H axis 1 00H OCAH Home change coordinate of Stores the coordinate to change the original point of axis 2 0CBH axis 2 OCCH Home change coordinate of Stores the coordinate to change the original point of axis 3 0CDH axis 3 OCEH Home change coordinate of Stores the coordinate to change the original point of axis 4 OCFH axis 4 Home change coordinate of Stores the coordinate to change the original point of axis 5 OD1H axis 5 0D2H Home change coordinate of Stores the coordinate to change the original point of axis 6 OD3H axis 6 0D4H Home change coordinate of Stores the coordinate to change the original point of axis 7 ODSH axis 7 OD6H Home change coordinate of Stores the coordinate to change the original point of axis 8 0D7H axis 8 17 16 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 4 6 Torque Limit Area The output torque from the AMP to motor can be changed The setting range of 1 to 5000 is equivalent to 0 1 to 500 0 It cannot be changed during the positioning operation The change done during the positioning operation will be affected at the next st
221. ning 1E1H occurrences of Announces the number of occurrences of warnings at axis 3 axis 3 1E2H Warning code annunciation Announces the code when a warning occurred 1E3H buffer 1 of axis 3 1E4H Warning code m annunciation Announces the code when a warning occurred 1E5H buffer 2 of axis 3 1E6H Warning code annunciation Announces the code when a warning occurred 1E7H buffer 3 of axis 3 1E8H Warning code annunciation Announces the code when a warning occurred 1E9H buffer 4 of axis 3 1EAH Warning code annunciation Announces the code when a warning occurred Soi Hse buffer 5 of axis 3 1ECH Warning code annunciation Announces the code when a warning occurred 1EDH buffer 6 of axis 3 1EEH Warning code annunciation Announces the code when a warning occurred 1EFH buffer 7 of axis 3 No of warning 1F1H occurrences of Announces the number of occurrences of warnings at axis 4 axis 4 1F2H Warning code annunciation Announces the code when a warning occurred 1F3H buffer 1 of axis 4 1F4H Warning code annunciation Announces the code when a warning occurred 1F5H buffer 2 of axis 4 1F6H Warning code annunciation Announces the code when a warning occurred 1F7H buffer 3 of axis 4 1F8H Warning code annunciation Announces the code when a warning occurred 1F9H buffer 4 of axis 4 1FAH Warning code annunciation Announces the code when a warning occurred 1FBH buffer 5 of axis 4 1FCH Warning code annunciation Announces the code when a warning occurr
222. ning Clear o0000 EB010 Warning Clear 00000 EB010 Warning Clear E Help Close Axis Group The axis No and group names to be monitored Active table number The table number that the positioning data is being executed or has completed Auxiliary output code Auxiliary output code AMP current value pulse Monitor the value of feedback pulses Current value after unit conversion Monitor the feedback value of the AMP after the unit conversion Torque command value Monitor the torque command value of the AMP Actual speed rpm Monitor the actual speed rpm of the AMP State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred Help Indicate the help regarding this function Close Close this dialog cS mer Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 7 34 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net
223. ning control Software limit Home return Software limit JOG operation Upper limit of software limit Lower limit of software limit Auxiliary output mode Auxiliary output ON time ms Auxiliary output Delay rate Completion width pulse Monitor error Torque judgment Monitor error Torque judgment valeu Monitor error Actual spped judgment Monitor error Actual speed judgment value Follows the operation of the master axis during the synchronous operation Home Setting code Home return Direction Home return Acceleration time Home return Deceleration time Home return Traget speed Home return Creep speed Home return Stop on contact torque value Home return Stop on contact judgment time Varies depending on the operation mode of the synchronous operation Synchronous mode A Operates by the setting of each axis Synchronous mode B Follows the operation of a master axis JOG operation Acceleration Deceleration type JOG operation Acceleration time JOG operation Deceleration time JOG operation Target speed JOG positioning operation setting code JOG positioning operation acceleration time JOG positioning operation deceleration time JOG positioning operation target speed Follows the operation of the master axis during the synchronous operat
224. nounces the code when an error occurred 143H buffer 5 of axis 2 144H Error code annunciation Announces the code when an error occurred 145H buffer 6 of axis 2 146H Error code annunciation Announces the code when an error occurred 147H buffer 7 of axis 2 Number of error 149H occurrences of Announces the number of occurrences of errors at axis 3 axis 3 14AH Error code P annunciation Announces the code when an error occurred 14BH buffer 1 of axis 3 14CH Error code annunciation Announces the code when an error occurred 14DH buffer 2 of axis 3 14EH Error code annunciation Announces the code when an error occurred 14FH buffer 3 of axis 3 150H Error code annunciation Announces the code when an error occurred 151H buffer 4 of axis 3 152H Error code annunciation Announces the code when an error occurred 153H buffer 5 of axis 3 00H 154H Error code annunciation Announces the code when an error occurred 155H buffer 6 of axis 3 156H Error code annunciation Announces the code when an error occurred 157H buffer 7 of axis 3 Number of error 159H occurrences of Announces the number of occurrences of errors at axis 4 axis 4 15AH Error code annunciation Announces the code when an error occurred 15BH buffer 1 of axis 4 15CH Error code annunciation Announces the code when an error occurred 15DH buffer 2 of axis 4 15EH Error code annunciation Announces the code when an error occurred 15FH buffer 3 of axis 4 160H Error
225. nt 2 Independent axis attribute cane 0 0 Not belong to the independent axis axis settings 3 Independent axis attribute of axis 4 0 1 Belong to teh independent axis ms UN CO 0 An error occurs if the same axis is set to 1 in 5 Independent axis attribute of axis 6 0 another group A to D 6 Independent axis attribute of axis 7 0 7 Independent axis attribute of axis 8 0 15 08 17 15 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 4 5 Home Change Data Area To change the coordinate origin default is 0 of each axis managed in the positioning unit store the changed coordinate in this area and turn on the home change request flag Offset Bank Name Descriptions address Only when the corresponding bits fo reach axis changed to 1 from 0 the coordinate origin managed in the positioning unit will be changed to the following home change coordiates Afther the change the positioning unit clear the corresponding bits to 0 automatically bit Name Default Descriptions H h 0 Request home change of axis 1 0 0COH one Fal 1 Request home change ofaxis2 O request flag 2 Request home change ofaxis3 0 0 No change 3 Request home change of axis 4 0 1 Change the coordinate origin 4 Request home change of axis 5 0 After the change the positioning unit sets to 0 T automatically 5 Request home cha
226. nt value update coordinate Stores the coordinate to update the current value of axis 4 of axis 4 Current value 0D1H update coordinate Stores the coordinate to update the current value of axis 5 of axis 5 OD2H Current value update coordinate Stores the coordinate to update the current value of axis 6 of axis 6 Current value update coordinate Stores the coordinate to update the current value of axis 7 of axis 7 Current value update coordinate Stores the coordinate to update the current value of axis 8 of axis 8 Set the coordinate to update the current value and turn on the current value update request flag The positioning unit changes the current value to the specified coordinate After changing the coordinate the positioning unit turns off the current value update request flag automatically 23 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 23 3 5 Coordinate Origin The Coordinate origin is added to each axis positioning parameter a Reference 17 6 2 Parameter Setting Area redde of 17 6 2 Each axis positioning parameter setting area Ver 1 13 or later Offset Description address 04AH an origin Stores the value of coordinate origin after the home return Set the coordinate origin after the home return to the coordinate origin of the target axis Execute the home return process After the hom
227. o give an error or warning by setting judgment values for the torque monitor values and actual speed of each axis bit Name Default Descriptions 0 Torque judgment value enabled 0 0 Disables the torque judgment value 1 Enables the torque judgment value 01CH Monitor value 1 Torque judgment value 0 0 Announces an error when it is enabled error settings error warning setting 1 Announces a warning when it is enabled 2 Actual speed judgment value 0 0 Disables the actual speed judgment value enabled 1 Enables the actual speed judgment value 3 Actual speed judgment value 0 0 Announces an error when it is enabled error waning setting 1 Announces a warning when it is enabled 4to 15 01DH Torque Sets the limit value of the torque 5000 oito 0 1 judgment value 5000 0 1rps Actual speed 0 to 1EH he limit val f th r 0 judement value Sets the limit value of the actual speed 5000 5000 ol 0 1 01FH 17 39 Offset m Default Setting Descriptions Unit address value range Sets the pattern of the home return Home return bit Name Default Descriptions 020H setting code 15 to 0 Home return setting 0 0 DOG method code 1 Limit method Any other settings will be errors Sets the operating direction of the home return Home return bit Name Default Descriptions 021H direct
228. ode when a warning occurred 215H buffer 2 of axis 6 216H Warning code m annunciation Announces the code when a warning occurred 217H buffer 3 of axis 6 218H Warning code annunciation Announces the code when a warning occurred 219H buffer 4 of axis 6 21AH Warning code annunciation Announces the code when a warning occurred 21BH buffer 5 of axis 6 21CH Warning code annunciation Announces the code when a warning occurred 21DH buffer 6 of axis 6 21EH Warning code annunciation Announces the code when a warning occurred Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 25 Bank oireet Name Descriptions address No of warning 221H occurrences of Announces the number of occurrences of warnings at axis 7 axis 7 222H Warning code annunciation Announces the code when a warning occurred 223H buffer 1 of axis 7 224H Warning code annunciation Announces the code when a warning occurred 225H buffer 2 of axis 7 226H Warning code annunciation Announces the code when a warning occurred 227H buffer 3 of axis 7 228H Warning code annunciation Announces the code when a warning occurred 229H buffer 4 of axis 7 22AH Warning code annunciation Announces the code when a warning occurred 22BH buffer 5 of axis 7 22CH Warning code annunciation Announces the code when a warning occur
229. of AMP Eachaxis O 000CH Overvoltage protection Refer to the specifications of AMP Each axis O 000DH Main power supply shortage voltage Refer to the specifications of AMP Each axis O protection 000EH Overcurrent protection Refer to the specifications of AMP Each axis 000FH Overheat protection Refer to the specifications of AMP Each axis 0010H Overload protection Refer to the specifications of AMP Each axis O 0012H Regenerative overload protection Refer to the specifications of AMP Each axis 0015H Encoder communication error protection Refer to the specifications of AMP Each axis 0017H Encoder communication data error Refer to the specifications of AMP Each axis 0018H Positioning deviation overprotection Refer to the specifications of AMP Each axis O 0019H Hybrid deviation excessive error Refer to the specifications of AMP Each axis 001AH Over speed protection Refer to the specifications of AMP Each axis O 001BH Command error protection Refer to the specifications of AMP Each axis O 001CH External scale communication data error Refer to the specifications of AMP Each axis 001DH Deviation counter overflow protection Refer to the specifications of AMP Each axis O 0022H Software limit protection Refer to the specifications of AMP Each axis O 0023H A communication eman Refer to the specifications of Eachaxs 0024H EEPROM parameter error protection Refer to the specifications of AMP Each axis 002
230. of axis 1 045H name 046H 047H 048H 049H 04AH 04BH System ID of axis 2 ae Moch Model code of AMP Refer to the descriptions of axis 1 04DH 04EH 04FH 050H 051H 052H 053H System ID of axis 2 Ar 054H Version of firmware Refer to the descriptions of axis 1 055H 056H 057H 058H 059H 01H 05AH 05BH System ID of axis 2 x FoscH Model code of motor Refer to the descriptions of axis 1 05DH 05EH 05FH 060H 061H 062H 063H System ID of axis 2 UR 064H Serial number of motor Refer to the descriptions of axis 1 065H 066H 067H 070H Status indication of axis 2 Refer to the descriptions of axis 1 071H External termina input Refer to the descriptions of axis 1 monitor of axis 2 072H Torque command of axis 2 Refer to the descriptions of axis 1 073H Actual speed of axis 2 Refer to the descriptions of axis 1 078H Reig tans or execution Refer to the descriptions of axis 1 done table of axis 2 079H utput code of Refer to the descriptions of axis 1 07CH s 07DH Feedback value of axis 2 Refer to the descriptions of axis 1 07EH Unit system conversion HM 07FH teadbaekevalue ef axis 2 Refer to the descriptions of axis 1 17 30 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis information of axis 3
231. of table 507 17 53 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis 1 Axis 2 Axis3 Axis 4 Axis5 Axis6 Axis 7 Axis 8 Bank No Descriptions OAH 14H 1EH 28H 32H 3CH 46H 50H 000H Starting address of table 508 010H Starting address of table 509 020H Starting address of table 510 030H Starting address of table 511 040H Starting address of table 512 050H Starting address of table 513 060H Starting address of table 514 070H Starting address of table 515 080H Starting address of table 516 090H Starting address of table 517 Starting address of table 518 OBOH Starting address of table 519 Starting address of table 520 ODOH Starting address of table 521 OEOH Starting address of table 522 OFOH Starting address of table 523 100H Starting address of table 524 110H Starting address of table 525 120H Starting address of table 526 130H Starting address of table 527 140H Starting address of table 528 150H_ Starting address of table 529 160H Starting address of table 530 170H Starting address of table 531 180H Starting address of table 532 190H Starting address of table 533 1A0H Starting address of table 534 1BOH Starting a
