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Panasonic FP7 Positioning Unit User`s Manual

1. 19 80 E 4 Li LN Ed _ 19 80 E EH o L lu LN CL ho Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 71 Specifications Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 72 18 Sample program Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Sample program 18 1 Basic Configuration and Contact Allocations of Sample Programs In the sample programs the internal relays are used for the start contacts of each operation Connect them to the input contacts such as switches as needed m Basic Configuration Motor driver Motor Motor The positioning unit installed in slot 1 The 1st axis and 2nd axis of the positioning unit connect to a stepping motor each with the linear interpolation of the 2nd axis sampled This example is shown on the condition that parameter settings for each axis are made in the positioning setting menu of the programming tool and saved in the pos
2. Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 500 UM 02780 UM 04F80 UM 07780 UM 09F80 UM 13F80 501 UM 02790 UM 04F90 UM 07790 UM 09F90 UM 13F90 502 UM 027A0 UM 04FA0 UM 077A0 UM 09FAO0 UM 13FA0 503 UM 027B0 UM 04FBO UM 07780 UM 09FBO UM 13FBO 504 UM 02760 UM 04FCO UM 07760 UM 09FCO UM 13FCO 505 UM 027D0 UM 04200 UM 07700 UM 09FDO UM 13FDO 506 UM 027E0 UM 04FEO UM 077 0 UM 09FEO UM 13FE0 507 UM 027F0 UM 04FF0 UM 07720 UM 09FF0 UM 13FF0 508 UM 02800 UM 05000 UM 07800 UM 0A000 UM 14000 509 UM 02810 UM 05010 UM 07810 UM 0A010 UM 14010 510 UM 02820 UM 05020 UM 07820 UM 0A020 UM 14020 511 UM 02830 UM 05030 UM 07830 UM 0A030 UM 14030 512 UM 02840 UM 05040 UM 07840 UM 0A040 UM 14040 513 UM 02850 UM 05050 UM 07850 UM 0A050 UM 14050 514 UM 02860 UM 05060 UM 07860 UM 0A060 UM 14060 515 UM 02870 UM 05070 UM 07870 UM 0A070 UM 14070 516 UM 02880 UM 05080 UM 07880 UM 0A080 UM 14080 517 UM 02890 UM 05090 UM 07890 UM 0A090 UM 14090 518 UM 028A0 UM 050A0 UM 078A0 UM 0A0A0 UM 140A0 519 UM 02880 UM 05080 UM 07880 UM UM 14080 520 UM 028C0 UM 050C0 UM 078C0 UM 0A0CO UM 140C0 521 UM 02800 UM 05000 UM 078DO UM 0AO0DO UM 140DO 522 UM 028E0 UM 050E0 UM 078bE0 UM UM 140E0 523 UM 028F0 UM 05020 UM 078F0 UM 0 UM 140F0 524 UM 02900 UM 05100 UM 07900 UM 0A100 UM 14100 525 UM 02910 UM 05110 UM 07910 UM 0A110 UM 14110 526 UM 02920 UM 05120 UM 07920 UM 0A120 UM 14120 527 UM
3. Positioning control with servomotor Pulse train L1 Lr Di B 2 Positioning Unit Driver Servo motor m Transistor output open collector type and line driver output type available Two types are available a line driver output type for high speed control and a transistor output type for a motor equipped with a driver that connects only to open collector output a stepping motor If either type is applicable to your application the use of the unit with line driver output is recommended B Setting in configuration menu The dedicated software Configurator PM7 is available which allows ease of creating a variety of parameters and positioning tables required for positioning control Note The Configurator PM7 will start by pressing Set details button in the I O map of the configuration menu of the FPWIN GR7 B Interpolation control The 2 axis linear interpolation 2 axis circular interpolation 3 axis linear interpolation and 3 axis spiral interpolation control can be performed m Synchronous control The unit supports synchronous control using an electronic gear electronic clutch and electronic cam The unit can perform synchronous cont
4. 5 12 5 5 2 Table No Positioning Start 5 13 5 5 3 Operation Patterns and Tables 5 14 5 6 Saving Parameters ect ratu du Rd 5 15 5 6 1 Save Load Configuration 5 15 5 6 2 Export and enne 5 15 6 Transfer to Unit and Commissioning 6 1 6 1 Check on Setting 6 2 6 1 1 Check on Parameter Data 6 2 6 1 2 Comparison of Parameter 6 2 6 2 Transfer of 6 4 6 2 1 Writing Parameters to Unit 6 4 6 3 Monitoring on Configurator PM7 a 6 5 6 371 Stat s u a entem ated ad cuite 6 5 6 3 2 Data Monitor ciet Hte eco deine ce dee caudae 6 5 6 4 ObDOFallolk suene t Savon SOSA Rua 6 7 6 4 1 Tool Operation Function U 6 7 6 4 2 JOG Operation with Tool Operation Function 6 9 6 4 3 Tool Operation Home Return 6 11 6 4 4 Tool Operation Positioning
5. 2 2 2 2 Operating Status LEDSs etre Er XR dede 2 3 e 3 1 3 1 Connection over Wire pressed Terminal Cable 3 2 3 1 1 Specifications of Wire pressed Terminal Cable 3 2 3 1 2 Assembly of Connector for Wire pressed Terminal Cable 3 3 3 2 Specifications and Terminal 3 4 3 2 1 VO Specifications eee eec Pe eene says 3 4 3 3 Supply of Power to Drive Internal Circuit 3 8 2 34 Pine Driver Output tri nhi bea t ree Roa eias etd 3 8 3 3 2 Transistor Output aee N u e das ee intial 3 8 3 4 Connecting Pulse Instruction Signal 3 9 3 4 1 Line Driver Output Type 3 9 3 4 2 Transistor Output Type I an 3 9 3 5 Connecting Deviation Counter Clear Output Signal 3 10 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Table of Contents 3 6 Connecting Servo On Output 3 11 3 7 Connecting Home Input Near Home Inp
6. 6 13 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net iv Table of Contents 6 4 5 Tool Operation Teaching 6 15 7 Automatic Operation Positioning Control 7 1 ZA Basic Operation ew acu 7 2 7 1 1 Positioning Control 7 2 7 1 2 Setting and Operation of E Point Control 7 4 7 1 3 Setting and Operation of P Point Control 7 5 7 1 4 Setting and Operation of P Point Control 7 6 715 Setting and Operation of J point Control 7 7 7 1 6 Sample Program E Point P Point and C Point Control 7 9 717 Sample Program J point Control sse 7 9 7 1 8 Programming Precautions 7 10 7 2 Interpolation REN RU DE 7 11 7 2 1 Types of Interpolation Control 7 11 7 2 2 Setting and Operation of 2 Axis Linear Interpolation 7 14 7 2 3 Setting and Operation of 2 Axis Circular Interpolation 7 16 7 2 4
7. 4 8 4 4 4 Operation Checks on Near Home Switch and Home Switch 4 9 4 4 5 Checking Rotating and Moving Directions and Moving Distance 4 10 5 Unit Allocation and Parameter Settings 5 1 SA CUM esie e RC 5 2 5 1 1 WO Map Registration eene nennen 5 2 5 1 2 Check on I O Allocation Information 5 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Table of Contents 5 2 Axis Allocation for Use a a 5 5 5 2 1 Settings in Configurator PM7 nene 5 5 5 3 Parameter Settings Un nee RR Pec 5 7 5 3 1 Parameter Settings in Configurator PM7 5 7 5 3 2 Parameter Setting ltems U 5 8 5 4 Synchronous Parameter Cam Pattern Settings 5 10 5 4 1 Synchronous Parameter Settings sse 5 10 5 4 2 Cam Pattern Settings u 5 11 5 5 Creating Positioning Data Table 5 12 5 5 1 Construction of Positioning Data
8. 16 1 16 1 What to Do If an Error 16 2 16 1 1 Motor is not Rotating or Operating Pulse Output A and B LEDs are Flashing or Lit 2 a m etg a a uu 16 2 16 1 2 Motor is not Rotating or Operating Pulse Output and B LEDs off 16 2 16 1 3 Reversed Rotation or Movement Direction 16 3 17 Specifications 17 1 17 Specifications eiue tei ro Su a Su we ate voies v tie s 17 2 17 1 1 General Specifications 17 2 17 1 2 Performance 17 3 17 2 VO Number Allocation qe ooo Pet Et b e LE o m ic d Re Eat Poem 17 6 17 3 Entire Configuration of Memory Unit Area 17 15 17 4 Details of Common Area in Unit 17 16 17 4 1 Common Area Configuration sse 17 16 17 4 2 Setting Parameter Control Area 17 17 17 4 3 Operating Speed Factor Area sss 17 17 17 4 4 Axis Group Setting Area a 17 17 17 4 5 Current Value Update Data Area 17 19 17 4 6 Positioning Control Starting Table Number Setting 17 20 17 4 7 Positioning Control
9. t iD TUE 17 71 18 Sample program 18 1 18 1 Basic Configuration and Contact Allocations of Sample Programs 18 2 18 2 Sample DFOQLAITI acte S iren orae pte Se deae ee teste ope 18 4 18 2 1 When Settings Done in Standard Area with Programming tool 18 4 18 2 2 When Setting Positioning Data in Extended Area by Programming 18 7 18 2 3 When Setting Positioning Data in Standard Area by Programming 18 9 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net ix Table of Contents Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net X 1 Functions of Unit and Restrictions on Combinations Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Functions of Unit and Restrictions on Combinations 1 1 Functions of Positioning Unit 111 Functions of Unit m The positioning unit can perform positioning control when it is used in combination with a stepping motor or servomotor equipped with a driver of pulse string input type Positioning control with stepping motor Pulse train oor ST OM Positioning Unit Driver L Stepping motor
10. 8 9 8 4 Electronic Clutch EI ec ere caet enne 8 11 8 4 1 Electronic Clutch Function 8 11 8 4 2 Types and Contents of Setting Parameters 8 12 8 4 3 Trigger Types for Electronic Clutch 8 13 8 4 4 Engagement Methods of Electronic Clutch 8 14 8 5 Electronic Cam Funcotion e tiae ecd tium tee 8 15 8 5 1 Outline of Electronic Cam Funcltion 8 15 8 5 2 Types and Contents of Setting 8 16 8 5 3 Cam Pattern Setting Method sse 8 17 Manual Operation JOG Operation 9 1 9 1 Setting and Operation of JOG 9 2 9 2 Changing the Speed During JOG 9 4 Manual Operation Home Return 10 1 10 1 Pattern of Home Belli Tics ec etri oret p eee ee PEE event 10 2 10 2 Setting and Operation of Home Return 10 5 Manual Operation Pulser Operation 11 1 11 1 Setting and Operation of Pulser Operation 11 2 Stop functions
11. Change 100 i 50 100 1 Interval Interval number Start phase End phase Displacement Cam curve peni a interval by icd Insert interval number is set automatically cms i 0 000000 39 9414063 50 000000 Cydoid ede teat pee 2 39 9414063 60 0585938 40 0000000 Modified sine Setting range 1 to 20 default value 0 3 60 0585938 79 8828125 10 000000 Trapedoid Sh A 75 5528125 ___0 0000000 0 000000 One dwel trapecoid Adjust eos e termination phase cannot be set The termination phase will be changed automatically if the staring phase is changed Do not make a radical displacement change of set cam curves There is a possibility that the motor cannot keep up with the output in the case of rapid displacement e Similarly make settings that a phase of 0 and that of 100 are the same in displacement Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 20 8 5 Electronic Cam Function W Cam table checks Check the cam table cam curve that has been set The slave axes in synchronous control operate to follow the cam curve cam Therefore there will be a possibility that the motor cannot follow the output if the change in the cam curve is steep In addition it is important to know information on the acceleration as well as the displacement of
12. Condition Direction Limit status Operation When Pulser Forward rotation Limit input Not executable Error occurs Operations Limit input ON Executable executed Reverse rotation Limit input ON Executable Limit input ON Not executable Error occurs During Pulser Forward rotation Limit input ON Deceleration stop Error occurs operation Reverse rotation Limit input Deceleration stop Error occurs Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 11 4 12 Stop functions Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Stop functions 12 1 Settings and Operations of Stop Functions Following stop functions are available during operations Each deceleration time can be set individually Set the deceleration time according to each occurrence condition of the stop operation Name Occurrence condition Stop axis Stop Deceleration stop Deceleration stop contact Each axis Stops control with an elapse of deceleration turns ON time Stops control with an elapse of deceleration Each axis time and resume control upon cancellation of the deceleration stop Deceleration stop contact pause turns ON Emergency stop contact turns ON Limit stop Limit switch input turns ON Each axis Stops with an elapse of emergency stop Each axis Disp deceleration
13. Home return creep speed D The starting point is between the near home switch and limit switch including limit switch Target speed 1 Home return gt i deceleration time Home return creep speed 2 The starting point is on the near home switch Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 10 3 Manual Operation Home Return B Limit method 2 Edge detection of limit switch Detects the rising edge of the limit switch in the home return direction and stops That point becomes the start point Home return direction 4t Limit switch Limit switch Home ret m 4 Home switch 1 The starting point is deceleration time Home return creep speed between the near home Switch and limit switch including limit switch I I 4 Home return creep speed 2 The starting point is on the near home switch Target speed I T I I I B Home position method Edge detection of home switch Moves from the current position in the home return direction and detects the first rising edge of the home switch and stops That point becomes the start point Home switch Home return direction lt lt Home return creep speed m Data Set Method The current value is considered as the origin Home
14. Slot Axis Storage Unit ready number _ number destination Slot Axis Storage number number destination R10 X160 Y160 LH DF Error clear 1st axis Error clear error for axis 1 Y160 Error clear for axis 1 R10 X161 Y161 H DF Error clear 2nd axis Error clear error for axis 2 Y161 Error clear for axis 2 ED Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 6 18 2 Sample program 18 2 2 When Setting Positioning Data in Extended Area by Programming Write positioning data in the extended area by programming Recalculating the positioning data is not necessary as the extended area is used Replace the part of the positioning start program in the sample program W Positioning start program R3 x DF MV SS DT10 Positioning 1st axis control code start MV SS DT11 EE MV SS DT12 w MV SS DT13 MV SS K100 07114 EE MV SS K100 DT15 1st axis deceleration time MV SL 500000 DT16 1 table data on 1st axis 1st axis target speed MV SL K1000000 DT18 MV SL DT20 1st axis auxiliary point MV SS 0722 MV SS DT23 MV SS DT24 Was MV SS DT25 X Settings for BKMV SS DT10 DT25 S1 UMO2E70 table no 10001 of 1st axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 7 Sample program R3 I DF MV SS DT
15. Positioning data setting with user program Each type of operation will be ready to start after the data is transferred to the unit memory UM area with the user 600 tables 25 tables tables Table number 1 to 600 10001 to 10025 Positioning parameter settings on Configurator PM7 Available Available note 1 Available Data that has been set is downloaded Positioning data settings along with other project data including on Configurator PM7 the program to the CPU unit Not available note 2 Positioning data will be calculated and each type of operation will be ready to start when the power is turned on or the CPU unit is set to RUN mode Available Available Each type of operation will be ready to start after the data is transferred to the unit memory UM area with the user other positioning data are determined note 2 program and a recalculation request is program No recalculation request is made required In the case of setting positioning data In the case of setting positioning data Characteristics with the Configurator PM7 the start will with a user program the start will be be quicker than that with the extended quicker than that with the standard area area used used Suitable to applications where the This is suitable for cases where Application movement amount target speed and positioning data fluctuates according to the operation results of the PLC Note 1 Positioning paramet
16. e While the positioning unit is in synchronous control slave axes set to use the master axis will operate only in synchronization with the master axis i e the slave axes cannot operate independently e The virtual axis is assigned to a single axis only In the case of using the virtual axis check the box for the virtual axis in the dialog box to set the operating axes on the Configurator 7 e The home return of the virtual axis is possible only by data setting e If pulse input is set for the master axis the master axis will synchronize with pulse input from an external device such as an encoder Therefore the master axis cannot be stopped arbitrarily 8 2 2 Selection of Slave Axes and Settings B Selection of Slave Axes e The 1st to 4th axes are available as slave axes The virtual axis can be used only as the master axis When Synchronous master axis is selected in the synchronous parameter dialog box of the Configurator PM7 the corresponding axis will operate as a salve axis for the specified master axis Up to four slave axes can be set for a single master axis Axes set as slave axes operate in synchronization with the master axis as long as synchronous control is enabled No slave axes can perform positioning and other control independently from the master axis while synchronous control is enabled B Settings for Slave Axes The slave axes operate in synchronization with the master axis Set the fo
17. side side Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 26 7 3 Setting and Operation of Positioning Repeat Function m Settings Setting example Items Table 1 Table 2 Table 3 Operation pattern P Pass point P Pass point E End point Control method I Increment I Increment I Increment X axis movement amount 5000 pulses 10000 pulses 3000 pulses Acceleration deceleration pattern L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps 20000 pps 5000 pps Dwell Time ms 0 ms 0 ms 0 ms Number of positioning repetitions 3 written to the setting area of the unit memory B Operation diagram f pps 20000 10000 Positioning start contact Y110 BUSY flag X118 Operation done flag X120 B Operation of each contact e The BUSY flag X118 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation ne
18. Automatic movement amount check UM 00818 value Set the interval of automatic movement amount checking Unit ms Automatic movement amount check UM 0081A interval 2nd axis Unit memory no Description Hex UM 03008 Numerator of automatic movement amount check correction UM 03009 Denominator of automatic movement amount check correction Refer to the description for the 1st axis UM 0300A Automatic movement amount checking UM 03018 Automatic movement amount check value UM 0301A Automatic movement amount check interval Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 12 13 6 Pulse Input 3rd axis Unit memory no Description Hex UM 05808 Numerator of automatic movement amount check correction UM 05809 Denominator of automatic movement amount check correction Refer to the description for the 1st axis UM 0580A Automatic movement amount checking UM 05818 Automatic movement amount check value UM 0181A Automatic movement amount check interval 4th axis Unit memory no Description Hex UM 08008 Numerator of automatic movement amount check correction UM 08009 Denominator of automatic movement amount check correction Refer to the description for the 1st axis UM 0800A Automatic movement amount checking UM 08018 Automat
19. Control method I Increment X axis movement amount 0 pulse X axis auxiliary point 0 pulse Y axis movement amount 20000 pulses Y axis auxiliary point 10000 pulses Z axis movement amount 5000 pulses Z axis auxiliary point 0 Acceleration deceleration pattern L Linear Acceleration time ms 100 ms Deceleration time ms 100 ms Interpolation speed 10000 pps Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 21 Automatic Operation Positioning Control B Operation diagram t pps Composite speed 100 t ms Positioning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 BUSY flag of axis 3 X11A Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 Operation done flag of axis 3 X122 Current value of axis 1 Current value of axis 2 Current value of axis 3 B Operation of each contact e The 1st axis 2nd axis and 3rd axis BUSY flags X118 X119 and X114 indicating the state that a motor is running will turn ON when the positioning control starts and they will turn OFF when the operation completes eThe 1st axis 2nd axis and 3rd axis operation done flags X120 X121 and X122 indicating the state that an operation completed will turn ON when the JOG operation is completed and they will be held until the next positioning control JOG oper
20. Debug Axis Settngs Da id KR Goe Cememunieatices dastinatien Heme Slot No 1 Position unit pulsa Speed unk pulse s Table number 5 wthod X m s 1 movement Acceleration deceleration method Acceleration time _ Deceleration time ms Target speed Dwell time ms Auxflary output Comment 0 i Unear 100 100 1000 0 9 2 0 Luner 100 100 1000 3 0 L Umeer 100 100 1000 4 1 Increment 0 1 Unear 100 100 1000 End point 1 Increment 0 Ut Uneer 100 100 1000 B Setting items Parameter name Description Operation pattern Select one from the following operation patterns E point Executes the trapezoidal control of only one table C point Executes the trapezoidal control continuously Specify an end point E point at the end of the continuance point C point control P point Executes the continuous speed change control Specify an end point E point at the end of the pass point P point control J point Executes speed control Specify an end point E point at the end of the speed control J point X axis control method Select either increment or absolute coordinate X axis movement Input the movement amount of X axis The movement amount depends on the unit amount system specified in the parameter settings Acceleration deceleration Select the acceleration deceleration pattern pattern Acceleration time ms Set the acc
21. Pass point X axis movement Y axis and Z axis coordinate of pass point on arc Pass point Y axis movement X axis and Z axis coordinate of pass point on arc Pass point Z axis movement X axis and Y axis coordinate of pass point on arc Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 11 Automatic Operation Positioning Control 2 axis linear interpolation Composite speed specification direction The composite speed can be specified Y axis direction direction direction X axis 2 axis circular interpolation Center point specification CW direction direction Y axis VE c 1 The center position can be specified direction direction direction X axis 2 axis circular interpolation Pass point point specification direction Y axis direction direction X axis direction Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 axis linear interpolation Long axis speed specification direction Y axis The axis speed for the axis to be a long axis can be specified direction direction X axis direction 2 axis circular interpolation Center point specification CCW direction direction The center position can be specified oe direction direction
22. voltage range 5V DC line driver o B3 B12 specifications Home input Minimum ON voltage current 9 V DO mA A4 A13 5 V DC SEE aximum 25 voltage current Q Input impedance Approx 390 Q Minimum input pulse width 100 us or over B3 B12 AS input _ _ 4 B13 COM z Operating 21 6 to 26 4 V DC voltage range Near home input DOG Aid Near homo 19 2 V DC 5 0 mA segui input DOG Minimum ON Yoltage current Limit input Limit Limit input Limit ziy 5 19 2 V DC 2 6 mA o eAGAIS Limit NES P input 5 ageumem 27001 5 Limit z g dE E Near home input DOG Approximately 3 6 kO Limit B6 B15 input Input impedance M 2 Limit Limit input Limit Limit input Limit Approximately 6 8 kO Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 6 3 2 I O Specifications and Terminal Wiring Pin no isU 2nd Circuit Siel Items Description 3rd 4th name P axis axis iu ERN 3 5 to 5 25 V DC ulse erating voltage A8 A17 input A xd 9 94808 5 V DC line driver specifications Pulse S8 Minimum ON BS zd _oA8 A17 input A voltage current Sy DS 9 2 mA j y Pulse 9 Maximum OFF n ao SEE i
23. 0 S4E CPU unit 0 kd 1 Line driver type 4 axis pulse string 10 2 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 2 5 1 Unit Allocation 5 1 2 Check on I O Allocation Information e Each operation start signal stop signal home input signal and positioning completion signal of the positioning unit is allocated to I O signals e numbers actually used vary with the number of the slot where the unit is installed and the first word number E O signal allocation input number Signal name ist 2nd 3rd 4th Virtual axis axis axis axis axis Ready positioning X0 Tool operation X4 Axis group setting done X5 Recalculation done X7 Servo lock X10 X11 X12 X13 X17 BUSY X18 X19 X1A X1B Operation done X20 X21 X22 X23 X27 Home return done X28 X29 X2A X2B X2F Home input X30 X31 X32 X33 Near home input X38 X39 X3B Auxiliary contact X48 X49 X4A X4B X4F Limit 4 X50 X52 X54 X56 i Limit X51 X53 X55 X57 Error annunciation X60 X61 X62 X63 X67 Warning annunciation X68 X69 X6A X6B X6F Synchronous setting done X80 X81 X82 X88 Synchronous cancellation X88 X89 X8A X8B Slave axis gear ratio change notice X90 X91 X92 X93 Slave axis clutch change notice X98 X99 X9A X9B Note 1 The numbers in the above table show relative addresses based on the ba
24. ON Deceleration stop Error occurs operation rotation Reverse Limit input ON Deceleration stop Error occurs rotation reverse request Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 9 3 Manual Operation JOG Operation 9 2 Changing the Speed During JOG Operation The target speed can be changed while the positioning unit is in JOG operation B Settings Parameters required for the JOG operation of the positioning unit is set in the positioning setting menu of the programming tool Items Setting example Acceleration deceleration pattern 0 Linear acceleration deceleration Acceleration time 1 ms 100 ms Deceleration time 1 ms 50 ms Target speed 1 10000 pps Acceleration time 2 ms 200 ms The set values of acceleration time deceleration time and Deceleration time 2 ms 150 ms target speed after the speed change are Target speed 2 20000 pps written to the unit memory by the program B Operation diagram t ms JOG forward contact Y120 BUSY flag X118 Operation done flag X120 Writing the target speed 2 m Operation of each contact e The BUSY flag X118 which indicates that the motor is running will turn ON when the Jog operation starts and it will turn OFF when the operation completes e The target speed can be changed freely while the positioning unit is in JOG operat
25. Do not touch the terminal while turning on electricity It could lead to an electric shock Use the external devices to function the emergency stop and interlock circuit Connect the wires or connectors securely The loose connection could cause excessive exothermic heat or smoke generation Do not allow foreign matters such as liquid flammable materials metals to go into the inside of the product It could cause excessive exothermic heat or smoke generation Do not undertake construction such as connection and disconnection while the power supply is on It could lead to an electric shock Copyright Trademarks This manual and its contents are 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 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Introduction Thank you for buying a Panasonic product Before you use the product please carefully read the installation instructions and the users manual and understand their contents in detail to use the product properly Types of Manual e There are different types of users manual for the FP7 series as listed below Please refer
26. 100 setting Cam curve Selected from the following ones Uniform velocity Constant acceleration Simple harmonic motion Cycloid Modified trapezoid Modified sine Trapecloid One dwell cycloidal m 1 One dwell cycloidal m 2 3 One dwell modified trapezoid m 2 3 One dwell modified trapezoidal Ferguson One dwell modified sine One dwell trapecloid No dwell modified trapezoid NC2 curve Asymmetric cycloid Asymmetric modified trapezoid Adjustment function Function to adjust the displacement of desired point data 1 000 points max in units of cam data Shift function Phase shift in created cam data 0 to 100 Indication Displacement Speed Acceleration Jerk A check box allows desired display 8 5 2 Types and Contents of Setting Parameters The use of the electronic cam requires the following parameter settings Parameter name Outline Electronic cam use non use Select the use or non use of the electronic cam function When the electronic cam is not used the electronic cam function will not work and output from the electronic clutch will be output as pulses Cam pattern The cam pattern is the most fundamental setting for using the electronic cam function The cam pattern is set in the cam pattern settings window in the FPWIN GR7 Configuration screen The positioning unit converts cam patterns into point data based on the preset cam curves and resolutions Cam control master ax
27. 17 2 l O Number Allocation Contaci Target axis Name Description allocation Requests the home return of the virtual axis The home return of the virtual axis is possible only by data setting Virtual axis Home return start JOG forward 1st axis JOG reverse JOG reverse JOG forward Requests the JOG operation for the corresponding axis 2nd axis JOG reverse JOG reverse The operation is of level type JOG forward 3rd axis If this contact turns ON while the positioning unit is in tool JOG reverse JOG reverse operation a warning will be output JOG forward 4th axis JOG reverse JOG reverse JOG forward Requests the JOG operation of the virtual axis Virtual axis The operation is of level type 1st axis rd axis Requests the emergency stop of the corresponding axis n Emergency stop The operation is of level type 3rd axis P Note The deviation counter cannot be cleared 4th axis Emergency stop Requests the emergency stop of the virtual axis 1st axis aud Requests the deceleration stop of the corresponding axis nd axis Deceleration stop The operation is of level type 3rd axis A Note The deviation counter cannot be cleared 4th axis Deceleration stop Requests the principle stop of the virtual axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 11 Specifications ontact m
28. OFF T J Synchronized Stop Keep in mind that the slave axes may come to a sudden stop if the clutch is disengaged while making a gear ratio change Input speed Electronic gear output Output speed Electronic clutch output Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 11 Automatic Operation Synchronous Control 8 4 2 Types and Contents of Setting Parameters The use of the electronic clutch requires the following parameter settings Parameter name Outline Set to use or not to use the electronic clutch function The electronic clutch is by default disengaged Be sure to engage the electronic clutch in response to the operation Electronic clutch used unused 1 The electronic clutch will be always engaged when the electronic clutch is not in use in which case output data from the electronic gear will be input as it is into the electronic cam At that time the master axis will always operate in synchronization with the slave axes Trigger type Set an I O clutch ON request as a trigger to be detected Select the method of trigger signal detection from Level Rising or Ti Edge selection Falling edge Method Select Direct or Slip for the engagement of the clutch Slip time If Slip is selected set the slip time Trigger type Set an I O clutch OFF r
29. axes consult your Panasonic 5 representative 1002H Unit error Any error has occurred in the internal All No processing axes Check the settings System If tedi An error has occurred the system All an error occurs repeated y 1003H processing ocessing due to some reason axes Yes with the correct set values error consult your Panasonic representative Tool An error in communication with the Check the connection of the operation PC has occurred while operating the All cable connecting the PC and 1020H A Yes PLC abnormal programming tool with the positioning axes end setting menu Reboot the PC Check the condition of the 10304 CPU unit An alarm has occurred to the CPU All No CPU unit error unit axes Turn off the power supply and turn it on again Check the condition of the CPU unit The system in operation has come to All CPU unit 1031H operation a stop because the CPU unit is aos Yes mode error switched to PROG Mode de CPU unit to PROG ode Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 6 15 3 Error Code Table 15 3 2 Axis operation error from 3000H These are the errors that will occur while various operations are being executed e Error name Description Object Recovered Countermeasures 3010H Limit signal The input on the positive side of Each Yes
30. d Target axis Name Description allocation TUE Requests the permission for the pulser operation of the corresponding ed axis The operation is of level type Y43 4th axis Y44 We Y46 Virtual Pulser A Y47 axis parin Requests the permission for the pulser operation of the virtual axis By turning ON this signal while the positioning unit is in J point operation J point speed the speed changes to the target speed in the specified leration deceleration time and pattern change contact acce The operation is the edge type Y4C Y4E Virtual J point speed Changes the target speed during the JOG J point positioning of the axis change contact virtual axis Y51 Turn OFF the servo ON signal for the corresponding axis 2nd axis Seno The servo ON signal is turned OFF at the ON edge of this contact The operation is the edge type Y54 Y57 J point The positioning unit will go to the next table processing when this signal turns ON during the JOG J point positioning of the corresponding axis start The operation is the edge type Y5C Y5E F Y5 Virtual LR The positioning unit will go to the next table processing when this signal axis ad 9 turns ON during the JOG J point positioning of the virtual axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 12 17 2
31. ete 12 1 12 1 Settings and Operations of Stop Functions 12 2 12 2 Settings and Operations of Pause 12 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net vi Table of Contents 13 Supplementary Functions 13 1 19 1 Dwell Tim te rg t a eere ee p rede umero t 13 2 13 2 SOIwalre Iit ee e tet t Pen 13 3 13 3 Auxiliary Output Code and Auxiliary Output Contact 13 4 13 4 Current Value Update 13 6 13 5 Goordinate aaa asua awas 13 8 13 6 Pulse MEMO UIT esee 13 9 13 6 1 Pulse Input Typos encerio ieii 13 9 13 6 2 Monitoring Pulse Input Values u 13 10 13 6 3 Pulser Input Function L u emen 13 11 13 6 4 Feedback Pulse Function 13 11 13 6 5 High speed Counter Function sees 13 15 13 7 Startup speed tina nies demde ene Im Semen 13 17 14 Programming Cautions 14 1 14 1 Programming Cautions 14 2 14 1 1 Turning Off Power Supply Clears Contents of Unit Memory 14 2 14 1 2 No
32. 0 00001 inch 10 737 41823 to 10 737 41823 inches inch 0 0001 inch 107 374 1823 to 107 374 1823 inches degree 0 1 degree 107 374 182 3 to 107 374 182 3 degrees degree 1 degree 1 073 741 823 to 1 073 741 823 degrees Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation max speed 500 kpps 4 Mpps 500 kpps 4 Mpps Acceleration deceleration Linear acceleration deceleration pattern S shaped acceleration deceleration Acceleration time 0 to 10 000 ms adjustable in 1 ms increments Automatic operation Positioning control Speed reference range Deceleration time 0 to 10 000 ms adjustable in 1 ms increments No of positioning tables Each axis 600 points in standard area and 25 points in extended area Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 3 Specifications 2 axis type 4 axis type AFP7PPO2T AFP7PPO4T PTP control E and C point control Independent CP control P point control Speed control J point control Linear E P C point control composite speed or long 2 axis interpolation axis speed specification Interpolation Circular E P C point control center or passing point interpolation specification Linear E P C point control composite speed or long 3 axis interpolation axis speed specification Interpolation Spiral E P C point control center or passing
33. 4 4 1 Check Items After Turning Power On m Check items after turning power On System configuration example Make checks in the following four major steps Positioning uni u 1 Check on rotating direction and moving Check on near home direction input and home input lt gt Motor NNNNSNSNSSNNNNVANNNSNNNNNNNNNNANS WWM xs 7 5 C 5 Switch LIS EX i switch H Near home switch i A Home switch Over limit switch let Driver upper and lower limit inputs 2 J Check on safety circuit with positioning unit Check on external safety unit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 7 Power On Off and Check Items 4 4 2 Check on External Safety Circuit Make a check on the safety circuit recommended by the motor manufacturer which include a check on the disconnection of the power supply to the motor driver with CW and CCW drive inhibition switch input from an external circuit 4 4 3 Check on Safety Circuit with Positioning Unit Step 1 Forcibly operate the over limit switch for the positioning safety circuit and check that the positioning unit correctly receives limit input The state of limit input can be chec
34. 888 723 4773 Web www ctiautomation net Email info ctiautomation net Troubleshooting 16 1 What to Do If an Error Occurs 16 1 1 Motor is not Rotating or Operating Pulse Output A and B LEDs are Flashing or Lit B Solution 1 Servo motor Check that the servo input is ON p b x H H Servo on input Rc E c d we Positioning unit B Solution 2 Check that the power to the driver is turned on m Solution 3 Check that the positioning unit and driver are wired correctly B Solution 4 Check that the pulse output coincides in setting CW CCW or Pulse Sign setting with the driver 16 1 2 Motor is not Rotating or Operating Pulse Output A and B LEDs off m Solution Review the program Points of confirmation 1 Check that the I O numbers are correct 2 Check that the start contact has not been overwritten in the program 3 Check the input logic of the over limit switch The error LED is lit if the logic is incorrect Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 16 2 16 1 What to Do If an Error Occurs 16 1 3 Reversed Rotation or Movement Direction Example of reversed rotation or movement direction Reverse direction Intended direction unn m Solution 1 Check that the positioning unit and driver are wired correctly Points of confirmation Check that the CW C
35. Group 1 axis 2 axis 3 axis 4 axis ynchronous master axi Master Taxis 2e Synchronized output Synchronous Asynchronous Asynchronous Synchronous Synchronous state shange synchronization Change synchronization Change synchronization Change synchronization Current _ 0 0 0 Current value update Current value update Current value update Current value update Unit pulse pulse pulse pulse Deviation pulses 0 0 0 0 Joe target speed 1000 1000 1000 1000 Change Change Change Change JOG Table number 1 1 1 1 Teaching Teaching Teachine Teaching Axis state Stopped Stopped Stopped Stopped Error code Olear errors Warning code Clear warning Clear warning Clear warning le tr Speed Rate 100 Perform the operation of the positioning unit to stop the positioning unit at the positioning point Press the Teaching button Input the table number where the desired positioning information is registered and click the OK button The current value will be registered for the amount of movement of the table number specified If the axis that the teaching operation is performed is the interpolation axis the current value is registered for the movement amount of the equivalent coordinate in the interpolation group Press Exit button to terminate teaching Phone 800 894
36. Set a multiplier for the input pulse train for the operation of the pulser The number of reference pulses is obtained from the pulse train input from Pulser the pulser multiplied by the numerator of the pulser operation 039H operation ratio 1 ratio denominator of pulser operation ratio numerator Setting range 1 to 32 767 Any other settings will be errors Set a divisor for the input pulse train for the operation of the pulser The number of reference pulses is obtained from the pulse train input from Pulser the pulser multiplied by the numerator of the pulser operation operation ratio 1 denominator ratio denominator of pulser operation ratio Setting range 1 to 32 767 Any other settings will be errors Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 46 17 6 Details of Each Axis Setting Area in Unit Memory Offset a Area to set the single and interpolation operation pattern of positioning Pulser operation 0 glance operation method 1 Speed limit pulse hold 2 Speed limit truncated Any other settings will be errors 03CH a 03FH _ 040H Set the control code for J point control bit Name Default Description 0 E a 041H J point control code 0H 1 Acceleration 0 0 Linear Deceleration pattern acceleration
37. Unit memory no Description Hex Set a correction value of pulse input at the time of making an automatic movement amount check Numerator of automatic movement amount check correction UM 00808 The following formula is used to calculate a deviation feedback value pulse input value with a correction from pulse input and make an automatic movement amount check Denominator of automatic UM 00809 movement amount check correction Deviation feedback value Correction numerator Correction denominator x Pulse input Set an action when the difference between the instruction value and feedback value exceeds the movement check value at the time of automatic movement amount check 0 Error An error will occur and the operation of the positioning unit will come to a stop if the difference between the feedback value and reference movement exceeds the movement check value threshold The pulse input will be cleared when the error is cleared Automatic movement amount checking UM 0080A 1 Warning A warning will occur and the operation of the positioning unit will come to a stop if the difference between the feedback value and reference movement exceeds the movement check value threshold The pulse input will be cleared when the warning is cleared 2 No No movement check is made Set the threshold to use the automatic check function of movement amount
