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FP2 Positioning Units Manual for FP2-PP21, FP2-PP22, FP2

1. 11 2 11 1 2 Pulser input operation Transfer multiple 5 multiple setting 11 5 11 2 SEQUENCE FLOW FOR PULSER INPUT OPERATION 11 8 11 3 ACTION OF THE I O FLAG DURING PULSER INPUT OPERATION 11 11 11 4 OPERATION AT OVER LIMIT INPUT ee 11 12 11 5 CAUTIONS ON AN OVER LIMIT SWITCH ii 11 13 11 6 TYPES OF MANUAL PULSE GENERATORS THAT CAN BE USED 11 14 12 DECELERATION STOP AND FORCED STOP cece cceceeeseeccscccesseeessssceseeees 12 1 12 1 SAMPLE PROGRAM iii 12 2 12 1 1 In progress Stopping Emergency Stopping iiiiiiiii 12 2 12 2 OPERATIONS FOR A DECELERATION STOP AND FORCED STOP 12 4 12 2 1 Deceleration Stop iitu lai lena ili 12 4 E222 HOPCOD SCOP sisi sates lai ilaele ia iN ala 12 4 12 3 I O FLAG OPERATION BEFORE AND AFTER A STOP 12 5 12 4 PRECAUTIONS CONCERNING STOPPING OPERATIONS 12 6 12 4 1 Pulse Output Done Flag Status After a Stop eeccccccccccccceseesescscccececssnsessssssseececs 12 6 12 4 2 Restarting After a Sop anr a i i i a ar a eoi eaa i area 12 6 12 4 8 Forced Stop Elapsed Value Data cccccccsccccccccceceseevsssscscesecssnessscssccesessenensssssseesess 12 6 13 FEEDBACK COU NTER aa s a a a eae an aa aa 13 1 13 1 SAMPEE PROGRAM EE EA E E A AE 13 2 13 1 1 Detecting Power Swing by Comparing Feedback Count with Elapsed Va
2. Table 26000 pulses Ball screw side side Pulse output diagram Shared memory setting 1 1 100h tom H 80 fcontacose fom Convoicode 10h Control code ioan 108 eae 10 Startup speed fs PPs 103 Startup speed fs pps 108h Startup speed fs pps De K 5000 Target speed pps 03 Target speed pps 108 500 4 Target speed ft pps 106h lAccelerationidecel 106h Aceelerationidecel 106h Acceleration de 107 eration time Ac ms 07h eration time Ac ms 4107h eration time Ac ms 108h a Pi command 108h Positi command 108h Position command 10 Value Pt puise 4109h Value Pi fpulsel 1009h value Pt pulse 500 k ms P point control CPU Y41 PST Set value change CPU XA confirmation flag CEN ETE iii utput bi Goes OFF when F151 instruction is executed BU flag BUSY ta or ee ack E Pulse output done CPU X1 i flag EDP 4 Elapsed value Pe 136000 ANNA No of counts when booted No of counts when stopped FP2 Positioning Unit Shared memory settings P Point Control Multi Stage Acceleration Deceleration Control parameter Set values in sample program example n setting content st speed 2nd speed 3rd speed Range of acceptable settings H80 Increment me
3. iiiiiiiiiee 4 16 4 32 Reading Hlapsed Vales risi Realta 4 18 4 5 8 Writing Elapsed Value vevvrrrerierrerecrrivrre riceve oa eiat aai 4 19 5 POWER ON AND OFF AND BOOTING THE SYSTEM r rr 5 1 5 SAFETY CIRCUIT DESIGN s fii Aia 5 2 5 2 BEFORE TURNING ON THE POWER i 5 3 5 3 PROCEDURE FOR TURNING ON THE POWER ii 5 4 5 3 1 Procedure for Turning ON the POW isccscccccccceceseessssscecetecesnessscccssecetsensesessssseeeess 5 4 5 3 2 Procedure for Turning OFF the Power ieri 5 5 5 4 CONFIRMING WHILE THE POWER IS ON i 5 6 5 4 1 Checking the External Safety Circuit iii 5 6 5 4 2 Checking the Safety Circuit based on Positioning Unit iii 5 7 5 4 3 Checking the Rotation and Travel Directions and the Travel Distance 5 7 5 4 4 Checking the Operation of the Near Home Switch and Home Switch 5 8 6 E POINT CONTROL SINGLE SPEED ACCELERATION DECELERATION 6 1 621 SAMPLE PROGRAM lira a a a sence 6 2 6 1 1 Increment Relative Value Control Plus Direction i 6 2 6 1 2 Increment Relative Value Control Minus Direction 6 4 6 1 8 Absolute Absolute Value Control ieccieccecceccccccsssecscesseeseesscsssescesscsssesseeseessseseesseass 6 6 6 2 FLOW OF E POINT CONTR
4. 24 VDC CARE Pole terminal ia Jk T LEA RK Q e gQ Q ola Manual pulse genarator Dimensions and Driver Wiring positioning unit FP E Multifunction type positioning unit fan 2 00 Connect cable for FP2 positioning Cable for MINAS All and S series MINAS AT and S series Servo amplifier Manufacture Part No Size Tightening torque Al 0 25 6BU AWG 25 22 0 18 0 33mm Phoenix Al 0 34 6TQ AWG 24 22 0 20 0 37mm Contact Co AI 0 5 6WH AWG 22 20 0 32 0 56mm 0 22 0 25 Nem Insralling the I F terminal DIN rail installation Screw in installation DIN EN50022 35 mm 1 378 in width 2 M4 Type Part number L mm 1 axis type AFP8503 106 0 2 axis type AFP8504 178 0 17 11 Dimensions and Driver Wiring FP2 Positioning Unit 17 12 Chapter 18 Sample Program Sample Program FP2 Positioning Unit 18 1 Sample Program 18 1 1 Positioning Program for 1 Axis Unit configuration l Home return Positioning 2 operation Positioning Aaa start switch start switch start switch 4 axis type positioning unit 64 point type input unit x82 S X80 S X81 S Z QZ N27 Z 3 3 SIN amp WxO WX8 WX1 WX9 X83 X84 X85 WX2 WX10 we WRN Forward Reverse Emergency wY5 JOG switch JOG switch stop switch wy6 wy7
5. Near Home Home ia Control code 102h ic Startup speed fs pps 1000 Target speed ft pps Acceleration deceleration time A 1 1 i i 1 1 i 1 1 4 L f 1 i i 1 i 1 1 1 4 4 1 1 i i i H t ms Ac Edges of signal 200 detected i CPU Y42 ORGS _ Near home External input i External Home input Deviation Output for External counter clear output _____ i lt lt approx 1 ms CPU XO0 BUSY CPU X8 ORGE Note The near home input should be ON for the time more than the deceleration time The operation of the near home input will not be affected by the signal logic change after the near home input is detected Reference Key Points Practical application of input logic Reverse the logic of the near home input and the home input When the switch is ON the near home input is to be ON When the switch is OFF the home input is to be ON One switch is to be connected with the home input and the near home input 10 26 FP2 Positioning Unit Home Return 10 7 Operation at Over limit Input Home return operation is as follows when Over limit input or Over limit input is ON The operation in the direction in opposite to the input limit is possible Home Return without home search Condition Direction Limit status Operation sula Table not to move Forward Over limit input 0 Limit error occurs
6. oo o i 3000 5000 A Position command value setting 5000 2000 setting O_O O dl 4 0 3000 5000 Line driver output This is one output format used in pulse output signal circuits in which the push pull output of the line driver is used Because this format offers better resistance to noise than the open collector output format a larger distance to the driver is possible The line driver must be supported on the motor driver side Most servo motor drivers are equipped with this format Open collector output This is one output format used in pulse output signal circuits enabling to make connections in accordance with the voltage of the power supply being used by connecting an external resistance This is used when connecting a driver that does not have line driver input such as a stepping motor Positioning unit Positioning unit r one pero a ome ee ee ey i fi i i f i i i i i i i i i i J i i i i i i i i i Q Il i i O 7 i PA Line driver method Open collector method JOG operation This refers to an operation in which the motor is rotated only while operation commands are being input This is used to forcibly rotate the motor using input from an external switch for instance when to make adjustments Depending on the circumstances this can also be applied to unlimited feeding in some cases
7. Shared memory setting E point control ER fag cru v0 EST liane busy flag BUSY Pulse outp CPU X1 done flag ep sennrentt Elapsed value Pe i a T No of counts when booted No of counts when stopped Operations of the various flag The pulse output busy flag X0 goes ON when E point control is initiated and goes OFF when pulse output is completed The pulse output done flag X1 goes ON when pulse output is completed and is maintained until the next E point control P point control JOG operation JOG positioning operation home return or pulser input enabled status is initiated The elapsed value is stored as the absolute value in the counter in the positioning unit 6 6 FP2 Positioning Unit Shared memory settings E Point Control Single Speed Acceleration Deceleration Control parameter setting content Set values in sample program example Range of acceptable settings Control code Note H81 lt Absolute method Linear acceleration deceleration gt Refer to page 16 7 Startup speed pps K500 KO to K4 000 000 K1 to K4 000 000 Target speed pps K10000 Set a value larger than the startup speed Acceleration deceleration time ms K100 KO to K32 767 Position command value pulse K25000 K 2 14 7 189 648 10 K2 147 483 647 Note If the limit error occurs set H1 as the limit input valid logic can be changed Program X82
8. If the input switch contact is the a contact If the input sensor goes ON when the home or near home position is detected When the Z phase of the driver is connected Input switch ig Current flows when the home or Current flows when the home or near home position is detected near home position is detected If the input switch contact is If the input sensor goes ON when the the a contact home or near home position is detected 10 5 2 When Input Valid When Power is not Supplied is Specified In cases like that below when power is not being supplied to the input circuit of the unit the Power not supplied control code for the program is selected from the control code table Refer to page 16 7 When to specify Input valid when power is not supplied If the input switch contact is the b contact If the input sensor goes OFF when the home or near home position is detected Input switch intemal 1 Input sensor i Positioning unit powert Current stop flowing when the home or Current stop flowing when the home or near home position is detected near home position is detected If the input switch contact is If the input sensor goes OFF when the the b contact home or near home position is detected 10 23 Home Return FP2 Positioning Unit 10 6 Practical Use for a Home Return 10 6 1 When One Switch is Used as the Home Input Example of usage method
9. i p i Pulse output begins within The startup signal is ignored Time t s 0 02 ms after the startup when the pulse output busy flag goes ON flag is ON ey JOG positioning Y_8 opeartion start JGST ag I Positioning control start input This goes ON following This goes OFF when the A scan aniar fhe starup pulse output is completed A H Pulse output x_0 si y busy flag BUSY Leet uccisi H H i This goes ON when the s goes OFF following H pulse output is completed can after the startup 5 goes ON x ays X_1 7 gt done ag EDP F f tscan il 1 scan H JOG positioning operation start flag Y_8 1 JOG positioning operation is initiated based on the parameters written to the positioning unit 2 JOG positioning operation is not initiated during the time that the pulse output busy flag X_0 is ON already initiated 3 JOG positioning operation start flag is reset when the power supply is turned OFF Pulse output busy flag X_0 1 This goes ON with the next scan after JOG positioning operation has been initiated and goes OFF when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop 3 This flag is reset when the power supply is turned OFF This flag is shared among E point control P point control JOG operation JOG positioning operation and home return except for a pulser input ena
10. jRead out Syn Sta rtup speed asuni Target speed Acceleration deceleration time TE point control stai FP2 Positionig Unit When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection 8 12 FP2 Positinoning Unit JOG Operation 8 5 Action of the I O Flag Before and After JOG Operation Output frequency f pps i n fs Pulse output begins within 0 02 When the Ti i e pulse output busy fla ime t ms na shior te startup flag goes is ON the start signal is ignore SL i F d JOG start v3 ae n Bi orwa sta JGF Db i Deceleration begins at If the timing is exactly the same the point when the startup forward rotation takes precedence flag goes OFF Y4 Ti Reverse JOG start JGR t This goes ON following 1 scan This s OFF when th after the startup flag goes ON The goss ORT when De a i o 1 scan Pulse output busy flag ne i This goes OFF following 1 This goes ON when the scan after the startup flag pulse output is completed goes ON X_1 f ae H 1 scan Pulse output done flag EDP Forward JOG flag Y_3 Reverse JOG flag Y_4 1 JOG operation is initiated based on the parameters written to the positioning unit 2 The operation is not
11. 11 6 Types of Manual Pulse Generators That Can be Used A pulse generators should be used for which the number of output pulses is 25P R 25 pulses per cycle With the 100P R 100 pulses per cycle type four pulses are output per click and operation may not be accurate in some cases A line driver output type is recommended A transistor open collector output type or transistor output type with pull up resistance may be used For detailed information about connection methods section 3 7 11 14 Chapter 12 Deceleration Stop and Forced Stop Deceleration Stop and Forced Stop FP2 Positioning Unit 12 1 Sample Program 12 1 1 In progress Stopping Emergency Stopping 4 axis type 64 point type positioning unit input unit Positionin start switcl Ball screw side ANIILTENIEERIAZEZEAEZZA TEA AAA Program X80 R80 peta be gt HP_Y____________ sat j R80 j 1H F1 DMV H 80 DT 0 val i F1 DMV K 300 DT 2 4 E point control F1 DMV K 10000 DT 4 4 positioning j operation program F1 DMV K 300 DT 6 4 l example F1 DMV K 50000 DT 8 4 j F151 WRT KO DTO K10 H100 i R80 Y40 Amm a a X110 e dec ul _ Emargency stop input Deceleration stop flagl In progress stop X111 we lalla Emargency stop input Deceleration
12. Acceleration F1 DMV K 100 DT 6 deceleration time F1 DMV K 10000 DT 8 4 Values command F151 WRT KO DTO K10 H100 Shared memory writing slot No 0 from which R90 Y48 Za ee z _ __ Starting JOG positioning operation for the 1 st DAS MED 9 4 FP2 Positioning Unit JOG Positioning Operation Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions Set the position command value in the Increment method A set value error occurs with the absolute value If the values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot p
13. C Hrarget speed c arget speed 7 __ Accejerationi Acceleration a Becejeration d deceleration d Hdeceleration d fdeceleration atl time N ume time Position Position com Position com e posi val pam mand value e frost value j Data necessary for operation f pps A ci D P point control executed PST CPU Y41 i CPU X0 BUSY CPU X1 EDP CPU XA CEN Can be set again Goes ort at the point when No re setting the setting is entered again Cipro YK a 90000 Pe TVVVVV essreresseszerionenione When Y41 is set to ON in the program the motor of the first axis begins accelerating XO is a Pulse output busy BUSY flag that indicates that operation is in progress while X1 is a Pulse output done EDP flag that indicates that operation has been completed After operation has been completed the EDP flag remains ON until the next operation request is issued FP2 Positioning Unit P Point Control Multi Stage Acceleration Deceleration Data necessary for settings As shown below data items must be written to the specified addresses in the shared memory in the order in which operations are to be executed In the illustration below the operations and processing of the P point control consists of sections to III are explained Section Operation is determined by these five types of data
14. CCWL T Sf disabled anong ine suppl 5 gt o internal circui GND 3 9kQ circuit B20 i B bi Shi 4 7kQ Command pulse INH T NI input disabled DI gt 33 S RDY Inputto PLC 35 4 T Servo ready 1 output gt a I PLC Le nput to TT 37 4 Servo i 24 V DC Power supply i alarm output i 24V if CE COIN GND 9 Input tto PLC 0 39 Sr i Positioning COM T p done signal o 41 When connecting the CW drive disabled and CCW drive disabled input the servo ready output and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis The above wiring is for the line driver output type As of October 2008 this is the end of life EOL product 17 7 Dimensions and Driver Wiring FP2 Positioning Unit 17 2 6 Oriental Motor UPK W Series perc Parsi unit ETA een Motor driver 7 A1 A1 sal pec ATA MW i 2202 CW pulse input cw l Pulse output A B1 B10 T A2 A11 CCW Pulse output B B2 B11 i O HEAT i Input to PLC wi A3 A12 I O HEAT output ne comi Overtheating Home input af Ol o 4 B3 B12 lic al B4 B19
15. If there are any empty slots between the CPU and the positioning unit check to see whether an I O area has been allocated to the empty slot If YO mount allocation and automatic allocation are being carried out 16 points for each type of allocation will automatically be assigned to empty slots If the CPU being used is a 2 module type also check any I O areas occupying the units incorporated in the CPU Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 2 4 Confirming Slot No The slot numbers are always required when creating a program These change depending on the position at which the unit is installed on the backplane and should always be checked to make sure they match the design For information on allocating I O numbers refer to the FP2 Hardware Manual section I O Allocation When mounted on the CPU backplane Slots are numbered in sequential order with the slot to the right of the CPU being No 0 Slot No 0 1 2 3 4 4 axis type positioning unit Note If the CPU being used is a 2 module type the slot number of the unit incorporated in the CPU should be counted as 0 Slot No 2 module type CPU 4 axis type positioning unit If the CPU being used is with S LINK the slot number of the unit incorporated in the CPU should be counted as 0 and 1 CPU unit with S LINK 4 axis type positionin
16. ORGE ft When home return is done count value becomes o 10 5 Home Return FP2 Positioning Unit Shared memory settings Control parameter Set values in sample program setting content example Range of acceptable settings HDO Note The specified values vary depending on the method of acceleration deceleration the home return direction the home input logic and the near home input logic Refer to page 16 7 Acceleration deceleration method Linear acceleration deceleration Control code Direction of home return direction of elapsed value Home input logic Input valid when the power is ON Startup speed pps K500 K1 to K4 000 000 K1 to K4 000 000 Target speed pps K10000 Specify a value larger than the startup speed Acceleration deceleration time ms K100 KO to K32 767 Note Home search function is valid Note If the limit error occurs set H50 as the limit input valid logic can be changed Program X100 R100 rendi __ Condition o IiI DF t J 77 jhome retum RIOD lt il Ae ad ae 8 a A gA a a _ F1 DMV Ho DO DT 0O 4 Control code F1 DMV K 500 DT 2 Startup speed F1 DMV K 10000 DT 4 4 Target speed Acceleration i F1 DMV K 100 DT 6 ene we ee TE a deceleration time SEE ee Shared memory F151 WRT KO DTO K8 H100 ee This specifies the positioning
17. Points to check The direction of rotation is determined by the driver wiring the settings of the positioning unit shared memory control code and the program setting At the back of the unit and the data set in the program 2 Check to see if the specified number of pulses produces the travel distance indicated by the design Points to check The travel distance is determined by the ball screw pitch the reduction gear ratio the electronic multiplication ratio of the driver the number of pulses specified in the program and other factors pulse produces the travel distance and travel Check to see if the specified number of output direction indicated by the design Positioning unit Input unit POO Tx RUUUTUUUN TET Motor KAY ASA CNS DA VITO ESNS N Ht J Ballscrew Li Turning the Power ON and OFF and Booting the System FP2 positioning Unit 5 4 4 Checking the Operation of the Near Home Switch and Home Switch Procedure 1 Using forced operation of the home input and near home input check to make sure the operation display LEDs on the positioning unit light At the same time using programming tools monitor the X_6 and X_7 flag When X_6 is ON the home input is properly done When X_7 is ON the near home input is properly done and check LEDs light 2 Input the home return program and actually carry out a home return to check if near home input produces deceleration Points to check The input val
18. Y37 yY47 Y57 Ye7 Y77 enabled input is enabled valid only while ON ON during the transfer nae from JOG operation to Y_8 positioning JGST JOG itioni Y28 Y38 Y48 Y58 Y68 Y78 operation start posronng operation ON when JOG JOG positioning is started Y_9 SARI TIM can be used to confirm Y29 Y39 Y49 Y59 Y69 Y79 positioning start N sp if JOG positioning operation is ON YA z Y2A Y3A Y4A Y5A Y6A Y7A Y_B n Y2B Y3B Y4B Y5B Y6B Y7B Y_C n Y2C Y3C YAC Y5C Y6C Y7C Y_D z Y2D Y3D Y4D Y5D Y6D Y7D YE E Y2E Y3E Y4E Y5E Y6E Y7E Y_F Error clear EGER ee yor y3F yar ysF Yer Y7F 16 9 Specifications FP2 Positioning Unit 16 10 Chapter 17 Dimensions and Driver Wiring Dimensions and Driver Wiring FP2 Positioning Unit 17 1 Dimensions FP2 PP21 2 axis transistor type FP2 PP22 2 axis line driver type Unit mm 15 3 ss g ce yy ER NEE trai a 28 all FP2 PP41 4 axis transistor type FP2 PP42 4 axis line driver type Unit mm 15 3 93 If 100 ith FP2 Positioning Unit 17 2 Wiring for Motor Driver Dimensions and Driver Wiring When using FP2 Positioning Unit with MINAS Motor an easy connectable Motor driver I F termina
19. i F com 4 I Near hore Sci inpu J w sog A5 A14 Over limit _ input t W mit A6 A15 i aael a a input TL Arta O B6 B15 lower fo A20 driving the sup internal circuit B20 n Fanta 24 V DC Power supply 24V i cno p Vi _ sa Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis 17 8 FP2 Positioning Unit Dimensions and Driver Wiring 17 2 7 Motor Driver I F Terminal I Unit type Product name Product number Motor Driver I F Terminal I 1 axis type AFP8503 2 axis type AFP8504 Positioning unit which can be used Product name Product number FP2 Positioning unit 2 axis type AFP2434 Multhfunction type 4 axis type AFP2435 FPSigma Positionin unit 1 axis type AFPG432 2 axis type AFPG433 Related products Product name Product number Cable for FP2 Positioning unit 0 5m AFP85100 im AFP85101 Cable for MINAS AT series im AFP85131 2m AFP85132 Cable for MINAS S series 1m AFP85141 2m AFP85142 Parts and Dimension Feedback input cam Axi eedback inpu 1 Axis type selection pin Sub I O A diga s terminal Connector for positioning unit Teea 90000000000 Limit input selection pin Power terminal n Feedback input 2 Axis type selection pin Sub I O terminal Connector for position
20. 0 TI 10000 ravels between 2 pci gl Reverse Forward Motor driver El paga SEY side o o Q e Home S Near home o X7 XB Over limit switch Over limit switch An overview of a sample program This sample program uses the absolute method When Over limit switch is ON the status is to be the power being supplied The positioning 1 and 2 operations will be valid after home return 1 When input X80 is ON the table moves to the absolute position 10000 Positioning 1 2 When input X81 is ON the table moves to the absolute position 0 Positioning 2 3 When input X82 is ON a return to the home position begins If the near home input is not in the return direction a Over limit input is detected and the direction is reversed After the near home input ON OFF is detected the return to the home position is begun again 18 2 FP2 Positioning Unit Sample Program I O Allocation YO No Description YO No Description X0 Pulse output busy flag RO during home return operation x1 Positioning done flag R1 Home return command pulse X8 Home return done flag R8 Home return done pulse X80 Positioning 1 operation start R9 suo SA a ane X81 Positioning 2 operation start R10 during positioning 1 operation X82 Home Return start R11 Positioning 1 operation command pulse X83 Forward JOG R12 Po
21. 7 A 7 Z phase output OZ 3 4 x gt J B3 B12 2 A7 A16 COM CT AAT iz i 4 7kQ Deviation Deviation counter clear ki y i K Il B7 B16 cj ji counter clear i 13 B4 B13 a COM cdi Pale St p SRV ON 4 7kQ P E Servo ON Near home w 7 Output from PLC 4i 4 input ee r T 12 M ue DOG AS A14 Asse na 5 A CLR 4 7kQ gt Alarm clear ver limi sia OLA input mn Output from PLC aI VW gt Q 1 Limit AB A15 i amo Go Gusto i TNE isable Over limit m tal HAS J input i T 29 i 4 Limit zav oc a i si 4 x CCW drive Power gt amp f supply for Power A20 CCWL 4 7K9 f disabled driving the supply HAM_ internal circuil GND 30 circuit 7 B20 i i A J I k 7 Command pulse INH 4 7kQ T input disabled 4 5 dp 4 S_RDY Inputto PLC re To Servo ready TE ie output f I PLC Aa tto PL y al MEL 26 20 eat Servo alarm e 24 V DC Power supply A A output J 24V Se i COIN GND 7 Inputto PLC 5591 a x i Eosionng A lone signa com 4 4 28 When connecting the CW drive disabled and CCW drive disabled input the servo ready output and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side i
22. Deceleration stop This is a function that interrupts the operation in progress slows the rotation and brings it to a stop This is used to stop an operation halfway JOG positioning operation This refers to an operation to transfer a JOG operation to a positioning operation by an input from the external switch viii Glossary FP2 Positioning Unit Positioning control start input Timing input This is a JOG positioning operation input to transfer a JOG operation to a positioning operation The pulse count settings can be output after the external switch input Over limit input Over limit input This is an input to set a limit the motor movement Over limit input is the maximum limit and Over limit input is the minimum limit Home return Home search 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 Home search automatically reverses the motor rotation when Over limit input or Over limit input is input and searches the home position or the near home position to return to the home position automatically Forced stop This is a function which interrupts the operation in progress and stops it immediately It is used to initiate an emergency stop using anexternal switch and to initiate a temporary stop through an o
23. Note If the limit error occurs set HO as the limit input valid logic can be changed Program x90 xo RO fe IH F Starting condition ___ x91 XO HH oF x92 R90 plana H F1 DMV K 5000 DT 4 Target speed Low speed X92 R90 F1 DMV K 10000 DT 4 Target speed High speed R90 EESE RE ERE mih F1 DMV H 80 DT 0 4 I Control code F1 DMV K 500 DT 2 4 Startup speed Acceleration deceleration Air n na ni F151 WRT KO DTO K8 H100 Shared memory writing KO DIO K8 H190 f f Shared memory witing _ This specifies the positioning unit l in slot No 0 from witich the 8 word contacts from data registers DTO to DT7 are written to the shared memory addresses H100 to H107 x90 x0 R91 Y43 HH oF yt Forward JOG stat Y43 HP___ x91 XO R91 Y44 HH oF y Reverse JOG stat Yad 1 x90 R91 1H DF x91 AP o ED Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used fo
24. Over limit position side Over limit switch Over limit switch Home switch Near home switch 10 4 FP2 Positioning Unit Home Return 10 2 Sample Program 10 2 1 Search to home in the Minus Direction Search to the home position is carried out in the minus direction The direction in which the elapsed value increases as the motor rotates is set as the plus direction The home input is connected to the Z phase output of the motor driver or to an external switch or a sensor 4 axis type positioning unit 64 point type input unit Home return switch Ball screw side Motor Over limit switch ver limit e Home switch Near home switch switch Pulse output diagram Shared memory setting 1 FD comes ten fe K 500 Startup speed fs pps i Target ses loes Iom F K 100 Accelerationideceleration time Ac ms Direction of increasing elapsed value t ms Home return start CPU Y42 ORGS 7 1 lt This signal logic fi ESR im Tins arin operation Near home input External pe Home input Extemal X6 ZSG ontact done not Deviation counter eternai ourer AE clear output clear the control code Pulse output CPUTX0 VE EEE eee ERA E SIE SES SIE RENE RE SNA SPIA busy flag BUSY H Home return done CPU X8 tr TT E P livio
25. Pulse output done flag X_1 1 When the deceleration stop flag goes ON this flag goes ON when pulse output is completed 2 When the forced stop flag goes ON this flag goes ON after 1 scan from when the flag has gone ON 12 5 Deceleration Stop and Forced Stop FP2 Positioning Unit 12 4 Precautions Concerning Stopping Operations 12 4 1 Pulse Output Done Flag Status After a Stop For either a deceleration stop or a forced stop the pulse output done flag goes ON after operation has stopped If the pulse output done flag is being used as a trigger signal for operation after positioning has been completed the program should be set up so that operation does not proceed to the next step following a deceleration stop or a forced stop 12 4 2 Restarting After a Stop When a deceleration stop or forced stop is triggered the start flags for all operations must be turned OFF before operation can be restarted This operation is common to E point control P point control home return JOG operation JOG positioning operation and pulser input operation 12 4 3 Forced Stop Elapsed Value Data Elapsed value data in the shared memory is saved after a forced stop is applied Under normal conditions it is possible that a mechanical error has occurred so after home return we recommend positioning control start Chapter 13 Feedback Counter Feedback Counter FP2 Positioning Unit 13 1 Sample Program 13 1 1 Detecting Power Swing by Comparing
26. When Home return is Over limit input on Table to move turned ON Over limit input O Table to move Reverse DIREN Table not to move Over limit input O Limit error occurs i Table stops During Home return Forward Over limit input ON Limiterror oscura operation Reverse Over limit input ON Tab 6 stops Limit error occurs Home Return with home search Condition Direction Limit status Operation Over limit input O Table to move Forward When Home return is Over limit input O Table to move turned ON Over limit input oN Table to move Reverse ATOT Over limit input O Table to move IENE Automatic reverse During Home return Forward Over limit input ON operation operation by eii y Automatic reverse Reverse Over limit input ON operation 10 27 Home Return FP2 Positioning Unit 10 8 Cautions on an Over Limit Switch An over limit input valid for a Jog operation Home return including Home search and Pulser input is the one logically found in the direction of the table movement i e if an Over limit switch is input for a movement in direction or an Over limit switch is input for a movement in direction the table will not stop Please observe the followings Before startup Please make sure that an Over limit switch is set in the direction of the elapsed value increment and an Over limit switch in the direction of the elapsed