232. of the positioning data completes the recalculation done contact X_7 will turn on 107 2 Note It is used only when the positioning data has been rewritten by laddar programs 88 8 Requests the servo lock for the corresponding AMP Y10A Y8A The servo lock is executed by the ON edge of this contact Y10B Y8B 4axis The servo cannot be free automatically even in the program Y10C ON request mode 6 axis To make the servo free turn on the servo OFF request contact 7 axis The operation is the edge type Y8F 8 axis 1 axis 2 Requests the positioning control for the corresponding AMP a zm The starting table is Specified in the area for specifying the Y113 Yo3 4 axis VM position control starting table number in the shared memory axis Positioning start up The operation is the edge type 6 axis If this contact turns on during the Tool operation by Configurator _ 7 axis PM a warning will be output g v97 axis 2 118 98 1 axis Requests the home return for the corresponding AMP 2 axis The settings for the direction or pattern of the home return are Y9A 3 axis specified by Configurtor PM or the home return operation setting Home return start in the shared memory 5axis up The operation is the edge type Y11D Y9D 6 axis 7 axis If this contact turns on during the Tool operation by Configurator PM a warning will be output x
233. on ARCT1F421E 1 Feb 2008 Addition function of Ver1 13 or later Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net
234. on to set the home position controlled by Positioning Unit RTEX to an arbitrary coordinate position The current coordinate controlled by Positioning Unit RTEX becomes the Ver1 00 1 01 Home change offset value from the specified home position specifications 9 Once the home return is executed the set coordinate will be registered as Home offset origin The coordinate after the home return is as below Positioning Unit RTEX internal coordinate Specified coordinate origin AMP coordinate 0 Current value The current vaue controlled by Positioning Unit RTEX is changed to an update arbitrary value Note The coordinate origin does not change due to the current value update Ver 1 13 The coordinate origin is changed to an arbitrary value or later Once the home return is executed the set coordinate will be registered as Bea origin Coordinate The coordinate after the home return is as below origin Positioning Unit RTEX internal coordinate Specified coordinate origin AMP coordinate 0 Unlike the home change home offset function the current value is changed after the home return has completed Note In Configurator PM Current value update is written as Home offset 23 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 23 3 2 Current Value Update Changes the current value that is controlled by the Positioning Unit RTEX to any value The curr
235. oning table using Configurator PM that is an exclusive setting tool and the other method that writes the positioning table in a prescribed address by ladder programs There are the standard area of 600 points that is specified by No 1 to 600 and the extended area of 25 points that is specified by No 10001 to 10025 The standard area is used when the setting values of the positioning table are predetermined It can be set using Configurator PM and can be rewritten from the ladder programs too However if the positioning table is changed by the ladder program the caulculation is necessary to restructure the positioning data before executing the automatic operation This function enables to read the positioning data of 600 points in advance and to prepare for the start up within the positioning unit and enables to shorten the start up time for the positioning When using Configurator PM to download the positioning data the data is restructured automatically so the calculation is not necessary However the calculation is necessary after rewriting the poisitoning data from the ladder program The procedures for the calculation are as follows 1 Change the positioning table in the shared memory 2 Turn on the output contact Y_7 recalculation request contact 3 Confirm the input contact X_7 recalculation done contact is on Confim the completion of the recalculation If the data is not recalculated after rewriting the positioning
236. ons of each contact The BUSY flag X118 FP2 X18 indicating the state that a motor is running turns on when the home return started and it turns off when the operation completed e The home return done flag FP X128 FP2 X28 indicating the state that an operation completed turns on when the home return operation completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the home return operation completed 10 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Sample program RO Y108 Y88 for axis 1 R1 Y150 Y130 for axis 1 X100 X0 X104 X4 2X108 X8 X110 X10 2X160 X60 R10 Link T Connection Start u establishment operation confirmation rays anis 1 enabled flag forallaxes for ads 1 R1 X118 X18 Y118 Y98 12 DF Home Enabled flag Busy flag Home return return for axis 1 for axis 1 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation Limit input
237. onversion for each axis Click Change to display the dialog for inputting value to change the value of the zero offset Unit The unit of position for each axis specified in the parameter settings Monitor and display the target speed in the JOG operation JOG target speed Click Change to change the target speed for the JOG operation JOG Click to perform the forward rotation JOG Click to perform the reverse rotation Table number Indicate the table number to perform the teaching Click Teaching to change the table number for the teaching and register the current value State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred Speed rate The target speed of the home return specified in the parameter settings for each axis is regarded as 100 and the operation is executed in the specified speed rate Clicking Speed rate shows the dialog for inputting the value The speed rate changed here is effective only in the tool operation and it changes to the original speed rate automatically once the tool operation quits 800 894 0412 Fax 7 43
238. operation target speed Click Change to change the target speed for the JOG operation JOG Click to perform the forward rotation JOG Click to perform the reverse rotation State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred Speed rate The target speed of the home return specified in the parameter settings for each axis is regarded as 100 and the operation is executed in the specified speed rate Clicking Speed rate shows the dialog for inputting the value The speed rate changed here is effective only in the tool operation and it changes to the original speed rate automatically once the tool operation quits 7 41 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net LO Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 2 Click the JOG for the JOG operation in the forward rotation Click the JOG for the JOG operation in the reverse rotation 3 Click Change fo
239. or PM or the deceleration stop setting in the shared Deceleration stop memory The operation is the level type Note The deviation counter cannot be cleared Requests the permission for the pulser operation of the corresponding AMP Pulser operation The multiple setting and other settings for the pulser operation enabled are specified by Configurator PM or the pulser operation setting area in the shared memory The operation is the level type BE 99 AB lt EN N e gt lt E N 00 TM OIO lt x C2 N Requests the servo free for the corresponding AMP The servo free is executed by the ON edge of this contact The operation is the edge type Oo lt e lt oO e lt lt lt lt VIO W gt Co lt lt 17 10 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contact allocation Target 8 lt lt lt ok g AR N lt e o gt lt Xxx XII d R lt NI a lt a a 5 zi WY15 Ax gt eio oo S O o N zi B N O a O 3 N lt N m lt m 14 141 lt A 43 AJA oje 148 B
240. or test when the power supply turned All axes N A If the error occurred repeatedly on please contact us Any error occurred in the internal 1002H Unit error processing All axes N A Check the settings 1003H System error occurred in the system If the setting values are correct processing error processing due to any reason and the error occurred repeatedly please contact us FROM writing An error occurred when the Rewrite into the FROM again 1010H ortor positioning settings were written in All axes A If the error occurred repeatedly the positioning unit please contact us An error occurred in the Check the connection of the 1020 Tool operation communication with a PC in the Allein RS232C cable connecting the abnormal end tool operation by the Configurator and PLC PM Reboot the PC 15 15 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 5 3 AMP Communication Errors From 2000H Ver 1 13 or later These are the errors occurred in the communication beteween the positioning unit and AMP They occur when the communication data was judged as abnormal A Available N A Not available a Error name Description Object Clear Countermeasures Check the power supply of the AMP is on Check the communication pathway A communication error Carefully check the connector failure a
241. or uncheck in the menu The toolbar is indicated with the check and it is not indicated without the check Showing Hiding Status Bar Set to show or hide the status bar Select View Status Bar and check or uncheck in the menu The status bar is indicated with the check and it is not indicated without the check Showing Hiding Parameter Status Bar Set to show or hide the parameter status bar Select View gt Parameter Status Bar and check or uncheck in the menu The parameter status bar is indicated with the check and it is not indicated without the check Showing Hiding Guidance Bar Set to show or hide the guidance bar on the main screen that provides guidance on various settings Select View gt Guidance Bar and check or uncheck in the menu The guidance bar is indicated with the check and it is not indicated without the check Configuration setting Select Option Configuration in the menu bar The following dialog is shown The current folder in the setting data file can be changed Configuration Current folder C Program Files Panasonic MEW Control Configeurator PM Documents Browse Tool operation time out Hep Current folder Specify a current folder to be used for this software Tool operation monitoring time Set the communication error detection time in the Tool operation 7 28 Phone 800 894 0412 Fax 888 723 4773 Web
242. ositioning table cannot be determined until just before sarting the positioning operation In that case the positioning table is set just before the start up of the positioning In the extended area the positioning table can be rewritten as needed and the recalculation is not necessary However it is up to 25 tables and Configurator PM cannot be used The ladder programs should be used to write the positioning table in the prescribed address in the shared memory The start up time is longer than the standard area and when performing the P point control or C point control in the extended area note that the start up time varies depending on the number of tables to be executed consecutively How to use each area and the precautions are as below How touse Number Table Setting using Setting using of points number Configurator PM ladder program Area to be used when Available Standard the setting value of the 600 110600 Available Calculation for area positioning table is points restructuring is predetermined necessary Area to be used when the setting value of the 10001 Available Extended positioning table cannot Calculation for e 25 points to Not available reno area be determined until just restructuring is 10025 before executing the not necessary positioning operation 14 3 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 14 1
243. ould be allocated to use the Positioning Unit RTEX as well as other I O units 256 points 128 point input 128 point output are occupied for any axis types Type Number of occupied points allocated using a tool software 2 axis type Input 128 points 4 axis type Output 128 points 8 axis type 128SX 128SY With the FP or FP2 the I O numbers vary depending on the installed position of the positioning unit RTEX Reference FP User s Manual ARCT1F333 gt lt FP2 FP2SH User s Manual ARCT1F320 gt 6 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 2 Allocation of Each Contact Followings are occupied I O when FPX FP2 Positioning unit RTEX is installed in the slot 0 Contact allocation Target pun e me eA Link establishment Indicates that the network link was established and announce 0 All axes BO annunciation the system started running Taje _ e ee ee ee 8 106 X X X ee gt gt l pro 0 jl c c c o O completes X100 101 Announces that data such as positioning parameters the 103 Wee ROM shared memroy is being written in FROM Contact to indicate the Tool operation from Configurator PM X104 4 All axes operation The start up from I O is not available during the Tool operaiton If it performs a warning will occur Xo If the recalculation request contact Y 7 turns on the es po
244. ount 2 Reference 17 5 2 Each Axis Information amp Monitor Area Addition of 17 5 2 Axis information of axis 1 to 8 ver 1 13 or later Defau Offset iai Setting address Name Descriptions It range Feeds back and stores the setting value of the repeat count specified for the 1st axis Repeat count This area is 1 if the positioning repeat does f setting value of axis 1 not perform repeat count 0 1 255 Times Also when the repeat count is set to be unlimited 255 is stored in this area Repeat count that is currently being performed on the first axis Repeat count This area is 1 if the positioning repeat does Current value of axis 1 not perform 0 to 65535 Times The upper limit is 65535 in this area If the repeat count exceeds the upper limit the count will be started from 0 setting value of axis 2 Bepeatcount 01065535 Times Current value of axis 2 gaH Bepest 0t0255 Times setting value of axis 3 Repeat count Repeat count Repeat count 13AH Repeat count 0 to 255 setting value of axis 5 Repeat count 17 Repeat count 0 oto255 Times setting value of axis 6 17BH4 Repeat count 01065535 Times Current value of axis 6 BaH Repeat count 010255 Times setting value of axis 7 Bank Unit BBH Repeat count 01065535 Times Current value of axis 7 Repeat count Repeat count 21 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation
245. per rotation 003H rotation Setting range 1 to 32 767 Any other settings will be errors Sets the movement amount per rotation It is necessary for the conversion of the weal pulse number in the settings of mm inch and degree bit Name Default Descriptions Movement 31 to 0 Movement amount per 1 Movement amount per rotation amount per rotation Setting range 1 to 32 767 i Any other settings will be errors rotation plano Interpretation is changed by the unit setting 005H mm 1 inchi 1 10 000 inchi degree 1degree 006H 007H 008H a 009H 00AH Sets the software limit to be enabled or disabled for each control bit Name Default Descriptions 0 Software limit enbled disabled 0 0 Disables the software limit in positioning Software limit setting for positioning control 1 Enables the software limit in positioning 00BH enabled 1 Software limit enbled disabled 0 0 Disables the software limit in home return disabled setting setting for home return 1 Enables the software limit in home return 2 Software limit enbled disabled 0 0 Disables the software limit in JOG operation setting for JOG operation 1 Enables the software limit in JOG operation 15 to 3 Sets the upper limit value of the software limit for absolute coordinates bit Name Default Descriptions 00CH 31 to 0 Upper limit of 1 073 741 823 Upper limit of software limit software limit Interpretation is changed by the unit setting U limit of pulse 1 073 741