38. Web www ctiautomation net Email info ctiautomation net 13 5 Supplementary Functions 13 4 Current Value Update The current value update function is a function to change the current value controlled by the positioning unit to a desired preset value Refreshing the current value requires data writing to the unit memory B Current value update area Unit memory nit M u Name Description memory no Hex Only when the corresponding bit for each axis changes to 1 from 0 the current coordinate controlled by the positioning unit to the following current value After the change the positioning unit will clear the corresponding bits to 0 automatically Name Default Description Current value update UM 000C0 request flag Current value update request for 1st axis Current value update request for 2nd axis 0 Current value update request for 3rd axis Current value update 0 No change 1 Changes the corresponding coordinate origin After change the positioning unit clears the corresponding bits request for 4th axis to 0 automatically UM 000C8 Current value update coordinate of tet axis Stores the coordinate to be preset as the current value of 1st axis UM 000CA Current value update i i OT ordinale oord auis Stores the coordinate to be preset as the current value of 2nd axis UM 000CC Current value update i paran ot 3rd axis Stores the coordinate to b
39. info ctiautomation net 17 23 2nd axis error code annunciation buffer 5 A code will be annunciated if an error occurs UM 00159 No of occurrences of errors on 4th axis Specifications Unit y memory no Hex UM 0019A ie coge A code will be annunciated if an error occurs UM 0019B annunciation buffer 1 UM 0019C Mu E Code A code will be annunciated if an error occurs UM 0019D annunciation buffer 2 virtua ASAR code A code will be annunciated if an error occurs annunciation buffer 3 UM 0019E UM 0019F UM 001A0 cape A code will be annunciated if an error occurs 001A1 annunciation buffer 4 UM 001A2 ae A code will be annunciated if an error occurs UM 00143 annunciation buffer 5 UM 001A4 Mie a tdt code A code will be annunciated if an error occurs UM 001A5 annunciation buffer 6 UM 001A6 coge A code will be annunciated if an error occurs 001A7 annunciation buffer 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 24 17 4 Details of Common Area in Unit Memory 17 4 9 Warning Annunciation amp Clear Area If warnings not involving a stoppage occur data on the warnings along with the number of warnings will be stored on an axis by axis basis in this area If the warning clear is executed the warnings and the number of warnings oc
40. 03ADO UM 062D0 UM 08ADO UM 12ADO 170 UM 012E0 UM UM 062E0 UM UM 12AE0 171 UM 012F0 UM 03AFO0 UM 062F0 UM 08AFO0 UM 12AF0 172 UM 01300 UM 03B00 UM 06300 UM 08B00 UM 12B00 173 UM 01310 UM 03810 UM 06310 UM 08B10 UM 12B10 174 UM 01320 UM 03820 UM 06320 UM 08B20 UM 12B20 175 UM 01330 UM 03830 UM 06330 UM 08830 UM 12B30 176 UM 01340 UM 03840 UM 06340 UM 08840 UM 12B40 177 UM 01350 UM 03B50 UM 06350 UM 08B50 UM 12B50 178 UM 01360 UM 03B60 UM 06360 UM 08B60 UM 12B60 179 UM 01370 UM 03B70 UM 06370 UM 08B70 UM 12B70 180 UM 01380 UM 03B80 UM 06380 UM 08B80 UM 12B80 181 UM 01390 UM 03B90 UM 06390 UM 08B90 UM 12B90 182 UM 013A0 UM 03BAO UM 063A0 UM UM 12BA0 183 UM 01380 UM 03BB0 UM 06380 UM 08BBO UM 12BBO 184 UM 013C0 UM 03BCO UM 063C0 UM 08BCO UM 12BCO 185 UM 01300 UM OSBDO UM 06300 UM 08BDO UM 12BDO 186 UM 013E0 UM OSBEO UM 063E0 UM 08BEO UM 12BEO 187 UM 013F0 UM OSBFO UM 063F0 UM 08BFO UM 12BF0 188 UM 01400 UM 03C00 UM 06400 UM 08C00 UM 12C00 189 UM 01410 UM 03C10 UM 06410 UM 08C10 UM 12C10 190 UM 01420 UM 03C20 UM 06420 UM 08C20 UM 12C20 191 UM 01430 UM 03C30 UM 06430 UM 08C30 UM 12C30 192 UM 01440 UM 03C40 UM 06440 UM 08C40 UM 12C40 193 UM 01450 UM 03C50 UM 06450 UM 08C50 UM 12C50 194 UM 01460 UM 03C60 UM 06460 UM 08C60 UM 12C60 195 UM 01470 UM 03C70 UM 06470 UM 08C70 UM 12C70 196 UM 01480 UM 03C80 UM 06480 UM 08C80 UM 12C80 197 UM 01490 UM 03C90 UM 06490 UM 08C90 UM 12C90 198 UM 014A0 UM 03CA0 UM 064A0 UM 08CAO0 UM 12CA
41. 71 UM 00CBO UM 03480 UM 05CBO UM 08480 UM 12480 72 UM 00CCO UM 034C0 UM 05CCO UM 084C0 UM 12460 73 UM 00CDO UM 03400 UM 05CDO UM 084DO UM 12400 74 UM 00 UM 034E0 UM 05CEO UM 084E0 UM 124E0 75 UM UM 034F0 UM 05CFO UM 084F0 12420 76 UM 00000 UM 03500 UM 05D00 UM 08500 UM 12500 77 UM 00D10 UM 03510 UM 05D10 UM 08510 UM 12510 78 UM 00D20 UM 03520 UM 05D20 UM 08520 UM 12520 79 UM 00030 UM 03530 UM 05030 UM 08530 UM 12530 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 58 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 80 UM 00D40 UM 03540 UM 05D40 UM 08540 UM 12540 81 UM 00D50 UM 03550 UM 05D50 UM 08550 UM 12550 82 UM 00D60 UM 03560 UM 05D60 UM 08560 UM 12560 83 UM 00D70 UM 03570 UM 05D70 UM 08570 UM 12570 84 UM 00D80 UM 03580 UM 05D80 UM 08580 UM 12580 85 UM 00D90 UM 03590 UM 05D90 UM 08590 UM 12590 86 UM 00DAO UM 035A0 UM 05DAO UM 085A0 UM 125A0 87 UM 00DBO UM 03580 UM 05DBO UM 08580 UM 12580 88 UM 00DCO UM 035C0 UM 05DCO UM 085C0 UM 125 0 89 UM 00DDO UM 035DO UM 05DDO UM 085DO UM 12500 90 UM 00DE0 UM 035E0 UM 05DEO UM 085E0 UM 125E0 91 UM 00DF0 UM 035F0 UM 05DFO UM 085F0 UM 125F0 92 UM 00 00 UM 03600 UM 05E00 UM 08600 UM 12600 93 UM 00E10 UM 03610 UM 05E10 UM 08610 UM 12610 94 UM 00E20 UM 03620 UM 05E20 UM 08620
42. 8 8 3 Electronic Gear Function 8 3 3 Gear Ratio Changes while in Operation Precautions for gear ratio changes while the positioning unit is in operation e f the gear ratio is changed with a new gear ratio while the electronic gear is in operation the new gear ratio will be effective with an elapse of a preset gear change time elf the gear ratio change time is 1 the gear ratio will be changed at acceleration deceleration time of 0 Acceleration or deceleration during the gear ratio change results in linear acceleration or deceleration S shaped acceleration or deceleration cannot be used 200 100 50 100 Gear ratio numerator Gear ratio denominator 100 100 Gear ratio change time 100 spese IN Gear ratio change time Gear ratio change time 1 ms B i Input speed i Output speed Gear ratio change request signal fe dl B Programming Follow the procedure below and write a user program in the case of changing the gear ratio while the positioning unit is in operation Time T 1 Change the gear ratio Change the gear ratio numerator and denominator of the electronic gear in the setting area for the electronic gear The gear ratio at the time of starting the positioning unit is set for this area It is recommended to save the initial gear ratio before change so that the initial gear ratio can be reused with ease 2 Turn ON the gear ratio change request contact Turn ON
43. Area 17 21 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net viii Table of Contents 17 4 8 Error Annunciation amp Clear Area senes 17 22 17 4 9 Warning Annunciation amp Clear Area 17 25 17 4 10 Pulse Count Control 17 28 17 4 11 Synchronous Control Monitor 17 29 17 4 12 System Operation Setting 17 31 17 5 Details of Each Axis Information Area in Unit Memory 17 32 17 5 1 Each Axis Information amp Monitor 17 32 17 5 2 Each Axis Information amp Monitor Area 17 33 17 6 Details of Each Axis Setting Area in Unit Memory 17 36 17 6 1 Configuration of Each Axis Setting 17 36 17 6 2 Parameter Setting Area sssssssssssseeeeenneenns 17 37 17 6 3 Positioning Data Setting Areas sse 17 49 17 7 Unit Memory Synchronous Control Setting Area 17 68 17 7 1 Synchronous Control Setting 17 68 17 7 2 Detailed Information on Synchronous Control Setting Area 17 69 17 8 Dimensions
44. Changes in Recovery from Errors 15 2 1 Outline The method to recover from error occurrence varies according to the states when errors occur Yes error at any timing Status if an error Description Error type occurs Recoverable state After an error occurs the operating stop All errors After an error occurs the Positioning Unit can recover from the Type Unrecoverable state No critical error on the positioning unit system If an unrecoverable error occurs the power supply of the positioning unit should be turned off and on System Error Axis operation error Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 5 Errors and Warnings 15 3 Error Code Table 15 3 1 System Error from 1000H These are the errors that occur due to any failure within the positioning unit The system errors are defined as fatal errors for the system Except for some items the power supply must be turned off and on again to recover from the errors s Error name Description Object Recovered Countermeasures System runaway 1000H System All No runaway If the error occurs the ALARM LED axes Turn off the power supply and on the positioning unit will be lit turn it on again Hardware An error has occurred in a hardware All If an error occurs repeatedly 1001H No error test with the power supply turned on
45. Codes Error code Error name Description Object Recovered Countermeasures B045H Synchronous axis difference check warning The difference between the movement amounts of the target axes in synchronous operation has exceeded the specified difference threshold This warning occurs when the synchronous operation mode and synchronous difference check function are set to Warning Each axis Yes Check the operation of the target axes for the synchronous operation B046H Automatic movement amount check warning The automatic movement amount check function has detected that the difference between the instruction value and feedback value is in excess of the preset automatic movement amount This warning occurs when the operation of the automatic check function of movement amount is set to Warning Each axis Yes Check the operation of the target axes B304H Recalculation error warning An error has occurred while recalculation processing is in process Each axis Yes Check the settings for each axis parameter and interpolation group Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 15 Errors and Warnings Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 16 16 Troubleshooting Phone 800 894 0412 Fax
46. Home return Home coordinates Present value on completion of the home return JOG operation Acceleration Deceleration pattern settings JOG operation Jog acceleration time The acceleration deceleration type of JOG operation The acceleration time of JOG operation JOG operation Jog deceleration time The deceleration time of JOG operation JOG operation Target speed Emergency stop deceleration time ms The target rate of JOG operation The deceleration time when the emergency stop is requested by the input contact Limit stop deceleration time ms The deceleration time of deceleration operation when the limit is input Error stop deceleration time ms The deceleration time of deceleration operation when an error occurs J point Operation setting code The acceleration deceleration pattern of the J point speed point J point Acceleration time ms J point Deceleration time ms J point Target speed Pulser operation setting code The acceleration pattern of the J point speed point The deceleration pattern of the J point speed point The target speed of the J point speed point The pulser input 1 to 4 in the pulser operation Pulse input method Input type of pulse operation Pulser operation ratio numerator Pulser operation ratio denominator The number of movement pulses is calculated from the number of input pulses of the pulser mu
47. OFF request Set enabled conditions for the trigger signal 00H Level 029H Clutch OFF edge selection En 01H Rising edge 02H Falling edge Description OOH Direct 030H Clutch ON method 01H Slip 032H Clutch ON slip method 0 00H Slip time setting 033H Clutch ON slip time 1 to 10000 ms Clutch ON slip curve selection 00H Linear 00H Direct 040H Clutch OFF method 01H Slip 042H Clutch OFF slip method 00H Slip time setting 043H Clutch OFF slip time 1 to 10000 ms 046H Clutch OFF slip curve selection 0 00H Linear B Electronic cam setting area Offset E Description emo m 050H Cam control 1 Settings for cam control synchronous master cycle 051H synchronous master axis cycle 1 to 2 147 483 647 1 Registered cam pattern number for use 1 to 16 00H OH 1 00H 00H 1 OH 053H Cam pattern number used Displacement upper limit settings for cam control 054 Cam stroke amount 1 P PP 9 055H 1 to 2 147 483 647 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 70 17 8 Dimensions 17 8 Dimensions m 2 axis type 90 OA Unit mm B 4 axis type 90 A B CLD Z PAPBER T CEP Unit mm
48. Operation of P Point Control The example below is a case of single axis control with the positioning unit installed in slot 1 The movement amount setting uses an increment method in pulses Table 18000 pulses cc w Ball screw VL TITEL side side B Settings Use the tool software to make positioning data and parameter settings The unit is set to pulse Items Setting example Table 1 Table 2 Table 3 Operation pattern C Continuance point C Continuance point E End point Control method Increment Increment Increment X axis movement amount 5000 pulses 10000 pulses 3000 pulses Acceleration deceleration bn T pattern L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps 20000 pps 5000 pps B Operation diagram xem 5000 Teble3 3000 pulses Positioning start contact Y110 BUSY flag X118 Operation done flag X120 Current value m Operation of each contact e The BUSY flag X118 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operation home return
49. Output specification at 5V DC Output power supply range 4 75 to 5 25V DC Current consumption 5V DC 15mA 1 signal Note Make sure that a current not in excess of 15 mA is provided for each signal Add appropriate resistance if the current is in excess Theuse of a twisted pair cable is recommended to connect the output of the positioning unit and the motor driver Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 9 3 5 Connecting Deviation Counter Clear Output Signal The following diagram shows an example of connection to the counter clear input of the serve motor driver This connection requires an external power supply of 5 to 24 V DC If 10 mA is exceeded Connection Positioning unit Positioning unit registor must be Motor driver A7 A16 B7 B16 Power supply Open collector Output specifications HE Output form Open collector GND 4510 24v pc Operating voltage range 4 75 to 26 4V DC Max load current ON Max voltage drop Note Be sure to use a twisted pair cable maximum of 10 mA can flow as a deviation counter clear output signal Add appropriate resistance if the current is in excess Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 10 3 6 Connecting Servo On Output Signal 3 6 Connecting Servo On Output Signal The
50. The pulse input will be counted when the corresponding bit for each axis is set to 0 This flag will be enabled only if the pulse input application is set to high speed counter bit Name Default Description 0 1st axis pulse count enabled 0 0 Pulse input count enabled 1 2nd axis pulse count enabled 0 1 Pulse input count disabled 2 3rd axis pulse count enabled 0 Pulse co nt 3 4th axis pulse count enabled 0 UM 00240 enable flag 4 5 6 7 15108 The pulse input value will be changed to the set pulse count when the corresponding bit for each axis is set to 1 from 0 This flag is an edge trigger Be sure to change the flat to 0 from 1 at the time of the change bit Name Default Description 0 1st axis pulse count change 0 0 1 2nd axis pulse count change 0 T input count change disabled UM 00241 2 3rd axis pulse count change 0 Pulse input count change enabled request flag 3 4th axis pulse count change 0 4 2 5 6 7 15108 00248 Pulse input hanged value of UM 00249 st axis UM 0024A ulse input hanged UM 0024B nd axis Set desired pulse input value to replace the current value for each axis UM 0024C ulse input hanged value of UM 0024D 3rd axis UM 0024E Pulse input changed va UM 0024F Ath axis Phone 800 894 0412 Fax 888 7
51. UM 057E0 UM 07FEO UM 7 UM 147 0 10025 UM 02FF0 UM 057F0 UM 07220 UM 7 UM 14720 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 67 Specifications 17 7 Unit Memory Synchronous Control Setting Area 17 7 1 Synchronous Control Setting Area This is an area for monitoring the setting status of synchronous control Synchronous control common setting area Synchronous setting Electronic gear setting area area of 1st axis Clutch setting area Electronic cam setting area Synchronous control common setting area Synchronous setting Electronic gear setting area area of 2nd axis Clutch setting area Electronic cam setting area Synchronous control common setting area Synchronous setting Electronic gear setting area area of 3rd axis Clutch setting area Electronic cam setting area Synchronous control common setting area Synchronous setting Electronic gear setting area area of 4th axis Clutch setting area Electronic cam setting area Not used Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 68 17 7 Unit Memory Synchronous Control Setting Area 17 7 2 Detailed Information on Synchronous Control Setting Area Make synchronous control settings in this area These values set in the Configuration menu will be stored automatically Therefore individual settings are not necessary m S
52. UM 12620 95 UM 00E30 UM 03630 UM 05E30 UM 08630 UM 12630 96 UM 00E40 UM 03640 UM 05E40 UM 08640 UM 12640 97 UM 00E50 UM 03650 UM 05E50 UM 08650 UM 12650 98 UM 00E60 UM 03660 UM 05E60 UM 08660 UM 12660 99 UM 00E70 UM 03670 UM 05E70 UM 08670 UM 12670 100 UM 00 80 UM 03680 UM 05E80 UM 08680 UM 12680 101 UM 00E90 UM 03690 UM 05E90 UM 08690 UM 12690 102 UM UM 036A0 UM UM 086A0 UM 126A0 103 UM 03680 UM 05EBO UM 086B0 UM 12680 104 UM 00ECO UM 036C0 UM 05ECO UM 086C0 UM 126C0 105 UM 00ED0 UM 036DO UM 05EDO UM 086DO UM 12600 106 UM OOEEO UM 036E0 UM UM 086 0 UM 126E0 107 UM OOEFO UM 036F0 UM 05EFO UM 086F0 UM 126F0 108 UM 00F00 UM 03700 UM 05F00 UM 08700 UM 12700 109 UM 00F10 UM 03710 UM 05F10 UM 08710 UM 12710 110 UM 00F20 UM 03720 UM 05F20 UM 08720 UM 12720 111 UM 00F30 UM 03730 UM 05F30 UM 08730 UM 12730 112 UM 00F40 UM 03740 UM 05F40 UM 08740 UM 12740 113 UM 00F50 UM 03750 UM 05F50 UM 08750 UM 12750 114 UM 00F60 UM 03760 UM 05F60 UM 08760 UM 12760 115 UM 00F70 UM 03770 UM 05F70 UM 08770 UM 12770 116 UM 00F80 UM 03780 UM 05F80 UM 08780 UM 12780 117 UM 00F90 UM 03790 UM 05F90 UM 08790 UM 12790 118 UM 00FA0 UM 037A0 UM UM 087A0 UM 127A0 119 UM 00FBO UM 037B0 UM 05FBO UM 08780 UM 127B0 120 UM 00FCO UM 03760 UM 05FCO UM 087C0 UM 12760 121 UM 00FD0 UM 037D0 UM 05FDO UM 08700 UM 12700 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiaut
53. Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 374 UM UM 047A0 UM 06FAO0 UM 097A0 UM 137A0 375 UM 01FBO UM 04780 UM 06FBO UM 09780 UM 13780 376 UM 01FCO UM 047CO UM 06FCO UM 097C0 UM 13760 377 UM 01FDO UM 04700 UM 06FDO UM 09700 UM 13700 378 UM 01FEO UM 047E0 UM 06FEO0 UM 097 0 UM 137 0 379 UM 01FFO UM 04720 UM 06FF0 UM 09720 UM 13720 380 UM 02000 UM 04800 UM 07000 UM 09800 UM 13800 381 UM 02010 UM 04810 UM 07010 UM 09810 UM 13810 382 UM 02020 UM 04820 UM 07020 UM 09820 UM 13820 383 UM 02030 UM 04830 UM 07030 UM 09830 UM 13830 384 UM 02040 UM 04840 UM 07040 UM 09840 UM 13840 385 UM 02050 UM 04850 UM 07050 UM 09850 UM 13850 386 UM 02060 UM 04860 UM 07060 UM 09860 UM 13860 387 UM 02070 UM 04870 UM 07070 UM 09870 UM 13870 388 UM 02080 UM 04880 UM 07080 UM 09880 UM 13880 389 UM 02090 UM 04890 UM 07090 UM 09890 UM 13890 390 UM 020A0 UM 048A0 UM 070A0 UM 098A0 UM 138A0 391 UM 020B0 UM 04880 UM 070BO UM 09880 UM 13880 392 UM 020 0 UM 048CO UM 070C0 UM 098C0 UM 138C0 393 UM 02000 UM 048DO UM 070DO UM 098DO UM 13800 394 UM 020E0 UM 048E0 UM 070E0 UM 098 0 UM 138E0 395 UM 02020 UM 048F0 UM 07020 UM 098F0 138F0 396 UM 02100 UM 04900 UM 07100 UM 09900 UM 13900 397 UM 02110 UM 04910 UM 07110 UM 09910 UM 13910 398 UM 02120 UM 04920 UM 07120 UM 09920 UM 13920 399 UM 02130 UM 04930 UM 07130 UM 09930 U
54. You can perform commissioning with the Configurator PM7 before actually starting the user program e The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Online Tool Operation from the menu bar The tool operation dialog box will be displayed 2 Select Home Return from the tool operation dialog box The tool operation home return dialog box is displayed Tool operation Return to home position EJ operation in progres Axis Group 1 axis 2 axis 3 axis 4 axis ynchronous master axi Master E s Ls Synchronized output NO O A Synchronous state Synchronous Asynchronous Asynchronous Change synchronization Change synchronization Change synchronization Current value i ES m position coordinate position coordinate ome position coordinate position coordinate Unit pulse pulse pulse pulse Deviation pulses of 0 0 0 Home return mode Dog method 1 Dog method 1 Dog method 1 Dog method 1 Start Start Start Start Axis state Stopped Stopped Stopped Stopped Warning code Olear warning Clear warning Clear warning Clear warning Speed Rate 100 Exit 3 Press the Start button for
55. after home return processing B Coordinate origin processing procedure 1 Write an coordinate to be the home in the home coordinate area of the target axis for which the coordinate is to be changed after a home return 2 Execute the home return process After the completion of the home return the coordinate specified in the above 1 will become the home position Unit memory no Default Setting range and description Hex UM 0084A Coordinate origin of 1st axis UM 0084B UM 0304A Coordinate origin of 2nd axis UM 0304B UM 0584A Stores the value of coordinate origin after the home Coordinate origin of 3rd axis UM 0584B return UM 0804A Coordinate origin of 4th axis UM 0804B UM 1204A Coordinate origin of virtual axis UM 1204B Set the coordinate origin in the specified unit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 8 13 6 Pulse Input 13 6 Pulse Input 13 6 1 Pulse Input Types Each axis of the positioning unit has pulse input thus connecting to a variety of input devices Select the desired type of pulse input in the positioning setting menu of the tool software Input target Description Pulser Select this to use manual pulsers The use of a pulser operation setting code allows to specify the target axis ch where the pulser will be used Feedback pulse Set feedback pu
56. and an error will occur e n the case of specifying long axis speed the composite speed will be faster than the long axis speed e f any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a set value error will occur when the positioning control starts e The start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 18 7 2 Interpolation Control 7 2 4 Setting and Operation of 3 Axis Linear Interpolation The example below is a case of E point control with the positioning unit installed in slot 1 The X axis is set to the 1st axis the Y axis is set to the 2nd axis and the Z axis is set to the 3rd axis The movement amount setting is the increment method and the unit is set to pulse 5000 pulses B Settings 4j 87 iN C CC NC Z axis 20000 pulses 10000 pulses Items Setting example Operation pattern E End point Interpolation operation 0 Linear Composite speed Control method Increment X axis movement amount 10000 pulses X axis auxiliary point 0 Y axis movement amount 5000 pulses Y a
57. annunciaton buffer Z A code will be annunciated if a warning occurs UM 00231 No of occurrences of Annunciates the number of occurrences of warnings on the virtual warnings on the virtual axis axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 26 17 4 Details of Common Area in Unit Memory Unit RE UM 00232 S AXO warung coge A code will be annunciated if a warning occurs UM 00233 annunciation buffer 1 UM 00234 bs code A code will be annunciated if a warning occurs UM 00235 annunciation buffer 2 UM 00236 Virtual AXIS WITH code A code will be annunciated if a warning occurs UM 00237 annunciation buffer 3 UM 00238 A code will be annunciated if a warning occurs UM 00239 annunciation buffer 4 UM 0023A axs warning coce A code will be annunciated if a warning occurs UM 0023B annunciation buffer 5 UM 0023C 5 Tua code A code will be annunciated if a warning occurs UM 0023D annunciation buffer 6 UM 0023E Cogg A code will be annunciated if a warning occurs UM 0023F annunciation buffer 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 27 Specifications 17 4 10 Pulse Count Control Area Makes input pulse changes if high speed pulses are set for pulse input Unit memory no Hex Description
58. are d Yes OFF group error outside the range It should be performed when An error has occurred during a various stop request signals home return while the positioning system stop emergency stop unit is in synchronous operation deceleration stop are OFF The home return process was executed with setting the Set the simultaneous operation synchronous operation to to Disabled while the Synchronous Enabled when using positioning unit is in 3042H OPeration synchronous mode A Each Yes synchronous mode A home return axis error A method other than the usable Select a usable home return home return methods was method while the positioning executed when using unit is in synchronous mode B synchronous mode B Check the unit setting of the Synchronous The operation has stopped as an stopped axis 3043H operation error occurred on another axis Each Yes If an error occurs repeatedly ertor while the positioning unit is in axis with the correct set values synchronous operation consult your Panasonic representative Synchronous Changing the setting of the operation not The setting of b pint Each synchronous operation should 3044H settable operation was changed While The Eac Yes be performed when the pulser In pulser positioning unit is in pulser axis operation enabled signal is operation Operation OFF The difference between the Synchronous movement amounts of the target Each Check the operation of the 3045H axis differe
59. axis on 2nd axis 2nd SS error code A code will be annunciated if an error occurs annunciation buffer 1 2nd axis error y da SILO code A code will be annunciated if an error occurs annunciation buffer 2 2nd axis error Serro code A code will be annunciated if an error occurs annunciation buffer 3 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 22 UM 00139 UM 0013A UM 0013B UM 0013C UM 0013D UM 0013E UM 0013F 17 4 Details of Common Area in Unit Memory Unit m UM 00140 m 00141 2nd axis error code annunciation buffer 4 A code will annunciated if an error occurs UM 00142 UM 00143 UM 00144 00145 2nd axis error code annunciation buffer 6 A code will be annunciated if an error occurs UM 00146 2nd axis error code annunciation buffer 7 A code will be annunciated if an error occurs UM 00147 Annunciates the number of occurrences of errors UM 00149 No of occurrences of errors on 3rd axis n the Srd axis UM 0014A 3rd axis error code annunciation buffer 1 A code will be annunciated if an error occurs UM 0014B UM 0014C 3rd axis error code annunciation buffer 2 A code will be annunciated if an error occurs UM 0014D UM 0014E 3rd axis error code annunciation buffer 3 A code will be annunciated if an error occurs UM 0014F UM 00150 3rd axis error code annunciation buffer 4 A code
60. axis 10025 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 20 17 4 Details of Common Area in Unit Memory 17 4 7 Positioning Control Area e Set the number of repetitions of positioning control per axis e The positioning unit repeats positioning control for the number of repetitions set and finishes operating The number of repetitions will be reset to the default value on completion of positioning control Unit memory no Name Description Default Setting range Set unit Hex Stores the number of times for repeating the operation starting from the positioning control Number of 1st Starting table number of the 1st axis until the E UM 00108 axis positioning Point 0 to 255 repetitions If 255 is stored the positioning unit repeats positioning control an unlimited number of times until you manually stop the operation 0 to 255 Stores the number of times for repeating the operation starting from the positioning control Number of 2nd Starting table number of the 2nd axis until the E UM 00109 axis positioning Point repetitions If 255 is stored the positioning unit repeats positioning control an unlimited number of times until you manually stop the operation 0 to 255 0 to 255 Stores the number of times for repeating the operation starting from the positioning control Number of 4th Starting table number of the 4th axis until the E 0010B axi
61. ctiautomation net 17 48 17 6 Details of Each Axis Setting Area in Unit Memory 17 6 3 Positioning Data Setting Areas W Positioning table Data in the following format is stored from the first address of the positioning table for each axis Refer to the list in and after page 17 52 for the first address of each positioning table Offset Address Name Default Setting range and description Area to set the position specification method and acceleration deceleration pattern of positioning i Name Default Description Increment absolute 00H 0 Increment mode Control code OH setting 1 Absolute mode Acceleration 00H 0 Linear acceleration deceleration Deceleration pattern 1 S shaped acceleration settings deceleration Area to set the single and interpolation operation pattern of positioning The relationship of interpolation is in conformity with the settings for the axis group setting area in the unit memory common area The settings for the axis with the smallest number in the axis group are enabled for interpolation control bit Name Default Description 7100 Control 00H 00H E point control End point control pattern 01H P point control Pass point control 02H C point control Continuation point 03H J point control Speed point control Any other settings will be errors Interpolation 00H Linear interpolation Composite speed setting 01H Linear interpolation Long axis speed 10H Circular interpolation Center point C
62. data For example using P point control enables continuous interpolation control from 2 axis linear control to 2 axis circular interpolation control The acceleration time and deceleration time can be specified individually For P point control and C point control an E point should be set as the last table Type Operation specification method Necessary data 2 axis linear Composite speed Composite speed of X axis and Y axis interpolation 5 control Long axis speed Speed of long axis Axis of which moving distance is long 2 axis circular Center CW direction X axis and Y axis coordinates of center Mel a Center specified CCW direction X axis and Y axis coordinates of center Pass point X axis and Y axis coordinate of pass point on arc 3 axis linear Composite speed Composite speed of X axis Y axis and Z interpolation axis control e Long axis speed Speed of long axis Axis of which moving distance is long 3 axis spiral Center CW direction X axis movement Y axis and Z axis coordinates of center Center CCW direction Y axis movement Y axis and Z axis coordinates of center Center CW direction Y axis movement X axis and Z axis coordinates of center Center CCW direction Y axis movement X axis and Z axis coordinates of center Center CW direction Z axis movement X axis and Y axis coordinates of center Center CCW direction Z axis movement X axis and Y axis coordinates of center
63. deceleration settings 1 S shaped acceleration deceleration 21015 gt 2 042H acceleration Sets the acceleration deceleration time for J point control is 100 mr J point deceleration Setting range 0 to 10 000 ms time Any other settings will be errors Sets the target speed for J point control pH Setting range 0 to 32 767 000 Any other settings will be errors J point target speed 1 000 Set the following range according to the unit setting Pulse 1 to 32 767 000 pps 045H um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 046H 047H Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 47 Specifications Offset To The maximum speed of the pulser operation with speed limits selected The positioning unit will operate at maximum speed if the speed obtained from pulse input multiplied by the numerator of pulse operation denominator of pulser operation is in excess of the specified maximum speed Pulser operation max speed Unit Set unit x 1000 s Input range 0 to 32767000 pulse s If this area has been set to 0 it is the minimum speed in the set unit 04AH origin Stores the value of coordinate origin after the home return con s i ss eee Co a We _ Se om o oy Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info
64. deviation counter clear signal will turn ON during the ON time of the deviation counter clear signal on completion of the home return e The home return done flag X128 indicating the state of operation completion will turn ON when the home return operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts The timing of that the flag turns ON is at the time that the home return operation is completed m Sample program X104 X160 X100 _ Operation enabled condition Ready Tool 1staxis error Operation positioning operation enabled flag R2 R10 X118 Y118 ERETT H DF Start of home position Home return Operation 1st axis Start of 1st enabled BUSY axis home flag position Programming Precautions e The start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit B Operation at limit input Condition Direction Limit status Operation When Home return Forward rotation Limit input ON Executable operationis Limit input ON Executable executed Reverse rotation Limit input ON Executable Limit input ON Executable During Home Forward rotation Limit input ON Automatic reverse operation return operation Reverse rotation Li
65. entire network failure occurs the data on all the axes will be stored in the error annunciation buffer Up to 7 errors are stored in the error log Errors can be cleared not only in this area but also with the error clear contact Unit memory no Name Description Hex Clears errors on an axis by axis basis Name Default Description Error clear for 1st axis 0 0 No error clear 010 1 Error clear executed 0 UM 00111 Error clear settings on an The positioning unit will axis by axis basis Error clear for 3rd axis 0 set the value to 0 0 Error clear for 2nd axis automatically after execution Error clear for 4th axis Annunciates the number of occurrences of errors on the 1st axis UM 00129 No of occurrences of errors on 1st axis 1st axis error code annunciation buffer 1 1st axis error code annunciation buffer 2 1st axis error code annunciation buffer 3 UM 0012A UM 0012B UM 0012C UM 0012D UM 0012bE UM 0012F UM 00130 i ISEdXIS error code The latest error codes are stored in order from buffer number 1 00131 annunciation buffer 4 UM 00132 UM 00133 UM 00134 UM 00135 UM 00136 UM 00137 1st axis error code annunciation buffer 5 1st axis error code annunciation buffer 6 1st axis error code annunciation buffer 7 No of rren f error QOL OCEMITFENESS 0 Strole Annunciates the number of occurrences of errors on the 2nd
66. following diagram shows an example of connection to the servo on of the serve motor driver This connection requires an external power supply of 5 to 24 V DC SRS If 15 mA is exceeded Connection Positioning unit eg must be Motor driver B5 B14 s _ B7 B16 Power supply Servo ON Open collector Output specifications HH Output form Open collector GND 5 to 424v Operating voltage range 4 75 to 26 4V DC Max load current ON Max voltage drop Note sure to use a twisted pair cable e maximum of 10 mA can flow as a deviation counter clear output signal Add appropriate resistance if the current is in excess Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 11 Wiring 3 7 Connecting Home Input Near Home Input Signal 3 7 4 Connecting Home Input Connecting Motor Driver Z phase Output Positioning unit 12 TUM 3 UN input B3 B12 Home input 24V DC Motor driver O lt Z phase signal Input specifications at 5V DC Input voltage range 3 5 to 5 25V DC Min ON voltage current 3V DC AmA Max OFF voltage current 1V DC 0 5mA Input impedance 3900 Min input pulse width 1004s HEE The use of a twisted pair cable is recommended to connect the output of the positioning unit and the motor driver 3 7 2 Connecting Home Input Connecting External Switch Sen
67. in the unit memory can be restructured and Y7 All axes ania will be executable by turning ON this signal When restructuring of the positioning data completes the recalculation done contact X7 will turn ON Note It is used only when the positioning data has been rewritten by ladder programs The serve ON signal for the corresponding axis turns ON at the ON edge of this contact one The servo ON signal will not turn OFF automatically while the Servo ON positioning unit is in program mode To turn OFF the servo ON signal turn ON the servo OFF request 4th axis Y50 to 53 The operation is the edge type 1 itas itas Requests the positioning control of the corresponding axis The starting table is specified in the area for specifying the positioning control starting table number in the unit memory Positioning start Dots The operation is the edge type If this contact turns ON while the positioning unit is in tool vis _ _ operation a warning will be output T Positioning start Requests the positioning control of the virtual axis Requests the home return of the corresponding axis 19 Home return start The operation is the edge type If this contact turns ON while the positioning unit is in tool operation a warning will be output Y1C Y1E Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 10
68. limit switch Limit switch logic Limit switch logic in the positive direction Limit switch logic Limit switch logic in the negative direction Home logic Home switch logic Near home logic Near home switch logic Pulse input application Pulse input application Rotating direction of pulse input Rotating direction of pulse input CW CCW Pulse input mode Pulse input multiplication Mode of pulse input Multiplication of pulse input Software limit positioning control Enables disables the software limit for positioning control Software limit Home return Enables disables the software limit for home return control Software limit JOG operation Enables disables the software limit for JOG operation Upper limit of software limit The upper limit value of the software limit Lower limit of software limit The lower limit value of the software limit Auxiliary output mode Auxiliary output ON time ms Operating mode of the auxiliary output contact and auxiliary output code The period in which the auxiliary output contact is ON Movement amount check Post check operation with the movement amount check function used Movement amount check value Pulse Check threshold of the movement amount check function Numerator of movement amount check correction Denominator of movement amount check correction The function of movement amount c
69. mA B7 B16 B5 B14 COM 5 current E ON state 10V B5 B14 Servo ON voltage drop Note The deviation counter clear signal will be output for 1 ms on completion of home return control Power supply terminal common Pin no Circuit Signal name Items Description e 5 A20 A20 External power supply 21 4 to 26 4 0 input 24 V DC 4 2 range V DC 8 Q gt amp 4 axis type 2 B20 B20 External power supply Current 90 mA max m Q input 24 V DC 2 consumption 2 axis type amp 50 mA max Note In the case of the 4 axis type the external power supply input terminals of the two connectors are connected internally Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 5 Wiring Input terminal common Pin no 150 2nd Circuit Signal Items Description 3rd 4th name axis axis Operating 21 6 to 26 4 V DC a voltage range i 2 Minimum Home input S voltage current 19 2 V DOSES mA 12 24 V DC u OFF 2 V DC 2 mA Z24 9 voltage current 8 Input impedance Approximately 3 Minimum input pulse width 100 us or over o 12 3 5 to 5 25 DC o 4 1 Operating i
70. moving direction of the motor by the JOG operation of the positioning unit Use the tool operation function of the Configurator PM7 and perform the J OG operation of the positioning unit Point of confirmation The rotating direction is determined according to the installation of the ball screw or the CW CCW direction setting parameter Step 2 Perform positioning control and check that the moving distance is correct as designed Use the tool operation function of the Configurator PM7 and perform the J OG or positioning operation of the positioning unit Point of confirmation The moving distance is determined according to the pitch of the ball screw deceleration gear ratio or setting movement amount of the positioning data Check to see if the specified number of output pulse produces the travel distance and travel direction indicated by the design Table SNR S lt Ball screw Positioning unit Motor driver o 2 Emm Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 10 5 Unit Allocation and Parameter Settings Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email inf
