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FP2 Positioning Unit Manual, ARCT1F282E5

Contents

1. Connect cable for Connect cable for FP2 positioning unit MINAS A EX series Sub I O ome 5 7s 10_2 1222000 ccccccvcccvosceccees Hie EE 9 e2000 gy E lo ao motor driver gt Z SSISSSSESEEEESSSS SSSI SISISISISISISINISISISISIE BIS 10 2 b oo ofe e i FP2 positionin 9 1 unit cable shield Select I O terminal 24V DC home input e F terminal after connecting the cable pulse output A pulse output B of the line driver and the deviation counter clear signals are joined together at this I F terminal e Home Input Selection concerning the OZ signal of the motor driver and the I O terminal home input 24V it is possible to change to either with the home switching pins The settings can be switched to either at the upper setting area see upper figure e Please connect the shielded cable terminal cable type AFP85100 AFP85101 to the FE terminal at I F terminal When FP2 and the MINAS A EX motor driver does not function properly due to reasons of noise influence then connect the shielded cable terminal cable type AFP85100 AFP85101 to the SD terminal at I F terminal FE terminal of the I F terminal this is either connected to the F E pin of the FP2 positioning unit or to the FG pin of the CN I F connector of the MINAS A EX motor driver SD t
2. Power supplies for input and output devices Precautions when rebooting the system The contents of the operation memory are initialized simply by initializing the CPU but the contents of the shared memory for the positioning unit are retained If the positioning unit is operated with data still in the shared memory operation may be carried out based on any set values which have been retained in some cases The contents of the shared memory are cleared when the power supply is turned off Turning the Power On and Off and Booting the System FP2 Positioning Unit 5 4 Procedure Prior to Starting Operation 5 4 Procedure Prior to Starting Operation Items to check when the power is on System configuration example Positioning unit Input unit section 5 4 4 section 5 4 3 Motor MINUN ooa E NAAMAAN W f a x e Near home Tni over switch switch cw He switch driving J switch i re a aren eee Driver upper and Limit ov r External safety circuit lower limit inputs switch section 5 4 1 Safety circuit wi based on the PLC CCW driving section 5 4 2 inhibition switch Motor driver Checking should be carried out in the four general stages sho
3. Pulse output How the internal absolute counter operates When the power supply is turned off the counter value is set to zero 0 When the table returns to the home position in a home return the counter value becomes zero 0 The counter value is counted as an absolute value based on the pulse output value The value stored in the shared memory can be read using the F150 P150 instruction in the user program The counter value can be overwritten using the F151 P151 instruction in the user program Overwriting should be done while the operation is stopped 4 17 Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 5 Internal Absolute Counter Countable range of the counter 2 147 483 648 to 2 147 483 647 Max value 2 147 483 647 2 147 483 646 2 147 483 645 2 147 483 646 2 147 483 647 Min value 2 147 483 648 ace If the elapsed value exceeds the maximum or minimum value it returns to the minimum maximum value Pulse output does not stop if this occurs and no error occurs Shared memory address in which the counter value is stored Address of shared memory Description hexadecimal Elapsed value Signed 32 bit count absolute 2 147 483 648 to 2 147 483 647 1 axis 2 axes 3 axes 4 axes 4 18 FP2 Positioni
4. ai SS 7 Shared memory Target speed l H Acceleration l I H deceleration time Position command Cee e20000 7 18 FP2 Positioning Unit Automatic Acceleration Deceleration Control 7 2 Flow of P Point Control Operation Step 3 Executing the operation of Section II When the operation of section is completed operation shifts to section II At this point X_A goes on When X_A goes on the data for the operation of section Ill is transferred to the shared memory X_A goes off after the data has been transferred Q JE 000000 papel TR ee e PR coset Data for section D Target speed H H Acceleration eH deceleration time Position command value J Step 4 Executing the operation of Section III When the operation of section II is completed operation shifts to section III f pps el
5. Sr jeee00a ese Il a X We Pulser reverse rotation Value of the internal absolute counter during pulser input operation The internal absolute counter counts the number of pulses output Consequently in the instant that pulses are being input the number of pulses input from the pulser does not equal the value counted by the counter Note When pulser input is ignored If the specified multiplication is high and the target speed is low the next pulser input command may be received before the specified pulse output has been completed making it impossible to obtain output of the input number of pulses If this happens the target speed should be changed to an appropriate value 10 14 FP2 Positioning Unit Pulser Input Operation 10 3 Action of the I O Contact During Pulser Input Operation 10 3 Action of the I O Contact During Pulser Input Operation f pps Pulser input enabled Y 7 PEN Input from pulser Ex _ Pulser ternal input A phase Ex _ Pulser ternal input Output to driver Ex 4 Pulser ternal output Ex ternal Pulser output Pulse output busy flag X_0 BUSY Pulse output done flag X_1 Pulser forward VO Pulser reverse D A iE aS A T r IN phase phase eee eps et Fe Bele E eal phase phase Ei NS oN p
6. L Reverse Forward gt a 4 loom o o LI 5 ee or Teas 1 N Motor driver Pulse output A Pulse output B Reverse i Forward Direction of increasing elapsed value Direction of decreas ing elapsed value eS Note The direction of rotation varies depending on the wiring the motor driver settings the position command value in the program and other factors FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 2 Confirming the Slot Number and I O Number Allocations 4 2 Confirming the Slot Number and I O Number Allocations 4 2 1 Occupied I O Area With the positioning unit as with other I O units allocations are entered for the input X and output Y The positioning unit has 16 input points and 16 output points per axis for a total of 32 Consequently a 4 axis type has 128 points and a 2 axis type has 64 points The configuration of the occupied I O area is as shown below When installed in slot 0 4 axis type Occupied points 128 points Input 64 points Output 64 points 1st axis Input XO to XF WX0 Output Y40 to Y4F WY4 2nd axis Input X10 to X1F WX1 Output Y50 to Y5F WY5 3rd axis Input X20 to X2F WX2 Output Y
7. Direction of increasing elapsed value Direction of decreasing elapsed value The pulse output busy flag does not change This goes off one scan after the pulser input enabled t ms B phase T L ae ew M A AA This goes on one scan after the pulser input enabled contact relay Y_7 goes on contact relay Y_7 goes off EDP Sees a a B a E T T next page 10 15 Pulser Input Operation FP2 Positioning Unit 10 3 Action of the I O Contact During Pulser Input Operation Pulser input enabled relay Y_7 1 3 This is in pulser input operation status based on the parameters written to the positioning unit This does not shift to enabled status while the pulse output busy flag X_0 is on This relay is reset when the power supply is turned off Pulse output busy flag X_0 The on off status of the pulse output busy flag does not change even if the pulser input enabled relay Y_7 goes on Pulse output done flag X_1 1 3 This goes from on to off if E point control P point control jog operation or pulser input enabled operation is completed before pulser input is enabled This goes from off to on when the pulser input enabled relay Y_7 goes off This flag is reset when the power supply is turned off This flag is common to E point contr
8. OS 288080 Step 5 Completing the operation of Section III Because no data for the next operation is specified during the operation of section III operation automatically stops 7 19 Automatic Acceleration Deceleration Control FP2 Positioning Unit 7 3 Action of the I O Contacts Before and After P Point Control 7 3 Action of the I O Contacts Before and After P Point Control Output frequency f pps 4 f3 f2 fi 1 Pulse output begins Time t t within 0 1 ms after the startup contact P point control relay goes on start relay ILZ T PST This goes on following one scan after the startup contact relay goes on firmation flag Lif A CEN OLY This goes off when 7 parameters are written to This goes off when the positioning unit using the pulse output is the shared memory writing completed instruction F151 This goes on when operation shifts to the next operation Setting value change con This goes off when the pulse output is contact relay goes on completed Pulse output busy flag Gs X_0 faa L gt f 1 scan BUSY This goes on when the pulse output is This goes off following completed one scan after the startup Pea e contact relay goes on one flag
9. Control code F1 DMV K 500 DT2 Startup speed F1 DMV K 5000 DT4 Targetspeed F1 DMV K 100 DT6 acceleration deceleration time F1 DMV K10000 DT8 Position command value F151 WRT KO0 DTO K10 H100 Shared memory writing This specifies the positioning unit in slot no 0 from which the 10 word contents from data registers DTO to DT9 are written to the shared memory addresses H100 to H109 1 HDA F1 DMV K 20000 DT4 4 Target speed F1 DMV K 100 DT6 raei Acceleration deceleration time i F1 DMV K 25000 DT 8 Position command value J F151 WRT K0 DT4 K 6 H104 S Shared memory writing This specifies the positioning unit in slot no 0 from which the 6 word contents from data registers DT4 to DT9 are written to the shared memory addresses H104 to H109 R22 HDA Fi DMV K500 DT4 _ Target speed Fi DMV K500 DT6 Acceleration deceleration time i F1 DMV K31000 DT 8 Position command value J F151 WRT KO DT4 K6 H104 Shared memory writing ms specifies the positioning unit in slot no 0 from which the 6 word contents from data registers DT4 to DT9 ae written to the shared memory addresses H104 to H1
10. 0000 9 30 Chapter 10 Pulser Input Operation 10 1 10 2 10 3 10 4 Sample Programs mesoa Potente Mid tt Ee a re set OF 10 3 10 1 1 Pulser Input Operation Transfer multiple 1 multiple setting 10 3 10 1 2 Pulser Input Operation Transfer multiple 5 multiple setting 10 7 Sequence Flow for Pulser Input Operation 002 00 eee 10 11 Action of the I O Contact During Pulser Input Operation 10 15 Types of Manual Pulse Generators That Can be Used 10 17 Chapter 11 Deceleration Stop and Forcible Stop 11 1 11 2 11 3 11 4 Sample Program s4 sii shies hia Pe Se eee eT eR Be ee 11 3 11 1 1 In progress Stopping Emergency Stopping and Overruns 11 3 Operations for a Deceleration Stop and Forcible Stop 11 7 11 2 1 Deceleration Stop 2 228 bees eee nek eee eb ne ee 11 7 11 22 Forcible St p x c223 32 etre ol e ee ee eee 11 8 I O Contact Operation Before and After a Stop 022 0 eee 11 9 Precautions Concerning Stopping Operations 04 11 11 11 4 1 Pulse Output Done Flag Statuses After a Stop 11 11 11 4 2 Restarting After a Stop 4 acc iacdes ae Gt aixiaww hades eiakeiae s 11 11 11 4 3 Forcible Stop Elapsed Value Data 0 0 ee eae 11 11 Chapter 12 Precautions Concerning the Operation and Programs 12 1 Precautions Relating to Basic Operations of the Unit 12 3 12 1 1 Values of Shared Me
11. 9 13 Home Return FP2 Positioning Unit 9 2 Flow of Operation Following a Home Return When Y42 is turned on through the program the motor for the first axis begins to accelerate and continues accelerating until the target speed is reached If there is near home input at that point the motor decelerates to the startup speed After deceleration has been completed the motor stops if home input exists Data required for settings The following data must be written to the specified addresses of the shared memory Operation is determined by the following four types of data e Control code e Startup speed e Target speed e Acceleration deceleration time Operation steps Step 1 Preparatory stage The data for operation is transferred to the shared memory ahead of time Data for home return ee _ XlXi i Control code Startup speed 1 Shared memory Target speed r J H Acceleration deceleration time es ee ee ee ee ee ee a 9 14 FP2 Positioning Unit Home Return 9 2 Flow of Operation Following a Home Return Step 2 Execution of operation The startup contact relay Y42 is turned on The control code determines whether S acceleration deceleration or linear acceleration deceleration is used When the startup contact is turned on acceleration take
12. Reverse Forward mw next page Pulser Input Operation FP2 Positioning Unit 10 1 Sample Programs Pulse output diagram Setting data example Shared memory setting 101h H 200 Control code 103h 194h _K_5000 Target speed ft ps Direction of increasing elapsed value Direction of decreasing elapsed value Pulser input enabled CPU gt Y47 t ms iae ee aa PEN Pulse output done flag x1 CPU EDP Ex ternal _ Pulser input A phase Ex ternal _ Pulser input B phase Ex ternal Pulser output A phase Ex ternal Pulser output B phase Pulser forward A NX phase B phase aoe Epes ie WC oe Hla e 4 Pulser reverse A phase B phase p Amale Eal 10 8 FP2 Positioning Unit Pulser Input Operation 10 1 Sample Programs Shared memory setting Control parameter Set values in sample program Range of acceptable settings setting content example Control code H200 HO x 1 transfer multiple Multiplication ratio x5 multiple H100 x 2 transfer multiple H200 x5 transfer multiple H300 x 10 transfer multiple H400 x 50 transfer multiple H500 x 100 transfer multiple H600 x 500 transfer multiple H700 x 1000 transfer multiple Target speed pps K1 to K1000000 Program X97 R9
13. Specifications FP2 Positioning Unit 14 2 Table of Shared Memory Area Home return Control Acceleration de code celeration method Direction of home return direction Home input logic Valid when power is not supplied Near home input logic Valid when power is supplied direction Valid when power is not supplied Valid when power is supplied direction direction Valid when power is not supplied Valid when power is not supplied Valid when power is supplied Valid when power is supplied direction Valid when power is supplied Valid when power is supplied direction Valid when power is supplied Valid when power is supplied direction Valid when power is supplied Valid when power is supplied direction direction Valid when power is supplied Valid when power is not supplied Valid when power is supplied Valid when power is not supplied direction Valid when power is not supplied Valid when power is not supplied direction Valid when power is not supplied Valid when power is not supplied direction Valid when power is not supplied Valid when power is not supplied direction Valid when power is supplied Valid when power is not supplied direction Valid when power is supplied Valid when power is not supplied direction Valid when po
14. 13 10 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs 13 3 Resolving Problems 13 3 2 If the Motor Does Not Turn or Operate if the display LED for pulse output A or B is flashing or lighted Solution 1 For the servo motor Check to make sure the servo on input is set to On RO al S T ooooge o E o Servo on input 00 4 axis type 64 point type positioning unit output unit 6 O Solution 2 5 O i ji Motor driver Check to make sure the power supply for the driver is on Solution 3 Check to make sure the wiring between the positioning unit and the driver has been correctly connected Solution 4 Check to make sure the settings for the pulse output method CW CCW method or Pulse Sign method are appropriate for the driver For detailed information about mode switch settings refer to section 4 1 13 3 3 If the Motor Does Not Turn or Operate if the display LED for pulse output A or B is not lighted Solution Review the program and correct it if necessary Points to check Check to make sure the I O numbers are appropriate 2 Check to make sure the startup contacts have not been overwritten in the program 13 11 Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 13 3 Resolving
15. Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 2 Confirming the Slot Number and I O Number Allocations 4 2 3 Confirming the Allotted I O Number and Slot Number The I O numbers and slot numbers are always required when creating a program These change depending on the position at which the unit is installed on the backplane and should always be checked to make sure they match the design For information on allocating I O numbers refer to the FP2 hardware manual section I O Allocation 4 2 3 1 Confirming I O Number Allocations The occupied I O areas for all of the units mounted between the CPU and the positioning unit should be confirmed These are allocated as I O areas for the positioning unit starting from the serial number AY d Example The following is an example of a 4 axis type positioning unit being mounted in succession following three 16 point units CPU 4 axis type positioning unit FP2 C1 fe 16 point input unit 16 point output unit 16 point output unit 16 point output unit i La N XO Y10 Y20 1 axis to to to L X30 to X3F WX3 Y70 to Y7F WY7 XF Y1F Y2F 2 axes WX0 WY1 WY2 X40 to X4F WX4 Y80 to Y8F WY8 3 axes X50 to X5F WX5 Y90 to Y9F WY9 4 axes X60 to X6F WX6 Y100 to Y10F WY10 4 10 FP2 Positioning Unit C
16. done flag 4 time Ac ms f pps Position command value Pt pulse 10000 15000 pulses 500 gt 100 100 t ms lt _ _ gt lt __ gt Y40 CPU EST XO X1 o ee CPU lt EDP R a 10000 25000 Count l 10000 25000 No of counts No of counts when booted when stopped Operations of the various flags e The pulse output busy flag X0 goes on when E point control is initiated and goes off when pulse output is completed e The pulse output done flag X1 goes on when pulse output is completed and is maintained until the next E point control P point control jog operation home return or pulser input enabled status is initiated e The el apsed value is stored as the absolute value in the counter in the positioning unit 6 12 FP2 Positioning Unit Automatic Acceleration Deceleration Control Shared memory setting Set values in sample program 6 1 Sample Program Range of acceptable settings Control parameter setting content Control code example H1 Absolute Linear acceleration deceleration H1 Absolute Linear acceleration deceleration H3 Absolute S acceleration deceleration Startup speed pps K500 K10 to K1000000 K10 is the recommended value Target speed pps K10000 K11 to K1000000 Set a value larger than the startup speed K11 is the recommended va
17. Shared memory writing A A A Ne This specifies the positioning unit in slot no O from which the 10 word contents from data registers DTO to DT9 are written to the shared memory addresses H100 to H109 R81 Y40 _ E point control initiated for 1st axis mw next page 6 9 Automatic Acceleration Deceleration Control FP2 Positioning Unit 6 1 Sample Program Precautions concerning the program e The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control jog operation home returns and other types of control These should not be overwritten by other conditions e Ifthe values for the startup speed the target speed the acceleration deceleration time or the position command value exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the startup contact relay varies depending on the number of axes the unit has and the installation position For detailed information about contact relay number Section 4 2 3 1 and 14 3 The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit For detailed information about slot number Section 4 2 3 2 For detailed information about shared memory area address Section 14 2 e Inthe case where the startup speed is set to the extremely small value
18. Functions of Unit and Restrictions on Combination FP2 Positioning Unit 1 2 Unit Functioning and Operation Overview 1 2__ Unit Functioning and Operation Overview 1 2 1 Unit Combinations for Positioning Control Control signals such as alarms and end of positioning Pulse command output D Ld A eee earl a 2 s 2 5 p Zi E a a ea 2 y Oo i i z alr al s e Deviation counter 2 Near home a O a 5 _ cear output_ CCW lel err Control output signals inhibit such as servo ON and Home alarm reset signals Home input and near home input Limit over input Interfaces provided with the positioning unit In addition to pulse command output for the motor driver the positioning unit is equipped with home input and near home input terminals and with deviation counter clear output for the servo driver Safety circuit for PLC and control signal interfaces use input unit and output unit In addition to the positioning unit an input unit and output unit are used in combination for input from the limit over input circuit servo ON signals and other connections between the driver and external output Number of output pulses counted by internal high speed counter The number of pulses output is counted as an absolute value by an internal high speed counter which counts them as the elapsed value Counting range 2 147 483 648 to 2 147 48
19. 3 14 3 2 3 2 Input Terminals for Three Axes 02 0055 3 16 3 2 4 Pin Layout for Four Axes 3 18 3 2 4 1 Output and Power Supply Terminals for Four Axes 3 18 3 2 4 2 Input Terminals for Four AXNGS onoo ox yesianr ees rora 3 20 next page Wiring FP2 Positioning Unit 3 3 3 4 3 5 3 6 3 7 3 8 3 9 Supplying Power for Internal Circuit Drive 3 22 3 3 1 Line Driver Output 0 2 005 3 22 3 3 2 Open Collector Output 3 23 Connection of Pulse Command Output Signal 3 24 3 4 1 Line Drivel issssissrsronarisesaas 3 24 3 4 2 Transistor Open Collector 3 24 Connection of Deviation Counter Clear Output Signal for servo motor 0c eee ee 3 26 Connection of Home Input Near Home Input Signals sx nds 2 aes ote Se cease 3 27 3 6 1 Connection of Home Input When connecting to motor driver Z phase output 626 Le See Rn ee Sek hogad 3 27 3 6 2 Connection of Home Input When connecting to an external switch sensor 2 gecero ed os eee amp aeeleon act 3 28 3 6 3 Connection of Near Home Input Signal 3 28 Connection of Limit Over Input 4 3 29 Connection of Pulser Only when pulser is used 3 30 3 8 1 Line Driver Type 2 0 004202 eee 3 30 3 8 2 Transistor Open Collector Type 3 30 3 8 3 Transistor resistor Pull up Type 3 31 Precautions Concerning Wir
20. 4 5 3 Writing Elapsed Value The F151 P151 instructions are used to write data to the shared memory of the positioning unit F151 WRT P151 PWRT instruction These are the instructions that write data to the shared memory of the intelligent unit RO S1 S2 n D E HH F151 WRT KO DT100 K2 H10A iz Shared memory writing Specifies the positioning unit of slot no 0 Writes the two word contents of data registers DT100 to DT101 to the shared memory addresses H10A to H10B Explanation This stores the contents of the CPU area specified by S2 and n in the address specified by D of the shared memory of the unit mounted in the slot specified by S1 at the beginning of the memory area Specified addresses Data elapsed values are stored as 32 bit data Address of shared memory Description hexadecimal Elapsed value Signed 32 bit count absolute 2 147 483 648 to 2 147 483 647 Elapsed values should be written while the operation is stopped 1 axis 2 axes 3 axes 4 axes ia Note Program example Writes the data O zero into the elapsed value area RO Fi DMV K 0 DT 100 F151 WRT KO DT100 K2 H10A Chapter 5 Turning the Power On and Off and Booting 5 1 5 2 5 3 5 4 the System Safety Circuit Design 00 c cece ees 5 3 Before Turning ON the Pow
21. Wiring FP2 Positioning Unit 3 2 Input Output Specifications and Connector Pin Layout 3 2 3 Pin Layout for Three Axes 3 2 3 1 Output and Power Supply Terminals for Three Axes 4 axis type u OMNOORWNY gt AE Oj Bow Output terminal on input and ground terminals Pulse output A line driver Pulse output A line driver Pulse output B line driver Pulse output B line driver Circuit Output form Specification Line driver output Equivalent to AM26C31 Pulse output A open collector Pulse output B open collector Output form Open collector Operating voltage range 4 75 to 26 4 V DC Max load current 15 mA ON voltage drop 0 6 V or less 5 V DC output oB4 7 GND Output voltage range 4 75 to 5 25 VDC Max load current Total 120 mA at 5 V DC output 3 14 FP2 Positioning Unit Wiring eee Signal name Deviation counter clear Deviation counter clear 3 2 Circuit Power supply input and ground terminals Eee Signal name FE Circuit Output form Input Output Specifications and Connector Pin Layout Specification Open collector Operating voltage range 4 75 to 26 4 V DC Ma
22. X A a 1 scan EDP E P point control start relay Y_1 1 P point control is initiated based on the parameters written to the positioning unit This goes on following one scan after the startup 2 Control is not initiated during the time that the pulse output busy flag X_0 is on it has already been initiated 3 Control is reset when the power supply is turned off FP2 Positioning Unit Automatic Acceleration Deceleration Control 7 3 Action of the I O Contacts Before and After P Point Control Setting value change confirmation flag X_A 1 This goes on with the next scan after P point control has been initiated 2 It remains on until the next F151 or P151 shared memory write instruction is executed and the new parameters are written to the shared memory and then goes off after the parameters have been written to the unit 3 This flag is reset when the power supply is turned off This flag is used for P point control and the user must be careful that it does not overlap other control programs Refer to section 7 4 Pulse output busy flag X_0 1 This goes on with the next scan after P point control has been initiated and goes off when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is on except for a forced stop and a deceleration and stop 3 This flag is reset when the power supply is turned off Thi