27. e E 9 Over limit A switch Over limit Home switch Near home switch switch When Near home input is ON during home return 1 Home return operation starts in the opposite direction of the one specified in the program When the near home return input changes from ON to OFF the table reverses its direction Near home position Current position side es side Motor OTTETTTTTTETETT TTT TTT I a eq L C C C3 N Over limit 4 f switch Over limit Home switch Near home switch switch 2 When the near home is detected again the speed slows down from the target speed to the startup speed and the table stops at the home position Home position Near home position side Motor masss i NTS Sy Over limit d j f switch Over limit Home switch Near home switch switch Note The above operation is also applicable when the speed does not reach the target one before the table comes to the Near home position In the home search operation the deceleration stop operation starts when the limit is input Therefore the pulses only for the acceleration deceleration time that was specified in advance in the home return operation are output Not for the instant stop Change the acceleration deceleration time to adjust the time before stopping the pulses and outputting the reverse pulse after the limit signal input 10 3 H
28. lanting o This specifies the positioning unit in slot No 0 from which F1 DMV K 5000 Target speed ___j Shared memory F151 WRT KO DT4 K2 wating This specifies the positioning unit in slot No 0 from which FP2 Positioning Unit Pulser Input Operation Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the target speed is out of the range of possible settings a set value error will occur and pulser input cannot be accepted The number of the startup flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit The target speed should be specified as an appropriately large value to match the multiplication ratio If the multiplication ratio is high and the target speed is low the next pulser input command
29. vs2 vez vr2 return start home return is initiated When turned ON in Forward the user program Y_3 JOG JGF JOG forward Y23 Y33 Y43 Y53 Y63 Y73 rotation is initiated When turned ON in Reverse the user program Y_4 JOG JGR JOG teverse Y24 Y34 Y44 Y54 Y64 Y74 rotation is initiated When turned ON in the user program operations currently running are interrupted and forcibly terminated Y_5 Forced stop EMR Y25 Y35 Y45 Y55 Y65 Y75 When turned ON in the user program Deceleration operations currently Y_6 DCL running are Y26 Y36 Y46 Y56 Y66 Y76 stop interrupted and decelerate to a stop When turned ON in Pulser input the user program RT PEN pulser inputis Y27 Y37 Y47 Y57 Y67 Y77 enabled f enabled valid only while on SE ON during JOG Y_8 p ning JGST positioning Y28 Y38 Y48 Y58 Y68 Y78 operation operation start ON when JOG JOG positioning is Y9 positioning tim Stared can be v29 y39 yao ys9 veo v79 start used to confirm if JOG positioning operation is ON YA Y2A Y3A Y4A Y5A Y6A YTA YB Y2B Y3B Y4B Y5B Y6B Y7B Yai Y2C Y3C Y4C Y5C Y6C Y7C YD Y2D Y3D Y4D Y5D Y6D Y7D YE Y2E Y3E Y4E Y5E Y6E Y7E If a error occurs the error is Y_F Error clear ECLR canceled when this Y2F Y3F Y4F Y5F Y6F Y7F is turned ON in the user program 4 8 FP2 Positioning Unit Confirming the Unit Settings and Design C
30. 2 F1 DMv K 5000 DT 4 Fm DMV K 10 DT 6 F1 DMV K 10000 DT 8 F151 WRT KO DTO K10 H 100 R80 Y40 1 LJ pene Interlock x86 x80 r R86 i oF AH L gt sd R86 Ke FO MV H 1 WRO XA H oF F101 SHL WR O K 1 0 Ho Fi DMV H 80 DT 0 m DMV K 500 DT 2 F1 DMV K 5000 DT 4 m DMV K 100 DT 6 Fi DMV K 15000 DT 8 F151 WRT KO DTO K10 H 100 RI oH f DMV K 20000 DT 4 Fi DMV K 100 DT 6 F1 DMV K 10000 DT 8 F151 WRT KO DT4 K6 H 104 x80 R80 o R80 AH Fi ow H 80 oT Oo Fm DMV K 500 DT 2 Panda F1 DMV K 10000 DT 4 Fi DMV K 100 DT 6 Fi DMV K 10000 DT 8 F151 WRT KO DTO K10 H 100 R80 Yao it x xo R86 Io y R86 HP Fo Mv H 1 MWO XA AH oF gt F101 SHL wR oo K 14 RO HoH F1 DMV H 80 DT 0 mM DMV K 500 DT 2 Jj F1 DMV K 5000 DT 4 mM DMV K 100 DT 6 Jj Fi DMV K 15000 DT 8 F151 WRT KO DTO K10 H 100 Pre Paoro R1 HoF F1 DMV K 20000 DT 4 mM DMV K 100 DT 6 Jj Fi DMV K 10000 DT 8 Jj F151 WRT KO DT4 K6 H104 R2 ior F1 DMV K 500 DT 4 mM omv K 500 DT 6 Fi DMV K 6000 DT 8 F151 WRT KO DT4 K6 H104 R86 YAI H 3 ED JP If the P point control program is booted while the E point control program has been booted and is running the flag XA changes resul
31. 2 07 4 FI DMV near interpolation SP FISO READ K1 H10A K 2 oT 10 Always rent value of X axis FISOREAD K 1 HI0A K 2 oT 12 29010 ment value of Y axis FB D DTS OT 10 DI 4 nt destination S vele ce Drena 1 DT 40 K 10 H 110 J D DT MKO 3 n 19 poeed X axis condition F88 DABS DT 14 J Movement amount F88 DABS DT 16 Mpyemprt amount F323 PWR i F323 PWR DTS ement amourit F310 F D718 F324 FSQP D F313 FX memmemmemmemmmeme F313 FK DT14 DT 24 DT 23 Movement amount Square root Ratio of Y axis Reference The meaning of the symbol in the program The symbol is specified when a real number operation instruction is used to convert integer data to real number data or real number data to integer data When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection 18 7 Sample Program FP2 Positioning Unit 18 8 Record of changes Manual No Date Description of changes ARCT1F355E JUL 2002 First edition ARCT1F355E 1 NOV 2003 Second edition PDF Only Add New chapter Precaution before using 17 2 7 MoterDriver I F Terminal Changes Input terminal specification To correct an e
32. 7 _ Control code D Startup speed Data necessary for operation Target speed d Acceleration deceleration time Forward Reverse f pps 4 Forward JOG start CPU Y43 JGF Revers JOG start CPU Y44 Se Fak Heer JGR Pulse output busy flag CPU X0 el pee El PE ee BUSY Pulse output done flag CPU X1 EDP When Y43 is turned ON in the program above the motor for the first axis begins to turn in the forward direction and accelerates to the target speed When Y43 is turned OFF the motor decelerates and stops Reverse rotation can be carried out in the same way with Y44 being turned ON and OFF XO is the Pulse output busy BUSY flag that indicates that operation is in progress and X1 is the Pulse output done EDP flag that indicates that operation has been completed The EDP flag remains on until the next operation request is issued Data necessary for settings The following data must be written to the specified addresses of the shared memory When the Control code is not changed re setting per startup is not necessary since the settings written once after the power ON are retained Operation is determined by the following four types of data Control code Startup speed Target speed Acceleration deceleration time JOG Operation FP2 Positionig Unit Operation steps Step 1 Preparatory stage The data for operation is transferred to the sha
33. A AT done Signal Ne eee eae st PEEN P ko TA COM 13 J When connecting the CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis The above wiring is for the line driver output type 17 4 FP2 Positioning Unit Dimensions and Driver Wiring 17 2 3 Panasonic MINAS EX Series positioning unit Servo amplifier A1 A10 CW gt PA VA VA x PA 22 E Pecks i s kR CW pulse Pulse output A lear JA AS HF ce Z N cw 2209 YO inpu i L b 74 USO N p N 3 AAA 4 B1 B10 23 Ab A2 A11 gt N Pulse output B A rout pulse 4 Z N B2 B11 A4 A13 0 3 LL dl z phase Home input Ya gr output Lo e o 4 B3 B12 A7 A16 Deviation counter clear _ A SN Deviation Ka B7 816 cL nidi T counter clear 4 3 9k9 B4 B13 e COM Ad A Ft t e SRV ON 4 Servo ON Near home V 5 Output from PLC input ss Tl ge ld m l si 2 3 9kQ Li DOG AS A14 A CLR Alarm clear Over limit ly A_N J input 3 Output from PLC 3 a _ d_ _ ___ o nd Limit A6 A15 i
34. Control code Startup speed Target speed Acceleration deceleration time Position command value Section Il and Ill Operation is determined by these three types of data Target speed Acceleration deceleration time Position command value P Point Control Multi Stage Acceleration Deceleration FP2 Positioning Unit Operation steps Step 1 Preparatory stage The data required for section of the operation is transferred to the shared memory in advance O 2 e e Q Target speed i i Acceleration dece leration time oo value i e os ono Step 2 Executing the operation of Section Operation begins when the flag Y41 for P point control start is turned ON At this point XA goes ON When XA goes ON the data for the operation of section Il is transferred to the shared memory XA goes OFF after the data has been transferred Lit CH 77775 ON Shared memory Target speed_ 7 10 FP2 Positioning Unit P Point Control Multi Stage Acceleration Deceleration Step 3 Executing the operation of Section Il When the operation of section is completed operation shifts to section II At this point XA goes ON When XA goes ON the data for the operation of section Ill is transferred to the shared memory XA goes OFF after the data has been transferred nun TTT TATA Shared memor
35. Count value increment direction Count value decrement direction 2 phase input lt reverse settings gt Control code Higher side H1 Forward AqN__ Reverse Pulse inputA SUI US UL SU UNI LU pursmpate IH LOU LITE NU UU HALL Count value increment direction Count value decrement direction Direction distinction input lt normal settings gt Control code Higher side H4 Forward AaA_ Reverse A Pulse inputA MIMMO LLL SL LIL Lr Pulse input B T Count value increment direction Count value decrement direction Direction distinction input lt reverse settings gt Control code Higher side H5 Forward Reverse Pulse input A FRA gs pkg kg a gh pS pegi gi ges Pulse input B Re Count value increment direction Count value decrement direction FP2 Positioning Unit Feedback Counter Individual input lt normal settings gt Control code Higher side H8 Forward Reverse Pulse inputA UHU U UUU rule heats _ U HU U U U L Count value increment direction Count value decrement direction Individual input lt reverse settings gt Control code Higher side H9 Forward _ Reverse Pulse input A it LT bP er LL et nome H H UUH LL Count value increment direction Count value decrement direction 13 7 Feedback Counter FP2 Positioning Unit 13 4 Feedback Counter Transfer Multiple Function 2 phase input 1 transfer multiple
36. Feedback Count with Elapsed Value For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction 4 axis type positioning unit 64 point input unit X90 WXO WX8 WX1 WX9 WX2 WX10 WX3 WX11 wy4 otor river Encorder Table 10000 pulses Ball screw ISSS SY side side FP2 Positioning Unit Pulse output diagram f pps 10000 i fi i i 7a 500 f 100 y E point control start CPU Y40 flag EST Pulse output busy CPU X0 flag BUSY Pulse output done CPU X1 flag EDP Shared memory setting 10000 pulses 20000 No of counts when booted Operations of the various flags Pulse output busy flag X0 goes ON when E point control is started and goes OFF when the pulse output is completed Pulse output done flag X1 goes ON when the pulse output is completed This remains ON until the next operation of either E point control P point control JOG operation JOG positioning operation home return or pulser input operations is started The elapsed value is stored in the counter inside the positioning unit as absolute value Feedback Counter e eee t ms 30000 No of counts when stopped 13 3 Feedback Counter FP2 Positioning Unit Program The following example pro
37. Forward Me Reverse A Pulse input A SELMI TIC Pulse input B MRI 2 phase input 2 transfer multiple Forward ook Reverse A Pulse input A TETE TATA Pulse input B ALET 2 phase input 4 transfer multiple Forward Reverse A Pulse input A RIE AI Pulse input B CESSO FP2 Positioning Unit Feedback Counter Direction distinction input 1 transfer multiple k Forwars A Reverse Pulse input A Pulse input A A ATL AP Pulse input B _ Wa Direction distinction input 2 transfer multiple e Fonar _ Reverse A Pulse Pulse input A _ Tlit flit Pulse input B e PR Individual input 1 transfer multiple Forward A _ Reverse Pulse input B Pulse input B B PIT Individual input 2 transfer multiple Forward AW Reverse Pulse Pulse input A A II Pulse input B IL 13 9 Feedback Counter FP2 Positioning Unit 13 10 Chapter 14 Precautions Concerning the operation and Programs Precautions Concerning the FP2 Operation and Programs FP2 Positioning Unit 14 1 Precautions Relating to Basic Operations of the Unit 14 1 1 Values of Shared Memory are Cleared When Power is Turned OFF The data in the shared memory of the positioning unit is not backed up if a power failure occurs As a result when the power supply is turned ON again the default operation data should be written to the shared memory before the various start flags are tu
38. H104 to H109 Rial oi i nun H oH F1 DMV K 500 DT 4 lTarget speed f F1 DMV K 50 DT 6 n docs F1 DMV K 6000 DT 8 ipggtioncommand F151 WRT KO DT4 T Epes e positioning unit is slot the 6 word contents from data registers DT4 to DTS are written to the shared memory addresses H104 to H109 R87 vai lia id 1 P point control intiated ED Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection P Point Control Multi Stage Acceleration Deceleration FP2 Positioning Unit 7 1 3 Absolute Absolute Value Control For this control the Absolute method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction 4 axis type positioning unit 64 point type input unit Current position Relative position 5000 31000 Table 10000 25000 side Ball screw Pulse output diagram Shared memory setting 10m Cenintesdo Sonn 192 _K__S500 Jatep wows o 102 roan E K 5000 rape spesa pps Ios 108m x K Startup speed fs
39. K6_ H104 This specifi ent the positioning unit is slot No 2 from whi he 6 werd contents from data registers brat are written to the shared memory addresses H104 to H109 Re rt ete anna mko Fi DMV K 500 DT 4 Target speed A h Fi DMV K 500 DT 6 fraton tne cere j F1 DMV K 6000 DT 8 Position command F151 WRT KO DT4_ K6 H104 Shared memory gt This Specifies ine positioning unit is slot No rom whic he 6 word contents from data registers Dido DTI are written to the shared memory addresses H104 to H109 R86 a O fiera 1k P point conta init ED Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection 7 3 P Point Control Multi Stage Acceleration Deceleration FP2 Positioning Unit 7 1 2 Increment Relative Value Control Minus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction 4 axis type positioning unit 64 point type input unit
40. Order number FP2 PP21 FP2 PP41 FP2 PP22 FP2 PP42 Output type Transistor Line driver Input 32 Input 64 points Input 32 points Input 64 points i oints Output Output 64 Output 32 Output 64 Occupied I O points 32 points i Soe paints Splits 32SX 32SY 64SX 64SY 32SX 32SY 64SX 64SY Number of axes controlled 2 SaS 4 RE rosie Taxes independent independent independent independent Pulse unit The program specifies whether Increment or Absolute is Position Command units d command used Max pulse count Signed 32 bits 2 147 483 648 to 2 147 483 647 pulses Speed Command 1pps to 500kpps 1pps to 4Mpps command range can set in 1pps can set in 1pps Acceleration decelerat ion Linear acceleration deceleration S acceleration deceleration this takes the form of an S Acceleration deceleration command ug Acceleration decelerat ion Acceleration decelerat ion time Third curve can select from Sin curve Secondary curve Cycloid curve and 0 to 32 767 ms can set in 1ms Home Return speed Speed setting possible changes return speed and search speed Home return Input terminals Home input Near home input Over limit input Over limit input Output terminals Deviation counter clear output signal Operation mode E point control Linear and S accelerations decelerations selecting possible P point control Linear and S acceler
41. PULSE OUTPUT MOD Bist Liar Rai et 4 2 4 1 1 Selection of Rotation Direction iiiiiiiciirereciviiie iii 42 4 1 2 Selection of Pulse Output Mode ou cccccccesescsccccceceseessssccecececsenscsccceceseessnsntsssssseeess 4 2 4 1 8 Setting the Shared Memory Control Code Relationship with Rotation Direction EEA ARAI RESET AGIO CELIO WACRONDE SOUR EEEE T RICO E ORI LUPERI 4 8 4 2 CONFIRMING THE SLOT NUMBER AND I O NUMBER ALLOCATIONS 4 5 42 LOccupied V O Area lin ll oi eil 4 5 4 2 2 Contents of Input and Output Allocations ccccceessesscecececesnessscccesececeensnsssssscesecs 4 6 4 2 8 Confirming I O Number Allocations iiiiicciiiiiiiereiiie 4 9 4 2 4 Confirming Slot No ean aaea eee a eiaa ea eaat aaa eaa e aea 4 10 4 3 INCREMENT AND ABSOLUTE iii 4 12 4 8 1 Increment relative value CONtrol ire 4 12 4 3 2 Absolute absolute value CONtLOD veeceecceccsccseccessssssessssssesseessessesseestessssssessesssessesses 4 18 4 4 SELECTION OF ACCELERATION DECELERATION METHOD 4 14 4 4 1 Linear and S Acceleration DecCelerationns cccccccccsecsccceceseseessscstececesssnessssssesseeees 4 14 4 4 2 S Acceleration Deceleration Pattern veci 4 14 4 4 3 Indicating the Method of Acceleration Deceleration 4 15 4 5 INTERNAL ABSOLUTE COUNTER i 4 16 4 5 1 How the Internal Absolute Counter WorksS
42. Pa nn Le w ane a n isable i Over limit DI CWL id input 0 E 7 3 9kQ 4 e e Limit B6 B15 ie Power 24V DCI ieee X GW CCW drive Supply for Power A20 CCWL an disable driving the supply NWA internal circui GND 8 3 9kQ circuit f o k i J B20 ALM Inputto PLC S a _ Servo alarm T p output 24 V DC Power supply gt oo ss COIN Inputto PLC oF 9 10 LL Positioning GND 4 A done signal fa si s z gt no V COM 13 When connecting the CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis The above wiring is for the line driver output type As of October 2008 this is the end of life EOL product 17 5 Dimensions and Driver Wiring FP2 Positioning Unit 17 2 4 Panasonic MINAS X XX Series Positioning unit Servo amplifier A1 A10 PUSE na Q VW as f 5 gt CW pulse input Pulse output A T PULS 2209 Y p PULS p i di EP A B1 B10 6 A2 A11 SIGN Mie ai Too Pulse output B Y gt 209 sa CCW pulse input i rE SIGN f IGN a S B2 B11 8 A4 A13 OZ VV 0 7 Home input D amp
43. Unit 10 2 2 Search to the home in the Plus Direction Search to the home position is carried out in the plus direction The direction in which the elapsed value increases as the motor rotates is set as the plus direction The home input is connected to the Z phase output of the motor driver or to an external switch or sensor 4 axis type positioning unit 64 point type input unit C Home return switch Return direction Ball screw C ske SSSI Near home switch Over limit Over limit switch Home switch switch Pulse output diagram Shared memory setting 100h 101h 102h 103h t ms fa h i i i i i i i p i i i i H Home retum start CPUs Near home input Extemal To Exe t lt 4 The signal logic following detection RESA ST ofthe Rear hame contac done not affect operation Pulse width of about Deviation counter etema sean dims Gan pe chan piearosipui slo clear the control code output CPU H i pe UE iB Elapsed value Pe _ XXXXXXXX When home retum is ae count value becomes 10 8 FP2 Positioning Unit Home Return Shared memory settings Control parameter setting content Set values in sample program example Range of acceptable settings Control code HD4 Note Acceleration deceleration method Linear acceleratio
44. absolute value based on the pulse output value The value stored in the shared memory can be read using the F150 P150 instruction in the user program The counter value can be overwritten using the F151 P151 instruction in the user program Overwriting should be done while the operation is stopped 4 16 FP2 Positioning Unit Confirming the Unit Settings and Design Contents Countable range of the counter Max value Min value y 2 147 483 647 2 147 483 646 2 147 483 645 2 147 483 646 2 147 483 647 2 147 483 648 If the elapsed value exceeds the maximum or minimum value it returns to the minimum maximum value Pulse output does not stop if this occurs and no error occurs Shared memory address in which the counter value is stored Address of shared memory hexadecimal Description 1st axis 2nd axis 3rd axis 4th axis 10Ah 11Ah 12Ah 13Ah Elapsed value di x Di 10Bh 11Bh 12Bh 13Bh count absolute value to 2 147 483 647 4 17 Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 5 2 Reading Elapsed Value The F150 P150 instructions are used to read the elapsed value from the shared memory of the positioning unit F150 READ and P150 PREAD instructions These are the instructions used to read data from the memory of the positioning unit RO i S21 a Di AF__ F150 READ K
45. addresses from H10E to 10 To the data register DT20 Output pulses and feedback pulses are F23 DT DT10 K100 DT12 setting allowance Elapsed value Allowance en F23 DT DT10 K100 DT14 Elapsed value Allowance D lt DT12 DT20 R100 0 Lt Allowance Count When out of allowable i range detection of D gt DT14 DT20 Power oing g stepout n 4 LL Allowance Po Count R100 Y46 Start deceleration stop f _ _ _ 4 when is stepout i Deceleration stop detection nt nt R90 Y40 Her Internal relay E point control a Ed For the pulse count of the feedback counter read the values in H10F H10E for the 1st axis in H11F H11E for the 2nd axis in H12F H12E for the 3rd axis in H13F H13E for the 4th axis stored in the shared memory The feedback counter is available for every axis When counting the 2 phase input such as the input from the encoder set the pulse input transfer multiple to 4 multiple setting x 4 or 2 multiple setting x 2 using the control code to prevent counting error Please note that the counter value will be cleared when the home return is completed or when the Error clear flag Y_F is ON 13 4 FP2 Positioning Unit Feedback Counter 13 2 Feedback Counter Functions The feedback counter can be used as a general purpose counter as 2 phase input Direction distinction input or Individual input The feedback counte
46. and reverse rotation using the external switch The direction in which the elapsed value increases as the motor rotates is set as the plus direction Pulses are output as long as the startup flag is ON in the manual mode There are two flags for startup one for forward rotation and another for reverse rotation 4 axis type positioning unit 64 point type input unit Reverse JOG switch Forward JOG swit wxo WX8 WX1 wx9 WX2 WX10 WX3 WX11 wy4 Reverse Table Forward Cado side Ball screw F Pulse output diagram Shared memory setting 100h 101h H 80 Control code 102h _ Di 403h K 500 Startup speed fs pps 104h K 1 Te 105h 0000 arget speed ft pps 106h K 100 Acceleration deceleration time Ac ms 107h ne fipps A 10000 aS Reverse 100 x t ms lt lt Deceleration begings at the point when the flag goes OFF x Forward JOG start CPU Y43 gr ren PN JGF Reverse JOG stat CPU Y44 Reverse i JGR Pulse cuiputbuey fagli CPU xO A i BUSY fi y eeux i TM Pulse output done flag EDP Elapsed value Pe XXX INIINNANA NN Count ond 8 2 FP2 Positinoning Unit JOG Operation Shared memory settings Control parameter Set values in sample program 3 setting content example Range of acceptable settings H80 Note Control code Linear Refer
47. are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the target speed is out of the range of possible settings a set value error will occur and pulser input cannot be accepted The number of the startup flag varies depending on the number of axes the pulser input unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit The target speed should be specified as an appropriately large value to match the multiplication ratio If the multiplication ratio is high and the target speed is low the next pulser input command may be received before the specified pulse output has been completed making it impossible to obtain output of the input number of pulses Do not turn ON Y_7 when using the feedback counter FP2 Positioning Unit Pulser Input Operation 11 1 2 Pulser input operation Transfer multiple 5 multiple setting The rotation direction of the motor in which the elapsed value increases is
48. bit Gi ia 2 147 483 648 10Fh 11Fh 12Fh 13Fh PUSR o 2 147 483 647 Pulse Note 1 The shared memory is shared between E point control P point control JOG operation JOG positioning operation home return and pulser input operations Be careful that the shared memory is not overwritten at the same timing 2 For the first speed of E point control and P point control and for JOG operation JOG positioning operation and home return the value set for the target speed should be larger than that set for the startup speed 3 is read and written as needed 4 Up to 4Mpps can be set for the Line driver and transistor driver types but set 500kpps max for the transistor type 5 Please note that the count of the feedback counter will be cleared when the home return is completed or when the Error clear flag Y_F is ON 16 5 Specifications FP2 Positioning Unit 16 3 Control Code Details The higher 16 bit Addresses 101h 111h 121h 131h 15 14 1312 11 109 8 7 6 5 4 3 210 Show the invaild bit Pulse A IIC N fof eta AT Pulse input transfer multiple 15 4 Tranter multiple __ olosi lojajx2 1fo x4 our Pulse output When counting the 2 phase input such as the input from the encoder set the pulse input transfer multiple to 4 multiple setting x 4 or 2 multiple setting x 2 using the cont
49. control start y2 M Home return start ORGS 7 Pulser input enabled YT a E a Ce et PEN cis T N l Forward JOG start J GF r Y_4 l Reverse JOG start JGR Start flags for various operations JOG positioning start set EE a Reference If the flag for a deceleration stop or forced stop goes ON the six basic operations noted above E point control P point control Home return Pulser operation JOG operation JOG positioning operation stop immediately 14 5 Precautions Concerning the FP2 Operation and Programs FP2 Positioning Unit 14 2 Precautions Concerning Practical Usage Methods 14 2 1 Setting the Acceleration Deceleration to Zero To initiate the target speed immediately without accelerating or decelerating acceleration deceleration Zero operation automatic startup operation the startup speed and acceleration deceleration time should both be set to 0 zero This produces pulse output at the target speed with an acceleration deceleration time of 0 zero Setting the startup speed equal to the target speed results in a set value error and the positioning unit will not start Sing conten 100h 101h 102h 103h 104h Output frequency pus Control code Startup speed fs pps Set the startup Target speed ft pps piel hg Acceleration deceleration Peet on time Ac ms Position command value Pt pulse f pps 5000 Time
50. control startup OFF when any data is written to the shared memory of the positioning unit by the instruction F151 or P151 in the user program 5 Flag number is the one when the slot No is 0 The No actually used varies depending on where the unit is installed 16 8 FP2 Positioning Unit Specifications VO flag number 5 ET 2 axis type 4 axis type Flag Name Description ist 2nd ist 2nd 3rd 4th axis axis axis axis axis axis E point control When turned ON in the Y_0 start EST user program E point Y20 Y30 Y40 Y50 Y60 Y70 control is initiated P point control When turned ON in the Y_1 start PST user program P point Y21 Y31 Y41 Y51 Y61 Y71 control is initiated Home Return When turned ON in the Y_2 start ORGS user program Home Y22 Y32 Y42 Y52 Y62 Y72 return is initiated When turned ON in the Y_3 Forward JOG JGF user program Forward Y23 Y33 Y43 Y53 Y63 Y73 JOG is initiated When turned ON in the Y_4 Reverse JOG JGR user program Reverse Y24 Y34 Y44 Y54 Y64 Y74 JOG is initiated When turned ON in the user program Y_5 Forced stop EMR operations currently Y25 Y35 Y45 Y55 Y65 Y75 running are interrupted and forcibly terminated When turned ON in the user program Y 6 Deceleration DCL operations currently Y26 Y36 Y46 Y56 Y66 Y76 stop running are interrupted and decelerate to a stop When turned ON in the y_7 Pulser input pen ue program pulser y27
51. input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are writ ten are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated Set the startup speed to 1pps or more The number of the startup flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit The control code settings vary depending on the logic of the home input and the near home input which have been connected 10 10 FP2 Positioning Unit Home Return 10 2 3 Home Return in the Minus Direction Compatible mode with the current models Returns to the home position are carried out in the minus direction The direction in which the elapsed value increases as the motor rotates is set as the plus direction The home input is connected to the Z phase output of the motor driver or to an external switch or sensor 4 axis 64 point type Soc ING unit input
52. is not changed re setting every startup is not necessary since the values written once after Power ON are retained Operation is determined by these five types of data Control code Startup speed Target speed Acceleration deceleration time Position command value 9 10 FP2 Positioning Unit JOG Positioning Operation Operation steps Step 1 Preparatory stage The data required for operation is transferred to the shared memory in advance Data for JOG positioning operation 4 Control code 6 Startup speed Target speed Acceleration deceleration time Position command value Step 2 Executing the operations Operation begins when the flag Y48 for JOG positioning operation is turned ON The control code determines whether S acceleration deceleration or linear acceleration deceleration is used Acceleration is carried out from the startup speed to the target speed and then the speed slows to the startup speed and the table stops This amount of travel is determined by the pulse count for the position command value which are output after the positioning control start input JOG Positioning Operation FP2 Positioning Unit 9 3 Operation of the Input and Output Flag at JOG Positioning Operation Output frequency f pps 1 _ C t2 T t ook acca gt
53. occurs with the absolute value If the values for the startup speed the target speed position command value or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit JOG positioning operation start input timing When the positioning control start input Timing input has been already ON when turned ON the JOG positioning operation start flag Y_8 the positioning control is immediately started When the positioning control start input Timing input is turned ON during acceleration also the positioning control is immediately started When the positioning control start input Timing input does not go ON after the JOG positioning operation started up the pulses keep going out FP2 Positioning Unit JOG Positioning Operation 9 2 Flow of JOG Positioning JOG positioning operation When the flag for JOG positioning operation start flag JGST Y_8 is turned ON a speed control automatic acceleration deceleration in accordance with the specified data table and the table travels for the value set by the positioning control start input S Acceleration Deceleration can be selected Sin curve Secondar
54. operation the operation is interrupted and the speed slows When the startup speed is reached pulse output stops This operation is common to E point control P point control home return JOG operation and JOG positioning operation For pulser input operation pulse output stops During acceleration deceleration is caried out at the acceleration percentage t ms CPU Y40 time EST q Deceleration CPU Y46 DCL Important When a deceleration stop has been executed deceleration is carried out based on the acceleration rate determined by the data specified in the shared memory area at that point and continues until the startup speed is reached Following that operation stops If the deceleration stop flag goes ON during deceleration or acceleration deceleration is carried out at the rate of acceleration in effect at that time and operation stops 12 2 2 Forced Stop If the forced stop flag goes ON during operation pulse output stops immediately This operation is common to E point control P point control home return JOG operation JOG positioning operation and pulser input operation f pps pps 10000 time ms CPU Y40 EST CPU X0 BUSY CPU XI EDP CPU Y45 EMR 12 4 FP2 Positioning Unit Deceleration Stop and Forced Stop 12 3 I O Flag Operation Before and After a Stop Output frequency f pps In progress stop Forced s