246. perations The automatic operation is an operation mode to be perform a position control For the position control there are a single axis control and an interpolation control that starts and stops multiple axes simultaneously For the operations of the position control there are the E point control that uses the positioning data of 1 table the P point control and C point control that use multiple tables for the single axis control or interpolation control Each operaton is as mentioned below and the acceleration time and deceleration time can be set individually For the P point control and C point control the E point should be set as the last table Also in the P point control and C point control the operation done flag turns on after the last table was executed Speed Speed 2 f pps E point control f pps P point control E point i table point Ppoint Time table table Time t ms t t t ms Start Stop Start Stop Speed f pps C point control Time t t ms Start Stop Operation flow of single axis control Operation flow of interpolation control axis using Configurator PM Set positioning data using Configurator PM Transfer the data to the shared memory of Positioning Unit RTEX Y Set a target axis as a single Set a position control starting table in the positioning table setting area of the shared memory V Turn on the start contact of the target axis
247. please contact us Turn on the power supply of the system again Ifthe similar error repeatedly occurs please contact us 16 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 17 Specifications Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 1 Table of Specificationa 17 1 1 General Specifications Item Description Positioning Unit RTEX FP2 Positioning Unit RTEX Ambient operating 0 to 55 C temperature Ambient storage 20 to 70 C temperature Ambient operating humidity 30 to 85 RH 25 non condensing Ambient storage humidity 30 to 85 RH at25 non condensing 500 V AC 1 minute 1500 V AC 1 minute Breakdown Between the various pins of the Between the various pins of the voltage external connector and the ground external connector and the ground However excluding F E terminal However excluding F E terminal 100 or more measured with 500 V DC testing Insulation Between the various pins of the external connector and the ground resistance However excluding F E terminal Vibration 10 to 55 Hz 1 cycle min resistance Double amplitude of 0 75 mm 10 min each in the X Y Z directions Shock resistance Shock of 98 m s or more 4 times in the X Y Z directions Noise immunity 1000 V P P with
248. point of axis 1 rFowv DT22 Dwell time of axis 1 DT23 Auxiliary output of axis 1 Fowmv Dr24 Fowv DT25 F151 WRT H200 K16 1 Control code of axis 1 82 lt oF 1 HO Setting value Control code of axis 2 ha TE Ho DT31 Operation pattern of axis 2 ora2 Dras Fowmv DT34 Acceleration time of axis 2 Fowv K100 0735 Deceleration time of axis 2 F1omv K1000 Auxiliary speed of axis 2 F1oMv K10000 DT38 Movement amount of axis 2 F1oMv DT40 Auxiliary point of axis 2 Fowv Dwell time of axis 2 Fowv DT43 Auxiliary output of axis 2 Fomv oT4s F151 WRT DT30 K16 Control code of axis 2 X107 X7 164 DF Recalculation done Recalculation request flag 171 HoF FOMV K1 joning Starting table F151 WRT HO DTO 1 Starting table R100 X118 X18 R200 X119 X19 Enabled flag Busy flag Enabled flag Busy flag foraxis1 foraxis1 foraxis2 for axis2 The numbers in parenthesis are the contact numbers for the FP2 H50 4 H100 H50 T 1 4 Y107 Y87 Recalculation request flag Y110 Y90 ing for axis 1 Data of 1 table of axis 1 4 The setting for table 1 of axis gt Data of 1 table of axis 2 7 table 1 of axis
249. predetermined necessary Area to be used when the setting value of the 10001 Available Extended positioning table cannot Calculation for me 25 points to Not available E area be determined until just restructuring is 10025 before executing the not necessary positioning operation 17 43 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Positioning tables Data in the following formats is stored from the starting address of positioning tables of each axis Offset TS Name Descriptions address Sets the position setting mode and acceleration deceleration pattern for the positioning operation bit Default Descriptions 0 Increment absolute 00H 00 Increment mode 000H Control code setting 1 Absolute mode 1 Acceleration deceleration 00 Linear acceleration deceleration pattern setting 1 S shaped acceleration deceleration 15 to 4 Sets the independent and interpolation patterns for the positioning operation The relation of the inerpolation depends on the settings in the axis group setting area in the common area of the shared memroy bit Name Default Descriptions 7 to O0 Control pattern OOH E point control End point control 01H P point control Pass point control 02H C point control Continuation point Any other se
250. ps Composite speed t ms Positioning start contact of axis 1 Y110 Y90 BUSY flag of axis 1 Y118 X18 BUSY flag of axis 2 Y119 X19 M Operation done flag of axis 1 X120 X20 Operation done flag of axis 2 X121 X21 Pecenenwnmnensenanneenenes 8 14 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Operations of each contact The BUSY flag for the axis 1 and 2 X118 X119 FP2 X18 X19 indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag for the axis 1 and 2 X120 X121 FP2 X20 X21 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position Sample program RO Y108 Y88 1 DF J Servoon for axis 1 Y109 Y89 R1 Y150 Y130 Servo off Servo off for axis 1 Y151 Y131 Servo off for axis 2 X100 X0 X104 X4 X108 X8 X110 X10 160 60 R10 Link
251. ps um 1 to 32 767 000 um s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Target speed 10000 pps 20000 pps 5000 pps Operation diagram Positioning start contact Y110 Y90 BUSY flag Y118 X18 Operation done flag X120 X20 9 Current value The numbers in parenthesis Count are the flag and contact numbers for the FP2 8 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Operations of each contact The BUSY flag X118 FP2 X18 indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag X120 FP2 X20 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position Sample program RO 108 88 a
252. put the data item For example press A on the keyboard to change the X axis pattern from I Increment to A Absolute 3 Press the Enter key to determine the content of the data item The data item can be edited collectively in the above procedure u Key Point When inputting the data item using the edit box e g movement amount acceleration time etc input the data item directly using the numbered keyboard 7 27 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 12 Customizing Software Changing Column Width Widen the column width to enable all the characters to be shown during data editing or narrow it when the resolution of the PC you use is small As the column width is saved when this software quits the same width will be recreated at the next time of the start up 1 The mouse cursor changes to a mark like by moving the mouse cursor to the right end of the column you want to widen the width in the header on the upper corner of the data editing screen 2 Move the cursor left and right with clicking down the left button of the mouse 3 Release the left button of the mouse to finish the change in the column width u Key Point The column width returns to the one on start up by double clicking the mouse in the state of the above procedure 1 Showing Hiding Toolbar Set to show or hide the toolbar Select View Toolbar and check
253. r occurred on other Each A interpolation operation operation error interpolation axis during the axis If the error occurred repeatedly interpolation operaiton with the correct setting values please contact us Axis group not Baie P The setting of the axis group Each Changing the axis group should 3034H In pulser was changed during the pulser Suis A be performed when the pulser j operaiton operation enalbed signal is off operation The torque value exceeds the setting upper and lower limit Design the system within the values range that the torque of the motor 3050H Torque judgment a A does nto exceed the judgment erro axis This error occurs when setting value torque judgment to Available Check the torque judgment value annunciation emthod to Error Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 17 Error Bode Error name Description Object Clear Countermeasures The synchronous group was Changing the synchronous group changed during the synchronous should be performed when the operation or when requesting busy signal for the axes to be the stop in the synchronous synchronized is off Synchronous operation Each Also it should be performed when 3040H operation group various stop request signals error An unconnected axis number system stop emergency stop was specified decele
254. r occurrence annunciation for axis 1 X161 X61 Error occurrence annunciation for axis 2 Y107 Y87 Request recalculation Y108 Y88 Servo on for axis 1 Y109 Y89 Servo on for axis 2 Y110 Y90 Positioning start for axis 1 Y118 Y98 Home return for axis 1 Y119 Y99 Home return for axis 2 Y120 Y100 Forward JOG for axis 1 Y121 Y101 Reverse JOG for axis 1 Y122 Y102 Forward JOG for axis 2 Y123 Y103 Reverse JOG for axis 2 Y140 Y120 Pulser operation for axis 1 Y141 Y121 Pulser operation for axis 2 Y150 Y130 Servo off for axis 1 Y151 Y131 Servo off for axis 2 Y160 Y140 Error clear for axis 1 Y161 Y141 Error clear for axis 2 Number Descriptions DTO Starting table number DT101 Number of errors of axis 1 DT102to DT115 Error contents of axis 1 DT121 Number of errors of axis 2 DT122 to DT135 Error contents of axis 2 DT10 to DT25 Positioning data of 1 table of axis 1 DT30 to DT45 Positioning data of 1 table of axis 2 19 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 19 2 Sample Programs There are 3 patterns for setting positioning data 1 When the positioning data has been already set in the standard area with the Configurator PM 2 When setting the positioning data in the extended area using the ladder program 3 When setting the positioning data in the standard area using the ladder program Sample program The positioning start is the setting that has been already set in t
255. r protection Refer to the specifications of AMP Each axis N A 001CH External scale communication data error Refer to the specifications of AMP Each axis 001DH Deviation counter overflow protection Refer to the specifications of AMP Each axis N A 001EH CPU error WDT error Refer to the specifications of AMP Each axis N A 0022H Software limit protection Refer to the specifications of AMP Each axis N A 0023H External scale communication error protection Refer to the specifications of AMP Each axis N A 0024H EEPROM Parameter error protection Refer to the specifications of AMP Each axis N A 0025H EEPROM Check code error protection Refer to the specifications of AMP Each axis N A 0026H Drive inhibit input protection Refer to the specifications of AMP Each axis N A 0027H External input trip command Refer to the specifications of AMP Each axis N A 0028H Absolute System down error Refer to the specifications of AMP Each axis N A 0029H Absolute Counter over error Refer to the specifications of AMP Each axis N A 002AH Absolute Overspeed error Refer to the specifications of AMP Each axis N A 002BH Absolute Battery error Refer to the specifications of AMP Each axis N A 002CH Absolute One rotation counter error Refer to the specifications of AMP Each axis N A 002DH Absolute Multi rotations counter error Refer to the specifications of AMP Each axis N A 002EH Absolute Other errors Refe
256. r supply shortage voltage protection Refer to the specifications of AMP Each axis N A 000CH Overvoltage protection Refer to the specifications of AMP Each axis N A 000DH Main power supply shortage voltage protection Refer to the specifications of AMP Each axis N A OOOEH Overcurrent protection Refer to the specifications of AMP Each axis N A OOOFH Overheat protection Refer to the specifications of AMP Each axis N A 0010H Overload protection Refer to the specifications of AMP Each axis N A 0011H A D converter error protection Refer to the specifications of AMP Each axis N A 0012H Regenerative overload protection Refer to the specifications of AMP Each axis N A 0013H Motor thermal protection Refer to the specifications of AMP Each axis N A 0014H Encoder Phase error protection Refer to the specifications of AMP Each axis N A 0015H Encoder Communication error protection Refer to the specifications of AMP Each axis N A 0016H Encoder Wiring error protection Refer to the specifications of AMP Each axis N A 0017H Encoder Communication data error Refer to the specifications of AMP Each axis N A 0018H Positioning deviation overprotection Refer to the specifications of AMP Each axis N A 0019H Hybrid deviation excessive error Refer to the specifications of AMP Each axis N A 001AH Over speed protection Refer to the specifications of AMP Each axis N A 001BH Command erro
257. r the zero offset to change the offset after the home return operation The value can be changed during the JOG operation as well 4 Click Close to close the dialog cS a Note This dialog cannot be closed during the JOG operation 7 42 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Phone 7 17 5 Tool Operation Teaching Activate each axis manually by the tool operation and register the positioning addresses where the axes stopped as the point data cS Note To perform the teaching operation the equivalent axes should be in the state that the servo is locked servo ON 1 Click Teaching in the tool operation dialog The following dialog is shown Tool operation Teachine Axis Group 1 axis 2 axis 3 axis Zero offset 622988 1225 Change Change 626492 1226480 Change Unit pulse pulse pulse Jog target speed 500000 500000 500000 1000 Change Si Change Change Change Table No Teaching Teaching Teaching Teaching State of axis Error code Inactive Inactive Inactive Inactive Warning code Ki Speed rate 100 Warning clear Warning clear Warning clear Warning clear Axis Group The axis numbers and group names to be monitored Zero offset Monitor the feedback values after the unit system c
258. r to the specifications of AMP Each axis N A 002FH Absolute Status error Refer to the specifications of AMP Each axis N A 15 5 A Available N A Not available Error 77 Description Object Clear code 0030H Encoder Phase Z error Refer to the specifications of AMP Each axis N A 0031H Encoder CS signal error Refer to the specifications of AMP Each axis N A 0032H External scales Status 0 Protection error Refer to the specifications of AMP Each axis N A 0033H External scales Status 1 Protection error Refer to the specifications of AMP Each axis N A 0034H External scales Status 2 Protection error Refer to the specifications of AMP Each axis N A 0035H External scales Status Protection error Refer to the specifications of AMP Each axis N A 0036H External scales Status 4 Protection error Refer to the specifications of AMP Each axis N A 0037H External scales Status 5 Protection error Refer to the specifications of AMP Each axis N A 0038H Software limit input error Refer to the specifications of AMP Each axis N A 0039H Current position overflow error Refer to the specifications of AMP Each axis N A 003AH External scale Other error protection Refer to the specifications of AMP Each axis N A 003BH Setup error Ref
