Fics-III User`s Manual, Part 1 : Introduction
Contents
1. Advanced Motion Control Software Fics 11I Programming Manual vez Fics Atoms Series Controllers Fics SRing Series Controllers Fics PDS 3 Systems STEP Command ORDER PTP ABS XYZ 9999 99 49999 99 pex ABS DWUM E 7709 ok cepe 6e koe MER 99 99sec 01 0 0N 02 7 0N 00 0 0FF 00 0 OFF 0 0FF MER 99 99sec 01 1 0N 02 2 0N 00 0 0FF 00 0 OFF 0 0 OFF L 999 DI 01 1 THEN GOTO 9999 ELSE 999 PECE NOON SLR ohon 9999 99 2i 00 0 0FF 00 0 OFF 01 0 0N 02 7 0N 00 0 0FF 00 0 OFF 1 AUTO 2 STEP 3 EDIT 5 BCOPY 6 PCOPY ERAT A AUTO STEP PTP 10 CLR 100 X xxxx xxmm N 0001 Y yyyy yymm ABS XYZ W Copyright 2002 DYNASERVO Inc INTRO 1 About This Manual This manual describes system setup and programming using Fics III advanced motion control software Specifically the following issues are addressed O o o o A brief introduction to DYNASERVO motion control products including servomotors drives controllers and handheld terminals Features of Fics III System parameter setting using Fics RTI Fics III programming using Fics RT1 Read this manual carefully to ensure correct use of the DYNASERVO Fics series controllers Keep this manual in a safe place for future reference Related Technical Publications The following technical publications should be used as reference material Check carefully specifications restrictions and other2. Atoms SB Atom SRA SLA 4 m a m 1 E Programming Tools ml m WinFics Standalone 3 axis Step Fics RT1 Motor Controller and Drive INTRO 7 2 Motion Control System Configuration Using DYNASERVO Serial Controllers AC Servo Motor Drive Step Motor Drive Controller Serial I O Expansion Modules uoneorunutulo Touch Screen Terminals Handheld Terminals The block diagram of the system configuration is shown above There are the following types of controllers 1 Standalone controller Fics Atoms SB Fics SRing SB 2 PC AT PCI ISA bus type controllers Fics Atoms PCI Fics SRing PCI etc 3 Smart drive type controllers MC 1X which integrate a motion controller a single axis servo drive and 24DI amp 16DO in one compact package 4 Touch screen terminal type controllers Fics TPC1 Fics TPC4 Fics TPC5 which integrate color or black amp white touch screen with motion controller in one package 5 Handheld terminal type controller Fics TC1 which integrates handheld terminal with motion controller in a single unit Some of the features of DYNASERVO motion controllers are listed below INTRO 8 Control of systems with up to 16 axes integrating AC servo motors and or stepper motors RS485 multi drop or RS422 serial ring communication links Linear and or circular interpolations High precision PTP control Eguipped with Fics III IV or Ladder Motion langua
3. been discharged INTRO 3 DANGER Do not insert your hands in the drive Do not touch the rotating part of the motor in motion Do not touch the drive motor and its regenerative discharge resistor since they are hot Do not modify dismantle or repair the drive Do not block the heat dissipation opening or insert foreign objects into it Do not connect motor load before you are sure that the drive and motor work as intended After recovery from power failure motor may start to rotate suddenly Do not approach to the motor and motor load Do not expose connecting cables to sharp edges excessive pressing forces heavy loads or pinching forces 9999900 Do not subject the product to water splash corrosive gases flammable gases and other combustible substances Failure to follow these instructions could results in injury electric shocks fire burns and or mechanical damage Take every possible care to safeguard this product against unexpected action Every effort is made to ensure high guality of this product but unexpected action such as high external electrical noise static electricity abnormal input power supply incorrect wiring or defective parts may result in personal injury or malfunction of the drive Due to the continuous software improvements amp updates certain features contained in this manual may be different from those incorporated into your product Contact our sales office if you have any gu