55. output forward or reverse in the program JOG Operation FP2 Positionig Unit 8 16 Chapter 9 JOG Positioning Operation JOG Positioning Operation FP2 Positioning Unit 9 1 Sample Program 9 1 1 Increment Relative Value Control Plus Direction This is a program to start the JOG positioning operation speed control gt position control from JOG operation by the external switch input The Increment method is used for the travel amount setting and the direction in which the elapsed value increases as the motor rotates is set as the plus direction 4 axis type 64 point type X90 positioning unit input unit JOG positioning operation start switch Positioning control start input switch WxXO Wx8 WX1 WX9 WX2 WX10 WX3 WX11 wy4 wys wy6 WY7 Ball screw side side FP2 Positioning Unit Pulse output diagram JOG positionin operation start 9 a RS flag Positioning control start input Pulse output busy CPU X0 flag BUSY Pulse output done CPU XI1 flag EDP Elapsed value Pe XXX Operations of the various flag I Shared memory setting K 10000 8 Ce Oe ER E n 4 TETT ee TELLITE LCLI JOG Positioning Operation Startup speed fs pps Target speed ft pps t ms Positioning control starts when the input in ON 40000 g control i Counts at stop X
56. point control and P point control and when carrying out JOG operation JOG positioning operation and home return a value should be set which is larger than the startup speed 2 Has the target speed been set to 0 3 Has a data register been set to a negative value 4 If parameters have been set from an external source and if operation is being carried out internally in the PLC check to make sure the values match those specified by the design Procedure 4 Modify the value out of the range in the program Procedure 5 Reset an error by either of the followings 1 Specify in the program so that the error clear flag ECLR goes OFF ON and then OFF 2 By the forced output using FPWIN GR or FPWIN Pro make the error clear flag ECLR goes OFF ON and then OFF 3 Turn OFF once the driver and then PLC and turn ON again PLC and then the driver 15 8 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs Clearing an error by Error clear signal 1 specify in the program This is to clear an error in the program using the switch connected in advance Make the optional input to turn ON the error clear signal applicable for each axis Example X100 Y4F Input X100 TS used t clear a ae x positioning unit set value error Note The number of relay to be used varies depending on the allocations Clearing an error by Error clear signal 1 forced output Procedure 1 Select Forced I O from the menu of the
57. positioni CPU Y48 operation start Hag JGST i i H H i i H i i i Positioning control start when the input is ON i 7 i i Positioning control t Bout Terminal NS B 2 B14 Pulse output busy flag CPUTXO i A Pulse output done flag CPU X1 i SSS Pe errr ere enone el ee cossccsioezeczzona lecosssnadasessensansi Count Positioning control Counts at stop Start input Operations of the various flag X0 the Pulse output busy BUSY flag is turned ON during the JOG positioning operation and is turned OFF when the pulse output is completed X1 the Pulse output done EDP flag is turned ON when the pulse output is completed and remains until any of E point control P point control JOG operation JOG positioning operation home return or pulser input enabled operations is started up The elapsed value is stored in the counter inside the positioning unit as an absolute value 6 FP2 Positioning Unit JOG Positioning Operation Shared memory settings Control parameter Set values in sample program setting content example Range of acceptable settings H80 Note 7 Control code Increment method Linear Refer to page 16 7 acceleration deceleration Startup speed pps K500 KO to K4 000 000 K1 to K4 000 000 Target speed pps K10000 Set a value larger than the startup speed Acceleration deceleration time ms K100 KO to K32 767 Positi
58. specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit 6 7 E Point Control Single Speed Acceleration Deceleration FP2 Positioning Unit 6 2 Flow of E Point Control Operation E point control Single speed acceleration deceleration When the E point control startup relay EST is turned ON acceleration deceleration control is carried out automatically at a single speed in accordance with the specified data table When the 4 axis type positioning unit is mounted in slot 0 Operation example When the flag for E point control Y40 is turned ON acceleration deceleration is carried out in accordance with the settings and the table travels and stops Control code 6 Startup speed Data necessar for operation X i Target speed H Acceleration decelaration time e Position command value f pps E point control executed CPU Y40 l EST CPU X0 BUSY CPU X1 EDP Elapsed value NNN RR F N A ETA t Pe NONN NN oo aoinne inana ennaa When Y40 is set to ON in the program the motor of the first axis begins accelerating X0 is a Pulse output busy flag BUSY that indicates that the operation is in progress and X1 is a Pulse output done flag EDP that indicates that the operation is done The EDP flag remains ON until a request for another operation is received Data necessary for settings The foll
59. stop flag L _ ED Precautions concerning the program The number of the stop input flag varies depending on the number of axes that the unit has and the position in which it is mounted If a deceleration stop or forced stop is triggered the start flag for the various operations must be turned OFF before operation can be restarted This content is common to E point control P point control home return JOG operation JOG positioning operation and pulser input operation 12 2 FP2 Positioning Unit Deceleration Stop and Forced Stop Pulse output diagram Deceleration stop operation In progress stop f pps 10000 300 gt Time t ms E noi CPU Y40 E point control start flag EST frei ani GRUAVA Deceleration stop flag DL ea oea a CPU X0 Pulse output busy flag BUSY f CPU XI Pulse output done flag EDP Forced stop operation Emergency stop f pps A 10000 300 gt H t Time t ms E point control start flag CPU Y40 E 1 v_______a _a 00 EST Forced stop flag CPU Y45 J When an emargen ly i lll ania EMR 3 3 BUSY Pulse output busy flag CPU XO ____ CPU X1 p i Pulse output done flag EDP 12 3 Deceleration Stop and Forced Stop FP2 Positioning Unit 12 2 Operations for a Deceleration Stop and Forced Stop 12 2 1 Deceleration Stop If the deceleration stop flag is turned ON during
60. the procedure outlined in section 5 3 1 Procedure for Turning ON the Power Checking the CPU mode selection switch Set the CPU in the PROG mode Setting it in the RUN mode can cause inadvertent operation Note When the power to the PLC is turned ON internal data in the shared memory will be cleared set to zero Check to see whether the start flag for the various operations of the positioning unit are OFF If they are ON a set value error will occur for the positioning unit unless the data settings for the shared memory have been entered Turning the Power ON and OFF and Booting the System FP2 positioning Unit 5 3 Procedure for Turning ON the Power When turning ON the power to the system incorporating the positioning unit the nature and statuses of any external devices connected to the system should be taken into consideration and sufficient care should be taken that turning ON the power does not initiate unexpected movements or operations 5 3 1 Procedure for Turning ON the Power Procedure 1 Turn ON the power supplies for input and output devices connected to the PLC including the power supply for the line driver output or open collector output 2 Turn ON the power supply for the PLC 3 Turn ON the power supply for the motor driver Positioning unit 1 Power supplies for input and output devices Power supply for PLC Power supply for motor driver FP2 positioning U
61. the over limit error the moving unit executes JOG reverse and JOG forward operation respectively XIF ___ MB Y54 HDF Limit error Over limit input 2 axis JOG revers Y54 43 2 axis JOG reverse 11 12 FP2 Positioning Unit Pulser Input Operation 11 5 Cautions on an Over Limit Switch A over limit input valid for a Jog operation Home return including Home search and Pulser input is the one logically found in the direction of the table movement i e if an Over limit switch is input for a movement in direction or an Over limit switch is input for a movement in direction the table will not stop Please observe the followings Before startup Please make sure that an Over limit switch is set in the direction of the elapsed value increment and an Over limit switch in the direction of the elapsed value decrement When a switch is not set in the correct direction The followings might be a cause Check your settings and correct them 1 An Over limit switch or is not set in a correct direction 2 CW CCW output method is set reverse for the connection of the Positioning unit and the motor driver 3 A Sign input logic is set reverse for the connection of the Positioning unit and the motor driver 4 The control codes are to specify the reverse direction of the rotation for the pulse output forward or reverse in the program 11 13 Pulser Input Operation FP2 Positioning Unit
62. the terminal while turning on electricity It could lead to an electric shock Use the external devices to function the emergency stop and interlock circuit Connect the wires or connectors securely The loose connection could cause excessive exothermic heat or smoke generation Do not allow foreign matters such as liquid flammable materials metals to go into the inside of the product It could cause excessive exothermic heat or smoke generation Do not undertake construction such as connection and disconnection while the power supply is on It could lead to an electric shock Copyright Trademarks This manual and its contents are copyrighted You may not copy this manual in whole or part without written consent of Panasonic Industrial Devices SUNX Co Ltd Windows is a registered trademark of Microsoft Corporation in the United States and other countries All other company names and product names are trademarks or registered trademarks of their respective owners PLC_ORG Table of Contents Precaution before using FP2 Positioning unit Multifunction type Glossary 1 FUNCTIONS OF UNIT AND RESTRICTIONS ON COMBINATION 1 1 1 1 FUNCTIONS OF FP2 POSITIONING UNIT ccccccsssecccccccceeeeseseeccceceuueeeeceeeseuuensseseeseeea 1 3 1 1 1 Funetons ofUDif viniii inviano iii E E a 1 8 LI 2Unit Types dica 1 4 1 1 8 Combination with MINAS Motor iissccccccccecceseessescecececcensnsescesessesens
63. 0 H10A i K2 DT100 La This is the positioning unit in slot No 0 from which elapsed value data H10A to H10B for the first axis are read into DT100 to DT101 Explanation n words of the data stored in the shared memory of the unit mounted in the slot specified by S1 are read from the address specified by S2 and are stored in the area of the CPU specified by D Specified addresses Data elapsed values are stored as 32 bit data Address of shared memory hexadecimal dui ist axis 2nd axis 3rd axis 4th axis Description 10Ah 11Ah 12Ah 13Ah Elapsed value SDa oe Due 10Bh 11Bh 12Bh 13Bh count absolute value i i 2 147 483 647 Program example Reads the elapsed value into the optional data register F150 READ KO H10A K2 DT100 4 18 FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 5 3 Writing Elapsed Value The F151 P151 instructions are used to write data to the shared memory of the positioning unit F151 WRT and P151 PWRT instructions These are the instructions that write data to the shared memory of the positioning unit S1 S2 n D RO ra HP F151 WRT KO DT100 K2 H10A Shared memory writing j a Specifies the positioning unit of slot No 0 Write the two word contents of data registers DT100 to DT101 to the shared memory addresses H10A to H10B Explanation This sto
64. 0 the Pulse output busy BUSY flag is turned ON during the JOG positioning operation and is turned OFF when the pulse output is completed X1 the Pulse output done EDP flag is turned ON when the pulse output is completed and remains until any of E point control P point control JOG operation JOG positioning operation home return or pulser input enabled operations is started up The elapsed value is stored in the counter inside the positioning unit as an absolute value JOG Positioning Operation FP2 Positioning Unit Shared memory settings Control parameter Set values in sample 3 setting content program Ea Range of acceptable settings H80 Note T Control code lt Increment method Linear Refer to page 16 7 acceleration deceleration gt Startup speed pps K500 KO to K4 000 000 K1 to K4 000 000 Target speed pps K10000 Specify a value larger than the startup speed Acceleration deceleration time ms K100 KO to K32 767 Position command value K10000 N K 2 147 483 648 to pulse K2 147 483 647 Note 1 If the limit error occurs set HO as the limit input valid logic can be changed Note 2 A set value error occurs in Absolute method Program x90 R J me BF Starting condition _ a Pe Oe ee F1 DMV H 80 DT 0 4 Control code F1 DMV K 500 DT 2 4 Startup speed F1 DMV K 10000 DT 4 4 Target speed droide
65. 17 2 5 Panasonic MINAS X V Series iciiveiveiveiev iveco 17 11 17 2 6 Oriental Motor UPK W Series rire 17 11 17 2 7 Motor Driver IF Terminal I iii 17 11 18 SAMPLE PROGRAM siiin ea e a e aa aae e aa aeaaeai bak 18 11 1871 SAMPLE PROGRAM psi e a a a A Nee ee MOL 18 11 18 1 1 Positioning Program for 1 AxiS ieri 18 11 18 1 2 Positioning for 2 Axes Linear Interpolation Program u 18 11 Record of Changes vi FP2 Positioning Unit Glossary Precaution before using FP2 Positioning unit Multifunction type There are two types of FP2 Positioning Units Conventional type and Multifunction type Their manuals look very similar Be sure to use the Unit according to the appropriate manual This manual FP2 Positioning unit Multifunction type Object product number AFP2432 AFP2434 AFP2433 AFP2435 PROGRAMMABLE CONTROLLER FP2 Positioning Unit Multifunction type Technical Manual AA Similarity manual FP2 Positioning unit Object product number AFP2430 AFF2431 PROGRAMMABLE CONTROLLER FP2 Positioning Unit Manual eco _ 4u Glossary FP2 Positioning Unit Glossary E point control This is a method of control which is initiated up to an end point and in this manual is referred to as E point control This method is used for a single speed acceleration deceleration P point control This refers to control which passes throu
66. 4 TEACHING FOLLOWING JOG OPERATION L 8 11 8 4 1 Example of Teaching Settings and Sample Program wisceccccccccsecessesssessceceseeeenes 8 11 8 5 ACTION OF THE I O FLAG BEFORE AND AFTER JOG OPERATION 8 13 8 6 OPERATION AT OVER LIMIT INPUT 8 14 8 7 CAUTIONS ON AN OVER LIMIT SWITCH 8 15 9 JOG POSITIONING OPERATION 9 1 9 1 SAMPLE PROGRAM irn a LUNA toda EEL hod 9 2 9 1 1 Increment Relative Value Control Plus Direction wiccceccccccccecssecsecsssssessesses 92 9 1 2 Increment Relative Value Control Minus Direction 9 6 9 2 FLOW OF JOG POSITIONING 9 9 9 3 OPERATION OF THE INPUT AND OUTPUT FLAG AT JOG POSITIONING OPERATION 9 12 9 4 OPERATION AT OVER LIMIT INPUT 9 13 9 5 SPECIAL MENTION eis ui loi nali aaa 9 14 10 HOME RETURN lui 10 1 10 1 HOW TO USE HOME RETURN ie 10 2 10 1 1 Return to Home Position by a Home Search ieri 10 2 10 1 2 Home Return Compatible with AFP2430 AFP24831 ii 10 4 10 2 SAMPLE PROGRAM ili A ana culo aiol ideas lounlo 10 5 10 2 1 Search to home in the Minus Direction 0 0000 10 5 10 2 2 Search to the home in the Plus Direction vererece ice 10 8 10 2 8 Home Return in the Minus Direction Compatible mode with the current Model ilaele nie
67. ARCT1F355E 5 Panasonic PROGRAMMABLE CONTROLLER FP2 Positioning Unit Multifuncion type Technical Manual 2013 7 panasonic net id pidsx global Safety Precautions Observe the following notices to ensure personal safety or to prevent accidents To ensure that you use this product correctly read this User s Manual thoroughly before use Make sure that you fully understand the product and information on safety This manual uses two safety flags to indicate different levels of danger WARNING If critical situations that could lead to user s death or serious injury is assumed by mishandling of the product Always take precautions to ensure the overall safety of your system so that the whole system remains safe in the event of failure of this product or other external factor Do not use this product in areas with inflammable gas It could lead to an explosion Exposing this product to excessive heat or open flames could cause damage to the lithium battery or other electronic parts CAUTION If critical situations that could lead to user s injury or only property damage is assumed by mishandling of the product To prevent excessive exothermic heat or smoke generation use this product at the values less than the maximum of the characteristics and performance that are assured in these specifications Do not dismantle or remodel the product It could cause excessive exothermic heat or smoke generation Do not touch
68. Check to make sure the pulse output busy flag is OFF Program x88 xO H oF 1 4 R88 4 FO MV H 81 XA DF _ F101 SHL R20 oF Fi DMV H F1 DMV K F1 DMV K F1 DMV K F1 DMV K F151 WRT Ko DTO Anis spe species the positioning unit in slot No 0 rom whi R88 81 DT 500 DT 100 DT 10000 DT the 10 word contents from data registers DTO to DT9 37 oF F1 DMV F1 DMV K F1 DMV F151 WRT KO DT4 This spe specifies the positioning unit in slot No 0 1 Tom whi K 25000 are written to the shared memory address H100 to H109 K 20000 100 DT 6 DT 4 DT 8 _K6 H104 the 6 word contents from data registers DT4 to DT9 are written to the shared memory address H104 to H109 R22 Hio Fi DMV K F1 DMV K F1 DMV K his specifies the positioning unit in slot No 0 fis iaelic Fe posfioning uni F151 WRT KO DT4_ 500 OT 31000 OT 4 500 DT 6 8 the 6 word contents from data registers DT4 to DT9 are written to the shared memory address H104 to H109 Y41 pran Starting condition 0 2 5000 DT 4 6 8 J Precautions concerning the program ED 1 sce i Startup speed facosieralionidece leraton i Foaiion comand Target speed Shared
69. Connection Only the home input switch is installed and connected No near home input switch is connected Positioning Unit Home switch 9 CI Input logic settings The control code in the shared memory should be set as indicated below Home input logic Input exists when power is supplied Near home input logic Input exists when power is not supplied Operation When Home return is started the motor rotates in the direction of home return The motor rotates at the startup speed At this time the near home input is already ON due to the Input logic setting The motor stops when the home input is made Example Shared memory setting Home O a Control code Startup speed fs pps 1904h E K 5000 Target speed ft pps Acceleration deceleration time Ac ms fs 100 t ms CPU Y42 ORGS fi i Nearhome ______ louise litica External fiag 4 External Home input H Output for Deviation H approx 1 ms External Spuntor ee oe clear output i CPU X0 BUSY H CPUr X8 ORGE Count I When home return is done count value becomes 0 Note Home return is executed at the startup speed When the home input is connected to the Z phase output of the motor driver one switch can not be used as the home input The above example is only applicable when the home return in a compatible mode with the current models is executed Reference Key Points Practica
70. DE FS Ee ee Aphase Bphase S LI L_ Direction of increasing elapsed value Pulser input enabled flag Y_7 1 This is in pulser input operation status based on the parameters written to the positioning unit 2 This does not shift to enabled status while the pulse output busy flag X_0 is ON 3 This flag is reset when the power supply is turned OFF Pulse output busy flag X_0 The ON OFF status of the pulse output busy flag does not change even if the pulser input enabled flag Y_7 goes ON Pulse output done flag X_1 1 This goes from ON to OFF if E point control P point control JOG operation JOG positioning operation or pulser input operation is completed before pulser input operation 2 This goes from OFF to ON when the pulser input enabled flag Y_7 goes OFF 3 This flag is reset when the power supply is turned OFF This flag is common to E point control P point control JOG operation JOG positioning operation and pulser input operation ARRARRARAARZARARBARZA Direction of decreasing elapsed value 11 11 Pulser Input Operation FP2 Positioning Unit 11 4 Operation at Over limit Input Pulser input operation is as follows when Over limit inout or Over limit input is ON The operation is possible for the direction in opposite of the input limit Condition Direction Limit status Operation PaA 2 Table not to move Forward Over
71. DT 2 F1 DMV K 10000 DT 4 m DMV K 100 DT 6 Fi DMV K O DT 8 F151 WRT KO DTO K10 H100 x1 R20 R9 R22 1 DoF I Soames tal R22 done memorized R22 R23 1 DF Posi L done pulse 18 4 X83 R30 k DF o ating L R30 F1 DMV H DI DT 0 F1 DMV K 50 DT 2 F1 DMV K 1000 DT 4 F1 DMV K 10 DT 6 F151 WRT KO DTO K8 H100 X84 R31 DF ilia 306 seting L R31 F1 DMV H DI DT 0 F1 DMV K 500 OT 2 F1 DMV K 1000 DT 4 F1 DMV K 10 DT 6 F151 WRT KO DTO K8 H100 R11 Y40 Ss a 21 R1 Y42 o ari X83 Y43 Forward JOG start X84 Y44 TTA x85 Y45 neee FP2 Positioning Unit Sample Program 18 1 2 Positioning for 2 Axes Linear Interpolation Program Unit configuration 4 axis type positioning unit 64 point type input unit li i li H i i Motor driver r RUMENA VIN tini i i k ei si An overview of a sample program This sample program uses the absolute method 1 The current absolute position is read into the data table reads 2 The distance from the current position to the target position 4000 3000 is calculated 3 The proportions of the X component and Y component included in the distance are calculated individually 4 E point control is initiated simultaneously for the X and Y axes the start up speed and target speed are output as the respective proportions and linear interpolation is ca
72. F terminal is recommended Reference lt Motor driver I F terminal catalog gt Available MINAS Motor Motor driver Connection cable MINAS MINAS MINAS MINAS IF terminal used witha ATI series S series A series EX series positioning unit E series FP2 positioning unit Motor driver Dedicated Dedicated Dedicated Multifunction type I F terminal I cable for A cable for S cable for AI AFP2434 2435 1 axis type T series ra series FP positioning unit AFP8503 FP2 positioning aul ace y Tm N A Mutifunction type 2 axis type connection cable ARPSS131 85 AFF89131 2 f AFPG432 433 AFP8504 2m ie 2m 0 5mm AFP85132 AFP85142 AFP85132 FP2 positioning unit Motor driver AFP85100 BRK OFF Dedicated Dedicated AFP2430 2431 I F terminal signal cannot cable for A cable for EX 1 axis type 1mm be used series series AFP8501 AFP85101 N A 1m 1m 2 axis type AFP85111 AFP85121 AFP8502 2m 2m AFP85112 AFP85122 1 4 FP2 Positioning Unit Functions of Unit and Restrictions on Combination 1 2 Unit Functioning and Operation Overview 1 2 1 Unit Combinations for Positioning Control Control signals such as alarms and end of positioning Pulse command output Control output signals such as sefvo on and alarm reset signals Power supply CPU Input unit Output unit x inhibit Home input and near home input Over limit input Interfaces provided with the positioni
73. IXITTTTTTIAA NI KMI Yy gt side side Pulse output diagram Shared memory setting E point corro cPU Y40 EST pulse output usi oe a BUSY Pulse output usa eer uu done flag EDP Elapsed value Pe lidi _20000 _30000 No of counts No of counts when booted when stopped Operations of the various flag The pulse output busy flag X0 goes ON when E point control is initiated and goes OFF when pulse output is completed The pulse output done flag X1 goes ON when pulse output is completed and is maintained until the next E point control P point control JOG operation JOG positioning operation home return or pulser input enabled status is initiated The elapsed value is stored as the absolute value in the counter in the positioning unit 6 2 FP2 Positioning Unit E Point Control Single Speed Acceleration Deceleration Shared memory settings Control parameter setting content pra Air i Range of acceptable settings H80 Note Control code lt Increment method Linear Refert to page 16 7 acceleration deceleration gt Startup speed pps K500 KO to K4 000 000 K1 to K4 000 000 Target speed pps K10000 Set a value larger than the startup speed Acceleration deceleration time ms K100 KO to K32 767 Position command value pulse K10000 ieee iS Note If the limit error occurs set HO as the limit input valid logic can be changed Program X80 R80 a 1
74. N when deceleration stop have been completed and when a forced stop has been completed It goes OFF when the next operation such as E point control P point control JOG operation JOG positioning operation a home return or pulser input operation is initiated 3 This goes ON when Home return is completed It goes OFF when the next operation such as E point control P point control JOG operation JOG positioning operation a home return or pulser input operation is initiated 4 This goes ON when P point control or E point control is initiated and goes OFF when the shared memory write instruction F151 is executed and data of any kind is written to the shared memory of the positioning unit 5 The input and output flag numbers indicate the number when the slot number is 0 The numbers actually used change depending on the position in which the unit is installed Confirming the Unit Settings and Design Contents FP2 Positioning Unit VO flag number 5 gui 2 axis type 4 axis type Flag Name Description ist 2nd ist 2nd 3rd 4th axis axis axis axis axis axis When turned ON in E point the user program La control start EST E point control is X20 Y30 vag Y50 NGO ro initiated When turned ON in y_14 P point psr theuserprogram vo y31 vs y51 yea vri control start P point control is initiated When turned ON in y_2 Home ores the user program a yoo y32 v42
75. OL OPERATION iii 6 8 6 3 OPERATION OF THE INPUT AND OUTPUT BEFORE AND AFTER E POINT CONTROL 6 10 6 4 OPERATION AT OVER LIMIT INPUT iii 6 11 7 P POINT CONTROL MULTI STAGE ACCELERATION DECELERATION 7 1 Tes SAMPLE PROGRAM vos s23c o cceceageced i ii ita 7 2 7 1 1 Increment Relative Value Control Plus Direction ii 7 2 7 1 2 Increment Relative Value Control Minus Direction 7 4 7 1 8 Absolute Absolute Value Control ecccccecceccccccsssesssesssescessssssessessssssesseeseesssescesseass 7 6 7 2 FLOW OF P POINT CONTROL OPERATION ieri rire rire eee eee 7 8 7 3 OPERATION OF THE INPUT AND OUTPUT FLAG BEFORE AND AFTER P POINT CONTROL 7 12 7 4 PRECAUTIONS WHEN CREATING P POINT CONTROL PROGRAMS 7 13 7 4 1 Precautions Concerning the Set Value Change Confirmation Flag X_A 7 13 7 5 OPERATION AT OVER LIMIT INPUT 7 15 8 JOG OPERA T ON secccces ico ies ices oe oc cs eileen i Sees aes aes Se ree tvs i eae ck 8 1 8 1 SAMPLE PROGRAM viti EI iero 8 2 8 1 1 JOG Operation Forward and Reverse eccccccccccccsscsccsessessessssssessesssssseeseesssssseseeses 8 2 8 1 2 JOG Operation Forward Reverse and Speed Changes ii 8 5 8 2 SEQUENCE FLOW FOR JOG OPERATION ieri 8 7 8 3 CHANGING THE SPEED DURING JOG OPERATION 8 9 8
76. Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection 8 10 FP2 Positinoning Unit JOG Operation 8 4 Teaching Following JOG Operation 8 4 1 Example of Teaching Settings and Sample Program Example of teaching operation following JOG operation The current position can be determined by reading the counter value stored in the shared memory of the unit after JOG operation has taken place The value read at this time is the data for the absolute value x90 x91 x92 X93 we X94 4 axis type positioning unit 64 point type input unit tas Forward JOG switch Setting RT Positioning Reverse JOG switch Sefector switch For teaching Reverse Table Forward Ball screw ui e Pulse output diagram Shared memory setting 100h J 101h H 80 Control code 102h n 103h E K 500 Startup speed fs pps 104h K 10000 Target speed ft pps 106h K 100 Acceleration deceleration time Ac ms t ms Forward JOG start CPU Y43 GR ee Reverse JOG start CPU Y44 JGR Pulse output busy flag CPU XO 3 5 BUSY Pulse output done flag CPU X1 f EDP Elapsed value Pe __ XXXXXX 8 11 JOG Opera
77. Positioning unit Power supply f FE 24V DC GND 1 Switch com CONI Input specifications Input voltage range 21 6 to 26 4V DC Min ON voltage current 19 2V DC 5 0mA Max OFF voltage current 2V DC 1 5mA Input impedance Approx 3 6kQ Min input pulse width Note No B4 and B13 are common for the Near home input Over limit input Over limit input and Positioning control start input Timing input 3 6 4 Connection of Over limit Input Signal Positioning unit Power supply Switch aca BA BIS 24V DC GND CEE ver 3 e AG A15 input Positioning unit Power supply 24V DC GND 1 Switch com e HS O HH o O input o B6 B15 Input specifications Input voltage range 21 6 26 4V DC Min ON voltage current 19 2V DC 2 6mA Max OFF voltage current 2V DC 1 5mA Input impedance Min input pulse width Note No B4 and B13 are common for the Near home input Over limit input Over limit input and Positioning control start input Timing input 3 6 5 Connection of Positioning control start input Timing Input Signal Positioning unit Power supply 24V DC GND _ Switch 1 Timing input Input specifications Note No B4 and B13 are common for the Near home input Over limit input Over limit input and Positioning control start input Timing input 3 13 Wiring FP2 Positioning UNit 3 7 Connection of Pulse Input The signal output style may differ depending on P
78. R82 1 oF a pesa R82 i F1 DMV H 81 DT 0 4 Fi DMV K 500 DT 2 4 F1 DMV K 10000 DT 4 4 F1 DMV K 100 DT 6 4 F1 DMV K 25000 DT 8 4 F151 WRT KO DTO K10 H100 RA are written to the shared memory addresses H100 to H109 R82 Y40 I esses T Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection Acceleration deceleration time Position command AL i Target speed iE point control initiated for istaxis 4 The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home returns and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed the acceleration deceleration time or the position command value exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The
79. Return does not operate Home Search starts home search operation 10 19 Home Return FP2 Positioning Unit 10 3 2 Operation If the Home Input is Through an External Switch When near home input is input the speed slows When the startup speed has been reached the home input signal is input and stops When a 4 axis type positioning unit is mounted in slot 0 Example of specified data Shared memory setting Control code Startup speed fs pps Target speed ft pps Acceleration deceleration time Ac ms fs 100 ref Ac 200 tinsi The signal logic following detection of the near home flag does not affect operation Edges of signal detected CPU Y42 ORGS i I A External ed home _______ tt 4 External Home input one tine Can be changed to 10 ms using e the control co Deviation External counter clear output CPU XO BUSY tttl 20 22220 0 222000 A a CPU X8 ORGE nanan nanan nnn nnn nnn ignals input during deceleration are not view as home input signals i Cout Li When home return is done When the home return has been complated the X8 ORGE goes ON count value becomes 0 Note Home input signals input during deceleration are not viewed as home input signals Deceleration continues without stop ping until the startup speed is reached and then the motor continues to rotate at the startup speed until a home input sign