259. r was recovered the servo automatically returns to the state before the error occurrence 15 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 3 List of Error Codes Ver 1 00 to 1 01 The areas that errors occurred can be identified according to the range of error codes When the error code is in the range of 0001H to OFFFH it indicates that the error occurred in the AMP When the error code is one from 1000H it indicates that the error occurred in the positioning unit 15 3 1 AMP Errors From 0001H Ver1 00 to 1 01 The alarms to be output from the AMP are output as error codes as they are The alarms occurred in the AMP is written in decimal however the error codes of the positioning unit are written in hexadecimal For the details of each error code and the way of handling refer to the manual of the AMP The errors occurred in the AMP cannot be basically cleared and also the power supply of the unit must be turned off and on again N A Not available Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Error A Description Object Clear code 000AH Input voltage error Generator error Refer to the specifications of AMP Each axis N A 000BH Control powe
260. rameters and positioning data in the shared memory Therefore all the setting values can be specified by ladder programs as well as Configurator PM Followings are the details of the shared memory Area name Shared memory bank Individual name of each area Setting parameter control area Operation speed rate area Axis group setting area Home change data area Torque limit area Position control starting table number setting area Error annunciation amp clear area Warning annunciation amp clear area 1 axis Each axis information amp monitor area 2 axis Each axis information amp monitor area axis Each axis information amp monitor area 4 axis Each axis information amp monitor area Common area 00H Each axis information area 01H Note 5axis Each axis information amp monitor area 6 axis Each axis information amp monitor area 7 axis Each axis information amp monitor area 8 axis Each axis information amp monitor area Parameter setting area 02H to OBH 1 axis Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area OCH to 15H 2 axis Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area 16H to 1FH 3 axis Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area 20H to 2
261. ratch the core wire e Do not twist the wires to connect them e Do not solder the wires to connect them The solder may break due to vibration e After wiring make sure stress is not applied to the wire 3 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 3 1 Input Specifications and Pin Configuration 26 Input terminals of pulser input connector Fin Circuit Signal name Item Descriptions number Operating voltage sue D e 1 5 9 Pulse input A 4 f g vollage 5 VDC line driver 2 g specifications 2 Minimum ON 2 6 10 7 9 11 Pulse input A s 3 V DC 4 mA 2 voltage current 3 7 11 Pulse input B Maximum ON 1 V DC 2 0 mA a voltage current 1012 3 Input impedance Approx 390 O 4 8 12 Pulse input B Minimum input face ae Sach pulse width phase Note When the pulser is connected to the pulse input the elapsed value increases if the phase A is proceeding more than the phase B 3 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 4 Power On Off and Items to Check Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 1 Safety Circuit Design Example of a safety circuit Installation of the over limit switch Positioning un
262. ration stop are off An error occurred in the home x return of the synchronous Specify an axis number existing operation on the network The home return process was executed with setting the Simultaneous mode A synchronous operation to Set the simultaneous operation to Enabled when using the Disabled when performing the Synchronous synchronous mode A Each home return 3042H operation home aide A A method other than the Simultaneous mode B usable home return mothods Select a usable home return was executed when using the method synchronous mode B The operation was stopbed Check the unit setting of the Synchronous an has occurred a Each Stopped axis and Ine ode Speration error another axis in the synchronous nt error occurred repeatediy operalon y with the correct setting values P please contact us Synchronous operation not The setting of the synchronous fe acy settable i i In pulser during the axis a performed when the pulser p P i operation enabled signal is off operation The difference between the Synchronous movement amounts of the target Each Check the operation of the target 3045H operation axes for the synchronous xis A axes for the synchronous mismatch error operation exceeded the operation specified difference threshold The torque value exceeds the setting upper and lower limit Design the system within the
263. re limit side 1 side Lower limit value of software limit Whether the software limit is set to be available or not can be specified individually for the positioning control JOG operation and home return each For example it is possible to set the limit software to be invalid only in the home return operation 13 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 3 Torque Limit The positioning unit RTEX supports a function torque limit to change the maximum torque for the AMP in real time The torque limit can be arbitrarily changed during the torque limit operaiton however note that the torque cannot be changed in the home return operation The specified torque limit value is used as the maximum torque during the torque limit operation Also the torque limit cannot be specified by the setting tool Configurator PM Data must be written into the shared memory from the PLC in order to carry out the torque limit Followings are the details of the shared memory to carry out the torque limit Torque limit setting area Shared memory Bank 0 da Name Descriptions Seting Unit ress value range NE Sets whehter to enable or disable the OD8H Torque limit enabled flag e 0H execution of the torque limit for each axis OD9H to Not used ODFH OEOH Torque limit value of axis 1 Stores the torque limit value of
264. rea Axis 1 Bank 02H 050H Bank OBH FFFH 3FFH 000H 3FFH 000H 02H to OBH Banks OCH to 15H Banks 16H to 1FH Banks 20H to 29H Banks 2AH to 33H Banks 34H to 3DH Banks 3EH to 47H Banks 48H to 51H Axis setting area Axis 1 Axis setting area Axis 2 Axis setting area Axis 3 Axis setting area Axis 4 Axis setting area Axis 5 Axis setting area Axis 6 Axis setting area Axis 7 Axis setting area Axis 8 Positioning data setting area 050H OSFH Table 1 060H 06FH Table 2 070H 07FH Table 3 080H 08FH Table 4 Bank OCH OOOH Bank OCH O4FH Parameter setting area Axis 2 Bank OCH 050H Bank 15H FFFH Positioning data setting area Axis 2 Bank 16H OOOH Bank 16H O4FH Parameter setting area Axis 3 Bank 16H 050H Bank 1FH FFFH Positioning data setting area Axis 3 Bank 20H OOOH Bank 20H O4FH Parameter setting area Axis 4 Bank 20H 050H Bank 29H FFFH Positioning data setting area Axis 4 Bank 2AH 000H Bank 2AH O4FH Parameter setting area Axis 5 Bank 2AH 050H Bank 33H FFFH Positioning data setting area Axis 5 Bank 34H OOOH Bank 34H O4FH Parameter setting area Axis 6 Bank 34H 050H Bank 3DH FFFH Positioning data setting area Axis 6 Bank 3EH 000H Bank 3EH O4FH Parameter setting area Axis 7 Bank 3EH 050H Bank 47H FFFH Positioning data setting area Axis 7 Bank 48H OOOH Bank 48H O4FH Parameter
265. red 22DH buffer 6 of axis 7 22EH Warning code I annunciation Announces the code when a warning occurred 00H 22FH buffer 7 of axis 7 No of warning 231H occurrences of Announces the number of occurrences of warnings at axis 8 axis 8 232H Warning code annunciation Announces the code when a warning occurred 233H buffer 1 of axis 8 234H Warning code annunciation Announces the code when a warning occurred 235H buffer 2 of axis 8 236H Warning code annunciation Announces the code when a warning occurred 237H buffer 3 of axis 8 238H Warning code annunciation Announces the code when a warning occurred 239H buffer 4 of axis 8 23AH Warning code annunciation Announces the code when a warning occurred 23BH buffer 5 of axis 8 23CH Warning code annunciation Announces the code when a warning occurred 23DH buffer 6 of axis 8 23EH Warning code annunciation Announces the code when a warning occurred 23FH buffer 7 of axis 8 17 26 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 5 Details of Each Axis Information Area in Shared Memory 17 5 1 Configuration of Each Axis Information Area The shared memory is composed of banks The each axis information area is allocated in the bank 01H in the shared memory Also the information on the axes 1 to 8 is allowcated for each address in this area Shared memory map 000H 3FFH 000H 1FFH Axis information amp monitor area
266. red and then the warning will be judged again If the warning condition still continues the warning will occur again even after the execution of warning clear When a warning targeted to all axes occurs it will be stored in the warning annunciation buffers of all axes Up to 7 warnings are stored in the warning history The warning clear can be executed by the warning clear contact as well Bank orree Name Descriptions address Executes the warning clear for each axis bit Name Default Descriptions 0 Waming clear of axis 1 0 1 Waming clear of axis 2 0 Warning clear 2 Waming clear of axis 3 0 1A9H individual axis 3 Warning dear of axis 4 0 0 No warning clear Setting 4 Waming clear of axis 5 0 1 Executes warning clear 5 Warning dear of axis6 0 After the execution of warning clear the positioning unit sets to 0 automatically 6 Warning clear of axis 7 0 7 Warning clear of axis 8 0 8 to 15 Number of Announces the number of occurrences of warnings at axis 1 1C1H warning bit Name Default Descriptions ee m 15100 ro axis 1 0 Announces No of warning of axis 1 currently occurred 1C2H Warning code annunciation 1C3H buffer 1 of axis 1 1C4H Warning code m annunciation 1C5H buffer 2 of axis 1 1C6H Warning code annunciation 00H 1C7H buffer 3 of axis 1 Stores the latest
267. rement method relative value control method This is a control method in which the distance from the current position to the target position is specified as a relative position This is specified on the positioning data editing screen of the Configurator PM D Position command value setting 5000 gt 2 3000 setting 0 0 Absolute method 1 i pM 2 0 3000 5000 T Position command value setting 5000 o o 2 2000 setting c 3000 5000 Increment method c LL Automatic operation This is an operation to be automatically executed and means a position control Manual operation This is an operation to be executed for an initial boot or adjustments The home return JOG operation and pulser operation are manual operations Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Position control This is a generic term for the E point contro P point control and C point control For each control the control of a single axis and the interpolation control of multiple axes are available The interpolation control can be selected from a 2 axis linear interpolation 2 axis circular interpolation 3 axis linear interpolation and 3 axis sprial interpolation JOG operation This refers to an operation in which the motor is rotated only while operation com
268. ress of table 234 2FOH Starting address of table 235 300H Starting address of table 236 310H Starting address of table 237 320H Starting address of table 238 330H Starting address of table 239 340H Starting address of table 240 350H Starting address of table 241 360H Starting address of table 242 370H Starting address of table 243 380H Starting address of table 244 390H Starting address of table 245 Starting address of table 246 3BOH Starting address of table 247 3COH Starting address of table 248 3DOH Starting address of table 249 Starting address of table 250 3FOH Starting address of table 251 17 49 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis 1 Axis 2 Axis3 Axis 4 Axis5 Axis6 Axis 7 Axis 8 Bank No Descriptions 06H 10H 1AH 24H 2EH 38H 42H 4CH 000H Starting address of table 252 010H Starting address of table 253 020H Starting address of table 254 030H Starting address of table 255 040H Starting address of table 256 050H Starting address of table 257 060H Starting address of table 258 070H Starting address of table 259 080H Starting address of table 260 090H Starting address of table 261 Starting
269. ristics and performance that are assured in these specifications Do not dismantle or remodel the product It could cause excessive exothermic heat or smoke generation Do not touch the terminal while turning on electricity It could lead to an electric shock Use the external devices to function the emergency stop and interlock circuit Connect the wires or connectors securely The loose connection could cause excessive exothermic heat or smoke generation Do not allow foreign matters such as liquid flammable materials metals to go into the inside of the product It could cause excessive exothermic heat or smoke generation Do not undertake construction such as connection and disconnection while the power supply is on It could lead to an electric shock Copyright Trademarks This manual and its contents are copylighted You may not copy this manual in whole or part without written consent of Matsushita Electric Works Ltd Windows and Windows NT are registered trademarks of Microsoft Corporation in the United States and or other countries All other company names and product names are trademarks or registered trademarks of their respective owners Matsushita Electric Works Ltd pursues a policy of continuous improvement of the Design and performance of its products therefore we reserve the right to change the manual product without notice Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info
270. rn creep speed is on the limit input 1 1 L 1 L I 22 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 22 1 6 Limit Method 2 Detects the rising edge of the limit switch in the home return direction and stops That point becomes the starting point Home return direction 4 amp 1 Home retum Target speed starting point is deceleration Home return creep speed on a point other than time mA the limit input E The starting point Home return creep speed is on the limit input Target Wy Home return speed deceleration time 1 L 22 1 7 Phase Z Method Moves toward the home return direction from the current value and stops at the first phase Z detection That point becomes the starting point Home return direction 4 8 1 Home return creep speed 22 1 8 Stop on contact Method 1 The position reached after a constant time has passed at the torque value higher than a specified value using an automatic stop mechanism such as a stopper is regarded as orign Home return direction 4 amp 4 Home return creep sped Stopper etc 22 5 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 22 1 9 Home Return Stop on contact Method 2 Although the operation is similar to the stop on contact method the position