4. conditions of all motion control products before attempting to use them O DYNASERVO Motion Control Products Catalog Provides brief description of Fics series serial control type controllers Atom SRA SLA User s Manual Provides detailed information on use of Atom SRA SLA Atom mini SLIM drives Fics RT1 User s Manual Provides detailed information on use of Fics RT1 handheld terminals WinFics Users Manual Provides detailed information on use of PC based Fics III programming tool INTRO 2 Important Safety Instructions 0000 990 0 Before power on the drive make sure that the power supply voltage is consistent with the voltage specified on the name plate of the drive you purchased Using the incorrect voltage could cause serious injury fire electric shock and or damage Before power on the drive make sure that the combination of your drive and motor is correct Failure to follow this instruction could result in injury electric shock fire and or mechanical damage Before power on the drive make sure that the drive is wired correctly Failure to follow this instruction could result in injury electric shock fire and or mechanical damage Install an external emergency stop device so that you can shut off the power in any emergency case Failure to follow this instruction could result in injury electric shock fire and or mechanical damage Ground the FG earth terminal of the drive Failure to follow this instruct
5. N ERROR error occurs when trying to switch to automatic operation mode except when all axes in the system are set as homing not needed When the system is not in automatic operation mode and the lt START gt key is pressed NOT READY error occurs lt lt Manual Automatic Mode Switching gt gt In Fics III it is possible to switch between modes using external DI digital inputs in addition to the switching method using function keys as stated above The ON OFF of manual automatic mode switching is represented by 1 or 0 Mode switching by digital inputs is only valid in initial manual and automatic menus when the program is not running The priority of manual mode selection is higher than automatic mode selection Manual mode is a default selection except in case where the digital input corresponding to manual mode selection is OFF and the digital input corresponding to automatic mode is ON In system mode or programming mode the digital inputs for mode switching are ignored 3 5 Information on the Screen of Fics RT1 Mode Function Key Menu Step Data Display Program Number Field Input Area Sten Number Heln and Hrror Message Area Skin Indicator The above figure illustrates the on screen information for a typical PTP program step data INTRO 15 o Mode Indicating AUTO mode for automatic operation MANU mode for programming or SYS mode for system parameter setting o Function Key Menu Showing usage of
6. NASERVO programming terminal Fics RT1 or a PC WinFics software Fics RT1 is a portable programming and control terminal designed for control of robots and various automated machines The 80 character alphanumeric display meets all the requirements needed to program using Fics III All system programming and parameter settings can be performed using Fics RTI Auto execution Manual operation and Home search programming Run program Parameter setting Stop running Emergency stop Function keys F1 F2 and F3 corresponds respectively to AUTO MANU And SYS Jog keys Numeric keys Cancel operations Save program and go to next program step Plus minus sign and move back in the programming menu INTRO 14 3 4 Operations and Messages of Fics RTI lt lt Initial Screen gt gt If Fics RT1 is connected correctly to Fics series controllers the initial screen of Fics RT1 after power on looks like the screen on the right Use function keys to select menus for various operation modes AUTO AUTO MANU SYS Fics III V2 32 AUTO Automatic operation mode DYNAX Corporation MANU Manual operation mode programming mode Copyright C 94 2002 SYS System parameter setting mode In this initial state it is possible to perform JOG operation and homing If the current program is a main program the system switches to automatic operation mode after homing is completed If homing is not completed ORIGI