80. X6 X Home input on Conditions When a home return is carried out there is a possibility that the speed cannot be slowed sufficiently If deceleration cannot be continued down to the startup speed the unit will not stop even if there is home input Solution 1 Try shifting the position of the near home input switch in the direction of the home return and in the opposite direction ____ LA Deceleration completed dr Normal stopping position x DI Startup speed MEF _ t ms X7 wee tee ee eee eee Near home input switch on g U i Home input on Point to check If the home input is connected to the Z phase of the servo motor driver there may be cases in which the near home input position is close to the home input Stopping position is exceeded Startup speed ia t ms mee d ewe new ew eee N Near home input switch on m t __ l____ Home input Z phase on Solution 2 Correct the program and set the home return speed to a slower speed X7 15 12 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs 15 3 6 Speed Does not Slow for a Home Return x Movement does not R decelerate and stop Startup speed 3 a X7 o r Near home input switch on Home input switch on Conditions There is a possibility that the near home input has not been read correctly Solution 1 Forcibly turn th
81. al is input Note When Home return is completed the elapsed value stored in the shared memory is cleared and the deviation counter clear output signal is output for about 1ms at the same time This output time can be changed to about 10ms using the control code Note When the home return is started at where the both of the near home and home inputs are valid the operation will be as follows Home Return does not operate Home Search starts home search operation 10 20 FP2 Positioning Unit Home Return 10 4 Action of the I O Flag Before and After a Home Return Operation Output frequency f pps melone fs Li x Pulse output begins width i Time t ms i 0 02 ms after the starup proe flag goes ON s T Vi i Home return start A ores 7 s H Deceleration begins at the leading edge of the H near home input X7 Near home input DOG Be i Pulse output stops at H the leading edge of the home input Home input X_6 2 ZSG 5 This is output for approximately 1 ms after R I the home return has been re s completed Deviation counter H wee clear Outpu p This goes ON following J This goes OFF when 4 1 scan after the startup the pulse output is t flag goes ON A completed ir x_0 meo 1 scan the Pulse output Te E A A E cere Cree eee Pee busy flag BUSY 7 i This goes ON when the s pu
82. ample shown below the selector switch is used to switch between high speed and low speed operation 4 axis type positioning unit 64 point type input unit Forward JOG switch Reverse JOG switch WXO WX8 High low speed selector switch Reverse Table Forward side side ASIS Pulse output diagram Shared memory setting 100h 101h H 80 Control code 102h 103h K 500 Startup speed fs pps 104h 1 4 105h K 10000 Target speed ft pps ion H K 100 Acceleration deceleration time Ac ms f fps 10000 lt _7 Forward 5000 Ley 4 N 500 re i Forward JOG start CPU Y43 Forward JGF i Reverse JOG start 7 CPU Y44 JGR Putse output busy flag CPU XO BUSY Pulse output done flag CPU 7 Oo Ee Elapsed value Pe INOX nan NVOC a 8 5 JOG Operation FP2 Positionig Unit Shared memory settings Set values in sample program Control parameter example 2 setting content Low speed High speed Range of acceptable settings settings settings Hao Ref 16 7 Control code Linear acceleration deceleration SIR pagekios Startup speed pps K500 KO to K4 000 000 K1 to K4 000 000 Target speed pps K5000 K10000 Specify a value larger than the startup speed hcceleration K100 KO to K32 767 deceleration time ms
83. at Y43 x91 xO R91 Y44 ai oF Vt pi p Reverse JOG stat 4 x90 R91 JA oF x91 DF ED Acceleration deceleration time when the speed is changed If the JOG speed is changed during JOG operation it is not possible to specify the acceleration deceleration time when the speed changes The acceleration deceleration time is determined by the Rate of acceleration which is the speed change from the startup speed to the point where the first target speed is reached and the acceleration deceleration time continues to change until this Rate of acceleration becomes constant Example Acceleration deceleration time for a sample program 1 Time until the low speed specification for JOG operation The acceleration deceleration time specified by the program serves as the acceleration deceleration time just as it is Acceleration deceleration time 50ms 5000 pps 500 pps 50 ms Acceleration rate 90 pps ms 2 Time from the JOG speed of the low speed specification to the JOG speed of the high speed specification 10000 pps 5000 pps 90 pps ms Acceleration deceleration time Approx 55 6 ms 3 Time from the JOG speed of the high speed specification to when pulse output stops 10000 pps 500 pps 90 pps ms For the sake of expedience pps ms is used as the unit for the acceleration rate Acceleration deceleration time Approx 105 6 ms When Over limit switch and
84. ations decelerations selecting possible Home return function Home search JOG operation function Note 1 JOG positioning function Pulser input function Note 3 Transfer multiplication ratio x1 2 x5 10 x50 x100 x500 x1000 selecting possible Real time frequency change function Infinity output function Startup time 0 02ms or 0 005ms possible Note 2 Output interface Output mode 1Pulse output Pulse Sign 2Pulse output CW CCW Countable range Signed 32 bit 2 147 483 648 to 2 147 483 647 pulse Feedback a na 2 phase input Direction distinction input Individual input transfer counter Input mode Note 3 multiple available for each Max counting speed 1 MHz Other functions The flag to compare the elapsed value is built in The timing signal outputs at the optional position during an operation Che VEE RIT 200 mA max 350mAmax 200mAmax 350 mA max sui Voltage 21 6 V DC to 26 4 V DC supply Note 5 Current _ 50mA 90mA 50mA 90mA consumption Mass about 105g about 120g about 105g about 120g max max max max 16 3 Specifications FP2 Positioning Unit 1 When selected Linear acceleration deceleration operation the target speed can be changed during an operation 2 The startup time can be changed by the control code setting in the shared memory The factory setting default setting is 0 02ms About the startup ti
85. axis current position of X axis DT16 Movement amount of Y axis absolute ABS DT8 DT 12 value of target position of Y axis current position of Y axis DT18 Movement amount of square of X axis Square of DT14 DT20 Movement amount of square of Y axis Square of DT16 Movement amount of square of X axis DT18 DT20 DT22 movement amount of square of Y axis Data DT24 Linear movement amount Jv DT22 register the T26 Movement amount of X axis Linear DT14 DT24 program is using movement amount Ea DT28 Movement amount of Y axis Linear DT16 DT24 movement amount DT30 Control code of X axis H1 lt Absolute gt DT32 Startup speed of X axis component DTO DT26 DT34 Target speed of X axis component DT2 DT26 DT36 Acceleration deceleration time DT4 DT38 Target position of X axis DT6 DT40 Control code of Y axis H1 lt Absolute gt DT42 Startup speed of Y axis component DTO DT28 DT44 Target speed of Y axis component DT2 DT28 DT46 Acceleration deceleration time DT4 DT48 Target position of Y axis DT8 18 6 FP2 Positioning Unit Sample Program Program Fl DMV K 500 roast FI DMV K 10000 Fl DMV Kk 100 Fi DMV K 400 FI DMV K 300 9010 FI DMV H 81 DIM J F312 Fx DT26 DT 0 D7 32 Rati fX partue sosed of X axis speed F312 Fx DT26 OT 2 DT 34 i LT aa Cri omv Fi DMV F312 Fx DT28 DT 0 DT a 1 Ratio of Y avie Sarto vpe F312 F DT28 DT
86. ber of comparison pulse With P point control this Set value is used to confirm XA change CEN rewriting of set values XA X1A XA X1A X2A X3A confirmation 4 xp Overtlimit itp Monitors the flag of xB xB xB xB x28 x3B input Over limit input signal xc Overtlimit mrm Monitors the flag of xc xc xc xc x2c x30 input Over limit input signal x_p Timing input timm Monitors the flag of xo xD xD xD x2D x3D monitor JOG positioning timing XE Set value SERR ON when a set value error XE MIE XE XE XE X3E Error occurs ON when Over limit input X_F Limit Error LERR is made during operation XF X1F XF X1F X2F X3F or startup 1 ON during the pulse output of E point control P point control home return JOG operation JOG positioning operation and maintained ON until each operation is completed 2 ON when E point control P point control JOG operation JOG positioning or pulser input operation ends also ON at deceleration stop or forced stop And if either of E point control P point control home return JOG operation JOG positioning operation or pulser input operation is started up this goes OFF 3 ON when the home return is completed This goes OFF when the next operation of E point control P point control JOG operation JOG positioning operaion Home return or Pulser input operation is started 4 ON at P point control or E point
87. bled operation Pulse output done flag X_0 1 This goes ON when the pulse output is completed and is maintained until the next E point control P point control JOG operation JOG positioning operation home return or pulser input enabled status is initiated 2 This flag is reset when the power supply is turned OFF This flag is shared among E point control P point control JOG operation JOG positioning operation and pulser input enabled operation 9 12 FP2 Positioning Unit JOG Positioning Operation 9 4 Operation at Over limit Input JOG positioning operation is as follows when Over limit input or Over limit input is ON The operation is possible for the direction in opposite of the input limit Condition Direction Limit status Operation eee Table not to move Over limit input ON Limit error occurs Forward Over limit input ON Table otto move When JOG positioning Limit error occurs operation is turned ON Pee x Table not to move Over limit input ON Limit error occurs Reverse E Table not to move Over limit input ON Limit error occurs PEAT Table stops During JOG positioning Forward Over limit input ON Limit error occurs operation FERIE 7 Table stops Reverse Over limit input ON Limiteir rocaits 9 13 JOG Positioning Operation FP2 Positioning Unit 9 5 Special Mention Positioning control start input Timing input and where to
88. bsolute counter during pulser input operation The internal absolute counter counts the number of pulses output Consequently in the instant that pulses are being input the number of pulses input from the pulser does not equal to the value counted by the counter Note When the input signal from the pulser is ignored If the specified multiplication is high and the target speed is low the next pulser input command may be received before the specified pulse output has been completed making it impossible to obtain output of the input number of pulses If this happens the target speed should be changed to an appropriate value Note The pulser input operation and the feedback counter use the same pulse input terminal Select either Do not turn ON Y47 when using the feedback counter Feedback counter and pulser input operation are available for each axis so either can be selected respectively per each axis 11 10 FP2 Positioning Unit Pulser Input Operation 11 3 Action of the I O Flag During Pulser Input Operation a f pps Y7 PEN Pulser input enabled flag External gt inoue A phase External Pulser input B phase Input from pulser Pulser output A phase External Pulser output B phase External Output to driver X_0 Pulse output busy flag BUSY Pulse output done flag XA EDP Pulser forward A phase l L_ _ _1_ B phase SLI Pulser reverse
89. cept pulser input operation an error will occur if the startup speed setting is greater than or equal to the target speed setting 4 A setting change can only be made during JOG operation if linear acceleration deceleration is selected 15 5 Positioning Unit Operation if an Error Occurs Cases in which limit errors occur and their contents FP2 Positioning Unit occurs At startup During operation Over limit Over limit Over limit Over limit input input input input r Forward Error Error Error Error E polnt contro Reverse Error Error Error Error P point control Forward Error Error Error Error P Reverse Error Error Error Error Home return Forward Error Error Reverse Error Error Home return Forward When the home position cannot be searched a limit error Home search occurs Refer to the notes below Reverse z Forward Error Error JOG operation Reverse Error Error JOG positioning Forward Error Error Error Error operation Reverse Error Error Error Error Forward Error Pulser input operation Reverse Error Operation when above error Operation does not begin Stop 1 Data of this area is not subject to errors 2 When the near home input will not go ON but the Over limit input in the opposite goes ON after the table reversed the direction by the Over limit switch during the home search a limit error occurs REST Note Pulse Sign o
90. connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit If forward and reverse rotations are started at the same timing forward rotation takes precedence Also if one or the other is started first rotation in that direction takes precedence When re started during deceleration the rotation will again accelerate if in the same direction FP2 Positinoning Unit JOG Operation 8 1 2 JOG Operation Forward Reverse and Speed Changes This is the basic program for forward and reverse rotation using the external switch The direction in which the elapsed value increases as the motor rotates is set as the plus direction Pulses are output as long as the startup flag is ON in the manual mode There are two flags for start one for forward rotation and one for reverse rotation In the ex
91. cur and operation cannot be initiated Set the startup speed to 1pps or more The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit The control code settings vary depending on the logic of the home return input and the near home input which have been connected 10 13 Home Return FP2 Positioning Unit 10 2 4 Home Return in the Plus Direction Compatible Mode with the Current Models Returns to the home position are carried out in the plus direction The diretion in which the elapsed value increases as the motor rotates is set as the plus direction The home input is connected to the Z phase output of the motor driver or to an external switch or sensor 4 axist oint type postoning unit pet une Home return switch Motor driver ere anve Return direction side Ball screw Near home switch Home Pulse output diagram Shared memory setting oon H 944 Control code toanf_K_ 500 Startup speed fs pps tosh Target speed ft pps Some KK 100 4 Acceleration deceleration time Ac ms tips NIN t ms PUB Ertemel id EST Ph ITER Near home input 006 r n1 __ _ _ gpihe i a affect operation External XS pusa of about Can de changed Deviatio
92. d counter clockwise count decrement Forward Reverse Direction distinction input method This is a method to count using ON OFF signal specifying the pulse signal and count direction JU LL B Forward Reverse Individual input method This is a method to count using the count increment pulse signal and the count decrement pulse signal Forward Reverse Chapter 1 Functions of Unit and Restrictions on Combination Functions of Unit and Restrictions on Combination FP2 Positioning Unit FP2 Positioning Unit Functions of Unit and Restrictions on Combination 1 1 Functions of FP2 Positioning Unit 1 1 1 Functions of Unit Positioning can be controlled through the combination of a servo motor and a stepping motor with a driver using the pulse train input method Positioning control using a stepping motor n Si Pulse train oo Lc Gr a E Pulse train Encoder 2 axis and 4 axis types are available Multiple axes up to 4 axes can be controlled with a single unit 2 axis type C 2 axis type JP FP2 PP21 FP2 PP22 4 axis type FP2 PP41 FP2 PP42 Driver Transistor output type Open collector and Line driver output type are available The unit has 2 types one is the Line driver output type can handle the high speed control and another is the Transistor output type can handle the driver can be connected with only the open collector such as a stepping moto
93. d to the shared memory ahead of time Data for home return OS cc _ Control code Startup speed Target speed A Acceleration deceleration time 10 17 Home Return FP2 Positioning Unit Step 2 Executing the operations The startup flag Y42 is turned ON The control code determines whether S acceleration deceleration or linear acceleration deceleration is used When the startup flag is turned ON acceleration takes places for the acceleration deceleration time it takes to reach the target speed and the table moves Home switch X6 Near home switch X7 Step 3 Near home input If there is near home input the speed slows to the startup speed i ON Near home switch X7 Step 4 Home input After decelerating to the startup speed value the movement unit stops if there is home input ON Home switch X6 10 18 FP2 Positioning Unit Home Return 10 3 1 Operation If the Home Input is the Z Phase of the Servo Driver When near home input is input the speed slows and when the startup speed has been reached the positioning unit recognizes the first input Z phase signal as the home input signal and stops When a 4 axis type positioning unit is mounted in slot 0 Shared memory setting Control code Startup speed fs pps Target speed ft pps Acceleration deceleration time Ac ms f pps f
94. ded not needed Hexadecimal Y needed N not needed JOG 1 2 3 4 Name Descriptions E point Ppoint OS posi Home Pulser x x ope tioning ope axis axis axis axis control control x return i ration ope ration ration Acceleration deceleration 100h 110h 120h 130h Linear S Control code Control method Increment y y y y y y Absolute Direction of home 101h 111h 121h 131h return and logic Pulser transfer multiple 102h 112h 122h 132h ee Startup speed Startup speed setting range y ist y y y N fs pps 0 to 4 000 000 pps 103h 113h 123h 133h speed only Target speed setting 104h 114h 124h 134h e speed Setting range y y y y y y 105h 1145h 125h 135h 1 to 4 000 000 pps 106h 116h 126h 136h Preci cali Acceleration deceleration time in orason Setting range Y Y Y Y N N 107h 117h 127h 137h Acme 0 to 32 767 ms si Position command value Yy 108h 1148h 128h 138h SI f setting Only valie Signed 32 bit Y Y N for N N 2 147 483 648 Incre 109h 119h 129h 139h Pt Pulse 0 2 147 483 647 Pulse ment Elapsed Count of elapsed value 10Ah 11Ah 12Ah 13Ah ing Absolute Signed 32 bit Pe Pulse 2 147 483 648 i ui os 10Bh_ 11Bh 12Bh 13Bh 0 2 147 483 647 Pulse Compare Comparison pulse setting 10Ch 11Ch 12Ch 13Ch SLA Signed 32 bit PePulse 2 147 483 648 10Dh 11Dh 12Dh 13Dh 0 2 147 483 647 Pulse Feedback Feedback pulse count 10Eh 11Eh 12Eh 13Eh i DE Signed 32
95. e the motor rotates also The pulse output busy flag XO remains OFF and its status does not change The pulse output done flag X1 goes OFF when Y47 goes ON Data necessary for settings The following data must be written to the specified addresses of the shared memory Operation is determined by the following two types of data Control code Target speed 11 8 FP2 Positioning Unit Pulser Input Operation Operation steps Step 1 Preparatory stage The data required for operation is transferred to the shared memory in advance Data for pulser input operation r H Control code HrTarget speed Step 2 Executing the operations The input enabled flag Y47 is turned ON This sets the system in standby mode for input from the pulser f pps Pulser input standby mode Pulser Forward rotation The pulser rotates in the forward direction Reverse rotation The pulser rotates in the reverse direction Forward rotation is the direction in which the elapsed value increases and reverse rotation is the direction in which the elapsed value decreases The direction in which the pulser rotates and that in which the motor rotates vary depending on how they are connected Pulser Input Operation FP2 Positioning Unit Forward rotation Pulser forward rotation Reverse rotation Pulser reverse rotation Reference Value of the internal a
96. e home return program gt Control code Refer to page 16 7 gt Input valid logic Refer to page 10 24 Point to check If no home input has been connected the home input will be recognized as being ON 15 14 Chapter 16 Specifications Specifications FP2 Positioning Unit 16 1 Table of Performance Specification General specifications Item Description Ambient operating 0 degree to 55 degrees 32F to 131F temperature Ambient storage 20 degrees to 70 degrees 4F to 158F temperature Ambient operating humidity 30 to 85 RH at 25 C non condensing Ambient storage humidity 30 to 85 RH at 25 C non condensing Breakdown voltage 500 V AC 1 minute Between the various pins of the external connector and the ground Insulation resistance 100MQ or more measured with 500 V DC testing Between the various pins of the external connector and the ground Vibration resistance 10 to 55 Hz 1 cycle min double amplitude of 0 75 mm 0 030 in 10 min each in the X Y Z directions Shock resistance Shock of 98 m s 7 4 times in the X Y Z directions Noise immunity 1 000 V P P with pulse widths 50ns and 1us based on in house measurements Operating environment Free of corrosive gases and excessive dust 16 2 FP2 Positioning Unit Specifications Performance specifications Item AFP2432 AFP2433 AFP2434 AFP2435
97. e near home input switch ON and OFF from an external source and check to see if the near home input display LED D on the positioning unit lights Solution 2 Check to make sure the input valid logic for the near home input switch is normally either ON or OFF Solution 3 Check the specifications of the control codes in the home return program gt Control code Refer to page 16 7 gt Input valid logic Refer to page 10 24 Point to check If no near home input has been connected the near home input will be recognized as being OFF 15 13 Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 15 3 7 Movement Doesn t Stop at Home Position after decelerating for home return Startup speed is maintained with on stopping Startup speed nane a Near home input switch on lina input switch on Conditions There is a possibility that the home input has not been read correctly Point to check The home return makes home input subsequent to deceleration valid so if the home signal is input during deceleration that input will end up being ignored Solution 1 Forcibly turn the home input sensor ON and OFF from an external source and check to see if the home input display LED Z on the positioning unit lights Solution 2 Check to make sure the input logic for the home input is normally either ON or OFF Solution 3 Check the specifications of the control codes in th
98. eadily at high speed output 2 The near home D and home input Z LEDs light when the respective input becomes valid The input valid logic is specified using the control codes in the program In the manual Z is described as ZSG and D is described as DOG 3 Pulse input signal PA and PB display the pulse signal input status 24 Chapter 3 Wiring Wiring FP2 Positioning UNit FP2 Positioning Unit 3 1 Connecting using Connector for a Discrete Wire 3 1 1 Specifications of Connector for Discrete wire This is a connector that allows loose wires to be connected without removing the wire s insulation The pressure connection tool AXY52000FP is required to connect the loose wires Discrete wire connector 40P Suitable wire twisted wire Size Official cross section area Insulation thickness Rated current AWG22 0 3 mm 1 5to 1 1 dia 3A AWG24 0 2 mm Discrete wire connector attached with a unit Manufacturer Component parts Unit type and required quantity 2 axis type 4 axis type F Housing 40P 1pc x1 pc x2 Miane d Semi cover 40P 2 pcs x 1 2 pcs x2 Contact for AWG22 and AWG24 5pin 8 pcs x 1 8 pcs x 2 1 connector set and 2 connector sets are supplied with the 2 axis type unit and 4 axis type unit respectively Dedicated tool Manufacturer Product number Panasonic Electric Work
99. ection of rotation With the FP2 positioning unit this is specified using the control codes of the shared memory according to the driver specifications Motor driver Positioning Unit Motor driver Pulse Pulse CW pulse Forward o O o O fe CCW pulse p Forward Reverse Or s n j o semen xn j o Reverse C Rotation direction Sign Ei CW CCW output method Pulse Sign output method Absolute method absolute value control method This is a control method in which the target position is specified as an absolute position from the home position With the FP2 positioning unit this is specified in the user program using the control codes and the position command values See chapter6 1 3 shared memory setttings vii FP2 Positioning Unit Glossary Increment method relative value control method This is a control method in which the distance from the current position to the target position is specified as a relative position With the FP2 positioning unit this is specified in the user program using the control codes and the position command values See chapter6 1 1 6 1 2 shared memory setttings a Position command value setting 5000 o gt O 2 3000 setti ng O_O Absolute method
100. ed whether Home input is received from the servo amplifier OZ signal direct connection or from the terminal input Home using Home input selection pin See the figure above a and b below can be switched using the limit input selection pin See the figure above a LMTP and LMTM signals of the I O terminal are sent to the positioning unit and servo amplifier simultaneously b LMTP and LMTM signals are sent to the positioning unit and CWL and CCWL signals of the I O terminal are sent to the servo amplifier It can be switched whether the pulse input of the positioning unit is sent to the PA PB of the I O terminal or to the encoder signal output using the feedback input selection pin See the figure above Please connect the shielded cable terminal cable type AFP85100 AFP85101 to the FE terminal at I F terminal When FP2 and the MINAS AIII S servo amplifier does not function properly due to reasons of noise influence then connect the shielded cable terminal cable type AFP85100 AFP85101 to the SD terminal at I F terminal FE terminal of the I F terminal this is either connected to the F E pin of the FP2 positioning unit or to the FG pin of the CN I F connector of the MINAS AIII S servo amplifier XSD terminal of the I F terminal this is connected to the GND pin of the CN I F connector of the MINAS AII S servo amplifier 17 10 FP2 Positioning Unit Terminal arrangement diagram 1 axis type
101. eed Error target speed Error P Acceleration deceleration time Error spom position command value Increment NE i mi No applicable condition No applicable condition position command value Absolute startup speed Error Error Error target speed Error Error Error Home Acceleration deceleration time Error Error return position command value No applicable condition Increment DE No applicable condition position command value Absolute startup speed Error target speed Error Error Error Error Error Error JOG Acceleration deceleration time Error operati position command value ee Increment No applicable condition No applicable condition position command value Absolute startup speed Error Error O JOG target speed Error Error Error positio Acceleration deceleration time Error Error ning position command value No applicable condition operati Increment on position command value Absolute Error Error Error startup speed sr ene e target speed Error Error Error n Acceleration deceleration time operati position command value No applicable condition n Increment No applicable condition Operation when above error occurs Operation does not begin Deceleration stop 1 The position command value and the control code are not subject to setting errors regardless of whether the increment or absolute method is selected 2 Data of this area is not subject to errors 3 When starting any of the modes ex
102. ernal D 4 axis type B20 B20 power supply Current 90 mA or less o input a consumption 2 axis type 24 V DC 50 mA or less Note F E s and the External power supply input terminals between 2 connectors are respectively conducted internally for 4 axis type 3 6 FP2 Positioning Unit Wiring Input Terminals common 173 Pin number Circuit Signal name Item Description Operating 21 6V DC to 2 voltage range 26 4V DC Home input S Min ON 19 2V DC 5 5mA re ND 24 V DC 28 yoigo reni 5 ax 224 2 voltage current 2V DO 2MA v Input Kanae impedance Approx 3k Q ERA P gt Operating 3 5V DC to 5 25 5V 4 A1 ine dri 25 5 voltage range A B3 B12 Home input 8 Min ON A4 A13 5V DC voltage current SV DCAMA Qa Z5 D Max OFF 1V DC 0 5MA 5 voltage current Qa Input impedance Approx 390 Q Home input Min input pulse B3 B12 width 100us B4 B13 COM Oporating 21 6V DC to 26 4V DC voltage range B4 B13 Near home input DOG COM 19 2V DC 5 0mA A5 MA Near home Min ON Over limit input Limit AS A input DOG voltage current Over limit input Limit 14 Positioning control start DOG input timing input DA 19 2V DC 2 6mA 5 Over limit w A6 A15 A6 A15 input A 2V DC 1 5mA Lmit Limit 3 g n 2 Near home input DOG pa Appro
103. erse rotation the elapsed value decreases oo Sui E n T nta teo n Forward Reverse Direction of increasing elapsed value Direction of decerasing elapsed value CW CCW mode Common memory Control code Higher The 9th bit The 8th bit 1 1 With forward rotation the elapsed value decreases With reverse rotation the elapsed value increases Pulse output A a LLL Pulse output B Direction of increasing elapsed value Direction of decerasing elapsed value Note The direction of rotation varies depending on the wiring the motor driver settings the position command value in the program and other factors 4 4 FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 2 Confirming the Slot Number and I O Number Allocations 4 2 1 Occupied I O Area With the positioning unit as with other I O units allocations are entered for the input X and output Y The positioning unit has 16 input points and 16 output points per axis for a total of 32 Consequently a 4 axis type has 128 points input 64 output 64 and a 2 axis type has 64 points input 32 output 32 The configuration of the occupied I O area is as shown below These are common for Transistor output type and Line driver output type The configuration of the occupied I O area is as follows When installed in Slot 0 Points VO No Type allocated using the tool softwa