71. operation The target speed of the JOG Each Yes target speed error operation is out of the range axis JOG operation The acceleration deceleration Each 4203H acceleration deceler type of the JOG operation is diis Yes ation type error incorrect JOG operation The acceleration time of the Each 4204H acceleration time JOG operation is out of the exis Yes error range JOG operation The deceleration time of the Each 4205H deceleration time JOG operation is out of the cus Yes error range Countermeasures Check the set value If an error occurs repeatedly with the correct set values consult your Panasonic representative Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 11 Errors and Warnings ms Error name Description Object Recovered Countermeasures The set value of the current 4250H Current value update value update is out of the Each Yes error axis range A value other than the 4301H ADSDlUteneremental absolute increment is set for E Yes setting error axis the move method The set value of the dwell Each 4302H Dwell time error time is out of the range axis Yes Y The specified table number is 4303H M MIN 0 or it exceeds the maximum Yes table number The last table of the Each 4304H Table setting error positioning setting tables is SiS Yes not the E point Positioning movement The movement am
72. performs a home return The slave axes do not perform a home return Yes but operate in The master axis or slave Home return synchronization with axes will perform a home output from the master return only if the master axis axis or the slave axes are To enable the slave axes requested to perform a home return operate them with synchronous control No disabled The slave axes do JOG operation Y not operate in Yes es response to operation requests e master axis or slave aeo axes will go into JOG Single axis hee eration reauest of operation only if the the aie axis q master axis or the slave axes are so requested Yes Positioning Interpolation willbe Yes executed upon request if Interpolation the master axis is the Interpolation will be P start axis of interpolation executed upon request if the requested axis is the The slave axes operate start axis of interpolation in synchronization with the master axis System stop All the axes come to a stop regardless of the synchronization settings Emergency Yes stop Yes Only axes Yes The master axis comes come to a Only axes requested to a stop upon request Deceleration The slave axes come to stop a stop in synchronization with the master axis come to a stop The master axis and other salve axes set on the same master axis continue All the axes in interpolation operation come to a stop Stop fu
73. point interpolation specification 3 ms max in standard area and 5 ms max in extended area 0 to 32 767 ms Other functiong Dwe time adjustable in 1 ms increments Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Y Linear acceleration deceleration Acceleration deceleration pattern S shaped acceleration deceleration Tos to 10 000 ms ACS eration time adjustable in 1 ms increments 0 to 10 000 ms Deceleration time adjustable in 1 ms increments Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Acceleration deceleration pattern Linear acceleration deceleration or 0 to 10 000 ms Acceleration tme adjustable in 1 ms increments 0 to 10 000 ms Decel ration time adjustable in 1 ms increments DOG methods 3 types limit methods 2 Return method types data set method and home method Speed reference range Operates in synchronization with pulser input operation Control method Automatic operation Positioning control Start speed Speed reference range c S o e Speed reference range Manual operation Home return Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 4 17 1 Specifications 2axistye axis 2axistye 4 axis type 7 2 AFP
74. reverse reverse rotation rotation CL Displays counter clear signal output Green Output ON Output OFF _ Displays near home state note 2 Green ON OFF _ Displays home input state note 2 Green ON OFF _ PA Pulse input A signal display note 3 Green Displays the input status of pulse input A signal PB Pulse input B signal display note 3 Green Displays the input status of pulse input B signal If an error Normal ERR Displays error Red Secure operation ALARM Displays hardware error Red Hardware Normaj p ay error operation Note 1 The LED for the pulse output A signal flashes at a cycle speed of output frequency thus looking as if it were continuously lit if the speed is high So is the LED for the pulse output B signal Note 2 Near home input D and home input Z will be lit if the respective inputs are enabled Note 3 The input status of pulse input signals PA and PB will be displayed Note 4 The LEDs may be continuously lit with or without pulse output if the electronic clutch or electronic cam is in operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 3 Names and Functions of Parts Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 31 Connection over Wire pressed Ter
75. running will turn ON when the positioning control starts and they will turn OFF when the operation completes eThe 1st axis and 2nd axis operation done flags X120 and X121 indicating the state that an operation completed will turn ON when the JOG operation is completed and they will be held until the next positioning control JOG operation home return or pulser operation starts W Programming Precautions e To start the interpolation control turn ON the positioning start contact of the axis with the smallest number in the same group e The values of the X axis auxiliary point and Y axis auxiliary point are invalid for the linear interpolation e n the case of specifying long axis speed the composite speed will be faster than the long axis speed elf any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a set value error will occur when the positioning control starts eThe start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 15 Automatic Operation Positioning Control 7 2 3 Setting and Operation of 2 Axis Circular Interpolation The example below is a case of E point control with the positioning unit installe
76. specified with parameter settings on an axis by axis basis on the positioning unit Deviation Pulse Monitors the deviation of the amount of movement while the auto check function for the amount of movement is activated Monitors and displays the target speed in the JOG operation Click Change to change the JOG target speed target speed for the JOG operation JOG 4 Click to perform the forward rotation JOG Click to perform the forward rotation Axis state The operating states of axes or error and warning occurrences Error code The latest error code if an error occurs Clear errors Clears the error by clicking this button if an error occurs Warning code Clear warning Speed factor Indicates the latest warning code if a warning occurs Clears the warning by clicking this button if a warning occurs The target speed of the home return specified in the parameter settings for each axis is regarded as 10095 and the operation is executed at the specified speed rate Clicking Speed factor shows the dialog for inputting the value Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 10 6 4 Tool Operation 6 4 3 Tool Operation Home Return e When the power is turned on the coordinates of the positioning unit do not coincide with those of the machine position Execute a home return before starting positioning e
77. starting table number of positioning virtual axis control of the virtual axis until the E point UM 0010F MR EM E positioning If 255 is stored the positioning unit repeats positioning repetitions control an unlimited number of times until you manually stop the operation B interruption of repetitive positioning The following operation will occur only if the positioning unit in repetitive positioning control is decelerated to stop Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 25 Automatic Operation Positioning Control Repeating E point control with dwell time 0 ms When the positioning unit detects a deceleration stop the positioning unit will come to a stop after repeating positioning control N 2 times Repeat count N1 N N 1 N 2 Deceleration t t Stop stop request Deceleration stop request signal Busy Operation done Implementing a number of positioning tables continuously When the positioning unit detects a deceleration stop the positioning unit will come to a stop after repeating positioning control N 1 times Repeat count N1 N N 1 P P P E Deceleration Stop stop request Deceleration stop request signal Busy Operation done The example below is a case of single axis control with the positioning unit installed in the slot 1 The movement amount setting uses an increment method in pulses 54000 pulse 18000 x 3
78. the description for the 1st axis UM 0047A Repeat count set value of 2nd axis Refer to the description for the 1st axis UM 0047B Repeat count current value of 2nd axis Refer to the description for the 1st axis UM 0047G xs Current value of 2nd axis Refer to the description for the 1st axis UM 0047D UM 0047E Unit system conversion current value of 2nd axis Refer to the description for the 1st axis UM 0047F B 3rd axis information Unit memory no Hex UM 004B1 External terminal input monitor of 3rd axis Refer to the description for the 1st axis UM 00484 Deviation of 3rd axis Refer to the description for the 1st axis UM 004B6 Pulse input value of 3rd axis Refer to the description for the 1st axis UM 004B8 Mb RE Refer to the description for the 1st axis UM 004B9 Auxiliary output code of 3rd axis Refer to the description for the 1st axis UM 004BA Repeat count set value of 3rd axis Refer to the description for the 1st axis UM 004BB Repeat count current value of 3rd axis Refer to the description for the 1st axis UM 004BC UM 004BD UM 004BE n I Unit system conversion current value of 3rd axis Refer to the description for the 1st axis UM 004BF Name Description Current value of 3rd axis Refer to the description for the 1st axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 34 17 5 Details of
79. time Emergency stop Stops with an elapse of limit stop When exceeding the range Each axis deceleration time S ftware limit stop of the software limit Stops with an elapse of error stop Error An error r Each axis ion ti or stop error occurs deceleration time System stop Stop contact tumis All axes All axes stop without deceleration time The deceleration stop pause emergency stop and system stop will be enabled when the respective request contacts in the I O area turn ON The stop state will be enabled while each contact is ON and maintained until each request signal is turned OFF No operation is possible while the positioning unit is in the stop state Refer to the following table for the stop by turning contacts ON It indicates the allocated I O when the positioning unit is installed in the slot 1 Contact P anacan Targetaxis Name Denon Contact for requesting the system stop When it turns ON all axes x System stop will stop at the deceleration time 0 Y19390 Requests the emergency stop of the corresponding axis Y131 The deceleration time for the emergency stop is set in the Y132 d emergency stop deceleration time area in the unit memory The operation is of level type Virtual axis Note The deviation counter cannot be cleared Requests the deceleration stop of the corresponding axis The deceleration stop time becomes the deceleration time of the ee positionin
80. to any group Then turn ON the corresponding bit for the following independent axis settings A maximum ol three axes can be set for interpolation per group Duplicated settings for the same axis in different groups are not possible Name Default Description Group attribute of 1st axis 0 Group attribute of 2nd axis Group attribute of 3rd axis Group attribute of 4th axis 0 0 0 0 Not belongs to any group 1 Belongs to a group An error occurs if four or more bits for the same group are set to 1 or the same axis is set to 1 for another group Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 17 Specifications Unit memory no Description Hex Set the corresponding bit to 1 in this area if the axis is not related to interpolation Name Default Description Group attribute of 1st axis 0 Not belongs to any group 1 Belongs to a group Independent 000 4 axis settings Group attribute of 2nd axis An error will occur if the same Group attribute of 3rd axis axis is set to 1 in another group Group attribute of 4th axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 18 17 4 Details of Common Area in Unit Memory 17 4 5 Current Value Update Data Area To change the current value o
81. 0 199 UM 01480 UM 03CBO UM 06480 UM 08CBO UM 12CBO 200 UM 01460 UM 03CCO UM 06460 UM 08CCO UM 12CCO 201 UM 014DO UM 03CDO UM 064DO UM 08CDO UM 12CDO 202 UM 014E0 UM O3CEO UM 064E0 UM 08CEO UM 12CEO 203 UM 01420 UM O3CFO UM 064F0 UM 08CFO UM 12CF0 204 UM 01500 UM 03000 UM 06500 UM 08D00 UM 12D00 205 UM 01510 UM 03D10 UM 06510 UM 08D10 UM 12D10 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 56 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 206 UM 01520 UM 03D20 UM 06520 UM 08D20 UM 12D20 207 UM 01530 UM 03030 UM 06530 UM 08030 UM 12030 208 UM 01540 UM 03D40 UM 06540 UM 08D40 UM 12D40 209 UM 01550 UM 03D50 UM 06550 UM 08D50 UM 12D50 210 UM 01560 UM 03D60 UM 06560 UM 08D60 UM 12D60 211 UM 01570 UM 03D70 UM 06570 UM 08D70 UM 12D70 212 UM 01580 UM 03D80 UM 06580 UM 08D80 UM 12D80 213 UM 01590 UM 03D90 UM 06590 UM 08D90 UM 12D90 214 UM 015A0 UM 03DAO UM 065A0 UM 08DAO UM 12DA0 215 UM 01580 UM UM 06580 UM 08DBO UM 12DBO 216 UM 015C0 UM 03DCO UM 065C0 UM 08DCO UM 12DCO 217 UM 015DO UM UM 065DO UM 08DDO UM 12DDO 218 UM 015E0 UM 03DE0 UM 065 0 UM 08DEO UM 12DEO 219 UM 01520 UM 03DF0 UM 065F0 UM 08DFO UM 12020 220 UM 01600 UM 03E00 UM 06600 UM 08 0
82. 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 45 Specifications Offset address Setting range and description 02 02 lt _ 030H 031H 032H This parameter will be enabled if an emergency stop request is made with Emergency and the deceleration of the positioning unit will be completed in the stop 300 specified deceleration time osan deceleration time Setting range 0 to 10 000 ms Any other settings will be errors 034H This parameter will be enabled if limit input is ON while the positioning unit EM is in operation and the deceleration of the positioning unit will be Limit stop completed in the specified deceleration time 035H deceleration 100 time Setting range 0 to 10 000 ms Any other settings will be errors 036H This parameter will be enabled if an error occurs and the deceleration of Error stop the positioning unit will be completed in the specified deceleration time 037H deceleration 100 time Setting range 0 to 10 000 ms Any other settings will be errors If a pulse operation request is made with I O select the desired pulser input from pulser inputs 1 to 4 Pulser 0 Pulser input 1 038H operation 0 1 Pulser input 2 settirig c de 2 Pulser input 3 3 Pulser input 4 Any other settings will be errors
83. 0 Pulse Sign Pulse output rotation direction 0 Clockwise positive 0 Clockwise positive 0 Clockwise positive 0 Clockwise positive Limit switch I C o N Disabled N Disabled N Disabled N Disabled m Limit switch logic 1 Normal Close Close Close Close Limit switch logic 1 Normal Close 1 Normal Close 1 Normal Close Close Home position logic Home position proximity logic O Normal Open Normal Open O Normal Open 0 Open Open Open Open Normal Open 2 Make necessary parameter settings according to the application and press the OK button 3 Select File Save Config from the menu bar Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 7 Unit Allocation and Parameter Settings 5 3 2 Parameter Setting Items B Setting items Parameter name Description Unit setting Number of pulses per rotation The unit to be used for setting each axis Number of pulses per motor rotation note 1 Movement amount per rotation Movement amount per motor rotation note 1 Pulse output method Pulse output method Pulse Sign or CW CCW Rotating direction of pulse output CW direction is CW CCW direction is CCW Limit switch Enable disable the
84. 0 UM 12E00 221 UM 01610 UM 03E10 UM 06610 UM 08E10 UM 12E10 222 UM 01620 UM 03E20 UM 06620 UM 08E20 UM 12220 223 UM 01630 UM 03E30 UM 06630 UM UM 12 30 224 UM 01640 UM 03E40 UM 06640 UM 08E40 UM 12 40 225 UM 01650 UM 0 50 UM 06650 UM 08 50 UM 12E50 226 UM 01660 UM 03 60 UM 06660 UM 08 60 UM 12E60 227 UM 01670 UM 03E70 UM 06670 UM 08E70 UM 12E70 228 UM 01680 UM 03E80 UM 06680 UM 08 80 UM 12E80 229 UM 01690 UM 03E90 UM 06690 UM 08 90 UM 12E90 230 UM 016A0 UM UM 066A0 UM UM 12EA0 231 UM 01680 UM UM 066B0 UM 08bEBO UM 12bEBO 232 UM 016C0 UM UM 066C0 UM 08bECO UM 12bECO 233 UM 016DO UM OSEDO UM 066DO UM 08bEDO UM 12bDO 234 UM 016E0 UM UM 066 0 UM UM 12EE0 235 UM 016F0 UM UM 066F0 UM 08EF0 UM 12EF0 236 UM 01700 UM 03F00 UM 06700 UM 08F00 UM 12F00 237 UM 01710 UM 03F10 UM 06710 UM 08F10 UM 12F10 238 UM 01720 UM 03F20 UM 06720 UM 08F20 UM 12F20 239 UM 01730 UM 03F30 UM 06730 UM 08F30 UM 12F30 240 UM 01740 UM 03F40 UM 06740 UM 08F40 UM 12F40 241 UM 01750 UM 0 50 UM 06750 UM 08F50 UM 12F50 242 UM 01760 UM 03F60 UM 06760 UM 08F60 UM 12F60 243 UM 01770 UM 03F70 UM 06770 UM 08F70 UM 12F70 244 UM 01780 UM 03F80 UM 06780 UM 08F80 UM 12F80 245 UM 01790 UM 03F90 UM 06790 UM 08F90 UM 12F90 246 UM 017A0 UM UM 067A0 UM UM 12FA0 247 UM 01780 UM UM 067B0 UM 08FBO UM 12FBO Phone 800 894 0412 Fax 888 723 4773 Web www ctiauto
85. 00 Hardware version 101 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 2 15 1 About Errors and Warnings 15 1 3 Check and Clearing with User Program W Check on error and warning information e Use the dedicated command PERED to get errors and warnings and read information Slot number Axis number Get errors and warnings with the storage destination specified X160 Hoor 1st axis error annunciation flag X168 Hor 1st axis warning annunciation flag Slot Axis Storage number number destination Error and warning codes are stored as shown below DT100 Error code DT101 Warning code W Clearing all axes with UCLR command e When the dedicated command to clear errors and warnings the errors and warnings on all the axes of the positioning unit will be cleared R100 Clears errors and DF UCLR warnings with the Unit clear Slot number slot number specified request m Clearing with I O signal on each axis e t is possible to clear errors and warnings an axis by axis basis by turning ON the error warning clear request flags allocated to the I O area The following program shows the clearing of errors on each axis R100 X160 x DF _ Error clear for Request 151 axis error um eee each axis error cle
86. 02930 UM 05130 UM 07930 UM 0A130 UM 14130 528 UM 02940 UM 05140 UM 07940 UM 0A140 UM 14140 529 UM 02950 UM 05150 UM 07950 UM 0A150 UM 14150 530 UM 02960 UM 05160 UM 07960 UM 0A160 UM 14160 531 UM 02970 UM 05170 UM 07970 UM 0A170 UM 14170 532 UM 02980 UM 05180 UM 07980 UM 0A180 UM 14180 533 UM 02990 UM 05190 UM 07990 UM 0A190 UM 14190 534 UM 029A0 UM 051A0 UM 079A0 UM 0A1A0 UM 141A0 535 UM 02980 UM 05180 UM 07980 UM 0A1BO UM 14180 536 UM 029C0 UM 05160 UM 079C0 UM 0A1CO UM 141C0 537 UM 029DO UM 05100 UM 07900 UM 0A1DO UM 14100 538 UM 029E0 UM 051E0 UM 079E0 UM UM 141E0 539 UM 029F0 UM 05120 UM 079F0 UM 0A1F0 UM 14120 540 UM 02A00 UM 05200 UM 07A00 UM 0A200 UM 14200 541 UM 02A10 UM 05210 UM 07A10 UM 0A210 UM 14210 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 64 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 542 UM 02A20 UM 05220 UM 07A20 UM 0A220 UM 14220 543 UM 02A30 UM 05230 UM 07A30 UM 0A230 UM 14230 544 UM 02A40 UM 05240 UM 07A40 UM 0A240 UM 14240 545 UM 02A50 UM 05250 UM 07A50 UM 0A250 UM 14250 546 UM 02A60 UM 05260 UM 07A60 UM 0A260 UM 14260 547 UM 02A70 UM 05270 UM 07A70 UM 0A270 UM 14270 548 UM 02A80 UM 05280 UM 07A80 UM 0A280 UM 14280 549 U
87. 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 15 Transfer to Unit and Commissioning b f an recoverable error occurs the positioning unit click the Error clear button to clear the error e lfawarning occurs in the positioning unit click Warning clear to clear the warning The control method for the table number that the teaching operation was performed is automatically changed to Absolute Theresult of the teaching becomes effective once the tool operation quits and the setting data is downloaded to the positioning unit e This dialog cannot be closed while the positioning unit is in home return operation B Dialog box items Items Description Monitors the feedback value on an axis by axis basis after set unit conversion Click Current value Present Value Refresh to display the dialog for inputting value to change the present value Monitors the unit of positions specified with parameter settings on an axis by axis basis on aera the positioning unit Monitors the deviation of the amount of movement while the auto check function for the Deviation Pulse amount of movement is activated Monitors and displays the target speed in the JOG operation JOG target speed Click Change to change the target speed for the JOG operation JOG 4 Click to perform the forward rotation JOG Click to p
88. 13480 325 UM 01C90 UM 04490 UM 06C90 UM 09490 UM 13490 326 UM 01CAO0 UM 044A0 UM 06CAO0 UM 094A0 UM 134A0 327 UM 01CBO UM 04480 UM 06CBO UM 09480 UM 13480 328 UM 01CCO UM 044CO UM 06CCO UM 094C0 UM 13460 329 UM 01CDO UM 044DO UM 06CDO UM 094DO UM 13400 330 UM 01CEO UM 044E0 UM 06CEO UM 094E0 UM 134E0 331 UM 01CFO UM 044F0 UM 06CFO UM 094F0 UM 13420 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 59 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 332 UM 01D00 UM 04500 UM 06D00 UM 09500 UM 13500 333 UM 01D10 UM 04510 UM 06D10 UM 09510 UM 13510 334 UM 01D20 UM 04520 UM 06D20 UM 09520 UM 13520 335 UM 01030 UM 04530 UM 06030 UM 09530 UM 13530 336 UM 01D40 UM 04540 UM 06D40 UM 09540 UM 13540 337 UM 01D50 UM 04550 UM 06D50 UM 09550 UM 13550 338 UM 01D60 UM 04560 UM 06D60 UM 09560 UM 13560 339 UM 01D70 UM 04570 UM 06D70 UM 09570 UM 13570 340 UM 01D80 UM 04580 UM 06D80 UM 09580 UM 13580 341 UM 01D90 UM 04590 UM 06D90 UM 09590 UM 13590 342 UM 01DAO UM 045A0 UM 06DAO UM 095A0 UM 135A0 343 UM 01DBO UM 04580 UM 06DBO UM 09580 UM 13580 344 UM 01DCO UM 045C0 UM 06DCO UM 095C0 UM 135C0 345 UM 01DDO UM 045DO UM 06DDO UM 095DO UM 135DO 346 UM 01DEO UM 045 0 UM 06DEO UM 095E0 UM 135E0 347 UM 01DFO UM 04520 UM 06DFO UM 09520 UM 135F0
89. 13AA0 423 UM 022B0 UM 04ABO UM 072B0 UM 09ABO UM 13ABO 424 UM 022C0 UM 04ACO UM 07260 UM 09ACO UM 13ACO 425 UM 022D0 UM 04ADO UM 07200 UM 09ADO UM 13ADO 426 UM 022E0 UM 04AE0 UM 072 0 UM UM 13AE0 427 UM 022F0 UM 04AFO UM 072F0 UM 09AFO0 UM 1 428 UM 02300 UM 04B00 UM 07300 UM 09800 UM 13B00 429 UM 02310 UM 04B10 UM 07310 UM 09B10 UM 13B10 430 UM 02320 UM 04B20 UM 07320 UM 09B20 UM 13B20 431 UM 02330 UM 04830 UM 07330 UM 09830 UM 13B30 432 UM 02340 UM 04B40 UM 07340 UM 09840 UM 13B40 433 UM 02350 UM 04B50 UM 07350 UM 09B50 UM 13B50 434 UM 02360 UM 04B60 UM 07360 UM 09B60 UM 13B60 435 UM 02370 UM 04B70 UM 07370 UM 09B70 UM 13B70 436 UM 02380 UM 04B80 UM 07380 UM 09B80 UM 13B80 437 UM 02390 UM 04B90 UM 07390 UM 09B90 UM 13B90 438 UM 023A0 UM 04BAO UM 073A0 UM 09BAO UM 13BA0 439 UM 02380 UM 04BBO UM 07380 UM 09BBO UM 13BBO 440 UM 023C0 UM 04BCO UM 073C0 UM 09BCO UM 13BCO 441 UM 023D0 UM 04BDO UM 073D0 UM 09BDO UM 13BDO 442 UM 023E0 UM 04BEO UM 073E0 UM 09BEO UM 13BEO 443 UM 02320 UM 04BFO UM 073F0 UM O9BFO UM 13BFO 444 UM 02400 UM 04C00 UM 07400 UM 09C00 UM 13C00 445 UM 02410 UM 04C10 UM 07410 UM 09C10 UM 13C10 446 UM 02420 UM 04C20 UM 07420 UM 09C20 UM 13C20 447 UM 02430 UM 04C30 UM 07430 UM 09C30 UM 13C30 448 UM 02440 UM 04C40 UM 07440 UM 09C40 UM 13C40 449 UM 02450 UM 04C50 UM 07450 UM 09C50 UM 13C50 450 UM 02460 UM 04C60 UM 07460 UM 09C60 UM 13C60 451 UM 02470 UM 04C70 UM 07470 UM 09C70 UM 13C70 452 UM 02480 UM 04C80 UM 07480 U
90. 23 4773 Web www ctiautomation net Email info ctiautomation net 17 28 17 4 Details of Common Area in Unit Memory 17 4 11 Synchronous Control Monitor Area This is an area for monitoring the setting status of synchronous control Unit memory no Nome Description Default Hex UM 002B0 UM 002B1 UM 002B2 UM 002B3 UM 002B4 UM 002B5 UM 002B6 UM 002B7 UM 002BE Monitoring information of synchronous master axis for the 1st axis Monitoring selection state of synchronous output function for 1st axis Monitoring information of synchronous master axis for the 2nd axis Monitoring selection state of synchronous output function for 2nd axis Monitoring information of synchronous master axis for the 3rd axis Monitoring selection state of synchronous output function for 3rd axis Monitoring information of synchronous master axis for the 4th axis Monitoring selection state of synchronous output function for 4th axis Monitoring information of synchronous master axis for the virtual axis Stores the setting status of the master axis under synchronous control Stored value Under Under synchronous synchronization cancellation Master axis FFFFH FFFFH No synchronous settings 0000H 8000H The master axis is subject to monitoring 0001H 8001H 1st axis 0002H 8002H 2nd axis 0003H 8003H 3rd axis 0004H 8004H 4th axis 0010H 8010H Virt
91. 3 inches inch 0 0001 inch 107 374 1823 to 107 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degrees degree 1 degree 1 073 741 823 to 1 073 741 823 degrees The setting area for auxiliary points center and passing points in the case of circular interpolation or spiral interpolation operation Setting range 1 073 741 823 to 1 073 741 823 Any other settings will be errors Set the following range according to the unit setting Pulse 1 073 741 823 to 1 073 741 823 pulses 0 1 um 107 374 182 3 to 107 374 182 3 um um 1 um 1 073 741 823 to 1 073 741 823 um inch 0 00001 inch 10 737 41823 to 10 737 41823 inches inch 0 0001 inch 107 374 1823 to 107 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degrees degree 1 degree 1 073 741 823 to 1 073 741 823 degrees On completion of the positioning of this table the operation of the next table will start after stopping the motor for the dwell time in the case of the continuance point C point the dwell time will be ignored in the case of the passing point P point and the positioning done contact will turn ON after a pause of the dwell time in the case of end point E point control Setting range 0 to 32 767 ms Any other settings will be errors 00CH Dwell Time Auxiliary output 00DH Codd Make auxiliary output mode settings for the parameter setting area to specify data to be output to the auxiliary outpu
92. 348 UM 01E00 UM 04600 UM 06 00 UM 09600 UM 13600 349 UM 01E10 UM 04610 UM 06E10 UM 09610 UM 13610 350 UM 01E20 UM 04620 UM 06E20 UM 09620 UM 13620 351 UM 01E30 UM 04630 UM 06E30 UM 09630 UM 13630 352 UM 01E40 UM 04640 UM 06E40 UM 09640 UM 13640 353 UM 01E50 UM 04650 UM 06E50 UM 09650 UM 13650 354 UM 01E60 UM 04660 UM 06E60 UM 09660 UM 13660 355 UM 01E70 UM 04670 UM 06E70 UM 09670 UM 13670 356 UM 01E80 UM 04680 UM 06E80 UM 09680 UM 13680 357 UM 01E90 UM 04690 UM 06E90 UM 09690 UM 13690 358 UM 01EA0 UM 046A0 UM UM 096A0 UM 136A0 359 UM 01EBO UM 04680 UM UM 09680 UM 13680 360 UM 01ECO UM 046C0 UM 06ECO UM 096C0 UM 136C0 361 UM 01EDO UM 046DO UM 06ED0 UM 096DO UM 13600 362 UM 01EE0 UM 046E0 UM UM 096 0 UM 136E0 363 UM 01EF0 UM 046F0 UM O6EFO UM 096F0 UM 136F0 364 UM 01F00 UM 04700 UM 06F00 UM 09700 UM 13700 365 UM 01F10 UM 04710 UM 06F10 UM 09710 UM 13710 366 UM 01F20 UM 04720 UM 06F20 UM 09720 UM 13720 367 UM 01F30 UM 04730 UM 06F30 UM 09730 UM 13730 368 UM 01F40 UM 04740 UM 06F40 UM 09740 UM 13740 369 UM 01F50 UM 04750 UM 06F50 UM 09750 UM 13750 370 UM 01F60 UM 04760 UM 06F60 UM 09760 UM 13760 371 UM 01F70 UM 04770 UM 06F70 UM 09770 UM 13770 372 UM 01F80 UM 04780 UM 06F80 UM 09780 UM 13780 373 UM 01F90 UM 04790 UM 06F90 UM 09790 UM 13790 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 60 17 6 Details of Each Axis Setting Area in
93. 3O start FEET MV MV SS DT31 axis control MV poo DT32 MV SS 0734 2nd axis Dis 3 time 55 K100 0735 2nd axis deceleration time MV SL K1000 DT36 2nd axis target DP MV SL 100000 DT38 2nd axis movement MV SL DT40 MVSS DT42 MV SS DT43 MVSS DT44 x MVSSS 0745 a BKMV SS DT30 DT45 S1 UM05670 POSSET U10001 Slot Axis Table number number number Y110 1 table data on 2nd axis 1 3 Settings for table no 10001 H05670 of 2nd axis R3 H DF Positioning start The table starts with 10001 R200 X119 R100 X118 Operation 1staxis Operation 2nd axis Positioning start enabled flag BUSY enabled flag BUSY for 1st axis for 1st axis for 2nd axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 8 18 2 Sample program 18 2 3 When Setting Positioning Data in Standard Area by Programming Write positioning data in the standard area by programming Recalculating the positioning data is necessary after setting the positioning data Replace the part of the positioning start program in the sample program m Positioning start program R11 H DF MV SS 0710 change I MV SS H0 DT11 151 axis control pattern w MV SS H0 DT13 di
94. 3rd axis Y93 4th axis Y94 5 Y97 z 151 axis 2nd axis 3rd axis Y9B 4th axis Y9C Y100 ist axis Y101 2nd axis Y102 3rd axis o gt Y103 4th axis WY11 l Slave axis gear ratio change request Slave axis clutch ON request Slave axis clutch OFF request A gear ratio change is made with the contact for the corresponding axis turned ON while the positioning unit is in synchronous operation The operation is the edge type The engagement of the clutch starts by turning ON the contact for the corresponding axis while the positioning unit is in synchronous operation No axes start unless the clutch is used Set the operation to level type rising edge or falling edge The disengagement of the clutch starts by turning ON the contact for the corresponding axis while the positioning unit is in synchronous operation No axes start unless the clutch is used Set the operation to rising edge or falling edge These signals will be disabled while the slave axis clutch ON request signal is set to level type Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 14 17 3 Entire Configuration of Memory Unit Area 17 3 Entire Configuration of Memory Unit Area The unit memory is in control of parameter and positioning data set values for the positioning unit All set values are set with the programming tool soft
95. 40 UM 13140 273 UM 01950 UM 04150 UM 06950 UM 09150 UM 13150 274 UM 01960 UM 04160 UM 06960 UM 09160 UM 13160 275 UM 01970 UM 04170 UM 06970 UM 09170 UM 13170 276 UM 01980 UM 04180 UM 06980 UM 09180 UM 13180 277 UM 01990 UM 04190 UM 06990 UM 09190 UM 13190 278 UM 019A0 UM 041A0 UM 069A0 UM 091A0 UM 131A0 279 UM 01980 UM 04180 UM 06980 UM 09180 UM 13180 280 UM 01960 UM 04160 UM 069C0 UM 09160 UM 131C0 281 UM 019DO UM 041DO UM 069DO UM 09100 UM 13100 282 UM 019E0 UM 041E0 UM 069 0 UM 091E0 UM 131E0 283 UM 019F0 UM 04120 UM 069F0 UM 09120 UM 131F0 284 UM 01A00 UM 04200 UM 06A00 UM 09200 UM 13200 285 UM 01A10 UM 04210 UM 06A10 UM 09210 UM 13210 286 UM 01A20 UM 04220 UM 06A20 UM 09220 UM 13220 287 UM 01A30 UM 04230 UM 06A30 UM 09230 UM 13230 288 UM 01A40 UM 04240 UM 06A40 UM 09240 UM 13240 289 UM 01A50 UM 04250 UM 06A50 UM 09250 UM 13250 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 58 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 290 UM 01A60 UM 04260 UM 06A60 UM 09260 UM 13260 291 UM 01A70 UM 04270 UM 06A70 UM 09270 UM 13270 292 UM 01A80 UM 04280 UM 06A80 UM 09280 UM 13280 293 UM 01A90 UM 04290 UM 06A90 UM 09290 UM 13290 294 UM 01AA0 UM 042A0 UM 06AA0 UM 092A0 UM 132A0 295 UM 01
96. 60 UM 07C60 UM 0A460 UM 14460 579 UM 02C70 UM 05470 UM 07C70 UM 0A470 UM 14470 580 UM 02C80 UM 05480 UM 07C80 UM 0A480 UM 14480 581 UM 02C90 UM 05490 UM 07C90 UM 0A490 UM 14490 582 UM 02CA0 UM 054A0 UM 07CAO UM 0A4A0 UM 144A0 583 UM 02CBO UM 05480 UM 07CBO UM 0A4BO UM 14480 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 65 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 584 UM 02CCO UM 05460 UM 07CCO UM 0A4CO UM 144CO 585 UM 02CDO UM 054DO UM 07CDO UM 0A4DO UM 144DO 586 UM 02CE0 UM 054E0 UM 07CEO UM 4 UM 144E0 587 UM 02CF0 UM 054F0 UM 07CFO UM 4 UM 144F0 588 UM 02D00 UM 05500 UM 07D00 UM 0A500 UM 14500 589 UM 02D10 UM 05510 UM 07D10 UM 0A510 UM 14510 590 UM 02D20 UM 05520 UM 07D20 UM 0A520 UM 14520 591 UM 02D30 UM 05530 UM 07030 UM 0A530 UM 14530 592 UM 02D40 UM 05540 UM 07D40 UM 0A540 UM 14540 593 UM 02D50 UM 05550 UM 07D50 UM 0A550 UM 14550 594 UM 02D60 UM 05560 UM 07D60 UM 0A560 UM 14560 595 UM 02D70 UM 05570 UM 07D70 UM 0A570 UM 14570 596 UM 02D80 UM 05580 UM 07D80 UM 0A580 UM 14580 597 UM 02D90 UM 05590 UM 07D90 UM 0A590 UM 14590 598 UM 02DAO UM 055A0 UM 07DAO UM 0A5A0 UM 145A0 599 UM 02DBO UM 05580 UM 07DBO UM 0A5BO UM 14580 600 UM 02DCO UM 055 0 UM 07DCO UM 0A5CO UM 145C0 10001 UM 02E70 UM 05670 UM 07E70 UM 0A
97. 670 UM 14670 10002 UM 02E80 UM 05680 UM 07E80 UM 0A680 UM 14680 10003 UM 02E90 UM 05690 UM 07E90 UM 0A690 UM 14690 10004 UM UM 056A0 UM 07 UM 0A6A0 UM 146A0 10005 UM UM 05680 UM 07EBO UM 0A6BO UM 14680 10006 UM 02bECO UM 056C0 UM 07ECO UM 0A6CO UM 146C0 10007 UM 02ED0 UM 056DO UM 07EDO UM 0A6DO UM 146DO 10008 UM O2EEO UM 056 0 UM 07EEO UM UM 146E0 10009 UM O2EFO UM 056F0 UM 07EFO UM UM 146F0 10010 UM 02F00 UM 05700 UM 07F00 UM 0A700 UM 14700 10011 UM 02F10 UM 05710 UM 07F10 UM 0A710 UM 14710 10012 UM 02F20 UM 05720 UM 07F20 UM 0A720 UM 14720 10013 UM 02F30 UM 05730 UM 07F30 UM 0A730 UM 14730 10014 UM 02F40 UM 05740 UM 07F40 UM 0A740 UM 14740 10015 UM 02F50 UM 05750 UM 07F50 UM 0A750 UM 14750 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 66 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 10016 UM 02F60 UM 05760 UM 07F60 UM 0A760 UM 14760 10017 UM 02F70 UM 05770 UM 07F70 UM 0A770 UM 14770 10018 UM 02F80 UM 05780 UM 07F80 UM 0A780 UM 14780 10019 UM 02F90 UM 05790 UM 07F90 UM 0A790 UM 14790 10020 UM 02FA0 UM 057A0 UM 07FAO0 UM 0A7A0 UM 147A0 10021 UM 02FBO UM 05780 UM 07FBO UM 7 UM 14780 10022 UM 02FCO UM 057C0 UM 07FCO UM 0A7CO UM 14760 10023 UM 02FDO UM 05700 UM 07FDO UM 0A7DO UM 14700 10024 UM 02FEO
98. 676 39 9079472 60 0494385 19677 39 9002762 60 0524902 19678 39 8926051 60 0555420 19679 39 8849340 60 0585938 19680 39 8772630 60 0616455 19681 39 8695919 60 0646973 19682 39 8619208 60 0677490 19683 39 8542498 60 0708008 19684 39 8465787 60 0738525 19685 39 8389076 60 0769043 19686 39 8312366 60 0799561 19687 39 8235655 60 0830078 19688 39 8158944 gt Clear adjustments Cancel Select the data on the target phases control points and change the corresponding displacement data The adjustments will be reflected by selecting OK and the set adjustment data will be cleared by selecting Adjustment clear The numbers of the adjusted sections where the cam curve adjustments have been made are displayed in red which tells that the adjustments have been completed 0 0000000 _ 39 9414063 50 0000000 y zi 39 9414063 60 0097656 40 0000000 Modified sine 3 60 0097656 10 0000000 79 8828125 0 0000000 One dwell trapedoid Adjusted data displayed in red Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 22 8 5 Electronic Cam Function W Cam table shift The created cam pattern is defined with a phase of 0 to 10096 but the actual operation may differ in phase from the reference of the cam pattern The cam table shift is a function to set the pe
99. 773 Web www ctiautomation net Email info ctiautomation net 7 2 7 1 Basic Operation m Operation flow of single axis control Use the Configuration menu and set the target axis as a single axis Y Use the Configuration menu and set the target positioning data V B Operation flow of interpolation control Use the Configuration menu and set the axes subject to interpolation as a group Y Use the Configuration menu and set the target positioning data Set the center point and pass point as well in circular interpolation or Download the project to the CPU unit v spiral interpolation Y Download the project to the CPU Set the POSSET command and set the target positioning control starting table Y Turn the corresponding positioning start contact ON unit V Use the POSSET command for the axis with the smallest number in the group and set the target positioning control starting table Y Turn ON the corresponding positioning start contact of the axis with the smallest number in the group Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 3 Automatic Operation Positioning Control 7 1 2 Setting and Operation of E Point Control The example below is a case of single axis control with the positioning unit inst
100. 7PPO2L AFP7PPO4T AFP7PPO4L Deceleration Deceleration stop time Deceleration time while in operation Emergency Deceleration stop tinia 010 10 000 ms adjustable in 1 ms increments Deceleration tiis 010 10 000 ms adjustable in 1 ms increments Limit stop Deceleration time Stop functions Error stop 0 to 10 000 ms adjustable in 1 ms increments Deceleration time Immediate stop 0 ms All axes comes to a stop System stop Pulse 1 073 741 823 to 1 073 741 823 pulses um 0 1 um 107 374 182 3 to 107 374 182 3 um um 1 um 1 073 741 823 to 1 073 741 823 um limit Setting range inch 0 00001 inch 10 737 41823 to 10 737 41823 inches inch 0 0001 inch 107 374 1823 to 107 374 1823 inches degree 0 1 degree 107 374 182 3 to 107 374 182 3 degrees degree 1 degree 1 073 741 823 to 1 073 741 823 degrees Parameters and positioning data are saved in flash memories with no batteries High speed EN Counting range 2 147 483 648 to 2 147 483 648 pulses counter range function note Phase difference input direction discrimination input and individual 1 p input with multiplier function for each mode Limit input CWL CCWL monitor and near DOG monitor Auxiliary output code and auxiliary output contact Internal current 5 V DC 300 mA or less 300 less 300 mA or less 300 mA less Voltage 21 6 to 26 4 V DC External power consumption Weig
101. 8 implementation done A number 1 to 600 table of 1st axis 9 Auxiliary output code of 00439 ist axis Stores the auxiliary output code Stores the set value for the number of positioning repeat count UM 0043A Repeat count set value of This area will be set to 1 if the 1st axis positioning repeat is not implemented 299 Stores 255 if the number of positioning repeat times is unlimited Stores the number of repeat count in operation Repeat count current Stores 1 if the positioning repeat is not UM 00435 value 1st axis implemented Returns to 0 if the number of repeat count exceeds the upper limit UM 0043C Current value of 1st axis Stores the current value pulse UM 0043D 0043E Unit System conversion Stores the current value after unit UM 0043F current value of 1st axis conversion Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 33 Specifications W 2nd axis information it Sos Description memory no Hex UM 00471 External terminal input monitor of 2nd axis Refer to the description for the 1st axis UM 00474 Deviation of 2nd axis Refer to the description for the 1st axis UM 00476 Pulse input value of 2nd axis Refer to the description for the 1st axis UM 00478 M dE orimplementation dorie table of Refer to the description for the 1st axis UM 00479 Auxiliary output code of 2nd axis Refer to
102. 8 723 4773 Web www ctiautomation net Email info ctiautomation net 8 24 9 Manual Operation JOG Operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Manual Operation JOG Operation 9 1 Setting and Operation of JOG Operation The example below is a case of the positioning unit installed in the slot 1 Settings are made in pulses Reverse JOG Forward JOG Table a t side side Ball screw VL TBI III B Settings Parameters required for the JOG operation of the positioning unit is set in the positioning setting menu of the programming tool Items Setting example Acceleration deceleration pattern 0 Linear acceleration deceleration Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps B Operation diagram f pps i 10000 gt Reverse i100 100 i100 i100 t ms Forward JOG contact Y120 Reverse JOG contact Y121 BUSY flag X118 Operation done flag X120 B Operation of each contact The BUSY flag X118 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operat
103. 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 14 4 15 Errors and Warnings Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Errors and Warnings 15 1 About Errors and Warnings 15 1 1 Errors and Warnings If any operational unconformity occurs in the positioning unit an error or warning will occur When an error or warning occurs the following operation will be performed Errors in any abnormal conditions When a motor is operating the operation stops The motor stopped due to the occurrence of error will not be activated until the error clear is executed Warnings Occurs if there is any operational unconformity but not abnormal The operation can continue even after the occurrence of warnings and the motor continues running if the motor is operating 15 1 2 Check and Clearing with Configurator PM7 It is possible to check and clear data on an axis by axis basis by selecting Online Status monitor on the Configurator PM7 programming tool Axis Group 2 axis 3 axis 4 axis Status Comected Connected Connected Connected External terminal input monitor Home position proximity or or or OFF Home position or or or OFF Eon tm ime _ Limit tm um iit FROM write count m Firmware version 1