23. H10 Linear direction Valid when power Valid when power is supplied is supplied H12 S direction Valid when power Valid when power is supplied is supplied H20 Linear direction Valid when power Valid when power is not supplied is not supplied H22 S direction Valid when power Valid when power is not supplied is not supplied H30 Linear direction Valid when power Valid when power is supplied is not supplied H32 S direction Valid when power Valid when power is supplied is not supplied Home Return FP2 Positioning Unit 9 1 Sample Program 9 1 2 Home Return in the Plus Direction Returns to the home position are carried out in the plus direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side The home input is connected to the Z phase output of the motor driver or to an external switch and sensor Pulse output diagram 4 axis type positioning unit 64 point type input unit a as X101 Home return switch Motor driver Near home switch FP2 Positioning Unit Home Return Pulse output diagram f pps Shared memory
24. Insulation resistance 100MQ or more measured with 500 V DC megger testing Between the various pins of the external connector and the ground except for the F E pins Vibration resistance 10 to 55 Hz 1 cycle min double amplitude of 0 75 mm 0 030 in 10 min each in the X Y Z directions Shock resistance Shock of 98 m s2 4 times in the X Y Z directions Noise immunity 1 000 Vp p with pulse widths 50 ns and 1 us based on in house measurements Operating environment Free of corrosive gases and excessive dust Specifications FP2 Positioning Unit 14 1 Table of Performance Specification Performance specifications Item Descriptions Order number FP2 PP2 FP2 PP4 Occupied I O points Input 32 points Output 32 points Input 64 points Output 64 points Number of axes controlled 2 axes independent 4 axes independent Position Command units command Pulse unit The program specifies whether Increment or Absolute is used Command range Signed 32 bits 2 147 483 648 to 2 147 483 647 pulses Command range Speed command When line driver is used 1 pps to 1 Mpps settings in units of 1 pps are possible When open collector is used 1 pps to 200 kpps settings in units of 1 pps are possible Acceleration deceleration method Linear acceleration deceleration S acceleration deceleration this takes the form of an S Acceleration
25. This goes on following one scan after the startup contact goes on fe 7 scan 7 This goes on when the pulse output is completed ims D B This is output for approximately 1 ms after the home return has been completed pprox This goes off when the pulse output is completed This goes off when E point control P point control jog operation a home return or pulser input enabled is started 4 i The pulse output done flag does not go on whena home return is completed So next page Home Return FP2 Positioning Unit 9 3 Action of the I O Contact Before and After a Home Return Operation Home return start contact relay Y_2 1 Home return is initiated based on the parameters written to the positioning unit 2 The contact relay is not initiated during the time that the pulse output busy flag X_0 is on it has already been initiated 3 The contact relay is reset when the power supply is turned off Near home input X_7 1 Deceleration begins when the near home switch input connected to the positioning unit becomes valid 2 The leading edge of the signal is detected so changes to flags following the input do not affect operation Confirmation of the input logic is necessary Refer to section 9 4 Home input X_6 1 The table stops when the home switch input becomes valid after th
26. Y41 t Target speed Acceleration deceleration time Position command value Shared memory writing t Target speed Acceleration deceleration time t Position command value a Shared memory writing P point control initiated 7 10 FP2 Positioning Unit Automatic Acceleration Deceleration Control 7 1 Sample Program e Inthe case where the startup speed is set to the extremely small value 0 to few pps in E point control and P point control the pulse output done flag which turns ON when the deceleration stop is completed is output behind the specified time Ideal ti ti Completion of output for the last 1 pulse 0 0 Pulse ouput Pulse output done flag done flag For the ideal deceleration stop the startup speed of 10 pps or more is recommended to set 7 1 3 Absolute Absolute Value Control For this control the Absolute method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side 4 axis type positioning unit 64 point type input unit Motor driver side side mw next page 7 11 Automatic Acceleration De
27. 2 Turn on the power supply for the PLC 3 Turn on the power supply for the motor driver Positioning unit Power supplies for input and output devices Power supply for PLC Power supply for motor driver Note The power supply for the PLC should not be turned on and off with the power supply for the motor driver on When the power supply is turned on and off one pulse may be output from the unit causing the motor to move The program should be set up so that for normal operation a home return is carried out when the power supply is turned on FP2 Positioning Unit Turning the Power On and Off and Booting the System 5 3 Procedure for Turning On the Power 5 3 2 Procedure for Turning Off the Power Procedure 1 Check to make sure the rotation of the motor has stopped and then turn off the power supply for the motor driver 2 Turn off the power supply for the PLC 3 Turn off the power supplies for input and output devices connected to the PLC including the power supply for the line driver output or open collector output So a pi Power supply for motor driver Power supply for PLC Positioning unit
28. 250 kHz each phase Pulser input signals A and B are input at different phase When the phase of A leads the phase of B the elapsed value increments T gt X2 X3 x4 x1 i gt A phase B phase T 4 us or higher X1 X2 0 5T 0 1T X2 X3 0 5T 0 1T Xn 2 0 125T n 1 2 3 4 Wiring FP2 Positioning Unit 3 2 Input Output Specifications and Connector Pin Layout 3 2 2 Pin Layout for Two Axes 3 2 2 1 Output and Power Supply Terminals for Two Axes 4 axis type 2 axis type OMNOORWONM gt ornonaon Y 2 Output terminals 7 Power supply input and ground terminals Output terminals Signal name Circuit Terminals for 2 axes Specification A10 Pulse output A Output form Line driver output line driver Equivalent to B10 Pulse output A A10 AM26C31 line driver A11 A11 Pulse output B TCT 0 line driver B11 B11 Pulse output B line driver A12 Pulse output A Output form Open collector open collector A12 Operating voltage 4 75 to 26 4 V DC B12 range Bi2 Pulse output B GND Max load current 15 mA open collector ON voltage drop 0 6 V or less B13 5 V DC output Output voltage 4 75 to 5 25 V DC oB13 range 7 GND Max load current Total 120 mA at 5 V DC output 3 10 FP2 Positioning
29. 4 13 Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 3 Increment and Absolute 4 3 2 Absolute absolute value control The position command value is normally specified as the absolute position from the home position using a number of pulses AY a Example If the unit is 15 000 pulses away from the home position it travels 5 000 pulses 20000 pulses is set as the position command value and travel is carried out 20000 pulses a 5000 pulses t 8 D 15000 pulses i A gt E gt e med itt AS oz i lal O l Home Current position Target position 18000 pulses is set as the next position command value and travel is carried out 20000 pulses D 18000 pulses z _ fab f l 7 i I zak oor y l e ars Home Current position Target position 4 14 FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 4 Selection of Acceleration Deceleration Method 4
30. Motor driver Pulse command Pulse ee LL output command i E A1 A2 A10 A11 input The symbol below indicates twisted pair wiring External power eos ee nA J supply The illustration shows one signal component extracted from the overall configuration External power supply Usable voltage range 21 4 to 26 4 V DC Current 4 axis type 90 mA or less consumption 2 axis type 45 mA or less FP2 Positioning Unit Wiring 3 3 Supplying Power for Internal Circuit Drive 3 3 2 Open Collector Output The power supply for the pulse command output circuit can be taken from the 5 VDC output pins pin nos B4 and B13 Positioning unit Motor driver ae ee ee Common for output Pulse Lc e J at 5V output command input Q O Pulse command 15 mA per output signalcan L _I A3 A12 be used as DC DC converter The symbol below indicates ao twisted pair wiring External power a Se SS gees ce eet al supply The illustration shows one signal component extracted from the overall configuration External power supply Usable voltage range 21 4 to 26 4 V DC Current 4 axis type 90 mA or less consumption 2 axis type 45 mA or less The current capacity of the 5 VDC output common pins B4 and B13 is a total of 120 mA max for all of the 5V output common pins When open collector pulse output is used the value of 15 mA p
31. Pulse output diagram Shared memory setting K 500 K 10000 Startup speed fs pps Target speed ft pps Acceleration deceleration time Ac ms Reverse Forward Pulse output XO BUSY 500 gt _ _ 100 Deceleration begins at the point t ms ee C when the contact goes off T Y43 Forward CPU gt JGP Reverse jog start JGR Pulse output busy flag 2 A a a CPU lt CPU lt Elapsed value Pe done flag ne A iia LYNX XXX XXX XY Count Count FP2 Positioning Unit Jog Operation Shared memory setting Control parameter Set values in sample program setting content example HO Linear acceleration deceleration is specified Control code 8 1 Sample Program Range of acceptable settings HO Linear acceleration deceleration H2 S acceleration deceleration Startup speed pps K500 KO to K1000000 Target speed pps K10000 K1 to K1000000 Specify a value larger than the startup speed Acceleration deceleration time ms Program X90 R90 xo M F x91 oF R90 Fi DMV H 0 DT 0 F1 DMV K 500 DT 2 F1 DMV K 10000 DT 4 Fi DMV K 100 DT 6 DTO K 8 H100 F151 WRT KO 4 This specifies the positioning unit in slot no 0 from which the 8 word contents from
32. SIGN Command pulse input disabled Servo ready output Servo alarm output Positioning done signal ag i i i ee ee a Ne ee a ee ae a J When connecting the CW drive disabled and CCW drive disabled input the servo ready output and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis As of October 2008 this is the end of life EOL product 15 7 Dimensions and Driver Wiring FP2 Positioning Unit 15 2 Wiring for Motor Driver 15 2 5 Oriental Motor UPK W Series a Positioning unit Motor driver I DOOOL ale rQ CW pulse input b Pulse output A wa t4 l CCW pulse OOK omg Pulse output B o ehi input 5 eal PEG COM A O HEAT output V output O a Overheatin i outpu E BAB i 9 A20 DC DC 1 24 V Se Power supply B20 circuit fi 1 6K _JA4 A13 1 asia 1 6K AZ A16 Near home i input DA B7 B16 I Li Li 24 V DC Power supply 24V 9 GND 9 Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis 15 8 FP2 Positioning Unit Dimensions and Driver Wiring 15 2 Wiring for Motor Driver 15 2 6 Motor Driver I F Terminal 1 axis type AFP8501 2 axis type AFP8502 Positioning uni
33. This is one output format used in pulse output signal circuits in which connections can be made in accordance with the voltage of the power supply being used by connecting an external resistance This is used when connecting a driver that does not have line driver input such as a stepping motor Motor driver Positioning unit a mee e el ners Tl Vo l bees gs See ed E Lisna Line driver method Open collector method Jog operation This refers to operation in which the motor is rotated only while operation commands are being input This is used to forcibly rotate the motor using input from an external switch for instance when adjustments are being made Depending on the circumstances this can also be applied to unlimited feeding in some cases Deceleration stop This is a function which interrupts the operation in progress slows the rotation and brings it to a stop This is used to stop whatever operation is being carried out Forced stop This is a function which interrupts the operation in progress and stops it immediately It is used to initiate an emergency stop using an external switch and to initiate a temporary stop through an overrun Twisted pair cable This refers to a cable constructed of two wires which suppresses the effects of noise Because current of the same size is flowing in the reverse direction noise is blanked out which reduces
34. cece ees 4 17 4 5 1 How the Internal Absolute Counter Works 4 17 4 5 2 Reading Elapsed Value cece eee eee 4 19 4 5 3 Writing Elapsed Value 0 cee ee 4 20 Chapter5 Turning the Power On and Off and Booting the System 5 1 Safety Circuit Design 2 carise ek hess bi ese Raed so bed ee ob es 5 3 5 2 Before Turning ON the Power 000 c eee eee eee eee ee 5 4 5 3 Procedure for Turning On the Power 00 cece ee eee eee eee 5 6 5 3 1 Procedure for Turning On the Power 00e eee eeee 5 6 FP2 Positioning Unit Table of Contents 5 3 2 Procedure for Turning Off the Power 00 ee eae 5 7 5 4 Procedure Prior to Starting Operation 0 eee eee eee 5 8 5 4 1 Checking the External Safety Circuit 02005 5 8 5 4 2 Checking the Safety Circuit Based onthe PLC 5 9 5 4 3 Checking the Rotation and Travel Directions and the Travel Distance 00 2 cece eee ees 5 10 5 4 4 Checking the Operation of the Near Home Switch and Home SWICK exc hoeske iee a sees EEEE 5 11 Chapter 6 Automatic Acceleration Deceleration Control E Point Control Single Speed Acceleration Deceleration 64 Sample Program lt gecsscgeavdsickgal tics ake ce E 6 3 6 1 1 Increment Relative Value Control Plus Direction 6 3 6 1 2 Increment Relative Value Control Minus Direction 6 7 6 1 3
35. 0 to few pps in E point control and P point control the pulse output done flag which turns ON when the deceleration stop is completed is output behind the specified time Ideal operation t2 gt t1 ti ti Completion of output for the last 1 pulse gt 0 0 Pulse ouput Pulse output done flag done flag For the ideal deceleration stop the startup speed of 10 pps or more is recommended to set 6 10 FP2 Positioning Unit Automatic Acceleration Deceleration Control 6 1 Sample Program 6 1 3 Absolute Absolute Value Control For this control the Absolute method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side 4 axis type positioning unit 64 point type input unit Will move to 25000 no matter where the current point is mw next page 6 11 Automatic Acceleration Deceleration Control FP2 Positioning Unit 6 1 Sample Program Pulse output diagram control output output E point start relay Pulse busy flag Pulse Shared memory setting Control code Startup speed fs pps Target speed ft pps Acceleration deceleration
36. 1 3 1 Restrictions on Combinations Based on Current Consumption The internal current consumption at 5 V DC power supply for the positioning units are noted below When the system is configured the other units being used should be taken into consideration and a power supply unit with a sufficient capacity should be used Current consumption at 5V DC FP2 2 axis type positioning unit FP2 PP2 225 mA FP2 4 axis type positioning unit FP2 PP4 400 mA For information on restrictions applying to combinations based on current consumption refer to the FP2 hardware manual 1 3 2 Restrictions on Unit Installation Position The positioning unit may be installed in either the CPU backplane or the expansion backplane position However it should be installed to the right of the power supply unit and CPU CPU backplane Positioning unit na n Q W Either position may be used for installation Expansion cable 9 Oia uu IIe ITT yi y qt qq S lo fe ee Expansion backplane 1 3 3 Restrictions on the Number of Units Installed There are no restrictions on the number of units that may be installed as long as the number is within the restriction range noted for conditions 1 3
37. 4 Selection of Acceleration Deceleration Method 4 4 1 Linear and S Acceleration Decelerations The FP2 positioning unit has two methods of acceleration and deceleration which can be selected linear acceleration deceleration and S acceleration deceleration With linear acceleration deceleration acceleration and deceleration the acceleration from the starting speed to the target speed and the reverse are carried out in a straight line acceleration and deceleration take place at a constant percentage f pps Linear acceleration deceleration gt Eco e t ms Acceleration Acceleration deceleration deceleration time time S acceleration deceleration is carried out along an S shaped curve When acceleration or deceleration is first begun the speed is relatively slow and gradually increases When the acceleration or deceleration has been almost completed the speed slows once again This results in comparatively smooth movement A f pps S acceleration deceleration y un auai a y y tms Acceleration Acceleration deceleration deceleration time time 4 15 Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 4 Selection of Acceleration Deceleration Method 4 4 2 Indicating the Method of Acceleration Deceleration Indicating the method of acceleration deceleration This is specified in the program as a control code gt a Examp
38. Absolute Absolute Value Control cee eee eee 6 11 6 2 Flow of E Point Control Operation 0 0 c cece eee eee 6 15 6 3 Operation of the Input and Output Contacts Before and After E Point Control 3 13 4 co ctea Alo cise ptnlnh Sted Aletn ce disge Rectan is Diced Sy daca tea 6 18 Chapter 7 Automatic Acceleration Deceleration Control P Point Control Multi Stage Acceleration Deceleration 7 1 Sample Program sr ceeear ne hie cate aia Seed CePA Omer ah Seda earn astee Male 7 3 7 1 1 Increment Relative Value Control Plus Direction 7 3 7 1 2 Increment Relative Value Control Minus Direction 7 7 7 1 3 Absolute Absolute Value Control 2 cece eee eee 7 11 7 2 Flow of P Point Control Operation 2 00 c cece eee 7 15 7 3 Action of the I O Contacts Before and After P Point Control 7 20 7 4 Precautions When Creating P Point Control Programs 7 22 7 4 1 Precautions Concerning the Setting Value Change Confirmation Flag X A pedrera ie i a E Bai A nd EA SER 7 22 Chapter 8 Jog Operation 8 1 Sample Programi i ea oni ads eee a a a dae h ee ee a aia ee 8 3 8 1 1 Jog Operation Forward and Reverse 00 0e eee aee 8 3 8 1 2 Jog Operation Forward Reverse and Speed Changes 8 7 8 2 Sequence Flow for Jog Operation 0 cee eee eee ees 8 11 8 3 Changing the Speed During Jog Operation 0 eee e
39. DF H Home return command D THOF Home return command pulse pi E F1 DMV 10 DTO H Fi DMV K 500 DT2 F1 DMV K 2000 DT4 Fi DMV K 100 DT6 F151WRT K O DTO K 8 H 100 X91 R1 R6 R3 CCW limit detection R3 X0 R3 R6 R4 A Reversal command L ne following limit detection R4 R5 ee L Reversal command pulse following limit detection F DMV K 50 DT 2 Fi DMV K 2000 DT 4 Fi DMV K 300 DT 6 Fi51WAT KO DT 0 K8 H 100 X7 R4 R7 R6 F fe Near home L error detected R6 R7 ome position return Veal o retry command Ge o 1 Home return done pulse X8 Y45 C R9 Return to home position completed and stored in memory X80 XO R13 R10 DF j R10 H Positioning 1 in progress R10 R11 Fi DMV K 1000 DT2 F1 DMV K 10000 DT4 F1 DMV K 100 DT6 Fi DMV K 10000 DT8 Fi DMV H 10 DTO L L L F151 WRT KO DTO K 10 H 100 next page 16 1 Sample Programs 16 5 Sample Programs FP2 Positioning Unit 16 1 Sample Programs R10 X1 R9 R12 IHF He R12 Positioning 1 completed and stored in memory R12 R13 CDF Positioning 1 done L XO R23 R9 pulse R20 aE pe T n H Positioning 2 in progress R21 DO ep Positioni operation command puls 0 Ua ositioning 2 Fi DMV H 10 DTO Fi DMV K 1000 DT2 Fi DMV K 10000 DT4 Fi DMV K 100 DT6 F
40. Problems 13 3 4 Rotation Movement Direction is Reversed Example of reversed rotation movement direction Reverse direction Intended direction nooooo0g gt Solution 1 Make sure the wiring between the positioning unit and the driver has been correctly connected Point to check Make sure the CW CCW output or the Pulse Sign output has been connected to the pertinent input on the driver side For detailed information about connection of pulse output signal section 3 4 Solution 2 Check to make sure the control codes in the program match the specifications for the position command values Point to check The settings for the increment relative value control and the absolute absolute value control are specified through the control codes in the program For detailed information about increment and Absolute section 4 3 Solution 3 If the settings for the position command data have been designed with the plus and minus directions reversed change the direction of rotation using the mode setting switches on the back of the unit For detailed information about operation mode setting switch setting Om section 4 1 13 12 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs 13 3 Resolving Problems 13 3 5 The Stopping Position is Off for a Home Return Stopping position is exceeded Startup speed Near home input switch on ee oe ue Home input on
41. The specified values vary depending on the method of acceleration deceleration the home return direction the home input logic and the near home input logic see page 9 12 Startup speed pps K500 KO to K1000000 Target speed pps K10000 K1 to K1000000 Specify a value larger than the startup speed Acceleration deceleration time ms Program X101 R101 DF R101 H F1 DMV H 14 DT 0 F1 DMV K 500 DT 2 F1 DMV K 10000 DT 4 F1 DMV K 100 DT 6 Fi51WRT KO DTO K 8 H100 t This specifies the positioning unit in slot no 0 from which the 8 word contents from data registers DTO to DT7 are written to the shared memory addresses H100 to H107 R101 Y42 SS KO to K32767 z Condition of home ra S S Control code Startup speed Target speed Acceleration deceleration time 7 we Shared memory writing XN r gt Home return start K J 9 10 FP2 Positioning Unit Home Return 9 1 Sample Program Precautions concerning the program e The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control home returns and other types of control These should not be overwritten by other conditions e Ifthe values for the startup speed the target speed
42. Y axis Work area of this program Movement amount of X axis absolute value of target position of X axis current position of X axis Movement amount of Y axis absolute value of target position of Y axis current position of Y axis Movement amount of square of X axis Movement amount of square of Y axis Movement amount of square of X axis movement amount of square of Y axis Linear movement amount Movement amount of X axis Linear movement amount Movement amount of Y axis Linear movement amount ABS DT6 DT10 ABS DT8 DT12 Square of DT14 Square of DT16 DT18 DT20 v DT22 DT14 DT24 DT16 DT24 Control code of X axis Startup speed of X axis component Target speed of X axis component Acceleration deceleration time Target position of X axis H1 Absolute DTO DT26 DT2 DT26 DT4 DT6 Control code of Y axis Startup speed of Y axis component Target speed of Y axis component Acceleration deceleration time Target position of Y axis H1 Absolute DTO DT28 DT2 DT28 DT4 DT8 16 10 FP2 Positioning Unit Sample Programs Program R10 F1 DMV K 500 DT 0 Startup Startup speed request Fi DMV K 10000 DT 2 Target speed DMV K 100 DT 4 Acceleration deceleration time F1 DMV K 4000 DT 6 X axis movement destination Startup F1 DMV K 3000 DT 8 request Y axis movement R10 destination CALL 0 H DF Rg VA Startup request R1 X axis c
43. Y43 NCZ Reverse H i jog switch Ca re TT d N OFF Forward Sr e080 008 Reverse The startup contact relay Y44 for reverse rotation is turned on Forward jog switch Reverse a jog switch x91 BH OFF gt ONS OFF X91 H e OFF ON Reverse Te Le ee The control codes determine whether S acceleration deceleration or linear acceleration deceleration is used When the startup contact is turned on acceleration takes places for the acceleration deceleration time it takes to reach the target speed When the contact is turned off deceleration takes place until the startup speed is reached and operation then stops 8 13 Jog Operation FP2 Positioning Unit 8 3 Changing the Speed During Jog Operation 8 3 _ Changing the Speed During Jog Operation Specifying a speed change during jog operation To change the speed during jog operation the program should be set up so that only the Target speed parameter in the shared memory is overwr
44. and deceleration can be controlled simply by providing the startup speed target speed acceleration deceleration time and position command values as data Startup time value Position command p speed Target speed Acceleration b deceleration o eoosog Speed F Positioning unit K Motor Time The linear acceleration deceleration and S acceleration deceleration can be selected simply by setting parameters enabling support of the necessary control for smooth acceleration and deceleration Speed Linear acceleration deceleration S acceleration deceleration Linear interpolation possible through user programs Time The FP2 positioning unit can handle simultaneous startup of multiple axes enabling simultaneous control of linear interpolation and other elements through user programs FP2 Positioning Unit Functions of Unit and Restrictions on Combination 1 1 2 Unit Types Unit type and order number 2 axis type For 2 axis control 1 1 Functions of FP2 Positioning Unit FP2 PP2 4 axis type For 4 axis control eS Note FP2 PP4 Wire pressed connectors are provided as accessories with the various units one for 2 axis type and two for 4 axis type For detailed information about connectors provided Section 3 1
45. and processing are explained by the P point control which consists of sections to III Section I Operation is determined by these five types of data e Control code e Startup speed e Target speed e Acceleration deceleration time e Position command value Section II and III Operation is determined by these three types of data e Target speed e Acceleration deceleration time e Position command value 7 17 Automatic Acceleration Deceleration Control FP2 Positioning Unit 7 2 Flow of P Point Control Operation Operation steps Step 1 Preparatory stage The data required for section of the operation is transferred to the shared memory in advance Data for section a ee e E a Control code eV Startup speed H Target speed L H Acceleration deceleration time A F a J H Position command value Shared memory Obed oo Step 2 Executing the operation of Section Operation begins when the contact relay Y41 for P point control is turned on At this point X_A goes on When X_A goes on the data for the operation of section Il is transferred to the shared memory X_A goes off after the data has been transferred eseeee