104. estrictions on Unit Installation Position The positioning unit may be installed in either the CPU backplane or the expansion back plane position However it should be installed to the right of the power supply unit and CPU i oe met Either position may be used for installation Expansion cable HOO a em erm oe Me eo Expansion backplane 1 3 3 Restrictions on the Number of Units Installed There are no restrictions on the number of units that may be installed as long as the restrictions described in 1 3 1 and 1 3 2 above are observed 1 7 Functions of Unit and Restrictions on Combination FP2 Positioning Unit Chapter 2 Parts and Specifications Parts and Specifications FP2 Positioning UNit FP2 Positioning UNit Parts and Specifications 2 1 Parts and Specifications 2 1 1 Parts and Specifications D 3 Front Front FP2 PP41 l FP2 PP21 4 axis IYPE Ep2 pp42 2 axis type Fpy_ppg9 Operation status display LEDs These display operation conditions for two axes Operation status display switch for PP41 PP42 only This switches operation display between for axes 1 and 2 and for axes 3 and 4 User interface connector for 1 axis 2 axis This connector is used to connect a motor driver or external interface User interface connector for 3 axis 4 axis for PP41 PP42 only This connector is used to connect a motor driver or e
105. et value error for positioning or a limit error in the positioning data Procedure 1 Using programming tools check the contents of an error X_E ON A set value error occurs X_F ON A limit error occurs In case of a limit error go to Procedure 2 In case of a set value error go to Procedure 3 Procedure 2 By either of the following check a limit error 1 When the set Over limit switch is ON execute JOG operation home return or any other operation to move the table until the Over limit switch goes OFF after a error is canceled 2 In case of error with the set Over limit switch being OFF or without the Over limit switch change the limit input valid logic using the control code Over limit switch and input status can be monitored by X_B and X_C Go to Procedure 5 Procedure 3 Using programming tools check to see if the values in the data registers being used as the positioning parameter data tables are within the allowable setting range Range for positioning data setting Type of parameter Allowable setting range Program specifications Startup speed pps 0 to 4 000 000 pps KO to K4 000 000 Target speed pps 1 to 4 000 000 pps K1 to K4 000 000 Acceleration deceleration time ms 0 to 32 767 ms KO to K32 767 Points to check 1 Is the value for the startup speed larger than that for the target speed An error occurs if the two values are the same as well For the first speed with E
106. ethod The same The same Control code Linear as left as left Refer to page 16 7 acceleration deceleration Startup speed The same The same pps K500 as left as left KO to K4 000 000 K1 to K4 000 000 Target speed The target speed for the first speed pps SIRO 20000 K300 should be set to a value larger than the startup speed Acceleration deceler ation time ms K100 K100 K500 KO to K32 767 Position command K 2 147 483 648 to value pulse K000 Seon pone K2 147 483 647 Note If the limit error occurs set HO as the limit input valid logic can be changed Program Check to make sure the pulse output busy flag is OFF x86 xo DF R86 i FO MV H 1 XA HF F101 SH WR 0 K 1 Shift condition j BD e ene A a II ne mio F1 DMV H 80 DT 0 Control code F1 DMV K 500 DT 2 Portoni F1 DMV K 5000 DT 4 jarget speed Fi DMV K 100 DT 6 ican time dece j F1 DMV K 5000 DT 8 2 lala Terri F151 WRT Mo DTO K10 H100 are memory The specifies the positioning unit is slot LNo_ 0 from which Beso word contents from data registers are written to the shared memory addresses H100 to H109 Ri Se ua os e as SI pai i oF F1 DMV K 20000 DT 4 Target speed i A F1 DMV K 100 DT 6 4 letame aon Ee Position command Fi DMV K 15000 DT 8 ie a F151 WRT KO DT4 _
107. fore and After E Point Control Output frequency f pps time t s Pulse output begins 1 When the pulse s within 0 02 ms after s output busy fia the startup flag goes ON the startup Laoses ON Signal is ignored start flag EST SSererrre Coe g n s This goes ON follow This goes OFF when ing 1 scan after the the pulse output is startup flag goes 7 completed LON 2 x 0 1 Pulse output di sE gt busy flag BUSY he ats Lei ee ee rt tana This goes ON when is goes OFF follow the Duse output is ing 1 Scan after the complete startup flag goes ON 1 scan 1 scan Pulse output X_1 done flag EDP E point control start flag Y_0 1 E point control is initiated based on the parameters written to the positioning unit 2 E point control is not initiated during the time that the pulse output busy flag X_0 is ON It is already initiated Pulse output busy flag X_0 1 This goes ON with the next scan after E point control has been initiated and goes OFF when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop This flag is shared among E point control P point control JOG operation JOG positioning operation and home return except for a pulser input enabled operation Pulse output done flag X_1 1 This goes ON
108. g unit 4 10 FP2 Positioning Unit Confirming the Unit Settings and Design Contents When mounted on an expansion backplane The slot number of the slot to the right of the power supply unit on the expansion backplane should be counted as 16 CPU backplane Expansion backplane 4 axis type positioning unit Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 3 Increment and Absolute There are two ways to set the position command value Specify whichever due to your usage 4 3 1 Increment relative value control The position command value is normally specified as the relative position from the current position using a number of pulses Example Travels from the current position to a position 5 000 pulses away 5000 pulses is set as the position command value and travel is carried out a 5000 pulses Current position Target position 2000 pulses is set as the next position command value and travel is carried out 5000 pulses la 2000 pulses Current position Target position 4 12 FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 3 2 Absolute absolute value control The position command value is normally specified as the absolute position from the home position using a number of pulses Example If the unit is 15 000 pulses away from the home position it travels 5 000 pulses 20000 pu
109. gh a Pass Point and is called P point control in this manual This method is used when a multi stage target speed is to be specified A Speed f pps Simple acceleration deceleration control when moving to an end point P point control Acceleration deceleration control in which multiple pass points can be consecutively specified E point control Time t ms Startup time This is the time from when the startup signal is output from the CPU of the FP2 to when the pulse output is issued from the positioning unit Acceleration deceleration time Acceleration time the time during which the speed changes from the startup speed to the target speed after the pulse output is issued Deceleration time the time during which the speed changes from the target speed to the startup speed CW CCW Generally these indicate the direction in which the motor is rotating with CW referring to clockwise rotation and CCW to counterclockwise rotation CW CCW output method 2 pulse output method This is a method in which control is carried out using two pulses a forward rotation pulse and a reverse rotation pulse With the FP2 positioning unit this is specified using the control codes of the shared memory according to the driver specifications Pulse Sign output method 1 pulse output method This is a method in which control is carried out using one pulse to specify the speed and ON OFF signals to specify the dir
110. gram compares the count of the output pulses with the count of the feedback pulses at the E point control and makes the deceleration stop if the count is out of the allowable range X90 R lt lt _ mimo ma Starting condition Internal relay OO a e re lid ee F1 DMV H200080 ARE S pei sd Control code F1 DMV K 500 DT 2 4 Startup speed Startup spe F1 DMV K 10000 DT 4 4 j Target speed Target epee Acceleration L PI OMV K 400 DT Speroni deceleration time Acceleration deceleration time H sci F1 DMV K 10000 DT 8 4 Position command Position command value ivalue_ _______ Shared memory F151 WRT HO DTO K10 H100 oo This specifies the Positioning unit in slot No 0 from which the 10 word contents from data registers DTO to DT9 are written to the shared memory address H100 to H109 Reading the count _ HP F150 READ HO H10A K2 DT10 value of output pulse R9010 L Elapsed value This specifies the positioning unit in slot No 0 from which writes the 2 word contents of the shared memory addresses from H10A to 10B To the data register DT10 F150 READ HO H10E K2 DT20 value of feedback Count pulses This specifies the positioning unit in slot No 0 from which dee REA writes the 2 word contents of the shared memory
111. gs until the target speed is reached If near home input exists at that point the speed slows to the startup speed and then if home input exists at that point as well the movement stops Contolede JI i Startup speed i Receleration deceleration time f pps Direction of decreasing elapsed time SS Data necessary for operation mon i H t ms cPUY42 7 1 Home return start ORGS External X7 Near home input DOG Berar e iati Deviation Cene e External ae i about 1 ms Pulse output CPU XO0 busy flag BUSY CPUS o elapsed vavo Pe AYN Count i When Y42 is turned ON in the program above the motor for the first axis begins to accelerate and continues accelerating until the target speed is reached If there is near home input at that point the motor decelerates to the startup speed After deceleration has been completed the motor stops if home input exists Data required for settings The following data must be written to the specified addresses of the shared memory Control code can change the home return direction home input valid logic near home input valid logic with or without home search and limit input valid logic Operation is determined by the following four types of data Control code Startup speed Target speed Acceleration deceleration time Operation steps Step 1 Preparatory stage The data for operation is transferre
112. id Turns ON when x8 i done ORGE home return is X8 X18 X8 x18 x28 x38 done 3 ON when elapsed value of internal x9 Comparison CLEP counter is greater x9 x19 x9 x19 x29 x39 result than or equal to the number of comparison pulse With P point Set value control this is X_A change CEN used to confirm XA XIA XA XIA X2A X3A confirmation rewriting of set values 4 Over limit Monitor flag of X_B input LMTP Over limit XB X1B XB X1B X2B X3B Input signal Over limit Monitor flag of X_C input LMTM Over limit XC X1C XC X1C X2C X3C Input signal Timing X_D input Titui Monitor flag of JOG xp xD xD X1D x2D X3D monitor positioning timing Sue SSt value sepr ON when a set xe xe xE XE X2E X3 error value error occurs ON when Over limit input is made X_F Limit error LERR XF X1F XF X1F X2F X3F during operation or at startup 4 6 FP2 Positioning Unit Confirming the Unit Settings and Design Contents 1 This goes ON during pulse output in various operations such as E point control P point control home return JOG operation JOG positioning operation and remains ON until the operation has been completed 2 This goes ON when the various operations such as E point control P point control JOG operation JOG positioning operation and pulser input operation have been completed It also goes O
113. id logic for the home input and near home input is determined by the control codes of the program 3 Using repeated JOG operation and home return operation check to make sure the table stops properly at the home position with no offset Points to check There may be times when near home input the home input position and the return speed cause offset from the home position 4 If the table does not stop precisely at the home position either change the position of the near home input or reduce the home return speed so that the table stops precisely at the home position Positioning unit Input unit Check to see if there is any offset from the home stopping position Home switch Near home switch Note If the CPU is switched from the RUN to the PROG mode while the positioning unit is in operation the table decelerates and stops Chapter 6 E Point Control Single Speed Acceleration Deceleration E Point Control Single Speed Acceleration Deceleration FP2 Positioning Unit 6 1 Sample Program 6 1 1 Increment Relative Value Control Plus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction 4 axis type positioning unit 64 point type input unit T Pentti chia gt Ball screw r h Motor N
114. ilimit input ON Limit error occurs When Pulser input Over limit input ON Table to move operation is turned ON Over limit input ON Table to move Reverse Pagano Table not to move Over limit input ON Limit error occurs Last Table stops During Pulser input Forward Over limit input ON Limit error occurs operation NEO Table stops Reverse Over limit input ON Limit error occurs Note Pulse Sign output mode can be started up When the CW CCW output mode is set the limit error will occur If the error occurs solve it using the methods as described below Using the home return function 1 Turn ON the Error clear Y_F of the Over limit input and then turn it OFF 2 Turn ON the Home return start Y_F towards the elapsed value minus direction while the Over limit input is ON Using the JOG operation function 1 Turn ON the Error clear Y_F of the Over limit input and then turn it OFF 2 Turn ON the Reverse JOG Y_4 while the Over limit input is ON Program R9013 0 m Fi DMV H2000090 DTO Control code F1 DMV K500 n DTA Si Startup speed F1 DMV K1000 DT4 Target speed F DMV K 10 DT6 Acceleration D celeration time FISIWRT KO DTO K10 H 110 Control code RO YS7 39 2 axis pulser 2 axis pulser RI Y5F 41 2 axis error clear 2 axis error clea When the over limit input and is ON in resetting
115. in the positioning unit 6 4 FP2 Positioning Unit E Point Control Single Speed Acceleration Deceleration Shared memory settings Set values in sample Control parameter setting content program example Range of acceptable settings H80 Note Control code lt Increment method Linear Refer to page 16 7 acceleration deceleration gt Startup speed pps K500 KO to K4 000 000 K1 to K4 000 000 Target speed pps K10000 Set a value larger than the startup speed Acceleration deceleration time ms K100 KO to K32 767 K 2 147 483 648 to Position command value pulse K 10000 K2 147 483 647 Note If the limit error occurs set HO as the limit input valid logic can be changed Program x81 Rey AL te es 1 oF Starting condition REV ee e e 4 ll eat F1 DMV H 80 DT 0 4 Control code F1 DMV K 500 DT 2 1 Startup speed F1 DMV K 10000 DT 4 4 Target speed F1 DMV K 100 DT 6 Tenta Asse Jerain ime F1 DMV K 10000 DT 8 4 position command F151 WRT KO DTO K10 H100 f i Shared memory lhis specifies the positioning ingl ff slot No 0 from wh the 10 word contents from data registers DTO to DT9 R81 rn cali J 2 oint control is tJ S D a Precautions concerning the program When Over limit switch and Over limit switch are n
116. ing unit Connector for servo amplifier Home input selection pin Power terminal I O terminal The asterix gt below indicates the following AX1 and AX2 AX 3 and AX 4 which you can see at the PWB of the I F terminal both share the same connector slot at the FP2 positioning unit side for PP22 type and PP42 type When the user will use the 3 and 4 axis connection from the FP2 positioning unit the AX 3 and AX 4 can be used for this Note Number 3 and 4 are parenthesized at the I F terminal 17 9 Dimensions and Driver Wiring FP2 Positioning Unit Connecting the wiring Caution Be sure the power is turned off while connecting the wiring Home input selection pin For Home input Bee Servo amplifier OZ signal is used EXT OZ BERE Terminal input Home is used EXT Oz Limit input selection pin For Limit signal input to LMTP and LMTM are connected to Limit input and of Servo amplifier pry pp respectively and connected to Limit and of the positioning unit CWL and COMA are connected to Servo amplifier LMTP and LMTM are connected DRY PP to the positioning unit Feedback input selection pin 22 t Feedback input from a e e Servo amplifier I F terminal after connecting the cable pulse output A pulse output B of the line driver and the deviation counter clear signals are joined together at this I F terminal It can be switch
117. initiated during the time that the pulse output busy flag X_0 is ON it has already been initiated If the start flag for forward and reverse rotation go ON at exactly the same timing forward rotation takes precedence Pulse output busy flag X_0 1 This goes ON with the next scan after JOG operation has been initiated and goes OFF when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop This flag is shared among E point control P point control JOG operation JOG positioning operation and home return except for pulse input enabled operation Pulse output done flag X_1 1 This goes ON when the pulse output is completed and is maintained until the next E point control P point control JOG operation JOG positioning operation home return or pulser input enabled status is initiated This flag is shared among E point control P point control JOG operation JOG positioning operation and pulser input enabled operation JOG Operation FP2 Positionig Unit 8 6 Operation at Over limit Input JOG operation is as follows when Over limit input and Over limit input is ON The operation is possible for the direction in opposite of the input limit Condition Direction Limit status Operation Forward Over limit input ON Table not to move Limit error occurs When JOG operation is Over limit inp
118. ion Point at which CPU switches from RUN to PROG mode t ms Note At the point at which the CPU switches from the RUN to the PROG mode deceleration and stopping begin The acceleration rate used for deceleration at that point is that determined by the data stored in the shared memory when the switch is made from the RUN to the PROG mode The CPU mode should not be switched from RUN to PROG while positioning unit operation is being executed under normal usage conditions Reference Deceleration Stop and Forced Stop Chapter 12 14 4 FP2 Positioning Unit Precautions Concerning the FP2 Operation and Programs 14 1 3 Operation Cannot be Switched Once One Operation Has Started If the startup flag for one of the six basic operations of the positioning unit E point control P point control home return JOG operation JOG positioning operation and pulser operation goes ON and operation is initiated it is not possible to switch to another operation even if the flag for that operation goes ON Example Once the E point control start flag has gone ON and E point control has begun it is not possible to switch to P point control a home return JOG operation JOG positioning operation or pulser operation even if those flags are turned ON while E point control is still in operation f pps A t ms oD W0 i E point control start J EST i xo STS Pulse output busy flag BUSY m A P point
119. it Install Over limit switches as shown above Connect them to Over limit input and Over limit input of the Positioning unit Safety circuit based on external circuit Install the safety circuit recommended by the manufacturer of the motor being used FP2 positioning Unit Turning the Power ON and OFF and Booting the System Turning the 5 2 Before Turning ON the Power Items to check before turning ON the power System configuration example Positioning unit P H i 3 zzz Li sie SS O i k CCW driver ae a Over limit Over limit SI 4 CW driving inhibition switch switch switch inhibition s i switch Driver upper and lower limit inputs 2 a safety 3 Connect to positioning unit Checking connections to the various devices Check to make sure the various devices have been connected as indicated by the design 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 installation of the safety circuit based on the Positioning unit Check to make sure the connection of the Positioning unit with Over limit switches Check to make sure that Over limit switches have been properly installed 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
120. ivided mode the value set for the startup speed or the target speed can be divided by the optional value to output This mode allows setting the frequency value less than 1pps Example Target speed is 300 pps and divided mode is 16 18 75pps is output 16 7 Specifications FP2 Positioning Unit 16 4 Table of I O Flag Allocation VO flag number 5 sii 2 axis type 4 axis type Flag Name Description ist 2nd ist 2nd 3rd 4th axis axis axis axis axis axis xo Pulse Busy ON during pulse xo x10 xo x10 x20 x30 Si output busy output 1 x4 Pulse EDP ON wher Pulse output XA X11 x1 X11 X21 X31 output done ends 2 x2 Acceleration ACC ON during acceleration x2 x12 x2 x12 X22 X32 zone zone X3 Constant CON ON during constant speed x3 X13 X3 X13 X23 X33 speed zone zone x 4 Deceleration Dec ON during deceleration XA x14 x4 X14 X24 X34 zone zone Rotation Monitors direction of X_5 direction DIR rotation ON during the X5 X15 X5 X15 X25 X35 elapsed value increment ON when home input X_6 Home input ZSG bacomes valid X6 X16 X6 X16 X26 X36 X7 Near home DOG ON when near home input x7 X17 x7 X17 X27 X37 input becomes valid xs Home ORGE 2 when hom ireturn is xa xis xe x18 x28 x38 Return done done 3 ON when elapsed value of internal counter is greater x9 eee CLEP than or equal to the x9 x19 x9 x19 x29 x39 num
121. k DF Starting condition H poni Deyan asina J ROO o ge e e Dea H F1 DW H 80 DT 0 4 Control code i F1 DMV K 500 DT 2 4 Startup speed F1 DMV K 10000 DT 4 _ 4 Target speed F1 DMV K 100 DT 6 ASHE F1 DMV K 10000 DT 8 4 ae F151 WRT KO DTO K10 H100 Shared memory writing E point control inhiated for 1st axis Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed the acceleration deceleration time or the position command value exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depe
122. l is recommended Reference lt 1 1 3 Combination with MINAS Motor gt 17 2 1 Panasonic MINAS A Series Positioning unit Pulse output A Pulse output B Home input gt input Over limit input Over limit input Power P supply for driving the internal circuit Near home 5 Devietion counter clear Power supply circuit A1 A10 B1 B10 A2 A1 1 B2 B11 A4 A13 B3 B12 A7 A16 187 816 B4 B13 COM DOG 24 VDC GND 24 V DC Power supply 24V GND AS A14 Limit AG A15 Limit B6 B15 A20 B20 SRV ON Output from PLC am 29 INH 33 S RDY Input to PLC 35 S RDY 34 ALM Input to PLC ALM 36 N 39 coin 38 37 Servo amplifier VW 2202 2202 4 7kKQ gt CW pulse input PULS i CCW pulse input Z phase output Deviation counter clear Servo ON Alarm clear CW drive disabled CCW drive disabled Command pulse input disabled Servo ready output Servo alarm output Positioning done signal When connecting the CW drive disabled and CCW drive disabled input the servo ready output and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis The above wiring is for the line driver output ty
123. l application of input logic The near home input is set to Input exists when power is not supplied and is not connected There is no near home switch There is only home input switch 10 24 FP2 Positioning Unit Home Return 10 6 2 When One Switch ON and OFF are assigned to Near Home Input and Home Environment available for this The system in which the near home input switch is once turned ON and then OFF when the home return is started Near Home Home Example of usage method Connection Near home input and home input are connected to the near home input switch Switch near home switch To home input B3 or B12 To near home input B4 to B13 Sai To A3 A5 or A12 A14 24V DG Input logic setting When using the switch of a contact Set the control code of the shared memory for the following Home input logic Input Valid when power is not supplied Near home input logic Input Valid when power is supplied 10 25 Home Return FP2 Positioning Unit Operation When a home return begins the motor rotates in the direction of the home return When the near home input switch is turned ON the speed slows down to the startup speed The motor rotates the further and the near home input will be OFF At this point the home input should already be ON as a result of the input logic and the motor stops Example of data specification Shared memory setting
124. l safety circuit Checking should be carried out in the four general stages described below TT E 5 4 1 Checking the External Safety Circuit Check the safety circuit recommended by the motor manufacturer to confirm the power supply cutoff of the motor driver and other functions by turnning ON the CW CCW driving inhibition switch of an external circuit 5 6 FP2 positioning Unit Turning the Power ON and OFF and Booting the System Turning the 5 4 2 Checking the Safety Circuit based on Positioning Unit Procedure 1 Using forced operation of Over limit switch for the external safety circuit of the positioning unit check to see if the Over limit input is being properly taken into the positioning unit Whether or not Over limit input is taken can be confirmed by the input flag In addition the Over limit input valid logics can be changed using the control code in the user program 2 If necessary input a program to start the JOG operation Then operate the over Over limit input forcibly to check whether the motor will stop 3 Using the JOG operation check to see if the Over limit switch is functioning properly Positioning unit Over limit switch 5 4 3 Checking the Rotation and Travel Directions and the Travel Distance Procedure 1 Check to see if the directions of rotation and travel are correct using the JOG operation or the automatic acceleration deceleration
125. lse output is completed de Home return X_8 H done ORGE The pulse output done flag done not go on when a X1 H home return is completed Pulse output i LIS done flag EDP se 10 21 Home Return FP2 Positioning Unit Home return start flag Y_2 1 Home return is initiated based on the parameters written to the positioning unit 2 The flag is not initiated during the time that the pulse output busy flag X_0 is ON It has already been initiated Near home input X_7 1 Deceleration begins when the near home switch input connected to the positioning unit becomes valid 2 The leading edge of the signal is detected so changes to flags following the input do not affect operation Confirmation of the input logic is necessary lt Refer to page 10 24 gt Home input X_6 1 The table stops when the home switch input becomes valid after the near home switch input connected to the positioning unit became valid 2 The leading edge of the signal is detected so changes to flags following the input do not affect operation Confirmation of the input logic is necessary lt Refer to page 10 24 gt Deviation counter clear output 1 This goes ON for approximately 1 ms or 10ms after the home return has been completed This is used in systems in which a servomotor is used Pulse output busy flag X_0 1 This goes ON with the next scan after home return has been initiated and goes OFF when the pulse output i
126. lse sign is set as the pulse output mode The normal setting system 4 axis 64 point type Soste Mb unit 7 3 inpet Hi x96 Pulser Reverse Table Forward lt gt side Ball screw Pulse output diagram Shared memory setting iof H_80__ conto code ATE 105h Target speed ft pps f pps a pr e NEW i 1000 CPU Y47 Pulse input enabled PEN CPU XI Pulse output done flag EDP External Pulser input A phase External Pulser input B phase External Pulser output A phase External Pulser output B phase i Pulser forward i Pulser reverse i Aphese SSL J EEA aa N Eaa bps B phase SLI FP2 Positioning Unit Pulser Input Operation Shared memory settings Control parameter Set values in sample Range of acceptable settings setting content program example H80 Note Control code Multiplication ratio x 1 multiple Refer to page 16 7 Target speed pps K1000 K1 to K4 000 000 Note If the Over limit input error occurs set HO as the limit input valid logic can be changed Program X96 _ R96 H F1 DMV H 8 DT 0 F151 WRT KO DTO K2 H100 This specifies the positioning unit in slot No 0 from which Pulser Input Operation FP2 Positioning Unit Precautions concerning the program When Over limit switch and Over limit switch
127. lses is set as the position command value and travel is carried out 20000 pulses 5000 pulses 15000 pulses Target position Current position 18000 pulses is set as the next position command value and travel is carried out 20000 Pulses 48000 Pulses lt o te i Current position Target position Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 4 Selection of Acceleration Deceleration Method 4 4 1 Linear and S Acceleration Decelerations The FP2 positioning unit has two methods of acceleration and deceleration which can be selected Linear acceleration deceleration and S acceleration deceleration With linear acceleration deceleration acceleration and deceleration the acceleration from the starting speed to the target speed are carried out in a straight line acceleration and deceleration take place at a constant percentage 4 f pps Linear acceleration deceleration gt a t t ms Acceleration Acceleration deceration time deceration time S acceleration deceleration is carried out along an S shaped curve When acceleration or deceleration is first begun the speed is relatively slow and gradually increases When the acceleration or deceleration has been almost completed the speed slows once again This results in comparatively smooth movement Sin curve Secondary curve Cycloid curve and Third cu
128. lue ARRIVO S E EEST AS E E E A A IO AREITO NAVONA 18 2 13 2 FEEDBACK COUNTER FUNCTIONS sesesesesrrreerercrerrrrrerrrrrrrrterrrrerererererererererreerererereee 13 5 13 3 FEEDBACK COUNTER INPUT METHOD ii 13 6 13 4 FEEDBACK COUNTER TRANSFER MULTIPLE FUNCTION 13 8 14 PRECAUTIONS CONCERNING THE OPERATION AND PROGRAMS 14 1 14 1 PRECAUTIONS RELATING TO BASIC OPERATIONS OF THE UNIT 14 2 14 1 1 Values of Shared Memory are Cleared When Power is Turned OFF 14 2 14 1 2 Operation When the CPU Switches from RUN to PROG Mode 14 4 14 1 3 Operation Cannot be Switched Once One Operation Has Started 14 5 14 2 PRECAUTIONS CONCERNING PRACTICAL USAGE METHODS 14 6 14 2 1 Setting the Acceleration Deceleration tO ZOVO ccccssccccesstscecssstscessssssseetenisssesess 14 6 15 OPERATION IF AN ERROR OCCURS M ttt re eee nice eee rece rece eee e ieeeeeeezenee 15 1 15 1 POSITIONING UNIT OPERATION IF AN ERROR OCCURS 15 2 16 1 1 If the Positioning Unit ERR LED Lights i 15 2 16 1 2 If the CPU ERROR LED Lights iii 15 8 15 2 ERRORS WHICH OCCUR IN THE POSITIONING UNIT ITSELF 15 4 15 3 RESOEVING PROBLEMS nai an avida 15 8 16 8 1 If the Positioning Unit ERR LED Lights ii 15 8 15 8 2 If the Motor Does Not Turn or Operate if the LED for pulse output A or B i