7. SLIM mini Their extremely compact size allows them to be mounted right next to the motors they control thus reducing the length of encoder wiring and improving system reliability DYNASERVO controllers are capable of controlling step motor drives This feature allows greater flexibility in design of complex motion control systems DYNASERVO serial I O modules communicate with DYNASERVO serial controllers via RS422 at the speed of 1 25Mbps DYNASERVO offers wide selection of I O modules equipped with various I O configurations and different connectivity options The following table lists these modules Module Name Description Fics IOM 16 16RS 16 opto isolated DI and 16 relay DO with 16 fuses screw terminal type Fics IOM 16RI 16 relay inputs Fics IOM 16RO Fics IOM 16 16CN 16DI 16DO all opto isolated with LED indicator plug terminal type INTRO 9 DYNASERVO standard AC servomotors are manufactured by Panasonic Panasonic utilizes segmentation winding technigues in their production thus creating a very powerful vet very compact AC servo motors 3 Fics III Motion Control Software DYNASERVO advanced motion control software Fics IIL integrates key functions of motion control I O serial communications and operator interface into a single programming language Fics III provides the following functions o Motion Programming In addition to the standard PTP control and linear interpolation functions Fics III offers multi axis cir
8. cular interpolations DYNASERVO servo control algorithm guarantees 1 pulse control accuracy enabling high precision multi axis synchronous control Fics III supports pallet and matrix programming which is very effective for short distance multi point positioning Fics III supports numerous user defined SYSTEM variables MONITOR variables and FLAGs which simplify system programming o Multi task Programming A unique feature of Fics III is it s support of up to 8 tasks which offers users great flexibility in designing complex control systems Task programs run in the background but can communicate with the main program using FLAGs Task programs play an important role in monitoring I O sequences which are independent of servo control sequences There is a special task called system task whichis automatically executed when power to the controller is turned on o I O Access Fics III supports direct access to Fics series controller s on board I O and to serial expansion I O modules o Parameter Setting Fics III supports easy setup of motion parameters such as resolution of encoders lead of ballscrew connected to motor shaft acceleration deceleration time maximum speed etc Servo control parameters such as proportional integral and derivative gains can be easily tuned to provide best motion performance o Manual Teaching PTP positions can be numerically programmed from DYNASERVO handheld terminal such as Fics RTI or manual
9. estions INTRO 4 Part 1 Fics III Introduction CONTENTS 1 DYNASERVO Serial Motion Control Products Overview eee eerte 7 2 Motion Control System Configuration Using DYNASERVO Serial Controllers 8 See FICS UMD MOM Control Sol Aa Denon o RE eR RE OREMUS 10 3 1 Software Configuration of Fics lll eese ehe tretier 10 3 2 Fics II Programming Examples sees eee ehh emenee eene oa E sensere 12 3 3 Fics II Programming Tools eese 000006 entente ennt ttr eee hne ee tri a e RN 14 3 4 Operations and Messages of Fics RTI ehem nen n hen ein 15 3 5 Information on the Screen of Fics RTI esses nhe nn hne ener eene 15 3 6 WinFics PC Based Programming Tool ssssssseseseseeeeeeene eme eene ehh eneneene nnne 16 4 Before Beginning Fics III Programming ee ee eee eene e eere eee en eee en eee 00000000 sete soon 17 INTRO 6 1 DYNASERVO Serial Motion Control Products Overview DYNASERVO offers a wide variety of high performance motion control products ranging from AC servo motors servo drives to motion controllers handheld terminals and touch screen terminals which work together to meet the requirements of the most demanding automation applications Miniature Drives Atom SLIM mini PC AT PCI bus Type Controllers Fics Atoms AT PCI Standalone Controllers Servo Drives Fics
10. function keys lt F1 gt lt F6 gt Mode menu or command names of the command tree structure are displayed in this area Use F6 key to display the remaining menus if there are more than three menus commands o Step Data Display In data input and display area from rows 2 to 4 programming step data is displayed in DATA mode or AUTO mode and parameter data is displayed in SYS mode and other modes o Program Number In Fics III program is identified by a three digit number which is also called program name o Step Number A program is a list of sequential steps which are identified by step numbers It is easy to insert or delete a step or steps and step numbers will be updated automatically even if they are used in GOTO commands o Skip Indicator When a program step starting with the symbol it is a comment step implying that this step will be skipped in AUTO mode Skipping of a step can be set or reset by pressing lt SKIP gt key o Field Input Area Data can be entered into the field input area when the cursor is blinking Data in the field can also be modified by numeric keys To move cursor between fields press or gt keys o Help and Error Message Display Area The last row of the data input area is also used to display error messages when an error occurs It is also used to display help messages 3 6 WinFics PC Based Programming Tool DYNASERVO programming software WinFics runs on a PC under W