46. and reverse rotation are started at the same timing forward rotation takes precedence Also if one or the other is started first rotation in that direction takes precedence 8 10 FP2 Positioning Unit Jog Operation 8 2 Sequence Flow for Jog Operation 8 2 Sequence Flow for Jog Operation Jog operation When a 4 axis type positioning unit is mounted in slot 0 Operation example When the contact for forward rotation is turned on forward rotation begins and acceleration is initiated based on the settings When the contact is turned off deceleration takes place based on the settings and the operation stops When the contact for reverse rotation is turned on reverse rotation begins and acceleration is initiated based on the settings When the contact is turned off deceleration takes place based on the settings and the operation stops Control code Startup speed Target speed Acceleration deceleration time Data necessary for operation f pps 4 Forward Reverse Forward joa gt lt gt lt gt aa jog t ms Y43 Gi C E Reverse jog start wpe a en SA eee ey ae es Pulse output busy flag XO e a a S SCC Pulse output done flag TAs Xi CPU Epp etapsed va WAK MEA W Count Count mw next page 8 11 Jog Operation FP2 Positioning Unit 8 2 Sequence Flow
47. are the acceleration deceleration controls 2 The target speed is changeable during operation when linear acceleration deceleration operation is selected 3 This is supplied to the interior of the unit from the power supply unit through the backplane bus 4 Power is supplied from an external source to the unit connector Simple acceleration decel eration control for movement to an end END point E point control P point control Multi stage acceleration deceleration control for movement through a pre set series of transit PASS points Time ms Specifications FP2 Positioning Unit 14 2 Table of Shared Memory Area 14 2 Table of Shared Memory Area Shared memory address Hexadecimal 1 2 3 axis Control code Descriptions Acceleration decelera tion method Liner S Control method Increment Absolute Home return direction and logic Pulser transfer multiple Setting needed not needed Y needed N not needed E point control P point control Jog op eration Home return Startup speed fs pps Startup speed setting Setting range O to 1 000 000 pps Y for first speed only Target speed ft pps Target speed setting Setting range 1 to 1 000 000 pps Y Acceleration deceleration time Ac ms Acceleration decelera tion time setting Setting range 0 to 32 767 ms Position com mand
48. being initiated so that the difference between them is zero Deviation counter clear signal This is installed in the FP2 positioning unit and goes on when a home position return is completed to notify the driver that the table has arrived at the home position Pulser operation This is a device which generates pulses manually and is used for adjustment when manual operation is used The same type of output as that from the encoder is obtained and the FP2 positioning unit is equipped with a dedicated input terminal FP2 Positioning Unit Glossary Transfer multiple With the FP2 positioning unit this can be specified when the pulser input operation function is used When the number of pulses output is double the number of pulser input signals the transfer multiple is said to be 2 and when the number of pulses is five times that of the pulser input signals the transfer multiple is said to be 5 A f Example FP positioning unit and the pulser input transfer multiple function Input from pulser Input from pulser Y v Standard pulse Pulse with transfer multiple of 2 Pulse with transfer LALIT LULL A multiple of 5 xi Glossary FP2 Positioning Unit xii Chapter 1 Functions of Unit and Restrictions on 1 1 1 2 1 3 Combination Functions of FP2 Positioning Unit 1 3 1 1 1 Functions of Unit stick cama
49. count value becomes 0 When a home return has been completed the elapsed value in the shared memory is cleared and at the same time the deviation counter clear output signal is output for approximately 1 ms wr next page 9 19 Home Return FP2 Positioning Unit 9 2 Flow of Operation Following a Home Return Sa Notes Home input signals input during deceleration are not viewed as home input signals Deceleration continues without stopping until the startup speed is reached and then the motor continues to rotate at the startup speed until a home input signal is input If ahome return is started at whatever point both the near home and home input become valid the table positioning unit does not move FP2 Positioning Unit Home Return 9 3 Action of the I O Cont act Before and After a Home Return Operation 9 3 Action of the I O Contact Before and After a Home Return Operation Output frequency f pps ft Home return start Y 2 ORGS ear home input DOG X 6 ZSG Deviation counter clear output Pulse output busy flag X0 BUSY Home return done flag x_8 ORGE Pulse output done flag Pulse output begins within 0 1 ms after the startup contact goes on Time t s begins at the leading ear home input Deceleration edge of the n Pulse output stops at the leading edge of the home input A
50. deceleration time 0 to 32767 ms Home return speed Home return Speed setting possible changes return speed and search speed Input terminals Operation mode Home input Near home input E point control Linear and S accelerations decelerations selecting possible Note 1 P point control Linear and S accelerations decelerations selecting possible Note 1 Home return function Linear and S accelerations decelera tions selecting possible Jog operation function Linear and S accelerations decel erations selecting possible Note 2 Pulser input function Transfer multiplication ratio x 1 x 2 x5 x10 x50 x 100 x 500 x 1000 selecting possible Startup time 0 1 ms or less Output mode Pulse Sign mode CW CCW mode Switched using the setting switch on the back of the unit Other functions Deviation counter clear signal output contact Internal current consumption at 5 V DC Note 3 225 mA or less 400 mA or less External power supply Note 4 24 V DC 21 6 to 26 4 V DC Current consumption 45 mA or less 24 V DC 21 6 to 26 4 V DC Current consumption 90 mA or less Max coefficient speed 250 kHz Weight Approx 125 g 4 409 oz Approx 150 g 5 291 oz 14 4 FP2 Positioning Unit Specifications 14 1 Table of Performance Specification ia Notes A Speed pps 1 E point and P point control shown in the following diagram
51. driver Pulse output A Output form Open collector open collector Operating voltage 4 75 to 26 4 V DC range Pulse output B Max load current 15 mA open collector ON voltage drop 0 6 V or less FP2 Positioning Unit Wiring Signal name 5 V DC output 3 2 Circuit oB4 7 GND Output voltage range Input Output Specifications and Connector Pin Layout Specification 4 75 to 5 25 VDC Max load current Total 120 mA at 5 V DC output Deviation counter clear Deviation counter clear Power supply input and Ere Signal name FE oo ground terminals Circuit Output form Open collector Operating voltage range 4 75 to 26 4 V DC Max load current 15 mA ON voltage drop Ec A 9 B19 ____ FE 1 2 Vor less Specification External power supply input 24 V DC External power supply input 24 V DC EF Notes 24VIN A20 Power supply voltage range 21 4 to 26 4 V DC Current consumption 4 axis type 90 mA or less 2 axis type 45 mA or less Pin numbers A19 B19 A20 and B20 are shared among all of the axes e For the 4 axis type pin numbers A19 B19 A20 and B20 are connected internally using the A19 B19 A20 and B20 pins for the 3 axis and 4 axis connectors Wiring FP2 Positioning Unit 3 2 Input Output Specificat
52. goes on during pulse output in various operations such as E point control P point control home return and jog operation and remains on until the operation has been completed 2 This goes on when the various operations such as E point control P point control jog operation and pulser input operation have been completed It also goes on when deceleration and stopping have been completed and when a forcible stop has been completed It goes off when the next operation such as E point control P point control jog operation a home return or pulser input operation is initiated 3 This goes on when P point control or E point control is initiated and goes off when the shared memory write instruction F151 P151 is executed in the program and data of any kind is written to the shared memory of the positioning unit r next page 14 11 Specifications FP2 Positioning Unit 14 3 Table of I O Contact Relay Allocation 4 The input and output contact relay numbers indicate the number when the unit number is 0 The numbers actually used change depending on the position in which the unit is installed w section 4 2 3 14 12 Chapter 15 Dimensions and Driver Wiring 15 1 Dimensions 15 2 1 15 2 2 15 2 3 15 2 4 ERPI SER a oom eeletetea Sats spre ca es adits 15 3 15 2 Wiring for Motor Driver 02 ssccuwer es shea Pee yes 15 4 Panasonic A Series nannaaaaa 15 4 Panasonic EX Series 00 45
53. has been initiated and goes off when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is on except for a forced stop and a deceleration and stop 3 This is reset when the power supply is turned off This flag is shared among E point control P point control jog operation and home returns except for pulse input enabled operation Pulse output done flag X_1 1 This goes on when the pulse output is completed and is maintained until the next E point control P point control jog operation home return or pulser input enabled status is initiated 2 This is reset when the power supply is turned off This flag is shared among E point control P point control jog operation and pulser input enabled operation 8 6 Precautions When Changing the Speed During JOG Operation For changing the target speed during JOG operation linear acceleration deceleration setting only do not change the target speed while deceleration takes place when the JOB contact goes on to off Forward JOG Target speed 2000 X 3000 Do not write the target value within this interval Chapter 9 9 1 9 2 9 3 9 4 9 5 Home Return Sample Program 20 veenwren shee ras ahaa Keer 9 3 9 1 1 Home Return in the Minus Direction 9 3 9 1 2 Home Return in the Plus Direction 9 8 Flow of Operation Following a Home Return 9 13 9 2 1 Operation If the Hom
54. home returns jog operation and pulser input operation A f pps 10000 L _ _ __ _ 300 l gt 100 t ms CPU gt Y40 EST S CPU X0 esn COo CPU XI DP _ Y45 CPU emp 11 8 FP2 Positioning Unit Deceleration Stop and Forcible Stop 11 3 I O Contact Operation Before and After a Stop 11 3 I O Contact Operation Before and After a Stop Output frequency f A pps Forcible stop PREA In progress stop gt Time t s E point control start Yo EST Deceleration stop relay Y 6 DCL Forcible stop relay Y5 EMR Pulse output busy flag Xx BU If the deceleration stop relay goes on deceleration begins immediately on pulse LK la If the forcible stop relay goes output stops immediately Ra This goes off with the next scan following stopping off pulse output after deceleration A D C ieee SSS a T AOA T This goes off one scan after the forcible stop relay goes on lt This goes on with the next scan following stopping on pulse output after This goes on one scan after the forcible stop relay goes on p GQ et E E Pulse output done flag KA EDP deceleration 0 Y 1 Deceleration stop relay Y_6 1 When the deceleration stop relay goes on the operat
55. ontrol code AWaYS Si of X axis F312 F DT 26 DTO DT32 Ratio of Startup Startup speed X axis speed of X axis F312 F DT 26 DT2 DT34 Ratio of Target Target speed X axis speed of X axis m Dw DT 4 DT 36 Acceleration Acceleration deceleration deceleration time time of X axis Fi omw DT 6 DT 38 X axis X axis movement demin Sosinaton R9010 coordinates F1 DMV H 1 DT 40 Always on Control code of Y axis F312 F DT 28 DTO DT 42 Ratio of Startup Startup speed Y axis speed of Y axis F312 F DT 28 DT2 DT 44 Ratio of Target Target speed Y axis speed of Y axis Fm DMV DT 4 DT 46 Acceleration Acceleration deceleration deceleration time of Y axis ime m pmMv pt 8 vt 4 Y axis Y axis movement movement destination R9010 destination coordinates Y axis condition RET The meaning of the symbol in the program FP2 Positioning Unit The symbol is specified when a real number operation instruction is used to convert integer data to real number data or real number data to integer data 16 12 Record of changes Manual No Date Description of changes ARCT1F282E JUL 1999 First edition ACG M282E ARCT1F282E 1 DEC 2000 Second edition ACG M282E 1 ARCT1F282E 2 NOV 2006 Third edition ACG M282E 2 ARCT1F282E 3 NOV 2008 Fourth edition ACG M282E 3 Change in Corporate name ARCT1F282E 4 AUG 2011 Fifth edition Change in
56. out repeatedly in accordance with the settings and then the operation stops Data necessary for operation P point control 2 executed CPU 41 Control code Startup speed Target speed O Target speed Target speed Acceleration deceleration time Acceleration deceleration time Acceleration deceleration time o Position com mand value Position com Position com mand value l l l mand value J Ea _ XO ony Bosy I L XA CPU lt CEN Elapsed value The input XO is the BUSY contact that indicates that operation is in progress while X1 is the EDP contact that indicates that operation has been completed After operation has been completed the EDP contact remains on until the next operation request is issued Can be set again ___ XXX When Y41 is set to on in the program the motor of the first axis begins accelerating Goes off at the point when the setting is entered again No re setting XX 7 16 FP2 Positioning Unit Automatic Acceleration Deceleration Control 7 2 Flow of P Point Control Operation Data necessary for settings As shown below data items must be written to the specified addresses in the shared memory in the order in which operations are to be executed As shown in the illustration the operations
57. output We recommend using twisted pair cables for connections that are less subject to noise Wiring FP2 Positioning Unit 3 9 Precautions Concerning Wiring Chapter 4 Confirming the Unit Settings and Design 4 1 4 2 4 3 4 4 Contents Setting the Operation Mode Setting Switches 4 3 4 1 1 Selection of Rotation Direction 4 3 4 1 2 Selection of Pulse Output Mode 4 4 4 1 3 Relationship Between Switch Setting and Rotation Direction 4 5 Confirming the Slot Number and IYO Number Allocations 00 cece 4 7 4 2 1 Occupied VO Area 0 2 0c cee eee 4 7 4 2 2 Contents of Input and Output Allocation Sei ee alka ce bee a hea does 4 8 4 2 3 Confirming the Allotted I O Number and Slot Number 0000eeeees 4 10 4 2 3 1 Confirming I O Number Allocations 0 5 4 10 4 2 3 2 Confirming Slot No 4 12 Increment and Absolute 00000000e 4 13 4 3 1 Increment relative value control 4 13 4 3 2 Absolute absolute value control 4 14 Selection of Acceleration Deceleration Method evista tinal a iad ah bid a ead 4 15 4 4 1 LinearandS Acceleration Decelerations 4 15 4 4 2 Indicating the Method of Acceleration Deceleration 4 16 mw next page Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 5 Internal Absolute Counter 4 5 1 4 5 2 4 5 3 sch ean ae
58. pps Control code can be omitted tartup speed fs S f bp Tog ft pps Acceleration decel eration time Ac ms 6000 Position command value Pt pulse 104h 105h 106h K 109h 2000 5000 15000 pulses 500 100 T gt 500 ms P point control start relay Y41 CPU PST Setting value change con firmation flag CPU lt XA CEN Pulse output busy flag Goes off when F151 instruction is executed XO Pulse output done flag XI CPU lt EDP Elapsed value 10000 10000 No of counts when booted Po Count 36000 No of counts when stopped FP2 Positioning Unit Automatic Acceleration Deceleration Control Shared memory setting Control parameter setting content Control code Set values in sample program example 1st speed HO Increment Linear acceleration deceleration 2nd speed The same as left 3rd speed The same as left 7 1 Sample Program Range of acceptable settings HO Increment Linear acceleration deceleration H2 Increment S acceleration deceleration Startup speed pps K500 The same as left The same as left K10 to K1000000 K10 is the recommended value Target speed pps K5000 K20000 K500 K11 to K1000000 The target speed for the first speed should be set
59. shifted to any other operation while this signal is on except for a forced stop and a deceleration and stop 3 This flag is reset when the power supply is turned off This flag is shared among E point control P point control jog operation and home returns except for a pulser input enabled operation Pulse output done flag X_1 1 This goes on when the pulse output is completed and is maintained until the next E point control P point control jog operation home return or pulser input enabled status is initiated 2 This flag is reset when the power supply is turned off This flag is shared among E point control P point control jog operation and pulser input enabled operation 6 19 Automatic Acceleration Deceleration Control FP2 Positioning Unit 6 3 Operation of the Input and Output Contacts Before and After E Point Control Chapter 7 Automatic Acceleration Deceleration Control P Point Control Multi Stage Acceleration Deceleration 7 1 Sample Program ocn02 008 dae aes eee ee Re Es 7 3 7 1 1 Increment Relative Value Control Plus Direction 20 2 08 cess ee ee pee os 7 3 7 1 2 Increment Relative Value Control Minus DIPGCUON igeeo ee vax deck xeR OS 7 7 7 1 3 Absolute Absolute Value Control 7 11 7 2 FlowofP Point Control Operation 7 15 7 3 Action of the I O Contacts Before and After P Point Control 7 20 7 44 Precautions When Creating P Po
60. slows at the near home position and the motor stops at the home input position Return position Current position Limit over switch vA o Near home switch Limit over switch If the near home position is not in the direction of the home return Q The home return begins in the direction specified by the program Movement is continued until the limit over input position is reached Current position Limit over switch Pa Home switch Near home switch Limit over switch FP2 Positioning Unit Home Return 9 5 Practical Use for a Home Return 2 When the limit over is detected the direction of movement is reversed Movement then continues until the near home input position which briefly turns on then off again is reached Limit over position Near home position side 4 side Limit over switch ve Home switch Near home switch Limit over switch 3 When the near home input is detected the direction of movement is reversed again and movement stops at the home position Home Near home position position side side Motor Limit over switch Home switch Near home switch Limit over switch Home Return FP2 Positioning Unit 9 5 Practical Use for a Home Return Sample program X102 X0 R8 Y45 RO 0 7 N Start of home Pulse output Home ret
61. speed Acceleration deceleration time Pulser Startup speed input Target speed Acceleration deceleration time No applicable condition Operation when above error occurs Operation does not begin Deceleration stop e The position command value and the control code are not subject to setting errors regardless of whether the increment or absolute method is selected e Data of this area is not subject to errors e When starting any of the modes except pulser input an error will occur if the startup speed setting is greater than or equal to the target speed setting e A setting change can only be made during jog operation if linear acceleration deceleration is selected 13 6 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs 13 3 Resolving Problems 13 3 Resolving Problems 13 3 1 If the Positioning Unit ERR LED Lights Conditions There is a setting error in the positioning data Procedure 1 Using programming tools check to see if the values in the data registers being used as the positioning parameter data tables are within the allowable setting range Allowable setting range for positioning data Type of parameter Allowable setting Program range specifications Startup speed pps O to 1 000 000 pps KO to K1000000 Target speed pps 1 to 1 000 000 pps K1 to K1000000 Acceleration 0 to 32 767 ms KO to K3276
62. startup contacts for the various operations become valid after the error has been canceled If the error clear signal is being cleared in the program it is possible to clear the error with the other axes still in operational status 13 8 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs 13 3 Resolving Problems Clearing an error with the error clear signal Using the program to clear the error With this method errors are cleared through the program using a switch or other means connected ahead of time Any desired input can be used to turn on the error clear signals corresponding to the various axes a Example mee ae a Input X100 is used to clear a positioning unit set value error Note The relay number used varies depending on the allocated position Section 4 2 and 14 3 Clearing an error with the error clear signal 2 Using forced output to clear the error Procedure 1 Select FORCE I O on the menu of the programming tool software 2 Specify the relay Y_F for the forced output Turn on the relay for the forced output and turn it off 4 Cancel the forced status mw next page Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 13 3 Resolving Problems eo Note After using forced output always cancel the forced status The relay number used varies depending on the unit type the allocated position and the number of axes Section 4 2 and 14 3
63. supplied is not supplied H26 S direction Valid when power Valid when power is not supplied is not supplied H34 Linear direction Valid when power Valid when power is supplied is not supplied H36 S direction Valid when power Valid when power is supplied is not supplied 9 12 FP2 Positioning Unit Home Return 9 2 Flow of Operation Following a Home Return 9 2 Flow of Operation Following a Home Return Home return When a 4 axis type positioning unit is mounted in slot 0 Operation example When the startup contact is turned on acceleration is carried out based on the settings until the target speed is reached If near home input exists at that point the speed slows to the startup speed and then if home input exists at that point as well the movement stops Control code Data necessary Startup speed for operation Target speed Acceleration deceleration time f pps 4 irection of decreasing elapsed value t ms Home return start Y42 CPU ORGS pS C a Near home input External gt X7 DOG l Home input External gt X6 ZSG Deviation counter clear output TFE Pulse width of Deviation External lt counter about 1 ms clear output Pulse output busy flag Home return done 7 x8 CPU ORGE pe eee Pe Count
64. the System 5 2 Before Turning ON the Power 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 5 3 1 Procedure for Turning On the Power 5 Checking the CPU mode selection switch Set the CPU in the PROG mode Setting it in the RUN mode can cause inadvertent operation i Note When the power to the PLC is turned on internal data in the shared memory will be cleared set to zero Check to see whether the startup contact relays for the various operations of the positioning unit are on If they are a set value error will occur for the positioning unit unless the data settings for the shared memory have been entered Turning the Power On and Off and Booting the System FP2 Positioning Unit 5 3 Procedure for Turning On the Power 5 3 Procedure for Turning On the Power When turning on the power to the system incorporating the positioning unit the nature and statuses of any external devices connected to the system should be taken into consideration and sufficient care should be taken that turning on the power does not initiate unexpected movements or operations 5 3 1 Procedure for Turning On the Power Procedure 1 Turn on the power supplies for input and output devices connected to the PLC including the power supply for the line driver output or open collector output
65. the positioning unit FP2 Positioning Unit Automatic Acceleration Deceleration Control 7 4 Precautions When Creating P Point Control Programs The program should be structured in such a way that F151 instruction cannot be executed and the setting value change confirmation flag X_A cannot be rewritten under any other conditions Interlock X80 X86 XO R80 x0 sat eo DPH DF L I R80 Fi DMV H o DT 0 Fi DMV K 500 DT 2 F1 DMV K 10000 DT 4 Frogtam of F1 DMV K 100 DT 6 E point control i F1 DMV K 10000 DT 8 R80 F1 DMV H o DT 0 Fi DMV K 500 DT 2 Fi DMV K 5000 DT 4 K K Fi DMV 100 DT 6 Fi DMV 10000 DT 8 F151 WRT KO DTO K10 H100 F151 WRT KO DTO K10 H100 g R80 Y40 R80 Y40 RTE 4 x86 xo R86 yw lnterlock nN DF i r x86 x80 ae 0 R86 R86 ne 0F 1 b L FO MV H 14 WR OJ R86 XA FO MV H 1 WR 0 DF F101 SHL WR 0 K 1 J XA Ab DF F101 SHL WR 0 K 1 DF F1 DMV H 0 DT 0 Ro 2 r Fi DMV K 50 DT 2 DF FI DMV a H O PDT 0 F1 DMV K 5000 DT 4 ER ADMVT pK 800 5 DT 22 Fe SB elie A00 eC F1 DMV K 5000 DT 4 F1 DMV K 15000 DT 8 DE ON gt LOO OER F1 DMV K 15000 DT 8 F151 WRT KO DTO K10 H100 3 Program of REIS 0 A z F151 WRT KO DTO K10 H100 P point control R
66. to a value larger than the startup speed K11 is the recommended value Acceleration deceleration time ms K1 to K32767 Position command K5000 value pulse K15000 K 2147483648 to K2147483647 Automatic Acceleration Deceleration Control FP2 Positioning Unit 7 1 Sample Program Program l Check to make sure the pulse output busy flag is not BUSY Xo R86 _ pF _L Starting condition R86 lt Fo mv H 14 WR 0 Shift register preset XA HDF F101 SHL WR 0 K 1 Shifting condition RO DF F1 DMV H 0 DT 0 f contol code F1 DMV K 500 DT 2 Startup speed F1 DMV K 5000 DT 4 Target speed F1 DMV K 100 DT 6 Acceleration deceleration time F1 DMV K 5000 DT 8 Position command value F151 WRT KO DTO K10 H100 4 Shared memory writing This specifies the positioning unit in slot no 0 from which the 10 word contents from data registers DTO to DT9 are written to the shared memory addresses H100 to H109 HDF F1 Dmv K 20000 DT 4 1 f Target speed Fi DMV K 100 DT 6 Acceleration deceleration time F1 DMV K 15000 DT 8 Position command value J F151 WRT KO