129. may be received before the specified pulse output has been completed making it impossible to obtain output of the input number of pulses Do not turn ON Y_7 when using the feedback counter Pulser Input Operation FP2 Positioning Unit 11 2 Sequence Flow for Pulser input operation Pulser input operation A pulse generator pulser can be connected and the motor can be controlled in the manual mode Pulser signals can be input while the pulser input enabled flag PEN is ON The user can select the number of pulses to be sent to the motor driver in relation to one pulser signal pulse by setting the control code in the shared memory When the 4 axis type positioning unit is mounted in slot 0 Operation example When the flag which enables pulser input operation is turned ON the motor rotates at the specified speed in conjunction with the pulser operation Data necessary Control code for operation Target speed a f pps Executed pulser input operation Pulser input enabled CPU Y47 PEN Pulser output done cPu x1 flag EDP External Pulser input A phase External Pulser input B phase External Pulser output A phase External Pulser output B phase Pulser forward i Pulser reverse REA ro Ba B phase L lt L_ Real When Y47 is turned ON in the above program the motor for the first axis waits for pulser input If the pulser is rotated in this stat
130. me The startup time is the time from the startup request to the pulse output Particularly in Pulse Sign mode the output waveforms will be as follows since Sign signal should be output before the pulse output Startup request 0 02ms or 0 005ms Output pulse A Pulse Output pulse B Sign i 3 Pulser input operation and feedback counter use the same pulse input terminal so the both can not function simultaneously 4 To be supplied to the unit inside through the motherboard bus from the power supply unit 5 The power is supplied from the external to the unit connector 16 4 FP2 Positioning Unit Specifications 16 2 Table of Shared Memory Area Shared Memory Area The settings of the startup speed and target speed specifying the direction of home return selecting the type of S acceleration deceleration should be made in the shared memory The setting area address varies depending on the axis but the setting contents are the same 1st axis 100h to 10Fh occupied 2nd axis 110h to 11Fh occupied 3rd axis 120h to 12Fh occupied 4th axis 130h to 13Fh occupied When the settings is out of range an error occurs when each is started and a set value error flag goes ON Each setting value should be handled as the signed 32 bit data double word The data in the shared memory will be cleared when the unit is turned OFF Shared memory address Setting nee
131. memory writing Target speed 1 ere dece fae memory valina j fcogierationi dece leration tim Position command val ue S Target speed Shared memory writing When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the limit switch connection P Point Control Multi Stage Acceleration Deceleration FP2 Positioning Unit 7 2 Flow of P Point Control Operation P point control Multi stage acceleration deceleration When the flag for initiating P point control Y_1 is turned ON acceleration deceleration control is carried out repeatedly in accordance with the specified data table and then the operation stops Multiple accelerations decelerations can be specified between starting and stopping Sin curve Secondary curve Cycloid curve and Third curve can be selected for S acceleration deceleration can also be selected The acceleration deceleration time can be specified separately for each travel point When the 4 axis type positioning unit is mounted in slot 0 Operation example When the flag for initiating P point control Y41 is turned ON acceleration deceleration is carried out repeatedly in accordance with the settings Control code b Startup speed Target speed
132. n Pulse output diagram Shared memory setting ton Control code 102h 104h 106h 108h Startup speed fs pps 104h Target speed ft PPS 06h Acceleration deceleration time Ac ms Target speed ft pps f pps 10000 Forward JOG start CPU Y43 IGE i TO A JOG speed selection CPU X92 Low speed Note The target speed change during JOG operation is available only for Linear acceleration deceleration When S acceleration deceleration is selected the target speed changed will be ignored Do not change the target speed during the speed down by turning ON and then OFF Forward JOG flag JOG Operation Sample Program x90 x0 ROO cc R l U_ oF OG stat 5 x91 X0 4 ui DF RIA A aa LA nile pe a a iH F1 DMV H 80 DT 0 4 Control code i F1 DMV K 500 DT 2 4 Startup speed F1 DMV K 100 DT 6 4 iime intial speed is reached F1 DMV K 5000 DT 4 F151 WRT Ko DTO K8 H100 FP2 Positionig Unit This specifies the positioning unit in slot No O from which the 8 word contacts from data registers DTO to DT7 are written to the shared memory addresses H100 to H107 x92 mio F1 DMV K 10000 DT4 Target speed High speed F151 WRT KO DT4 K2 H104 x90 xo R91 N43 OW ee d le DF y Forward JOG st
133. n deceleration Direction of home return direction of elapsed value Home input logic Input valid when the power is ON The specified values vary depending on the method of acceleration deceleration the home return direction the home input logic and the near home input logic Refer to page 16 7 Startup speed pps K500 K1 to K4 000 000 K1 to K4 000 000 Target speed pps K10000 Specify a value larger than the startup speed Acceleration deceleration K100 KO to K32 767 time ms Note Home search function is valid Note If the limit error occurs set H54 as the limit input valid logic can be changed Acceleration deceleration time J i Shared memory M writing J Program X101 0 R101 Omama Condition of DF home return R101 E F1 DMV H D4 DT 0 Control cod i A H ontrol code F1 DMV K 500 DT 2 ll ___ Startup speed F1 DMV K 10000 DT 4 Target speed F1 DMV K 100 F151 WRT K 8 This ee postioning unit In slot No 0 the positioning unit in slot No 0 ee postioning unit In slot No 0 whi the 8 word contents from data registers DTO to DT7 are written to the shared memory addresses H100 to H107 10 9 Home Return FP2 Positioning Unit Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the
134. n counter Deviation iste External counter the control code cuip i Pulse out CPU busy Re etsy CPU X8 e Eps vate Pe MMM Count Fi When home retum is done mes count value beco 10 14 FP2 Positioning Unit Home Return Shared memory settings Control parameter setting content Set values in sample program example Range of acceptable settings Control code H94 Note Linear acceleration deceleration Direction of home return direction of elapsed value Home input logic Input valid when the power is ON Acceleration deceleration method The specified values vary depending on the method of acceleration deceleration the home return direction the home input logic and the near home input logic Refer to page 16 7 Startup speed pps K500 K1 to K4 000 000 K1 to K4 000 000 Target speed pps K10000 Specify a value larger than the startup speed Acceleration deceleration time K100 KO to K32 767 ms Note If the limit error occurs set H14 as the limit input valid logic can be changed Program X101 R101 PA oF ai R101 H H F1 DMV H 94 DT 0 F1 DMV K 500 DT 2 F1 DMV K 10000 DT 4 F1 DMV K 10 DT 6 F151 WRT This specifies the positioning unit in slot No 0 from switch R101 SS ED Startup speed Target speed 10 15 Home Return FP2 Positioning Unit Precaution
135. n counter clear output Output type Product number Wiring length Transistor output type AFR2432 AFP2433 10m Line driver output type DRESS AFP2435 Wiring FP2 Positioning UNit 3 16 Chapter 4 Confirming the Unit Settings and Design Contents Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 1 Pulse Output Mode 4 1 1 Selection of Rotation Direction Changing this settings allows to rotating a motor in a reverse direction under the same connection status and the driver settings Shared momory Control code Higher the 8th bit 0 forward rotation 1 reverse rotation 4 1 2 Selection of Pulse Output Mode The pulse output mode can be selected to match the pulse input mode supported by the motor driver The two types of pulse output described below can be selected Shared memory Control code Higher the 9th bit 0 Pulse Sign 1 CW CCW Pulse sign output method With this method pulse output signals for motor drive signals that determine the rotation speed of the motor and signals that determine the rotation direction of the motor are output Pulse signals pulses are output from the pulse output A pin while signals that determine the rotation direction signs are output from the pulse output B pin CW CCW output method With this method pulse output signals for forward rotation and pulse output signals for reverse rotation are output in response to the directi
136. ndicate the pin number for the second or fourth axis The above wiring is for the line driver output type As of October 2008 this is the end of life EOL product 17 6 FP2 Positioning Unit Dimensions and Driver Wiring 17 2 5 Panasonic MINAS X V Series Positioning unit Servo amplifier A1 A10 PULS x RI fii ay Si L Pulse output A HDI 7 A A y4 22002 v amp ormand pulse L444 PULS J BULS B1 B10 3 A2 A11 SIGN T N 6 E vyv 7 a x Pulse output B E A y4 A x 2202 VC pe sign I o SO N SIGN JI SIGN B2 B11 5 a A4 A13 oz H eV 4 Daf J Home input 2 amp 7 7 A A lt Z phase output e oz B3 B12 24 A7 A16 COM N Deviation counter clear _ 4 7kQ 7 GY Deviation j 1 B7 B16 i cL counter clear 30 B4 B13 ee COM Losa E f i gt di SRV ON aKa Servo ON Near home Y 7 mq Output from PLC gt e input e i na TT 29 sii DOG o A5 A14 W e e A CLR 4A N Alarm clear Over limit gt at A E See input PE L a Output from PLC 31 gt Limit ve A6 A15 Ws f Pa r r 4 7K A Z CW drive Hae CWL T St disabled i Overlimit A VD ry f Cani input pb AT J 1 n L I et Limit as B6 B15 PW Power i__ 24V DC pi z 4 7kQ7 3 COW drive supply for Power A20
137. nding on the slot position and axis number of the positioning unit 6 3 E Point Control Single Speed Acceleration Deceleration FP2 Positioning Unit 6 1 2 Increment Relative Value Control Minus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction 4 axis type positioning unit 64 point type input unit Motor driver Table Ea side side Pulse output diagram Shared memory setting Control code Startup speed fs pps Target speed ft pps Acceleration deceleration time Ac ms Acceleration deceleration time Ac ms E point control start flag CPU Y40 EST A ouput RASO lena tirati aaa BUSY Pulse output Puo e ___ LI na 0UW _ ri ie 9 1 done flag EDP Elapsed value Pe Gir eS ve cee No of counts No of counts when booted when stopped Operations of the various flag The pulse output busy flag X0 goes ON when E point control is initiated and goes OFF when pulse output is completed The pulse output done flag X1 goes ON when pulse output is completed and is maintained until the next E point control P point control JOG operation JOG positioning operation home return or pulser input enabled status is initiated The elapsed value is stored as the absolute value in the counter
138. ng 15 10 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs 15 3 4 Rotation Movement Direction is Reversed Example of reversed rotation movement direction Reverse direction Intended direction ooooooor gt Solution 1 Make sure the wiring between the positioning unit and the driver has been correctly connected Point to check Make sure the CW CCW output or the Pulse Sign output has been connected to the pertinent input on the driver side gt Connection of pulse output signal Refer to page 3 9 Solution 2 Check to make sure the control codes in the shared memory match the specifications for the position command values Point to check The settings for the increment relative value control and the absolute absolute value control are specified through the control codes in the program gt Increment and Absolute Refer to page 4 13 Solution 3 If the settings for the position command data have been designed with the plus and minus directions reversed change the direction of rotation using the mode settings witches on the back of the unit gt Pulse output mode Refer to page 4 2 15 11 Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 15 3 5 The Stopping Position is OFF for a Home Return Stopping position is exceeded Startup speed pics X7 i Near home input switch on
139. ng unit In addition to pulse command output for the motor driver the positioning unit is equipped with home input near home input terminals over limit input over limit input positioning control start input timing input for JOG positioning operation and deviation counter clear output for the servo driver Use input unit and output unit for PLC safety circuit and control signal interfaces In addition to the positioning unit an input unit and output unit are used in combination for connections between the driver and external output such as servo ON signals Number of output pulses counted by internal high speed counter The number of pulses output is counted as an absolute value by an internal high speed counter which counts them as the elapsed value Counting range 2 147 483 648 to 2 147 483 647 signed 32 bit Note If the elapsed value exceeds the maximum minimum value the value returns automatically to the minimum maximum value and continues from that point The motor does not stop if this occurs and no error occurs The external encoder can count the feedback pulse from the external encoder The internal counter counts the pulse input as Feedback pulse count value as the absolute value Counting range 2 147 483 648 to 2 147 483 647 signed 32 bit Note If the elapsed value exceeds the maximum minimum value the value returns automatically to the minimum maximum value and continues fr
140. nit Turning the Power ON and OFF and Booting the System Turning the 5 3 2 Procedure for Turning OFF the Power Procedure 1 Check to make sure the rotation of the motor has stopped and then turn OFF the power supply for the motor driver 2 Turn OFF the power supply for the PLC 3 Turn OFF the power supplies for input and output devices connected to the PLC including the power supply for the line driver output or open collector output Positioning unit Power supplies for input and output devices Precautions when rebooting the system The flags of the operation memory are initialized simply by initializing the CPU but the flags of the shared memory for the positioning unit are retained If the positioning unit is operated with data still in the shared memory operation may be carried out based on any set values which have been retained in some cases The flags of the shared memory can be cleared when the power supply is turned OFF Turning the Power ON and OFF and Booting the System FP2 positioning Unit 5 4 Confirming while the Power is ON ltems to check when the power is ON System configuration example Positioning unit CW driving inhibition switch Near home switch Home switch eeee wwe eee ete ew ee we eee Ph ast fa a lt ee ee ee ee v Driver upper and ee lower limit inputs Over limit switch 2 Connectto positioning unit 1 Externa
141. nsssseseceesensnsees 1 4 1 2 UNIT FUNCTIONING AND OPERATION OVERVIEW 0cccccceeeessesesessssseseseseseseseeeseeeeeeeees 1 5 1 2 1 Unit Combinations for Positioning COntrol iii 1 5 1 2 2 Basic Operation of FP2 Positioning Unit ceeeeccccccccccecsssesescscecececsensnsssccescesetseeenses 1 6 1 3 RESTRICTIONS ON UNITS COMBINATION 1 7 1 8 1 Restrictions on Combinations Based on Current Consumption 1 7 1 8 2 Restrictions on Unit Installation POSttion icceccccccsssscsecssssssceesssscessssssseessssssecensaaes 1 7 1 8 8 Restrictions on the Number of Units Installed o ccccecccscsssecscccccecesvensscsceccesetseeenes I7 2 PARTS AND SPECIFICATIONS M i 2 1 2 1 PARTS AND SPECIFICATIONS e ir erai EE EE EEEN EE NNE aR 2 3 2 1 1 Parts and Specifications iii ricerecicviciiieiziorevevieii ieri reveriei 2 3 2 1 2 Operation Status Display LEDS icccccccccccccssessssscececseesnssscscececsecssnensscseeseesessnsnssssees 24 93 WIRING uni aaa ira ira 3 1 3 1 CONNECTING USING CONNECTOR FOR A DISCRETE WIRE ii 3 3 3 1 1 Specifications of Connector for Discrete wire iii 3 3 3 1 2 Assembly of Discrete Wire Connector eeiiiiiiiciereereveviiiiiienene 3 4 3 2 INPUT OUTPUT SPECIFICATIONS AND OUT PUT TERMINAL LAYOUT o i 3 5 3 2 1 Input Output Specifications wcecccccscccc
142. nte 10 11 10 2 4 Home Return in the Plus Direction Compatible Mode with the Current Models ictcsmiua liana il i ao 10 14 10 3 FLOW OF OPERATION FOLLOWING A HOME RETURN Li 10 17 10 8 1 Operation If the Home Input is the Z Phase of the Servo Driver 10 19 10 8 2 Operation If the Home Input is Through an External Switch 10 20 10 4 ACTION OF THE I O FLAG BEFORE AND AFTER A HOME RETURN OPERATION 10 21 10 5 CHECKING THE HOME AND NEAR HOME INPUT LOGIC 10 23 10 5 1 When Input Valid When Power is Supplied is Specified 10 23 10 5 2 When Input Valid When Power is not Supplied is Specified 10 28 10 6 PRACTICAL USE FOR A HOME RETURN 10 24 10 6 1 When One Switch is Used as the Home Input iii 10 24 10 6 2 When One Switch ON and OFF are assigned to Near Home Input and Home EE OCA RE ESTA ORION SENATORI O ANO N SINSEOTO DIARIO VISA EE 10 25 10 7 OPERATION AT OVER LIMIT INPUT 10 27 10 8 CAUTIONS ON AN OVER LIMIT SWITCH ei 10 28 TO 9 SPECIAL MENTION vili ilaele Le aliante ll ala 10 29 11 PULSER INPUT OPERATION ev vo rrrrrreeeeee eee ee ren ie ee eee ee see e ee cene eee eeeeeenicee 11 1 11 L SAMPEE PROGRAM prelato alcol nale 11 2 11 1 1 Pulser input operation Transfer multiple 1 multiple setting
143. om that point The motor does not stop if this occurs and no error occurs Functions of Unit and Restrictions on Combination FP2 Positioning Unit 1 2 2 Basic Operation of FP2 Positioning Unit Control proceeds by turning ON and OFF the shared memory and input output flag X80 Hor HLF DW H 0 DO Fi ov K 500 DT2 Control code increment Startup speed 500 pps FI DMV K 10000 DT4 Target speed 10000 pps Fi pw K 50 DTS Acceleration decelerationtime 50 ms Position command value 1001 50 pulses Li 1 ae Fi DIV K 100000 DT8 FISI WRT KO DTO KiO H 100 Various parameters are written to the shared memory of the positioning unit by the F151 instruction 2 Positioning paramerters written to CPU s date To motor driver Startup contact goes on and pulse output begins 3 Determining the necessary data The types of data written to the positioning unit include control codes the startup speed the target speed the acceleration deceleration time and the position command value The types and number of required data varies depending on the objective Programming is set up so that these data values may be written to any desired data register Transferring to the shared memory The data stored in the data registers is sent to the positioning unit by means of the F151 or P151 instruction where it waits for further instructions The memory a
144. ome Return FP2 Positioning Unit 10 1 2 Home Return Compatible with AFP2430 AFP2431 Compatible mode with the current models This is a mode which is compatible with FP2 positioning unit Product number AFP2430 AFP2431 in the program When the home position is in between where the table travels the table does not reverse the direction but stops by detecting Over limit switch or Setting the control code Lower the 6th bit to 0 invalidates a home position search When Near home input exists in the direction of home The table slows down near the near home and stops at the home position Retum position Home position AL4 side e Xx e 9 Over limit switch Over limit Home switch Near home switch switch When Near home input does not exist in the direction of home return 1 Home return operation starts in the direction specified in the program The table travels to the position where Over limit position is made Home position i esso side VONTI DL side Motor XV AUUULRLERLERTLLE SET Over limit switch Over limit Home switch Near home switch switch Note If the home switch is ON when Home return is requested the unit recognizes the table is already home returned Therefore the table will not move any further and completes Home return 2 When Over limit switch is detected the operation stops
145. on command value K 2 147 483 648 to pulse 10000 Noe K2 147 483 647 Note 1 If the limit error occurs set HO as the limit input valid logic can be changed Note 2 A set value error occurs in Absolute method Program X91 Rode Lita HF pe______ Starting condition Rei i ee ee n e ee _ F1 DMV H 80 DT 0 4 Control code F1 DMV K 500 DT 2 4 Statup speed i F1 DMV K 10000 DT 4 4 Target speed Acceleration F1 DMV K 100 DT 6 er et deceleration time F1 DMV K 10000 DT 8 wie F151 WRT KO DTO K10 H100 Shared memory writing slot No 0 from which v 3 stats JOG postioning A pas operation fof the Tst axis ED JOG Positioning Operation FP2 Positioning Unit Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions Set the position command value in the Increment method A set value error
146. on in which the motor is rotating CW CCW clockwise counter clockwise When the shared memory control code Higher 8 bit is 0 default setting forward rotation CW clockwise pulse signals are output from the pulse output A pin and reverse rotation CCW counter clockwise pulse signals are output from the pulse output B pin FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 1 3 Setting the Shared Memory Control Code Relationship with Rotation Direction Pulse Sign mode Common memory Control code Higher The 9th bit The 8th bit 0 0 With forward rotation the elapsed value increases With reverse rotation the elapsed value decreases Reverse Forward Reverse Pulse output A Direction of increasing elapsed value Direction of decerasing elapsed value Pulse Sign mode Common memory Control code Higher The 9th bit The 8th bit 0 1 With forward rotation the elapsed value decreases With reverse rotation the elapsed value increases n i I 85 eS ER Vil li i al ee i Reverse Forward Motor driver Reverse Forward Pulse output A Pulse output B Direction of increasing elapsed value Direction of decerasing elapsed value Confirming the Unit Settings and Design Contents FP2 Positioning Unit CW CCW mode Common memory Control code Higher The 9th bit The 8th bit 1 0 With forward rotation the elapsed value increases With rev
147. on to check ON near home input and then OFF near home input Then the home return operation is automatically executed When Near home input exists in the direction of home return The table slows down near the near home and stops at the home position Return position Current position side Return direction A side Ball screw c Motor Over limit switch _ Over limit Home switch Near home switch switch When Near home input does not exist in the direction of home return 1 Home return operation starts in the direction specified in the program The table travels to the position where Over limit switch is made Current position Over limit switch _ Over limit Home switch Near home switch switch 2 When Over limit switch is detected the table reverses the direction When the near home input is once turned ON and then OFF the table slows down and turns around Over limit position Near home position side Over limit switch Over limit Home switch Near home switch switch 10 2 FP2 Positioning Unit Home Return 3 When the near home is detected again the speed slows down from the target speed to the startup speed and the table stops at the home position Home position Near home position side EPIRA WEN Paes i side Motor ASSY fanns smmm
148. ontents 4 2 3 Confirming I O Number Allocations The I O numbers is always required when creating a program These change depending on the position at which the unit is installed on the backplane and should always be checked to make sure they match the design For information on allocating I O numbers refer to the FP2 Hardware Manual section I O Allocation The occupied I O areas for all of the units mounted between the CPU and the positioning unit should be confirmed The serial numbers are allocated as I O areas for the positioning unit Example The following is an example of a 4 axis type positioning unit being mounted between the 3rd and 4th 16 point output units CPU 4 axis type positioning unit 6 point output unit i 6 point output unit 16 point output unit t XO to XF WX0 WY1 WY2 1st axis X30 to X3F WX3 Y70 to Y7F WY7 2nd axis X40 to X4F WX4 Y80 to Y8F WY8 3rd axis X50 to XSF WX5 Y90 to Y9F WY9 4th axis X60 to X6F WX6 Y100 to Y10F WY10 The following is an example of a 2 axis type positioning unit being mounted between the 3rd and 4th 16 point output units CPU 2 axis type positioning unit 16 point output unit 16 point output unit i 16 point output unit 16 point output unit 1st axis da X30 to X3F WX3 Y50 to YSF WY5 XF Y1F YF 2nd axis WX0 WY 1 WY 2 X40 to X4F WX4 Y60 to Y6F WY6 Note
149. osition and axis number of the positioning unit JOG positioning operation start input timing When the positioning control start input Timing input has been already ON when turned ON the JOG positioning operation start flag Y_8 the positioning control is immediately started When the positioning control start input Timing input is turned ON during acceleration also the positioning control is immediately started When the positioning control start input Timing input does not go ON after the JOG positioning operation started up the pulses keep going out JOG Positioning Operation FP2 Positioning Unit 9 1 2 Increment Relative Value Control Minus Direction This is a program to start the JOG positioning operation speed control gt position control from JOG operation by the external switch input The Increment method is used for the travel amount setting and the direction in which the elapsed value increases as the motor rotates is set as the plus direction 4 axis type 64 point type X91 positioning unit inpul f mt JOG positioning _ operation start switch Positioning control start input switch WX1 WX9 WX2 WX10 WX3 WX11 Table ARAARALLRRERRERRN side side Pulse output diagram Shared memory setting Control code Startup speed fs pps Target speed ft pps Accelerationideceleration time Ac ms Position command value Pt pulse JOG
150. ot connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home returns and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed the acceleration deceleration specified a set value error will occur and operation cannot be initiated The number of the startup flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit 6 5 E Point Control Single Speed Acceleration Deceleration FP2 Positioning Unit 6 1 3 Absolute Absolute Value Control For this control the Absolute method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction 4 axis type positioning unit 64 point type input unit Will move to 25000 no matter where the current point is Ball screw e side 10000 25000 side
151. ounter Clear _ gt B7 B16 Power supply Open collector Output specifications Output form Open collector GND 5to 24vbc Operating voltage range 4 75 to 26 4V DC Max load current ON Max voltage drop Note Always use twisted pair cables for wiring The Current which can be conducted as the deviation counter clear output signal is 10 mA max If 10 mA is exceeded resistance should be added 3 11 Wiring FP2 Positioning UNit 3 6 Connection of Home Input Near Home Input Signals This is the home signal input connection for the home return It should be connected to the Z phase output Line driver output or Transistor output of the motor driver or to an external switch and sensor Note We recommend using twisted pair cables as the wiring between the positioning unit output and the motor driver or twisting the cables used 3 6 1 Connection of Home Input When connecting to motor driver Z phase output a Positioning unit Q e Z phase gt signal Home input end B3 812 Input specifications at 5V DC 3 6 2 Connection of Home Input When connecting to an external switch sensor Connection Positioning unit Positioning Positioning unit Home CR Power supply Home TT n GND ot 5V D ET Input specifications at 24V DC 3 12 FP2 Positioning Unit Wiring 3 6 3 Connection of Near Home Input Signal
152. owing data items must be written to the specified addresses in the shared memory For repeating the same operation the re setting is not necessary If the control code is not changed re setting per startup is not necessary as its settings are retained by the one time writing after the positioning unit power supply is turned ON Operation is determined by these five types of data Control code Startup speed Target speed Acceleration deceleration time Position command value 6 8 FP2 Positioning Unit E Point Control Single Speed Acceleration Deceleration Operation steps Step 1 Preparatory stage The data required for operation is transferred to the shared memory in advance Data for booting E point control COR TTT Control code Startup speed Target speed Ji Acceleration deceleration time _ Position command value e e lt gt SS 111 Step 2 Executing the operations Operation begins when the flag Y40 for E point control is turned ON The control code determines whether S acceleration deceleration or linear acceleration deceleration is used Acceleration is carried out from the startup speed to the target speed and then the speed slows to the startup speed This amount of travel is determined by the position command value OH E Point Control Single Speed Acceleration Deceleration FP2 Positioning Unit 6 3 Operation of the Input and Output Be
153. pe Dimensions and Driver Wiring FP2 Positioning Unit 17 2 2 Panasonic MINAS S Series E Series 7 77 Positioning unit A Servo amplifier l 1 A10 PULS 1 n l 4 gt FEAT g Pulse output A i 2209 SY CW pulse input 1 l PULS DA We i Li i i Pulse output B gt TE _X NK K 2209 Y COW pulse input be son 2 MM ar J e_N b ces i l io X NK A paris Ti z SES aie COM p i 1 E dat i es w Deviation Deviation counter clear i N i B7 B16 CL IM counterclear y i 41 4 7kQ i i B4 B13 O co o COM 4 SRV ON Y Servo ON gt Near home i Ea Output from PLC 57777 gt g i input 4 2 4 7kQ or a DOG A5 A14 a A CLR Alarm clear Foglie oi Output from PLC 2 NM i DI 4 7kQ ANT i A6 A15 L sj i VY CWdrive Over limit fo ES Pedane i ae LI disable input F 7 47k Limit i i B6 B15 3 Power ZANE DE 4 Z CCWdrive supply for Power A20 disable driving the supply internal circuit GND i circuit B20 SoS Se SSS SSS i N I Servo alarm output a 24 V DC Power supply l y o i Input to PLC SON o 10 4 Positionin GND al
154. plied 24V DC passes through an internal DC DC converter and is converted to 5 V DC voltage It is then supplied to the various internal circuits as a power supply for internal circuit drive of the pulse command output pin 3 3 1 Line Driver Output Type Pulse command Pulse command ren output input i A1 A2 A10 A11 i A External power supply Usable voltage range 21 4 to 26 4V DC External power urrent 4 axis type 90 mAorless__ i HAD The illustration shows one signal component extracted from the overall configuration 3 3 2 Transistor Output Type The power supply for the pulser command output circuit can be taken from the 5V DC out put pins pin No A1 A2 A10 and A11 Positioning unit Motor driver pre TTT i Pulse command i at 5V output input i O 15 mA per signal jou pu can be used asa i iB1 B2 B10 B11 guide leccese seal i Pulse command Pulse command DC DC svpc converter External power supply Usable voltage range 21 4 to 26 4V DC Current 4 axis type 90 mAor less consumption 2 axis type 50 mA or less RE ER AREA Note When open collector pulse output Transistor output is used the value of 15 mA per signal should be used as a guide If exceeds the 15 mA the appropriate resistance should be added 3 9 Wiring FP2 Positioning UNit 3 4 Connection of Pulse Command Output Signal Two types of output types are available for the FP2 positioning unit d