271. rns on the LED on System error power supply should be turned off and on again P1 Green LED off Either pahse A or phase Check the input signals P2 B is in the off state of the pulsers P3 LED on Both phase A and phase B are in the on state FP2 Positioning Unit RTEX lt 4 axis type gt lt 8 axis type gt STATUS LINK ERROR ALARM AB AB AB P1 P2 P3 PNSAN STATUS LINK ERROR ALA AB AB AB pi pops Color Status Remarks STATUS Green LED blinks Waiting for network establishment LED on Network establishment LINK Green LED off Not connected The state that the TX of the sending LED on Normal connection node and the RX of the own node are electrically connected properly ERROR Red LED off Normal In case of warning the operation LED blinks warning occurred continues LED on An error occurred In case of error the operation stops ALARM Red LED off Normal If the LED turns on the power supply LED on System error should be turned off and on again 1 Green LED off Off state Check the input signals of the pulsers P1B LED on On state P2A P2B P3A P3B Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 3 2 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 3 Wiring Phone 800 894 0412 Fax 888 723 47
272. ror time is out of the range 4041H Positioning completion The posiitoning completion width Each axe width error is out of the range 4042H Pulser setting error eae Input mode is Each axis Check the setting value The settin of the speed rate is error occurred 4044H Speed rate error out of the e d P Each axis A repeatedly with the correct H Tart r 3 t t 9 d hom setting value please MO targe target Speed orme Nome Each axis A contact us speed error return is out of the range 4105H Home return The acceleration time of the home Each avis A acceleration time error return is out of the range 4106H Home return deceleration time of the home Each axis A deceleration time error_ return is out of the range 4107H Home return setting The home return setting code is Eachaxis A code error incorrect 4110H Home return creep The creep speed of the home Each axis A speed error return is out of the range 4111H Home return returning The moving direction of the home A direction error return is out of the range 15 10 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net A Available N A Not available Error Error name Description Object Clear Countermeasures 4201H JOG operation target The target speed of the JOG Each axis A speed error operation is out of the range JOG op
273. rotection Refer to the specifications of AMP Each axis N A 0063H Other errors Refer to the specifications of AMP Each axis N A 15 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 3 2 System Errors From 1000H Ver 1 00 to 1 01 These are the errors that occur due to any failure within the positioning unit The system errors are defined as the fatal errors for the system Except for some items the power supply must be turned off and on again to recover from the errors A Available N A Not available Error Error name Description Object Clear Countermeasures System System runaway If the error occurred 1000H the ALARM LED on the positioning All axes N A runaway Turn off the power supply and unit is lighted Hardware An error occurred in the hardware test 1001 All axes N A If the error occurred repeatedly error when the power supply turned on A d in the int please contact us 1002H Unit error NY SETON SCCO poeta Allaxes N A processing Check the settings System 7 i An error occurred in the system If the setting values are correct 1003H processing All axes A error processing due to any reason and the error occurred repeatedly please contact us FROM writin An error occurred when the positioning Rewrite into the FROM again 1010H 9 settings were written in the posi
274. rror occurred it will be valid and the deceleration operation will Error stop complete in this deceleration time 037H deceleration bit Name Default Descriptions time 15 to 0 Error stop 100 Setting 0 to 10 000 ms deceleration time Any other settings will be errors Specify one pulser among 1 to 3 for the input for the case that pulser operation is requested by I O Pulser operation bit Name Default Descriptions 038H 15 to 0 Pulser operation 0 0 Pulser input 1 setting code setting code 1 Pulser input 2 2 Pulser input 3 Any other settings will be errors 17 41 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation het Offset Default Setting Name Descriptions Unit address value range Sets the multiplier for the input pulse string in the pulser operation Moving pulse number of AMP Pulse strings of input from pulser x Numerator Pulser operation of ratio of pulser operation Denominator of ratio of pulser operation 039H ratio numerator bit Default Descriptions 15 to 0 Pulser operation ratio 1 Setting range 1 to 32 767 numerator Any other settings will be errors Sets the divisor for the input pulse string in the pulser operation Moving pulse number of AMP Pulse strings of input from pulser x Pulser operation Denominator of ratio of pulser operation Numerator of ratio of p
275. rrors 010H 011H Sets the auxiliary output function of the auxiliary output contact and code to be enalbed or disabled The time that the auxiliary output contact is on is determined m by the following auxiliary output ON time Auxiliary output 3 youre 012H mode bit Default Descriptions 0to7 Auxiliary output 0 0000H Not use the auxiliary output function auxiliary output contact code time 0001H Use the auxiliary output function 15 to8 output 40 Setting range 00H Oms to FFH 255ms 013H Sets to enble or disable the limit input of the AMP and sets the moving direction and connection method Note This setting is should be written in the EEPROM within the AMP and the AMP should be rebooted after changing the setting bit Name Default Descriptions AMP operation 0 Limit enabled disabled 0 0 the input of the limit signal 014H settings 1 Ignore the input of the limit signal 1 CWICCW moving direction 0 0 CW 1 CCW CW 2 Limit connection 0 0 Standard connection Forward CWL Reverse CCWL 1 Reverse connection Forward CWL Reverse CCWL 4to 15 015H 016H 017H 018H 018H 01AH After the movement of the specified amount in the Completion positioning control or JOG operation the m 1 width completion flag will turn on when the current value 19 Pulse of the AMP becomes in this completion width This is the setting t
276. rs Also when both master and slave axes are not set all bits are off the normal operation is performed The same axis has been set for the synchronous groups 1 and 2 Either master axis or slave axis has not been set All bits are off Multiple axes have been set for the master or slave axis The same axis has been set for the master and slave axes The slave axis has been set to the interpolation group 21 13 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 3 JOG Positioning Control Overview of Operation The overview of the JOG positioning control function is as below 1 The JOG positioning control can be set for independent axis only 2 The JOG positioning is executed by combining the JOG positioning control J point and the positioning control E point 3 Accelerates with a specified acceleration time after starting the speed control and operates at a constant speed target speed 4 The speed can be changed in multiple stages during the speed control Also the acceleration deceleration time can be changed according the change in speed The speed is changed by turning on the J point speed change contact that is allocated as I O of PLC 5 The speed control moves to the positioning control by turning on the J point positioning starting contact that is allocated as I O of PLC 6 In the positioning contro moves for the specified pulse number
277. rting address of table 10001 280H Starting address of table 10002 290H Starting address of table 10003 2A0H Starting address of table 10004 2BOH Starting address of table 10005 2COH Starting address of table 10006 2DOH Starting address of table 10007 2bE0H Starting address of table 10008 2FOH Starting address of table 10009 300H Starting address of table 10010 310H Starting address of table 10011 320H Starting address of table 10012 330H Starting address of table 10013 340H Starting address of table 10014 350H Starting address of table 10015 360H Starting address of table 10016 370H Starting address of table 10017 380H Starting address of table 10018 390H Starting address of table 10019 Starting address of table 10020 Starting address of table 10021 3COH Starting address of table 10022 3DOH Starting address of table 10023 Starting address of table 10024 3FOH Starting address of table 10025 17 55 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 56 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 18 Dimensions Phone 800 894 0412 Fax 888 723 4773 Web ww
278. rting table setting an ee ees Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R2 R10 X118 X18 Y110 Y90 p m H SS Positioning start Position Enabled flag Busy flag Positioning control start for axis 1 for axis 1 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e f any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation Limit input ON Not executable Error occurs When E point control is Forward Limit input Not executable Error occurs executed Limit input ON Not executable Error occurs Limit input Not executable Error occurs During E point coritral Forward Limit input ON Deceleration stop Error occurs Reverse Limit input ON Deceleration stop Error occurs 8 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 1 2 Setting and Operation of P Poin
279. s Click OK to determine the edited settings Click Cancel to cancel the edited settings 7 20 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 9 Changing Axis Information Change the used axes or the groups for the setting data being edited Select Set axis Change axis in the menu bar The following dialog is shown Setting used axis laxis 2axis Saxis T Gaxis T T 8 axis __ Choose the axis to use The editing dialog for the interpolation axis group is shown by clicking OK after selecting the used axes 7 21 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 10 Setting Positioning Data Set the various data to perform the positioning operation They are set on the data setting screen This is an example for the interpolation group of 1 axis and 2 axis Positioning data editing screen i Untitled Configurator PM File Edit View Online Debug Set Axis Option Help DS AF Bem 55 Ge md Destination of communication Home Slot No 0 Unit of position pulse Unit of speed pulse s Table No Pattern Interpolation operation Control me X axis 1 movement X axis 1 auxiliary Y axis movement Y axis auxiliar Z axis move Z axis 1 E End E Increment 2 E End 0 Linear Composite speed i Increment 3
280. s Addition of 17 6 3 Positioning Data Setting Areas ver 1 13 or later Area to set the single and interpolation operation pattern for the positioning operaiton The underlined black faced parts are the additional contents Bit Name Default Description 7100 Control patterns OOH E point control End point control 01H P point control Pass point control 02H C point control Continuance point control 03H J point control JOG positioning control Any other settings will be an error Interpolation setting OOH The interpolation setting is invalid for the J point The JOG positioning control J point is available only for a single axis control The setting will be an error if it is specified for the interpolation control 2 Starts the JOG positioning control by writing the table number that the J poin control has been specified in the positioninga table settimg area and turning on the positioning starting flag for an appropriate axis After that consecutive table numbers are exectued up to the table number that the end point control E point has been specified The acceleration deceleration time and target speed when starting the J point operation is set in the positioning table area as well as other operation patterns For the details refer to 17 6 3 The speed can be changed in during the J point control To change the speed the J point speed change contact should be on after writing a prescribed value in t
281. s No Clicking Yes indicates the following dialog and save the setting data in the FROM Flash Memory in the unit The saved setting data is automatically read when the power supply of the PLC turns on Check the status of writing to F Confieurator PM 1 Writing to FROM completed successfully Writing to FROM Please wait gt Click No not to write the setting data to the FROM The downloaded data is erased when the power supply of the PLC turns off i Note Writing to FROM is restricted up to 10000 times The current number of write can be monitored with the data monitor 7 33 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 15 Data Monitor The internal data of the positioning unit RTEX can be monitored Make the connection between a PC and PLC and configure the settings Then select Online gt Data Monitor in the menu bar The following dialog is shown Data monitor Axis Group Active table No Auxiliary output code AMP current value pulse 626501 626500 623000 1247 Current value after unit conversion 626501 pulse 626500 pulse 623000 pulse 1247 pulse Torque command Actual speed rpm o4 18 20 0 0 0 State of axis Error code Inactive li Inactive Inactive Error Clear Error Clear Error Clear Warning code 00000 10 Warning Clear O0000 EB010 War
282. s of table 330 OFOH Starting address of table 331 100H Starting address of table 332 110H Starting address of table 333 120H Starting address of table 334 130H Starting address of table 335 140H Starting address of table 336 150H Starting address of table 337 160H Starting address of table 338 170H Starting address of table 339 180H Starting address of table 340 190H Starting address of table 341 1A0H Starting address of table 342 1BOH Starting address of table 343 1COH Starting address of table 344 1DOH Starting address of table 345 1EOH Starting address of table 346 1FOH Starting address of table 347 200H Starting address of table 348 210H Starting address of table 349 220H Starting address of table 350 230H Starting address of table 351 240H Starting address of table 352 250H Starting address of table 353 260H Starting address of table 354 270H Starting address of table 355 280H Starting address of table 356 290H Starting address of table 357 2A0H Starting address of table 358 2BOH Starting address of table 359 2COH Starting address of table 360 2DOH Starting address of table 361 2bE0H Starting address of table 362 2FOH Starting address of table 363 300H Starting address of table 364 310H Starting address of table 365 320H Starting address of table 366 330H Starting address of table 367 340H Starting address of table 368 350H Starting address of table 369 360H Starting address of table 370 370H Starti