67. using FP2 Positioning unit FP2 Positioning Unit Precaution before using FP2 Positioning unit There are two types of FP2 Positioning Units Conventional type and Multifunction type Their manuals look very similar Be sure to use the Unit according to the appropriate manual This manual FP2 Positioning unit Object product number AFP2430 Soe AFF2431 Similarity manual FP2 Positioning unit Multifunction type Object product number AFP2432 AFP2434 AFP2433 AFP2435 Technical Manual vi FP2 Positioning Unit Glossary Glossary E point control This is a method of control which is initiated up to an end point and in this manual is referred to as E point control This method is used when single speed acceleration deceleration is used P point control This refers to control which passes through a Pass Point and is called P point control in this manual This method is used when a multi stage target speed is to be specified Speed f pps Simple acceleration deceleration control when moving to an end point P point control Acceleration deceleration control in which multiple pass points can be consecutively specified E point control gt Time t ms Startup time This is the time from when the startup output signal is output from the CPU of the FP2 until pulse output is issued from the positioning unit Acc
68. value Pt pulse Position command value setting Signed 32 bits 2 147 483 648 to 2 147 483 647 pulses Elapsed value Pe pelse Comparison pulse count Pc pulse The shared memory is shared between E point control P point Count of elapsed value Absolute Signed 32 bits 2 147 483 648 to 2 147 483 647 pulses Comparison pulse setting Signed 32 bits 2 147 483 648 to 2 147 483 647 pulses control jog operation home return and pulser input operations Be careful that the shared memory is not overwritten at the same timing e For the first speed of E point control and P point control and for jog operation and home returns the value set for the target speed should be larger than that set for the startup speed e ig read and written as needed 14 6 FP2 Positioning Unit Specifications 14 2 Table of Shared Memory Area 14 2 1 Quick Guide to Control Codes E point control and P point control Control method Control method peak Acceleration deceleration lab Acceleration deceleration method method Increment Linear Increment acceleration deceleration S acceleration deceleration Absolute Linear Absolute acceleration deceleration S acceleration deceleration Jog operation Control Acceleration deceleration Control Acceleration deceleration code method code method S acceleration deceleration Ho Linear acceleration deceleration
69. when the startup speed has been reached the positioning unit recognizes the first input Z phase signal as the home input signal and stops When a 4 axis type positioning unit is mounted in slot 0 Example of specified data Shared memory setting Control code Startup speed fs pps K 5000 Target speed ft pps Acceleration deceleration time Ac ms f pps 4 ft 6000 fs 100 Ac Edges of signal t ms 200 detected The signal logic following cpu gt Y42 detection of the near home contact does not affect ORGS ponies y L ration External gt eel tact Z phase acne signal P Deviation Output for approx 1 ms External counter clear output P XO SPU BUSY CPU X8 ORGE Z phase signals during deceleration are not viewed as home input signals Elapsed value NNN 4000404 0 Pe Count When home return is done When the home return has been completed the X8 ORGE goes on _ count value becomes 0 When a home return has been completed the elapsed value in the shared memory is cleared and at the same time the deviation counter clear output signal is output for approximately 1 ms mw next page 9 17 Home Return FP2 Positioning Unit 9 2 Flow of Operation Following a Home Return Sa Notes Z phase signals input during deceleration are not viewed as home input signals Deceleration continues without s
70. 09 R88 Y41 t P point control initiated 7 14 FP2 Positioning Unit Automatic Acceleration Deceleration Control 7 2 Flow of P Point Control Operation e Inthe case where the startup speed is set to the extremely small value 0 to few pps in E point control and P point control the pulse output done flag which turns ON when the deceleration stop is completed is output behind the specified time Ideal ti ti Completion of output for the last 1 pulse 0 0 Pulse ouput Pulse output done flag done flag For the ideal deceleration stop the startup speed of 10 pps or more is recommended to set 7 2 Flow of P Point Control Operation P point control Multi stage acceleration deceleration e When the contact for initiating control is turned on acceleration deceleration control is carried out repeatedly in accordance with the specified data table and then the operation stops e Multiple accelerations decelerations can be specified between starting and stopping e S acceleration deceleration can also be selected e The acceleration deceleration time can be specified separately for each travel point 7 15 Automatic Acceleration Deceleration Control FP2 Positioning Unit 7 2 Flow of P Point Control Operation When the 4 axis type positioning unit is mounted in slot 0 Operation example When the contact for initiating P point control is turned on acceleration deceleration is carried
71. 1 6 1 2 2 Basic Operation of FP2 Positioning Unit 1 7 Restrictions on Units Combination 0 00 c eee eee ees 1 9 1 3 1 Restrictions on Combinations Based on Current Consumption 1 9 1 3 2 Restrictions on Unit Installation Position 1 9 1 3 3 Restrictions on the Number of Units Installed 1 9 Chapter 2 Parts and Specifications 2 1 Parts and Specifications 0 ccc ees 2 3 2 1 1 Parts and Specifications nunana cece 2 3 2 1 2 Operation Status Display LEDs 0 0 00 eee 2 4 2 1 3 Operation Mode Setting Switches 0 cee eee 2 6 Chapter3 Wiring 3 1 3 2 3 3 3 4 Connecting with Wire pressed Terminal Type Connector 3 3 3 1 1 Specifications of Wire pressed Connector 5 3 3 3 1 2 Assembly of Wire pressed Connector 000 eee ee 3 5 Input Output Specifications and Connector Pin Layout 3 6 3 2 1 Pin Layout for One AX S 02 55 ono ies bea er ek ee Sey 3 6 3 2 1 1 Output and Power Supply Terminals for One Axis 3 6 3 2 1 2 Input Terminals for One Axis 0 000 0 eens 3 8 3 2 2 Pin Layout for Two Ax S 2 006 2 c eee ee 3 10 3 2 2 1 Output and Power Supply Terminals for Two Axes 3 10 3 2 2 2 Input Terminals for Two Axis 2 00000e 3 12 3 2 3 Pin Layout for Three Axes 2 650000 cece eee 3 14 3 2 3 1 Output and Po
72. 1 6 KQ Min input pulse width 100 us 3 6 3 Connection of Near Home Input Signal 5 to 24VDC GND LSWitch Near home input A7 A16 1 6kQ Near home input B7 B16 The symbol below indicates twisted pair wiring OOK Input specifications Input voltage range 4 75 to 26 4 V DC Min ON voltage current 4 0 V 2 mA Max OFF voltage current 1 5 V 0 5 mA Input impedance Approx 1 6 KQ Min input pulse width 500 us FP2 Positioning Unit Wiring 3 7 Connection of Limit Over Input 3 7 Connection of Limit Over Input The input unit should be used for limit over input to the PLC In addition to that any circuits recommended by the motor manufacturers should be provided externally DC type input unit Limit over input I TE RT aai N a S eS a A E E a e es ee pe a a Stele LTT i L Ball screw ig hg P Limit over Limit over gt switch switch An emergency stop circuit appropriate to the system should be programmed For detailed information about overruns Section 11 1 1 Wiring FP2 Positioning Unit 3 8 Connection of Pulser Only when pulser is used 3 8 Connection of Pulser Only when pulser is used The output configuration of the signal varies depending on the pulser so make connections based on the type of pulser Three types of output configurations are available a line driv
73. 1 and 1 3 2 above Functions of Unit and Restrictions on Combination FP2 Positioning Unit 1 3 Restrictions on Units Combination 1 10 Chapter 2 Parts and Specifications 2 1 Parts and Specifications 0c cee 2 3 2 1 1 Parts and Specifications 2 3 2 1 2 Operation Status Display LEDs 2 4 2 1 3 Operation Mode Setting Switches 2 6 Parts and Specifications FP2 Positioning Unit FP2 Positioning Unit Parts and Specifications 2 1 Parts and Specifications 2 1 Parts and Specifications 2 1 1 Parts and Specifications ta aliliita lo T o ILo Lol Front Back Front Back 4 axis type FP2 PP4 2 axis type FP2 PP2 Q Operation status display LEDs These display operation conditions for two axes 2 Operation status display switch for FP2 PP4 only This switches between displaying operation conditions for axes 1 and 2 and axes 3 and 4 3 User interface connector for 1 axis 2 axis This connector is used to connect a motor driver or external interface User interface connector for 3 axis 4 axis for FP2 PP4 only This connector is used to connect a motor driver or external interface Operation mode setting switches These switches are used to specify the direction of rotation and the pu
74. 15 5 Panasonic X xx Series 0 45 15 6 Panasonic X v Series aaan 15 7 Oriental Motor UPK W Series 15 8 15 2 5 15 2 6 Motor Driver I F Terminal Dimensions and Driver Wiring FP2 Positioning Unit 15 2 FP2 Positioning Unit Dimensions and Driver Wiring 15 1 Dimensions 15 1 Dimensions FP2 PP2 2 axis type gt 28 1 102 100 3 937 FP2 PP4 4 axis type 93 3 661 backplane included 28 1 102 0 602 80 4 3 165 D 100 3 937 Unit mm in Dimensions and Driver Wiring FP2 Positioning Unit 15 2 Wiring for Motor Driver 15 2 Wiring for Motor Driver 15 2 1 Panasonic A Series Deviation counter clear T Positioning unit Servo amplifier Command pulse Pulse output A input PULS B1 B10 A2 A11 san 4 P SIGN a input SIGN B2 B11 5 A5 A14 ot Horen DET KM oF Sbepnace oupa B5 614 24 A6 A15 COM 4 7kQ Deviation counter clear hay pens Servo ON Power sup P ply for driv SUDY Jing the in ad Alarm clear CW drive disabled CCW drive disabled Command pulse input disabled Servo ready output Input 24V DC Power supply _ to PLC Servo alarm output 24V Positioning GND done s
75. 3 647 signed 32 bit Note If the elapsed value exceeds the maximum minimum value the value returns automatically to the minimum maximum value and continues from that point The motor does not stop if this occurs and no error occurs FP2 Positioning Unit Functions of Unit and Restrictions on Combination 1 2 Unit Functioning and Operation Overview 1 2 2 Basic Operation of FP2 Positioning Unit Control proceeds by turning the shared memory and input output contact on and off R HoH F1 DMV H 0 DTO F1 DMV K500 DT2 Control code increment Startup speed 500 pps Target speed 10000 pps H O Acceleration deceleration time 50 ms Position command value 100000 pulses F1 DMV H10000 DT4 F1 DMV K 50 DT6 F1 DMV K100000 DT8 F151 WRT KO DTO K10 H100 X80 R100 n DP j Y40 3 J ED 2 Various parameters are written to the shared memory of the positioning unit by the F151 in struction Positioning param eters written to CPU s data register Data register erate a T Bl vwson E Gonna K 500 To motor driver DT4 K 10000 DT6 DT8 K 50 DT10 K 100000 J 3 Startup contact goes on and pulse output begins Q Determining the necessary data The types of data written to the positioning unit include control codes the startup speed the target speed the acceleration deceleration time and the position command va
76. 30 3 8 2 Transistor Open Collector Type 0 c eee eee eee 3 30 3 8 3 Transistor resistor Pull up Type eee eee eee 3 31 3 9 Precautions Concerning Wiring 0c cece eee 3 31 Chapter 4 Confirming the Unit Settings and Design Contents 4 1 Setting the Operation Mode Setting Switches 000005 4 3 4 1 1 Selection of Rotation Direction 0 0 c eee eee 4 3 4 1 2 Selection of Pulse Output Mode 0 0 c eee eee 4 4 4 1 3 Relationship Between Switch Setting and Rotation Direction 4 5 4 2 Confirming the Slot Number and I O Number Allocations 4 7 4 2 1 Occupied l O Area nnn naa ew ee eden vende tore ser ean 4 7 4 2 2 Contents of Input and Output Allocations 4 8 4 2 3 Confirming the Allotted I O Number and Slot Number 4 10 4 2 3 1 Confirming I O Number Allocations 4 10 4 2 3 2 Confirming Slot No 2 0 cece 4 12 4 3 Increment and Absolute 00 0 0 c cece eee eee 4 13 4 3 1 Increment relative value control 0 0c eee eee ee 4 13 4 3 2 Absolute absolute value control 00 eee eee ee 4 14 4 4 Selection of Acceleration Deceleration Method 005 4 15 4 4 1 Linear and S Acceleration Decelerations 4 15 4 4 2 Indicating the Method of Acceleration Deceleration 4 16 4 5 Internal Absolute Counter 0000
77. 5 V 6 mA Max OFF voltage current 2 0 V 0 5 mA Input impedance Approx 1 6 kQ Input voltage range 3 5 to 5 25 V DC Min ON voltage current 3 0 V 6 mA Max OFF voltage current 1 0 V 0 5 mA Input impedance Approx 220 Q Min input pulse width 100 us 3 12 FP2 Positioning Unit Wiring KTE Signal name Circuit Near home input Near home input Input voltage range Input Output Specifications and Connector Pin Layout Specification 4 75 to 26 4 V DC Min ON voltage current 4 0 V 2 mA Max OFF voltage current 1 5 V 0 5 mA Input impedance Approx 1 6 KQ Min input pulse width 500 us Pulser input A Pulser input A Pulser input B Pulser input B es Note Input voltage range 3 5 to 5 25 V DC Min ON voltage current 3 0 V 6 mA Max OFF voltage current 1 0 V 0 5 mA Input impedance Approx 220 Q Min input pulse width 2 us or higher max 250 kHz each phase Pulser input signals A and B are input at different phase When the phase of A leads the phase of B the elapsed value increments T gt X2 X3 x4 x1 i gt A phase B phase T 4 us or higher X1 X2 0 5T0 1T X2 X3 0 5T 0 1T Xn 2 0 125T n 1 2 3 4 3 13
78. 60 to Y6F WY6 4th axis Input X30 to X3F WX3 Output Y70 to Y7F WY7 CNTAXI 2 CNTAX3 4 7 2 axis type Occupied points 64 points Input 32 points Output 32 points 1st axis Input XO to XF WX0 Output Y20 to Y2F WY2 2nd axis Input X10 to X1F WX1 Output Y30 to Y3F WY3 Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 2 Confirming the Slot Number and I O Number Allocations 4 2 2 Contents of Input and Output Allocations Con Description I O contact relay number tact z 7 Relay 2 axis type 4 axis type 1st 2nd ist 2nd axis axis axis axis X_0 Pulse output busy BUSY Goes on during pulse output XO X10 XO X10 X20 X30 Note 1 X_1 Pulse output EDP Goes on when pulse output ends X1 X11 X1 X11 X21 X31 done Note 2 X_2 Acceleration zone ACC Goes on during acceleration X2 X12 X2 X12 X22 X32 zone X_3 Constant speed CON Goes on during constant speed X3 X13 X3 X13 X23 X33 zone zone X_4 Deceleration DEC Goes on during deceleration zone X4 X14 X4 X14 X24 X34 zone X5 Rotation direction DIR Monitor contact for direction of X5 X15 X5 X15 X25 X35 rotation direction of increasing elapsed value when on X_6 Home input ZSG Goes on when home input X6 X16 X6 X16 X26 X36 becomes valid X7 Near home input DOG Goes on when near home input X7 X17 X7 X17 X27 X37 becom
79. 7 Jp Starting condition R97 F1 DMV H 200 DT 0 Control code F151 WRT a K 2 H100 Shared memory writing This specifies the roe unit in slot no 0 from which the 2 word contents from data registers DTO to DT1 are written to the memory addresses H100 to H101 Fi DMV K 5000 DT 4 Target speed F151 WRT KO DT4 K2 H104 Shared memory writing This specifies the positioning unit in slot no 0 from which registers DT4 to DT5 EE written to the shared memory the 2 word contents from data addresses H104 to H105 R97 Y47 p Pulser input enabled mw next page Pulser Input Operation FP2 Positioning Unit 10 1 Sample Programs Precautions concerning the program e The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control home returns and other types of control These should not be overwritten by other conditions e If the target speed is out of the range of possible settings a set value error will occur and pulser input cannot be accepted e The number of the startup contact varies depending on the number of axes the unit has and the installation position For detailed information about contact number we Section 4 2 3 and 14 3 e The specified slot number and sh
80. 7 deceleration time ms Points to check e Is the value for the startup speed larger than that for the target speed An error occurs if the two values are the same as well For the first speed with E point control and P point control and when carrying out jog operation and home returns a value should be set which is larger than the startup speed e Has the target speed been set to 0 e Has a data register been set to a negative value If parameters have been set from an external source and if operation is being carried out internally in the PLC check to make sure the values match those specified by the design 2 Correct any values which are outside of the allowable range in the program mw next page Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 13 3 Resolving Problems 3 Use any of the following procedures to reset the set value error Inthe program turn the error clear contact ECLR off on and then off again e Using forced output based on the programming tool software turn the error clear contact ECLR off on and then off again Turn off the power supply for the driver and then that for the PLC and then turn on the PLC power supply followed by the driver power supply IES Note If the error clear contact ECLR is on none of the positioning operations will start Cancel the error first and then restart the various operations The
81. 91 T Starting condition 7 f Control code Startup speed _ Acceleration deceleration time _ until initial speed is reached t Target speed Low speed Target speed High speed Shared memory writing Forward jog start Reverse jog start 8 16 FP2 Positioning Unit Jog Operation 8 3 Changing the Speed During Jog Operation Acceleration deceleration time when the speed is changed e If the jog speed is changed during jog operation it is not possible to specify the acceleration deceleration time when the speed changes e The acceleration deceleration time is determined by the Rate of acceleration which is the speed change from the startup speed to the point where the first target speed is reached and the acceleration deceleration time continues to change until this Rate of acceleration becomes constant A ft Example Acceleration deceleration time for a sample program e Time until the low speed specification for jog operation is reached The acceleration deceleration time specified by the program serves as the acceleration deceleration time just as it is Acceleration deceleration time 50 ms 5000 pps 500 pps 50 ms Acceleration rate 90 pps ms e Time from the jog speed of the low speed specification to the jog speed of the high speed specification 10000 pps 5000 pps Acceleration deceleration time
82. Approx 55 6 ms 90 pps ms e Time from the jog speed of the high speed specification to when pulse output stops 10000 pps 500 pps Acceleration deceleration time Approx 105 6 ms 90 pps ms For the sake of expedience pps ms is used as the unit for the acceleration rate Specifying the method of acceleration deceleration e lf the jog speed is changed during jog operation linear acceleration deceleration should be specified It is not possible to specify S acceleration deceleration e If S acceleration deceleration has been specified jog operation continues at the initial speed 8 17 Jog Operation FP2 Positioning Unit 8 4 Teaching Following Jog Operation 8 4 Teaching Following Jog Operation 8 4 1 Example of Teaching Settings and Sample Program Example of teaching operation following jog operation e The current position can be determined by reading the counter value stored in the shared memory of the unit after jog operation has taken place e The value read at this time is the data for the absolute value 4 axis type ee positioning unit 64 point type input unit X103 Forward jog tti Positioning ai Saen f lamien switch es Data no setting High low speed L switch selector switch For teaching Forward 8 18 FP2 Positioning Unit Jog Opera
83. Conditions When a home return is carried out there is a possibility that the speed cannot be slowed sufficiently If deceleration cannot be continued down to the startup speed the unit will not stop even if there is home input Solution 1 Try shifting the position of the near home input switch in the direction of the home return and in the opposite direction Deceleration completed Normal stopping X position Startup speed t ms Near home input switch on X6 gt Home input on Point to check If the home input is connected to the Z phase of the servo motor driver there may be cases in which the near home input position is close to the home input next page 13 13 Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 13 3 Resolving Problems Stopping position is exceeded Startup speed n J S y t ms Near home input switch on es Nara input Z phase on Solution 2 Correct the program and set the home return speed to a slower speed 13 14 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs 13 3 Resolving Problems 13 3 6 Speed Does not Slow for a Home Return i9 N Movement does not bA decelerate and stop N Startup speed t ms SS aaa ae Near home input switch on ns eee co input on Conditions There is a possibility that the near home input has not been read correctly So
84. Connection of Home Input Near Home Input Signals This is the home signal input connection for the home return It should be connected to the Z phase output line driver output or transistor output of the motor driver or to an external switch and sensor ie Note We recommend using twisted pair cables as the wiring between the positioning unit output and the motor driver or twisting the cables used 3 6 1 Connection of Home Input When connecting to motor driver Z phase output Home input A4 A13 Home input 5V DC A5 A14 Z phase Home input B5 B14 signal The symbol below indicates twisted pair wiring AAK Input specifications at 5 V DC Input voltage range 3 5 to 5 25 V DC Min ON voltage current 3 0 V 6 mA Max OFF voltage current 1 0 V 0 5 mA Input impedance Approx 220 Q Min input pulse width 100 us Wiring FP2 Positioning Unit 3 6 Connection of Home Input Near Home Input Signals 3 6 2 Connection of Home Input When connecting to an external switch sensor Power supply Switch Home input 1 6k 12 to 24VDC GND S e 24 V DC A4 A13 Home input The symbol below indicates tiome input B5 B14 twisted pair wiring SOOO Input specifications at 24 V DC Input voltage range 11 4 to 26 4 VDC Min ON voltage current 10 5 V 6 mA Max OFF voltage current 2 0 V 0 5 mA Input impedance Approx
85. Corporate name Fixed Errors ARCT1F282E 5 JUL 2013 Sixth edition Change in Corporate name Record of changes FP2 HSCT amp FP2 PXYT Please contact Panasonic Industrial Devices SUNX Co Ltd E Overseas Sales Division Head Office 2431 1 Ushiyama cho Kasugai shi Aichi 486 0901 Japan E Telephone 81 568 33 7861 W Facsimile 81 568 33 8591 panasonic net id pidsx global About our sale network please visit our website Panasonic Industrial Devices SUNX Co Ltd 2013 July 2013 PRINTED IN JAPAN ARCT1F282E 5
86. DT4 K6 H 104 H Shared memory writing t This specifies the positioning unit in slot no 0 from which the 6 word contents from data registers DT4 to DT9 are written to the shared memory R2 addresses H104 to H109 DF Fi DMV K 500 DT4 Target speed F1 DMV K 500 DT6 Acceleration deceleration time l F1 DMV K 6000 DT8 Position command value J F151 WRT KO DT4 K 6 H104 Shared memory writing This specifies the positioning unit in slot no 0 from which the 6 word contents from data registers DT4 to DT9 are written to the shared memory addresses H104 to H109 P point control initiated FP2 Positioning Unit Automatic Acceleration Deceleration Control 7 1 Sample Program e Inthe case where the startup speed is set to the extremely small value 0 to few pps in E point control and P point control the pulse output done flag which turns ON when the deceleration stop is completed is output behind the specified time Ideal operation t2 gt t1 Completion of output for the last 1 pulse 0 0 Pulse ouput Pulse output done flag done flag For the ideal deceleration stop the startup speed of 10 pps or more is recommended to set 7 1 2 Increment Relative Value Control Minus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increa
87. Home return done flag R9 Forcible stop Completion of home return stored in memory R4 Y45 Y43 After limit Forcible stop detecting revgige command Y45 Emergency stop X11 DF CW limit X112 DF CCW limit 9 5 Practical Use for a Home Return Near home error detection Retry of home return command Home return start Home return done pulse XR P Completion of home return stored in memory Forward jog start J Forcible stop Home Return FP2 Positioning Unit 9 5 Practical Use for a Home Return Chapter 10 Pulser Input Operation 10 1 Sample Programs s sccaere ns Hecaw hes oer ees Hele 10 3 m next page m next page 10 2 Sequence Flow for Pulser Input Operation 10 11 10 3 Action of the I O Contact During Pulser Input Operation cx 3 24 dined die Gwe tees Selee 10 15 10 4 Types of Manual Pulse Generators That Can e Used serca tPA cd a RATA RIES 10 17 Pulser Input Operation FP2 Positioning Unit 10 2 FP2 Positioning Unit Pulser Input Operation 10 1 Sample Programs 10 1 Sample Programs 10 1 1 Pulser Input Operation Transfer multiple 1 multiple setting The rotation direction of the motor in which the elapsed value increases is set as the plus direction and pulse sign is set as the pulse output mode Also it is assumed that the mode setting switches on the back of the po
88. I RIL 1 1 Fi DMV K 20000 DT 4 Fi DMV K 100 DT 6 Fi DMV K 10000 DT 8 HDF Fi DMV K 20000 DT 4 Fi DMV K 100 DT 6 F1 DMV K 10000 DT 8 F151 WRT KO DT4 K 6 H104 F151 WRT KO DT4 K 6 H104 R2 R2 HDF F1 DMv K 50 DT 4 H DF F1 DMV K 500 DT 4 Fi DMV K 500 DT 6 Fi DMV K 500 DT 6 F1 DMV K 6000 DT 8 Fi DMV K 6000 DT 8 F151 WRT KO DT4 K 6 H104 F151 WRT KO DT4 K 6 H104 R86 Y41 R86 Y41 lee r Vv if ae i VT L ED ED If the E point control program is booted Because an interlock is in effect the E while the P point control program has been point control program cannot be booted if booted and is running the flag X_A the P point control program has already changes and the P point control program is been booted This prevents E point con affected by the change trol from affecting P point control Automatic Acceleration Deceleration Control FP2 Positioning Unit 7 4 Precautions When Creating P Point Control Programs Chapter 8 8 1 8 2 8 3 8 4 8 5 8 6 Jog Operation Sample Progra ca vteeupas EROE Res Hace 8 3 8 1 1 Jog Operation Forward and Reverse 8 3 8 1 2 Jog Operation Forward Reverse and Speed Changes 0seccceeeeaee 8 7 Sequence Flow for Jog Operation 8 11 Changing the Speed During Jog Ope