155. pps Target speed ft pps Acceleration decelaration time Ac Vale pusej 104h Target speed ft pps 105h Acceleration 106h Gecelaration time Ac 497 ba rp h 100 K K 25000 81 Acceleration 1 tm GERE me a Jom ton _K_10000 ii to pps ms P point control CPU Y41 i start flag PST i Set value cha CPU XA rei nti confirmation flag CEN crei busy flag BUSY EDP Elapsed value 5000 AXXYXXX Pe 8 No of counts when booted No of counts when stopped z con FP2 Positioning Unit Shared memory settings P Point Control Multi Stage Acceleration Deceleration Control parameter setting Set values in sample program example content ist speed 2nd speed _ 3rd speed Range f acceptable settings H81 lote Absolute method The same The same Control code Linear as left as left Refer to page 16 7 acceleration deceleration The same The same Startup speed pps K500 as left as left KO to K4 000 000 K1 to K4 000 000 The target speed for the first speed Target speed pps K3000 rem K500 should be set to a value larger than the startup speed Acceleration deceleration K100 K100 K500 KO to K32 767 time ms Position command value K 2 147 483 648 to pulse K10000 K25000 K31000 K2 147 483 647 Note If the limit error occurs set H1 as the limit input valid logic can be changed
156. programming tool software 2 Specify the flag Y_F for the forced output 3 Make the target contact once ON and then OFF 4 Cancel the forced status Note Without fail execute forced cancel operation after the forced output The number of relay to be used varies depending on the allocations axis number and the type of the unit installed 15 9 Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 15 3 2 If the Motor Does Not Turn or Operate if the LED for pulse output A or B is flashing or lighted Solution 1 For the servomotor Check to make sure the servo on input is set to ON Motor driver 4 axis type 64 point type positioning unit output unk Solution 2 Check to make sure the power supply for the driver is ON Solution 3 Check to make sure the wiring between the positioning unit and the driver has been correctly connected Solution 4 Check to make sure the settings for the pulse output method CW CCW method or Pulse Sign method are appropriate for the driver Check the control code items 15 3 3 If the Motor Does Not Turn or Operate if the LED for pulse output A or B is not lighted Solution Review the program and correct it if necessary Points to check 1 Check to make sure the I O numbers are appropriate 2 Check non rewriting of the start flag in the program 3 Check the input valid logic of the Over limit switch In this case Error LED is blinki
157. put enabled status is initiated This flag is shared among E point control P point control JOG operation JOG positioning operation and pulser input enabled operation FP2 Positioning Unit P Point Control Multi Stage Acceleration Deceleration 7 4 Precautions When Creating P Point Control Programs 7 4 1 Precautions Concerning the Set Value Change Confirmation Flag X_A The set value change confirmation flag is turned ON and OFF at the timing noted below so an interlock should be applied to prevent the shared memory or other data from being overwritten at the same timing Conditions for turning the flag from OFF to ON This flag goes ON when P point control or E point control is initiated It goes ON at the point when the next data can be written Conditions for turning the flag from ON to OFF This flag goes OFF when pulse output is completed after P point control or E point control is initiated It goes OFF when the shared memory write instruction F151 or P151 is executed and any type of data is written to the shared memory of the positioning unit The interlock should be applied to each circuit so that F151 or P151 instruction cannot be executed and the set value change confirmation flag X_A cannot be rewritten under any other conditions P Point Control Multi Stage Acceleration Deceleration FP2 Positioning Unit if aok X80 X86 xo R80 Ao gt R80 H FI DMV H 8 DT 0 Fi DMV K 500 DT
158. r When either can be used we recommend the Line driver output type 1 3 Functions of Unit and Restrictions on Combination FP2 Positioning Unit Automatic acceleration and deceleration can be controlled simply by providing the startup speed target speed acceleration deceleration time and position command values as data Speed Startup speed Target speed G Acceleration gt deceleration time Motor Position 5 command value Time Positioning Unit The linear acceleration deceleration and S acceleration deceleration can be selected simply by setting parameters enabling to cope with the control needs smooth acceleration and deceleration Sin curve Secondary curve Cycloid curve Third curve are available for S acceleration deceleration Speed Linear acceleration S acceleration decoleration decoleration Time Linear interpolation possible through user programs The FP2 positioning unit can handle simultaneous startup of multiple axes enabling simultaneous control of linear interpolation and other elements through user programs 1 1 2 Unit Types Unit type and Product number Note Connector for a discrete wire is attached with a unit 1 for 2 axis and 2 for 4 axis Reference 3 1 1 Specifications of Connector for Discrete wire 1 1 3 Combination with MINAS Motor When using FP2 Positioning Unit with MINAS Motor an easy connectable Motor driver I
159. r acceleration deceleration control JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit If forward and reverse rotation are started at the same timing forward rotation takes precedence Also if one or the other is started first rotation in that direction takes precedence 8 6 FP2 Positinoning Unit JOG Operation 8 2 Sequence Flow for JOG Operation JOG operation When a 4 axis type positioning unit is mounted in slot 0 Operation example When the flag for forward rotation Y43 JGF is turned ON forward rotation begins and acceleration is initiated based on the settings When the flag is turned OFF deceleration takes place based on the settings and the operation stops When the flag for reverse rotation Y44 JGR is turned ON reverse rotation begins and acceleration is initiated based on the settings When the flag is turned OFF deceleration takes place based on the settings and the operation stops
160. r uses the contact which is the same as the one for the pulse input signal Accordingly it can not function together with the pulser input operation The feedback counter is available for each axis Please note that the counter value is cleared when the home return is completed or when the Error clear flag Y_F is ON A special attention is required when using the feedback counter as a general purpose high speed counter When counting the 2 phase input such as the input from the encoder set the pulse input transfer multiple to 4 multiple setting x 4 or 2 multiple setting x 2 using the control code to prevent counting error The pulse count value for the feedback counter is stored in the addresses below Shared memory address Countable range 1st axis H10F 10E Signed 32 bits 2nd axis H11F 11E 2 147 483 648 to 3rd axis H12F 12E 2 147 483 647 4th axis H13F 13E E Feedback counter function control code table 8 bits among higher 16 bits rae frenes Trees 2 phase input transfer multiple Input mode Transfer ofo x oJo eorese eHe piez distinction Individual alr 2 phase 13 5 Feedback Counter FP2 Positioning Unit 13 3 Feedback Counter Input Method 2 phase input lt normal settings gt Control code Higher side HO Forward __ Reverse Pulse inputA SUI UU LL JU ULI LI LL Pulse input B SLL bt LiL Ww EL Li LL
161. re Axis Input Output Input 32 points 1st axis XO to XF WX0 Y20 to Y2F WY2 2 axis type Output 32 points 32SX 32SY 2nd axis X10 to X1F WX1 Y30 to Y3F WY3 1st axis XO to XF WX0 YA0 to Y4F WY4 Input 64 points 2nd axis X10 to X1F WX1 Y50 to Y5F WY5 4 axis type Output 64 points 64SX 64SY 3rd axis X20 to X2F WX2 Y60 to Y6F WY6 Ath axis X30 to X3F WX3 Y70 to Y7F WY7 Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 2 2 Contents of Input and Output Allocations VO flag number 5 Doni 2 axis type 4 axis type Flag Name Description ist 2nd ist 2nd 3rd 4th axis axis axis axis axis axis xo e ulse Busy ON during pulse xo x0 xo x10 x20 x30 output busy output 1 Pulse Goes ON when X_1 EDP pulse output ends x1 X11 X1 X11 X21 X31 output done 2 x_2 Acceleratio Acc ON during x2 x2 x2 x12 x22 x32 n zone acceleration zone Constant ON during X3 CON constant speed X3 X13 X3 X13 X23 X33 speed zone zone x_4 Deceleration peg ON during xa xia xa xia x24 x34 zone deceleration zone Monitors direction x_5 Potation pir 9f rotation On xs x5 xs x5 x25 x35 pe direction during the elapsed value increment Goes ON when X_6 Home input ZSG home input X6 X16 X6 X16 X26 X36 becomes valid Near home Goes ON when X7 input DOG near home input X7 X17 X7 X17 X27 X37 becomes val
162. rea which receives that transferred data is called the shared memory of the positioning unit This area is used for various types of control including E point control P point control JOG operation JOG positioning operation home return home search and pulser input operation and a separate shared memory area is provided for each of the axes Initiating control operations In order to execute the data waiting in the positioning unit the startup flag of the various operation modes are turned ON The abovementioned programming example shows this process for Y40 Y40 is the number of the flags that starts up the E point control of the first axis when the unit is installed in slot 0 Separate flags are provided for each of the axes for E point control P point control home return JOG operation JOG positioning operation and other types of control FP2 Positioning Unit Functions of Unit and Restrictions on Combination 1 3 Restrictions on Units Combination 1 3 1 Restrictions on Combinations Based on Current Consumption The internal current consumption at 5 V DC power supply for the positioning units is noted below When the system is configured the other units being used should be taken into consideration and a power supply unit with a sufficient capacity should be used Product number Current consumption at 5 V DC FP2 PP21 AFP2432 200mA FP2 PP41 AFP2433 350mA FP2 PP22 AFP2434 200mA FP2 PP42 AFP2435 350mA 1 3 2 R
163. red memory ahead of time Data for JOG operation Control code Startup speed L A Acceleration _ m deceleration time Step 2 Executing the operations Forward The start flag Y43 for forward rotation is turned ON OFF ON OFF X90 Reverse JOG switch Reverse The start flag Y44 for reverse rotation is turned ON Forward BEE Sten switch ON xan SO f pps OFF ON OFF Reverse The control codes determine whether S acceleration deceleration or linear acceleration deceleration is used When the start flag is turned ON acceleration takes places from the startup speed to the target speed for the acceleration deceleration time When the flag is turned OFF deceleration takes place until the startup speed is reached and operation then stops FP2 Positinoning Unit JOG Operation 8 3 Changing the Speed During JOG Operation Specifying a speed change during JOG operation To change the speed during JOG operation the program should be set up so that only the Target speed parameter in the shared memory is overwritten after JOG operation has begun 4 axis type positioning unit 64 point input unit Reverse JOG switch High low speed WxO WX8 selector switch WX1 Wx9 WX2 WX10 WX3 WX11 wy4 wys WwY6 wy7 Reverse Table Forward side Ball screw AASS an
164. res the contents of the CPU area specified by S2 and n in the address specified by D of the shared memory of the unit mounted in the slot specified by S1 at the beginning of the memory area Specified addresses Data elapsed values are stored as 32 bit data Address of shared memory hexadecimal so 1st axis 2nd axis 3rd axis 4th axis Description 10Ah 11Ah 12Ah 13Ah Elapsed value E HA di 10Bh 11Bh 12Bh 13Bh count absolute value to 2 147 483 647 Note Elapsed values should be written while the operation is stopped Program example Writes the data 0 zero into the elapsed value area RO H F1 DMV K 0O DT 100 F151 WRT KO DT 100 K2 H10A Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 20 Chapter 5 Power ON and OFF and Booting the System Turning the Power ON and OFF and Booting the System FP2 positioning Unit 5 1 Safety Circuit Design Example of a safety circuit Installation of the Over limit switch Positioning unit Motor driver ne wegen gens nenevoopeogooe pa H RIO S ams ake am a dl dit O15 at Over limit Over limit oe NE CWdriving E s E Iswitich switich fi CW driving inhibition switch i neon Driver upper and lower limit input External safety circuit Input to positioning unit Safety circuit based on Positioning un
165. rned ON Shared memory Shared memory e _ _ _LL i e i cc cc cn dc dc dc c di i Various set values and elapsed d values are elapse reset to 0 values Power supply and ON OFF ON All set values J pren When the power supply is turned OFF the various set values in the shared memory are set to 0 All of the control codes also return to the default values Note If the start flags are turned ON without writing the data to the memory a set value error may occur and the unit may not operate as expected If a home return is carried out when the power supply is ON write the control codes to the memory before the home return start flag is turned ON If the control codes are not written to the memory problems may occur such as a discrepancy between the direction of the home return and the input logic causing the unit to operate in unexpected ways SE Fi DMV H 10 DT 0 m omv K 500 DT 2 Fi DMV K 10000 DT 4 Fi DMWv K 100 DT 6 FISIWRT Ko DTO K 8 H 100 R9013 Y42 7 IIOS Reference The following program should be written to the unit so that after the power supply is turned ON the elapsed value data prior to the power supply being turned OFF will be read 14 2 FP2 Positioning Unit Precautions Concerning the FP2 Operation and Programs Goes on for only one scan after ower s
166. rol code to prevent counting error 0 Default Forward Deviation counter clear time Poem 1 el ims roms O oww 1 T II i o overt cune miinaan 16 6 FP2 Positioning Unit Specifications How to specify the control code 32 bits are assigned to the control code as shown in the previous page Specify the pulse output method or pulse input method When you do not want to use any function specify 0 for its applicable bit Example 1 Pulse output method at the default All bits are 0 at the default setting that is the lowest 2 bit is 0 Accordingly the control is the increment method and the acceleration deceleration method is a linear acceleration deceleration Example 2 The control code when changing the control method to the Absolute method Lower 16bit N RE 0 0 0 1 Read H0001 to specify H1 Example 3 The control code when changing S acceleration deceleration to Secondary acceleration deceleration in the Absolute method Lower 16 bit 0 0 0 110 0 0 010 0 0 010 0 1 1 O a 1 0 0 3 Read H1003 to specify H1003 Example 4 The control code when changing the output method to CW CCW in the Increment method Higher 16 bit Lower 16 bit 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0J0 0 0 010 0 0 0 0 0 0 0 ina es Nin Nol No SN ul 0 2 0 0 0 0 0 0 Read H02000000 to specify H2000000 Specifying the Pulse output divide mode In the d
167. rried out Because an error occurs if a startup is applied to an axis for which the target speed is 0 pps an internal flag is used and the startup conditions are specified Items to be set for the program Data Linear component X axis component Y axis component time Target position absolute X Y x Y Current position absolute x y x y Movement distance L X x Y y Lx X x Ly Y y i E X x ert Gall startup speed VS Vsx Vs x L Vsy Vs x X Y target speed Vt Vtx Vt x Vty Vt x Acceleration deceleration Ac Acx Ac Acy Ac For items marked with an asterisk the user may specify any desired value Other items are handled through operation in the sample program Reference Calculation of the linear movement distance i X Y L XY e Y X 18 5 Sample Program FP2 Positioning Unit Target position DT6 DT8 4000 13000 side Current position DT10 DT12 Y X L A DT14 DT16 Allocation of data registers Item Data No Description Calculation formula DTO startup speed User DT2 target speed Setting DT4 Acceleration deceleration time area DT6 Target position of X axis DT8 Target position of Y axis DT10 Current position of X axis DT12 Current position of Y axis DT14 Movement amount of X axis absolute ABS DT6 DT 10 value of target position of X
168. rror ARCT1F355E 2 NOV 2006 Third edition ARCT1F355E 3 NOV 2008 Fourth edition Change in Corporate name ARCT1F355E 4 AUG 2011 Fifth edition Change in Corporate name Fixed Errors ARCT1F355E 5 JUL 2013 Sixth edition Change in Corporate name Please contact Panasonic Industrial Devices SUNX Co Ltd E Overseas Sales Division Head Office 2431 1 Ushiyama cho Kasugai shi Aichi 486 0901 Japan E Telephone 81 568 33 7861 W Facsimile 81 568 33 8591 panasonic net id pidsx global About our sale network please visit our website Panasonic Industrial Devices SUNX Co Ltd 2013 July 2013 PRINTED IN JAPAN ARCT1F355E 5
169. rve are available for S acceleration deceleration The acceleration deceleration will be completed for the time set in the shared memory f pps f S acceleration deceleration 1 gt i i t ms Acceleration _ Acceleration deceleration time deceleration time 4 4 2 S Acceleration Deceleration Pattern S acceleration deceleration curve grade Third curve gt Cycloyd curve gt Secondary curve gt Sin curve pi 7 Straight line dI 4 Sin curve Secondary curve s Cycloid curve Third curve 4 14 FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 4 3 Indicating the Method of Acceleration Deceleration Indicating the method of acceleration deceleration This is specified in the program as a control code Example With E point control set F1 DMV H 0 DT 0 F1 DMV K 500 DT 2 F1 DMV K 10000 DT 4 F1 DMV K 100 DT 6 J F1 DMV K100000 DT 8 F151 WRT K1 DTO K10 H100 The method of control varies depending on the control code When the code is HO increment method linear acceleration deceleration When the code is H1 absolute method linear acceleration deceleration When the code is H2 increment method S acceleration deceleration Sin curve When the code is H3 absolute method S acceleration deceleration Sin curve When the code is H1002 increment method S acceleration deceleration Secondary When
170. s faeh na or aD COD sss 8 oa jase as ais ep Bs gS eat e 15 10 15 8 8 If the Motor Does Not Turn or Operate if the LED for pulse output A or B is POG AICO a a a a a a a a aAa aE aaa Ai 15 10 15 3 4 Rotation Movement Direction is Reversed eeeiiireie 15 11 15 3 5 The Stopping Position is OFF for a Home Return 15 11 15 3 6 Speed Does not Slow for a Home Returthieeeccccccccccccseseesecsscscececsseessenssssseseeeees 15 11 15 8 7 Movement Doesn t Stop at Home Position after decelerating for home return REEE EE S EE A gh E pa tuacaeonatodeae batons nde luaden suttecedd DIO EROI O BREE VOTE CECO 15 11 16 SPECIFICATIONS Lilli ail lan ion 16 11 16 1 TABLE OF PERFORMANCE SPECIFICATION e 16 11 16 2 TABLE OF SHARED MEMORY AREA 16 11 16 3 CONTROL CODE DETAILS ci er i pi ai 16 11 16 4 TABLE OF I O FLAG ALLOCATION 16 11 17 DIMENSIONS AND DRIVER WIRING eeerrrrrrrreceeeee zeri cie see ee eee zizeeenee 17 11 A721 DIMENSIONS it flebile Nara 17 11 17 2 WIRING FOR MOTOR DRIVER erre eee cere eee cenere eee 17 11 17 2 1 Panasonic MINAS A Series iii 17 11 17 2 2 Panasonic MINAS S Series E Series rire 17 11 17 2 3 Panasonic MINAS EX Series rien 17 11 17 2 4 Panasonic MINAS X XXM Series icciveriveive rev reve riceverne 17 11
171. s SUNX Co Ltd AXY52000FP Pressure connection tool Wiring FP2 Positioning UNit 3 1 2 Assembly of Discrete Wire Connector The wire end can be directly press fitted without removing the wire s insulation saving labor Procedure 1 Bend the contact back from the carrier and set it in the pressure connection tool 3 4 FP2 Positioning Unit Wiring 3 2 Input Output Specifications and Out put terminal Layout 3 2 1 Input Output Specifications Connector for 1 and 2 axis Connector for 3 and 4 axis Connector for 1 and 2 axis 2 connectors are used to connect 4 axis type and 1 connector to connect 2 axis type The signal pins for 2 axes are assigned to 2 axis type connector AX1 and and AX3 and 4 connectors for 4 axis type has the completely same pin assignments so that the same pin No functions the same Between the Transistor type and the Line driver type the pulse output terminal performace is different but the input terminal and the power supply terminal are in the same specifications Output terminals Transistor Output type Pin number Circuit Signal name Item Description 1 3 axis 2 4 axis A1 A10 A1 A10 RO 5 Output format Open collector B1 B10 DE 3 A2 A11 Pulse output A _ 6 Operating voltage 4 75 V DC to Open collector 2 8 range 26 4 V DC t B1 B10 Pulse output B 3 5 A2 A11 B2 B11 5V DC outp
172. s completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop This flag is shared among E point control P point control JOG operation JOG positioning operation and home return except for the pulser input operation Home return done flag X_8 1 This goes ON when a home return is completed and is maintained until E point control P point control JOG operation JOG positioning operation a home return or pulser input operation is started Pulse output done flag X_1 1 The pulse output done flag does not go ON when a home return is completed 2 Before a home return is started this goes from ON to OFF when E point control P point control JOG operation JOG positioning operation or pulser input operation is completed 3 If this is OFF before a home return is started it remains OFF and does not change This flag is common to E point control P point control JOG operation JOG positioning operation and pulser input operation 10 22 FP2 Positioning Unit Home Return 10 5 Checking the Home and Near Home Input Logic 10 5 1 When Input Valid When Power is Supplied is Specified In cases like that below when power is supplied to the input circuit of the unit the Power supplied control code for the program is selected from the control code table Refer to page 16 7 When to specify Input valid when power is supplied
173. s concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated Set the startup speed to 1pps or more The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit The control code settings vary depending on the logic of the home return input and the near home input which have been connected 10 16 FP2 Positioning Unit Home Return 10 3 Flow of Operation Following a Home Return Home return When a 4 axis type positioning unit is mounted in slot 0 Operation example When the startup flag is turned ON acceleration is carried out based on the settin
174. set as the plus direction and pulse sign is set as the pulse output mode The normal setting system 4 axis type 64 point type inpu positioning unit unit x7 gt Z Pulser input enabled Pulser WXO WX8 WX1 WX9 WX2 WX10 WX3 WX11 wy4 wys WY6 wy7 Reverse 4 Ball screw side Pulse output diagram 100h 103h 104h 105h K 5000 Target speed ft pps SARAI 3 7 f pps Direction of increasing elapsed value Direction of decreasing elapsed value 5000 CPU Y47 Pulser input enabled PEN Pulser output done flag CPU pri External Pulser input A phase External Pulser input B phase ExternalPulser output A phase External Pulser output B phase Pulser forward Pulser reverse Aphase L 1_ L_ Aphase LA Bphase SLA Bphase L L L Pulser Input Operation FP2 Positioning Unit Shared memory settings Control parameter Set values in sample program gt setting content example Range of acceptable settings H280 Control code Multiplication ratio x5 multiple Refer to page 16 7 Target speed pps K10000 K1 to K4 000 000 Note If the limit error occurs set H200 as the limit input valid logic can be changed Program X97 R93 AP degni L Starting condition r cre ati e ue EEE E n HP_ F1 DMV H 28 DT 0 Controi code Shared memory F151 WRT KO DTO K2 H100
175. signal This is installed in the FP2 positioning unit and goes on when a home position return is completed to notify the driver that the table has arrived at the home position Pulser input operation This is a device which generates pulses manually and is used for adjustment when manual operation is used The same type of output as that from the encoder can be obtained and the FP2 positioning unit is equipped with a dedicated input terminal FP2 Positioning Unit Glossary Transfer multiple With the FP2 positioning unit this can be specified when the pulser operation function is used Outputting the number of pulses doubled by the number of pulser input signals the transfer multiple is said to be 2 and when the number of pulses is five times that of the pulser input signals the transfer multiple is said to be 5 Example Transfer multiple function of the FP positioning unit pulser input Input from pulser Input from pulser Standerd pulse A g Pulse with transfer i multiple of 2 o fl Lo Pulse with transfer i Feedback pulse input This counts the feedback pulse from the encoder 2 phase input direction distinction input and individual input can be handled 2 phase input method This counts the signal of 2 pulses in the different phase A phase B phase when A phase preceeds B phase the motor is rotated clockwise count increment and when B phase preceeds A phase the motor is rotate
176. sitioning 1 completed and stored in memory X84 Reverse JOG R13 Positioning 1 done pulse X85 Emergency stop R20 during positioning 2 operation Y40 E point control start R21 Positioning 2 operation command pulse Y42 Home return start R22 Positioning 2 completed and stored in memory Y43 Forward JOG R23 Positioning 2 done pulse Y44 Reverse JOG R30 Forward JOG setting Y45 Forced stop R31 Reverse JOG setting Reference The switch input status can be checked at the following flag X6 Home input X7 Near home input XB Over limit input XC Over limit input 18 3 Sample Program FP2 Positioning Unit Program X82 XO R8 Y45 RO I DF Ouring home RO return RO R1 t X oF p re ran R1 command pulse Hm F1 DMV H M DT 0 F1 DMV K 50 DT 2 F1 DMV K 2000 DT 4 F1 DMV K 100 DT 6 F151 WRT KO DTO K8 H100 X8 R8 E el x8 Y45 ee RG Ree R9 x80 x0 R13 R9 R10 Th DF y Positioning R10 1 operation ON A R10 R11 1 DF Positioning R11 1 operation ON Pulse F1 DMV H DI DT 0 F1 DMV K 1000 DT 2 F1 DMV K 10000 DT 4 Fm DMV K 100 DT 6 Jj F1 DMV K 10000 DT 8 F151 WRT KO DTO K10 H100 XI R10 R9 R12 i DF Positioning R12 1 done memorized R12 R13 A oF xing 1 x81 xo R23R9 Mamere Rog ti DF Positioning R20 2 operation ON A R20 R21 1 DF Poston IONI R21 command pulse F1 DMV H D1 DT 0 F1 DMV K 1000
177. sssssccsssssceccsssssnsssssssssssesssssseesessssseessnssseessnses 3 5 3 3 SUPPLYING POWER FOR INTERNAL CIRCUIT DRIVE iii rire rire 3 9 3 8 1 Line Driver Output Type 3 9 3 3 2 Transistor Output Type iii 3 9 3 4 CONNECTION OF PULSE COMMAND OUTPUT SIGNAL i i 3 10 3 4 1 Line Driver Output type 3 10 3 4 2 Transistor Output Type iii 3 10 3 5 CONNECTION OF DEVIATION COUNTER CLEAR OUTPUT SIGNAL FOR SERVO MOTOR 3 11 3 6 CONNECTION OF HOME INPUT NEAR HOME INPUT SIGNALS ieri rire 3 12 3 6 1 Connection of Home Input When connecting to motor driver Z phase output 3 12 3 6 2 Connection of Home Input When connecting to an external switch sensor 3 12 3 6 8 Connection of Near Home Input SIQTal cccccccccccccceceseesescsccccececessersscscsseescseseenes 3 18 3 6 4 Connection of Over limit Input Signal eiiiiricirececiviiivizioreceei 3 18 3 6 5 Connection of Positioning control start input Timing Input Signal 3 13 3 7 CONNECTION OF PULSE INPUT L ieri rei ee eee 3 14 31 14 LIne Driyer Lyp sriid innin lai 3 14 3 7 2 Transistor Open Collector Type wiccsscsccccccccessenssscccsceseessensscccesecsessssssseseesetsesensesees 3 14 3 7 3 Transistor resistor Pull up Type iii 3 14 3 8 PRECAUSIONS ON WIRING i 3 15 4 CONFIRMING THE UNIT SETTINGS AND DESIGN CONTENTS 4 1 44
178. stop The FP2 Positioning unit performs the process in the very high speed so that it starts counting the number of the output pulses within 15us from when the positioning control start input timing input is ON during the JOG positioning operation The time is always stable enabling the table to stop at the specified very accurately Since each axis is completely independent the high accurate stop is possible even with the multiple axes Role of JOG positioning start flag Y_9 Turn ON this flag in the program so that the JOG positioning operation starts Even if the Positioning control start input Timing input to terminal No B5 or B14 is OFF this can be used for confirming the operation status Role of timing input monitor flag X_D Turn ON this flag in the program so that the Positioning control start input Timing input status can be monitored 9 14 Chapter 10 Home Return Home Return FP2 Positioning Unit 10 1 How to Use Home Return 10 1 1 Return to Home Position by a Home Search Home Search When the home position is in between where the table travels or when the direction of the home return could be in the both directions the Home return in the both directions can be performed using Over limit switch or Over limit switch Setting the control code Lower the 6th bit to 1 allows a home position search When the near home input is made during acceleration the table automatically reverses the directi
179. t 5000 fs 100 D 1 1 i 1 O 200 i t ms Edges of signal detected CPU Y42 ORGS The signal logig following detection of the near home flag DOG done not affect operation External i home External Home input Z phase i Output for Hb I Deviation 1 Approx 1 ms doer outpilt Can be changed to 10 ms using H the control code CPU X0 BUSY 3 CPU X8 l 11n_ 1 _ 4 F_ymy y9 y9 9 4 y y y x YV sa 7 7 n ORGE i The signal logic following detection of the near home i H flag DOG done not affect ponenenenenenenen operation Elapsed value Pe MMM 40 000 003 Count 1 When the home return has been completed When home return is done the X8 ORGE goes ON count value becomes 0 Note Z phase signals input during deceleration are not viewed as home input signals Deceleration continues without stopping until the startup speed is reached and then the motor continues to rotate at the startup speed until a Z phase signal is input Note When Home return is completed the elapsed value stored in the shared memory is cleared and the deviation counter clear output signal is output for about 1ms at the same time This output time can be changed to about 10ms using the control code Note When the home return is started at where the both of the near home and home inputs are valid the operation will be as follows Home