283. s of table 439 3COH Starting address of table 440 3DOH Starting address of table 441 Starting address of table 442 3FOH Starting address of table 443 17 52 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Axis 1 Axis 2 Axis3 Axis 4 Axis5 Axis6 Axis 7 Axis 8 Bank No Descriptions 09H 13H 1DH 27H 31H 3BH 45H 4FH 000H Starting address of table 444 010H Starting address of table 445 020H Starting address of table 446 030H Starting address of table 447 040H Starting address of table 448 050H Starting address of table 449 060H Starting address of table 450 070H Starting address of table 451 080H Starting address of table 452 090H Starting address of table 453 Starting address of table 454 OBOH Starting address of table 455 OCOH Starting address of table 456 ODOH Starting address of table 457 OEOH Starting address of table 458 OFOH Starting address of table 459 100H Starting address of table 460 110H Starting address of table 461 120H Starting address of table 462 130H Starting address of table 463 140H Starting address of table 464 150H Starting address of table 465 160H Starting address of table 466 170H Startin
284. selecting the slot number 7 32 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 Once the download completes the following dialog is shown Configurator PM The current No of writing to FROM is 0 times Ts it OK to execute writing to FROM Yes No Clicking Yes indicates the following dialog and save the setting data in the FROM Flash Memory within the positioning unit RTEX The saved setting data is automatically read when the power supply of the PLC turns on Check the status of writing to F Confieurator PM Writing to FROM 1 Whiting to FROM completed successfully Please wait gt Click No not to write the setting data to the FROM The downloaded data is erased when the power supply of the PLC turns off Note Writing to FROM is restricted up to 10000 times The current number of write can be monitored with the data monitor 7 14 3 Writing Settings to FROM Save the setting data written in the positioning unit RTEX in the FROM Flash Memory within the positioning unit RTEX The saved setting data is automatically read when the power supply of the unit turns on Make the connection between a PC and PLC and configure the settings Then select Tool gt Write to FROM in the menu bar The following dialog is shown Configurator PM 2 The current No of writing to FROM is 0 times Is it OK to execute writing to FROM Ye
285. ser Y140 for axis 1 for axis 1 pulser enabled flag operation for axis 1 Pulser enabled flag for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e The movement amount per an 1 pulse signal from the pulser can be changed by setting the ratio numerator and ratio denominator for the input signal of the pulser e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation TE Not executable Forward ON Limit error occurs When Pulser operation is Limit input ON Executable executed Limit input ON Executable Reverse Limit input ON NOt executable Limit error occurs Forward Limit input ON Pecelpration stop Limit error occurs During Pulser operation Deceleration stop Reverse Limit input ON Limit error occurs Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 11 3 11 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 12 Stop Functions Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 12 1 Settin
286. settine rumber per roration Movement amount per rotation CW CCW drection setting OCW direction OCW direction OCW direction OCW dreetion Limit switch Not available Not available M Not available M Not available Limit switch connection Software limit Positinning control N Not available Not aval available M Not available Softwaer limit Home Not available Not aval Not available Mot available Sotware limit JOG eceraticed Not available Not avida Not available Not available Upper limit of software limit 1073741823 1073141823 10721741824 1073741803 limit of softmore Emit 1073741823 10241423 1072741822 1073741802 Auxiliary output mode used Not used M Not use NNot used Auniliaey output ON time 10 Comoletion width pulse 10 Monitor error Torque judement Not available PES avilable Monitor error Torque judemeri vale 00 3 Choose trom the fol Specify the unit of each sx Mum Me 01 Mum Mn 11 tinch Min 0000M Ench Min OOM Degree pan 01 Mn 1 Setting items Parameter name Description Unit setting The unit to be used for setting each axis Pulse number per rotation The pulse number per rotation It should be cancelled down with the movement amount per rotation Movement amount per rotation The movement amount per rotation It should be cancelled down wit
287. setting area Axis 8 Bank 48H 050H Bank 51H FFFH Positioning data setting area Axis 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 37 17 6 2 Parameter Setting Area Positioning parameters of each axis Data in the following foramts are stored from the starting address of positioning parameters of each axis Offset Default Setting E Name Descriptions Unit address value range Sets the unit system of movement amounts of the positioning control for each axis The same unit system should be set for all interpolation axes bit Name Default Descriptions 15 to 0 Unit setting 000H Sets the unit of movement amount of positioning control 000H Pulse 000H Unit setting 0100H mm Minimum position command 0 1 0101H mm Minimum position command 1 t m 0200H inch Minimum position command 0 1 inch 0201H inch Minimum position command 1 inch 0300H degree Minimum position command 0 1 degree 0301H degree Minimum position command 1 degree Any other settings will be errors 001H E Sets the pulse number per rotation It is necessary for the conversion of the pulse 002H number in the settings of mm inch and degree Pulse number bit Name Default Descriptions per rotation 15 to 0 Pulse number per 1 Pulse number
288. should be used Manufacturer Number of pins Part No Product No Phoenix Contact Co 12 pins FK MCO 5 12 ST 2 5 1881422 Suitable wires strand wire Suitable wires AWG 28 to 20 Tightening torque 0 14 to 0 5 mm Pole terminal with a compatible insulation sleeve If a pole terminal is being used the following models manufactured by Phoenix Contact Co should be used Manufacturer Prose aiea Size Part No j 0 34 AWG 22 A 0 34 7 Phoenix Contact Co 0 50 AWG 20 5 6 Pressure welding tool for pole terminals Manufacturer Part No Product No Phoenix Contact Co CRIMPFOX UD 6 4 1205244 For tightening the connector For inserting the wires use a screwdriver Phoenix contact Co Product No 1205202 with a blade size of 0 4 x 2 0 Part No SZS 0 4x2 0 3 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Wiring method 1 Remove a portion of the wire s insulation lt 8 mm 2 Press the orange switch of the connector using a tool such as a flat blade screwdriver F 337 3 Insert the wire into the connector until it stops with pressing the orange switch 4 Take the tool off the switch gt x L 20 AA 2 AMA p gh X E Pe ab ECL Precautions on wiring e When removing the wire s insulation be careful not to sc
289. sitioning Repeat 21 2 21 1 1 Function and setting 21 2 21 1 2 Examples of operations 21 3 21 1 3 Sample progra M s siisii aosi iioii etatine 21 3 21 1 4 Each Axis Information amp Monitor Area 21 4 21 2 Synchronous Operation 21 5 21 2 1 Synchronous Mode ssesseeeneeee 21 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 2 2 Home Return Method in Synchronous Operation When using Synchronous Mode 21 7 21 2 3 Home Return Method in Synchronous Operation When using Synchronous Mode 21 7 21 2 4 Synchronous Operation Setting 21 8 21 2 5 Synchronous Operation Setting 21 9 21 2 6 Canceling and Monitoring Synchronous Operation 21 10 21 2 7 Positioning Parameters in Synchronous 21 11 21 2 8 Stop Operation During Synchronous Operation 21 12 21 2 9 Precautions When Using Synchronous Operation 21 12 21 2 10 Sample Program sese 21 13 21 2 11 Errors occurred in Synchronous Operation
290. sitioning data of the shared memory standard area will be x z 7 If the recalculation request contact Y_7 turns on again this contact will be off once X107 X 5 restructured This contact will turn on after restructuring All axes Recalculation done Note It is used only when the positioning data has been rewritten by laddar programs x8 1 axis i 1 jX10C Each axis connection Turns on when the corresponding axis exists X10D 6 axis X10E 7 axis 1 x112 X113 Turns on when the corresponding axis is in the state of servo 3 4 Servo lock 114 lock 6 7 confirmation 115 16 117 1 x119 X11A 11 en BUSY Turns on when the corresponding axis is operating 1 1D X 1F 6 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Contact a x lt a x ay N x lt zr N N x lt N ayaa m xpx NIN 1 x lt 22 N x gt x 2 lt gt lt gt lt px ayayaya w x C2 IR E wo 5 x ay wo o WX13 w w a gt 1 x wo to x w O gt lt w B ex wo AIBlolo o m m gt lt gt lt lt gt lt Lo m m x AR Az wo E x wo 25 AR T WX14 BIRD RIA WX4
291. t Clear code A010H Overload warning Refer to the specifications of AMP Each axis A A012H Regenerative warning Refer to the specifications of AMP Each axis A A028H Battery warning Refer to the specifications of AMP Each axis A A053H _ Continuous communication error warning Refer to the specifications of AMP Each axis A A054H Communication error accumulated warning Refer to the specifications of AMP Each axis A A056H Update Counter warning Refer to the specifications of AMP Each axis A A058H _ Fan lock warning Refer to the specifications of AMP Each axis A059H _ External scale warning Refer to the specifications of AMP Each axis A 15 12 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 4 2 Unit Warnings From B000H Ver 1 00 to 1 01 These are the warning codes to be given when the warnings occurred in the positioning unit A Available N A Not available Error roe Error name Description Object Clear Countermeasures Various requests from the PLC cannot be executed during the The following request signals were Tool oparati r except the turned on by the host PLC during the p following requests Tool operation Deceleration stop Positioning startup request flag Each request flag each axis BOOOH operation each axis 9 Emergency stop request Home return request
292. t Control The example below is the case of a single axis control when using the with the positioning unit RTEX installed in the slot 0 The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Table 18000 pulses gt side side Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse Setting example Table1 Table2 Table3 Operation P Pass P Pass E End Item Allowable range C Continuance point E End point Pass point pattern point point point Control i l l Increment A Absolute method Increment Increment Increment Pulse 1 073 741 823 to 1 073 741 823 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 um X axis um 1 um 1 073 741 823 to 1 073 741 823 um movement nade AME Hee inch 0 00001 inch 10 737 41823 to 10 737 41823 inch amount inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Acceleration deceleration L Linear L Linear L Linear L Linear S S shaped acceleration deceleration pattern Acceleration 100 ms 200 ms 30 ms 0 to 10000 ms time ms Deceleration 10 ms 20 ms 150 ms 0 to 10000 ms time ms Pulse 1 to 32 767 000 p
293. t RTEX is also installed in the slot O Used contacts and data registers Number Descriptions RO Request servo on R1 Request servo off R2 Request home return R3 Request positioning start R4 Request forward JOG for axis 1 R5 Request reverse JOG for axis 1 R6 Request forward JOG for axis 2 R7 Request reverse JOG for axis 2 R8 Request pulser operation for axis 1 R9 Request pulser operation for axis 2 R10 Error clear R11 Request setting value change R100 Operation enabled flag for axis 1 R101 Off edge of forward JOG for axis 1 R102 Off edge of reverse JOG for axis 1 R103 Off edge of pulser operation for axis 1 R200 Operation enabled flag for axis 2 R201 Off edge of forward JOG for axis 2 R202 Off edge of reverse JOG for axis 2 R203 Off edge of pulser operation for axis 2 19 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Number Descriptions FP2 X100 X0 Link establishment for all axes X104 X4 Tool operation for all axes X107 X7 Recalculation done flag X108 X8 Connection confirmation for axis 1 X109 X9 Connection confirmation for axis 2 X110 X10 Servo lock for axis 1 X111 X11 Servo lock for axis 2 X118 X18 Busy flag for axis 1 X119 X19 Busy flag for axis 2 X160 X60 Erro
294. t RTEX is installed in the slot 0 Contact allocation Target ser Ser rin es E 6 NEN X10 taxis X112 X113 Servo lock Turns on when the corresponding axis is in the state of servo 12_ xris x lock Contact allocation x Descriptions CES 0 EA Y108 Y109 Requests the servo lock for the corresponding AMP Y10A The servo lock is executed by the ON edge of this contact Y10B The servo cannot be free automatically even in the program voc mode Y10D To make the servo free turn on the servo OFF request contact Y10E The operation is the edge type Y10F Y150 Y130 Y151 Y131 152 mise Requests the servo free for the corresponding AMP Y153 Y133 gt The servo free is executed by the ON edge of this contact Y154 Y134 am The operation is the edge type Y155 Y135 T Y156 2 Y136 gt Y157 Z Y137 Sample program RO Y108 Y88 I 1 DF S IOIO Servo on Servo on for axis 1 R1 Y150 Y130 or E Servo off Servo off for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Note The servo lock status continues if the PLC changed to the program mode 5 8 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 6 Allocation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 1 Occupied I O Area The input X output Y sh
295. t control ladder program for demo fp 21 17 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 3 4 Restrictions on JOG Positioning Control The JOG positioning target speed can be changed by turning on the J point speed change contact in the JOG positioning contorol however the speed cannot be changed while it is accelerating or decelerating Therefore the J point speed change contact is ignored while the speed is accelerating decelerating After the speed becomes a constant speed the speed will be changed J point speed cannot be changed J point speed change contact is invalid Also only the increment method is available for the position setting for points P C and E following point J 21 3 5 Repeat Accuracy of JOG Positioning Control As each request contact during the speed control J point speed change cotnact J point positionign start contact is controlled by I O in the JOG positioning control the positioning accuracy depends on the scan time of I O In JOG positioning control the speed cange positioning operation can be started within 1 to 2 ms after the Positioning Unit RTEX detected the above contact signal In the actual operation the movement amount at 1 ms that is calculated from the items such as the speed during the speed control and the ratio of the motor rotations to the movement amount of the actual work becomes a repeat error Also ladd