89. Operation 5 4 3 Checking the Rotation and Travel Directions and the Travel Distance Procedure 1 Using jog operation or automatic acceleration deceleration check to make sure that the directions of rotation and travel are correct Points to check The direction of rotation is determined by the driver wiring the settings of the dip switches at the back of the unit and the data set in the program For information on automatic acceleration deceleration refer to chapter 6 or chapter 7 For information on dip switch settings at the back of the unit refer to chapter 4 2 Check to see if the specified number of pulses produces the travel distance indicated by the design Points to check The travel distance is determined by the ball screw pitch the reduction gear the electronic multiplication ratio of the driver the number of pulses specified in the program and other factors Check to see if the specified number of out Positioning unit put pulses produces the travel distance and travel direction indicated by the design Input unit Motor driver ke gt 5 10 FP2 Positioning Unit Turning the Power On and Off and Booting the System 5 4 Procedure Prior to Starting Operation 5 4 4 Checking the Operation of the Near Home Switch and Home Switch Procedure 1 Using forc
90. Panasonic PROGRAMMABLE CONTROLLER FP2 Positioning Unit Manual ARCT1F282E 5 2013 7 panasonic net id pidsx global Safety Precautions Observe the following notices to ensure personal safety or to prevent accidents To ensure that you use this product correctly read this User s Manual thoroughly before use Make sure that you fully understand the product and information on safety This manual uses two safety flags to indicate different levels of danger WARNING If critical situations that could lead to user s death or serious injury is assumed by mishandling of the product Always take precautions to ensure the overall safety of your system so that the whole system remains safe in the event of failure of this product or other external factor Do not use this product in areas with inflammable gas It could lead to an explosion Exposing this product to excessive heat or open flames could cause damage to the lithium battery or other electronic parts CAUTION If critical situations that could lead to user s injury or only property damage is assumed by mishandling of the product To prevent excessive exothermic heat or smoke generation use this product at the values less than the maximum of the characteristics and performance that are assured in these specifications Do not dismantle or remodel the product It could cause excessive exothermic heat or smoke generation Do not touch the terminal while turning on e
91. San aeea a i Re ERA LS 12 7 12 2 1 Setting the Acceleration Deceleration TO ZO OC saci a oath AATE 12 7 12 2 2 Precautions When Setting the Position Command Value to One Pulse 12 7 Precautions Concerning the Operation and Programs FP2 Positioning Unit 12 2 FP2 Positioning Unit Precautions Concerning the Operation and Programs 12 1Precautions Relating to Basic Operations of the Unit 12 1 Precautions Relating to Basic Operations of the Unit 12 1 1 Values of Shared Memory are Cleared When Power is Turned Off The data in the shared memory of the positioning unit is not backed up if a power failure occurs As aresult when the power supply is turned on again the default operation data should be written to the shared memory before the various startup contacts are turned on Shared memory K 500 Shared memory H 1 K 50 K 20000 K 14456 K 15000 Power supply ON gt OFF ON K 10000 Various set All set values and values and K 50 4 gt elapsed gt elapsed values values are reset to O When the power supply is turned off the various set values in the shared memory are set to 0 All of the control codes also return to the default values eS Notes If the startup contacts are turned on without writing t
92. Unit Wiring Signal name Deviation counter clear Deviation counter clear FE 3 2 Circuit Power supply input and ground terminals pon Signal name Circuit Output form Input Output Specifications and Connector Pin Layout Specification Open collector Operating voltage range 4 75 to 26 4 V DC Max load current 15 mA ON voltage drop fh ee es F E 1 2 V or less Specification External power supply input 24 V DC External power supply input 24 V DC IES Notes 24VIN 0 A20 Power supply voltage range 21 4 to 26 4 V DC Current consumption 4 axis type 90 mA or less 2 axis type 45 mA or less Pin numbers A19 B19 A20 and B20 are shared among all of the axes e For the 4 axis type pin numbers A19 B19 A20 and B20 are connected internally using the A19 B19 A20 and B20 pins for the 3 axis and 4 axis connectors 3 11 Wiring FP2 Positioning Unit 3 2 Input Output Specifications and Connector Pin Layout 3 2 2 2 OONAN gt Input Terminals for Two Axis OMNOUNSWN Ww BI t 6 M Inpu a terminals Home input 24 V DC Home input 5V DC Home input Circuit 4 axis type 2 axis type Input voltage range Specification 11 4 to 26 4 V DC Min ON voltage current 10
93. Unit Operation if an Error Occurs 13 1 Positioning Unit Operation if an Error Occurs 13 1 1 If the Positioning Unit ERR LED Lights PP4 r N w ERR LED CN1 CN2 AX1 2 AX3 4 p When starting stopped If a set value error occurs when the positioning unit is started stopped the various operations will not begin This applies to E point control P point control home returns jog operation and pulser operation none of which will be initiated During P point control operation or jog operation If a set value error occurs during P point control operation or during jog operation the positioning unit interrupts any operation currently in progress and enters the deceleration stop status When a set value error occurs the error cancel contact should be turned off on and then off again Operation cannot be restarted until the error has been canceled Operation continues on other axes where the set value error has not occurred For detailed information about deceleration stop operation Chapter 11 Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 13 1 Positioning Unit Operation if an Error Occurs 13 1 2 If the CPU ERROR LED Lights ERROR LED The positioning unit interrupts any operation currently in progress and enters the deceleration stop status Operation is continued however if Operation
94. ared memory address vary depending on the slot position and axis number of the positioning unit For detailed information about slot number Section 4 2 3 2 For detailed information about shared memory area address w Section 14 2 e The target speed should be specified as an appropriately large value to match the multiplication ratio If the multiplication ratio is high and the target speed is low the next pulser input command may be received before the specified pulse output has been completed making it impossible to obtain output of the input number of pulses 10 10 FP2 Positioning Unit Pulser Input Operation 10 2 Sequence Flow for Pulser Input Operation 10 2 Sequence Flow for Pulser Input Operation Pulser input operation e A pulse generator pulser can be connected and the motor controlled in the manual mode Pulser signals can be input while the pulser input enabled contact PEN is on e The user can select the number of pulses to be sent to the motor driver in relation to one pulser signal pulse by setting the control code in the shared memory 10 11 Pulser Input Operation FP2 Positioning Unit 10 2 Sequence Flow for Pulser Input Operation When the 4 axis type positioning unit is mounted in slot 0 Operation example When the contact which enables pulser input is turned on the motor rotates at the specified speed in conjunction with the pulser operation Data Control code necessary for o
95. at the same timing forward rotation takes precedence Also if one or the other is started first rotation in that direction takes precedence e During deceleration the restart operation will be ignored FP2 Positioning Unit Jog Operation 8 1 Sample Program 8 1 2 Jog Operation Forward Reverse and Speed Changes This is the basic program for forward and reverse rotation using the external switch For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side e Pulses are output as long as the startup contact is on in the manual mode e There are two contacts switches for startup one for forward rotation and one for reverse rotation e Inthe example shown below the selector switch is used to switch between high speed and low speed operation 4 axis type positioning unit 64 point type input unit Forward jog switch Reverse jog switch High low speed selector switch next page Jog Operation FP2 Positioning Unit 8 1 Sample Program Pulse output diagram Shared memory setting K 500 Startup speed fs pps K 10000 Target speed ft pps Can be s
96. ation Direction of home return direction of elapsed value Home input logic Input valid when the power is on Near home input logic Input valid when the power is on 9 1 Sample Program Range of acceptable settings The specified values vary depending on the method of acceleration deceleration the home return direction the home input logic and the near home input logic see page 9 7 Startup speed pps K500 KO to K1000000 Target speed pps K10000 K1 to K1000000 Specify a value larger than the startup speed Acceleration K100 deceleration time ms Program X100 R100 DF R100 H Fi DMV H 10 DT 0 H F1 DMV K 500 DT 2 F1 DMV K 10000 DT 4 F1 DMV K 100 DT 6 F151 WRT KO DTO K 8 H100 t This specifies the positioning unit in slot no 0 from which the 8 word contents from data registers DTO to DT7 are written to the shared memory addresses H100 to H107 Y42 KO to K32767 a D 7 Condition of home return X SS Control code Startup speed Target speed 4 Acceleration _ deceleration time J Shared memory writing Na r ROME return start mr next page 9 5 Home Return FP2 Positioning Unit 9 1 Sample Program Precautions concerning the program e The same shared memory areas to which the vario
97. c Input exists when power is supplied Near home input logic Input exists when power is not supplied FP2 Positioning Unit Home Return Operation 9 5 Practical Use for a Home Return When a home return begins the motor rotates in the direction of the home return The motor rotates at the startup speed At this point the near home input should already be on as a result of the input logic If there is home input Example the motor stops Example of data specification Shared memory setting CPU Nee gt ORGS External gt a home External Z phase gt Home input signal Deviation External lt counter clear output Control code Startup speed fs pps Target speed ft pps Acceleration deceleration time Ac ms t ms Output for approx 1ms CPU X0 BUSY Pe eS Notes Count When home return is done count value becomes 0 o The home return is carried out at the startup speed one speed The home input cannot be used if it is connected to the Z phase output of the motor driver next page 9 27 Home Return FP2 Positioning Unit 9 5 Practical Use for a Home Return Key Points e Practical application of input logic The near home input is set to Input exists when power is not supplied and is not connected e There is no near home switch e Only the home inp
98. celeration Control FP2 Positioning Unit 7 1 Sample Program Pulse output diagram Shared memory setting 100h Control code 100h Control code 100h Control code 101 neH 1 E 101h Can be omitted 10th 3 an be omitted 102h K 500 tartup speed fs 102h F H tartup speed fs 102h F H tartup speed fs toshi K_500 103h 103h 104h pr speed ft pps 104h pre speed ft pps 04h pre speed ft pps 405h K 5000 get Sp Pp 405h K 20000 get sp pp O5h K 500 get sp pp 106hl Acceleration decel 4106h Acceleration decel 4106h Acceleration decel JoShEK 100 eration time Ac ms 107h K 100 eration time Ac Ms 107h K 500 eration time Ac ms 108h Ky Q4 Position command 108h K2 Position command 108h K 34 Position command toant 10000 value Pt pulse 109h 3000 value Pt pulse 109h 31000 value Pt pulse pps t 20000 5000 15000 pulses 6000 pulses 500 gt 100 100 500 ms P point control gt k start relay ovsa n l CPU PST Setting value change con firmation flag XA CPU lt CEN Pulse output Goes off when F151 instruction is executed busy flag cpus pbv Pulse output done flag a a CPU lt EDP 31000 Elapsed value 5900 Pe 31000 4 T5000 Count No of counts when booted No of counts when stopped 7 12 FP2 Positioning Unit Automatic Acceleration Dec
99. ceptable settings HO Increment Linear acceleration deceleration H2 Increment S acceleration deceleration K500 Startup speed pps K10 to K1000000 K10 is the recommended value Target speed pps K10000 K11 to K1000000 Set a value larger than the startup speed K11 is the recommended value Acceleration deceleration time ms KO to K32767 Position command K10000 value pulse Program X80 R80 eor R80 DT 0 F DMV H 0 Fi DMV K 500 DT 2 Fi DMV K 10000 DT 4 Fi DMV K 100 DT 6 F1 DMV K 10000 DT 8 F151 WRT KO DTO K10 H100 This specifies the positioning unit in slot no 0 from which the 10 word contents from data registers DTO to DT9 are written to the shared memory addresses H100 to H109 R80 K 2147483648 to K2147483647 L Starting condition Control code Startup speed Target speed Acceleration deceleration time t Position command value 7 Shared memory writing S E point control initiated for 1st axis next page Automatic Acceleration Deceleration Control FP2 Positioning Unit 6 1 Sample Program Precautions concerning the program e The same shared memory areas to which the various control parameters are written are used for acceleration dec
100. d When set to During stop During pulse CW CCW output reverse output reverse Counter clear signal output Output on Output off display Near home status display 2 On Off Home input status display 2 On Off Pulser signal input display 3 Displays input status of pulser input signal A Pulser signal input display 3 Displays input status of pulser input signal B 3 3 Setting value Setting value error normal FP2 Positioning Unit Parts and Specifications 2 1 Parts and Specifications ia Notes 1 The pulse output signal display LEDs A and B blink at the output frequency Speed For this reason they may appear to light steadily at high output speeds 2 The near home D and home input Z LEDs light when the respective input becomes valid The input logic is specified using the control codes in the program When the power is first turned on the D LED is not lighted and the Z LED is lighted 3 The pulser signal input LEDs PA and PB indicates the input status of the pulser signal This lights if nothing has been connected to the pulse input circuit Parts and Specifications FP2 Positioning Unit 2 1 Parts and Specifications 2 1 3 Settings when the unit is shipped from the factory Operation Mode Setting Switches 7 FP2 PP4 FP2 PP2 Description Rotation direction ON factory settin
101. d operation cannot be initiated The number of the startup contact relay varies depending on the number of axes the unit has and the installation position For detailed information about contact relay number Section 4 2 3 1 and 14 3 The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit For detailed information about slot number Section 4 2 3 2 For detailed information about shared memory area address Section 14 2 e Inthe case where the startup speed is set to the extremely small value 0 to few pps in E point control and P point control the pulse output done flag which turns ON when the deceleration stop is completed is output behind the specified time Ideal operation t2 gt t1 ti ti Completion of output for the last 1 pulse gt 0 0 Pulse ouput Pulse output done flag done flag For the ideal deceleration stop the startup speed of 10 pps or more is recommended to set 6 14 FP2 Positioning Unit Automatic Acceleration Deceleration Control 6 2 Flow of E Point Control Operation 6 2 Flow of E Point Control Operation E point control Single speed acceleration deceleration When the E point control startup relay EST is turned on acceleration deceleration control is carried out automatically at a single speed in accordance with the specified data table e S acceleration deceleration can also be selected W
102. data registers DTO to DT7 are written to the shared memory addresses H100 to H107 Y43 Y44 R91 ED Forward jog start KO to K32767 Starting condition J Control code Startup speed Target speed Acceleration deceleration time 7 Shared memory writing Reverse jog start mw next page 8 5 Jog Operation FP2 Positioning Unit 8 1 Sample Program Precautions concerning the program e The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control home returns and other types of control These should not be overwritten by other conditions e Ifthe values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated e The number of the startup contact varies depending on the number of axes the unit has and the installation position For detailed information about contact number Section 4 2 3 1 and 14 3 e The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit For detailed information about slot number Section 4 2 3 2 For detailed information about sSared memory area address w Section 14 2 e If forward and reverse rotation are started
103. direction a limit over input is detected and the direction is reversed After the near home input on off is detected the return to the home position is begun again Sample Programs FP2 Positioning Unit 16 1 Sample Programs 1 0 Allocation TO No VO No Pulse output busy flag Home return movement in progress Positioning done flag Home return command pulse Near home input CCW limit detection Home return done flag Forward jog start Positioning 1 operation start Forward jog start pulse Positioning 2 operation start Near home sensor error detected Home return start Retry of home return Forward jog Home return done pulse Reverse jog Completion of home return stored in memory Emergency stop Positioning 1 in progress CW limit detection Positioning 1 operation command pulse CCW limit detection Positioning 1 completed and stored in memory E point control start Positioning 1 done pulse Home return start Positioning 2 in progress Forward jog start Positioning 2 operation command pulse Reverse jog start Positioning 2 completed and stored in memory Forcible stop Positioning 2 done pulse Forward jog setting Reverse jog setting 16 4 FP2 Positioning Unit Sample Programs Program X82 R8 Y45 1 CPF 7 Ale Return to home a position in ee RO R8 Y45
104. dividually 4 E point control is initiated simultaneously for the X and Y axes the startup speed and target speed are output as the respective proportions and linear interpolation is carried out Because an error occurs if a startup is applied to an axis for which the target speed is 0 pps an internal relay is used and the startup conditions are specified Sample Programs FP2 Positioning Unit 16 1 Sample Programs Items to be set for the program Data sd Linear component X axis component Y axis component Target position absolute Current position absolute Movement distance Startup speed Target speed Acceleration decele Ac ration time For items marked with an asterisk the user may specify any desired value Other items are handled through operation in the sample program Calculation of the linear movement distance L n X 16 8 FP2 Positioning Unit Sample Programs 16 1 Sample Programs Target position DT6 DT8 4000 3000 Z L 7 DT26 7 side Current position DT10 DT12 X Y L DT14 2 DT16 2 16 9 Sample Programs FP2 Positioning Unit 16 1 Sample Programs Allocation of data registers item Data No Description Calculation formula Startup speed Target speed Acceleration deceleration time Target position of X axis Target position of Y axis Current position of X axis Current position of
105. e Input is the Z Phase of the Servo Driver 0 002ee eee 9 17 9 2 2 Operation If the Home Input is Through an External Limit Switch 9 19 Action of the I O Contact Before and After a Home Return Operation 44 9 21 Checking the Home and Near Home INpUt LOJI 2 eitinn Sete bee aa eee Ree wae a 9 24 9 4 1 When Input Valid When Power is Supplied is Specified 4 9 24 9 4 2 When Input Valid When Power is not Supplied is Specified 5 9 25 Practical Use fora Home Return 9 26 9 5 1 When One Limit Switch is Used as the Home INPut x24 05 44 2e 8h hae ed Bek wR 9 26 9 5 2 When the Near Home and Home Input are Allocated by Turning a Single Limit Switch Orand Of air catia teen Rk ke att 9 28 9 5 3 Home Return Based on a Home Search 9 30 Home Return FP2 Positioning Unit FP2 Positioning Unit Home Return 9 1 Sample Program 9 1 _Sample Program 9 1 1 Home Return in the Minus Direction Returns to the home position are carried out in the minus direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side The home input is connected to the Z phase output of the mot
106. e near home switch input connected to the positioning unit became valid 2 The leading edge of the signal is detected so changes to flags following the input do not affect operation Confirmation of the input logic is necessary Refer to section 9 4 Deviation counter clear output 1 This goes on for approximately 1 ms after the home return has been completed This is used in systems in which a servo motor is used Pulse output busy flag X_0 1 This goes on with the next scan after home return has been initiated and goes off when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is on except for a forced stop and a deceleration and stop 3 This is reset when the power supply is turned off This flag is shared among E point control P point control jog operation and home returns except when pulser input is enabled Home return done flag X_8 1 This goes on when a home return is completed and is maintained until E point control P point control jog operation a home return or pulser input enabled operation is started 2 This flag is reset when the power supply is turned off FP2 Positioning Unit Home Return 9 3 Action of the I O Contact Before and After a Home Return Operation Pulse output done flag X_1 1 The pulse output done flag does not go on when a home return is completed 2 Before a home return is started this goes from on to off w
107. e pulse output done flag X1 goes on when pulse output is completed and is maintained until the next E point control P point control jog operation home return or pulser input enabled status is initiated e The elapsed value is stored as the absolute value in the counter in the positioning unit FP2 Positioning Unit Automatic Acceleration Deceleration Control 6 1 Sample Program Shared memory setting Control parameter Set values in sample program Range of acceptable settings setting content example Control code HO HO Increment Linear Increment acceleration deceleration Linear acceleration deceleration H2 Increment S acceleration deceleration Startup speed pps K500 K10 to K1000000 K10 is the recommended value Target speed pps K10000 K11 to K1000000 Set a value larger than the startup speed K11 is the recommended value Acceleration K100 KO to K32767 deceleration time ms Position command K 10000 K 2147483648 to value pulse K2147483647 Program x81 R81 pS E En oor j Starting condition R81 H F1 DMV H 0 DT 0 Control code F1 DMV K 500 DT 2 Startup speed F1 DMV K 10000 DT 4 Target speed Fi DMV K 100 DT 6 Acceleration deceleration time F1 DMV K 10000 DT 8 Position command value Te y F151 WRT KO DTO K10 H100
108. ed operation of the home input and near home input check to make sure the operation display LEDs on the positioning unit light At the same time using programming tools monitor the X_6 and X_7 input contact relays and check them in the same way 2 Input the home return program and actually carry out a home return checking to see if near home input produces deceleration Points to check The input valid logic for the home input and near home input is determined by the control codes of the program 3 Using repeated jog operation and home return operation check to make sure the table stops properly at the home position with no offset Points to check There may be times when near home input the home input position and the return speed causes offset from the home position 4 If the table does not stop precisely at the home position either change the position of the near home input or reduce the home return speed so that the table stops precisely at the home position Positioning unit Input unit If the CPU is switched from the RUN to the PROG mode while the positioning unit is in operation the table decelerates and stops Check to see if there is any offset from the home stopping position Home switch _ J f _ Near home switch For detailed information about deceleration and stopping chapter 11 5 11 Turning the Power On and O
109. ee 8 14 8 4 Teaching Following Jog Operation 0 00 cece eee 8 18 8 4 1 Example of Teaching Settings and Sample Program 8 18 8 5 Action of the I O Contact Before and After Jog Operation 8 21 8 6 Precautions When Changing the Speed During JOG Operation 8 22 Chapter9 Home Return 91 Sample Program 23 enc ves been i elie Seren Ney ee Hele eee ede 9 3 Table of Contents FP2 Positioning Unit 9 2 9 3 9 4 9 5 9 1 1 Home Return in the Minus Direction 0 000 eee eee 9 3 9 1 2 Home Return in the Plus Direction 0 0 0 cee eee 9 8 Flow of Operation Following a Home Return 00e aes 9 13 9 2 1 Operation If the Home Input is the Z Phase of the Servo Driver 9 17 9 2 2 Operation If the Home Input is Through an External Limit Switch 9 19 Action of the I O Contact Before and After a Home Return Operation 9 21 Checking the Home and Near Home Input Logic 9 24 9 4 1 When Input Valid When Power is Supplied is Specified 9 24 9 4 2 When Input Valid When Power is not Supplied is Specified 9 25 Practical Use fora Home Return 0 00 0c cece cee eee 9 26 9 5 1 When One Limit Switch is Used as the Home Input 9 26 9 5 2 When the Near Home and Home Input are Allocated by Turning a Single Limit Switch On and Off 9 28 9 5 3 Home Return Based on a Home Search