180. the code is H1003 absolute method S acceleration deceleration Secondary When the code is H2002 increment method S acceleration deceleration Cycloid When the code is H2003 absolute method S acceleration deceleration Cycloid When the code is H3002 increment method S acceleration deceleration Third When the code is H3003 absolute method S acceleration deceleration Third Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 5 Internal Absolute Counter 4 5 1 How the Internal Absolute Counter Works How the internal absolute counter works The positioning unit is equipped with a function that counts the number of pulses output The counted value of each axis is stored in the shared memory area of the positioning unit The stored value is read by the user program enabling the position data absolute value to be discerned This is used in functions such as teaching during JOG operation Using the comparison relay output function external output can be obtained in response to the count value through the user program Absolute counter El d Lite a This can be read and used Pulse output 1 I 1 I FI III How the internal absolute counter operates When the power supply is turned OFF the counter value is set to zero 0 When the table returns to the home position by a home return the counter value automatically becomes zero 0 The counter value is counted as an
181. this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction 4 ax s type positioning unit 64 point type input unit Table 26000 pulses Ball screw L sereni eee gt gt side Pulse output diagram Shared memory setting son E a ak 1 Startup speed fs PPS 109h Target speed ft pps 105h Acceleraboride pel 108h eration bene Ac ms Posting pompad 108h 102h 102 RE K eee 104h 104 ten E 8000 eee 106h Ac eb 106 iom estone Ref Jom 108h Position command 108h in K 5000 ate eet ton Target speed f pps Ac eral OSI fis alte Pi false ms pps 20000 EEE a H h H a H i H H 5000 H i H H s00p 4 i 1 E E i P point control CPU Y41 start flag PST cen confirmation flag CEN Et Ty Pulse output busy CPU X0 flag BUSY CPU XI Pulse output done EDP ste DZ BIO Pe Count No of counts when booted No of counts when stopped 7 2 FP2 Positioning Unit Shared memory settings P Point Control Multi Stage Acceleration Deceleration Control parameter Set values in sample program example i setting content 1st Speed 2nd speed 3rd speed Range of acceptable settings H80 lote Increment m
182. thod The same The same Z Control code Linear acceleration as left as left Reter to page 16 7 deceleration The same The same Startup speed pps K500 as left as left KO to K4 000 000 K1 to K4 000 000 The target speed for the first speed Target speed pps K5000 K20000 K500 should be set to a value larger than the startup speed Acgalerationi K100 K100 K500 KO to K32 767 deceleration time ms DU command valle krajo K 15000 K 6000 an Note If the limit error occurs set HO as the limit input valid logic can be changed Program Check to make sure the pulse output busy fiag is OFF x87 xo 1 oF 174 R87 m FO MV H 1 XA t 4 oF F101 SHL R10 Hio Ffi DMV H o Fi DMV K 500 DT 2 istartupspeed F1 DMV K 5000 DT 4 ITargetspeed j F1 DMV K 10 DT 6 4 Agpeguo decel j F1 DMV K 5000 DT 8 jvateorcommene F151 WRT Ko DTO K10 H100 Shared memory writing sgRegies the positioning unit is slot the 10 word contents from data registers DTO to DT9 are written to the shared memory addresses H100 to H109 RG Se Li een ia HP F1 DMV K 20000 DT 4 Target speed F DMV K 10 DT 6 l Acceleration decel F1 DMV K 15000 DT 8 jpgetoncommand F151 WRT KO DT4 K6 H104 Mie tne positioning unit is slot the 6 word contents from data registers DT4 to DT9 are written to the shared memory addresses
183. ting in affecting the P point control program operation R2 Kor FI DMV K 500 DT 4 Fi DMV K 500 DT 6 Fi DMV K 6000 DT 8 F151 WRT KO DT4 K6 H104 R86 Y41 it ED Because an interlock is in effect the E point control program cannot be booted if the P point control program has already been booted This prevents E point con trol from affecting P point control 7 14 FP2 Positioning Unit P Point Control Multi Stage Acceleration Deceleration 7 5 Operation at Over limit Input P point control operation is as follows when Over limit input or Over limit input is ON Condition Direction Limit status Operation ALI r Table not to move Over limit input 4 ON Limit error occurs Forward Over limit input ON apie notto move When P point Limit error occurs control is turned ON are Table not to move Revere AR Limit error occurs Tir Table not to move Over limit input ON Limit error occurs N Table stops During P point Forward Overlimit ifput ON Limit error occurs control operation Ravers Over limit input ON Table stops Limit error occurs 7 15 P Point Control Multi Stage Acceleration Deceleration 7 16 FP2 Positioning Unit Chapter 8 JOG Operation JOG Operation FP2 Positionig Unit 8 1 Sample Program 8 1 1 JOG Operation Forward and Reverse This is the basic program for forward
184. tion Sample Program m DMV K 100 DT 6 F151 WRT This specifies the positioning unit in lo Noo from wich ha the 8 word contacts from data registers DTO to DT7 are written to the shared memory addresses H100 to H107 x90 XO R91 Y43 mieie oF Y43 x91 XO R91 Y44 m Hi oF Y44 foal X90 A _ 0 x91 H H DF X9 3 HoH FO MV K 0 1 0 7 R91 This specifies the positioning unit in slot No 6 from witicn 9 the 2 word contacts of shared memory address elapsed value area H10A and H10B are read to the data register specifiled by I0 100 ED Precautions concerning the program x90 X0 R90 alr oF x91 XO DF X92 R90 F1 DMV K 5000 DT 4 X92 R90 F1 DMV K 10000 DT 4 R90 HH F1 DMV H 80 DT 0 F DMV K 500 DT 2 KO DTO K8 H100 F6 DGT WX10 H 0 10 F30 10 K2 10 F151 READ HO H10A K 2 10 DT100 s onore TT X94 R94 H K pF A _ R94 F6 DGT WX10 HO 10 J Fo 10 kK2 10 F1 DMV 10 DT100 ors J Fi DMV H 81 DT 0 Fi DMV K 500 DT 2 Fi DMV K 10000 DT 4 Fi DMV K 100 DT 6 F151 WRT KO DTO K10 H100 R94 Y40 J fp ps eens soe amen am wee JOG start 7777 jContro code Startup speed an j Acceleration deceleration Le ia Teachingdata q position command value
185. tioning unit interrupts any operation currently in progress and enters the deceleration stop status Reference Operation is continued however if Operation has been specified in the system register settings for operation when an error of some kind occurs gt Deceleration stop operation Reference 12 2 1 Deceleration Stop 15 3 Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 15 2 Errors Which Occur in the Positioning Unit Itself The positioning unit itself has a function which warns the user of an error if any of the parameters for the Startup speed Target speed and Acceleration deceleration time settings are not appropriate ERR LED Errors are displayed x i AX1 2 AX3 4 15 4 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs Cases in which errors occur and their contents At startup setting At setting change during operation position command value Absolute Item Negative Out of Negative 0 Out of number range number range startup speed Error Error target speed Error Error Error E poi Acceleration deceleration time Error Error i position command value No applicable condition Increment PP ri No applicable condition position command value Absolute startup sp
186. to page 16 7 acceleration deceleration Startup speed pps K500 KO to K4 000 000 K1 to K4 000 000 Target speed pps K10000 Specify a value larger than the startup speed Acceleration deceleration time ms K100 KO to K32 767 Note If the limit error occurs set HO as the limit input valid logic can be changed Program x90 XO R9 DO fiele 1 oF _ iStarting condition x91 XO AA oF R90 a Pl DMV H 80 DT DI a Control code F1 DMV K 500 DT 2 4 Startup speed F1 DMV K 10000 DT 4 4 Target speed leration i F1 DMV K 100 DT 6 idsesleration time F151 WRT KO DTO K8 H100 Shared memory writing is Specifies the positioning unit in ot no 0 from witch he 8 word contacts from data registers DTO to DT7 are written to the shared memory addresses H100 to H107 x90 X0 R91 Y43 a a aa H F J P Forward JOG stat Y43 A x91 X0 R91 Y44 ae aea IHi oF yi Reverse JOG stat Y44 X90 R91 HH x DF TP H 5 ae DF SF ED D a 8 3 JOG Operation FP2 Positionig Unit Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch
187. top parsa ray a nae LI s oe ci iasa 1 Time t is I I I I E point control start yo EST i If the deceleration stop flag i goes ON deceleration begins immediately I Deceleration Y_6 stop flag DCL If the forced stop flag goes ON pulse output stops immediately H Y5 Forced stop flag EMR This goes OFF with the next scan following stopping OFF pulse output after deceleration This goes OFF 1 scan after the forced stop flag goes ON i ere Pulse output x_0 i i 1 busy flag BUSY AL _ festa da This goes ON with the next scan following stopping ON pulse output after deceleration Pulse output X_I i done flag EDP i This goes ON 1 scan after the forced stop flag goes ON Deceleration stop flag Y_6 1 When the deceleration stop flag goes ON the operation in progress is interrupted and deceleration begins 2 After deceleration has begun and the speed has slowed to the startup speed pulse output stops Forced stop flag Y_5 1 When the forced stop flag goes ON the operation in progress is interrupted immediately and pulse output stops Pulse output busy flag X_0 1 When the deceleration stop flag goes ON this flag goes OFF when pulse output is completed 2 When the forced stop flag goes ON this flag goes OFF after 1 scan from when the flag has gone ON
188. tput is completed n Pulse output done X 1 1 scan ag EDP I P point control start flag Y_1 1 P point control is initiated based on the parameters written to the positioning unit 2 Control is not initiated during the time that the pulse output busy flag X_0 is ON it has already been initiated Set value change confirmation flag X_A 1 This goes ON with the next scan after P point control has been initiated 2 It remains ON until the next F151 or P151 shared memory write instruction is executed and the new parameters are written to the shared memory and then goes OFF after the parameters have been written to the unit This is used for P point control and the user must be careful that it does not overlap other control programs Refer to section 7 4 Pulse output busy flag X_O 1 This goes ON with the next scan after P point control has been initiated and goes OFF when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop This flag is shared among E point control P point control JOG operation JOG positioning operation and home return except a pulser input enabled operation Pulse output done flag X_1 1 This goes ON when the pulse output is completed and is maintained until the next E point control P point control JOG operation JOG positioning operation home return or pulser in
189. ts 14 6 Chapter 15 Operation if an Error Occurs Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 15 1 Positioning Unit Operation if an Error Occurs 15 1 1 Ifthe Positioning Unit ERR LED Lights ERR LED CNI CD CN2 FL ov When starting stopped If a set value error occurs when the positioning unit is started stopped the various operations will not begin This applies to E point control P point control home return JOG operation JOG positioning operation and pulser operation none of which will be initiated During P point control operation or JOG operation If a set value error occurs during P point control operation or during JOG operation or if a limit error occurs during E point control P point control home return JOG operation JOG positioning operation or pulser operation the positioning unit interrupts any operation currently in progress and enters the deceleration stop status Reference When a set value error occurs or a limit error occurs the error clear flag should be turned OFF ON and then OFF again Operation cannot be restarted until the error has been cleared Operation continues on other axes where the set value error has not occurred gt Deceleration stop operation Reference 12 2 1 Deceleration Stop 15 2 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs 15 1 2 If the CPU ERROR LED Lights _ERROR LED The posi
190. ue to two types of the interfaces of motor driver Select and connect one or the other depending on the interface of the motor driver being used Note We recommend using twisted pair cables as the wiring between the positioning unit output and the motor driver or twisting the cables to be used 3 4 1 Line Driver Output type Pulse T A1 A10 command A 8 27 sg Line drive Y Pulse pi command B Line drive External input power supply 3 4 2 Transistor Output Type P A 5V DC output Pulse command A Open collector Wr esistor must be added Pulse command B 5V DC output Output specification Output form Open collector Operating voltage range 4 75 to 26 4V DC Max load current ON Max voltage drop pele DC Output specification at 5V DC Output power supply range 4 75 to 5 25V DC Current consumption 5V DC 15mA 1 signal input power supply Note A value of 15 mA per signal should be used as a guide If exceeds this resistance should be added haeuasanessenezenaeaeaneceneeaazeneaeeeeeosioneseeeneezeneeeesionesecenzonee FP2 Positioning Unit Wiring 3 5 Connection of Deviation Counter Clear Output Signal for servo motor This is an example showing connection of the counter clear input to the servo motor driver An external power supply 5 V DC to 24 V DC must be provided for the connection cer registor r Deviation A7 A16 C
191. ulser or Encoder Connect in accordance with the output style Line driver type Transistor open collector type and Transistor resistance pull up type are available for the output styles The same pulse input terminal is used for Pulser input operation and Feedback pulse count so it is used for either Note We recommend using twisted pair cables for connections or twisting the cables used When counting the 2 phase input such as the input from the encoder set the pulse input transfer multiple to 4 multiple setting x 4 or 2 multiple setting x 2 using the control code to prevent counting error 3 7 1 Line Driver Type Positioning unit Encoder pulser Pulse input A Pulse input A Pulse input B Pulse input B 3 7 2 Transistor Open Collector Type Positioning unit Encoder pulser Pulse input A Pulse input A Pulse input B P fsi Pulse input B Sa Power supply 3 7 3 Transistor resistor Pull up Type Positioning unit A8 A17 DETT sorl eU A9 A18 DETT B9 B18 Encoder pulser Pulse input B 5V DC GND 3 14 FP2 Positioning Unit Wiring 3 8 Precausions on Wiring Connect the wire in less than or the following length between the Transistor output type and the motor driver and between the Line driver output type and the motor driver lt Signals applicable gt Transistor output Line driver output Deviatio
192. unit Home return switch Return direction Table CT Ball screw side M TIMIS Near home switch Pulse output diagram Shared memory setting Target speed ft pps Acceleration deceleration time Ac ms f pps 10000 500 f t ms CPU Y42 H Home return start ORGS ni External X7 H The signal logic following seeeeeee detection of the near home Near home input DOG H flag does not affect operation External X6 H e li i the control co Pulse output CPU X0 i busy flag BUSY e a CPU X8 ORGE 4 Elapsed value Pe IN _ Deviation Pulse width of Can be changed eo counter External counter i Lc about 1 ms ca 10 ms using output e fl When home return is done count value becomes 0 10 11 Home Return Shared memory settings FP2 Positioning Unit Control parameter setting content Set values in sample program example Range of acceptable settings Control code H90 Note Acceleration deceleration method Linear acceleration deceleration Direction of home return direction of elapsed value Home input logic Input valid when the power is ON Near home input logic Input valid when the power is ON The specified values vary depending on the method of acceleration deceleration the home return direction the home input logic and the near home input logic Refer to page 16 7 Start
193. unit in slot No 0 from which the 8 word contents from data registers DTO to DT7 are written to the shared memory addresses H100 to H107 R100 Y42 SS ED IN 10 6 FP2 Positioning Unit Home Return Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated Set the startup speed to 1pps or more The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit The control code settings vary depending on the logic of the near home input and the home return input which have been connected 10 7 Home Return FP2 Positioning
194. up speed pps K500 K1 to K4 000 000 K1 to K4 000 000 time ms Target speed pps K10000 Specify a value larger than the startup speed Acceleration deceleration K100 KO to K32 767 Note If the limit error occurs set H10 as the limit input valid logic can be changed Program X100 R100 HF FI F1 F1 slot No 0 from whi DMV DMV DMV DMV mm rF F151 WRT KO DTO K8 This specifies the postioning unit in R100 H 90 DT K 500 DT K 10000 DT K 100 DT O A N O uu ____ Condition of home gt sem _ Controlcode 7 Target speed Acceleration 10 12 FP2 Positioning Unit Home Return Precautions concerning the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will oc
195. upply is turned on R9013 p Pey H F1 DMV DT 100 DT 102 F151WRT KO DT 102 K2 H10A Specify the positioning unit in slot on 0 Values of date registers DT102 and DT103 The value are written to the elapsed value area of the positionig unit a Goes on for only second scan after power supply is turned on RORIS e Re ea Lal Tee Eee H F150 READ KO H10A K2 DT 100 ui e value date read i i constantly __ Specify the positioning unit in slot on 0 Values of elapsed value areas H10A and H10B The value are read to the date registers DT100 and DT101 Example Before the power supply is turned OFF the elapsed values of DT100 and DT101 are read and when the power supply is turned ON the contents of DT100 and DT101 are written to the elapsed value area of the unit through DT102 and DT103 14 3 Precautions Concerning the FP2 Operation and Programs FP2 Positioning Unit 14 1 2 Operation When the CPU Switches from RUN to PROG Mode For safety reasons if tte CPU mode switches to the PROG mode during E point control P point control JOG operation JOG positioning operation or a home return any positioning unit operations in progress at that point are interrupted and the speed decelerates In addition the pulse output is stopped during the pulser operation Example If the CPU switches from RUN to PROG mode during E point control operation f pps Intended E point control operat
196. ut 3 Max load current 15 mA D B2 B11 Pulse output B ON Max voltage 0 6V Open collector drop 3 5 Wiring FP2 Positioning UNit Output terminals Line driver output type drop Pin number rer i sso 1 3 axis 2 4 axis Circuit Signal name Item Description Pulse output A A1 A10 A1 A10 Line driver o B1 B10 A2 A11 ta A 5 Line driver output l iver 28 Output format Equivalent to A2 A11 Pulse output B 6 5 AM26C31 B1 B10 Line driver a B2 B11 B2 B11 Pulse output B Line driver Output terminals common Pin number Ft P sii 1 3 axis 2 4 axis Circuit Signal name Item Description Deviation Output format Open collector sii AIR digg unter clear 5 operating voltage 4 75 VDC to F K Bs range 26 4 V DC a B7 B16 Deviation O 3 Max load current 10mA EL By Bb sa Gea 9 ON Max voltage 1V Note The deviation counter clear signal is output when the power supply is turned ON about 1ms and when the Home Return is complete Its ON time can be selected using the Control code of the shared memory from 1ms factory setting to 10ms Power supply terminals and Earth terminals common Pin number Circuit Signal name Item Description A19 B19 F E AES Field Earth w External 2 A20 A20 power supply Power supply 21 4 V DC to _ O input 9 voltage range 26 4 VDC 24V DC Di Ext
197. ut ON Table to move turned ON Reverse Over limit input ON Table to move Over limit input ON Table not to move Limit error occurs During JOG operation Forward Over limit input ON Table stops Limit error occurs Reverse Over limit input ON Table stops Limit error occurs 8 14 FP2 Positinoning Unit JOG Operation 8 7 Cautions on an Over Limit Switch A over limit input valid for a Jog operation Home return including Home search and Pulser input is the one logically found in the direction of the table movement i e if an Over limit switch is input for a movement in direction or an Over limit switch is input for a movement in direction the table will not stop Please observe the followings Before startup Please make sure that an Over limit switch is set in the direction of the elapsed value increment and an Over limit switch in the direction of the elapsed value decrement When a switch is not set in the correct direction The followings might be a cause Check your settings and correct them 1 An Over limit switch or is not set in a correct direction 2 CW CCW output method is set reverse for the connection of the Positioning unit and the motor driver 3 A Sign input logic is set reverse for the connection of the Positioning unit and the motor driver 4 The control codes are to specify the reverse direction of the rotation for the pulse
198. utput mode can be started up When the CW CCW output mode is set the limit error will occur If the error occurs solve it using the methods as described below Using the home return function 1 Turn ON the Error clear Y_F of the Over limit input and then turn it OFF 2 Turn ON the Home return start Y_F towards the elapsed value minus direction while the Over limit input is ON Using the JOG operation function 1 Turn ON the Error clear Y_F of the Over limit input and then turn it OFF 2 Turn ON the Reverse JOG Y_4 while the Over limit input is ON 15 6 FP2 Positioning Unit Program R9013 _Y F1 DMV H200009 DTO Control code F1 DMV K500 DT2 Startup speed F1 DMV K1000 DT4 Target speed F DW K 10 DT6 Acceleration D celeration time FiS1WRT KO DTO K10 H 110 Control code RO Y57 2 axis pulser 2 axis pulser 2 axis error dear X1F X1B HDF Y54 2 axis JOG reverse When the over limit input and is ON in resetting the over limit error the moving unit executes JOG reverse and JOG forward operation respectively Limit error Over limit input 2 axis JOG revers Positioning Unit Operation if an Error Occurs YSF 2 axis error clea Y54 15 7 Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 15 3 Resolving Problems 15 3 1 If the Positioning Unit ERR LED Lights Conditions There is a s
199. value decrement When a switch is not set in the correct direction The followings might be a cause Check your settings and correct them 1 An Over limit switch or is not set in a correct direction 2 CW CCW output method is set reverse for the connection of the Positioning unit and the motor driver 3 A Sign input logic is set reverse for the connection of the Positioning unit and the motor driver 4 The control codes are to specify the reverse direction of the rotation for the pulse output forward or reverse in the program 10 28 FP2 Positioning Unit Home Return 10 9 Special Mention The time from the home input to the pulse output stop during the home return home search The FP2 Positioning unit performs the process in the very high speed so that it starts counting the number of the output pulses within 1us from when the home input is ON The time is always stable enabling the accurate home return home search operation Since each axis is completely independent the home returns by the multiple axes at the same time are possible for the multiple axis type 10 29 Home Return FP2 Positioning Unit 10 30 Chapter 11 Pulser Input Operation Pulser Input Operation FP2 Positioning Unit 11 1 Sample Program 11 1 1 Pulser input operation Transfer multiple 1 multiple setting The rotation direction of the motor in which the elapsed value increases is set as the plus direction and pu
200. verrun Twisted pair cable This refers to a cable constructed of two wires which suppresses the effects of noise Because current of the same size is flowing in the reverse direction the current in the same size flows in the opposite direction between the two noise is blanked out which reduces the effects of the noise Home input This refers to input of the reference position used for positioning and is connected to the Z phase signal of the servo motor driver or to an external input switch and sensor Near home input In order to stop the table at the home position a position called the near home position is specified at which deceleration begins This is connected to an external input switch or sensor Input valid logic Depending on the type of sensor and switch connected to the home input and near home input it is necessary to confirm whether the input signal will be valid when current is flowing or whether input will be valid when no current is flowing This is called the input valid logic With the FP2 positioning unit this setting is entered using a control code in the program Deviation counter This is located inside the servo motor driver and counts the difference between command pulses and the feedback from the encoder Command pulses are counted as plus values and feedback pulses are counted as negative values with control being initiated so that the difference between them is zero Deviation counter clear output
201. when the pulse output is completed and is maintained until the next E point control P point control JOG operation JOG positioning operation home return or pulser input enabled status is initiated This flag is shared among E point control P point control JOG operation JOG positioning operation and pulser input enabled operation FP2 Positioning Unit 6 4 Operation at Over limit Input E Point Control Single Speed Acceleration Deceleration E point control operation is as follows when Over limit input and Over limit input is ON Condition Direction Limit status Operation MICH Table not to move Over limit input ON Limit error occurs Forward Over limit input ON Tabe NOLIO Mmoro When E point control Limit error occurs is turned ON rene Table not to move Over limit input ON Limit error occurs Cone Over limit input ON Tabie niorto movg P Limit error occurs salt Table stops Limit error During E point Forward Over limit input ON SEGUE control operation Reverse Over limit input ON Table stops Limit error occurs 6 11 E Point Control Single Speed Acceleration Deceleration FP2 Positioning Unit 6 12 Chapter 7 P Point Control Multi Stage Acceleration Deceleration P Point Control Multi Stage Acceleration Deceleration FP2 Positioning Unit 7 1 Sample Program 7 1 1 Increment Relative Value Control Plus Direction For
202. x 3 6kQ Over trait Input Over limit input Limit Limit ci ver limit input Limit B6 B15 mi input impedance Over limit input Limit Limit Positioning control start input timing input B5 B14 Approx 6 8kQ ai Positioning iming inpu B5 B14 mi Min input 500us input 7 3 5 to 5 25 V DC A8 A17 A8 A17 da A Roe o 8VDC Line driver A9 A18 9 9 specifications 7 UV 7 B8 B17 Pulse input A 25 Min ON 3V DC 4mA se voltage current i O A9 M18 Pulse input B Q 2 Max OFF 1V DC 0 5mA 2 9 _voltage current ao Input Approx 3900 B9 B18 B8 B17 Pulse input B impedance PP B9 B18 Min input pulse 0 5us max 1MHz each width phase 3 7 Wiring FP2 Positioning UNit Note Please use under the specifications for pulse input A B signal 2 phases input method Pulse input A T E TT de X1 X2 X3 X4 T21us X1 to X4 20 2 us Each phase Max f f 1MHz Pulse input B Direction distinction input method T Pulse input A ee gg e T21 us x1 X120 2us TE Pulse input A signal C ee Max 1MHz Pulse input B Individual input method aa Pulse input A Me ee x1 T T21us 7 ee X120 4 us Each input Max 1MHz Pulse input B 3 8 FP2 Positioning Unit Wiring 3 3 Supplying Power for Internal Circuit Drive Always make sure an external 24V DC power supply is connected to the pins for external input power supply pin No A20 and B20 The ap
203. xternal interface 2 3 Parts and Specifications 2 1 2 Operation Status Display LEDs Information on two axes can be displayed at once on the LEDs For a 4 axis type display can be switched between axes 1 and 2 and axes 3 and 4 with the switch The LEDs show the same information for each axis Unit front Operation Status Display LEDs AX HE GOs FP2 Positioning UNit LED Description LED ON LED OFF LED blinks When set to f i During pulse Pulse output pulse sign output During stop Bet P A signal A When sa to During pulse display 1 Gwiccw output aa output method forward When set to ee Forward gt Reverse direction SLE pulse sign output direction ay Pulse output command B signal B method 7 command S en set to 3 uring pulse display 1 CW CCW output oon output method reverse CL eae clear signal output Output ON Output OFF e D Near home status display 2 ON OFF Z Home input status display 2 ON OFF PA Pulse input A signal display 3 Displays the input status of the pulse inupt A signal PB Pulse input B signal display 3 Displays the input status of the pulse inupt B signal ERR Setting value error display Setting value error Setting value normal Note 1 The pulse output signal display LEDs A and B blink at the output frequency speed For this reason they may appear to light st
204. y Acceleration de eH celeration time Position comm cH Taget speed and value ce amm o amm o eo am o ae Step 4 Executing the operation of Section III When the operation of section Il is completed operation shifts to section III Step 5 Completing the operation of Section Ill Because no data for the next operation is specified during the operation of section III operation automatically stops P Point Control Multi Stage Acceleration Deceleration FP2 Positioning Unit 7 3 Operation of the Input and Output Flag Before and After P Point Control Output frequency fipps A f3 f2 f1 4 A Pulse output begins within 0 02 ms after the startup flag Boes Time t s gt a P point control Y_1 l l start flag PST This goes ON followin ing 1 scan after This goes ON when operation jthe startup flag goes ON shifts to the next operation x Pre Pub wii Set value change confirmation flag ap wr This goes OFF when paramerters This goes OFF when the pulse _ are written to the positioning unit output is complered using the shared memory writing instruction F1 This goes OFF when the pulse output is complered Pulse output busy X_0 flag BUSY This goes ON followin i scan after Th OFF following 1 scan he sla gt is goes following 1 s the startup Rag goes i the he startup flag goes ON J after This goes ON when the pulse r ou
205. y curve Cycloid curve Third curve When the 4 axis type positioning unit is mounted in slot 0 Operation example When the flag for initiating JOG positioning operation is turned ON acceleration deceleration is carried out repeatedly in accordance with the settings and then the operation stops Control code b Startup speed Data necessar for operation Target speed A Acceleration deceleration time e Position command value f pps JOG positioninig operation executed CPU Y48 JGST Positioning control start input Timing input H Terminal No B5 or B14 CPU X0 BUSY CPU X1 EDP JOG Positioning Operation FP2 Positioning Unit When Y48 is set to ON in the program the motor of the first axis begins accelerating XO is a Pulse output busy BUSY flag that indicates that operation is in progress while X1 is a Pulse output done EDP flag that indicates that operation has been completed After operation has been completed the EDP flag remains ON until the next operation request is issued When the positioning control start input Timing input is turned ON the pulse for the position command value is output Data necessary for settings As shown below data items must be written to the specified addresses in the shared memory in the order in which operations are to be executed However for repeating the same operation re setting is not necessary When the control code

FP2 Positioning Units Manual for FP2-PP21, FP2-PP22, FP2

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