104. 94 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 4 18 2 Sample program R4 L d DF JOG forward R5 DF JOG reverse R4 R100 X118 R101 4 DF JOG forward Operation 1st axis Forward enabled BUSY OFF edge Y120 flag for 1st axis 1st axis JOG forward R5 R100 X118 R102 4 DF JOG reverse Operation 1st axis Reverse enabled BUSY OFF edge Y121 flag 1st axis JOG reverse R6 DF JOG forward R7 d DF JOG reverse R6 R200 X119 R201 4 DF JOG forward Operation 2nd Forward enabled BUSY OFF edge Y122 flag for 2nd axis 2nd axis JOG forward R101 Forward OFF edge R102 Reverse OFF edge Y120 1st axis JOG forward Y121 1st axis JOG reverse R201 Forward OFF edge R202 Reverse OFF edge Y122 O 2nd axis JOG forward Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 5 Sample program R7 R200 X119 R202 Y123 A DF JOG Operation 2nd axis Reverse 2nd axis reverse enabled BUSY OFF edge JOG flag reverse Y123 2nd axis JOG reverse Error annunciation and clear DT101 Annunciates the number of errors occurred to 1st axis DT102to 07115 Error codes occurred to 1st axis DT121 Annunciates the number of errors occurred to 2nd axis 4 DT122 07135 Error codes occurred to 2nd axis X100 PERRD DT101
105. 9414063 60 0585938 40 0000000 Modified sine Setting range 1 to 20 default value 0 3 60 0585938 79 8828125 10 0000000 Trapedoid Sh 79 8828125 _ 0 0000000 0 0000000 One dwell trapedoid Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 21 Automatic Operation Synchronous Control B Cam table adjustments The Cam Table settings screen is provided with a function to make the fine tuning of set cam curve data In order to mitigate radical changes this adjustment function makes it possible to fine tune cam data that has been set To make adjustments select the target section number and press the Adjust button The adjustment screen is displayed The Adjustment screen displays the tables corresponding to the numbers of the designated sections out of all the sections 0 to 100 divided by the resolution a Adjust cam curve Phase Control point Displacement 60 0097656 19664 40 0000000 60 0128174 19665 39 9923289 60 0158691 19666 39 9846579 60 0189209 19667 _ 39 9769868 60 0219727 19668 39 9693157 60 0250244 19669 39 9616447 60 0280762 19670 39 9539736 72777 7 ssz 39 9463025 60 0341797 19672 39 9386315 60 0372314 19673 39 9309604 60 0402832 19674 39 9232894 60 0433350 19675 39 9156183 60 0463867 19
106. 950 146 UM 01160 UM 03960 UM 06160 UM 08960 UM 12960 147 UM 01170 UM 03970 UM 06170 UM 8970 UM 12970 148 UM 01180 UM 03980 UM 06180 UM 08980 UM 12980 149 UM 01190 UM 03990 UM 06190 UM 08990 UM 12990 150 UM 011A0 UM 039A0 UM 061A0 UM 089A0 UM 129A0 151 UM 01180 UM 03980 UM 06180 UM 08980 UM 12980 152 UM 01160 UM 039C0 UM 061C0 UM 089C0 UM 129C0 153 UM 01100 UM 039DO UM061D0 UM 089D0 UM 129D0 154 UM 011E0 UM 039E0 UM 061E0 UM 089E0 UM 129E0 155 UM 011F0 UM 039F0 UM 061F0 UM 089F0 UM 129F0 156 UM 01200 UM 03A00 UM 06200 UM 08A00 UM 12A00 157 UM 01210 UM 03A10 UM 06210 UM 08A10 UM 12A10 158 UM 01220 UM 03A20 UM 06220 UM 08A20 UM 12A20 159 UM 01230 UM 03A30 UM 06230 UM 08A30 UM 12A30 160 UM 01240 UM 03A40 UM 06240 UM 08A40 UM 12A40 161 UM 01250 UM 03A50 UM 06250 UM 08A50 UM 12A50 162 UM 01260 UM 03A60 UM 06260 UM 08A60 UM 12A60 163 UM 01270 UM 03A70 UM 06270 UM 08A70 UM 12A70 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 55 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 164 UM 01280 UM 03A80 UM 06280 UM 08A80 UM 12A80 165 UM 01290 UM 03A90 UM 06290 UM 08A90 UM 12A90 166 UM 012A0 UM UM 062A0 UM UM 12AA0 167 UM 012B0 UM 03ABO UM 062B0 UM 08ABO UM 12AB0 168 UM 01260 UM 03ACO UM 062C0 UM 08ACO UM 12ACO 169 UM 01200 UM
107. ABO UM 04280 UM 06ABO UM 09280 UM 132B0 296 UM 01ACO UM 042C0 UM 06ACO UM 092C0 UM 13260 297 UM 01ADO UM 04200 UM 06ADO UM 09200 UM 13200 298 UM 01AE0 UM 042E0 UM 06AEO0 UM 092E0 UM 132 0 299 UM 01AF0 UM 042F0 UM 06AFO0 UM 092F0 UM 132F0 300 UM 01B00 UM 04300 UM 06B00 UM 09300 UM 13300 301 UM 01B10 UM 04310 UM 06B10 UM 09310 UM 13310 302 UM 01B20 UM 04320 UM 06B20 UM 09320 UM 13320 303 UM 01830 UM 04330 UM 06B30 UM 09330 UM 13330 304 UM 01B40 UM 04340 UM 06840 UM 09340 UM 13340 305 UM 01B50 UM 04350 UM 06B50 UM 09350 UM 13350 306 UM 01B60 UM 04360 UM 06B60 UM 09360 UM 13360 307 UM 01B70 UM 04370 UM 06B70 UM 09370 UM 13370 308 UM 01B80 UM 04380 UM 06B80 UM 09380 UM 13380 309 UM 01B90 UM 04390 UM 06B90 UM 09390 UM 13390 310 UM 01BAO UM 043A0 UM UM 093A0 UM 133A0 311 UM 01BBO UM 04380 UM 06BBO UM 09380 UM 13380 312 UM 01BCO UM 043CO UM 06BCO UM 093C0 UM 133C0 313 UM 01BDO UM 04300 UM 06BDO UM 093DO UM 13300 314 UM 01BEO UM 043E0 UM UM 09 UM 133E0 315 UM 01BFO UM 043F0 UM O6BFO UM 093F0 UM 13320 316 UM 01C00 UM 04400 UM 06C00 UM 09400 UM 13400 317 UM 01C10 UM 04410 UM 06C10 UM 09410 UM 13410 318 UM 01C20 UM 04420 UM 06C20 UM 09420 UM 13420 319 UM 01C30 UM 04430 UM 06C30 UM 09430 UM 13430 320 UM 01C40 UM 04440 UM 06C40 UM 09440 UM 13440 321 UM 01C50 UM 04450 UM 06C50 UM 09450 UM 13450 322 UM 01C60 UM 04460 UM 06C60 UM 09460 UM 13460 323 UM 01C70 UM 04470 UM 06C70 UM 09470 UM 13470 324 UM 01C80 UM 04480 UM 06C80 UM 09480 UM
108. CW output or Pulse Sign output is connected to the corresponding input of the driver m Solution 2 Change the pulse output rotation direction of each axis parameter to set the reversed rotating direction Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 16 3 Troubleshooting Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 16 4 17 Specifications Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Specifications 17 1 Specifications 17 1 1 General Specifications Items Description Operating ambient 5 temperature 0 C to 55 C Storage ambient d temperature 40 C to 70 Operating ambient humidity 10 to 95 RH at 25 C with no condensing Storage ambient humidity 10 to 95 RH at 25 C with no condensing Each external connector pin and entire power supply terminals of CPU unit 500 V AC for 1 minute Each external connector pin and entire power supply terminals of CPU unit 100 min at 500 V DC Conforming to JIS B 3502 and IEC 61131 2 5 to 8 4 Hz 3 5 mm single amplitude Breakdown voltage Insulation resistance Vibration resistance 2 8 4 to 150 Hz acceleration of 9 8 m s 10 sweeps each in X Y and Z directions 1 octave min Conforming to JIS B 3502 and IEC 61131 2 147 m s min in X Y and Z directions three tim
109. D6 Current value update coordinate Stores the coordinate to be preset as the updating of the current value of virtual axis UM 000D7 of virtual axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 19 Specifications 17 4 6 Positioning Control Starting Table Number Setting Area Set the starting table number of positioning data on each axis at the time of staring positioning control The setting ranges are 1 to 600 for the standard area and 10001 to 10025 for the extended area Unit Set memory no Description Default Setting range ed Hex The staring Stores the positioning control 1 10 009 UM 00100 n the positioning control of starting table number of the 1st axis 10001 to st axis 10025 The starting table number Stores the positioning control 1 to 600 UM 00101 for the positioning control of starting table number of the 2nd 10001 to 2nd axis axis 10025 The staring tablenumber Stores the positioning control 110600 00102 for the positioning control of 10001 10 the 3rd axis starting table number of the 3rd axis 10025 Tie starting teste number Stores the positioning control 10600 UM 00103 for the positioning control of starting table number of the 4th axis 10001 to 4th axis 10025 The starting table number Stores the positioning control 1 to 600 UM 00107 for the positioning control of starting table number of the virtual 1 10001 10 the virtual axis
110. ESTE A code will be annunciated if a warning occurs UM 001E6 3rd axis warning code i i um A code will be annunciated if a warning occurs UM 001E8 3rd axis warning code i i i TESTES annuncistin buffer 4 A code will be annunciated if a warning occurs UM 001EA 3rd axis warning code i i i EOE SATE eion bufe A code will be annunciated if a warning occurs UM 001EC 3rd axis warning code i i nunciation buffer 6 A code will be annunciated if a warning occurs UM 001EE 3rd axis warning code i i i Trema annunciation buffer 7 A code will be annunciated if a warning occurs No of occurrences of Annunciates the number of occurrences of warnings on the 4th 001F1 i warnings on the 4th axis axis UM 001F2 4th axis warning code i i i EE arnuhcl amp tior buteri A code will be annunciated if a warning occurs UM 001F4 4th axis warning code i i i u annunciation buffor2 A code will be annunciated if a warning occurs UM 001F6 4th axis warning code i i i UE 3 A code will be annunciated if a warning occurs UM 001F8 4th axis warning code i i Annunciation buffor 4 A code will be annunciated if a warning occurs UM 001FA 4th axis warning code i i i anmuhcieti nb ffar 5 A code will be annunciated if a warning occurs UM 001FC 4th axis warning code i i i Annunciation A code will be annunciated if a warning occurs UM 001FE 4th axis warning code i i i TT
111. Each Axis Information Area in Unit Memory W 4th axis information UM 004F1 UM 004F4 UM 004F6 UM 004F8 UM 004F9 UM 004FA UM 004FB UM 004FC Description memory no Hex UM 004FD UM 004FE UM 004FF Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis External terminal input monitor of 4th axis Deviation of 4th axis Pulse input value of 4th axis Implementation or implementation done table of 4th axis Auxiliary output code of 4th axis Repeat count set value of 4th axis Repeat count current value of 4th axis Current value of 4th axis Unit system conversion current value of 4th axis W Virtual axis information UM 005F8 UM 005F9 UM 005FA UM 005FB UM 005FC vu Name Description memory no Hex UM 005FD UM 005FE UM 005FF Implementation i implementation done Refer to the description for the 1st axis table of virtual axis Auxiliary output code of virtual axis Refer to the description for the 1st axis Refer to the description for the 1st axis Repeat count curren
112. Hex UM 00435 UM 00475 The maximum value of the deviation the difference between the pulse UM 004B4 input value and instruction value will be stored Deviation of 3rd axis UM 004B5 UM 004F4 D eviation of 4th axis UM 004F5 Description Deviation of 1st axis Deviation of 2nd axis B Clearing pulse input value Pulses input as feedback pulses are integrated and stored as a pulse input value The pulse input value will be cleared at completion of home return when feedback pulses are used for the pulse input application Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 14 13 6 Pulse Input W Changing pulse input value If the pulse input application is set to feedback pulse the pulse input value can be changed to a desired value The following areas are used to change the pulse input value Unit memory no Description Hex UM 00241 Pulse count value The pulse input value will be changed to the set pulse count when the change request corresponding bit for each axis is set to 1 from 0 flag This flag is an edge trigger Be sure to change the flag to 1 from 0 at the time of the change After the change the positioning unit will clear the corresponding bits to 0 automatically bit Name Default Description 0 Pulse count change of 1st axis 0 0 The pulse input value is 1 Pulse count change of 2nd axis 0 not change
113. M 00ADO UM 032D0 UM 05ADO UM 082D0 UM 122D0 42 UM 00AE0 UM 032E0 UM UM 082E0 UM 122E0 43 UM 00AF0 UM 032F0 UM UM 082F0 UM 122F0 44 UM 00B00 UM 03300 UM 05B00 UM 08300 UM 12300 45 UM 00B10 UM 03310 UM 05B10 UM 08310 UM 12310 46 UM 00B20 UM 03320 UM 05B20 UM 08320 UM 12320 47 UM 00830 UM 03330 UM 05B30 UM 08330 UM 12330 48 UM 00840 UM 03340 UM 05B40 UM 08340 UM 12340 49 UM 00B50 UM 03350 UM 05B50 UM 08350 UM 12350 50 UM 00B60 UM 03360 UM 05B60 UM 08360 UM 12360 51 UM 00B70 UM 03370 UM 05B70 UM 08370 UM 12370 52 UM 00B80 UM 03380 UM 05B80 UM 08380 UM 12380 53 UM 00B90 UM 03390 UM 05B90 UM 08390 UM 12390 54 UM UM 033A0 UM 05BAO UM 083A0 UM 123A0 55 UM UM 033B0 UM 05BBO UM 08380 UM 12380 56 UM 00BCO UM 033C0 UM 05BCO UM 083C0 UM 123C0 57 UM 00BDO UM 03300 UM 05BDO UM 08300 UM 12300 58 UM UM 033E0 UM 05BEO UM 083E0 UM 123E0 59 UM UM 033F0 UM 05BFO UM 8 UM 12320 60 UM 00C00 UM 03400 UM 05C00 UM 08400 UM 12400 61 UM 00C10 UM 03410 UM 05C10 UM 08410 UM 12410 62 UM 00C20 UM 03420 UM 05C20 UM 08420 UM 12420 63 UM 00C30 UM 03430 UM 05C30 UM 08430 UM 12430 64 UM 00C40 UM 03440 UM 05C40 UM 08440 UM 12440 65 UM 00C50 UM 03450 UM 05C50 UM 08450 UM 12450 66 UM 00C60 UM 03460 UM 05C60 UM 08460 UM 12460 67 UM 00C70 UM 03470 UM 05C70 UM 08470 UM 12470 68 UM 00C80 UM 03480 UM 05C80 UM 08480 UM 12480 69 UM 00C90 UM 03490 UM 05C90 UM 08490 UM 12490 70 UM 00CAO UM 034A0 UM 05CAO0 UM 084A0 UM 124A0
114. M 02A90 UM 05290 UM 07A90 UM 0A290 UM 14290 550 UM 02AA0 UM 052A0 UM 07 UM 0A2A0 UM 142A0 551 UM 02ABO UM 052B0 UM 07ABO UM 2 UM 142B0 552 UM 02ACO UM 052C0 UM 07ACO UM 0A2CO UM 14260 553 UM 02ADO UM 05200 UM 07ADO UM 0A2DO UM 142D0 554 UM 02AE0 UM 052E0 UM 07 UM 2 0 UM 142E0 555 UM 02 UM 052F0 UM 07AFO UM 2 UM 142F0 556 UM 02B00 UM 05300 UM 07B00 UM 0A300 UM 14300 557 UM 02B10 UM 05310 UM 07B10 UM 0A310 UM 14310 558 UM 02B20 UM 05320 UM 07B20 UM 0A320 UM 14320 559 UM 02B30 UM 05330 UM 07B30 UM 0A330 UM 14330 560 UM 02B40 UM 05340 UM 07B40 UM 0A340 UM 14340 561 UM 02B50 UM 05350 UM 07B50 UM 0A350 UM 14350 562 UM 02B60 UM 05360 UM 07B60 UM 0A360 UM 14360 563 UM 02B70 UM 05370 UM 07B70 UM 0A370 UM 14370 564 UM 02B80 UM 05380 UM 07B80 UM 0A380 UM 14380 565 UM 02B90 UM 05390 UM 07B90 UM 0A390 UM 14390 566 UM 02BAO UM 053A0 UM 07BAO UM UM 143A0 567 UM 02BBO UM 05380 UM 07BBO UM UM 14380 568 UM 02BCO UM 053C0 UM 07BCO UM 0A3CO UM 14360 569 UM 02BDO UM 05300 UM 07BDO UM 0A3D0 UM 14300 570 UM 02BE0 UM 053E0 UM 07BEO UM OASEO UM 143E0 571 UM 02BF0 UM 053F0 UM 07BFO UM OASFO 14320 572 02600 05400 UM 07C00 UM 0A400 UM 14400 573 UM 02C10 UM 05410 UM 07C10 UM 0A410 UM 14410 574 UM 02C20 UM 05420 UM 07C20 UM 0A420 UM 14420 575 UM 02C30 UM 05430 UM 07C30 UM 0A430 UM 14430 576 UM 02C40 UM 05440 UM 07C40 UM 0A440 UM 14440 577 UM 02C50 UM 05450 UM 07C50 UM 0A450 UM 14450 578 UM 02C60 UM 054
115. M 075 0 UM 09DEO UM 13DEO 475 UM 02520 UM 04DFO UM 075F0 UM 09DF0 UM 13DFO 476 UM 02600 UM 04E00 UM 07600 UM 09 00 UM 13E00 477 UM 02610 UM 04E10 UM 07610 UM 09E10 UM 13E10 478 UM 02620 UM 04E20 UM 07620 UM 09E20 UM 13E20 479 UM 02630 UM 04 30 UM 07630 UM UM 13E30 480 UM 02640 UM 04E40 UM 07640 UM 09E40 UM 13E40 481 UM 02650 UM 04E50 UM 07650 UM 09E50 UM 13E50 482 UM 02660 UM 04E60 UM 07660 UM 09E60 UM 13E60 483 UM 02670 UM 04E70 UM 07670 UM 09E70 UM 13E70 484 UM 02680 UM 04E80 UM 07680 UM 09 80 UM 13E80 485 UM 02690 UM 04E90 UM 07690 UM 09E90 UM 13E90 486 UM 026A0 UM 4 UM 076A0 UM UM 13EA0 487 UM 026B0 UM 04EBO UM 07680 UM UM 13EBO 488 UM 026C0 UM 04ECO UM 076C0 UM 09ECO UM 13ECO 489 UM 026DO UM 04EDO UM 076DO UM 09 UM 13EDO 490 UM 026E0 UM 04EE0 UM 076E0 UM O9EEO UM 13EE0 491 UM 026F0 UM 04EF0 UM 076F0 UM O9EFO UM 13EF0 492 UM 02700 UM 04F00 UM 07700 UM 09F00 UM 13F00 493 UM 02710 UM 04F10 UM 07710 UM 09F10 UM 13F10 494 UM 02720 UM 04F20 UM 07720 UM 09F20 UM 13F20 495 UM 02730 UM 04F30 UM 07730 UM 09F30 UM 13F30 496 UM 02740 UM 04F40 UM 07740 UM 09F40 UM 13F40 497 UM 02750 UM 04F50 UM 07750 UM 09F50 UM 13F50 498 UM 02760 UM 04F60 UM 07760 UM 09F60 UM 13F60 499 UM 02770 UM 04F70 UM 07770 UM 09F70 UM 13F70 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 63 Specifications
116. M 09C80 UM 13C80 453 UM 02490 UM 04C90 UM 07490 UM 09C90 UM 13C90 454 UM 024A0 UM 04CAO0 UM 074A0 UM 09 UM 13CA0 455 UM 02480 UM 04CBO UM 07480 UM 09CBO UM 13CBO 456 UM 02460 UM 04CCO UM 07460 UM 09CCO UM 13CCO 457 UM 024DO UM 04CDO UM 074DO UM 09CDO UM 13CDO Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 62 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 458 UM 024E0 UM 04CE0 UM 074E0 UM 09CE0 UM 13CEO 459 UM 02420 UM 04CFO UM 074F0 UM UM 13CFO 460 UM 02500 UM 04D00 UM 07500 UM 09000 UM 13D00 461 UM 02510 UM 04D10 UM 07510 UM 09D10 UM 13D10 462 UM 02520 UM 04D20 UM 07520 UM 09D20 UM 13D20 463 UM 02530 UM 04030 UM 07530 UM 09030 UM 13D30 464 UM 02540 UM 04D40 UM 07540 UM 09D40 UM 13D40 465 UM 02550 UM 04D50 UM 07550 UM 09D50 UM 13D50 466 UM 02560 UM 04D60 UM 07560 UM 09D60 UM 13D60 467 UM 02570 UM 04D70 UM 07570 UM 09D70 UM 13D70 468 UM 02580 UM 04D80 UM 07580 UM 09D80 UM 13D80 469 UM 02590 UM 04D90 UM 07590 UM 09D90 UM 13D90 470 UM 025A0 UM 04DAO UM 075A0 UM 09DAO UM 13DA0 471 UM 02580 UM 04DBO UM 07580 UM 09DBO UM 13DBO 472 UM 025 0 UM 04DCO UM 075C0 UM 09DCO UM 13DCO 473 02500 UM 04000 07500 UM 09DDO UM 13DDO 474 UM 025 0 UM 04DEO U
117. M 12160 19 UM 00970 UM 03170 UM 05970 UM 08170 UM 12170 20 UM 00980 UM 03180 UM 05980 UM 08180 UM 12180 21 UM 00990 UM 03190 UM 05990 UM 08190 UM 12190 22 UM 009A0 UM 031A0 UM 059A0 UM 081A0 UM 121A0 23 UM 00980 UM 03180 UM 05980 UM 08180 UM 12180 24 UM 009C0 UM 031C0 UM 059C0 UM 081C0 UM 121C0 25 UM 009DO UM 03100 UM 059DO UM 08100 UM 12100 26 UM UM 031E0 UM 059E0 UM 081E0 UM 121E0 27 UM 009F0 UM 031F0 UM 05920 UM 081 20 UM 12120 28 UM 00A00 UM 03200 UM 05A00 UM 08200 UM 12200 29 UM 00A10 UM 03210 UM 05A10 UM 08210 UM 12210 30 UM 00A20 UM 03220 UM 05A20 UM 08220 UM 12220 31 UM 00A30 UM 03230 UM 05A30 UM 08230 UM 12230 32 UM 00A40 UM 03240 UM 05A40 UM 08240 UM 12240 33 UM 00A50 UM 03250 UM 05A50 UM 08250 UM 12250 34 UM 00A60 UM 03260 UM 05A60 UM 08260 UM 12260 35 UM 00A70 UM 03270 UM 05A70 UM 08270 UM 12270 36 UM 00A80 UM 03280 UM 05A80 UM 08280 UM 12280 37 UM 00A90 UM 03290 UM 05A90 UM 08290 UM 12290 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 52 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 38 UM 00AAO0 UM 032A0 UM UM 082A0 UM 122A0 39 UM 00ABO UM 03280 UM 05ABO UM 082B0 UM 12280 40 UM 00ACO UM 032C0 UM 05ACO UM 082C0 UM 12260 41 U
118. M 13930 400 UM 02140 UM 04940 UM 07140 UM 09940 UM 13940 401 UM 02150 UM 04950 UM 07150 UM 09950 UM 13950 402 UM 02160 UM 04960 UM 07160 UM 09960 UM 13960 403 UM 02170 UM 04970 UM 07170 UM 09970 UM 13970 404 UM 02180 UM 04980 UM 07180 UM 09980 UM 13980 405 UM 02190 UM 04990 UM 07190 UM 09990 UM 13990 406 UM 021A0 UM 049A0 UM 071A0 UM 099A0 UM 139A0 407 UM 02180 UM 04980 UM 07180 UM 09980 UM 13980 408 UM 02160 UM 049C0 UM 07160 UM 099C0 UM 139C0 409 UM 02100 UM 049DO UM 071DO UM 099DO UM 139DO 410 UM 021E0 UM 049E0 UM 071E0 UM 099E0 UM 139E0 411 UM 02120 UM 049F0 UM 07120 UM 099F0 UM 139F0 412 UM 02200 UM 04A00 UM 07200 UM 09A00 UM 13A00 413 UM 02210 UM 04A10 UM 07210 UM 09A10 UM 13A10 414 UM 02220 UM 04A20 UM 07220 UM 09A20 UM 13A20 415 UM 02230 UM 04A30 UM 07230 UM 09A30 UM 13A30 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 61 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 416 UM 02240 UM 04A40 UM 07240 UM 09A40 UM 13A40 417 UM 02250 UM 04A50 UM 07250 UM 09A50 UM 13A50 418 UM 02260 UM 04A60 UM 07260 UM 09A60 UM 13A60 419 UM 02270 UM 04A70 UM 07270 UM 09A70 UM 13A70 420 UM 02280 UM 04A80 UM 07280 UM 09A80 UM 13A80 421 UM 02290 UM 04A90 UM 07290 UM 09A90 UM 13A90 422 UM 022A0 UM 04AA0 UM 072A0 UM UM
119. MV SS K100 DT14 1st axis acceleration time MV SS K100 DT15 1st axis deceleration time MV SL K500000 DT16 MV SL K1000000 DT18 1st axis movement amount MV SL KO DT20 a 1 table data on 1st axis 1st axis auxiliary point st axis dwell time 1st axis auxiliary output MV SS 0724 MV SS 0725 BKMV SS DT10 0725 51 UMO0850 Settings for table no 1 H00850 of 1st axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 9 Sample program R11 DF MV SS DT30 Set value 2nd axis control change code MV SS HO DT31 2nd axis control pattern MV SS DT32 MV SS HO DT33 MV SS K100 DT34 2nd axis acceleration time MV SS K100 DT35 2nd axis deceleration time MV SL K1000 DT36 1 table data on 2nd axis target 2nd axis speed MV SL K100000 0738 2nd axis movement MV SL DT40 Settings for table no 1 BEMNESS H03050 of 2nd axis R11 H DF ace Set value Recalculation Recalculation A recalculation is change done request flag required if the Y107 positioning data in the standard area is changed Recalculation request flag R3 H DF Positioning start POSSET U1 U1 Slot Axis number number U1 Table number Y110 R100 X118 R200 X119 Operation 15 Oper
120. Move the motor into the range detection the limit has turned ON axis of the limit by an appropriate 3011H Limit signal The input on the negative side Each Yos JOG detection of the limit has turned ON axis Check the limit signal is correct t Both inputs on the positive and ncc 3012H Limit signal negative sides of the limit have Each Yes Check the status of the limit error turned ON axis signal Software limit The movement amount of the Each Move the motor into the range 3020H positive side motor has exceeded the upper Yes of the software limit by an PIA axis detection limit of the software limit appropriate mode such as JOG Software limit The movement amount of the Each Operation 3021H negative side motor has exceeded the lower Axis Yes Check the set values of the detection limit of the software limit software limit Check the set values and parameters for the positioning An error has occurred in the unit Axis operation 3030H eitr P operation processing of each axis Yes If an error occurs repeatedly axis due to some reason with the correct set values consult your Panasonic representative An error has occurred in the i If an error occurs repeatedly Operation axis 3031H abnormalend operation processing of each Yes consult your Panasonic axis due to some reason All representative axes Axis group settings are changed Changing the axis group should while t
121. NE UM 00440 UM 0047F Information of axis 2 information area UM 00480 UM 004BF Information of axis 3 eed 00460 004FF Information of axis 4 UM 005F0 UM 005FF Information of virtual axis UM 003FF UM 00400 Each axis information area UM 007FF UM 00800 Each axis setting area Check that the positioning ready flag is turned ON in the case of reading each axis information area with a program Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 32 17 5 Details of Each Axis Information Area in Unit Memory 17 5 2 Each Axis Information amp Monitor Area m 1st axis information Vait Settin memory no Description Default Set unit range Hex Stores I O information connected to each axis i Name Default Description Limit 0 0 Non active cosas Edema mina rout um ___ __ nte Near home 0 Home position 0 UM 00434 Stores the maximum value of the Deviation of 1st axis deviation the difference between the UM 00435 pulse input value and instruction value Stores pulse input values according to UM 00436 the pulse input application e g pulser feedback pulse or counter Pulse input value of 1st axis Pulse input values will be integrated and UM 00437 stored until the pulse input application is changed or the pulse input is cleared Implementation or UM 0043
122. Name Default Description 0 1st axis pulse count enabled 0 0 Pulse count enabled 1 2nd axis pulse count enabled 0 1 Pulse count disabled 2 3rd axis pulse count enabled 0 3 4th axis pulse count enabled 0 15104 _ m Changing pulse input value If the pulse input application is set to high speed counter the pulse input value can be changed to a desired value The following areas are used to change the pulse input value Unit memory no Description Hex UM 00241 Pulse count value The pulse input value will be changed to the set pulse count when the change request corresponding bit for each axis is set to 1 from 0 flag This flag is an edge trigger Be sure to change the flag to 1 from 0 at the time of the change After the change the positioning unit will clear the corresponding bits to 0 automatically bit Name Default Description 0 Pulse count change of 1st axis 0 0 Pulse input value not 1 Pulse count change of 2nd axis 0 changed 2 Pulse count change of 3rd axis 0 o Pulse input value change 3 Pulse count change of 4th axis 0 1510 4 UM 00248 Pulse input value 00249 change of 1st axis Set the desired pulse input value for the 1st axis UM 0024 Pulse input value UM 00248 change of 2nd axis Set the desired pulse input value for the 2nd axis UM 0024C Pulse input value Set desired pulse input value for the 3rd a
123. Output It is possible to get power for the pulse instruction output circuit from the 5 V DC output terminal pins A1 A2 A10 and A11 Positioning unit i Pulse command at 5V output input i Pulse command 15 mA per signal i output can be 1 82 810 811 guide External power supply Usable voltage range 21 4 to 26 4V DC Current 4 axis type 90 mA less consum ption 2 axistype 50 mA or less Note Make sure that a current not in excess of 15 mA is provided for each signal in the case of using pulse transistor output open collector output Add appropriate resistance if the current exceeds 15 mA Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 8 3 4 Connecting Pulse Instruction Signal Input 3 4 Connecting Pulse Instruction Signal Input 3 44 Line Driver Output Type Pulse A1 A10 iS command A Line drive IG B10 1 Pulse ji A2 A11 v command B o Line arive EUIS External input power Power supply suppl pply HH 24V DC 3 4 2 Transistor Output Type P ulse command A 5V DC output If 15mA is exceeded a resistor must be added collector Pulse command B 5V DC output Output specification Output form Open collector Operating voltage range 4 75 to 26 4V DC Max load current ON Max voltage drop ND DG
124. Panasonic PROGRAMMABLE CONTROLLER FP7 Positioning Unit User s Manual Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Safety Precautions Observe the following notices to ensure personal safety or to prevent accidents To ensure that you use this product correctly read this User s Manual thoroughly before use Make sure that you fully understand the product and information on 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
125. Pass point I Increment 100000 L Linear E End point I Increment 30000 L Linear REFERENCE For detailed information on each control refer to Chapter 7 Automatic Operation Positioning Control Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 14 5 6 Saving Parameters 5 6 Saving Parameters 5 6 1 Save Load Configuration Information on the basic parameters and positioning data tables that have been set for the Configurator PM7 are saved as configuration information along with information on I O map allocations on a unit by unit basis Save and load the configuration information as necessary 5 6 2 Export and Import Basic parameters and positioning parameters set can be exported to and imported from the Configurator PM7 e Information on positioning parameters and positioning tables saved by using the export function can be reused between projects PROCEDURE 1 Select File Export from the menu bar The saving destination and file names are displayed 2 Enter the saving destination and file name and press Save button Information on the parameters and positioning data tables is saved in a file with a pm7 extension Wy eos e When export is executed information on the positioning data tables will be saved along with information set in the parameter setting menu Phone 800 894 0412 Fax 888 723 4773 Web www ct
126. Setting and Operation of 3 Axis Linear Interpolation 7 19 7 2 5 Setting and Operation of Three Axis Linear Interpolation 7 21 7 2 6 Sample Program Interpolation Control 7 23 7 3 Setting and Operation of Positioning Repeat Function 7 24 8 Automatic Operation Synchronous Control 8 1 83 Synchronous E t Ee TRE e m Ru Pep i oie 8 2 8 1 1 Outline of Synchronous Control sse 8 2 8 2 Settings for Master Slave 8 3 8 2 1 Selection of Master Axis and Settings 8 3 8 2 2 Selection of Slave Axes and Settings 8 4 8 2 3 Enabling Disabling Synchronous Control 8 5 8 3 Electronic Gear Function a pars 8 7 8 8 1 Outline of Electronic Gear Function seen 8 7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net V Table of Contents 10 11 12 8 3 2 Types and Contents of Setting Parameters 8 8 8 3 3 Gear Ratio Changes while in
127. T115 Error contents of 1st axis DT121 Number of errors of 2nd axis DT122 DT135 Error contents of 2nd axis DT10 DT25 Positioning data of 1 table of 1st axis DT30 DT45 Positioning data of 1 table of 2nd axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 3 18 2 Sample program 18 2 1 When Settings Done in Standard Area with Programming tool B Sample program Operation enabled condition X100 X104 X160 Ready Tool 1st axis error Operation enabled positioning operation flag for 1st axis X161 R200 2nd axis error Operation enabled flag for 2nd axis Home return R100 X118 R2 DF Home return Operation enabled flag 1st axis Start of 1st axis for 1st axis BUSY home position R200 X119 Y119 Operation axis Start of 2nd enabled flag BUSY i for 2nd axis Positioning start R3 Positioning start ADF POSSET This part of the Positioning Slot Axis Table program varies with start number number number the setting method This example shows R100 X118 R200 X119 Y110 a progran already Operation 1st axi Operation axi Positionin na bi PM enabled flag 4 28 enabled flag BUSY A 15 ontigurator for 1st axis for 2nd axis start for 1st axis Replace this part for two other settings JOG operation Phone 800 8
128. UM 004B6 Pulse input values are integrated and stored and will be cleared if the Pulse input value of 3rd axis pulse input application is changed or when the pulse input values are UM 004B7 cleared UM 004F6 Pulse input value of 4th axis UM 004F7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 10 13 6 Pulse Input 13 6 3 Pulser Input Function By setting the positioning unit to pulser for the pulse input application a manual pulser can be used Settings allows manual pulsers to connect to different axes Therefore a single pulser can operate a number of axes simultaneously However pay attention to settings for the axis connected to the pulser and the axes operated by the pulser Refer to the following table and make settings for the pulse input application Settings for pulse input application Pulser operation Pulser connecting Pulser operating Operation Outline axis axis Feedback pulse Feedback pulse The positioning unit does not recognize High speed counter No pulse input as the manual pulser thus not High speed counter allowing the operation of the pulser Pulser The pulser operates Feedback pulse Yes The feedback pulse function is available while the pulser is in operation Pulser The pulser operates High speed counter Yes The high speed counter function is available while the pulser is in operati
129. W direction 11H Circular interpolation Center point CCW direction Operation 20H Circular interpolation Pass point pattern 50H Spiral interpolation Center point CW direction X axis movement 51H Spiral interpolation Center point CCW direction X axis movement 52H Spiral interpolation Center point CW direction Y axis movement 53H Spira interpolation Center point CCW direction Y axis movement 54H Spiral interpolation Center point CW direction Z axis movement 55H Spiral interpolation Center point CCW direction Z axis movement 60H Spiral interpolation Pass point X axis movement 61H Spiral interpolation Pass point Y axis movement 62H Spiral interpolation Pass point Z axis movement Any other settings will be errors Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 49 Specifications Offset Sr e Default Setting range and description The setting area for acceleration time and deceleration time for positioning Positioning operation acceleration time Different settings can be made for acceleration and deceleration The settings for the axis with the smallest number in the axis group are enabled for interpolation operation Positioning deceleration time Setting range 0 to 10 000 ms Any other settings will be errors The targe
130. alled in slot 1 The movement amount setting uses an increment method in pulses Table 10000 pulses gt side side B Settings Items Setting example Operation pattern E End point Control method I Increment X axis movement amount 10000 pulses Acceleration deceleration pattern L Linear Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps B Operation diagram f pps 10000 10000 pulses 100 100 t ms Positioning start contact Y110 BUSY flag X118 Operation done flag X120 Current value 200007 A 30000 B Operation of each contact The BUSY flag X118 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts The flag will turn ON after the positioning unit transmits a reference for the target position Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 4 7 1 Basic Operation 7 1 3 Setting and Operation of P Point Control The example below is a case of single axis control with the positioning unit installed in slot 1 T
131. an I O signal electronic gear ratio change request for the target axis allocated to the unit This signal enabled is of edge type Starts the gear ratio change triggered by the gear ratio change request signal turned ON allocation Signal name 1st axis 2nd axis 3rd axis 4th axis Synchronous slave axis gear ratio Y90 Y91 Y92 Y93 change request Synchronous slave axis gear ratio X90 X91 X92 X93 change request Turn OFF the gear ratio change request signal after changing the gear ratio Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 9 Automatic Operation Synchronous Control REFERENCE For detailed information on the gear ratio setting area refer to 17 7 1 Synchronous Control Setting Area Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 10 8 4 Electronic Clutch Function 8 4 Electronic Clutch Function 8 41 Electronic Clutch Function The electronic clutch function is used to engage or disengage the clutch for output from the electronic gear When the electronic clutch is disengaged the master axis will be separated from the slave axes and the slave axes not in synchronization with the master axis will come to a stop When the electronic clutch is engaged the master axis and slave axes will operate in synchronization Speed V ON i i i i Clutch
132. and the positioning unit will go into the emergency stop or system stop state e Switch the operation of the pause function by rewriting the value in the above unit memory address Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 12 4 13 Supplementary Functions Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Supplementary Functions 131 Dwell Time The time taken until the next operation after the completion of an executed positioning table in the automatic operation is called dwell time B For E point control The dwell time is the time taken from the completion of the position reference until the operation done flag turns ON Dwell time BUSY flag _ Operation done flag 1 For P point control While the positioning unit is in P point control the positioning table will operate consecutively and the dwell time will be ignored For the last table E point like E point control dwell time is a period required from the completion of the position reference until the operation done flag turns ON Dwell time BUSY flag _ Operation done flag _______________ B For C point control The dwell time is the waiting time for executing the next table from the completion of the positioning table deceleration stop For the last table E point like E point control dwell time is a period required fro
133. ar annunciation clear flag Y160 flag 1st axis error clear flag B O signal allocation Siqnalname 1st 2nd 3rd 4th Virtual 9 axis axis axis axis axis Error annunciation X60 X61 X62 X63 X67 Warning annunciation X68 X69 X6A X6B X6F Request error clear Y60 Y61 Y62 Y63 Y67 Request warning clear Y68 Y69 Y6A Y6B Y6F Note 1 The numbers in the above table show relative addresses based on the base word number numbers actually used vary with the number of the slot where the unit is installed and the first word number Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 3 Errors and Warnings 15 1 4 Error and Warning Logs There are log areas to store the error warning logs within the positioning unit Error log Up to 7 error codes can be stored for each axis 1st axis to 4th axis Warnings log Up to 7 warning codes can be stored for each axis axis 1 to 4 Once an error warning occurs the error warning code will be stored in the log area of the axis causing the error When an error warning that is not related to axes occurs such as an failure in the unit the error warning code will be stored in the log areas of all the axes The positioning setting menu of the programming tool makes it possible to check only the latest error and warning on each axis When referring the error and warning logs for each axis read the following
134. arious electronic settings gear settings are required if the electronic gear is used Electronic clutch Select the use or non use of the electronic clutch Various settings electronic cutch settings are required if the electronic gear is used Electronic cam Select the use or non use of the electronic cam Various electronic settings cam settings are required if the electronic gear is used In addition electronic cam pattern settings are required in the case of using the electronic cam Slave axis output Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 2 8 2 Settings for Master and Slave Axes 8 2 Settings for Master and Slave Axes 8 21 Selection of Master Axis and Settings The master axis serves as a reference for synchronization control Start and stop requests for various operations are made to the master axis under synchronous control It is possible to select one of the following master axes Types of master axis Type Outline Existing axis Axes the 1st to 4th axes available for the positioning unit Use one of them if the master axis needs to be an object of control as well If an existing axis is used as the master axis the rest of the existing axes three axes can be used as slave axes Virtual axis A virtual axis exists in the positioning unit The virtual axis cannot output pulses externally The virtual a
135. arting the user program Be sure to save the settings and download the project to the CPU unit before starting the tool operation of the positioning unit The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Online Tool Operation from the menu bar The tool operation dialog box will be displayed Tool operation Home Return Positioning Jog Operationr Teaching Exit Types of tool operation Items Description Servo ON OFF Specifies servo ON OFF for each axis JOG operation The specified axis can be moved to the specified direction at the specified speed while the operation reference is ON A home return is performed to the home of the machine coordinates according to the Home return specified parameter Positioning Moves from the start table number according to the set contents in the positioning table Controls the axis manually like JOG operation and reflects the resulting positioning address Teaching on the Data Editing screen Wa The positioning unit cannot go into tool operation while the positioning unit is in user program operation e Operation requests with I O signals will be disabled while the positioning unit is in tool operation e If any communication error occurs while the positioning uni
136. ation home return or pulser operation starts Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 22 7 2 Interpolation Control Programming Precautions For X Y plane in the case of the center point specification the X axis auxiliary point is the center point of X axis and the Y axis auxiliary point is the center point of Y axis In the case of the pass point each pass point is set as the pass point of X axis and Y axis These settings are the same for Y Z plane and X Z plane e When the control method is increment both the center point and pass point will be increment coordinates from the start point When the start point and the operation done point is the same it performs one circular operation when using the center point method However when using the pass point method an error will occur n the case of the pass point method when the start point pass point and operation done point exist in the same straight line an arc will not be comprised and an error will occur e n the case of specifying long axis speed the composite speed will be faster than the long axis speed e f any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a set value error will occur when the positioning control starts e The start contact and flag number varies depending on the number of axes and the installati
137. ation 2nd axis Positioning start enabled flag BUSY enabled flag BUSY for 1st axis for 1st axis for 2nd axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 10 Record of changes Manual No Date Record of Changes WUME FP7POSP 01 Mar 2013 First Edition Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net
138. ber Y148 R3 I DF Speed change start R4 I DF J point positioning start R2 HH DF Positioning control start 1st axis J point speed change Y158 1st axis J point positioning start R10 Y110 Operation enabled flag X118 1st axis BUSY 1st axis J point positioning start _ number axis Operation enabled condition E 4 Specify slot number and table number Operation enabled condition Set the slot number axis number and table number and start i positioning J pointspeed change contact J point positioning start contact Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 9 Automatic Operation Positioning Control 7 1 8 Programming Precautions B Programming Precautions e The last table should be set to E End point e If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a set value error will occur when the positioning control starts e The start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit B Operation at limit input Condition Direction Limit status Operation At each control F