110. eed 1 DMV K 100 DT 6 Acceleration deceleration time XY a FistwRT KO DTO K 8 H100_ snared memory writing This specifies the positioning unit in slot no 0 from which the 8 word contents from data registers DTO to DT7 are written to the shared memory addresses H100 to H107 Forward jog start Reverse jog start mw next page 8 9 Jog Operation FP2 Positioning Unit 8 1 Sample Program Precautions concerning the program e The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control home returns and other types of control These should not be overwritten by other conditions e Ifthe values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated e The number of the startup contact varies depending on the number of axes the unit has and the installation position For detailed information about contact number Section 4 2 3 1 and 14 3 e The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit For detailed information about slot number Section 4 2 3 2 For detailed information about shared memory area address w Section 14 2 e If forward
111. eet ace otet x 1 3 Vedios SOMIETYVPCS iecoprrn en trt daaa Ds ier 1 5 Unit Functioning and Operation Overview 1 6 1 2 1 Unit Combinations for Positioning COMO saci bi otto har ca hae eins 1 6 1 2 2 Basic Operation of FP2 Positioning Unit 1 7 Restrictions on Units Combination 1 9 1 3 1 Restrictions on Combinations Based on Current Consumption 1 9 1 3 2 Restrictions on Unit Installation Position 1 9 1 3 3 Restrictions on the Number of Units INSTANCO nn oe et Sk ea be OE Functions of Unit and Restrictions on Combination FP2 Positioning Unit FP2 Positioning Unit Functions of Unit and Restrictions on Combination 1 1 Functions of FP2 Positioning Unit 1 1 Functions of FP2 Positioning Unit 1 1 1 Functions of Unit Positioning can be controlled through the combination of a stepping motor with a driver using the pulse train input method and a servo motor Positioning unit Positioning control using a servo motor Pulse train oo JUUUUL ja e 7 o gt Stepping motor 2 axis and 4 axis types are available Multiple axe
112. eleration Control Shared memory setting Control parameter setting content Control code Set values in sample program example 1st speed H1 Absolute Linear acceleration deceleration 2nd speed The same as left 3rd speed The same as left 7 1 Sample Program Range of acceptable settings H1 Absolute Linear acceleration deceleration H3 Absolute S acceleration deceleration Startup speed pps K500 The same as left The same as left K10 to K1000000 K10 is the recommended value Target speed pps K5000 K20000 K500 K11 to K1000000 The target speed for the first speed should be set to a value larger than the startup speed K11 is the recommended value Acceleration deceleration time ms K1 to K32767 Position command K10000 value pulse K25000 K31000 K 2147483648 to K2147483647 wr next page 7 13 Automatic Acceleration Deceleration Control FP2 Positioning Unit 7 1 Sample Program Program rl Check to make sure the pulse output busy flag is not BUSY X88 XO R8 DF 17 n Starting condition 88 F1 DMV K 0 DT100 J Heg F151 KO DT100 K2 H10A JJ Fo w H 1 WR 2 f Elapsed value reset a hift register reset Shifting condition XA DP F101 SHL WR 2 K1 R20 HODAM Fi DMV H 1 DTO
113. eleration control jog operation home returns and other types of control These should not be overwritten by other conditions e Ifthe values for the startup speed the target speed the acceleration deceleration time or the position command value exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the startup contact relay varies depending on the number of axes the unit has and the installation position For detailed information about contact relay number Section 4 2 3 1 and 14 3 The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit For detailed information about slot number Section 4 2 3 2 For detailed information about shared memory area address Section 14 2 e Inthe case where the startup speed is set to the extremely small value 0 to few pps in E point control and P point control the pulse output done flag which turns ON when the deceleration stop is completed is output behind the specified time Ideal operation t2 gt t1 ti ti Completion of output for the last 1 pulse gt 0 0 Pulse ouput Pulse output done flag done flag For the ideal deceleration stop the startup speed of 10 pps or more is recommended to set FP2 Positioning Unit Automatic Acceleration Deceleration Control 6 1 Sample Program 6 1 2 Increment Relative Value Cont
114. eleration deceleration time This is the acceleration time during which the speed changes from the startup speed to the target speed after the motor has started up or the time that it takes for the speed to slow from the target speed to the startup speed CW CCW Generally these indicate the direction in which the motor is rotating with CW referring to clockwise rotation and CCW to counterclockwise rotation CW CCW output method 2 pulses output method This is a method in which control is carried out using two pulses a forward rotation pulse and a reverse rotation pulse With the FP2 positioning unit this is specified using the dip switches on the rear panel and is set to match the driver specifications vii Glossary FP2 Positioning Unit Pulse Sign output method 1 pulse output method This is a method in which control is carried out using one pulse to specify the speed and on off signals to specify the direction of rotation With the FP2 positioning unit this is specified using the dip switches on the rear panel and is set to match the driver specifications Motor driver Positioning unit iss Pulse CW pulse JU miia E Forward G Oo o O O cow puse A _ Forward Reverse Pe a Rotation direction Sign a CW CCW output method Pulse Sign output method Absolute method absolute value control method This is a contr
115. er 000 5 4 Procedure for Turning On the Power 5 6 5 3 1 Procedure for Turning On the Power 5 6 5 3 2 Procedure for Turning Off the Power 5 7 Procedure Prior to Starting Operation 5 8 5 4 1 Checking the External Safety Circuit 5 8 5 4 2 Checking the Safety Circuit Based onthe PLC oi ergy seu Geeeset ieee aS PS 5 9 5 4 3 Checking the Rotation and Travel Directions and the Travel Distance 5 10 5 4 4 Checking the Operation of the Near Home Switch and Home Switch 5 11 Turning the Power On and Off and Booting the System FP2 Positioning Unit FP2 Positioning Unit Turning the Power On and Off and Booting the System 5 1 Safety Circuit Design 5 1 Safety Circuit Design Example of a safety circuit Installation of the limit over switch Positioning unit Input unit Motor driver aN ae po aT S Limit over Limit over CCW driving 3 E switch switch inhibition switch J inhibition a i a a EE E EEE switch Driver upper and lower limit inputs Safety circuit based External safety circuit on the PLC Safety circuit based on the PLC Install the limit over switch as shown in the illustration above Safety circuit based on external circuit Install the safety circuit
116. er signal should be used as a guide If the 15 mA is exceeded the appropriate resistance should be added Wiring FP2 Positioning Unit 3 4 Connection of Pulse Command Output Signal 3 4 Connection of Pulse Command Output Signal The FP2 positioning unit is equipped with two types of the interfaces of motor driver Select and connect one or the other depending on the interface of the motor driver being used Note We recommend using twisted pair cables as the wiring between the positioning unit output and the motor driver or twisting the cables used 3 4 1 Line Driver Pulse com BULSE y A1 A10 PULSE mand 1 or Line drive B1 B10 CW Pulse com SI N A2 A11 SIGN mand 2 or Line drive B2 B11 CCW External ner input power ized Power supply i ae ae below indicates wisted pair wiring supply B0 or y24VDC i i a 3 4 2 Transistor Open Collector 5 VDC output Pulse com mand 1 Open collector Pulse com mand 2 Open collector If 15 mA is exceeded a resistor must be added The symbol below indicates External input M20 Power supply twisted pair wiring power supply B20 GND FP2 Positioning Unit Wiring 3 4 Connection of Pulse Command Output Signal Output specifications Output form Open collector Operating voltage range 4 75 to 26 4 V DC Max load current 15 mA ON vo
117. er supply voltage range 21 4 to 26 4 V DC Current consumption 4 axis type 90 mA or less Pin numbers A19 B19 A20 and B20 are shared among all of the axes e For the 4 axis type pin numbers A19 B19 A20 and B20 are connected internally using the A19 B19 A20 and B20 pins for the 1 axis and 2 axis connectors 3 19 Wiring FP2 Positioning Unit 3 2 Input Output Specifications and Connector Pin Layout 3 2 4 2 Input Terminals for Four Axes 4 axis type ONOaRWN gt OMONODAAWNM Ww 5 Input terminals eS Terminals for 4 axes Circuit Specification Home input 24 Input voltage 11 4 to 26 4 V V DC range DC Min ON 10 5 V 6 mA voltage current Max OFF 2 0 V 0 5 mA voltage current Home input 5V Input Approx 1 6 kQ DC impedance Input voltage 3 5 to 5 25 VDC range Min ON 3 0 V 6 mA voltage current Home input Max OFF 1 0 V 0 5 mA voltage current Input Approx 220 Q impedance Min input pulse 100 us width FP2 Positioning Unit Wiring KTE Signal name Circuit Near home input Near home input Input voltage range Input Output Specifications and Connector Pin Layout Specificat
118. er type a transistor open collector type and a transistor resistor pull up type Note We recommend using twisted pair cables for connections or twisting the cables used 3 8 1 Line Driver Type Pulser Pe A8 A17 O 2 BETONON Ls ene B8 B17 O y A9 A18 B9 B18 The symbol below indicates twisted pair wiring Connection Positioning unit Pulser input A Pulser input A Pulser input B A Pulser input B 3 8 2 Transistor Open Collector Type Connection Positioning unit J e 220 Q z Pulser input A Pulser input A Pulser input B PR ae Pulser input B w 30 FP2 Positioning Unit Wiring 3 9 Precautions Concerning Wiring 3 8 3 Transistor resistor Pull up Type Positioning unit Pulser input A HELE toa MAN Pulser input A B8 B17 Pulser input B A9 A18 220 Q Pulser input B B9 B18 Power supply 5VDC GND 3 9 Precautions Concerning Wirin Both for the line driver output and the transistor output the length of the wiring between the positioning unit and the motor driver should be within the distance below Corresponding signals Line driver output Transistor output Deviation counter clear Type of outa Line driver output 40 m Transistor
119. erminal of the I F terminal this is connected to the GND pin of the CN I F connector of the MINAS A EX motor driver 15 11 Dimensions and Driver Wiring FP2 Positioning Unit 15 2 Wiring for Motor Driver 15 12 Chapter 16 Sample Programs 16 1 Sample Programs 16 1 1 Positioning Program for 1 Axis 16 3 16 1 2 Positioning for 2 Axes Linear Interpolation Program 16 7 Sample Programs FP2 Positioning Unit 16 2 FP2 Positioning Unit Sample Programs 16 1 Sample Programs 16 1_Sample Programs 16 1 1 Positioning Program for 1 Axis Unit configuration 4 axis type F positioning unit 64 point type input unit Home ea Positioning 1 op Positioning 2 op start switch J eration start switch eration start switch X81 Forward jog Reverse jog Emergency Wy switch switch stop switch WS Moves between o two points 10000 Reverse Forward Motor driver CCW limit over switch CW limit over switch An overview of a sample program This sample program uses the absolute mode 1 When input X1 is on the table moves to the absolute position 10000 Positioning 1 2 When input X2 is on the table moves to the absolute position 0 Positioning 2 3 When input XO is on a return to the home position begins If the near home input is not in the return
120. es valid X_8 Home return ORGE Turns on when home return is done X8 X18 X8 X18 X28 X38 done Goes on until next home return is initiated X_9 Comparison re CLEP Goes on when elapsed value of X9 X19 X9 X19 X29 X39 sult internal counter is greater than or equal to the number of comparison pulse XA Set value change CEN With P point control this is used XA X1A XA X1A X2A X38A confirmation to confirm rewriting of set values Note 3 X_B XB X1B XB_ X1B X2B X3B X_C XC X1C XC X1C X2C X3C X_D XD X1D XD_ X1D X2D X3D X_E Set value error SERR Goes on when a set value error XE X1E XE X1E X2E X8E occurs E point control start When turned on in the user program E point control is initiated P point control start When turned on in the user program P point control is initiated Home return start When turned on in the user program a home return is initiated Forward jog When turned on in the user program jog forward rotation is initiated Reverse jog When turned on in the user program jog reverse rotation is initiated FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 2 Confirming the Slot Number and I O Number Allocations Con Description I O contact relay number ees 2 axis type 4 axis type Forced stop When turned on in the user program operations currently running are in
121. et to K5000 Acceleration deceleration time Ac ms Forward Reverse 5000 f 7 aN N 500 gt pone Deceleration begins at the point t ms Forward jog ee when the contact goes off start CPU Y43 Forward _ JCP Reverse jog start CPU gt Y44 Reverse JGR Pulse output busy flag sie 2 ne Nite eet Fr l CPU lt X0 BUSY Pulse output done flag o e E E S E EDP capseg vau WUN WC gt NX Pe SR Sie FP2 Positioning Unit Jog Operation Shared memory setting Control parameter setting content Set values in sample program example Control code Low speed setting HO Linear acceleration deceleration is specified High speed setting 8 1 Sample Program Range of acceptable settings HO Linear acceleration deceleration H2 S acceleration deceleration Startup speed pps K500 KO to K1000000 Target speed pps K5000 K10000 K1 to K1000000 Specify a value larger than the startup speed Acceleration K100 KO to K32767 deceleration time ms Program Xo R90 Iior T Starting condition xo DF R90 ol F1 DMV K 5000 DT 4 Target speed Low speed R90 HH Fi Dmv K 10000 DT 4 Target speed High speed _ H F1 pw H 0 DT 0 Control code F1 DMV K 500 DT 2 F startup sp
122. ff and Booting the System FP2 Positioning Unit 5 4 Procedure Prior to Starting Operation 5 12 Chapter 6 Automatic Acceleration Deceleration Control E Point Control Single Speed Acceleration Deceleration 6 1 Sample Program 2 ico e Pee tice enue he Ses atied bas 6 3 6 1 1 Increment Relative Value Control Plus Direction 2 2 22 ccc 6 3 6 1 2 Increment Relative Value Control Minus Direction 00 cece ee 6 7 6 1 3 Absolute Absolute Value Control 6 11 6 2 Flow of E Point Control Operation 6 15 6 3 Operation of the Input and Output Contacts Before and After E Point Control 6 18 Automatic Acceleration Deceleration Control FP2 Positioning Unit FP2 Positioning Unit Automatic Acceleration Deceleration Control 6 1 Sample Program 6 1 _ Sample Program 6 1 1 Increment Relative Value Control Plus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side 4 axis type positioning unit 64 point type input unit Motor driver next page Automatic Acceleration Deceleration C
123. for Jog Operation When Y43 is turned on through the program the motor for the first axis begins to turn in the forward direction and accelerates to the target speed When Y43 is turned off the motor decelerates and stops Reverse rotation can be carried out in the same way with Y44 being turned on and off Input XO is the BUSY contact that indicates that operation is in progress and X1 is the EDP contact that indicates that operation has been completed The EDP contact remains on until the next operation request is issued Data required for settings The following data must be written to the specified addresses of the shared memory Operation is determined by the following four types of data e Control code e Startup speed e Target speed e Acceleration deceleration time Operation steps Step 1 Preparatory stage The data for operation is transferred to the shared memory ahead of time Data for jog operation H Control code Startup speed na H Target speed L f Rog l J Shared memory Acceleration _ deceleration time ees ee ee i ee 8 12 FP2 Positioning Unit Jog Operation 8 2 Sequence Flow for Jog Operation Step 2 Execution of operation Forward The startup contact relay Y43 for forward rotation is turned on Forward Fy OFF gt ON gt OFF jog switch ie amp aN X90
124. g Normal setting Reverse setting Pulse output mode Pulse sign mode CW CCW mode Rotation direction Normal setting Reverse setting Pulse output mode Pulse sign mode CW CCW mode FP2 PP4 Rotation direction Normal setting Reverse setting Pulse output mode Pulse sign mode CW CCW mode Rotation direction Normal setting Reverse setting Pulse output mode Pulse sign mode CW CCW mode i Note The settings of the operation mode setting switches become valid at the point when the power is turned on For detailed information about switch setting method Section 4 1 Chapter 3 3 1 3 2 Wiring Connecting with Wire pressed Terminal Type Connector 00 cece eee eee 3 3 3 1 1 Specifications of Wire pressed Connector 3 3 3 1 2 Assembly of Wire pressed CONNOCIOF eE ee tat Bane betes a tia eet 3 5 Input Output Specifications and Connector Pin Layout 05a pete t as Seu tpte Bae 3 6 3 2 1 Pin Layout for One Axis 004 3 6 3 2 1 1 Output and Power Supply Terminals for One Axis 3 6 3 2 1 2 Input Terminals for One Axis 3 8 3 2 2 Pin Layout for Two Axes 3 10 3 2 2 1 Output and Power Supply Terminals for Two Axes 3 10 3 2 2 2 Input Terminals for TWO AXIS eneore 022 3 12 3 2 3 Pin Layout for Three Axes 3 14 3 2 3 1 Output and Power Supply Terminals for Three Axes
125. g labor Procedure 1 Bend the contact back from the carrier and set it in the pressure connection tool Insert the wire without removing its insulation until it stops and lightly grip the tool After press fitting the wire insert it into the housing When all wires has been inserted fit the semi cover into place FP2 Positioning Unit Wiring 3 1 Connecting with Wire pressed Terminal Type Connector Contact puller pin for rewiring If there is a wiring mistake or the wire is incorrectly pressure connected the contact puller pin provided with the fitting can be used to remove the contact Press the housing against the pressure connection tool so that the contact puller pin comes in contact with this section Wiring FP2 Positioning Unit 3 2 Input Output Specifications and Connector Pin Layout 3 2 Input Output Specifications and Connector Pin Layout 3 2 1 Pin Layout for One Axis 3 2 1 1 Output and Power Supply Terminals for One Axis 4 axis type 2 axis type W Output terminals BLEE gt En CONOTAWNYH gt o loj o Ea i p OONO supply input and ground terminals Circuit Specification Pulse output A Output form Line driver output line driver Equivalent to AM26C31 Pulse output A line driver Pulse output B line driver Pulse output B line
126. g the Home and Near Home Input Logic 9 4 2 When Input Valid When Power is not Supplied is Specified In cases like that below when power is not being supplied to the input circuit of the unit the Power not supplied control code for the program is selected from the control code table Refer to section 14 2 1 When Input valid when power is not supplied is specified e lf the input switch contact is the b contact e Ifthe input sensor goes off when the home or near home position is detected Input sensor internal 7 circuit Input switch Positioning unit Current stops flowing when the home Current stops flowing when the home or near home position is detected or near home position is detected If the input switch contact is If the input sensor goes off when the the b contact home or near home position is detected Home Return FP2 Positioning Unit 9 5 Practical Use for a Home Return 9 5 Practical Use for a Home Return 9 5 1 When One Limit Switch is Used as the Home Input Example of usage method Connection Only the home input switch is installed and connected No near home input switch is connected Positioning unit Home switch ae F Input logic setting The control code in the shared memory should be set as indicated below JE 000008 Home input logi
127. get speed K 1000 Acceleration Acceleration deceleration time K__ 100 deceleration time K 100 Position command Position command value K 1 value K 1 Precautions Concerning the Operation and Programs FP2 Positioning Unit 12 2 Precautions Concerning Practical Usage Methods 12 8 Chapter 13 Positioning Unit Operation if an Error Occurs 13 1 13 2 13 3 Positioning Unit Operation if an Error Occurs 13 1 1 Ifthe Positioning Unit ERR LED LIONS eee 2 dates be oie cee b hig EG 13 1 2 Ifthe CPU ERROR LED Lights Errors Which Occur in the Positioning Unit Itself Resolving Problems 22000 cc cence 13 3 1 Ifthe Positioning Unit ERR LED Lights 13 3 2 Ifthe Motor Does Not Turn or Operate if the display LED for pulse output A or Bis flashing or lighted 13 3 3 Ifthe Motor Does Not Turn or Operate if the display LED for pulse output Aor B is not lighted 13 3 4 Rotation Movement Direction is Reversed o 2 coke ds beets oh eds ook 13 3 5 The Stopping Position is Off for a Home Return cx o223t ened eke Phe s 13 3 6 Speed Does not Slow for a Home BOUIN thea nei he Ra ak RE a 13 3 7 Movement Doesn t Stop at Home Position after decelerating forhome return Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 13 2 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs 13 1 Positioning
128. has been specified in the system register settings for operation when an error of some kind occurs For detailed information about deceleration stop operation Chapter 11 13 4 FP2 Positioning Unit Positioning Unit Operation if an Error Occurs 13 2 Errors Which Occur in the Positioning Unit Itself 13 2 Errors Which Occur in the Positioning Unit Itself The positioning unit itself has a function which warns the user of an error if any of the parameters for the Startup speed Target speed and Acceleration deceleration time settings are not appropriate 7a S ce ERR LED Errors are displayed AM wt individually for each axis CN1 CN2 AX1 2 AX3 4 mr next page Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 13 2 Errors Which Occur in the Positioning Unit Itself Cases in which errors occur and their contents E point Startup speed At startup setting At setting change during operation Negative 0 number control Target speed Acceleration deceleration time Negative 0 number No applicable condition P point Startup speed control Target speed Error Error Acceleration deceleration time Error Error Home Startup speed return Target speed Acceleration deceleration time No applicable condition Jog Startup speed operation Target
129. he data to the memory a set value error may occur and the unit may not operate as expected If ahome return is carried out when the power supply is turned on control codes must be written to the memory before the home return startup contact is turned on If the control codes are not written to the memory problems may occur such as a discrepancy between the direction of the home return and the input logic causing the unit to operate in unexpected ways mw next page 12 3 Precautions Concerning the Operation and Programs FP2 Positioning Unit 12 1 Precautions Relating to Basic Operations of the Unit Fi DMV K 500 DT2 Fi DMV K 10000 DT4 Fi DMV K 100 DT6 Fi51WRT K 0 DTO K 8 H 100 ied Fi DMV H 10 DTO L L L L R9013 Y42 _ r The following program should be written to the unit so that after the power supply is turned on the elapsed value data prior to the power supply being turned off will be read s Goes on for only one scan after R9013 power supply is turned on Fi DMV DT 100 DT 102 F151 WRT KO DT 102 K2 H10A Specify the positioning unit in slot no 0 Values of data registers DT102 and DT103 The value are written to the elapsed ere areas of the positioning unit Goes on from second scan after R9014 power supply is turned on F150 READ KO H10A K 2 DT100 Elapsed value Specify the positioning unit i
130. hen E point control P point control jog operation or pulser input enabled operation is completed 3 If this is off before a home return is started it remains off and does not change 4 This flag is reset when the power supply is turned off This flag is common to E point control P point control jog operation and pulser input enabled operation Home Return FP2 Positioning Unit 9 4 Checking the Home and Near Home Input Logic 9 4 Checking the Home and Near Home Input Logic 9 4 1 When Input Valid When Power is Supplied is Specified In cases like that below when power is supplied to the input circuit of the unit the Power supplied control code for the program is selected from the control code table Refer to section 14 2 1 When Input valid when power is supplied is specified e f the input switch contact is the a contact e Ifthe input sensor goes on when the home or near home position is detected e When the Z phase of the driver is connected Input switch e nput switc Input sensor intemal circuit L Current flows when the home or Current flows when the home or near home position is detected near home position is detected If the input switch contact is If the input sensor goes on when the a contact home or near home position is detected FP2 Positioning Unit Home Return 9 4 Checkin
131. hen the 4 axis type positioning unit is mounted in slot 0 Operation example When the contact relay for E point control is turned on acceleration deceleration is carried out in accordance with the settings and the table travels and stops Control code Startup speed Data necessary Target speed for operation Acceleration deceleration time Position command value E point control executed lt CPU Y40 EST CPU lt _X0 BUSY X1 CPUs Epp can Sia A Elapsed value Pea WONN XOX When Y40 is set to on in the program the motor of the first axis begins accelerating Input XO is a BUSY contact that indicates that the operation is in progress and X1 is an EDP contact that indicates that the operation is done The EDP contact remains on until a request for another operation is received 6 15 Automatic Acceleration Deceleration Control FP2 Positioning Unit 6 2 Flow of E Point Control Operation Data necessary for settings The following data items must be written to the specified addresses in the shared memory If the same operation is being repeated it is not necessary to enter the data settings each time Operation is determined by these five types of data e Control code e Startup speed e Target speed e Acceleration deceleration time e Position command value Operation steps Step 1 Preparatory stage The data re