296. table by the ladder program note that the operation will be executed with the positioning table before the rewriting The extended area is used when the setting values of the positioning table cannot be determined until just before executing the positioning operation For example in the application of alignment using an image processing the moving distance is determined by the image processing Therefore the positioning table cannot be determined until just before sarting the positioning operation In that case the positioning table is set just before the start up of the positioning In the extended area the positioning table can be rewritten as needed and the recalculation is not necessary However it is up to 25 tables and Configurator PM cannot be used The ladder programs should be used to write the positioning table in the prescribed address in the shared memory The start up time is longer than the standard area and when performing the P point control or C point control in the extended area note that the start up time varies depending on the number of tables to be executed consecutively How to use each area and the precautions are as below How Number Table Setting using Setting using of points number Configurator PM ladder program Area to be used when Available Standard the setting value of the 600 110600 Available Calculation for area positioning table is points restructuring is
297. tarting address of table 194 070H Starting address of table 195 080H Starting address of table 196 090H Starting address of table 197 Starting address of table 198 OBOH Starting address of table 199 Starting address of table 200 ODOH Starting address of table 201 OEOH Starting address of table 202 OFOH Starting address of table 203 100H Starting address of table 204 110H Starting address of table 205 120H Starting address of table 206 130H Starting address of table 207 140H Starting address of table 208 150H Starting address of table 209 160H Starting address of table 210 170H Starting address of table 211 180H Starting address of table 212 190H Starting address of table 213 1A0H Starting address of table 214 1BOH Starting address of table 215 1C0H Starting address of table 216 1DOH Starting address of table 217 1EOH Starting address of table 218 1FOH Starting address of table 219 200H Starting address of table 220 210H Starting address of table 221 220H Starting address of table 222 230H Starting address of table 223 240H Starting address of table 224 250H Starting address of table 225 260H Starting address of table 226 270H Starting address of table 227 280H Starting address of table 228 290H Starting address of table 229 2A0H Starting address of table 230 2BOH Starting address of table 231 2COH Starting address of table 232 2DOH Starting address of table 233 2bE0H Starting add
298. the case of a single axis control when using the with the positioning unit RTEX installed in the slot 0 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Z axis Center point X axis 0 axis 10000 q 20000 pulses t 5000 pulses LOT 10000 pulses X axis Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse Item Sound Allowable range example Operation pattern E End point C Continuance point E End point Pass point 0 Linear Composite speed 1 Linear Long axis speed A Spiral Center point CW direction X axis movemet B Spiral Center point CCW direction X axis movemet E Spiral C Spiral Center point CW direction Y axis movemet Interpolation operation Center point CW D Spiral Center point CCW direction Y axis movemet direction Z axis E Spiral Center point CW direction Z axis movemet movement F Spiral Center point CCW direction Z axis movemet L Spiral Pass point X axis movement M Spiral Pass point Y axis movement N Spiral Pass point Z axis movement Control method I Increment I Increment A Absolute X axis movement amount 0 pulse Pulse 1
299. the center point and pass point are the increment coordinatefrom the start point e When the start point and the operaton done point is the same it performs one circular operation when using the center point method However when using the pass point method an error occurs e In case of the pass point method when the start point pass point and operation done pont exsit in the same straight line an arc is not comprised and an error occurs e When setting the long axis speed the composite speed is faster than the long axis speed If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit 8 15 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 2 3 Setting and Operation of Three Axis Linear Interpolation The example below is the case of a single axis control when using the with the positioning unit RTEX installed in the slot 0 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriatel
300. the servo ON OFF has been controlled using the ladder program before starting the tool operation the state of the servo lock servo free is also kept in the tool operation 7 37 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 17 2 Tool Operation Home Return After the power supply of the positioning unit RTEX turned on the zero home of the machine position coordinate does not always agree with the zero of the coordinate value in the positioning unit RTEX Therefore coordinate the home of the machine position with the home of the positioning unit RTEX This setting is called Home return Note To perform the home return the equivalent axes should be in the state that the servo is locked servo ON 1 Click Home Return in the tool operation dialog The following dialog is shown Tool operation Homine Axis Group 1 axis 2 axis 3 axis 4 axis Zero offset 626492 622988 f 1 Change Change Change Unit pulse pulse pulse pulse Home return mode Home search Home search Home search Home search Start Start Start Start State of axis Inactive Inactive Inactive Inactive Error code Error clear Warning code Warning clear Warning clear Warning clear Warning clear Speed rate 100 X Help Axis Group The axis numbers and group names to be monitored Monitor the feedback values after the unit syste
301. the specifications of AMP Each axis N A 004EH Self diagnosis error Refer to the specifications of AMP Each axis N A 004FH Self diagnosis error Refer to the specifications of AMP Each axis N A 0050H Parameter initialization sequence error Refer to the specifications of AMP Each axis N A 0051H Serial communication error Refer to the specifications of AMP Each axis N A 0052H Node address setting error Refer to the specifications of AMP Each axis N A 0053H Continuous communication error protection Refer to the specifications of AMP Each axis N A 0054H Communication timeout error proteciton Refer to the specifications of AMP Each axis N A 0055H CE eng see ID duplicate error Duplicate Refer to the specifications of AMP Each axis N A 0056H Cyclic data not receivable Refer to the specifications of AMP Each axis N A 0057H Emergency stop input error Refer to the specifications of AMP Each axis 0058H Microcomputer memory error Refer to the specifications of AMP Each axis 005 Encoder EEPROM verify error Refer to the specifications of AMP Each axis N A 005FH Motor automatic recognition error protection Refer to the specifications of AMP Each axis N A 0060H SEN signal selection error protection Refer to the specifications of AMP Each axis N A 0061H Control mode setting error protection Refer to the specifications of AMP Each axis N A 0062H Microcomputer peripheral system error p
302. tion is not performed The specified positioning operation is performed only once 2 to 254 The positioning operation is performed repeatedly for the specified number of times 255 The positioning operation is performed repeatedly without limit Unlimited repeat The Emergency stop or Deceleration stop should be executed to stop the positioning operation 21 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 1 2 Examples of operations Examples of operations when N times have been specified Table 1 P point Table 2 P point Table 3 P point Table 4 E point 1 When N OorN 1 5 2 When 3 and when the dwell time 0 at the E point table the E point in the repeat operation is treated as the P point 3 When N 3 and when the dwell time 0 at the E point table the E point in the repeat operation is treated as the C point Setting of dwell time Setting of dwell time The operations of the BUSY flag and operation done flag are the same as the Ver 1 00 and Ver 1 01 operation 21 1 3 Sample program Refer to Repeat function ladder program for demo fp 21 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 1 4 Each Axis Information amp Monitor Area Monitoring repeat count The each axis information amp monitor area to confirm the active repeat c
303. tioning All axes A fthe error occurred repeatedly unit please contact us Check the connection of the Tool RS232C cable connecting the 1020H operation communication with a PC in the tool All axes A 9 abnormal end operation by the Configurator PM PEDI P y 9 Reboot the PC Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 7 15 3 3 AMP Communication Errors From 2000H Ver 1 00 to 1 01 These are the errors occurred in the communication beteween the positioning unit and AMP They occur when the communication data was judged as abnormal A Available N A Not available pue Error name Description Object Clear Countermeasures Check the power supply of the AMP is on Check the communication pathway Carefully check the AMP A communication error occurred connector failure and breaking of 2000H Communication after the network communication All axes N A the communication cable error has been established Also check if any excessive noise is caused in the usage environment If the error occurred repeatedly please contact us 2001H AMP Data Failed in the data acquisition of Each axis N A Check the status of the AMP that acquisition error each AMP the error occurred Check the communication pathway Carefully check the connector failure and breaking of D the communication cable 2002H AME Paramet
304. tioning operation Each axis A n type error is incorrect Na The acceleration time of the 4402H Positioning Beceloratin positioning operation is out of Each axis A time error the range The deceleration time of the 4403H Positioning deceleration positionign operation is out of Each axis A time error the range Pr The target speed of the 4404H es target speed positioning operation is out of Each axis A the range 4500H Interpolation type error The setting of the interpolation Each axis A type is incorrect r The parameter of the circular 4504H interpolation such as center Each axis A point or pass point is incorrect ad The error occurred during the 4505H Ee nor spiral interpolation as the setting Each axis A value is incorrect Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 21 15 6 List of Warning Codes Ver 1 13 or later Warning codes are from AOOOH to differentiate from the error codes 15 6 1 AMP Warning From A000H Ver 1 13 or later These are the warning codes to be given by the unit when warnings occurred in the AMP The warning codes to be output are represented by the warning codes output from the AMP AOOOH The warning codes of the AMP are written in decimal however the warning codes of the positioning unit are written in hexadecimal For the details of each warning code and the way of handling refer to th
305. to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 7 38 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 Click Change for the zero offset to change the offset after the home return operation The value can be changed during the home return operation as well 3 Execute the home return Click Start for the axis to execute the home return 4 Click Close to close the dialog LN rer This dialog cannot be closed during the home return operation 7 17 3 Tool Operation Positioning The test run is possible like actual positioning operations Specifying the starting table number enables to check if the positioning interpolation from the starting table operates properly i Note For the positioning operation the setting data should be downloaded to the positioning unit in advance For the positioning operation the equivalent axes should be in the state that the servo is locked Servo ON The operations after the starting table number vary depending on the Operation patterns 1 Click Positioning in the Tool operation dialog The following dialog is shown Tool operation Positioning Tool operation Axis Group 1 axis 2 axis 3 axis 4 axis Zero offset O 1226480 626492 622988 1225 Change Change Change Change Unit pulse pulse pulse pulse Active table No Starting table No Change Change
306. to set the timing to turn on the operaiton done flag allocated to the I O of the positioning unit RTEX The operation done flag turns when the current position is in the range of the completion width pulse of the target command position after the completion of the pulse output The completion width is monitored by the positioning unit RTEX unlike the position error of the AMP Therefore note that the timing of which the imposition flag turns on may differ from the timing of which the operaiton done flag turns on Imposition Completion width i H Operation done Imposition flag 13 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 7 Home Change The positionig unit RTEX manages the coordinate origin default is 0 When the position command method is set to Absolute it operates as the position command for the coordinate origin The home change is a function to set the managed home position to an aubitrary coordinate positon Data must be written into the shared memory from the PLC in order to carry out the home change Followings are the details of the shared memory to carry out the home change Home change area Shared memory Bank 0 address Name Descriptions Only when the corresponding bits fo reach axis changed to 1 from 0 the coordinat
307. to the AMP may be changed according to the home return methods as hereinafter described 21 6 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 2 2 Home Return Method in Synchronous Operation When using Synchronous Mode A In the synchronous mode A the home return should be performed for each axis individually Therefore set the synchronous operation to be disabled when performing the home return If the synchronous operation is enabled when the home return operation starts an error will occur and the home return cannot be executed All the home return methods currently supported by the Positioning Unit RTEX can be used 21 2 3 Home Return Method in Synchronous Operation When using Synchronous Mode B As the synchronous operation cannot be set to be disabled always enabled in the synchronous mode B only the home return can be executed in the synchronous operation Therefore the executable home return methods are restricted The followings are the home return methods to be available in the synchronous mode B 1 DOG method 2 4 Limit method 2 6 Stop on contact method 1 8 Data set Each numbers are the home return setting code Also when performing the home return usign the 1 DOG method 2 and 4 Limit method 2 the input from the DOG sensor and limit sensor should be connected as below Master axis Slave axis DOG method Connect the DOG
308. tor contact for the near home input connected to the corresnponding AMP Turns on when the position error of the corresponding axis is within the imposition range specified in AMP The setting of the imposition range can be changed by PANATERM that is a tool of AMP Turns on when the corresponding positioning table of the corresponding axis was executed Use Configurator PM or directly write in the shared memory for setting to able disable the auxiliary contact Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net WX16 gt WX17 B oa B a x lt a c1 N 8 N x lt 2 25 gt 01 01 O1 mojoj x lt a ayayaya emo x lt 2 Oo AR E o a X a x lt o o 25 w 2s O x O es NINN QIN 2 o m m 5 N B Ad x ae AR M XA DINAJA WX7 x lt e E ESI ESI TM O QO gt Contact allocation Target WX6 Xxx o o gt lt 2 X gt lt gt a gt lt gt lt gt lt gt lt ala a m O QO 7 axis Name Limit Limit Limit Limit Limit Limit Limit Limit Limit Limit Limit Limit Limit Li