139. ble tab each is created for the groups set 13 E End point I Increment 0 L Linear 100 E End I ent 0 Linear 100 Virtual axis A 1 2Axis 3Axis X 4Axis ees e Setting items such as the movement and interpolation of X Y and Z axis will be added to the data table and group name A or B will be displayed on the tab when the interpolation group is set e The virtual axis or slave axis under synchronous control cannot be set to the interpolation groups Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 6 5 3 Parameter Settings 5 3 Parameter Settings 5 3 1 Parameter Settings in Configurator PM7 Use the Configurator PM7 to allocate the most fundamental parameters for positioning control such as the motor rotation direction pulse output method CW CCW and Pulse Sign home input limit input logic and positioning control The following procedure is explained on the condition that the Configurator PM7 has already started vm PROCEDURE 1 Select Set axis Set parameters from the menu bar The parameter dialog box will be displayed Parameter settings a Virtual axis 1 axis A 2 axis A 3 axis 4 axis Unit setting Pipulse P pulse P pulse P pulse Number of pulses per revolution 1 Movement per revolution 1 Pulse output method o O Pulse Sien O Pulse Sien O Pulse Sien
140. cam pattern e The number of cam patterns available varies with each resolution The current resolution cannot be changed to a new resolution if the number of cam patterns already set exceeds the number of cam patterns available for the new resolution Delete the cam pattern and change the resolution Configurator EMT Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 17 Automatic Operation Synchronous Control m Making duplicating new cam pattern The Cam No Selection screen is displayed by pressing the Add button from the Cam field Select the desired cam number and press the OK button Add new cam Cam No The cam pattern can be copied Press the Duplicate button and select the copying destination and original cam pattern numbers Duplicate cam Duplication source 2 Duplication destination X L x j ee To change the cam number press the Change button and select the new cam number Change cam number Cam No Note The cam pattern number already set cannot be changed m Making duplicating new cam pattern Set a cam pattern Press the Insert button from the Interval field Select the desired starting phase and press the OK button The cam pattern is by default set to a single section at a phase of 0 to 100 The above section is divided into a number o
141. can be executed from the PLC while Positioning start the unit is in tool request flag each Operation B000H Tool operation axis n Yes Deceleration stop request flag Home return each axis request flag each Emergency stop request flag axis each axis JOG System stop request flag all forward reverse axes rotation request flag Pulser operation enabled flag each axis each axis No requests to any axes in operation can be executed The following requests however The same axis was can be executed while the requested to start even positioning unit is in operation B010H Duplicate start though the axis axis Yes Deceleration stop request flag operation has not each axis completed Emergency stop request flag each axis System stop request flag all axes The J point speed E PIT a When the both contacts turn ON COREE turn ON simultaneously the J point positioning start contact will have a J point bod toring N Each priority and the J point speed B030H simultaneous point operation ae Yes change contact will be ignored start warning Make settings so that J point while the speed change contact will be turned system is accelerating ON while the positioning unit is in or decelerating the operation at constant speed speed Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 14 15 4 List of Warning
142. change e J point control can be used for single axis control only It is not available for interpolation control e Set the positioning unit to increment mode to implement P point control C point control or E point control with positions specified after J point control is implemented e Speed control is performed while the positioning unit is in J point control in which case be sure to input the amount of movement for positioning with a value that can secure a target constant speed area Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 7 Automatic Operation Positioning Control B Operation diagram J point parameter Table 1 Table 2 Table 3 f pps 30000 20000 10000 6000 t ms Positioning start contact Y110 BUSY flag X118 Operation done flag X120 J point speed change contact Y148 J point positioning start contact Y158 RNC OM B Operation of each contact The BUSY flag X118 will turn ON when the operation starts and turn OFF when the operation is completed e The operation done flag X120 indicating the state that an operation completed will turn ON when the JOG operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts e The target speed will be changed when the J point s
143. combination 4600H Pulse input setting error incorrect axis Yes of the input type input multiplication and input application Pulse count value The set pulse count change Each 4605H change setting error value is out of the range axis Yes The operation of the Automatic movement 4609H amount check method Su Mk p of Yes setting error 7 incorrect Automatic movement The automatic movement Each 4610H amount correction amount correction numerator axis Yes Check he set value numerator setting error is out of the range Automatic movement The automatic movement 4611H amount correction amount correction Each Yes denominator setting denominator is out of the axis error range Automatic movement The automatic movement Each 4613H amount check interval amount check interval is out Aue Yes setting error of the range Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 13 Errors and Warnings 15 4 List of Warning Codes 15 4 1 Unit Warning from B000H These are the warning codes to be given when the warnings occurred in the positioning unit us Error name Description Object Recovered Countermeasures The following request No requests from the PLC can be signals were turned ON MM positioning unit by the host PLC while IS A TOO Operation the positioning unit is in The following requests however tool operation
144. condition that the gear ratios are constant Do not use the electronic gear function if the movement amount of the master axis needs to coincide with that of the salve axes Keep in mind that the slave axes may come to a sudden stop if an emergency stop or deceleration stop is executed while making a gear ratio change Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 7 Automatic Operation Synchronous Control 8 3 2 Types and Contents of Setting Parameters The use of the electronic gear requires the following parameter settings Parameter name Outline Set to use or not to use the electronic gear function Electronic gear operation The gear ratio of the electronic gear will be set to 1 1 if the electronic gear is not settings used and the operation of the master axis will be input as it is into the electronic clutch Gear ratio numerator Determines the gear ratio of the electronic gear Electronic gear ratio is determined by the following formula Gear ratio denominator Output speed of electronic gear Operating speed of master axis x Gear ratio numerator Gear ratio denominator The time required to change the current gear ratio to a new gear ratio if the new Gear ratio change time gear ratio is set for the electronic gear in operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8
145. curred will be cleared once Then warnings will be judged again Therefore the same warnings will occur if the warning conditions continue The number of warnings for each axis is annunciated If a total warning occurs the data on all the axes will be stored in the warning annunciation buffer Up to 7 warnings are stored in the warning log Warnings can be cleared not only in this area but also with the warning clear contact i Name Description memory no Hex Clears warnings on an axis by axis basis UM 001A9 UM 001C1 UM 001C3 UM 001C4 UM 001C5 UM 001C6 UM 001C7 UM 001C8 UM 001C9 UM 001CA UM 001CB UM 001CC UM 001CD UM 001CE UM 001CF UM 001D1 UM 001D2 UM 001D3 UM 001D4 UM 001D5 UM 001D6 UM 001D7 Warning clear settings on axis by axis basis No of occurrences of warnings UM 001C2 1st axis warning code annunciation buffer 1 1st axis warning code annunciation buffer 2 1st axis warning code annunciation buffer 3 1st axis warning code annunciation buffer 4 1st axis warning code annunciation buffer 5 1st axis warning code annunciation buffer 6 1st axis warning code annunciation buffer 7 No of occurrences of warnings on the 2nd axis 2nd axis warning code annunciation buffer 1 2nd axis warning code annunciation buffer 2 2nd axis warning code annunciation buffer 3 bit Name Default Description 0 Warning clear on 1st axis 0 0 No warning clear 1 Wa
146. d 2 Pulse count change of 3rd axis 0 Pulse input value 3 Pulse count change of 4th axis 0 15 10 4 00248 Pulse input value TIPO change of Jst axis Set the desired pulse input value for the 1st axis UM 0024 Pulse input value UM 0024B change of 2nd axis iL 0024C Pulse input value UM 0024D change of 3rd axis Set the desired pulse input value for the 3rd axis 0024E Pulse input value UM 0024F change of 4th axis Set the desired pulse input value for the 4th axis 13 6 5 High speed Counter Function By setting the positioning unit to high speed counter for the pulse input application pulse input can be used as an external counter m Controlling pulse input By setting the positioning unit to high speed counter for the pulse input application the pulse input count can be stopped as desired The current pulse input value will be kept on hold when the pulse input count is stopped The pulse input count is enabled or disabled with settings in the following areas Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 15 Supplementary Functions Unit memory no Description Hex UM 00240 Pulse count enable The pulse input value will be changed to the set pulse count when the flag corresponding bit for each axis is set to O from 1 bit
147. d in slot 1 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method in pulses c B Settings f 4 SA po I a 10000 pulses Center point X axis 0 Y axis 10000 X axis Use the tool software to make positioning data and parameter settings The unit is set to pulse Items Setting example Operation pattern E End point Interpolation operation S Circular Pass point CW direction Y axis movement Control method Increment X axis movement 0 pulse X axis auxiliary point 0 pulse 20000 pulses Y axis auxiliary point 10000 pulses Acceleration deceleration pattern L Linear Acceleration time ms 100 ms Deceleration time ms 100 ms Interpolation speed 10000 pps Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 16 7 2 Interpolation Control B Operation diagram f pps Composite speed t ms Positioning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 QU 40000 AK 10000 Current value of axis 1 EZE Current value of axis 2 10000 m Operation of each contact e The 1st axis and 2nd axis BUSY flags X118 and X119 indicating the state that a motor is
148. direction X axis The pass point on an arc can be specified 7 12 7 2 Interpolation Control 3 axis linear interpolation Composite speed specification direction 4 Z axis The composite speed E be specified Y axis direction X axis direction 3 axis linear interpolation Long axis speed specification direction Zaxis The axis speed for the axis to be a long axis can be specified Y axis directi X axis direction direction 3 axis spiral interpolation Center point specification 3 axis spiral interpolation Center point specification CW direction Z axis movement CCW direction Z axis movement direction 4 Z axis direction 4 Z axis The center position can be specified The center position can be Y axis specified Y axis direction direction X axis X axis direction direction The interpolation speed is the tangential The interpolation speed is the tangential velocity of arc velocity of arc 3 axis spiral interpolation Pass point specification Z axis movement direction 4 Z axis Y axis direction X axis trece direction directio The pass point on an arc can be specifed The interpolation speed is the tangential velocity of arc When the X axis and Y axis is the moving axes each axis in the above diagram is replaced Phone 800 894 0412 Fax 888 723 4773 Web
149. e preset as the current value of 3rd axis UM 000CE Current value update UM 000CF coordinate of 4th axis UM 000D6 Current value update UM 000D7 coordinate of virtual axis Stores the coordinate to be preset as the current value of 4th axis Stores the coordinate to be preset as the current value of virtual axis B Current value update procedure 1 Write a coordinate to be preset in the current value update coordinate area of the axis to update the current value 2 Preset the target axis bit to 1 in the current value update request flag area As the current value update process is performed for the axis that is 1 in the current value request flag area do not set any bit to 1 other than the target axis 3 The current value after unit conversion in each axis information and monitor area is changed to the specified current value Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 6 13 4 Current Value Update The value to be changed by updating the current value is the current value after unit conversion Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 7 Supplementary Functions 13 5 Coordinate Origin The positioning unit performs a home return to set the managing coordinate to O The coordinate origin is a function that allows to set the coordinate to a desired value
150. e the positioning unit is in home return operation Enable disable the software limit in the JOG operation 0 Disables the software limit for JOG operation 1 Enables the software limit for JOG operation Set the upper limit of the software limit for the absolute coordinates Set the following range according to the unit setting Pulse 1 073 741 823 to 1 073 741 823 pulses um 0 1 107 374 182 3 to 107 374 182 3 um um 1 1 073 741 823 to 1 073 741 823 um inch 0 00001 inch 10 737 41823 to 10 737 41823 inches inch 0 0001 inch 107 374 1823 to 107 374 1823 inches degree 0 1 degree 107 374 182 3 to 107 374 182 3 degrees degree 1 degree 1 073 741 823 to 1 073 741 823 degrees Any other settings will be errors Set the upper limit of the software limit for the absolute coordinates Set the following range according to the unit setting Pulse 1 073 741 823 to 1 073 741 823 pulses um 0 1 107 374 182 3 to 107 374 182 3 um 1 um 1 073 741 823 to 1 073 741 823 um inch 0 00001 inch 10 737 41823 to 10 737 41823 inches inch 0 0001 inch 107 374 1823 to 107 374 1823 inches degree 0 1 degree 0 0 to 359 9 degrees degree 1 degree 0 to 359 degrees Any other settings will be errors Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 41 Specifications Offset CI NEM ee ID uu Set wh
151. ear Y68 Y69 Y6A Y6B Y6F Synchronous setting request Y80 Y81 Y82 Y83 x Synchronous cancel request Y88 Y89 Y8A Y8B Slave axis gear ratio change request Y90 Y91 Y92 Y93 Slave axis clutch ON request Y98 Y99 Y9A Y9B Slave axis clutch OFF request Y100 Y101 Y102 Y103 Note 1 The I O numbers in the above table show relative addresses based on the base word number I O numbers actually used vary with the number of the slot where the unit is installed and the first word number Example The home input of 1st axis is Y110 for slot number 1 if the first word is number 10 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 4 5 2 Axis Allocation for Use 5 2 Axis Allocation for Use 5 2 1 Settings in Configurator PM7 Use the Configurator PM7 to allocate axes for the use of the positioning unit along with the purposes of the axes The following procedure is explained on the condition that the positioning unit has been already allocated in the I O map vm PROCEDURE 1 Select the desired positioning unit from the I O map and press the Advanced button The configuration menu Configurator PM7 for the positioning unit will start Eat Grune Debug Setong Heip OSES mma LAKE do e est b 1 Pesmion unit pulse Speed uni pulse X ms 1 movement Acceleration deceleration method Accel
152. ear the error e lfawarning occurs in the positioning unit click Warning clear to clear the warning e positioning operation of the interpolation group starts and stops the axis with the smallest number in the group If the tool operation function is used positioning will start by pressing the Run button for any axis A warning message however will be displayed unless the Run button for the axis with the smallest number is pressed e This dialog cannot be closed while the positioning unit is in home return operation B Dialog box items Items Current value Description Monitors the feedback values after the unit system conversion for each axis Click Current value update to display the dialog for inputting value to change the present value Unit Displays the unit of positions specified with parameter settings on an axis by axis basis on the positioning unit Deviation Pulse Displays the deviation of the amount of movement while the auto check function for the amount of movement is activated Active table number Displays the table number when the positioning unit is in operation or it has finished operating Starting table Start table number of positioning control The start table number can be changed by clicking Change for the start table number of nue positioning control Executes the operation and stop of positioning according to the settings Click Operation to e
153. eleration time Set in ms Deceleration time ms Set the deceleration time Set in ms Dwell Time ms Set the time from when the positioning instruction in the end point control completes until the positioning done flag turns ON For the continuance point control it is the wait time between each table For the pass point control the dwell time is ignored Auxiliary output Set the auxiliary output code When the auxiliary output is set to enable in the parameter settings the auxiliary output code specified here is output Note 1 The details for the settings in each parameter are indicated in the guidance bar Note 2 In the case of selecting interpolation control interpolation Y axis movement amount X axis auxiliary point Y axis auxiliary point and interpolation speed as items are displayed as well Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 12 5 5 Creating Positioning Data Table 5 5 2 Table No Positioning Start e Execute the POSSET command in the user program to specify table numbers on the Configurator PM7 e The positioning unit will start control under the conditions set in the table by executing the POSSET reference and turning the corresponding positioning start contact ON after specifying the desired slot number axis number and table number X100 X104 X160 Operation enabled i condition Ready Tool 1s
154. equest as a trigger to be detected Edge selection Select the method of trigger signal detection from Level Rising edge or OFF Falling edge Method Select Direct or Slip for the engagement of the clutch Slip time If Slip is selected set the slip time Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 12 8 4 Electronic Clutch Function 8 43 Trigger Types for Electronic Clutch The following methods are available for the engagement or disengagement of the electronic clutch m Clutch request signal Y98 to Y9B and Y100 to Y103 An I O signal clutch request signal allocated to the unit is in control of the electronic clutch m allocation Signal type 1st 2nd 3rd 4th Operation axis axis axis axis Slave axis clutch ON request Y98 Y99 Y9A Y9B Slave axis clutch OFF request Y100 Y101 Y102 Y103 Slave axis clutch operation notice X98 X99 X9A X9B ON Engaged OFF Disengaged Master axis operation Slave axis operation Clutch request signal ue Note The above shows an example of the direct method selected for the engagement of the clutch Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 13 Automatic Operation Synchronous Control 8 4 4 Engagement Methods of Electronic Clutch The electronic clutch function engages the clutch to
155. er clear signal after home return Deviation counter 028 clear signal ON time completion Setting range 1 to 100 ms The deviation counter clear signal is set to 100 ms even if a setting in excess of 100 ms is made Sets the operation mode of the JOG operation i Name Default Description 029H JOG operation 0H Acceleration 0 0 Linear setting code Deceleration acceleration deceleration pattern settings 1 S shaped acceleration deceleration acceleration time acceleration operation in the preset time After the start contact of JOG operation is ON the positioning unit will go into deceleration operation in the preset time to come to a stop 02BH JOG operation deceleration time Setting range 0 to 10 000 ms Any other settings will be errors Set the target speed for JOG operation After the start of the JOG operation of the positioning unit the positioning unit will accelerate to move to the target speed while the 02CH start contact of the JOG operation is ON The positioning unit will operate at target speed after the target speed Sets the acceleration deceleration time for JOG operation 02AH JOG operation When JOG operation starts the positioning unit will go into is reached JOG operation target speed Setting range 0 to 32 767 000 Any other settings will be errors Set the following range according to the unit setting 02DH Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch
156. eration deceleration 4080H acceleration deceler method of the JOG positioning PM Yes ation type error is out of the range JOG positioning PT ME cage The deeleration time of the JOG Each umg positioning is out of the range axis ves JOG positioning The acceleration time of the Each 4082H acceleration time JOG positioning is out of the eus Yes error range JOG positioning The target speed of the JOG Each 4083H ver AE Yes target speed error positioning is out of the range axis Home return target The target speed of the home Each return is out of the range axis Yes Home return i4 e 4105H acceleration time The acceleration time of the Each Yes errat home return is out of the range axis Home return AT The deceleration time of the Each 11061 home return is out of the range axis Tes 4107H Home return setting The home return setting code is Each Yes code error incorrect axis 4110H Home return creep The creep speed of the home Each Yes speed error return is out of the range axis Home return 4111H returning direction The moving direction of the Each Yes home return is incorrect axis error The limit switch is disabled 4112 Home return limit It occurs when the home return Each Yes error method is set to the limit axis method 1 or 2 4120H Coordinate origin The coordinate origin is out of Each Yes error the range axis 4201H JOG
157. eration time ms Deceleration time ms Target speed Dwell time ms Auxflary output Comment L Unser 100 1000 0 0 100 100 1000 00 E uu 100 100 1000 E 1 Increment 0 100 10 1000 0 2 Select Axis setting Change axis from the menu bar The dialog box to set the axes to be used will be displayed n Axis settings Select model Positioning unit M Cancel Select axis Axis 1 M Axis2 Axis3 M Virtual Please select an axis to use 3 Select the axes to be used and press the OK button The dialog box for the interpolation operation group setting will be displayed Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 5 Unit Allocation and Parameter Settings 4 Dragthe icon of each axis to be allocated for interpolation to the interpolation group field The following picture shows the allocation of 1st axis and 2nd axis to the interpolation group m nv Interpolation operation group settings Independent Interpolation group 5 Press the OK button A confirmation message will be displayed n Configurator PM7 i The axis will be changed Continue Data other than the parameter settings for the axis whose attributes have changed will be initialized 6 Check the contents of the change and press the Yes button A data ta
158. erform the reverse rotation Displays the target table number for teaching Click Teaching to change the table Table number number for the teaching and register the current value State of axis The operating states of axes or error and warning occurrences Error code The latest error code if an error occurs Error clear Clears the error by clicking this button if an error occurs Warning code Indicates the latest warning code if a warning occurs Warning clear Clears the warning by clicking this button if a warning occurs The target speed of the home return specified in the parameter settings for each axis is Speed rate regarded as 100 and the operation is executed at the specified speed rate Clicking Speed rate shows the dialog for inputting the value Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 16 f Automatic Operation Positioning Control Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Automatic Operation Positioning Control 71 Basic Operation 7 1 1 Positioning Control Patterns m Type of operations The automatic operation is an operation mode to perform positioning control A single axis control and an interpolation control that starts and stops multiple axes simultaneously are available for positioning control End point E point control which uses the positi
159. ers refer to operating conditions such as the JOG operation and home return conditions along with the limit input logic and deceleration stop time Note 2 Positioning data refers to the individual positioning information such as the movement amount target speed acceleration and deceleration time and operating pattern data and other individual positioning information m Calculation of reconstructing of standard area The calculation of reconstruction recalculation will be required if the standard positioning data area is overwritten with a user program If the data is not recalculated after rewriting the positioning table by the program note that the operation will be executed with the previous positioning table The recalculation procedure is as follows 1 Change the positioning table in the unit memory 2 Turn ON the recalculation request signal Y7 in the I O area 3 Check that the recalculation completion signal X7 in the I O area turns ON and start a desired type of operation Note The I O numbers of the recalculation request signal Y7 and the recalculation completion signal X7 vary with the first word number allocated to the unit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 14 8 Programming Cautions REFERENCE For the difference in programming method between the standard area and extended area refer to Section 18 Sample program Phone
160. es each Shock resistance Noise resistance 1 000 V p p pulse width of 50 ns 1 us by noise simulator Environment Free from corrosive gases and excessive dust EC Directive applicable X standard directive EN 61131 2 Overvoltage category Category or lower Pollution degree Pollution degree 2 or lower Internal current 120 mA less consumption Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 2 17 1 Specifications 17 1 2 Performance Specifications Items 2 axis type 4 axis type AFP7PP02T AFP7PPO2L AFP7PPO4T AFP7PPO4L 2 axis linear interpolation 2 axis linear interpolation 3 axis linear interpolation 2 axis circular interpolation 2 axis circular interpolation and 3 axis spiral interpolation No of occupied I O points Input 192 points Output 192 points Position specification Absolute absolute positioning method Increment specified relative position Pulse Interpolation control m select a minimum instruction unit of 0 1 um or 1 um Position specified unit A inch select a minimum instruction unit of 0 00001 inch or 0 0001 inch degree select a minimum instruction unit of 0 1 degree or 1 degree Pulse 1 073 741 823 to 1 073 741 823 pulses um 0 1 um 107 374 182 3 to 107 374 182 3 um um 1 um 1 073 741 823 to 1 073 741 823 um Position reference range inch
161. ether to use or not to use the auxiliary output contact and auxiliary output function of the auxiliary output code whether to be used or unused The ON time of the auxiliary output contact is determined by the following auxiliary output ON time bit Name Default Description 012H Auxiliary output 0107 Auxiliary output 0 0000H The auxiliary output function mode mode auxiliary output contact or code is not used 0001H With mode used 0002H Delay mode used Auxiliary output Setting range 00H 0 ms to FFH ON time 255 ms When using the delay mode for the auxiliary output specify the ratio 96 to output 013H Auxiliary output D ME E Delay rate The setting range is 0 to 100 If the setting is 50 the auxiliary output will be performed when the positioning movement amount exceeds 50 Make pulse output home position near home and limit signal settings Name Default Description Pulse Sign CW COW Count Direction Count Direction CCW Normal Open Normal Close Output mode 0 Rotating direction Home logic Pulse output control code Near home logic Normal Open Normal C Normal O Normal C Limit Logic Normal O Normal C Make startup speed settings for each type of operation Make a startup speed change before starting each type of operation 016H Setting range 0 to 32 767 000 Startup speed Any other settings will be err
162. eturn operation for the virtual axis is done completed A contact to monitor external home position input signal for the Home corresponding axis 3rd axis position The input logic can be changed in the parameter setting menu of the Configurator 7 X34 X37 TSt A contact to monitor external near home position input signal the 2nd axis corresponding axis Near home 3rd axis The input logic can be changed in the parameter setting menu of the Configurator 7 X3C Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 7 Specifications Contact o Target axis Name Description allocation X40 Virtual 1st axis 2nd axis 3rd axis 4th axis Auxiliary Turns ON when the corresponding positioning table of the corresponding contact axis is executed Auxiliary Turns ON when the corresponding positioning table of the virtual axis is contact executed Limit Monitor contact of the limit and Limit Decelerates to stop when the limit input that is on an extension of the Limit operating direction turns ON while the positioning unit is in positioning operation JOG operation pulser operation Limit The deceleration stop time during the limit input can be changed in the unit Limit memory Limit It will be the contact for the automatic inversion when performing a h
163. f each axis under the control of the positioning unit store the changed coordinates in this area and turn ON the current value update request flag Unit memory no Description Hex Only when the corresponding bit for each axis changes to 1 from 0 the current coordinate controlled by the positioning unit to the following current value After the change the positioning unit will clear the corresponding bits to 0 automatically i Name Default Description Current value update 0 0 No change Current value request for 1st axis 1 Update the current value of the UM 000C0 update request Current value update corresponding axis flag request for 2nd axis The positioning uni will set the Fa TA value to 0 automatically after Current value update execution request for 3rd axis Current value update request for 4th axis UM 000C8 Current value update coordinate Stores the coordinate to be preset as the updating of the current value of 1st axis UM 000C9 of 1st axis UM 000CA Current value update coordinate Stores the coordinate to be preset as the updating of the current value of 2nd axis UM 000CB of 2nd axis UM 000CC Current value update coordinate Stores the coordinate to be preset as the updating of the current value of 3rd axis UM 000CD of 3rd axis UM 000CE Current value update coordinate Stores the coordinate to be preset as the updating of the current value of 4th axis UM 000CF of 4th axis UM 000
164. f oO Current value update Current value update Current value update Current value update Unit pue Deviation pulses o of of O Jog target speed 1000 1000 1000 1000 __ s _ _ _ __ ___ JoG Axis state Stopped Stopped Stopped Stopped Error code Olear errors Olear errors Clear errors Olear errors UTERINE A m Olear warning Clear warning Olear warning Olear warning is el Speed Rate 100 Exit Press or button in the JOG field The JOG operation of the positioning unit starts Press Quit button to terminate the JOG operation If an recoverable error occurs in the positioning unit click the Clear errors button to clear the error Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 9 Transfer to Unit and Commissioning e lfawarning occurs in the positioning unit click Clear warning to clear the warning e This dialog cannot be closed while the positioning unit is in JOG operation B Dialog box items Items Description Current value Monitors the feedback values after the unit system conversion for each axis Click Present Value Refresh to display the dialog for inputting value to change the present value Unit Monitors the unit of positions
165. f sections by setting the starting phase Insert interval Settable range 0 000 to 99 902 Start Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 18 8 5 Electronic Cam Function The selected sections are displayed with a white background and the non selected sections are displayed with a gray background ere Displacement 96 Insert 0 0000000 0 0000000 Constant acceleration Delete 2 39 9414063 60 0097656 0 0000000 Constant acceleration 3 60 0097656 79 8828125 0 0000000 Constant acceleration _ 4 79 8828125 0 0000000 0 0000000 Constant acceleration Adjust Display a segmented interval by number The interval number is set automatically based on the specified start phase order Setting range 1 to 20 default value 0 In relation to the resolution the starting phase may not be set to the specified phase value Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 19 Automatic Operation Synchronous Control m Editing of the cam table Edit the cam table data that was created Set the following items for each section set e Starting phase 96 e Displacement 96 e curve The cam curve changes according to the settings 100 Delete Duplicate
166. g unit in operation The operation is of level type Y13F Virtual axis Note The deviation counter cannot be cleared Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 12 2 12 2 Settings and Operations of Pause Functions 12 2 Settings and Operations of Pause Functions The pause function temporarily stops operation Toggle between the pause function and the deceleration stop function for use The pause function performs a deceleration stop in the deceleration time of operation when the deceleration stop request contact turns ON After that the stop state will be maintained while the deceleration stop request contact is ON and the control stopped will restart when the deceleration stop request contact turns OFF Toggle between the pause function and deceleration stop function in the system operation setting area in the unit memory System operation setting area Unit memory no Hex Nerine UM 00389 Deceleration stop operation NOTES Description Specify the operation of the positioning unit with the deceleration stop request signal activated turned ON 0 Deceleration stop 1 While the positioning unit is in repetitive control the positioning unit will come to a stop after the position moves to E point of the repetitive target Pause Performs a deceleration stop and positioning will restart when the deceleration stop request s
167. h the synchronous setting request contact Y80 to Y83 turned ON after making synchronous setting changes with the program The contact turns ON upon completion of the setting changes Turns ON when the synchronous operation of the positioning unit is canceled with the synchronous setting cancel request contact Y88 to Y8B turned ON The synchronous operation of axes cannot be executed if this contact is ON for the axes Makes gear ratio changes with the salve axis gear ratio change request contact Y90 to Y93 The contact for the corresponding axis will turn ON after the gear ratio is changed The clutch will start operating when the slave axis clutch ON re request contact Y98 to Y9B or clutch OFF request contacts Y100 to 103 turn ON The contact for the corresponding axis will turn ON after completion of the operation of the clutch Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 9 Specifications Y1 Exc e e CN mn e eet This contact will turn ON after the axis group settings are Axis group setting Y5 All axes change request changed ge req The unit turns OFF this contact after the setting change wa SS Ne ee Sa Turn ON this signal when each positioning data standard area in the unit memory was changed The positioning data after the table number starting the Request recalculation specified
168. he movement amount setting uses an increment method in pulses Table 18000 pulses gt side side m Settings Setting example Items Table 1 Table 2 Table 3 Operation pattern P Pass point P Pass point E End point Control method Increment I Increment Increment X axis movement amount 5000 pulses 10000 pulses 3000 pulses Acceleration deceleration pattern L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps 20000 pps 5000 pps B Operation diagram f pos 20000 Positioning start contact Y110 BUSY flag X118 Operation done flag X120 Current value 20000 B Operation of each contact e The BUSY flag X118 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes NX 38000 e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts The flag will turn ON after the positioning unit transmits a reference for the target position Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 5 Automatic Operation Positioning Control 714 Setting and
169. he positioning unit is in be performed when the axes i operation or a stop request is are not in operation 3032H Axis group dm d p req Each Yes operation error eing made axis Do not make a stop request Axis group settings are outside either the range Check the axis group settings Check the set values for positioning data on The operation has stopped due interpolation 3033H Interpolation to an error in another Each Yes operation error interpolation axis during axis If an error occurs repeatedly interpolation with the correct set values consult your Panasonic representative Axis group not i i setae The ans group setings are acp a ne 3034H changed while the positioning Yes In pulser unit is in pulser operation axis operation enabled signal is operation OFF Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 7 Errors and Warnings Error E Error name Description Object Recovered Countermeasures Positioning The positioning movement Each 3035H movement amount has exceeded the upper ads Yes Check the set value amount error or lower limit The synchronous group is Changing the synchronous changed while the positioning group should be performed unit is in synchronous operation when the busy signal for the Synchronous 9 Stop request is being made axes to be synchronized is 3040H operation The settings of axis groups
170. he state that a motor is running will turn ON when the pulser operation permit contact turns ON and will turn OFF when the contact turns OFF The operation done flag X120 indicating the state of operation completion will turn ON when the pulser operation permit contact is turned OFF and the flag will be maintained until the next positioning control JOG operation home return or pulser operation starts Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 11 3 Manual Operation Pulser Operation m Sample program X100 X104 X160 Operation enabled condition Ready Tool 1st axis error Operation positioning operation enabled flag R2 R11 I DF Pulser operation Pulser OFF edge R10 X118 Y140 R2 I DF Pulser operation Operation 1st axis enabled BUSY Y140 flag Pulser permission for axis 1 Pulser OFF Pulser edge permission for axis 1 Pulser permission for axis 1 B Programming Precautions e The movement amount per an 1 pulse signal from the pulser can be changed by setting the ratio numerator and ratio denominator for the input signal of the pulser eThe start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit B Operation at limit input
171. hecking is executed based on the pulse input value multiplied by the following ratio Numerator of movement amount check correction Denominator of movement amount check correction Movement amount check interval ms Time interval to execute the movement amount check function Note 1 Set only if the set unit is mm inch or degree It should be cancelled down with the movement amount per rotation Wa cron e Inthe positioning unit CW refers to the rotating direction with a count increase and CCW refers to the direction with a count decrease Therefore limit input in the CW direction is limit input and that in the CCW direction is limit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 8 5 3 Parameter Settings Parameter name Description Startup speed Startup speed initial speed of all types of operation Home return Return setting code The pattern of the home return Home return Return direction The operating direction of the home return Home return Return acceleration time Home return Return deceleration time The acceleration time of the home return The deceleration time of the home return Home return Return target speed The target speed of the home return Home return Return creep speed The speed to search the home position after the proximity input