132. i DMV K 10000 DT8 Fi51WRT K 0 DTO K10 H 100 R20 na EOP Hiel Positioning 2 completed and stored in memory Aa e Positioning 2 done X83 pulse FOF dj tti es R30 Forward jog setting Fi DMV H 10 DTO Fi DMV K 500 DT 2 Fi DMV K 1000 DT4 Fi DMV K 100 DT6 F151WRT K 0 DTO K 8 H 100 X84 R31 DP A R31 Reverse jog setting F DMV H 410 DTO Fi DMV K 500 DT2 Fi DMV K 1000 DT4 F1 DMv K 100 DT6 F151WRT K 0 DTO K 8 H 100 R11 Y40 R21 E point control start L R2 Y42 x83 x90 Home return start Y43 E R4 Forward jog start X84 x91 Y44 Reverse jog start L X85 Y45 Emergency stop and overrun ED 16 6 FP2 Positioning Unit Sample Programs 16 1 Sample Programs 16 1 2 Positioning for 2 Axes Linear Interpolation Program Unit configuration 4 axis type 64 point type positioning unit input unit boomamomommnd pe ete n hof 4000 lt 3000 A Current Motor f INN UARRRRRRRRRRRRRRRRRRRRERRRRRRRERRRRRRRRRRRRET g X Y An overview of a sample program This sample program uses the absolute mode 1 The current absolute position is read to the data table 2 The distance from the current position to the target position 4000 3000 is calculated 3 The proportions of the X component and Y component included in the distance are calculated in
133. ible Stop 11 2 Operations for a Deceleration Stop and Forcible Stop 11 2 Operations for a Deceleration Stop and Forcible Stop 11 2 1 Deceleration Stop If the deceleration stop contact is turned on during operation the operation is interrupted and the speed slows When the startup speed is reached pulse output stops This operation is common to E point control P point control home returns and jog operation For pulser input operation pulse output stops A f pps 10000 During acceleration deceleration is car ried out at the accel eration percentage 300 t ms Y Deceleration CPU Y40 ti eh CSE ee ee a CPU Y46 DCL Important When a deceleration stop has been executed deceleration is carried out based on the acceleration rate determined by the data specified in the shared memory area at that point and continues until the startup speed is reached Following that operation stops If the deceleration stop contact goes on during deceleration or acceleration deceleration is carried out at the acceleration percentage in effect at that time and operation stops 11 7 Deceleration Stop and Forcible Stop FP2 Positioning Unit 11 2 Operations for a Deceleration Stop and Forcible Stop 11 2 2 Forcible Stop If the forcible stop contact goes on during operation pulse output stops immediately This operation is common to E point control P point control
134. ignal a a i a i se When connecting the CW drive disabled and CCW drive disabled input the servo ready output and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis 15 4 FP2 Positioning Unit Dimensions and Driver Wiring 15 2 Wiring for Motor Driver 15 2 2 Panasonic EX Series Positioning unit Servo amplifier B1 B10 3 A2 A11 cok Pulse output B ee AAAA cohen 5G CCW pulse input B2 B11 35h A5 A14 oz B5 B14 201 A6 A15 COM Deviation counter fot rQ Deviation clear B15 b counter clear A TAIG 3 9kQ Pea home pat 1 l l l l l l l l Output g i rQ Servo ON Power supply for Power driving the supiy cno Output rQ Aaea internal Ca A cLa G circuit B20 PLC E 3 9ka ea PRIE CW drive disabled Input unit Tt OWL i 3 9kQ I fe 3 D 5 Cc LA 7 3 9ko Limit over Sin a os 7 Tan ry CCW drive disabled pate sam 3 9k2 PLC H Limit over x y 9 n Servo alarm output 24 V DC Power supply PLC iol ER Positioning A done signal Input to COIN 24V i COM GND 13 J When con
135. ing 3 31 FP2 Positioning Unit Wiring 3 1 Connecting with Wire pressed Terminal Type Connector 3 1 Connecting with Wire pressed Terminal Type Connector 3 1 1 Specifications of Wire pressed Connector This is a connector that allows loose wires to be connected without removing the wire s insulation The pressure connection tool AXY52000FP is required to connect the loose wires Wire pressed connector 40 pins Suitable wire twisted wire Size Cross section area Insulation thickness Rated current 0 3 mm 0 2 mm dia 1 5 to dia 1 1 3A Wire pressed connector accessories for unit Unit type and required quantity 2 axis type 4 axis type Company Composition of parts Housing 40P 1 piece x 1 set 1 piece x 2 sets Panasonic Electric Semi cover 40P 2 pieces x 1 set 2 pieces x 2 set Works SUNX Co Ltd Contact for AW22 and AW 24 5 pin 8 pieces x 1 set 8 pieces x 2 set The 2 axis type comes with one set and the 4 axis type with two sets When purchasing additional sets please order AFP2801 containing two sets Pressure connection tool Panasonic Electric Works SUNX Co Lid AXY52000FP Pressure connection tool Wiring FP2 Positioning Unit 3 1 Connecting with Wire pressed Terminal Type Connector 3 1 2 Assembly of Wire pressed Connector The wire end can be directly press fitted without removing the wire s insulation savin
136. ing Position is Off fora Home Return 13 13 13 3 6 Speed Does not Slow for a Home Return 13 15 13 3 7 Movement Doesn t Stop at Home Position after decelerating for home return ie iisa niea dare ad a sete kE E E a 13 16 Chapter 14 Specifications 14 1 Table of Performance Specification 0 2 eeaeee 14 3 14 2 Table of Shared Memory Area 0c ccs 14 6 14 2 1 Quick Guide to Control Codes 0 00 eee eee 14 7 14 3 Table of I O Contact Relay Allocation cee eee eee 14 10 Chapter 15 Dimensions and Driver Wiring TST DIMONSIONS irai wa ech eds ete lts ww au bole th Rion ram din Gir p an bala lee carne 15 3 15 2 Wiring for Motor Driver 2 2 3 seer cee ey ened nenea 15 4 15 21 Panasonic A Seres oA e ee E eave eed ote EN as 15 4 15 2 2 Panasonic EX SerieS 0 ccc eee a 15 5 15 2 3 Panasonic X xx Series 0 0 00 cece ee 15 6 15 2 4 Panasonic X v Series 0 0 cece ee 15 7 15 2 5 Oriental Motor UPK W Series naana ce eee eee 15 8 15 2 6 Motor Driver I F Terminal 0 0000 e eee eae 15 9 Chapter 16 Sample Programs 16 1 Sample Programs uid att ale vata aendeea dete stern ed tetas 16 3 16 1 1 Positioning Program for 1 AXiS 00 e eee eee 16 3 16 1 2 Positioning for 2 Axes Linear Interpolation Program 16 7 Record of changes R 1 Precaution before
137. int Control PIOGIAMS cia Osta ehh in ea te BIA LAGS 7 22 7 4 1 Precautions Concerning the Setting Value Change Confirmation Flag X_A 7 22 Automatic Acceleration Deceleration Control FP2 Positioning Unit FP2 Positioning Unit Automatic Acceleration Deceleration Control 7 1 Sample Program 7 1__Sample Program 7 1 1 Increment Relative Value Control Plus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side 4 axis type positioning unit 64 point type input unit Motor driver mr next page Automatic Acceleration Deceleration Control FP2 Positioning Unit 7 1 Sample Program Pulse output diagram Shared memory setting 100h Control code 100h Control code 10h 101h can be omitted eet K 500 Startup speed JON E tartup speed fs pps fs pps Jeth K 5000 ROR Joed ft pps Ton K 20000 RGR Seed ft pps 106h Acceleration decel 106h Acceleration decel Jozh eration time Ac ms 107h K 100 eration time Ac ms AR K 5000 Position command value Pt pulse K 15000 Position command 1999 value Pt pulse 109h
138. int when the power is turned on 4 1 1 Selection of Rotation Direction Setting of rotation direction switch Normally this is used in the On position The position of this switch can be changed to reverse only the rotation direction of the motor with the connection status and the driver settings remaining exactly the same Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 1 Setting the Operation Mode Setting Switches 4 1 2 Selection of Pulse Output Mode The pulse output mode can be selected to match the pulse input mode supported by the motor driver The two types of pulse output described below can be selected Pulse sign output method With this method pulse output signals for motor drive signals that determine the rotation speed of the motor and signals that determine the rotation direction of the motor are output Pulse signals pulses are output from the pulse output A pin while signals that determine the rotation direction Signs are output from the pulse output B pin CW CCW output method With this method pulse output signals for forward rotation and pulse output signals for reverse rotation are output in response to the direction in which the motor is rotating CW CCW clockwise counter clockwise When the rotation direction switch is set to the normal setting ON forward rotation CW clockwise pulse signals are output from the pulse output A pin and reverse rotation CCW co
139. ion 4 75 to 26 4 V DC Min ON voltage current 4 0 V 2 mA Max OFF voltage current 1 5 V 0 5 mA Input impedance Approx 1 6 KQ Min input pulse width 500 us Pulser input A Pulser input A Pulser input B Pulser input B Input voltage range 3 5 to 5 25 V DC Min ON voltage current 3 0 V 6 mA Max OFF voltage current 1 0 V 0 5 mA Input impedance Approx 220 Q Min input pulse width 2 us or higher max 250 KHz each phase i Note Pulser input signals A and B are input at different phase When the phase of A leads the phase of B the elapsed value increments a T gt A phase f f T 4 us or higher _X2 X3 X4 X1 X2 0 5T 0 1T X2 X3 0 5T 40 1T Xn 2 0 125T n 1 2 3 4 x1 i gt B phase Wiring FP2 Positioning Unit 3 3 Supplying Power for Internal Circuit Drive 3 3 Supplying Power for Internal Circuit Drive Always make sure an external 24 VDC power supply is connected to the pins for external input power supply pin nos A20 and B20 The applied 24 VDC voltage passes through an internal DC DC converter and is converted to 5 V DC voltage It is then supplied to the various internal circuits as a power supply for internal circuit drive of the pulse command output pin 3 3 1 Line Driver Output Positioning unit
140. ion in progress is interrupted and deceleration begins 2 After deceleration has begun and the speed has slowed to the startup speed pulse output stops 3 This relay is reset when the power supply is turned off Forcible stop relay Y_5 1 When the forcible stop relay goes on the operation in progress is interrupted immediately and pulse output stops 2 This relay is reset when the power supply is turned off mw next page 11 9 Deceleration Stop and Forcible Stop FP2 Positioning Unit 11 3 1 O Contact Operation Before and After a Stop Pulse output busy flag X_0 1 When the deceleration stop relay goes on this flag goes off when pulse output is completed 2 When the forcible stop relay goes on this flag goes off one scan after the relay has gone on 3 This flag is reset when the power supply is turned off Pulse output done flag X_1 1 When the deceleration stop relay goes on this flag goes on when pulse output is completed 2 When the forcible stop relay goes on this flag goes on one scan after the relay has gone on 3 This flag is reset when the power supply is turned off 11 10 FP2 Positioning Unit Deceleration Stop and Forcible Stop 11 4 Precautions Concerning Stopping Operations 11 4 Precautions Concerning Stopping Operations 11 4 1 Pulse Output Done Flag Statuses After a Stop For either a deceleration stop or a forcible stop the pulse output done flag goes on after operation has
141. ions and Connector Pin Layout 3 2 1 2 Input Terminals for One Axis 4 axis type 2 axis type Input terminals 1 2 3 4 5 6 7 8 9 Terminals for 1 axis Input terminals al Signal name Circuit Specification Home input 24 Input voltage 11 4 to 26 4 V DC V DC range Min ON volt 10 5 V 6 mA age current Max OFF volt 2 0 V 0 5 mA age current Home input 5V Input imped Approx 1 6 kQ DC ance Input voltage 3 5 to 5 25 V DC range Min ON volt 3 0 V 6 mA age current Home input Max OFF volt 1 0 V 0 5 mA age current Input imped Approx 220 Q ance Min input pulse width 100 us FP2 Positioning Unit Wiring nee Signal name Circuit Near home input Near home input Input voltage range Input Output Specifications and Connector Pin Layout Specification 4 75 to 26 4 V DC Min ON voltage current 4 0 V 2 mA Max OFF voltage current 1 5 V 0 5 mA Input impedance Approx 1 6 kQ Min input pulse width 500 us Pulser input A Pulser input A Pulser input B Pulser input B es Note Input voltage range 3 5 to 5 25 V DC Min ON voltage current 3 0 V 6 mA Max OFF voltage current 1 0 V 0 5 mA Input impedance Approx 220 Q Min input pulse width 2 us or higher max
142. itten after jog operation has begun 4 axis type positioning unit 64 point type input unit Forward jog switch Reverse jog switch High low speed selector switch Forward oS side side Motor driver 8 14 FP2 Positioning Unit Jog Operation Pulse output diagram Shared memory setting Control code Startup speed fs pps Target speed ft pps Acceleration deceleration 106h time Ac ms 100h 102h 5000 500 8 3 Changing the Speed During Jog Operation 4h K 10000 4 Target speed ft pps Forward jog start Y43 CPU JGF Jog speed selection m Approx 55 6 t ms Approx 105 6 CPU lt X92 Low speed High speed 8 15 Jog Operation FP2 Positioning Unit 8 3 Changing the Speed During Jog Operation Sample program x90 XO R90 io x91 XO DF R90 HH F1 pw H 0 DTO Fi Dmv K 500 DT 2 J Fi bmv K 100 DT 6 JP R90 H F1 Dmv K 5000 DT 4 R90 HH Fi Dmv K 10000 DT 4 X92 This specifies the positioning unit in slot no 0 from which the 8 word contents from data registers DTO to DT7 are written to the shared memory addresses H100 to H107 x90 X0 R91 Y43 an aa G Y43 X91 xo R91 Y44 EMA R
143. le With E point control RO HD F1 DMV H _ 0 DTO F1 DMV K 500 DT2 Fi DMV K10000 DT 4 F1 DMV K 100 DT6 Fi DMV K100000 DT8 F151 WRT K1 DTO K10 H100 The method of control varies depending on the control code When the code is HO increment linear acceleration deceleration When the code is H1 absolute linear acceleration deceleration When the code is H2 increment S acceleration deceleration When the code is H3 absolute S acceleration deceleration 4 16 FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 5 Internal Absolute Counter 4 5 Internal Absolute Counter 4 5 1 How the Internal Absolute Counter Works How the internal absolute counter works The positioning unit is equipped with a function that counts the number of pulses output through pulse output The counted value is stored in the shared memory area of each of the axes The stored value is read by the user program enabling the position data absolute value to be discerned This is used in functions such as teaching during jog operation Using the comparison relay output function external output can be obtained in response to the count value through the user program Shared Absolute counter memory Elapsed Wey value J This can be read and used
144. lectricity 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 FP2 Positioning Unit Table of Contents Table of Contents Glossary aos ee i a eee es ee vi Chapter 1 Functions of Unit and Restrictions on Combination 1 1 1 2 1 3 Functions of FP2 Positioning Unit 0 0 cee ee 1 3 1 1 1 Functions of Unit 0 0 0 1 3 1 1 2 Unit Types 2 oh nats a a tae aa ete ea eae 1 5 Unit Functioning and Operation Overview 000 cece ee eee ee 1 6 1 2 1 Unit Combinations for Positioning Control
145. lse output method for each of the axes When the unit is shipped from the factory the rotation direction is set to Normal forward rotation in which the elapsed value increases and the pulse output method is set to the Pulse Sign mode To set the rotation direction to the opposite direction of that specified in the program set this to the Off position The pulse output method should be set to match that of the motor driver connected to the unit 6 Backplane connector This connector is used to connect the unit to the slot on the backplane t next page 2 3 Parts and Specifications FP2 Positioning Unit 2 1 Parts and Specifications re Note The settings of the operation mode setting switches become valid at the point when the power is turned on 2 1 2 Operation Status Display LEDs Information on two axes can be displayed at once on the LEDs For a 4 axis type display can be switched between axes 1 and 2 and axes 3 and 4 with the switch The LEDs show the same information for each axis CN1 CN2 AX1 2 AX3 4 Front Operation Status Display LEDs Pulse output When set to During stop During pulse signal A pulse sign output output display 1 When set to During stop During pulse CW CCW output forward output forward Pulse output When set to Reverse Forward signal B pulse sign output direction direction display 1 command comman
146. ltage drop 0 6 V or less Output specifications at 5 V DC Output power supply range 4 75 to 5 25 V DC Current consumption 120 mA at total 5 V DC eS Note The total of the internal 5 VDC output and 5 V output common is 120 mA A value of 15 mA per signal should be used as a guide If this capacity is exceeded resistance should be added Wiring FP2 Positioning Unit 3 5 Connection of Deviation Counter Clear Output Signal for servo motor 3 5 Connection of Deviation Counter Clear Output Signal for servo motor This is an example showing connection of the counter clear input for the servo motor driver An external power supply 5 V DC to 24 V DC must be provided for the connection 3 ae If 15 mA is ex Connection Positioning unit Gut ceeded a attr Motor driver must be added Deviation Counter Clear Open collector Power supply The symbol below indicates twisted pair wiring JOO GND 5 to 24VDC Output specifications Output form Open collector Operating voltage range 4 75 to 26 4 V DC Max load current 15 mA ON voltage drop 1 2 V or less i Notes Always use twisted pair cables for wiring Current which can be conducted as the deviation counter signal is 15 mA max If 15 mA is exceeded resistance should be added FP2 Positioning Unit Wiring 3 6 Connection of Home Input Near Home Input Signals 3 6
147. lue Acceleration K100 KO to K32767 deceleration time ms Position command K25000 K 2147483648 to value pulse K2147483647 Program X82 R82 x Dj Starting condition NS Se a R82 iz F1 DMV H 1 DT 0 Control code F1 DMV K 50 DT 2 Startup speed F1 DMV K 10000 DT 4 Target speed F1 DMV K 100 DT 6 Acceleration deceleration time F1 DMV K 25000 DT 8 Position command value XX A gt F151 WRT KO DTO K10 H100 4 Shared memory writing J This specifies the positioning unit in slot no 0 from which the 10 word contents from data registers DTO to DT9 are written to the shared memory addresses H100 to H109 R82 Y40 eee aif E point control initiated _ for 1st axis next page 6 13 Automatic Acceleration Deceleration Control FP2 Positioning Unit 6 1 Sample Program Precautions concerning the program e The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control jog operation home returns and other types of control These should not be overwritten by other conditions e Ifthe values for the startup speed the target speed the acceleration deceleration time or the position command value exceed the range of values which can be specified a set value error will occur an
148. lue The types and number of required data varies depending on the objective Programming is set up so that these data values may be written to any desired data register 2 Transfer to the shared memory The data stored in the data registers is sent to the positioning unit by means of the F151 or P151 instruction where it waits for further instructions The memory area which receives that transferred data is called the shared memory of the positioning unit This area is used for various types of control including E point control P point control jog operation home return and pulser input operation and a separate shared memory area is provided for each of the axes mw next page Functions of Unit and Restrictions on Combination FP2 Positioning Unit 1 2 Unit Functioning and Operation Overview Initiating control operations In order to execute the data waiting in the positioning unit the startup contacts of the various operation modes are turned on The abovementioned programming example shows this process for Y40 Y40 is the number of the contact that starts up the first axis when the unit is installed in slot 0 Separate contacts are provided for each of the axes for E point control P point control home return jog operation and other types of control FP2 Positioning Unit Functions of Unit and Restrictions on Combination 1 3 Restrictions on Units Combination 1 3 Restrictions on Units Combination
149. lue elapsed value 0 1 0 x6 Input valid when Input valid when 0 1 1 x10 Home input logic no power is power is 1 0 0 x50 supplied supplied 1 0 1 x100 i Input valid when Near home input Input valid when p 1 10 x500 A no power is ower is supplied A 1i x1000 eve P pois supplied For detailed information about the checking of input logic section 9 4 14 9 Specifications FP2 Positioning Unit 14 3 Table of I O Contact Relay Allocation 14 3_ Table of I O Contact Relay Allocation Pulse output busy Description Goes on during pulse output Note 1 1 0 contact relay number 2 axis type 4 axis type 1st axis 2nd axis 1st axis 2nd axis Pulse output done Goes on when pulse output ends Note 2 Acceleration zone Goes on during acceleration zone Constant speed zone Goes on during constant speed zone Deceleration zone Goes on during deceleration zone Rotation direction Monitor contact for direction of rotation direction of increasing elapsed value when on Home input Goes on when home input becomes valid Near home input Home return done Goes on when near home input becomes valid Turns on when home return is done Goes on until next home return is initiated Comparison result Goes on when elapsed value of internal counter is greater than or equal
150. lue error will occur and pulser input cannot be accepted e The number of the startup contact varies depending on the number of axes the unit has and the installation position For detailed information about contact number we Section 4 2 3 and 14 3 e The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit For detailed information about slot number Section 4 2 3 2 For detailed information about shared memory area address w Section 14 2 e The target speed should be specified as an appropriately large value to match the multiplication ratio If the multiplication ratio is high and the target speed is low the next pulser input command may be received before the specified pulse output has been completed making it impossible to obtain output of the input number of pulses 10 6 FP2 Positioning Unit Pulser Input Operation 10 1 Sample Programs 10 1 2 Pulser Input Operation Transfer multiple 5 multiple setting The rotation direction of the motor in which the elapsed value increases is set as the plus direction and pulse sign is set as the pulse output mode Also it is assumed that the mode setting switches on the back of the positioning unit are set to the normal setting side 4 axis type 64 point type positioning unit input unit X97 Pulser input enabled Pulser Table
151. lution 1 Forcibly turn the near home input switch on and off from an external source and check to see if the near home input display LED D on the positioning unit lights Solution 2 Check to make sure the input logic for the near home input switch is normally either on or off Solution 3 Check the specifications of the control codes in the home return program The specified control codes vary depending on the input logic confirmed under Solution 2 For detailed information about control code section 14 2 1 For detailed information about input logic section 9 4 Point to check If no near home input has been connected the near home input will be recognized as being off 13 15 Positioning Unit Operation if an Error Occurs FP2 Positioning Unit 13 3 Resolving Problems 13 3 7 Movement Doesn t Stop at Home Position after decelerating for home return Startup speed is maintained with no ye stopping t ms Startup speed X7 Nese home input switch on C a X6 Home input Conditions There is a possibility that the home input has not been read correctly Point to check The home return makes home input subsequent to deceleration valid so if the home signal is input during deceleration that input will end up being ignored Solution 1 Forcibly turn the home input sensor on and off from an external source and check to see if the home input display LED Z on
152. mory are Cleared When Power is T tred OT assis spect tee ele enn sedis aaron LO wat ea haan tts dn 12 3 12 1 2 Operation When the CPU Switches from RUN to PROG Mode 12 5 12 1 3 Operation Cannot be Switched Once One Operation Has Started i tata eeu ole ela ae ote ES cata marin E ecely ten 12 6 FP2 Positioning Unit Table of Contents 12 2 Precautions Concerning Practical Usage Methods 12 7 12 2 1 Setting the Acceleration Deceleration to Zero 12 7 12 2 2 Precautions When Setting the Position Command Value to One PUISG coi Haga kiea Se fei weg eesti de beet aaa i 12 7 Chapter 13 Positioning Unit Operation if an Error Occurs 13 1 Positioning Unit Operation if an Error Occurs 0 00 ee eee 13 3 13 1 1 If the Positioning Unit ERR LED Lights 13 3 13 1 2 Ifthe CPU ERROR LED Lights 02000 13 4 13 2 Errors Which Occur in the Positioning Unit Itself 13 5 13 3 Resolving Problems 2 cneswoneketeeee sce A ways bedi e Hee Baws 2 13 7 13 3 1 Ifthe Positioning Unit ERR LED Lights 13 7 13 3 2 If the Motor Does Not Turn or Operate if the display LED for pulse output A or B is flashing or lighted 13 11 13 3 3 If the Motor Does Not Turn or Operate if the display LED for pulse output A or B is not lighted 13 11 13 3 4 Rotation Movement Direction is Reversed 13 12 13 3 5 The Stopp
153. n is being executed under normal usage conditions For detailed information about deceleration operation Chapter 11 Precautions Concerning the Operation and Programs FP2 Positioning Unit 12 1 Precautions Relating to Basic Operations of the Unit 12 1 3 Operation Cannot be Switched Once One Operation Has Started If the startup contact for one of the five basic operations of the positioning unit E point control P point control home return jog operation and pulser input operation goes on and operation is initiated it is not possible to switch to another operation even if the contact for that operation goes on A a Example Once the E point control startup contact has gone on and E point control has begun it is not possible to switch to P point control a home return jog operation or pulser input operation even if those contacts are turned on while E point control is still in operation f pps E point control operation Y_0 t ms E point control start EST nes natiy Pulse output busy flag hsv I ikoa bce tackle Yi P point control start PST boa a o 2 Home return start ORGS ee a _e n Pulser input Bx m BN Forward jog start lt lt Des Reverse jog start Startup contact of each operation A lt lt 5 If the contact for a deceleration stop or forcible stop goes on the five basic operations noted above