11. ge Windows DLL for PC based control Expandable 256 DI DO with high speed serial communication Easy operation and programming with Fics RT1 and Windows programming tool WinFics Oo OD O O O Palletizing and coil winding software packages o Programming in natural language Detailed features of Fics III are explained later in this section The key technologies which distinguish DYNASERVO controllers from other motion controllers are 1 The custom CPU integrating Hitachi SH RISC CPU and DYNAX 7260 pulse counter LSI and 7180 communication LSI 2 The advanced motion control software Fics III which was developed and refined by DYNAX for over a decade Using Fics III dramatically reduces system integration time which lowers total system cost DYNASERVO controllers communicate with DYNASERVO drives via RS485 at the speed of 625kbps or via RS422 at the speed of 2 5Mbps These widely used industrial communication protocols ensure system reliability and their high speed enables up to 8 axis synchronous control DYNASERVO standard AC servo drives Atom SRA SLA series are OEM manufactured by Panasonic They incorporate 32 bit RISC CPU and DYNASERVO advanced servo control algorithm enabling them to achieve 1 pulse control accuracy Atom SRA SLA drives can be linked together via RS485 or RS422 to form a network or they can operate as standalone units providing up to 256 indexing positions DYNASERVO other series of AC servo drives are Atom
12. indows 95 98 NT 2000 operating systems This programming environment has several advantages over Fics RTI o alarge color screen allowing easy program copy and editing o Easy operation using function keys numeric keys and mouse o Flexibility in uploading downloading parameters to from controllers using DYNASERVO CBIC MFC PCMCIA card or RS232C o Programs and parameters can be saved to and loaded from floppy disks See the cover page of this manual for a sample screen of WinFics INTRO 16 4 Before Beginning Fics III Programming In the following chapters the system parameter setting is introduced first then Fics III programming issues are explained Make sure that you understand the motion system that you intend to control and that all system parameters are properly set before you begin programming Pay special attention to the following points 1 Your motion control products may have preset system parameters and or preinstalled application programs Do not initialize the system before proper check Make sure that the setting of the number of axes and the number of units matches your physical system Make sure that motor type number is properly set see servo drive manuals included with servo drive Make sure that the coordinate systems are properly set for each axis MMB Make sure that the mechanical parameters such as encoder resolution lead of ball screw etc are properly set see 6 1 Setting Mechanical Parameters par
13. ion could result in electric shock and or mechanical damage The drive contains stored energy devices Do not attempt to transport wire or inspect the drive for 10 minutes after the power off Failure to follow this instruction could result in electric shock An over current protection over temperature protection and emergency stop should be installed Failure to follow this instruction could result in electric shock injury and or fire If drive error occurs remove the causes for the error and secure the safety before restarting the operation Failure to follow this instruction could result in injury or mechanical damage Servo drive radiates heat as the motor runs If it is operated in the closed electrical enclosure temperature in the electrical enclosure may rise Cool the enclosure so that the ambient temperature of the enclosure is within the working temperature of the drive 0 55 degrees Keep drive away from exothermic bodies such as heater or large coil resistor When drive is not in use for a long time turn OFF the power supply Ce Before installing Fics series controllers into a computer make sure that the main power of the computer has been turned off Failure to follow this instruction could result in damage to the computer and the controllers Static electricity is harmful to IC chips Before installing Fics series controllers into a computer make sure that the static electricity in your body has