172. ht Approx 130 g Approx 150 g Approx 130 g Approx 150 g Note 1 The pulser input function and high speed counter function use the same pulse input terminal Therefore select either one of them Other specifications Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 5 Specifications 17 2 I O Number Allocation The following I O numbers indicate offset addresses The I O numbers actually allocated are based on the first word number allocated to the unit Example If the first word number of the unit is 10 the positioning ready signal will be X100 Contaci Target axis Name Description allocation X0 All axes Ready Indicates that the unit is ready to operate internally and announce the announce start of the system G 2 fs 00 on _________________ Tool Contact to indicate that the positioning unit is in tool operation X4 Allaxes operation The start from I O is not available during the Tool operation warning progress will occur if you attempt to do so Make axis group setting changes in the unit with the axis group setting X5 All axes Axis group request contact Y5 turned ON after making setting changes in the axis setting done group with the program The contact turns ON upon completion of the 45 setting changes If the recalculation request contact Y7 turns ON the positioning data of the unit memory standard area wil
173. iautomation net Email info ctiautomation net 5 15 Unit Allocation and Parameter Settings Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 16 6 Transfer to Unit and Commissioning Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Transfer to Unit and Commissioning 6 1 Check on Setting Contents 611 Check on Parameter Data e The following procedure is explained on the condition that the Configurator PM7 has already started Pp PROCEDURE 1 Select Debug Check parameters and data values from the menu bar A message box will be displayed to show the check result If there is an error in the settings for the positioning data tables an error message will appear and the cursor will move to the corresponding error position Configurator 7 e An error was found in the following location Table No 1 Target speed 6 1 2 Comparison of Parameter Information e t is possible to compare information on parameters being edited with information saved in the Configurator PM7 The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Debug Compare File or Config from the menu bar When file is selected a dialog box for comparison file select
174. iautomation net Email info ctiautomation net 10 2 10 1 Pattern of Home Return DOG method 3 Edge detection of near home switch Falling edge of home position as reference The falling edge of the near home switch is detected The first rising edge of the home switch in the home return direction becomes the start point Home return direction 4 amp Limit switch Near home switch Limit switch Home switch t Home return 1 I D The starting point is deceleration time Target spee between the near home iHome return creep speed Switch and limit switch v i i including limit switch 2 The starting point is on the near home switch m ONENEN E deceleration time E 3 The starting point is between the near home switch and limit switch Home return 1 deceleration time Home return crdep speed 4 The starting point is on the limit switch I 1 Home return deceleration time I I I 1 L 1 I I 1 m Limit method 1 Edge detection of limit switch First rising edge of home position as reference Reverses after detecting the rising edge of the limit switch on the opposite side of the home return direction The first rising edge of the home switch is detected It becomes the start point Home return direction 44 Limit switch Limit switch Home switch
175. ic movement amount check value UM 0801A Automatic movement amount check interval B Operation of automatic check function of movement amount The automatic check function of movement amount operates in the following procedure while the positioning unit is in operation 1 The current position of the positioning unit will be saved in the unit the moment the positioning unit starts operating 2 After the positioning unit starts operating the automatic check function of movement amount will come to a stop until the automatic movement check interval elapses 3 After the movement amount automatic interval elapses the deviation feedback value calculated from the current pulse input value will be compared with the saved pulse input value and the difference deviation will be checked whether it is in excess of the value set for the automatic movement check value 4 The current position of the positioning unit will be saved in the unit Steps 2 to 4 above will be repeated Set the automatic movement check interval with consideration of the response time of the encoder in use Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 13 Supplementary Functions B Deviation monitoring The value deviation calculated by the automatic check function of movement amount can be checked with the program The deviation monitor uses the following areas Unit memory no
176. ignal is canceled turned OFF The positioning unit will perform the same operation as a deceleration stop unless the positioning unit is in positioning operation While the positioning unit is in repetitive operation the positioning unit will come to a stop after the position moves to the E point of the repetitive target and repetitive control will restart when the deceleration stop request signal is canceled turned OFF If a system stop or emergency stop is executed while the positioning unit is paused the pause state will be canceled and the operation will not restart with the deceleration stop request signal is canceled turned OFF Default 0 e deceleration stop can be executed while the pause function is in use Use the emergency stop function in the case of executing a stop while the pause function is in use e The pause function is enabled only when the positioning unit is in automatic operation positioning control There will be no difference in operation from a deceleration stop while the positioning unit is in manual operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 12 3 Stop functions e Like other stop functions the pause function will maintain the stop state while the deceleration stop pause request signal is ON The pause will be canceled if an emergency stop or system stop is executed while the positioning unit is not operating
177. ill be errors Sets the acceleration deceleration time while the positioning unit is in home return operation When home return control starts the positioning unit will go into acceleration operation in the preset time After near home input is ON the positioning unit will go into deceleration operation in the preset time and move into creeping speed Setting range 0 to 10 000 ms Any other settings will be errors Sets the target speed for home return control After home return control starts the positioning unit will accelerate to target speed if there is no near home input Setting range 1 to 32 767 000 Any other settings will be errors Set the following range according to the unit setting Pulse 1 to 32 767 000 pps 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 44 17 6 Details of Each Axis Setting Area in Unit Memory Offset Wu Set the speed to search the home position after near home input Set a speed lower than the target home return speed 026H Setting range 1 to 32 767 000 Home return creep Any other settings will be errors speed Set the following range according to the unit setting Pulse 1 to 32 767 000 pps 027H um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Set the ON time of the deviation count
178. ion Use a program to change the target speed e The operation done flag X120 which indicates the completion of operation will turn ON when the current operation is completed and it will be held until the next positioning control JOG operation home return or pulser operation starts Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 9 4 9 2 Changing the Speed During JOG Operation m Sample program X100 X104 X160 Operation enabled condition Ready Tool 1st axis error Operation positioning operation enabled flag R2 R11 DF JOG d Forward R2 R10 X118 R11 Y120 DF 4 1st axis JOG forward request forward Operation 1staxis Forward 1st axis kae enabled BUSY Y120 flag OFF edge JOG forward 1st axis JOG forward R4 I DF Speed change Rewrite acceleration time MV SS K100 51 UM0082A MV SS S1 UM0082B MV SL K10000 51 UM0082C JOG target speed 2 deceleration time and target speed m Programming Precautions e To change the JOG operation speed use a user program and rewrite the unit memory UM0082A to UM0082C eThe start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies dependi
179. ion home return or pulser operation starts Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 9 2 9 1 Setting and Operation of JOG Operation m Sample program X100 X104 X160 Ready Tool 1st axis error positioning operation R2 I DF JOG forward R3 I DF JOG reverse R2 R10 DF JOG forward Operation 1st axis X118 enabled BUSY Y120 flag 1st axis JOG forward R10 118 R3 DF JOG reverse 1 Operation 1st axis enabled BUSY Y121 flag 1st axis JOG reverse m Programming Precautions R11 Forward OFF edge R12 Reverse OFF edge R10 Operation enabled flag R11 Forward OFF edge R12 Reverse OFF edge Y120 _ 151 axis JOG forward request j 1st axis JOG forward Y121 1st axis JOG reverse 1st axis JOG eThe start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit B Operation at limit input Condition Direction Limit status Operation When JOG Forward Limit input 4 ON Not executable Error occurs operationis rotation Limit input ON Executable executed Reverse Limit input ON Executable rotation Limit input ON Not executable Error occurs During JOG Forward Limit input
180. ion Checks on Near Home Switch and Home Switch Step 1 Forcibly operate home input and near home input and check that the operation indicator of the positioning unit will be lit Monitor the input contact with the FPWIN GR7 as well and make a similar check Step 2 Input a home return program to make an actual home return and check that the positioning unit will perform deceleration with near home input Point of confirmation Set the valid logic of home input and near home input in the parameter setting menu of the Configurator PM7 Step 3 Repeat the JOG and home return operation of the positioning unit and check that the home stop position will not shift Point of confirmation A shift may result depending on the position of near home input or home input and the return speed Step 4 If the home stopping position is shifted change the position of near home input or reduce the home return speed Positioning unit Input unit ee Check to see if there is any offset from the home stopping position 8 9 9 E i Home switch Near home switch ay aer Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 9 Power On Off and Check Items 4 4 5 Checking Rotating and Moving Directions and Moving Distance Step 1 Confirm the rotating direction and
181. ion of the master axis as an operation reference based on which the displacement of the slave axes in each phase rotation angle is defined on the Configurator screen Input value Current value L Electronic clutch output Time T Input axis phase I Time T Output axis displacement Slave axis output Cam pattern t Time T m Cam pattern The cam pattern uses one rotation of the master axis as an operation reference based on which the displacement of the slave axes in each phase rotation angle is defined The cam pattern is defined with the phase rotation angle of the master axis based on one rotation as a reference on the X axis and the displacement on the Y axis in percent The cam pattern is set with the desired settings for the positioning unit selected from the FPWIN GR7 Configuration screen 100 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 15 Automatic Operation Synchronous Control B Cam pattern specifications The following specifications of cam patterns can be set Setting items Description Resolution 1024 2048 4096 8192 16384 32768 of cam patterns Section setting Resolutions of 1024 2048 and 4096 16 Resolution of 8192 8 Resolution of 16384 4 Resolution of 32768 2 100 20 sections max Displacement setting
182. ion will be displayed When Config is selected information edited in the Configurator PM7 will be compared with configuration information saved and the results of comparison will be displayed 2 Select the target file from the dialog box for the selection of the comparison file and press the OK button The information being edited in the Configurator PM7 is compared with the configuration information saved and the comparison results will be displayed Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 2 6 1 Check on Setting Contents r Verification result Verification i Home Slot No 1 r Verification content Comments associated with positioning settings data are not Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 3 Transfer to Unit and Commissioning 6 2 Transfer of Parameters 6 2 1 Writing Parameters to Unit e Information on parameters that have been set is transferred as a part of project information to the CPU unit along with other configuration information e The following procedure is explained on the condition that the Configurator PM7 has already started vm PROCEDURE Select File Exit from the menu bar of the Configurator PM7 1 2 When Save data in the configuration area appears press Yes Y 3 Press the OK button in the FP7 co
183. ioning done flag is turned ON in the case of reading each axis information area with a program Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 15 Specifications 17 4 Details of Common Area in Unit Memory 17 4 1 Common Area Configuration The common area is allocated to the head of the unit memory to make common settings for each axis Unit memory map UM 00000 4 00085 Setting parameter control area Common area Common areas UM 00088 Operation speed factor area UMOOSFF C 000000007 UM 000B0 UM 000B4 Axis group setting area UM 00400 UM 00000 00007 Current value update data area UM 00100 UM 00107 Positioning table setting area Each axis T information area UM 00108 UM 0010F Positioning control area M 00111 UM 001A7 Error annunciation amp clear area UM 007FF SMOD SIMON UM 00800 UM 001A9 UM 0023F Warning annunciation amp clear area UM 00240 UM 0024F Pulse count control area UM 00280 UM 002BF Synchronous control monitor area UM 00389 System operation setting area Each axis setting area UM 16000 Synchronous control setting area UM 16400 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 16 17 4 Details of Common Area in Unit Memory 17 4 2 Setting Parameter Control Area Set a recalculation starting
184. is has been set for the synchronous groups 1 and 2 Either master axis or slave axis has not been set 4030H Synchronous group Multiple axes have been set Each axis Yes setting error for the master or slave axis The same axis has been set for the master and slave axes The slave axis has been set to the interpolation group Synchronous Operation settings for the synchronous operation A091 TUR differential check function ach axis Yes 9 are incorrect The pulser input mode is Check the set value incorrect If an error occurs Pulser setting eror Pulser operation method is Each axis repeatedly with the incorrect correct set values consult Pulser operation max your Panasonic speed is incorrect representative MS Check the pulse input The pulse input application application Pulse operation is not set to pulser for the Each axis e disabled error axis for which pulse input is Set the input application permitted to pulser at the time of using the pulser Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 10 15 3 Error Code Table Ein Error name Description Object Recovered code 4044H Speed factor error The setting of the speed factor Each Yes is out of the range axis The startup speed is out ofthe Each 4050H Startup speed error range exis Yes JOG positioning The accel
185. is period Set the number of pulses corresponding to the total phase of the cam pattern used one rotation data on the master axis Cam pattern number to use Specify the cam pattern number to be used from cam patterns created Cam stroke Set the number of pulses corresponding to the total displacement 10096 of the cam pattern to use Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 16 8 5 Electronic Cam Function 8 5 3 Cam Pattern Setting Method m Starting Cam Pattern Setting Screen Open the Configuration screen on the FPWIN GR7 and select Positioning settings so that the setting tool for the positioning unit will start Select Axis settings Cam pattern settings from the toolbar of the setting tool for the positioning unit or click the following icon T The Cam Pattern Settings screen is displayed A blank screen will be displayed for a new file and settings for cam pattern 1 will be displayed if data already exists z x m Resolution settings Press the Resolution button on the Cam Pattern screen The Resolution Settings screen will be displayed Select the desired resolution and press the OK button Cancel ma E unter of cam that an be E HEEE e The resolution is valid for all cam patterns You cannot set a different resolution per
186. it x 1000 s Pulser input kHz Max speed kHz Min speed kHz Pulse output kHz Standard operation Speed limit pulse hold Speed limit truncate The example below is a case of the positioning unit installed in the slot 1 Settings are made in pulses Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 11 2 11 1 Setting and Operation of Pulser Operation side side B Settings Parameters required for the pulser operation of the positioning unit is set in the positioning setting menu of the programming tool Items Setting example Settable range 0 Pulser 1 Operation setting code 0 Pulser 1 s UE 3 Pulser 4 Pulser operation ratio numerator 2 1 to 32 767 Pulser operation ratio denominator 1 1 to 32 767 pulser operation method 2 Speed limits 0 Standard operation 1 Speed limits pulse hold truncated 2 Speed limits truncated Pulser operation max speed 500 Pulse 1 to 32 767 000 pps B Operation diagram Pulser forward Pulser reverse Aphase J L L L Aphase L L B phase E Pulser input A phase Pulser input B phase Pulser operation enabled contact Y 120 BUSY flag X18 Operation done flag X20 Current value 1000 1000 X 1002 X 1004 X 1006 X 1008 X 1005 X 1004 X 1002 m Operation of each contact e The BUSY flag X118 indicating t
187. itioning unit B Used contacts and data registers Number Description R2 Request home return R3 Request positioning start R4 1st axis JOG forward request R5 1st axis JOG reverse request R6 2nd axis JOG forward request R7 2nd axis JOG reverse request R10 Error clear R11 Request set value change R100 Operation enabled flag for 1st axis R101 1st axis JOG forward OFF edge R102 1st axis JOG reverse OFF edge R200 Operation enabled flag for 2nd axis R201 2nd axis JOG forward OFF edge R202 2nd axis JOG reverse OFF edge Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 18 2 18 1 Basic Configuration and Contact Allocations of Sample Programs Number Description X100 Ready positioning flag X104 Tool operation for all axes X107 Recalculation done flag X118 1st axis BUSY flag X119 2nd axis BUSY flag X160 Error occurrence annunciation for 1st axis X161 Error occurrence annunciation for 2nd axis Y107 Request recalculation Y110 Positioning start for 1st axis Y118 Home return of 1st axis Y119 Home return of 2nd axis Y120 151 axis JOG forward Y121 1st axis JOG reverse Y122 2nd axis JOG forward Y123 2nd axis JOG reverse Y160 Error clear for 1st axis Y161 Error clear for 2nd axis Number Description DTO Starting table number DT101 Number of errors of 1st axis DT102 D
188. iver type are different from each other Output terminal transistor output type Pin no 157 2nd Circuit Signal name Items Description 3rd 4th axis axis Pulse output A o Open Al 5 V DC output 5 Output type collector 5V AVAD Pulse output A 8 4 75 to 26 4 V i 819 o 2 11 Open collector voltage range DC t 1 10 Pulse output B 9 Max load ne A B2 B11 5 V DC output current IS mA Pulse output B ON state HS zi Open collector voltage drop Bev Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 4 3 2 I O Specifications and Terminal Wiring Output terminal line driver output type Pin no 150 Circuit Signal name Items Description 3rd 4th axis axis Pulse output A ATO 10 Line driver 5 B1 B10 A2 A11 Pulse output A 5 Line driver Line driver o output Output type A2 A11 Pulse output B AM26C31 B1 B10 Line driver 5 or equivalent B2 B11 5 Pulse output B B2 B11 Line driver Output terminal common Pin no ist 2nd Circuit Signal name Items Description g 3rd 4th axis axis Open m 5 Output type collector A7 A16 Deviation counter clear ATIA16 Operating 4 75 to 26 4 voltage range V DC B7 B16 amp Max load 10
189. ked with the input contact The valid logic of limit input can be changed in the parameter setting menu of the Configurator PM7 Step 2 Input a program if necessary to perform the JOG operation of the positioning unit Then forcibly operate limit input and check that the motor will come to a stop You can use the tool operation of the Configurator PM7 to make a check without using a program Step 3 Perform the JOG operation of the positioning unit and check that the over limit switch will operate normally Positioning unit Umm f JOver limit switch Over limit switch To motor driver Connect to the positioning unit B Operation at limit input Condition Direction Limit status Operation When JOG operation Forward rotation Limit input ON Not executable Error occurs is executed neum Limit input Executable Reverse rotation Limit input Executable During JOG operation Forward rotation Limit input Deceleration stop Error occurs Limit input Not executable Error occurs ON ON Reverse rotation Limit input Deceleration stop Error occurs Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 8 4 4 Check with Power Turned On 444 Operat
190. l O Number Allocation Contact allocation 1st axis 2nd axis 3rd axis 4th axis WY6 1st axis 2nd axis 3rd axis 4th axis 1st axis 2nd axis 3rd axis 4th axis 1st axis 2nd axis 3rd axis 4th axis Virtual axis Virtual axis Error clear request Error clear request Request warning clear Request warning clear Synchronous setting request Synchronous cancel request Requests the error clear of the corresponding axis The processing to recover from errors is performed and the error logs are cleared by turning ON this signal Note Unrecoverable errors cannot be recovered even if this signal turns ON Requests the error clear of the virtual axis Requests the warning clear of the corresponding axis The warning logs are cleared by turning ON this signal Requests the warning clear of the virtual axis This contact will turn ON after the synchronous operation settings are changed The unit turns OFF this contact after the setting change Turns ON the contact for the axis to cancel the synchronous operation The unit will not perform the synchronous operation of the axis for which this contact is ON Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 13 Specifications Contact AAT Target axis Name Description allocation 90 1st axis m 2nd axis Y92
191. l be restructured This contact will turn ON after restructuring completes All Recalculation done If the recalculation request contact Y7 turns ON again this contact will be off once Note It is used only when the positioning data has been rewritten by ladder programs Servo lock Turns ON only if there is servo ON output with servo ON signals veto YB X14 X16 X1C BUSY Turns ON when the virtual axis is operating Turns ON when the corresponding axis is operating Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 6 17 2 l O Number Allocation Contact Target axis Name Description allocation Turns ON when the operation instruction for the corresponding axis completed and the position deviation became the specified completion width Turns ON when the operation for all the tables completed for P point control and C point control of the automatic operation X23 4th axis After this contact turns ON the ON state will continue until the next control is activated X24 X26 bp Turns ON when the operation instruction to the virtual axis is completed Turns ON when the home return operation for the corresponding axis is done After this contact turns ON the ON state will continue until the next 4haxs control is activated Virtual axis Home return Turns ON when the home r
192. llowing items however for each individual salve axis Unit setting Number of pulses per rotation Movement amount per rotation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 4 8 2 Settings for Master and Slave Axes 8 23 Enabling Disabling Synchronous Control Settings to Enable Disable Synchronous Control e t is possible to cancel the synchronous state temporarily with a sync cancel request signal turned ON elt is possible to operate any slave axes individually while the synchronous state is canceled eThe slave axes will go into the state of synchronization again with the sync cancel request signal turned OFF E O signal allocation Signal name 1st 2nd 3rd 4th Operation axis axis axis axis Synchronous cancel Y88 Y89 Y8B ON Cancel synchronous control OFF request Execute synchronous control Synchronous cancel ON Synchronous control canceled alarm AES x89 ns x8B OFF Under synchronous control Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 5 Automatic Operation Synchronous Control B Difference between synchronous control enabled disabled Operates with Operates with synchronous control synchronous control Operation request axis enabled disabled Master axis set Slave axis set Master Slave axis set No The master axis
193. lse input in the case of connecting an encoder in order to monitor the rotation of the motor When feedback pulse input is selected the positioning unit uses pulse input to perform the feedback pulse count of its own axis thus detecting the difference between the instruction value and pulse input value Automatic check function of movement amount High speed counter Set high speed counter input to be used as general purpose counter input High speed counter input supports a variety of input types i e two phase input direction discrimination input and individual input The positioning unit stores the number of input pulses in the monitor area Each axis Manual pulser Axes 1 to 4 Br H Pulse input Feedback pulse Encoder High speed counter Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 9 Supplementary Functions 13 6 2 Monitoring Pulse Input Values The positioning unit can monitor pulse input from programs Pulse input monitoring uses the following areas Unit memory no Description Hex UM 00436 Pulse input value of 1st axis UM 00437 UM 00476 Pulse input values are stored according to the pulse input application Pulse input value of 2nd axis iah it UM 00477 p e g pulser feedback pulse or high speed counter Unit pulse
194. ltiplied by the ratio below Numerator of ratio of pulser operation Denominator of ratio of pulser operation Pulser operation max speed The maximum speed of pulse operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 9 Unit Allocation and Parameter Settings 5 4 Synchronous Parameter Cam Pattern Settings 5 4 1 Synchronous Parameter Settings Use the Configurator PM7 to allocate parameters necessary for synchronous control The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Axis Settings Synchronization parameter settings from the menu bar The synchronous parameter dialog box will be displayed Synchronous parameter settings a 1 axis A 2 axis A 3 axis 1 axis Ore Select synchronous master axis No synchronous master No synchronous master No synchronous master Deceleration stop method Linear deceleration Linear deceleration Linear deceleration Linear deceleration Deceleration stop time 100 100 100 100 Select master axis Electronic gear operation settings Not use Not use Not use Not use Gear ratio numerator 1 1 1 1 Gear ratio denominator 1 1 1 1 Gear ratio change time 1 1 1 1 Olutch operation settings Clutch on trigger
195. m B pattern settings File Cam Interval Resolution 1024 Number of cams Numberofsettable 1000 D Resolution that can De set adjustment data Dispa Spee M N Accelez Jump Cam 100 Add 0 MU Un 100 0 50 100 Interval Interval number Start phase End phase Displacement 96 Cam curve K d 2 Make necessary parameter settings according to the application and press the OK button 3 Select File Save Configuration from the menu bar HEE e Parameter information saved can be read on the Configurator PM7 Inthe case of synchronous control basic parameters related to I O operate according to 5 3 Parameter Settings REFERENCE Refer to Chapter 8 Automatic Operation Synchronous Control for parameter settings related to synchronous control Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 11 Unit Allocation and Parameter Settings 5 5 Creating Positioning Data Table 5 5 1 Construction of Positioning Data Table Use the Configurator PM7 to allocate the positioning data table The following procedure is explained on the condition that the Configurator PM7 has already started B Initial display screen of Configurator PM7 e Sheets are divided for each axis and 600 tables ranging No 1 to No 600 can be set DE Configurator LA Ble wew
196. m the completion of the position reference until the operation done flag turns ON Dwell time Dwell time Dwell time NIE NI BUSY flag L Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 2 Operation done flag 13 2 Software Limit 132 Software Limit The system is designed to mechanically set the limit and limit to restrict the moving range of a motor Separately from the mechanical limits and the software limit is a function to add the limits for the absolute coordinate managed within the positioning unit As the software limit is a function for the protection of the motor and AMP it is recommended to set them to the values within the range of the mechanical limits and as below Limit Table Limit side sid em Lower limit value of Upper limit value rw software limit of software limit If the operating range of the motor exceeds the setting range of the software limit upper and lower limit values an error will occur and the deceleration stop will be executed It is necessary to clear the error and move the motor into the range of the software limit using an operation such as JOG operation after the stop Table The table can move within the setting X 7 range of the software limit side side Lower limit value of software limit Whether the software limit enabled or disabled can be s
197. mation net Email info ctiautomation net 17 57 Specifications Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 248 UM 01760 UM 03FCO UM 067C0 UM 08FCO UM 12FCO 249 UM 01700 UM O3FDO UM 067D0 UM 08FDO UM 12FDO 250 UM 017E0 UM UM 067E0 UM 08FEO UM 12FE0 251 UM 01720 UM 03FF0 UM 067F0 UM 08FF0 UM 12220 252 UM 01800 UM 04000 UM 06800 UM 09000 UM 13000 253 UM 01810 UM 04010 UM 06810 UM 09010 UM 13010 254 UM 01820 UM 04020 UM 06820 UM 09020 UM 13020 255 UM 01830 UM 04030 UM 06830 UM 09030 UM 13030 256 UM 01840 UM 04040 UM 06840 UM 09040 UM 13040 257 UM 01850 UM 04050 UM 06850 UM 09050 UM 13050 258 UM 01860 UM 04060 UM 06860 UM 09060 UM 13060 259 UM 01870 UM 04070 UM 06870 UM 09070 UM 13070 260 UM 01880 UM 04080 UM 06880 UM 09080 UM 13080 261 UM 01890 UM 04090 UM 06890 UM 09090 UM 13090 262 UM 018A0 UM 040A0 UM 068A0 UM 090A0 UM 130A0 263 UM 01880 UM 04080 UM 068B0 UM 09080 UM 13080 264 UM 018C0 UM 040C0 UM 068C0 UM 090C0 UM 130C0 265 UM 01800 UM 040DO UM 06800 UM 09000 UM 13000 266 UM 018E0 UM 040E0 UM 068 0 UM 090 0 UM 130E0 267 UM 018F0 UM 04020 UM 068F0 UM 090F0 UM 130F0 268 UM 01900 UM 04100 UM 06900 UM 09100 UM 13100 269 UM 01910 UM 04110 UM 06910 UM 09110 UM 13110 270 UM 01920 UM 04120 UM 06920 UM 09120 UM 13120 271 UM 01930 UM 04130 UM 06930 UM 09130 UM 13130 272 UM 01940 UM 04140 UM 06940 UM 091
198. memory from the PLC Error log area unit memory Warning log area unit memory 00 28 Error log area UM ooico Warning log area UM 00137 of axis 1 M 001CF of axis 1 No of occurrences of warnings Warning code UM 00138 rror log area buffer 00100 Warning log area annunciation buffer 1 UM 00147 axis 2 i UM 00108 of axis 2 Waring code 2 UM 00148 annunciation buffer rror log area OO1EO Warning log area Warning code UM 00158 UM 00167 UM 00198 UM 001A7 rror log area O0FO Warning log area Warning code axis 4 er 2 UM 001FF of axis 4 annunciation buffer 4 Warning code rror log area ers 00230 Warning log area annunciation buffer 5 virtual axis i M 0023F of virtual axis Warning code er annunciation buffer 6 Warning code annunciation buffer 7 UM 00157 of axis 3 er UM 001EF of axis 3 annunciation buffer 3 E Number of occurrences of Stores the number of occurrences of errors and warnings errors warnings Error warning annunciation Stores error and warning codes buffers Errors and warnings are stored in chronological order beginning with buffer 1 followed by buffer 2 3 etc Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 4 15 2 Changes in Recovery from Errors 15 2
199. minal Cable 3 1 1 Specifications of Wire pressed Terminal Cable This is a connector that allows loose wires to be connected without removing the wires insulation The pressure connection tool is required to connect the loose wires Discrete wire connector 40P Suitable wires strand wire 2 Insulation Size Nominal cross sectional area thickness Rated current AWG 22 0 3 mm 1 5 to 1 1 dia 3A AWG 24 0 2 mm Connecior for wire pressed terminal cable provided with the unit Unit type and required quantity Manufacturer Composition of parts 2 axis type 4 axis type Housing 40P 1x1 set 1x2 sets Panasonic made Semi cover 40P 2x1 set 2x2 sets 5 pin contact for AW22 and AW24 8x 1 set 8x2 sets Note One set is provided for the 2 axis type and two sets are provided for the 4 axis type If you need more connectors purchase AFP2801 2 sets pack Pressure connection tool Manufacturer Product no Panasonic made AXY52000FP Pressure connection tool Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 2 3 1 Connection over Wire pressed Terminal Cable 3 1 2 Assembly of Connector for Wire pressed Terminal Cable The wire end can be directly crimped without removing the wire s insulation which saves wiring effort Procedure 1 Bend the contact back from the carrier and set it in the pressure connectio
200. mit input ON Automatic reverse operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 10 6 11 Manual Operation Pulser Operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Manual Operation Pulser Operation 11 1 Setting and Operation of Pulser Operation B Types of Pulser Operation Pulser operation is a function that uses a pulser connected to the positioning unit to output pulses manually The following pulser operation methods are available Operation Operation method Standard Obtains the number of pulser pulses in 1 ms units and operates operation Reflects the content of pulse input directly in the actual operation of the positioning unit Speed limits When the speed of pulse input exceeds the preset maximum speed the operation will continue pulses hold with the maximum speed maintained The number of pulser pulses input will be maintained Therefore pulses not output will be maintained Therefore pulses may be output even if there is no pulser input Speed unit is Set unit x 1000 s Speed limits When the speed of pulse input exceeds the preset maximum speed the operation will continue Truncate with the maximum speed maintained Pulses are output in synchronization with the operation of the pulser while pulses not output are discarded Speed unit is Set un
201. n Current value 0 0 0 0 Current value update Current value update Current value update Current value update Unit pulse pulse pulse pulse Deviation pulses 0 0 0 0 Table numberexecuting Start table number 1 1 1 1 Change Change Change Change Operation Operation Operation Operation Axis state Stopped Stopped Stopped Stopped Ero code __ Olear errors Clear errors Clear errors Clear errors Warning code Clear warning Clear warning Clear warning Clear warning Speed Rate 100 X Exit 3 Press the Change button under the target start table number field The dialog box to set the start table number will be displayed Input the start table number Press the Operate button Positioning will start from the specified start table number 6 Press Exit button to terminate the positioning operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 13 Transfer to Unit and Commissioning e For the positioning operation the setting data should be downloaded to the positioning unit in advance The operations after the starting table number vary depending on the operation patterns f an recoverable error occurs the positioning unit click the Error clear button to cl
202. n stop request signal activated turned ON 0 Deceleration stop While the positioning unit is in repetitive operation the positioning unit will come to a stop after the position moves to E point of the repetitive target 1 Pause Performs a deceleration stop and positioning will restart when the deceleration stop request signal is canceled turned OFF UM 00389 Deceleration stop 5 The positioning unit will perform the same operation as deceleration stop operation unless the positioning unit is in positioning operation While the positioning unit is in repetitive operation the positioning unit will come to a stop after the position moves to the E point of the repetitive target and repetitive operation will restart when the deceleration stop request signal is canceled turned OFF If a system stop or emergency stop is executed while the positioning unit is paused the pause state will be canceled and the operation will not restart with the deceleration stop request signal is canceled turned OFF Default 0 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 31 Specifications 17 5 Details of Each Axis Information Area in Unit Memory 17 5 1 Each Axis Information amp Monitor Area Unit memory map UM 00000 Common area 400H 5FFH Axis information amp monitor area UM 00400 UM 0043F Information of axis 1 d SE
203. n tool 2 Insert the wire without removing its insulation until it stops and lightly grip the tool 21 FSL EN x 3 After press fitting the wire insert it into the housing DN RD 4 When all wires have been inserted fit the semi cover into place e Contact puller pin to redo wiring If there is a wiring mistake or the wire is incorrectly pressure connected use the contact puller pin provided with the fitting to remove the contact Ont Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 3 Wiring 3 2 Specifications and Terminal Wiring 3 2 1 WO Specifications 4 axis type 2 axis type gt 0 iila NEN Connector for 1 and 2 axis Connector for 3 and 4 axis Connector for 1 and 2 axis J The 4 axis type and 2 axis type use two connectors and one connector respectively Signal pins for two axes are allocated to a single connector There is no difference in pin arrangement between the AX1 and AX2 connector and the AX3 and AX4 connector if the unit is of the 4 axis type Any pins with the same in number have the same function The transistor type and line driver type are the same in input terminal and power terminal specifications Only the performance of the pulse output terminal of the transistor type and that of the line dr
204. nce axes under synchronous control Yes target axes for the synchronous check error exceeded the specified xb operation difference The automatic movement amount Check the operation of the Automatic check function has detected that target axes Movement the difference between the Each Yes amount check instruction value and feedback axis Check the parameters of the error value is in excess of the preset automatic movement amount automatic check function of movement amount Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 8 15 3 Error Code Table 15 3 3 Set Value Error from 4000H The following errors occur to various set values made in the positioning setting menu of the programming tool and ladder programs MS Error name Description Object Recovered Countermeasures Check the following items in the settings of the axis group and independent axis Th t t axi The same axis number has e settings OF AXIS The cottin i been registered in more than gs of axis 4000H eds are not groups are not correct Each axis Yes one group Four or more axes have been set in one group The group is composed of one axis only The unit system for the Check if the unit is one of the 4002H Unit setting error axis setting is out of the Each axis Yes followings range pulse um inch degree i Check