309. tribute of axis 2 synchronous operation 2 Synchronous attribute of axis 3 1 Synchronous operation 3 Synchronous attribute of axis 4 master slave 4 Synchronous attribute of axis 5 axis setting of group 5 Synchronous attribute of axis 6 6 7 1 Synchronous attribute of axis 7 Synchronous attribute of axis 8 5to8 Synchronous group 1 Slave axis oooooooo Each synchronous axis can be set for only one axis 21 9 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 21 2 6 Canceling and Monitoring Synchronous Operation The synchronous operation control monitor area is added to the shared memory common area to set the synchronous operation to be enalbed disabled and to confirm the current synchronous setting 2 Reference 17 4 Details of Common Area in Shared Memory Addition of 17 4 17 4 10 Synchronous control monitor area ver 1 13 or later Offset Bank addres Name Description S The setting for the synchronous operation can be switched between Enabled Synchronous group and Disabled 1 operation When using the synchronous mode B this setting is ignored and an operation Enabled disabled always being synchronized is perfomred Bit Name Default Description 0 Group attribute of raxis 0 0 Execute the synchronous operation Synchronous group 1 Cancel the synchronous operation 1 7 a 22 2 operation Enabled disabled
310. tting area 111H 1A7H Error annunciation amp clear area 1A9H 23FH Warning annunciation amp clear area 3FFH 000H Bank 02H to 51H 17 13 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 4 2 Setting Parameter Control Area This is the area to write the setting values of the positioning parameters and positioning data in the shared memory into FROM or to execute the recalculation of the positioning data The number of writing to FROM in the positioning unit is announced to the CPU unit control unit through this area and writing the positioning parameters and positioning data in the shared memory to FROM is requested Also the recalculation starting table number is set to recalculate the positioning data in the standard area ffset Default Settin Bank cee Name Descriptions g address value range Unit Annunciation of Announces the number of writing the 080H number of positioning parameters and data in the 0 times writing to FROM shared memory into FROM When writing into FROM by Configurator PM the following procedures will be automatically performed When writing into FROM by ladder programs it is necessary to achieve the following Configurator PM operation by the ladder programs 1 Write 5555H in this area by the ladder program 2 The positioning unit checks 5555H and write 6666H over in the same area 3 Check 6666H by the ladder
311. ttings will be errors It is used when the stop on contact method 1 or 2 has been specified for the home return method Home return By the stop on contact O3DH Stop on cotnact torque It is regarded as a criterion for judging the home return once the torque value of value the AMP exceeded this set value by the stop on contact Default 100 96 Unit Setting range 0 to 5000 It is used when the stop on contact method 1 or 2 has been specified for the home return method Home return It is regarded as a criterion for judging the home return once this set time Stop on contact has passed after the torque value of the AMP exceeded the home return judgment time stop on contact torque value by the stop on contact Default 100 ms Unit ms Setting range 0 to 10000 22 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 22 1 2 DOG method 1 The phase Z after detecting the rising edge of near home DOG becomes the starting point Home return direction 4 amp Near home DOG input i i Phase p Home return creep speed k LI LI LI LI The starting point is between the near home DOG and limit input including the point on the limit Target speed input Home retum deceleration 1 1 lime i The starting point Home retum cre p speed is on the near home
312. ttings will be errors 15 to 8 Interpolation setting 00H O0H Linear interpolation Composite speed Operation 01H Linear interpolation Long axis speed 001H attem 10H Circular interpolation Center point CW direction p 11H Circular interpolation Center point CCW direction 20H Circular interpolation Pass point 50H Spiral interpolation Center point CW direction X axis movement 51H Spiral interpolation Center point CCW direction X axis movement 52H Spiral interpolation Center point CW direction Y axis movement 53H Spiral interpolation Center point CCW direction Y axis movement 54H Spiral interpolation Center point CW direction Z axis movement 55H Spiral interpolation Center point CCW direction Z axis movement 60H Spiral interpolation Pass point X axis movement 61H Spiral interpolation Pass point Y axis movement 62H Spiral interpolation Pass point Z axis movement Any other settings will be errors 002H 003H E Positioning Sets the acceleration and deceleration time for the positioning operation 004H acceleration The acceleration time and deceleration time can be set individually time TERT bit Name Default Descriptions 15 to 0 Acceleration ti 100 Setti 0 to 10 000 ms cceleration time etting range 0 to 10 ms 005H deceleration Deceleration time Any other settings will be errors time In case of the individual operation no interpolation it is the target speed of the 006H corresponding
313. type 2 axis control FPG PN2AN AFPG43610 4 axis type 4 axis control FPG PN4AN AFPG43620 8 axis type 8 axis control FPG PN8AN AFPG43630 FP2 Positioning Unit RTEX Type Function Part number Product number 2 axis type 2 axis control FP2 PN2AN AFP243610 4 axis type 4 axis control FP2 PN4AN AFP243620 8 axis type 8 axis control FP2 PN8AN AFP243630 Setting software Name Specifications Product number Control Configurator PM English AFPS66510 1 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 1 2 Restrictions on Units Combination 1 2 1 Restrictions on Combinations Based on Current Consumption FP2 only For the FP2 when the system is configured the other units being used should be taken into consideration and a power supply unit with a sufficient capacity should be used For the FP there is no restrictions based on the current consumption FP2 Positioning Unit RTEX Type Part number Product number Current consumption from power supply 2 axis type FP2 PN2AN AFP243610 300 mA 4 axis type FP2 PN4AN AFP243620 300 mA 8 axis type FP2 PN8AN AFP243630 300 mA 1 2 2 Restrictions on the Number of Units Installed FP Positioning Unit RTEX The maximum of 2 units can be installed FP2 Positioning Unit RTEX There is no restriction on the number of units installed if it is within the restrictions on the current consumption 1 4 Phone 800
314. uit the Configurator PM If the file is not unsaved a message asking for the save is shown Click Yes to save the file Click No to end the Configurator PM without saving the file 7 16 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 7 Connection to Positioning Unit 7 7 1 Selecting Slot Number When accessing the positioning unit RTEX in the Configurator PM specify the slot number that the positioning unit RTEX is installed in advance Select Online Select slot in the menu bar The following dialog is shown Select slot Choose the slot No of destination unit Slot The slot numbers defined vary depending on the type of PLCs See below PLC Slot No The positioning unit RTEX is installed the left side of the CPU unit and defined as below Expansion unit 1 Slot No 0 Expansion unit 2 Slot No 1 Expansion unit 3 Slot No 2 Expansion unit 4 Slot No 3 FP2 The positioning unit RTEX is installed on the CPU unit with the motherboard The slot number for the unit installed on the right side of the CPU unit is the slot number 0 and then the slot number varies depending on the installed position of the motherboard 7 17 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 7 2 Communication Settings Set the condition to communicate wit
315. ulser operation ratio denominator bit Default Descriptions 15 to 0 Pulser operation ratio 1 Setting range 1 to 32 767 denominator Any other settings will be errors 03BH 03CH 03DH s 03EH 2 gt 040H 041H 042 3 043H 044 R 045H A 046H 047H 048H z 049H 04AH 04BH E 04CH 04DH 2 04EH 04FH Starting address of each positioning parameter Axis 1 Axis 2 Axis3 Axis 4 Axis5 6 Axis 7 Axis 8 Addre Bank No Descriptions 02H OCH 16H 20H 2AH 34H 3EH 48H 050H Starting address of parameters 17 42 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 6 3 Positioning Data Setting Areas Phone They are the areas for setting positioning data The positioning data for 8 axes can be set individually The positioning data is stored in the table format of 625 points per axis When executing the automatic operation position control with the positioning unit RTEX specify the number of the positioning table that has been specified in advance and start the position control After the start up the motor is automatically controlled according to the settings of the table There are the method that creates the positi
316. urn direction by detecting the trailing edge back end of near home DOG and the position becomes the starting point Home return direction lt Near home DOG input 1 1 Home return deceleration 1 i time _ Target speed Homeireturn creep speed 1 The starting point is between the near home DOG and limit input including the point on the limit input Homeireturn creep speed The starting point is on the near home DOG 1 1 1 1 LI 1 1 1 1 LI LI Limit stop deceleration time Home return creep speed l The starting point 1 is between the near E home DOG and limit Home return 2 input i Target speed deceleration input 1 1 1 time B Home return creep speed 1 The starting point i i is on the near home D DOG and limit RO 1 Target speed 7 Home return input deceleration time 1 1 22 1 5 Limit Method 1 Reverses after detecting the rising edge of the limit switch on the opposite side of the home return direction After that stops at the first phase Z and that point becomes the starting point Home return direction 4 amp I Phase Z 1 LU LU L L L I The starting point is Home return creep speed other han i TE the limit input 7 Home return Target speed deceleration 1 time The starting point 1 1 Home retu
317. utomation net 7 14 2 Downloading Setting Data to Positioning Unit RTEX Transfer the setting parameters and positioning data to the positioning unit RTEX 1 Make the connection between a PC and PLC and configure the settings Then select File gt Download to Unit in the menu bar or click the Download to Unit icon in the toolbar The dialog is shown as below Choose the data to download Positioning setting data range All Table No range Specify the table No range as 4 80 Choose the data type to download When downloading positioning setting data specify the data range OK to start downloading Cancel Axis information Parameter setting data Axis information Parameter setting data Positioning setting data Positioning setting data range Select this to download axis information and parameter only Select this to download all setting data The range of the positioning data to download can be specified All Download all setting data Table number range Download the positioning data in the specified range OK Start downloading with the selected settings Cancel Stop downloading 2 Click OK to start the download to the positioning unit The time required for the download depends on the range of the positioning setting data Note To execute the download previously determine the target positioning unit RTEX by the communication settings and
318. w ctiautomation net Email info ctiautomation net 18 1 FP Positioning Unit RTEX Unit mm DIN rail installing groove 35 mm 18 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 2 FP2 Positioning Unit RTEX Unit mm 18 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Chapter 19 Sample Programs Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 19 1 Basic Configuration and Contact Allocations of Sample Programs In the sample programs the internal relays are used for the start up contacts of each operation If necessary reconnect them to the input contacts that switches etc are connected Basic Configuration Positioning Unit RTEX Pulser as E terete rere Motor Motor The positioning unit RTEX is installed in the slot 0 Also the axes 1 and 2 are designated as the axes used and the linear interpolation of 2 axes is designated as a sample operation by the Configurator PM in advance The FP2 positioning uni
319. xiliary output is set to enable in the parameter settings the auxiliary output code specified here is output Comment Input the comments of tables The comments are saved in the positioning setting file npm of the PC only They are not saved in the positioning unit RTEX Note The details for the settings in each parameter are indicated in the guidance bar 7 23 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 11 How to Edit Positioning Data 7 11 1 Inputting Positioning Data The cursor on the positioning data editing screen can be moved by clicking double clicking with the mouse and with the arrow Enter and Tab keys Move the cursor to the data item Using the arrow key enables to move the cursor to the adjacent cell in the direction of the arrow Using the mouse enables to move the cursor only by clicking the cell If the cell you want to specify is not in the data editing screen scroll the screen using the scroll bar until you can see the cell Input the data item Pressing any character input key or double clicking the mouse on the cell you want to input data enables to input the data as below 5 E End Line I hc 0 6 E End Line F hc 0 7 E End Line I Inc 0 8 01 Ehe J 9 E End Line I hc 0 10 E End 0 Line E Inc 0 11 E End 0 Line Ilnc 0 12 E End Line Inc 0 However the column with th
320. y Z axis N CC 5000 pulses Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse Setting Item example Allowable range Operation pattern E End point C Continuance point E End point Pass point 0 Linear Composite speed 1 Linear Long axis speed A Spiral Center point CW direction X axis movemet B Spiral Center point CCW direction X axis movemet 0 Linear C Spira Center poin CW direction Y axis movemet Interpolation operation Composite D Spira Center point CCW direction Y axis movemet speed E Spiral Center point CW direction Z axis movemet F Spiral Center point CCW direction Z axis movemet L Spiral Pass point X axis movement M Spiral Pass point Y axis movement N Spiral Pass point Z axis movement Control method I Increment I Increment Absolute X axis movement amount 10000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse X axis auxiliary point 0 um 0 1 um 107 374 182 3 to 107 374 182 3 um Y axis movement amount 5000 pulses um 1 1 073 741 823 to 1 073 741 823 um Y axis auxiliary point 0 inch 0 00001 inch 10 737 41823 to 10 737 41823 inch Z axis movement amount 20000 pulses inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch m degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree Z axis

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