14. ly taught by jogging each axis to the desired position 3 1 Software Configuration of Fics III Fics III is configured as a tree structure as shown in Figure on the next page Commands under SYS are designed for the purpose of system setting and are shown in another tree see part 2 Fics III System Setup Commands in the rectangle box are options If Fics RT1 is used as programming terminal the function keys lt F1 gt lt F2 gt lt F3 gt correspond to the upper 3 menus such as AUTO MANU SYS or AUTO DATA INTRO 10 COPY respectively The lt F6 gt function key is used to switch to the remaining menus such as TURBO OUT and M1 M2 M3 To return to the menus located on the upper tree use CLR key Fics III Command Tree programming menus and commands AUTO MODE AUTO STEP STEP p MANU PTP VARI MON CON qun C110 c VI V CI VARI CON TI MER MONX TIMER MODE MANU T AUTO QUT ON OFF a ET VAR CON B ON DATA M M NODE COPY JL 6010 Iu NES IF Hin VAR VARI CON BIT VARI FLAG lt gt EN 4 i Jj Wm VARI CON DO SEN RLE NM a VAR CON lt gt ero stow FAST RATE ee 7 M2 VAR C0 SUB REPT VAR MUL l AG DIV T ion MON LOW TI HI GH REM REM ON OFF REM ORG AXIS m N MG M3 MTRI X VAR MON CON ME yDDA z YCNTR m Y T T1 Er De e Uri ATON Fics Atoms Y EEPROM 0UT3 yFILEe z INTRO 11 3 2 Fics III Progra
15. mming Examples Fics III programming is extremely easy It is just like BASIC perhaps even easier than BASIC language Let s take a 2 axis system as an example to see how easy it is 1 PTP control to move from the current position to the next position one of the following commands can be used COMMAND ORDER X Y DESCRIPTION PTP ABS XYZ W 0010 00 0010 00 Absolute Position PTP INC XYZ W 0010 00 0010 00 Incremental Position ABS XY Z W 0010 00 0010 00 P Mode Positioning PTP ABS XYZ W VAR10 VAR20 Variable Assignment The first column represents the program step number The second column is the command name Following the command name a means the next step of the program will not be executed until the completion of the execution of the current step of the program In contrast the symbol gt implies that the next step of the program can be executed while the current step is running ABS INC simply specifies whether the desired position is an absolute position relative to the home or an incremental position relative to the current position XYZ W denotes the order of PTP execution of each axis XYZ means the PTP control of X Y and Z axes can start at the same time XY gt Z means the PIP control of Z axis will not start until the completion of PTP control of X and Y axes The numeric data under X and Y denote the desired positions of PTP control either absolute or incremental Ins
16. t 2 6 Make sure that all programmed system parameters match your physical system INTRO 17
17. tead of directly entering digital numbers here VARIABLES can be used as shown in the last line 2 Circular interpolation 1 2 3 4 COMMAND TYPE EN DESCRIPTION CIRCLE ABS c 0010 00 0005 00 First Point V 01 e 0020 00 0010 00 Second Point CIRCLE INC c 0010 00 0005 00 First Point V 01 e 0020 00 0010 00 Second Point The command name CIRCLE stands for circular interpolation ARC for arc interpolation The positions to be followed can be specified with ABS or INC In addition to the present position two points are required for circular or arc interpolations V 01 specifies the index number of the interpolation velocities Note that users never have to remember command formats in programs Command formats are fixed and will be automatically displayed on Fics RT1 or WinFics screen All the user has to do is to select the order or type and enter the desired data in the data input field INTRO 12 3 Other typical motion control commands UT ig OUT ON OFF digital outputbits REPEAT Repeat specified step number for a number of times MATRIX O Matrix data input for pallet programming 000 TBL Handle an array of data including coordinate data MFB Access analog inpuoutput module 000 O O REPEA MA TB M L G THEN AIT T TRIX L FB OP INTRO 13 3 3 Fics III Programming Tools Fics III programming can be performed with either DY
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