205. nctions operating Limit stop Only axes resulting in a The master axis and all the slave axes come toa lmit error come to a stop stop XT Error stop Only axes resulting in an error come to a stop Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 6 8 3 Electronic Gear Function 8 3 Electronic Gear Function 8 31 Outline of Electronic Gear Function m Electronic Gear Function The electronic gear function operates the positioning unit at the speed of the master axis multiplied by a preset gear ratio Gear ratio numerator Master axis operation Output speed Input speed Speed after gear change Information on master axis speed Gear ratio denominator Speed V Output speed ae Spe Gear ratio Set to 2x Input speed Time T Speed V Electronic gear d Inputspeed Gear ratio Set to 0 5x output Output spe d Time T W Cautions for using the electronic gear function The use of the electronic gear function makes it possible to set the slave axes to a desired speed relative to the master axis The movement amount of the slave axes however is obtained from the following formula Therefore the movement amount of the master axis does not coincide with that of the slave axes Movement amount of slave axes Movement amount of master axis x gear ratio numerator Gear ratio denominator On the
206. nfiguration dialog box 4 Select Online Download to PLC from the FPWIN GR7 menu bar Parameters for the positioning unit will be downloaded to the CPU unit along with the program and other configuration information 5 Setthe FP7 CPU unit to RUN mode The configuration information will be transferred to the positioning unit as well so that the positioning unit will be read for commissioning with I O signals or the Configurator PM7 6 Select Option FP7 configuration from the menu bar The FP7 configuration dialog box will be displayed Select I O map from the left pane Select the positioning unit from the I O map and press the Advanced settings A button The Configurator 7 will be activated Select Online Data monitor Status display Tool operation so that each menu items of the positioning unit will be available Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 4 6 3 Monitoring on Configurator 7 6 3 Monitoring on Configurator PM7 6 31 Status Monitor e t is possible to monitor the connection state of each axis and input state of the external terminal The following procedure is explained on the condition that the Configurator PM7 has already started m PROCEDURE 1 Select Online Status monitor from the menu bar The status monitor dialog box will be displayed M
207. ng Clear warning Clear warning Close m Monitor items Items Description Table number executing The table number that the positioning data is being executed or has been executed Auxiliary output code Auxiliary output code Current value pulse The current value of the positioning unit Unit conversion current value Pulse input value The unit converted current value of the positioning unit Monitors the input pulse value Displays the deviation of the amount of movement while the auto check Deviation function for the amount of movement is activated Axis state The operating states of axes or error and warning occurrences Error code The latest error code if an error occurs Error clear Clears the error by clicking this button if an error occurs Warning code Indicates the latest warning code if a warning occurs Warning clear Clears the warning by clicking this button if a warning occurs NOTES e lfarecoverable error occurs in the positioning unit click the Error clear button to clear the error lfawarning occurs in the positioning unit click Warning clear to clear the warning Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 6 6 4 Tool Operation 6 4 Tool Operation 6 4 1 Tool Operation Function e You can perform commissioning with the Configurator PM7 before actually st
208. ng on the installation position of the unit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 9 5 Manual Operation JOG Operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 9 6 10 Manual Operation Home Return Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Manual Operation Home Return 10 1 Pattern of Home Return The home return is a function to move the current position to the reference origin and set the coordinates as 0 The following home return methods are available for the positioning unit DOG method 1 Edge detection of near home switch First rising edge of home position as reference The first rising edge of home position switch is detected after detecting the rising edge of the near home switch It becomes the start point Home return direction 4 pr Home switch 1 The starting point is T Target speed between the near home 4 Home return creep speed switch and limit switch i Y K RE including limit switch DOCE ES Home return deceleration time Home return creep speed L 1 1 N The starting point is on the near home switch L Y Home return deceleration time 1 Target spepd i L L Limit stop deceleration time H
209. nput B voltage current PESO en 8 Input impedance Approx 3900 Pulse 0 5 9 B18 input B Minimum input pulse width 1 MHz max on each phase Note Use pulse input signals A and B within the following specifications B Using pulse input A and B for 2 phase input Pulser input is used for 2 phase input T Pulse input A T h d X1 X2 X4 gt 1 1 02 5 1MHz Pulse input B B Using pulse input A and B for direction discrimination input T Pulse input A 1 T21us x1 X120 2us Pulse input A signal Max 1MHz Pulse input B B Using pulse input A and B for individual input T Pulse input A Ja dll DUE T 1 5 Y X120 4us r Each input 1MHz Pulse input B Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 7 Wiring 3 3 Supply of Power to Drive Internal Circuit 3 3 4 Line Driver Output Positioning unit Pulse command 7 input i i Pulse command output A1 A2 A10 A11 External power supply Usable voltage range 21 4 to 26 4V DC urrent 4 axi 90 mA or less External power Cone type _90 mA or less supply ption _ 2 axis type 50 mA or less The illustration shows one signal component extracted from the overall configuration 3 3 2 Transistor
210. o ctiautomation net Unit Allocation and Parameter Settings 5 1 Unit Allocation 511 l O Map Registration Register the unit with the I O map before making parameter settings vm P MEI gt PROCEDURE 1 Select Option FP7 configuration from the menu bar The FP7 configuration dialog box will be displayed 2 Select I O map from the left pain The I O map allocation menu will be displayed 3 Double click the desired slot The unit selection dialog box will be displayed 4 Select Positioning from the unit type select the name of the unit to be used and press the OK button F Unit selection Slot No 1 Select unit to use Unit type Positioning gt J Insert Unit name ne drive pe 4 axis pulse string 6 Transistor type 2 axis pulse string Input time constant Transistor type 4 axis pulse string Line driver type 2 axis pulse string Line driver type 4 axis pulse string Installation location s Starting word No 10 0 511 Mumber of input words 12 0 128 Number of output words 1 0 128 V Automatically shift the starting word number for subsequent slots pt ion Exclude this unit from the target for verification Exclude this unit from the target for 1 0 refresh The message Updating data display appears and the unit selected in the I O map is registered Slot No Unit to use Staring word
211. ode The latest error code if an error occurs Error clear Clears the error by clicking this button if an error occurs Warning code Indicates the latest warning code if a warning occurs Warning clear Clears the warning by clicking this button if a warning occurs Speed factor The target speed of the home return specified in the parameter settings for each axis is regarded as 10095 and the operation is executed at the specified speed factor Clicking Speed rate shows the dialog for inputting the value Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 12 6 4 Tool Operation 6 4 4 Tool Operation Positioning Specifying a starting table number enables to check if positioning from the starting table operates properly PROCEDURE 1 Select Online Tool Operation from the menu bar The tool operation dialog box will be displayed 2 Select Positioning from the tool operation dialog box The tool operation positioning dialog box will be displayed Tool operation Positioning nol operation in progres Axis Group 1 axis 2 axis 3 axis 4 axis Synchronous master axis Master 1 axis Synchronized output Synchronous state Synchronous Synchronous Asynchronous Asynchronous n Change synchronization Change synchronization Change synchronizatio
212. odel Axis Group 1 axis 2 axis 3 axis 4 axis External terminal input monitor Home position proximity or or or or Home position 1 or OFF OFF OFF Limit mes tmt Limit m tm tm FROM write count Firmware version 1 00 Hardware version 101 6 3 2 Data Monitor It is possible to monitor the connection state of each axis and input state of the external terminal vm PROCEDURE 1 Select Online Data Monitor from the menu bar The data monitor dialog box will be displayed Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 5 Transfer to Unit and Commissioning Data monitor Axis Group 1 axis 2 axis 3 axis 4 axis IBynchronous master axis Master KK Synchronized output SS b EE mn Synchronous state Synchronous Synchronous Asynchronous Asynchronous Table number executing 0 0 0 0 Auxiliary output code 0 0 0 0 Current value 0 0 0 0 it conversion current val 0 pulse 0 pulse 0 pulse 0 pulse Pulse input value 0 0 0 0 Deviation 0 0 0 0 Axis state Stopped Stopped Stopped Stopped Eror code Clear errors Olear errors Clear errors Wiebe q o ce e db DEDIT Clear warning Clear warni
213. omation net 17 54 17 6 Details of Each Axis Setting Area in Unit Memory Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 122 UM UM 037E0 UM UM 087 0 UM 127E0 123 UM UM 037F0 UM UM 087F0 UM 127F0 124 UM 01000 UM 03800 UM 06000 UM 08800 UM 12800 125 UM 01010 UM 03810 UM 06010 UM 08810 UM 12810 126 UM 01020 UM 03820 UM 06020 UM 08820 UM 12820 127 UM 01030 UM 03830 UM 06030 UM 08830 UM 12830 128 UM 01040 UM 03840 UM 06040 UM 08840 UM 12840 129 UM 01050 UM 03850 UM 06050 UM 08850 UM 12850 130 UM 01060 UM 03860 UM 06060 UM 08860 UM 12860 131 UM 01070 UM 03870 UM 06070 UM 08870 UM 12870 132 UM 01080 UM 03880 UM 06080 UM 08880 UM 12880 133 UM 01090 UM 03890 UM 06090 UM 08890 UM 12890 134 UM 010A0 UM 038A0 UM 060A0 UM 088A0 UM 128A0 135 UM 01080 UM 038B0 UM 060B0 UM 088B0 UM 12880 136 UM 010C0 UM 038C0 UM 060C0 UM 088C0 UM 128C0 137 UM 010DO UM 03800 UM 06000 UM 08800 UM 12800 138 UM 010E0 UM 038E0 UM 060 0 UM 088 0 UM 128E0 139 UM 010F0 UM 038F0 UM 060F0 UM 088F0 UM 128F0 140 UM 01100 UM 03900 UM 06100 UM 08900 UM 12900 141 UM 01110 UM 03910 UM 06110 UM 08910 UM 12910 142 UM 01120 UM 03920 UM 06120 UM 08920 UM 12920 143 UM 01130 UM 03930 UM 06130 UM 08930 UM 12930 144 UM 01140 UM 03940 UM 06140 UM 08940 UM 12940 145 UM 01150 UM 03950 UM 06150 UM 08950 UM 12
214. ome return Limit The input logic be changed the parameter setting menu of the Limit Configurator PM7 Turns ON when an error occurs on the corresponding axis Error The contacts of all axes turn ON if all axes have errors annunciation The details of the error can be confirmed in the error annunciation area of the unit memory Error annunciation Turns ON when an error occurs on the virtual axis Warning annunciation Turns ON when a warning occurs on the corresponding axis The contacts of all axes turn ON if a warning occurs on all axes The details of the warning can be confirmed in the warning annunciation area of the unit memory Warning annunciation Turns ON when a warning occurs on the virtual axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 8 17 2 l O Number Allocation X70 5 2 X7F X82 X83 X84 X X X X X X X X X X 2 WX9 89 8A 8B 8C 8F 90 91 9 93 94 99 9A 9B X X9F X100 X10F X110 X11F WX10 WX11 3rd axis HN 2nd axis 3rd axis 4th axis ontact CENE Target axis Name Description allocation Synchronous setting done Synchronous cancel alarm Slave axis gear ratio change notice Slave axis clutch operation notice Make synchronous settings in the unit wit
215. ome return creep speed Q3 The starting point is between the near home switch and limit switch Home return 1 T deceleration time 1 The starting point is on the t limit switch 1 Target speed return L L L 1 deceleration time Target speed gt DOG method 2 Edge detection of near home switch The rising edge of the near home switch is detected It becomes the start point Home return direction Limit switch Near home switch Limit switch The starting point is Target speed Home return 4 between the near home deceleration time Home return creep speed switch and limit switch including limit switch N 1 Home return creep speed N The starting point is on the near home switch 1 1 I N 1 Home return 1 Target spb Sd decelerate time 1 Target speed Limit stop i 4 Home return creep speed deceleration time The starting point is between the near home Home return Target speed deceleration time switch and limit switch Home return I 1 The starting point is on the T limit switch _ Target speed Home retur I 1 LU deceleration time Phone 800 894 0412 Fax 888 723 4773 Web www ct
216. on Pulser Yes The pulser operates 13 6 4 Feedback Pulse Function By setting the pulse input application to feedback pulse the positioning unit can use the function to utilize feedback pulses from the encoder W Automatic check function of movement amount The automatic check function of movement amount is used to check whether each axis in operation is operating according to the instruction value and the function compares the difference between the current value absolute under the internal control of the unit and the feedback pulse input deviation with a threshold preset The automatic check function of movement amount works for all types of operation The automatic check function of movement amount will work only if the pulse input application is set to feedback pulse and will not work if it is set to pulser or high speed counter The automatic check function of movement amount will be disabled if the synchronous control function is used Checks if axes is operating in accordance with the command from the unit i Unit command value A Feedback pulse i input value o H Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 11 Supplementary Functions The automatic check function of movement amount is set in the following areas 1st axis
217. on position of the unit e The specified slot number varies depending on the installation position of the unit 7 2 6 Sample Program Interpolation Control An example of 3 axis interpolation control is shown below m Sample program X100 X104 X160 R10 Ready Tool 1st axis error Operation positioning operation enabled flag X161 R11 Operation enabled i condition 2nd axis error Operation enabled flag X162 R12 3rd axis error Operation enabled flag Set the slot R2 number axis H DF POSSET U1 U1 U1 number and table Positioning Slot Axis Table number and start control start number number number positioning R2 R10 R11 R12 X118 X119 X11A Y110 Positioning start s Dp 5 up Positioning istaxis 2nd axis 3rd axis 1staxis 2nd axis 3rd axis Positioning control start operation operation operation BUSY BUSY BUSY start for 1st enabled enabled enabled axis flag flag flag Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 23 Automatic Operation Positioning Control 7 3 Setting and Operation of Positioning Repeat Function The positioning repeat function enables continuous positioning control according to the number of repetitions specified The number of repetitions is set in the area for the number of positioning repetitions on each axis The number of repetiti
218. on value and feedback value exceeds the movement check value at the time of automatic movement amount check 0 Error Automatic An error will occur and the operation of the positioning unit will come to a stop movement if the difference between the feedback value and reference movement 00AH amount 0 exceeds the movement check value threshold checking 1 Warning An error will occur and the operation of the positioning unit will come to a stop if the difference between the feedback value and reference movement exceeds the movement check value threshold 2 No No movement amount check is made Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 40 17 6 Details of Each Axis Setting Area in Unit Memory Offset Name address 00BH 00CH Software limit enabled disabled settings Upper limit of software limit 00DH 00EH 00FH Lower limit of software limit Default 1 073 741 823 1 073 741 832 Setting range and description Enables or disables the software limit on each control bit Default 0 0 Name Description 0 Disables the software limit for positioning control 1 Enables the software limit for positioning control Enables disables the software limit for positioning control 0 Disables the software limit for home return control 1 Enables the software limit for home return control Enables disables the software limit whil
219. oning data of a single table and pass point P point control and continuous point C point control both of which use multiple tables are available for single axis control and interpolation control These types of control are described below and acceleration time and deceleration time can be set individually For P point control and C point control an E point should be set as the last table In P point control and C point control the operation done flag turns ON after the last table is executed JOG positioning J point control i e speed control is available in addition to P point control C point control and E point control J point control operates until the start contact of J point positioning turns ON after the operation of the positioning unit starts and the next positioning control will start when the start contact of J point positioning turns ON In J point control the operation done flag turns ON after the last table is executed J point control can be used for a single axis only Speed E poi Speed f pps point contro t pps P point control E point B table P point Ppoint ES table 1 table2 s Tinie n t ms t t ms Speed Speed f pps C point control f pps J point control C point C point E point Jpoint E point table 1 table 2 table Time table table Time 4 t t ms t t t t ms J point J point speed positioning start change cotnact Phone 800 894 0412 Fax 888 723 4
220. ons can be set within a range of 2 to 254 It is possible to specify a limitless number of repetitions by setting 255 for the area of the number of positioning repetitions m Outline of Positioning Repeat Function The positioning unit operates as shown below in the case of repeating positioning control three times If a dwell time of 0 is set for E point control i e the end point of positioning control the positioning unit will perform E point control as P point control and complete positioning control after repeating positioning control three times continuously If the dwell time is set to a value other than 0 for E point control i e the end point of positioning control the positioning unit will perform E point control as C point control and repeat positioning control with a pause specified by the dwell time ms The positioning unit will finish operating after repeating positioning control three times Dwell time Dwell time Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 24 7 3 Setting and Operation of Positioning Repeat Function W Setting area for positioning repeat function Set the number of repetitions of positioning control per axis before starting positioning control The positioning unit repeats positioning control for the number of repetitions set and finishes operating The number of repetitions will be reset to the defaul
221. or pulser operation starts The flag will turn ON after the positioning unit transmits a reference for the target position Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 6 7 1 Basic Operation 7 1 5 Setting and Operation of J point Control JOG positioning J point control operates at target speed until the start contact of J point positioning turns ON after the operation of the positioning unit starts and the next positioning control will start when the start contact of J point positioning turns ON B Settings Setting example Items J point Table 1 axis parameter Table 2 Table 3 setting Operation pattern J Speed point P Pass point E End point Control method I Increment I Increment I Increment X axis movement 5000 pulses 10000 pulses 3000 pulses Acceleration deceleration A A vs pattern L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps _ 20000 pps 5000 pps J point control code Linear acceleration _ E deceleration J point acceleration time 10 ms J point deceleration time 10 ms J point target speed x 30000 pps Wa e Specify parameters for the start of operation in the positioning data table Specify parameters in the axis parameter setting menu at the time of speed
222. ors Set the following range according to the unit setting 017H Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 42 Limit Logic Oj O Oj inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 17 6 Details of Each Axis Setting Area in Unit Memory Offset moe Default Setting range and description Set the threshold to use the automatic check function of movement amount Automatic movement 018H amount check value Setting range 0 to 65536 Default 10000 pulses oH Automatic movement 01AH amount check interval Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 43 Specifications Offset T A Sets the pattern of the home return 024H 025H Home return setting code Home return direction Acceleration time in home return operation Deceleration time in home return operation Home return target Speed error 1 000 DOG method 1 DOG method 2 DOG method 3 Limit method 1 Limit method 2 Phase Z method Data set Any other settings will be errors Set the direction of the home return 0 Elapsed value decrement direction limit negative direction 1 Elapsed value increment direction limit positive direction Any other settings w
223. orward rotation Limit input 4 ON Not executable Error occurs start Limit input ON Not executable Error occurs Reverse rotation Limit input ON Not executable Error occurs 0 Limit input N Not executable Error occurs During each type Forward rotation Limit input ON Deceleration stop Error occurs of control Reverse rotation Limit input ON Deceleration stop Error occurs Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 10 7 2 Interpolation Control 7 2 Interpolation Control 7 21 Types of Interpolation Control Types of operations Interpolation control includes 2 axis linear interpolation control 2 axis circular interpolation control 3 axis linear interpolation control and 3 axis spiral interpolation control The following methods are available to specify the operation of each interpolation control Select an appropriate method according to the application The axes in the relation of interpolation are called X axis and Y axis for the 2 axis interpolation and are called X axis Y axis and Z axis for the 3 axis interpolation X Y and Z axes are automatically assigned in ascending order of axis signal levels In each type of interpolation control the E point control that uses one table P point control and C point control that uses multiple tables can be combined arbitrarily as positioning
224. ositioning start contact of the axis with the smallest number in the same group e The values of the X axis auxiliary point and Y axis auxiliary point are invalid for the linear interpolation n the case of specifying long axis speed the composite speed will be faster than the long axis speed e If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a set value error will occur when the positioning control starts e The start contact and flag number varies depending on the number of axes and the installation position of the unit e The specified slot number varies depending on the installation position of the unit Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 20 7 2 Interpolation Control 7 2 5 Setting and Operation of Three Axis Linear Interpolation The example below is a case of E point control with the positioning unit installed in slot 1 The X axis is set to the 1st axis the Y axis is set to the 2nd axis and the Z axis is set to the 3rd axis The movement amount setting is the increment method and the unit is set to pulse 20000 pulses 2 axis Center point X axis 0 Y axis 10000 5000 pulses 10000 pulses B Settings Items Setting example Operation pattern E End point Interpolation operation E Spiral Center CW direction Z axis movement
225. ositioning unit Power supply HH GND 5V DC Wa Kz The pulser input operation and feedback pulse count of the unit uses the same pulse input terminal Therefore select either one of them The use of a twisted pair cable is recommended In the case of counting 2 phase inputs such as encoder inputs use a control code and set the pulse input count to x4 or x2 for the prevention of counting errors Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 14 3 9 Wiring Cautions 3 9 Wiring Cautions Connect the transistor output type or line driver output type to the motor driver over twisted pair cable within the following wiring distance Signals supported e Transistor output e Line driver output e Deviation counter clear output Output type Model no Wiring distance AFP7PPO2T Transistor output type AFP7PPOAT 10m AFP7PPO2L Line driver output type AFP7PP04L Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 15 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 16 4 Power On Off and Check Items Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Power On Off and Check Items 4 1 Safety Circuit Design Example of a safet
226. otating Set the rotating direction of pulse input direction 0 Forward 1 Reverse Pulse input Set the pulse input mode mode Bit3 Bit2 0 0 2 input 0 1 Direction discrimination input 1 0 Individual input 1 1 Reserve set by default Input Set the desired multiplication of the pulse input count if Pulse input a multiplication the pulse input mode with bits 2 and 3 to 2 phase mode input Bit5 Bit4 0 0 1 multiplied by 1 0 1 x2 multiplied by 2 1 0 4 multiplied by 4 1 1 Reserve set by default Pulse input Specify the pulse input application of each axis application Pulser Connects a manual pulser to pulse input Feedback pulse Connects the feedback pulses of the encoder to pulse input High speed counter Bit7 Bit6 0 0 Pulser 0 1 Feedback pulse 1 0 High speed counter 1 1 Reserve set by default 8 to 15 Numerator of Set a correction value of pulse input at the time of making an automatic automatic movement amount check of machinery or equipment movement 1 The following formula is used to calculate a deviation feedback value pulse amount check input value with a correction from the pulse input terminal and make an correctuon automatic movement amount check Setting range 1 to 32767 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 39 Specifications Offset Set an action when the difference between the instructi
227. ount of the Each 4400H positioning operation is out of amount setting error the range axis i Check the set value Positioning Pide nd of the Each 4401H acceleration deceleratio ES or Yes If an error occurs n type error positioning operation is axis repeatedly with the incorrect correct set values n The acceleration time of the consult your Panasonic 4402H ee acceleration positionino operation is out of ae Yes representative the range hs The deceleration time of the 4403H oe qecelerati n positioning operation is out of Fd Yes the range The target speed of the 4404H Positioning target speed positioning operation is out of Each Yes error axis the range The setting of the Each nterpolation AY BO interpolation type is incorrect axis The parameter of the circular 4504H Circular interpolation interpolation such as center Each Yes not executable point or pass point is axis incorrect The error occurred while the 4505H Spiral interpolation not positioning unit is in spiral Each Yes executable interpolation operation as the axis set value is incorrect Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 12 15 3 Error Code Table UE Error name Description Object Recovered Countermeasures Check the set value The pulse input settings are Each Check the
228. pecified individually for the positioning control JOG operation and home return operation For example it is possible to disable the limit software only in home return operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 3 Supplementary Functions 13 3 Auxiliary Output Code and Auxiliary Output Contact The auxiliary output contact is a function to announce externally which table is in operation when the automatic operation E point control C point control P point control and J point control is executed The auxiliary output contact and auxiliary output code are available by setting parameter auxiliary output to With mode or Delay mode on an axis by axis basis m Auxiliary output contact The auxiliary output contact operates either in With mode or Delay mode Auxiliary output Operation mode With mode When the automatic operation starts the auxiliary contact flag of the corresponding axis allocated to I O will turn ON Delay mode The auxiliary contact flags for corresponding axes allocated to the I O area will turn ON according to the ratio of positioning movement 96 while the positioning unit is in automatic operation The turn ON ratio while the positioning unit is in Delay mode is set in the Delay ratio area of auxiliary output in the unit memory There will be no difference between the With mode and Delay mode in operation if J point control is
229. peed change contact Y148 turns ON The change will be enabled at the edge where the contact turns ON Positioning control will start when J point positioning start contact Y158 turns ON m Behaviors when the speed change contact turns ON while the positioning unit is accelerating or decelerating the speed speed change is possible during J point control but impossible during acceleration or deceleration speed change will be made after the positioning unit goes to constant speed when the speed change signal turns ON during acceleration or declaration J point speed change contact is not effective Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 8 7 1 Basic Operation 7 1 6 Sample Program E Point P Point and C Point Control m Sample program X100 X104 X160 Ready Tool st axis error positioning operation R2 Hx DF Positioning control start R2 DF Positioning control start Operation enabled flag POSSET Slot Axis Table number number number Y110 R10 1 1 Operation 1st axis enabled flag BUSY X118 Positioning start for 1st axis 7 1 7 Sample Program J point Control Sample program X100 X104 X160 Ready Tool 1st axis error positioning operation R2 H DF Operation enabled flag Positioning Slot Axis Table control start number number num
230. position 7 Current value Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 10 4 10 2 Setting and Operation of Home Return 10 2 Setting and Operation of Home Return The example below is a case of the positioning unit installed in the slot 1 Settings are made in pulses Home return eM F3 Near home switch side Home position m Settings Parameters required for the home return operation of the positioning unit is set in the positioning setting menu of the programming tool Items Setting example Return setting code 0 DOG method 1 Return direction 0 Limit direction Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps Return creep speed 1000 pps Deviation counter clear signal ON time 1 ms B Operation diagram Target speed me return creep speed Near home switch DOG Home switch MEE _ Home return start contact Y128 Deviation counetr clear signal BUSY flag X118 Home return done flag X128 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 10 5 Manual Operation Home Return B Operation of each contact The BUSY flag X118 indicating the state that a motor is running will turn ON when the home return of the positioning unit starts and it will turn OFF when the operation completes e The
231. rcentage of the created cam pattern for the phase at a current coordinate position of zero Shift image of electronic cam In the case of setting coordinate 0 to 0 phase 0 1024 Cam pattern To what value Current example the phase of coordinate Cycle 1000 coordinate 0 is A I system after Resolution set 1000 0 i 1000 the clutch 1024 i DL lt In the case of setting coordinate 0 to 80 phase 819 1024 Current coordinate position 1000 0 1000 after the clutch Current coordinate N ani system after 1009 3 9 1090 the clutch i 819 1024 Select the shift from Interval and set the shift amount Phase shit settings F Settable range 0 000 to 99 997 Phase doft TECH x The created cam pattern is shifted 1096 and the display is updated 100 100 0 50 100 100 100 0 50 100 Display example The shift is set to 10 W Cam table saving The created cam table is saved automatically by pressing the OK button in the Cam Table Settings screen Cam table stored is managed by FPWIN GR7 and set for the positioning unit when it is downloaded to the CPU module Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 23 Automatic Operation Synchronous Control Phone 800 894 0412 Fax 88
232. rning clear on 2nd axis 0 016 t Warning clear executed 2 Warning clear on 3rd axis 0 The positioning 3 Warning clear on 4th axis 0 unit will set the value to 0 automatically after execution 15104 Annunciates the number of occurrences of warnings on the 1st axis The latest warning codes are stored in order from buffer number Annunciates the number of occurrences of warnings on the 2nd axis A code will be annunciated if a warning occurs A code will be annunciated if a warning occurs A code will be annunciated if a warning occurs Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 25 Specifications Unit 5 scripti UM 001D8 2nd axis warning code i i A code will be annunciated if a warning occurs UM 001DA 2nd axis warning code i JUGE ann nciation buffer5 A code will be annunciated if a warning occurs UM 001DC 2nd axis warning code i j i iano annunciato bU BS A code will be annunciated if a warning occurs UM 001DE 2nd axis warning code i i F annunciation buffer 7 A code will be annunciated if a warning occurs UM 001E1 No of occurrences of Annunciates the number of occurrences of warnings on the 3rd warnings on the 3rd axis axis UM 001E2 3rd axis warning code i i i Tra ation Bufar d A code will be annunciated if a warning occurs UM 001E4 3rd axis warning code i i
233. rol with an actual or virtual axis as a master axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 1 2 1 1 Functions of Positioning Unit 1 1 2 Unit Type B Product type Type Product no 2 axis transistor AFP7PPO2T 2 axis line driver AFP7PPO2L 4 axis transistor AFP7PPO4T 4 axis line driver AFP7PPO4L Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 1 3 Functions of Unit and Restrictions on Combinations 1 2 Restrictions on Combinations of Units When the system is configured take the other units being used into consideration and use a power supply unit with a sufficient capacity B Current consumption Type Product no Current consumption 2 axis transistor AFP7PPO2T 120 mA 2 axis line driver AFP7PPO2L 120 mA 4 axis transistor AFP7PPO4T 120 mA 4 axis line driver AFP7PPO4L 120 mA Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 1 4 2 Names and Functions of Parts Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Names and Functions of Parts 2 1 Names and Functions of Parts Os 4 axis type 7 4 2 axis type AFP7PPO2T AFP7PP04L AFP7PP02L 1 Operation monitor LEDs Displays the opera
234. running will turn ON when the positioning control starts and they will turn OFF when the operation completes eThe 1st axis and 2nd axis operation done flags X120 and X121 indicating the state that an operation completed will turn ON when the JOG operation is completed and they will be held until the next positioning control JOG operation home return or pulser operation starts Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 17 Automatic Operation Positioning Control B Programming Precautions To start the interpolation control turn ON the positioning start contact of the axis with the smallest number in the same group n the case of the center point specification the X axis auxiliary point is the center point of X axis and the Y axis auxiliary point is the center point of Y axis In the case of the pass point each pass point is set as the pass point of X axis and Y axis When the control method is increment both the center point and pass point will be increment coordinates from the start point When the start point and the operation done point is the same it performs one circular operation when using the center point method However when using the pass point method an error will occur n the case of the pass point method when the start point pass point and operation done point exist in the same straight line an arc will not be comprised
235. s 4 UM 08000 UM 0804F Positioning data setting area Axis 4 UM 08050 UM AFFF Each axis setting Parameter setting area Virtual axis UM 12000 UM 1204F area Virtual axis Positioning data setting area Virtual axis UM 147FF UM 12050 UM 147FF Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 36 17 6 Details of Each Axis Setting Area in Unit Memory 17 6 2 Parameter Setting Area m First address of each axis positioning parameter area Axis 1st axis 2nd axis 3rd axis 4th axis Virtual axis Unit memory UM 00800 UM03000 UM 05800 UM 08000 UM 12000 address m Positioning parameters Data in the following format is stored from the first address of positioning parameters for each axis Offset ir Name Setting range and description 002H Number of pulses per rotation 003H Set the movement amount per motor rotation Settings in mm inch or degree are required for pulse count conversion 004H Setting range 1 to 32 767 Movement amount 1 Any other settings will be errors per rotation Set the number of pulses per motor rotation Settings in mm inch or degree are required for pulse count conversion Setting range 1 to 32 767 Any other settings will be errors Set the movement unit system for the positioning control of each axis Make sure that all the interpolation axes use the same unit sy
236. s positioning point repetitions If 255 is stored the positioning unit repeats positioning control an unlimited number of times until you manually stop the operation Stores the number of times for repeating the operation starting from the positioning control of starting table number of the virtual axis until the Virtual axis E point positioning repetitions If 255 is stored the positioning unit repeats positioning control an unlimited number of times until you manually stop the operation Stores the number of times for repeating the operation starting from the positioning control Number of 3rd Starting table number of the 3rd axis until the E UM 0010A axis positioning Point 0 to 255 repetitions If 255 is stored the positioning unit repeats positioning control an unlimited number of times until you manually stop the operation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 21 Specifications 17 4 8 Error Annunciation amp Clear Area If errors involving a stoppage occur data on the errors along with the number of errors will be stored on an axis by axis basis in this area If the error clear is executed the errors and the number of errors that have occurred will be cleared once Then errors will be judged again Therefore the same errors will occur if the error conditions continue If a unit level error such as an
237. se word number numbers actually used vary with the number of the slot where the unit is installed and the first word number Example The home input of 1st axis is X130 for slot number 1 if the first word is number 10 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 3 Unit Allocation and Parameter Settings B I O signal allocation output number Signal name 1st 2nd 3rd 4th Virtual axis axis axis axis axis System stop YO Axis group setting change request Y5 Request recalculation Y7 Servo ON The operation is the edge type Y8 Y9 YA YB Positioning start The operation is the edge type Y10 Y11 Y12 Y13 Y17 Home return start The operation is the edge type Y18 Y19 Y1A Y1B YAF JOG forward rotation The operation is the level type Y20 Y22 Y24 Y26 Y2E JOG reverse rotation The operation is the level type Y21 Y23 Y25 Y27 Y2F Emergency stop The operation is the level type Y30 Y31 Y32 Y33 Y37 Deceleration stop The operation is the level type Y38 Y39 Y3A Y3B Y3F Pulser operation permit The operation is the level type Y40 Y41 Y42 Y43 Y47 J point speed change The operation is the edge type Y48 Y49 Y4A Y4B Y4F Servo OFF request The operation is the edge type Y50 Y51 Y52 Y53 J point positioning start Y58 Y59 Y5A Y5B Y5F Request error clear Y60 Y61 Y62 Y63 Y67 Request warning cl
238. set for the automatic operation of the positioning unit The ON time of the auxiliary contact flag can be specified in ms increments There will be no difference between the Delay mode and With mode in operation while the positioning unit is in J point control Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 4 13 3 Auxiliary Output Code and Auxiliary Output Contact W Auxiliary output data The auxiliary output data 1 word can be set for each table of the positioning data The content of the process currently carried out can be confirmed by setting auxiliary output The values in the auxiliary output data are held until the next positioning table is executed The auxiliary output data that was output just before the completion of the automatic operation is held Busy flag Operation done flag With mode Auxiliary output data 2H Auxiliary contact flag Auxiliary output Auxiliary output ON time ON time a ms ms Auxiliary contact flag Delay mode i Auxiliary output data 2H Auxiliary output Auxiliary output ONtime ON time __ ms ms Auxiliary contact flag Delay Auxiliary output data will maintain the value regardless of the type of auxiliary output mode the with mode or delay mode until the next positioning table is executed Phone 800 894 0412 Fax 888 723 4773
239. son while the positioning unit is in synchronous control all the relevant axes under synchronous control will come to a stop Therefore you can easily increase the safety of the positioning unit B Outline of Synchronous Control The synchronous control provides the following functions These functions are executed in order and the slave axes operate according to the operation result of each function Functions Outline Electronic The number of pulses multiplied by the preset electronic gear ratio is output according to the gear operation of the master axis Electronic The operation of the salve axes can be separated from the operation of the master axis by clutch disengaging the clutch The slave axes do not operate Electronic A function to output pulses according to the preset cam pattern Calculates the operation phase of the master axis and outputs cam pulses according to the phase The cam pattern is set with a setting tool m Execution Order of Synchronous Control and Setting Procedures The following section provides information on the outline of functions achieved by synchronous control and setting procedures for the functions Master axis operation Master axis Make master axis settings for each operating axis settings Each operating axis will work as a slave axis if master axis settings are made for the operating axis Electronic gear Select the use or non use of the electronic gear V
240. sor Positioning unit Ea Home input 24V DC Home input 5V DC Power supply 24N DC GND _ Switch Home input Input specifications at 24V DC Input voltage range 21 6 26 4V DC Min ON voltage current 19 2V DC 5 5mA t Max OFF voltage current 2V DC 2mA Input impedance Approx 3k Q Min input pulse width Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 12 3 7 Connecting Input Near Home Input Signal 3 7 3 Connecting Near Home Input Signal Connection r Positioning unit unit Power supply 24V DC GND Switch O Ec F000 Input specifications Note B4 and B13 are common to near home input limit input limit input and positioning control start input timing input 3 7 4 Connecting Limit Input Signal coenen memet S unit Power supply 24V DC GND IIR Q Power supply 24V DC GND cam Input specifications Note B4 and B13 are common to near home input limit input and limit input Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 3 13 Wiring 3 8 Connecting Pulse Input 3 8 1 Line Driver Type Connection Positioning unit Encoder pulser 3 8 2 Transistor Open Collector Type Positioning unit Encoder pulser 3 8 3 Transistor Resistance Pull up Type Encoder pulser P
241. start operating the slave axes and disengages the clutch to stop operating the slave axes the acceleration or deceleration of the slave axes can be set as shown below W Direct method This method detects the engagement or disengagement of the clutch to adjust the operating speed of the master axis to coincide with that of the slave axes In the direct method the speed of the slave axes with the clutch engaged or disengaged coincides with the operating speed of the master axis with the acceleration and deceleration time set to 0 Master axis operation Slave axis operation ON B Slip method This method detects the engagement or disengagement of the clutch and set the slip time to acceleration time and deceleration time so that the operating speed of the slave axes to follow the operation speed of the master axis Linear acceleration and deceleration will apply Slip time Slip time Master axis motion Slave axis operation ON E Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 14 8 5 Electronic Cam Function 8 5 Electronic Cam Function 8 5 1 Outline of Electronic Cam Function W Electronic cam function The electronic cam function uses a preset cam pattern determines the movement amount of the slave axes according to the operation of the master axis phase information and cam pattern and outputs the movement amount The cam pattern uses one rotat
242. stem 0000H Pulse 0100H mm minimum position reference of 0 1 um 0H 0101H mm minimum position reference of 1 um 0200H inch minimum position reference of 0 1 inch 0201H inch minimum position reference of 1 inch 0300H degree minimum position reference of 0 1 degree 0301H degree minimum position reference of 1 degree Any other settings will be errors Set the following range according to the unit setting mm 1 um inch 1 10 000 inch degree 1 degree 005H Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 37 Specifications b The unit memory address of a parameter is based on the first address of the corresponding axis added with the offset address The first number of the positioning parameter setting area of each axis 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 00800 UM 03000 UM 05800 UM 08000 UM 12000 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 38 17 6 Details of Each Axis Setting Area in Unit Memory Offset idt Denominator of automatic movement amount check correction Deviation feedback value Correction numerator Correction denominator x Pulse input Makes pulse input signal settings Make settings according to the application of pulse input i Name Description R
243. t 7 27 Automatic Operation Positioning Control m Sample program X100 X104 X160 Operation enabled condition Ready Tool 1st axis error Operation positioning operation enabled flag R2 LH DF Positioning Slot Axis Table control start number number number Slot number Repeat UM No count Specify slot number axis 1 number and table number Specify repeat count Y110 R10 R2 LH Positioning Operation 1st axis Positioning start control start enabled flag BUSY for 1st axis X118 Positioning start up Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 28 8 Automatic Operation Synchronous Control Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Automatic Operation Synchronous Control 8 1 Synchronous Control 8 1 1 Outline of Synchronous Control B Synchronous control The positioning unit in synchronous control operates a master axis so that salve axis will operate in synchronization with the master axis The use of synchronous control provides the following merits 1 Ease of setting A number of related axes can be operated with ease by designing the operation of the axes based on the master axis 2 Ensuring operational safety If an axis comes to a stop for some rea
244. t Going to Other Operation from Current Operation 14 2 14 1 3 Operation with the PLC Set to PROG Mode from RUN Mode 14 2 14 1 4 Types of Positioning Data Setting Areas 14 3 15 Errors and Warnings 15 1 15 1 About Errors and Warnings rore eco xerit 15 2 15 144 Errors and Warnings eite eet tte e Es 15 2 15 1 2 Check and Clearing with Configurator PM7 15 2 15 1 3 Check and Clearing with User 15 3 15 1 4 Error and Warning Logs seen nens 15 4 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net vii Table of Contents 15 2 Changes in Recovery from 15 5 Em MEG EPI 15 5 15 3 Error Gode oer eer rape conn epe ura 15 6 15 3 1 System Error from 1000H sss eene 15 6 15 3 2 Axis operation error from 3000H sse 15 7 15 3 3 Set Value Error from 4000H u 15 9 15 4 List of Warning Codes beth ERR ELE te 15 14 15 4 1 Unit Warning from B800F u u L L L 2 uu R 15 14 16 Troubleshooting
245. t axis will operate at target speed in the case of single axis operation and operate at target interpolation speed in the case of interpolation operation The settings for the axis with the smallest number in the axis group are enabled for interpolation operation Positioning target speed Interpolation speed Setting range 1 to 32 767 000 Any other settings will be errors Set the following range according to the unit setting Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 50 17 6 Details of Each Axis Setting Area in Unit Memory Setting range and description The setting area for the positioning movement amount for positioning operation Default Offset Nam address S Ea Positioning movement amount Auxiliary point E eal p 2 The amount of increment movement or absolute coordinates will be set according to the control code settings Setting range 1 073 741 823 to 1 073 741 823 Any other settings will be errors Set the following range according to the unit setting Pulse 1 073 741 823 to 1 073 741 823 pulses 0 1 um 107 374 182 3 to 107 374 182 3 um um 1 um 1 073 741 823 to 1 073 741 823 um inch 0 00001 inch 10 737 41823 to 10 737 4182
246. t codes for the each axis information amp monitor area No setting ranges in particular Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 51 Specifications The unit memory address of each item on the positioning table is based on a separate address allocated to each axis and table added with the offset address B First address of each positioning table Table no 1st axis 2nd axis 3rd axis 4th axis Virtual axis 1 UM 00850 UM 03050 UM 05850 UM 08050 UM 12050 2 UM 00860 UM 03060 UM 05860 UM 08060 UM 12060 3 UM 00870 UM 03070 UM 05870 UM 08070 UM 12070 4 UM 00880 UM 03080 UM 05880 UM 08080 UM 12080 5 UM 00890 UM 03090 UM 05890 UM 08090 UM 12090 6 UM 008A0 UM 030A0 UM 058A0 UM 080A0 UM 120A0 7 UM 00880 UM 03080 UM 05880 UM 080B0 UM 12080 8 UM 008C0 UM 030C0 UM 058C0 UM 080C0 UM 120 0 9 UM 008D0 UM 03000 UM 05800 UM 08000 UM 12000 10 UM 008 0 UM UM 058E0 UM 080E0 UM 120E0 11 UM 008F0 UM 030F0 UM 058F0 UM 080F0 UM 120F0 12 UM 00900 UM 03100 UM 05900 UM 08100 UM 12100 13 UM 00910 UM 03110 UM 05910 UM 08110 UM 12110 14 UM 00920 UM 03120 UM 05920 UM 08120 UM 12120 15 UM 00930 UM 03130 UM 05930 UM 08130 UM 12130 16 UM 00940 UM 03140 UM 05940 UM 08140 UM 12140 17 UM 00950 UM 03150 UM 05950 UM 08150 UM 12150 18 UM 00960 UM 03160 UM 05960 UM 08160 U
247. t is in tool operation the positioning unit will detect the error and stop automatically Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 7 Transfer to Unit and Commissioning f the previous tool operation does not finish properly due to a communication error etc the tool operation mode will be cancelled forcibly when the next tool operation starts Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 8 6 4 Tool Operation 6 4 2 JOG Operation with Tool Operation Function e You can perform commissioning with the Configurator PM7 before actually starting the user program The following procedure is explained on the condition that the Configurator PM7 has already started m PROCEDURE 1 ees Select Online Operation from the menu bar The tool operation dialog box will be displayed Select JOG operation from the tool operation dialog box The tool operation JOB operation dialog box will be displayed Tool operation Jog operation Axis Group 1 axis 2 axis 3 axis 1 axis ynchronous master axi Master iai Synchronized output Synchronous state Synchronous Synchronous Asynchronous Asynchronous E Change synchronization Change synchronization Change synchronization Ometvade of o
248. t turning on the power will not initiate unexpected movements Procedure 1 Turn on the power supplies for input and output devices connected to the PLC The power supplies include those for line driver output or open collector output Turn on the power supply to the PLC Turn on the power supply to the motor driver Positioning unit 1 Power supplies for input and output devices Power supply for PLC Power supply for motor driver Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 5 Power On Off and Check Items 4 3 2 Procedure for Turning Off the Power Procedure 1 Check and make sure the rotation of the motor has stopped and then turn off the power supply for the PLC Turn off the power supply to the PLC Turn off the power supplies for input and output devices connected to the PLC The power supplies include those for line driver output or open collector output Positioning unit Power suppy for motor driver Power supply for PLC 3 Power supplies for input and output devices Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 6 4 4 Check with Power Turned On 4 4 Check with Power Turned On
249. t value of virtual axis Refer to the description for the 1st axis Repeat count set value of virtual axis Current value of virtual axis Refer to the description for the 1st axis Unit system conversion current value of Refer to the description for the 1st axis virtual axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 35 Specifications 17 6 Details of Each Axis Setting Area in Unit Memory 17 6 1 Configuration of Each Axis Setting Area Each axis setting area stores the parameter setting area and positioning data The positioning data setting area of each axis consists of a standard area with 600 tables and extended area with 25 tables Unit memory map 00000 Parameter setting area Axis 1 UM 00800 UM 0084F Common area Positioning data setting area Axis 1 DM UM 00850 UM 02FFF UM 00850 UM 0085F Table 1 Each axis UM 00860 UM 0086F Table 2 information area UM 00870 UM 0087F Table 3 UM 00880 UM 0088F Table 4 UM 00400 UM 007FF UM 00800 Each axis setting area Axis 1 Each axis setting Parameter setting area Axis 2 area Axis 2 UM 03000 UM 0304F Positioning data setting area Axis 2 UM 03050 UM 057FF Each axis setting Parameter setting area Axis 3 area Axis 3 UM 05800 UM 0584F Positioning data setting area Axis 3 UM 05850 UM 07FFF Each axis setting Parameter setting area Axi
250. t value on completion of positioning control Description Default Soning Set unit no Hex range Stores the number of repetitions Number of starting from the starting table number of positioning 1st axis control of the 1st axis until the E point UM 00108 i m positioning If 255 is stored the positioning unit repeats positioning repetitions control an unlimited number of times until you manually Stop the operation Stores the number of repetitions Number of starting from the starting table number of positioning UM 00109 2nd axis control of the 2nd axis unti i E point positioning If 255 is stored the positioning unit repeats positioning repetitions control an unlimited number of times until you manually Stop the operation Stores the number of repetitions Number of starting from the starting table number of positioning UM 0010A axis sopiro of the 3rd axis Ris e E point positioning If 255 is stored the positioning unit repeats positioning repetitions control an unlimited number of times until you manually stop the operation Stores the number of repetitions Number of starting from the starting table number of positioning UM 00108 4th axis of the 4th axis i oe E point positioning If 255 is stored the positioning unit repeats positioning repetitions control an unlimited number of times until you manually stop the operation Stores the number of repetitions Number of starting from the
251. table number in order to recalculate the positioning data in the standard area un Settin Set memory no Name Description Default Hex range unit Recalculation If the ON state of the recalculation request signal contact Y7 is detected the positioning unit will recalculate M 09085 I positioning data on all axes beginning with this table I 1 1o 600 number up to number 600 17 4 3 Operating Speed Factor Area Unit 7 Description Default Sating Sat Hex range unit It is possible to perform all types of axial control Operatin positioning JOG and home return control at a magnified UM 00088 A rate of this speed 100 1to100 Values can be input in percent within a range of 1 to 100 95 17 4 4 Axis Group Setting Area Set an interpolation group on an axis by axis basis in this area Unit memory no Hex UM 000B0 UM 000B1 UM 000B2 UM 00083 Group A axis settings Group B axis settings Group C axis settings Group D axis settings Description Make independent and interpolation settings for each axis in this area In the case of interpolation each axis belongs to group A B C or D For example if the 1st 2nd and 3rd axes belong to group A for three axis interpolation set the three corresponding bits for the interpolation settings for group A to 1 In the case of single independent settings the axis will not belong
252. taxis error Operation positioning operation enabled flag R2 H DF l Specify slot number axis POSSET number and talit Positioning Slot Axis Table number control start number number number R2 R10 X118 Y110 H DF Positioning Operation 1st axis Positioning control start enabled flag BUSY start for 1st axis Positioning start up Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 13 Unit Allocation and Parameter Settings 5 5 3 Operation Patterns and Tables Use a number of tables if the positioning patterns consist of pass point control continuance point control and JOG positioning control n these types of control the tables will be created continuously on the Configurator 7 and select the end point control for the operation pattern for the last table Specify the first data table number for each control in the program Example Pass point control Create three positioning data tables and select End point for the last table Furthermore start the first table number for each control in the user program Speed f pps P point control P point table P point table Time 1 t ms Start Stop Table aS Control method Acceleration deceleration method Operation pattern X axis virtual movement P Pass point I Increment 50000 L Linear P
253. the axis to be returned home Execute the home return 4 Press Quit button to terminate the home return operation Wa ees If an recoverable error occurs in the positioning unit click the Error Clear button to clear the error Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 11 Transfer to Unit and Commissioning e lfawarning occurs in the positioning unit click Warning clear to clear the warning e This dialog cannot be closed while the positioning unit is in home return operation B Dialog box items Items Description Current value Click Home position coordinates to display the dialog for inputting value to change the value after a home return Monitors the unit of positions specified with parameter settings on an axis by axis basis on the Unit DET positioning unit Deviation Displays the deviation of the amount of movement while the auto check function for the Pulse amount of movement is activated Home return mode Displays the contents of the home return setting code registered with positioning setting data Operation Stop Click Operation to execute the home return operation The button name changes to Stop Click Stop to execute the deceleration stop operation The button name changes to Start State of axis The operating states of axes or error and warning occurrences Error c
254. the cam as factors affecting the change of the cam curve The Cam Table Settings screen can display information on the following items besides the displacement Display item Outline Displacement An item set on the cam table Speed The operating speed of the cam table for the amount of displacement that has been set is displayed The relative value is displayed Acceleration The acceleration in each phase is displayed Pay attention to points of significant acceleration changes which involve radical speed changes Jerk Jerk which is obtained from acceleration differentiated by time represents the rate of change of acceleration Each display item is set by checking the following boxes in the Cam Table Settings screen Refer to each display item and make setting changes in the cam table ZN Disa Spee N Accelere Jump Resolution 52768 Number of cams Number of settable 1000 v v Resolution noe micis V Disa V spee V N Acelere Jump Cam 100 Delete Duplicate Change 0 100 0 50 100 1 Interval Interval number Start phase End phase Displacement Cam curve Display a segmented interval by E Insert The interval number is set automatically 1 0 0000000 39 9414063 50 0000000 Cydoid based on the specified start phase order Delete 2 39
255. the design 2 Checking the installation of the external safety circuit Check and make sure the safety circuit wiring and installation of over limit switch based on an external circuit has been installed securely 3 Checking the safety circuit with the positioning unit Check the connections of the positioning unit and over limit switch Check the installation condition of the over limit switch 4 Checking the procedure settings for turning on the power supplies Make sure settings have been entered so that power supplies will be turned on according to the procedure outlined in section Procedure for Turning On the Power 5 Checking the CPU mode selection switch CPU unit to PROG Mode The CPU unit in RUN mode may operate unexpectedly Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 3 Power On Off and Check Items Theuse of the positioning unit requires configuration menu settings Check that each parameter is set properly Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 4 4 3 Procedure for Turning On the Power 4 3 Procedure for Turning On the Power 4 3 1 Procedure for Turning On the Power When turning on the power to the system incorporating the positioning unit consider the nature and statuses of any external devices connected to the system and take sufficient care so tha
256. the set value 4004H Pulse number error DE number is out Each ave Yes per rotation or the range If the set value is out of the range reduce it by the following formula Movement amount The movement amount 40054 error per rotation is out of the range ues Pulse number per rotation Movement amount per rotation Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 15 9 Errors and Warnings Error Description Object Recovered Countermeasures got The upper or lower limit 4010H MEE lirmitSetting value of software limit is out Each axis Yes of the range Limit stop The limit stop deceleration 4020H deceleration time time is out of the range Each axis Yes error Error stop RU The error stop deceleration 4021H deceleration time time is out of the range Each axis Yes error Emergency stop The emergency stop 4022H deceleration time deceleration time is out of Each axis Yes error the range The settings of auxiliary output are not correct A mode other than With mode or Delay mode for the Auxiliary output auxiliary output mode has Check the set value setting error been set pu Yes If an error occurs The auxiliary output delay repeatedly with the ratio while the positioning correct set values consult unit is in Delay mode is not your Panasonic to 100 75 representative The same ax
257. ting status of two axes 2 Operating monitor switch AFP7PP04T and AFP7PP04L only Toggles between the operating status display of 1st and 2nd axes and that of the 3rd and 4th axes 3 User I F connector 1st axis and 2nd axis A connector for a motor driver and external interface 4 User I F connector 3rd axis and 4th axis AFP7PPOAT and AFP7PPO4L only A connector for a motor driver and external interface Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 2 2 2 2 Operating Status LEDs 2 2 Operating Status LEDs The LEDs display the operating status of two axes at a time If the unit is of 4 axis type use the switch to toggle between the operating status display of the 1st and 2nd axes and that of the 3rd and 4 axes The contents of the LED display are the same in each axis Operation monitor LEDs LED Description Color ON OFF Flashing With pulse sign Not in Pulse output settings Green note 4 operation output Pulse output A signal Not in n pulse display With CW CCW operation output note 1 output settings Green note 4 forward ORA rotation rotation Reverse Forward Wi pulse sign Green rotation rotation _ output settings Pulse output instruction instruction B signal In pulse display in output note 1 With CW CCW Green _ operation operation output settings
258. tion net Email info ctiautomation net Programming Cautions 14 1 Programming Cautions 14 1 1 Turning Off Power Supply Clears Contents of Unit Memory The unit memory data of the positioning unit will be cleared when the PLC is turned off 14 1 2 Not Going to Other Operation from Current Operation Automatic operation positioning control or manual operation JOG operation home return or pulser operation that has started with the start contact turned ON will continue even if the contact of other operation turns ON However the stop operation deceleration stop emergency stop system stop can be executed during other types of operation 14 1 3 Operation with the PLC Set to PROG Mode from RUN Mode Automatic operation positioning control or manual operation JOG operation home return or pulser operation that has started with the start contact turned ON will continue even if the PLC is switched to PROG mode from RUN mode Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 14 2 14 1 Programming Cautions 14 1 4 Types of Positioning Data Setting Areas The positioning unit has a standard 600 point positioning data setting area and 25 point extended area with the following characteristics Use either of them according to the application B Comparison of standard area and expansion area Items Standard area Extended area No of positioning data
259. to a relevant manual for the unit and purpose of your use e The manuals can be downloaded on our website Unit name or purpose of use Manual name Manual code FP7 Power Supply Unit FP7 CPU Unit Users Manual Hardware WUME FP7CPUH FP7 CPU Unit Instructions for Built in COM Port FP7 CPU Unit Users Manual FP7 Extension COM Port Communication WUME FP7COM Communication Cassette FP7 CPU Unit Users Manual LAN Port Communication Instructions for Built in LAN Port FP7 Digital Input Output Unit FP7 Digital Input Output Unit Users Manual WUME FP7DIO FP7 Analog Input Unit FP7 Analog Input Unit Users Manual WUME FP7AIH FP7 Analog Output Unit FP7 Analog Output Unit Users Manual WUME FP7AOH FP7 Positioning Unit FP7 Positioning Unit Users Manual WUME FP7POSP PHLS System PHLS System Users Manual WUME PHLS EC l FPWIN GR7 Introduction Guidance WUME FPWINGR7 Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net Table of Contents Table of Contents Functions of Unit and Restrictions on Combinations 1 1 1 1 Functions of Positioning 1 2 1115 Functions Unit aui tee ee dhe eet d eee ee es 1 2 1 1 2 Unit Typen zudem i Ur iieri 1 3 1 2 Restrictions on Combinations of 5 1 4 Names and Functions of Parts 2 1 2 1 Names and Functions of Parts
260. type lutch on request Edge selection Level Level Set amount 0 0 0 0 Method Direct Direct Direct Direct Slip method Specify slip time Specify slip time Specify slip time Specify slip time Slip time 1 1 1 1 Slip curve selection Linear Linear Linear Linear Clutch off trigger type ch off request 10 clutch off request 10 clutch off request 10 clutch off request Edge selection Disable Disable Disable Disable af Select the axis and master axis to synchronize Please select from the following synchronous master Axis Axis 2 Axis 3 Axis 4 Virtual axis Pulse input 1 Pulse input 2 Pulse input 3 Pulse input 4 Cancel _ Copyaxis Initialize el K 2 2 Make necessary parameter settings according to the application and press the OK button Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 5 10 5 4 Synchronous Parameter Cam Pattern Settings 5 42 Cam Pattern Settings Make electronic cam settings in the case of using an electronic cam Use the Configurator 7 to allocate necessary parameters The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Axis Settings Cam pattern settings from the menu bar The cam pattern setting dialog box will be displayed Era
261. ual axis 0021H 8021H 0022H 8022H Pulse input 1 Pulse input 2 0023H 8023H Pulse input 3 0024H 8024H Pulse input 4 The state of the synchronous operating function set for the axis is stored Functions Setting Electronic gear setting 0 Yes Clutch operation settings 1 No Electronic cam operation settings Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis Refer to the description for the 1st axis FFFFH 0000H FFFFH 0000H FFFFH 0000H FFFFH 0000H FFFFH Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 29 Specifications Unit memory no Name Description Default Hex Monitoring selection state of synchronous UM 002BF output function for 0000H fixed 0000H virtual axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 30 17 4 Details of Common Area in Unit Memory 17 4 12 System Operation Setting Area This is an area for changing the operation of the positioning unit Unit memory no Name Description Hex Specify the operation of the positioning unit with the deceleratio
262. ut 3 12 371 Connecting Home Input Connecting Motor Driver Z phase Output 3 12 3 7 2 Connecting Home Input Connecting External Switch Sensor 3 12 3 7 8 Connecting Near Home Input 3 13 3 7 4 Connecting Limit Input Signal sene 3 13 3 8 Connecting Pulse e re ettet rid 3 14 83 8 1 Line Driver Type inii dei tiere eh e dor das 3 14 3 8 2 Transistor Open Collector Type sse 3 14 3 8 8 Transistor Resistance Pull up Type esse 3 14 RN 3 15 4 Power On Off and Check Items 4 1 4 1 Safety Circuit Eon 4 2 4 2 Before Turning On the 4 3 4 3 Procedure for Turning On the 4 5 4 3 1 Procedure for Turning On the Power 4 5 4 3 2 Procedure for Turning Off the Power 1 4 6 4 4 Check with Power Turned On a 4 7 4 4 1 Check Items After Turning Power On 4 7 4 4 2 Check on External Safety Circuit sese 4 8 4 4 3 Check on Safety Circuit with Positioning Unit
263. ware or a user program Unit memory RE Name of h indivi lar Area name PRAE ame of eac dividual area Common UM 00000 area Positioning table setting area to UM Positioning control area Error annunciation amp clear area Warning annunciation amp clear area Pulse count control area Synchronous control monitor area System operation setting area 1st axis Each axis information amp monitor area Each axis 2nd axis Each axis information amp monitor area information UM 00400 area to UM 007FF 3rd axis Each axis information amp monitor area Note 4th axis Each axis information amp monitor area Virtual axis Each axis information amp monitor area Parameter setting area UM 00800 ias cii to 02FFF st axis Positioning data setting area 600 standard points and 25 expansion points Parameter setting area UM 03000 to UM O5FFF axis Positioning data setting area 600 standard points and 25 expansion points Parameter setting area Each axis UM 05800 3rd axi Ten setting to UM 07FFF Positioning data setting area 600 standard points and 25 expansion points Parameter setting area UM 08000 aba to UM OAFFF axis Positioning data setting area 600 standard points and 25 expansion points Parameter setting area to UM 147FF Virtual axis Positioning data setting area 600 standard points and 25 expansion points Note Check that the posit
264. will be annunciated if an error occurs UM 00151 UM 00152 3rd axis error code annunciation buffer 5 A code will be annunciated if an error occurs UM 00153 UM 00154 3rd axis error code annunciation buffer 6 A code will be annunciated if an error occurs UM 00155 UM 00156 UM DOES 3rd axis error code annunciation buffer 7 A code will be annunciated if an error occurs Annunciates the number of occurrences of errors on the 4th axis UM 0015A TN 4th axis error code annunciation buffer 1 A code will be annunciated if an error occurs UM 0015B UM 0015C w 4th axis error code annunciation buffer 2 A code will be annunciated if an error occurs UM 0015D UM 0015E 4th axis error code annunciation buffer 3 A code will be annunciated if an error occurs UM 0015F UM 00160 4th axis error code annunciation buffer 4 A code will be annunciated if an error occurs UM 00161 UM 00162 i 4th axis error code annunciation buffer 5 A code will be annunciated if an error occurs UM 00163 UM 00164 UM 00165 4th axis error code annunciation buffer 6 A code will be annunciated if an error occurs UM 00166 4th axis error code annunciation buffer 7 A code will be annunciated if an error occurs UM 00167 _ Annunciates the number of occurrences of errors UM 00199 No of occurrences of errors on virtual axis anie virtual axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email
265. www ctiautomation net Email info ctiautomation net 7 13 Automatic Operation Positioning Control 7 2 2 Setting and Operation of 2 Axis Linear Interpolation The example below is a case of E point control with the positioning unit installed in slot 1 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method in pulses 10000 pulses B Settings Items Setting example Operation pattern E End point Interpolation operation 0 Linear Composite speed Control method Increment X axis movement 10000 pulses X axis auxiliary point 0 Y axis movement 5000 pulses Y axis auxiliary point 0 Acceleration deceleration method L Linear Acceleration time ms 100 ms Deceleration time ms 100 ms Interpolation speed 10000 pps Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 14 7 2 Interpolation Control B Operation diagram f pps Composite speed t ms Positioning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 L Operation done flag of axis 1 X120 emen mmm Operation done flag of axis 2 X121 Current value of axis 1 zoo MAMMA Current value of axis 2 10000 YYYYYXYYN m Operation of each contact e The 1st axis and 2nd axis BUSY flags X118 and X119 indicating the state that a motor is
266. xecute positioning control when the button name will change to Operation Stop Stop Click Stop to execute the deceleration stop operation The button name will change to Operation State of axis The operating states of axes or error and warning occurrences Error code The latest error code if an error occurs Error clear Clears the error by clicking this button if an error occurs Warning code Indicates the latest warning code if a warning occurs Warning clear Clears the warning by clicking this button if a warning occurs Speed rate The target speed of the home return specified in the parameter settings for each axis is regarded as 10096 and the operation is executed at the specified speed rate Clicking Speed rate shows the dialog for inputting the value Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 6 14 6 4 Tool Operation 6 4 5 Tool Operation Teaching Activate each axis manually by the tool operation and register the positioning addresses where the axes come to a stop as the point data PROCEDURE 1 Select Online Tool Operation from the menu bar The tool operation dialog box will be displayed Select Teaching from the tool operation dialog box The tool operation teaching dialog box will be displayed Tool operation Teaching ol operation in progres Axis
267. xis UM 0024D change of 3rd axis 0024 Pulse input value UM 0024F change of 4th axis Set the desired pulse input value for the 4th axis Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 16 13 7 Startup speed 13 7 Startup speed The positioning unit allows startup speed settings for the startup of each type of operation The startup speed is available for positioning JOG operation and home return control B Setting method of startup speed Set the startup speed in the parameter setting menu for each axis of the Configurator PM7 m Cautions for start speed settings 1 The startup speed will apply to the end of operation as well The speed at the end of operation cannot be changed 2 The home return creep speed at the time of a home return will not be influenced by the start speed 3 The target speed of each type of operation is not influenced by the start speed The positioning unit operates at the preset target speed regardless of the preset startup speed f pps Startup speed Startup speed t ms Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 17 Supplementary Functions Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 13 18 14 Programming Cautions Phone 800 894 0412 Fax 888 723 4773 Web www ctiautoma
268. xis auxiliary point 0 Z axis movement amount 20000 pulses Z axis auxiliary point 0 Acceleration deceleration pattern L Linear Acceleration time ms 100 ms Deceleration time ms 100 ms Interpolation speed 10000 pps Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 7 19 Automatic Operation Positioning Control B Operation diagram f pps Composite speed 10000 t ms Positioning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 BUSY flag of axis 3 X11A Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 Operation done flag of axis 3 X122 Current value of axis 1 E0000 vM Current value of axis 2 NU Current value of axis 3 WA B Operation of each contact e The 1st axis 2nd axis and 3rd axis BUSY flags X118 X119 and X114 indicating the state that a motor is running will turn ON when the positioning control starts and they will turn OFF when the operation completes NK 30000 BU 15000 x 20000 e The 1st axis 2nd axis and 3rd axis operation done flags X120 X121 and X122 indicating the state that an operation completed will turn ON when the JOG operation is completed and they will be held until the next positioning control JOG operation home return or pulser operation starts m Programming Precautions e To start the interpolation control turn ON the p
269. xis cannot receive any external input signals either The existing axes 1st to 4th axes can be used effectively if the virtual axis is used Pulse input unit The master axis operates according to pulse value input into the positioning unit Use pulse input in the case of connecting an external device such as an encoder for the reference of synchronous control In the case of using pulse input as the master axis the slave axes will operate according to the pulse input Therefore be careful when starting or stopping the operation of the positioning Types and restrictions of master axis axis on the Configuration Screen Type Existing axis Virtual axis Pulse input Hemden M Available to data setting No only JOG operation Yes Yes No Single axis Yes Yes No Positioning No Interpolation Yes Available to single axis No only System Emergency Yes Yes No Deceleration stop Questionable Stop functions Limit stop Yes Stops only with software No limit because of no limit signal input Error stop Yes Yes No Synchronizes with external pulse input Necessary to make and no master axis Others settings to use the virtual control is possible To stop synchronous control stop the slave axes Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 8 3 Automatic Operation Synchronous Control
270. y circuit Installation of the over limit switch Positioning unit Motor driver Over limit Over limit CCW driving switich switich CW driving inhibition switc Driver upper and lower limit input External safety circuit Input to positioning unit Safety Circuit with Positioning Unit Install over limit switches as shown above Connect the switch to the limit input and limit input of the positioning unit External safety circuit Install the safety circuit recommended by the manufacturer of the motor being used Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 4 2 4 2 Before Turning On the Power 4 2 Before Turning On the Power W Check items before turning on the power System configuration example Positioning unit Power supply for PLC pply for input output device Power supply for motor driver i Powersu a 3 Over ver limit ver limit ivi CW drivin switch switch inhibition 9 Switc Sr m safety 5 Connect to positioning unit 1 Checking connections to the various devices J CW driver inhibition switch Driver upper and lower limit inputs Check and make sure the various devices have been connected as indicated by
271. ynchronous control common setting area Offset address Name Default Description Set the master axis for each axis Set value Master axis 0000H No synchronous master axis or the target set axis is the master axis 0001H 1st axis Each axis 0002H 2nd axis synchronous 0003H 3rd axis MAR 5 0004H 4th axis 0010H Virtual axis 0021H Pulse input 1 0022H Pulse input 2 0023H Pulse input 3 0024H Pulse input 4 The state of the synchronous operating function set for the axis is stored Functions Setting Each axis synchronous output 5 ____ _ 52079 ____ function Clutch operation settings 1 No selection Electronic cam operation settings Area reserved for system W Electronic gear setting area Offset UE dme Dem 010H Each axis gear ratio 1 1 to 2 147 483 647 011H numerator Electronic gear setting 0 Yes 1 to 2 147 483 647 1 to 10000 012H Each axis gear ratio 013H denominator Each axis gear Phone 800 894 0412 Fax 888 723 4773 Web www ctiautomation net Email info ctiautomation net 17 69 Specifications B Clutch setting area Offset address 020H Clutch ON trigger types 00H OOH I O clutch ON request Set enabled conditions for the trigger signal 00H Level 021H Clutch ON edge selection X 01H Rising edge 02H Falling edge 028H Clutch OFF trigger types 00H OOH clutch

Panasonic FP7 Positioning Unit User`s Manual

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