154. n slot no 0 Values of elapsed value areas H10A and H10B The value are read to the data regis ters DT100 and DT101 ii Example Before the power supply is turned off the elapsed values are read to DT100 and DT101 and when the power supply is turned on the contents of DT100 and DT101 are written to the elapsed value area of the unit through DT102 and DT103 12 4 FP2 Positioning Unit Precautions Concerning the Operation and Programs 12 1Precautions Relating to Basic Operations of the Unit 12 1 2 Operation When the CPU Switches from RUN to PROG Mode For safety reasons if the CPU mode switches to the PROG mode during E point control P point control jog operation or a home return any positioning unit operations in progress at that point are interrupted and the speed decelerates AY amp Example If the CPU switches from RUN to PROG mode during E point control operation f pps A Intended E point control operation Point at which CPU switches from RUN to PROG mode t ms EF Notes At the point at which the CPU switches from the RUN to the PROG mode deceleration and stopping begin The acceleration rate used for deceleration at that point is that determined by the data stored in the shared memory when the switch is made from the RUN to the PROG mode The CPU mode should not be switched from RUN to PROG while positioning unit operatio
155. necting the CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis As of October 2008 this is the end of life EOL product Dimensions and Driver Wiring FP2 Positioning Unit 15 2 Wiring for Motor Driver 15 2 3 Panasonic X xx Series Positioning unit Servo amplifier Command pulse Pulse output A input PULS B1610 6 4 A2 A11 SIGN Command sign Pulse output B input SIGN Home input Z phase output Q H al 4 Deviation counter clear Deviation counter B6 B15 clear e 4 7KQ A7 A16 Near home THEA input Dee IS RX Servo ON 24 V DC gt tart B16 acta Power sup Po ply for driv en gy ing the inter a A Alarm clear us nal circuit sted eta fas Cie ged 4 7kQ Rx CW drive disabled Inputunit 4 7kQ Litover 77300 4G CCW drive disabled i E 4 7kQ Limit over O A y i AN Y Command pulse 9 input disabled Input S RDY AKO carat pa 24 V DC Power supply to PLC 27 x gt Servo ready output 24V O is l A Inputto ALM J PLC 26 EF Servo alarm ee EE _ output Input to COIN l T a cs
156. ng Unit Confirming the Unit Settings and Design Contents 4 5 Internal Absolute Counter 4 5 2 Reading Elapsed Value The F150 P150 instructions are used to read the elapsed value from the shared memory of the positioning unit F150 READ P150 PREAD instruction These are the instructions used to read data from the memory of the intelligent unit R S1 S2 n D PH r150 READ KO H10Al K2 DT100 ji This is the positioning unit in slot no 0 from which l elapsed value data H1 onj to H10B for the first axis _are read into DT100 to DT101 Explanation n words of the data stored in the shared memory of the unit mounted in the slot specified by S1 are read from the address specified by S2 and are stored in the area of the CPU specified by D Specified addresses Data elapsed values are stored as 32 bit data Address of shared memory Description hexadecimal Elapsed value Signed 32 bit count absolute 2 147 483 648 to 2 147 483 647 Program example Reads the elapsed value stored in the addresses starting from H10A of the positioning unit s shared memory and stores the elapsed value in the data registers DT200 and DT201 1 axis 2 axes 3 axes 4 axes RO F150 READ KO H10A K2 DT200 4 19 Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 5 Internal Absolute Counter
157. nthesized at the I F terminal Dimensions and Driver Wiring FP2 Positioning Unit 15 2 Wiring for Motor Driver Terminal arrangement diagram 1 axis type VE Manual puse _ Oe s Sub I O termina FP2 genarator ub I O termin ene itl C oooooo0o000000000000 oooooooooo0o0o00000000 Ai Connect cable for FP2 positioning i For details of specifications on power supply etc See the FP2 Positioning Unit MINAS A EX series manuals MINAS A EX motor driver Connect cable fon O MINAS A EX serries Not all signal typs at the I O terminal at I F terminal correspond to the MINAS EX series motor driver Please refer to the EX series C manual concerning this Installing the I F terminal DIN rail installation Screw in installation DIN EN50022 35 mm 1 378 in width Installing Removing _ 2 M4 1 axis type AFP8501 106 0 2 axis type AFP8502 178 0 15 10 FP2 Positioning Unit Dimensions and Driver Wiring 15 2 Wiring for Motor Driver Connecting the wiring Caution Be sure the power is turned off while connecting the wiring
158. ntrol code Shared memory Target speed eee ee ee oe a Step 2 Execution of the operation The input enabled contact relay Y47 is turned on This sets the system in standby mode for input from the pulser X96 H Hao f pps oj gt 7 7 7 i ee eee E Pulser input standby mode B gt U o o o t ms al Ser Ter Tee oe 10 13 Pulser Input Operation FP2 Positioning Unit 10 2 Sequence Flow for Pulser Input Operation Forward rotation The pulser rotates in the forward direction Reverse rotation The pulser rotates in the reverse direction Forward rotation is the direction in which the elapsed value increases and reverse rotation is the direction in which the elapsed value decreases The direction in which the pulser rotates and that in which the motor rotates vary depending on how they are connected f pps Forward rotation i i N Pulser forward rotation pe L Reverse rotation t ms il o
159. o H107 X90 X0 R91 Y43 Forward jog start XO R91 Y44 Reverse jog start R91 X93 Fort FO MV Ko 10 Fe DGT wxi0o HO 10 F30 10 K2 to F150 READ H0 H10A K 2 10DT100 Data number is read Index pointer calculation Shared memory is read The specifies the positioning unit in slot no 0 is specified The two word contents of shared memory address elapsed value area H10A and H10B are read to the data register specified by 10 100 R94 x94 Dr R94 7 E point control start condition r DGT WX10 HO 10 Teaching data position command value F30 10 K2 10 Besa Gul F1 DMV 10 DT100 DT8 J F1 DMV Hi DTO J Control code F1 DMV K 500 DT2 F1 DMV K 10000 DT4 Startup speed Target speed F1 DMV K 100 DT6 y Acceleration deceleration time F151 WRT KO DTO K8 H100 Shared memory writing R94 Y40 T E point control start FP2 Positioning Unit Jog Operation 8 5 Action of the I O Contact Before and After Jog Operation 8 5 Action of the I O Contact Before and After Jog Operation Output frequency f pps f es on A Forward jog start Y3 JGF Reverse jog start Y 4 JGR Pulse output busy flag x0 BUSY Pulse
160. o R87 o o 1l Starting condition R87 HL Fo w H 1 WR 1 Shift register preset XA HDF F101 SHL WR 1 K 1 4 4 Shifting condition R10 Va HDP Fi DMV H 0 DTO Control code Fi DMV K 500 DT2 4 Startup speed F1 DMV K 5000 DT4 4 Target speed Fi DMV K 100 DT6 H Acceleration deceleration time Fi DMV K 5000 DT8 _ Position command value F151 WRT KO DTO K10 H100 Shared memory writing This specifies the positioning unit in slot no 0 from which the 10 word contents from data registers DTO to DT9 are written to the shared memory addresses H100 to H109 oP F1 DMV K 20000 F1 DMV K 100 F1 DMV K 15000 DT4 DT6 DT8 H 104 F151 WRT KO DT4 K 6 This specifies the positioning unit in slot no 0 from which the 6 word contents from data registers DT4 to DT9 are written to the shared memory R12 addresses H104 to H109 DF Fi DMV K 500 F1 DMV K 500 F1 DMV K 6000 F151 WRT KO DT4 K 6 H104 J DT4 DT6 DT 8 This specifies the positioning unit in slot no 0 from which the 6 word contents from data registers DT4 to DT9 are written to the shared memory addresses H104 to H109 a
161. ol P point control jog operation and pulser input enabled operation 10 16 FP2 Positioning Unit Pulser Input Operation 10 4 Types of Manual Pulse Generators That Can be Used 10 4_Types of Manual Pulse Generators That Can be Used A pulse generator should be used for which the number of output pulses is 25P R 25 pulses per cycle With the 100P R 100 pulses per cycle type four pulses are output per click and operation may not be accurate in some cases A line driver output type is recommended A transistor open collector output type or transistor output type with pull up resistance may be used For detailed information about connection methods Section 3 8 10 17 Pulser Input Operation FP2 Positioning Unit 10 4 Types of Manual Pulse Generators That Can be Used 10 18 Chapter 11 Deceleration Stop and Forcible Stop 17 7 17 2 11 3 11 4 Sample Prograft os susie eter es ceaetes Fai 11 3 11 1 1 In progress Stopping Emergency Stopping and Overruns 005 11 3 Operations for a Deceleration Stop and Forcible Stop ty 3125s ease aches Whur a ea oe 11 7 11 2 1 Deceleration Stop 0 0ce eens 11 7 11 2 2 Forcible Stop ahs oe fated canine eweece Came 11 8 I O Contact Operation Before and After a Stop 11 9 Precautions Concerning Stopping Operations 11 11 11 4 1 Pulse Output Done Flag Statuses After a Stop 336 2 eile Pe teed oR eae 11 11 11 4 2 Res
162. ol method in which the target position is specified as an absolute position from the home position With the FP2 positioning unit this is specified in the user program using the control codes and the position command values Increment method relative value control method This is a control method in which the distance from the current position to the target position is specified as a relative position With the FP2 positioning unit this is specified in the user program using the control codes and the position command values Position command value setting 5000 oO gt O 2 3000 setting 9 U a 0 3000 5000 Ti il TT 4 Absolute method ee L O Position command value setting 5000 O gt O 2 2000 setting ZSS e mE Increment method pmi i mrd Jm y L T 0 3000 5000 viii FP2 Positioning Unit Glossary Line driver output This is one output format used in pulse output signal circuits in which the push pull output of the line driver is used Because this format offers better resistance to noise than the open collector output format a larger distance to the driver is possible The line driver must be supported on the motor driver side Most servo motor drivers are equipped with this format Open collector output
163. ome Home m Home mp Ras A Ez OFF 79 e 7 fs 100 PU External Near l o Y OY home input External gt Home Edges of signal detected Z phase input signal p Deviation External lt counter t ms clear output f XO CPU BUSY Output for approx 1 ms CPU lt _X8 ORGE gt _ _ ia Notes The near home input must be on for the deceleration time or longer Near home input does not affect operation even if the signal logic changes after the near home detection Home Return FP2 Positioning Unit 9 5 Practical Use for a Home Return Key Points e Practical application of input logic The logic of the home input and that of the near home input are reversed e Near input is valid when the limit switch goes on e Home input is valid when the limit switch goes off e Only one switch is connected to both home input and near home input 9 5 3 Home Return Based on a Home Search What is a home search If control is being carried out which encompasses both sides of the home position or the direction of the home return is not necessarily limited to one direction the limit over input and the user program can be used to carry out a bi directional home return as shown in the illustration below If the near home position is in the direction of the home return The speed
164. ondition Y axis condition X axis start Y90 Y axis start ED Linear interpolation R9010 F150 READ K 1 H 10A K 2 DT 10 Always Current value on of X axis F150 READ K 1 H11A K 2 DT12 Current Value R9010 of Y axis F28 D DT6 DT 10 DT 14 Always X axis move Current value Movement amount ment destination of X axis of X axis F23 D DT 8 DT 12 DI46 1 Y axis move Current value Movement amount ment destination of Y axis of Y axis F88 DABS DT 14 Movement amount of X axis F88 DABS DT 16 Movement amount of Y axis F323 PWR DT 14 K 2 DT 18 Movement Square of X axis amount movement amount of X axis F323 PWR 07 16 K 2 DT 20 ovement Square of Y axis amount SLY axis movement amount F310 F DT 18 DT 20 DT 22 7 Square ofX SquareofY Sum of squares axis movement axis movement amount amount F324 FSQR DT 22 DT 24 Sum of Square squares root F313 F DT 14 DT 24 DT 26 Movement _ Square root Ratio of X axis amount of X axis F313 F DT 16 DT 24 DT 28 Movement Square root Ratio of Y axis amount of Y axis 16 1 Sample Programs mw next page 16 11 Sample Programs 16 1 Sample Programs R9010 Always on Fi51WRT K 1 DT 30 K 10 H 100 L FistwRT K 1 DT 40 K 10 H 110 D DT 34 KO RO Target speed re of X axis X axis condition D DT 44 KO R1 Target speed of Y axis H fi DMV H 1 PLE
165. onfirming the Unit Settings and Design Contents 4 2 Confirming the Slot Number and I O Number Allocations The following is an example of a 2 axis type positioning unit being mounted in succession following three 16 point units CPU 2 axis type positioning unit 16 point output unit 16 point input unit 16 point output unit XO Y10 Y20 1 axis to to to XF Y1F Y2F X30 to X3F WX3 Y50 to Y5F WY5 WX0 WY 1 WY2 2 axes X40 to X4F WX4 Y60 to Y6F WY6 J 16 point output unit eS Notes If there are any empty slots between the CPU and the positioning unit check to see whether an I O area has been allocated to the empty slot If 1 O mount allocation and automatic allocation are being carried out 16 points for each type of allocation will automatically be assigned to empty slots If the CPU being used is a 2 module type also check any I O areas occupying the units incorporated in the CPU 4 2 3 2 Confirming Slot No When mounted on the CPU backplane Slots are numbered in sequential order with the slot to the right of the CPU being No 0 Slot No 0 1 2 3 4 X 4 axis type positioning unit 4 11 Confirming the Unit Settings and Design Contents FP2 Po
166. ontrol FP2 Positioning Unit 6 1 Sample Program Pulse output diagram Shared memory setting Control code K 500 Startup speed fs pps ied K 10000 Target speed ft pps 1068n Acceleration deceleration time Ac ms Joh K 10000 Position command value Pt pulse 10000 pulses A f pps 108h 10000 500 100 E point control start flag EST 100 t ms CPU 40 A A a Pulse output busy flag E X1 Pulse output CPU lt 4 EDP done flag A Operations of the various flags 20000 No of counts when booted XO CPU BuSsY Pe 2000 WONN0000 A Count 30000 No of counts when stopped e The pulse output busy flag X0 goes on when E point control is initiated and goes off when pulse output is completed e The pulse output done flag X1 goes on when pulse output is completed and is maintained until the next E point control P point control Jog operation home return or pulser input enabled status is initiated e The elapsed value is stored as the absolute value in the counter in the positioning unit FP2 Positioning Unit Automatic Acceleration Deceleration Control Shared memory setting Control parameter Set values in sample program setting content example Control code HO Increment Linear acceleration deceleration 6 1 Sample Program Range of ac
167. or driver or to an external switch and sensor 4 axis type positioning unit 64 point type input unit Home return switch Return direction Table Near home switch mw next page Home Return FP2 Positioning Unit 9 1 Sample Program Pulse output diagram Shared memory setting Control code K 500 Startup speed fs pps K 10000 Target speed ft pps Acceleration deceleration time Ac ms A f pps NERE ANANN 10000 ao a M C0000 0 OOD 500 Home return start t ms Ce ne ere ORGS Near home input External gt X7 DOG a The signal logic following detection of the near home Home input External X6 contact does not affect operation ZSG a Paviano counter clear output Pulse width of Deviation about 1 ms External lt counter clear output Pulse output busy flag CPU XO BUSY Home return done X8 CPU ORGE OE Elapsed value 0 Pe Count A r When home return is done count value becomes 0 FP2 Positioning Unit Home Return Shared memory setting Control parameter Set values in sample program setting content example Control code H10 Acceleration deceleration method Linear acceleration deceler
168. or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated e The number of the startup contact varies depending on the number of axes the unit has and the installation position For detailed information about contact number Section 4 2 3 and 14 3 e The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit For detailed information about slot number Section 4 2 3 2 For detailed information about shared memory area address Section 14 2 e The settings vary depending on the logic of the home input and near home input which have been connected For detailed information about input logic Section 9 4 9 11 Home Return FP2 Positioning Unit 9 1 Sample Program Specifying the control code Control code Description Acceleration deceleration method Direction of home return Home input logic Near home input logic H4 Linear direction Valid when power Valid when power is not supplied is supplied H6 S direction Valid when power Valid when power is not supplied is supplied H14 Linear direction Valid when power Valid when power is supplied is supplied H16 S direction Valid when power Valid when power is supplied is supplied H24 Linear direction Valid when power Valid when power is not
169. output done flag X_1 EDP Pulse output begins within 0 1ms after the startup contact goes on gt When the pulse Time t s output busy flag is on the start signal is ignored 1 If the timing is exactly the same forward rotation takes precedence Deceleration begins at the point when the startup contact goes off my This goes on following one scan after the startup contact goes on ee This goes on when the pulse output is completed Cl es ip H 1 scan Ea _ This goes off when the pulse output is completed 1 scan This goes off following one scan after the startup contact goes on Forward jog start relay Y_3 Reverse jog start relay Y_4 Jog operation is initiated based on the parameters written to the 1 3 positioning unit The operation is not initiated during the time that the pulse output busy flag X_0 is on it has already been initiated The operation is reset when the power supply is turned off If the startup contact for forward and reverse rotation go on at exactly the same timing forward rotation takes precedence mr next page Jog Operation FP2 Positioning Unit 8 5 Action of the I O Contact Before and After Jog Operation Pulse output busy flag X_0 1 This goes on with the next scan after jog operation
170. p i a cw PEG EF Positioning done cot signal j When connecting the CW drive disabled and cew drive disabled input the servo ready output and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis As of October 2008 this is the end of life EOL product 15 6 FP2 Positioning Unit Dimensions and Driver Wiring 15 2 4 Panasonic X v Series 15 2 Wiring for Motor Driver Positioning unit Pulse output A Pulse output B B2 B11 A5 A14 s Home input Z phase output B5 B14 4 A6 A15 COM 4 7kQ Deviation counter m Deviation clear 4 B6 B15 counter clear A7 A16 a rs Near home uee DEI T E opa SLE sneon B7 B16 PLC 29 Power sup 24 V DC 4 7kQ Ply for driv Power A20 ing the inter SYPPIY GND Output A CLR Alarm clear circuit d from gt 6 nal circuit B20 4 7kQ Mex CW drive disabled Input unit 4 7kQ mou ODEL A rQ CCW drive disabled 5 Limit over A y 33 Input E 24V DC Power supply ere RDY eS 24V F l Input to ALM GND PLC ay ETENA _ ya Inputto COIN PLC ean 39 col F A Servo amplifier Command pulse input PULS Command sign input
171. peration Target speed A f pps Direction of increasing Direction of decreasing elapsed value elapsed value Executed pulser input operation Pulser input t ms Y47 CPU gt PEN Pulse output done flag X1 CPU EDP a Ex _ Pulser ternal input A phase ea oe Ex _ Pulser ternal input B phase Ex 4 Pulser ternal output A phase Ex Pulser ternal output B phase Pulser forward NI Pulser reverse D a Ee ee ee Pe T E E IN phase phase Pos ee E nAPO ES SA ES phase lt phase S JIN Z When Y47 is turned on through the program the motor for the first axis waits for pulser input If the pulser is rotated in this state the motor rotates also 10 12 FP2 Positioning Unit Pulser Input Operation 10 2 Sequence Flow for Pulser Input Operation The pulse output busy flag XO remains off and its status does not change The pulse output done flag X1 goes off when Y47 goes on Data required for settings The following data must be written to the specified addresses of the shared memory Operation is determined by the following two types of data e Control code e Target speed Operation steps Step 1 Preparatory stage The data required for operation is transferred to the shared memory in advance Data for pulser input operation HCo
172. quired for operation is transferred to the shared memory in advance Data for booting E point control es ee ee ee ee ee ee ee ee ee ee H Control code Startup speed i H Target speed H Acceleration deceleration time a ae Q Shared memory k 0000000 4 r lo Position command value 6 16 FP2 Positioning Unit Automatic Acceleration Deceleration Control 6 2 Flow of E Point Control Operation Step 2 Executing the operations Operation begins when the contact relay Y40 for E point control is turned on The control code determines whether S acceleration deceleration or linear acceleration deceleration is used Acceleration is carried out from the startup speed to the target speed and then the speed slows to the startup speed and the table stops This amount of travel is determined by the position command value X80 Y40 e Ff f pps E point control J i ea 6 17 Automatic Acceleration Deceleration Control FP2 Positioning Unit 6 3 Operation of the Input and Output Contacts Before and After E Point Cont
173. ra atiak te renege ones 4 17 How the Internal Absolute Counter WOKS cso b acces ste ea Hedy getsdag Rina e UDA 4 17 Reading Elapsed Value 4 19 Writing Elapsed Value 4 20 FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 1 Setting the Operation Mode Setting Switches 4 1__ Setting the Operation Mode Setting Switches Before attaching the positioning unit to the backplane always make sure the operation mode setting switches on the rear panel have been set to match the specifications of the system being designed Settings when the unit is shipped from the factory a gt FP2 PP4 FP2 PP2 The operation mode setting switches are used to select the motor rotation direction and the pulse output mode for each of the axes Rotation direction Normal setting Reverse setting Pulse output mode Pulse sign mode CW CCW mode Rotation direction Normal setting Reverse setting Pulse output mode Pulse sign mode CW CCW mode Rotation direction Normal setting Reverse setting Pulse output mode Pulse sign mode CW CCW mode Rotation direction Normal setting Reverse setting Pulse output mode Pulse sign mode CW CCW mode The factory setting for all switches is ON The settings of the operation mode setting switches become effective at the po
174. ration 8 14 Teaching Following Jog Operation 8 18 8 4 1 Example of Teaching Settings and Sample Program 0 00 8 18 Action of the I O Contact Before and After Jog Operation aaaana annan anneanne 8 21 Precautions When Changing the Speed During JOG Operation ieee dt hated BEE RAN ARES RAS 2 8 22 Jog Operation FP2 Positioning Unit FP2 Positioning Unit Jog Operation 8 1 Sample Program 8 1 _ Sample Program 8 1 1 Jog Operation Forward and Reverse This is the basic program for forward and reverse rotation using the external switch For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side e Pulses are output as long as the startup contact is on in the manual mode e There are two contacts switches for startup one for forward rotation and one for reverse rotation 4 axis type positioning unit 64 point type input unit FP2GT g 8 8 8 8 8 Reverse jog switch Forward jog switch Forward Motor driver side mw next page Jog Operation FP2 Positioning Unit 8 1 Sample Program
175. recommended by the manufacturer of the motor being used Turning the Power On and Off and Booting the System FP2 Positioning Unit 5 2 Before Turning ON the Power 5 2 Before Turning ON the Power Items to check before turning on the power System configuration example Positioning unit Input unit g f Power supply for PLC jw Power supply for input output device 2 Power supply for motor driver ans o p e EE Limit over Limit over a ivi la COW driving i ie 3 CW driving inhibition switch switch switch I inhibition switch Driver upper and lower limit inputs External safety nGa Safety circuit based circuit on the PLC 1 Checking connections to the various devices Check to make sure the various devices have been connected as indicated by the design 2 Checking the installation of the external safety circuit Check to make sure the safety circuit based on an external circuit wiring and installation of limit over switch has been installed securely 3 Checking the installation of the safety circuit based on the PLC Check the connections between the input unit for the PLC and the limit over switch Also check to make sure the limit over switch has been installed correctly FP2 Positioning Unit Turning the Power On and Off and Booting
176. rminals for Four Axes 4 axis type Specification eee Signal name A10 Pulse output A Output form Line driver output line driver Equivalent to B10 Pulse output A A10 AM26C31 line driver Alt 100pF A11 Pulse output B B10 line driver B11 B11 Pulse output B line driver A12 Pulse output A Output form Open collector open collector A12 Operating voltage 4 75 to 26 4 V DC B12 range Bi2 Pulse output B GND Max load current 15 mA open collector ON voltage drop 0 6 V or less B13 5 V DC output Output voltage 4 75 to 5 25 V DC 0B13 range 7 GND Max load current Total 120 mA at 5 V DC output 3 18 FP2 Positioning Unit Wiring pen Signal name Deviation counter clear Deviation counter clear 3 2 Circuit Power supply input and ground terminals eee Signal name FE Circuit Output form Input Output Specifications and Connector Pin Layout Specification Open collector Operating voltage range 4 75 to 26 4 V DC Max load current 15 mA ON voltage drop fh er as F E 1 2 V or less Specification External power supply input 24 V DC External power supply input 24 V DC Notes 24VIN 0 A20 Pow
177. rol 6 3 Operation of the Input and Output Contacts Before and After E Point Control Output frequency f pps ft 1 p ft 2 fs gt time Pulse output begins When the pulse t s put busy flag within 0 1 ms after the startup contact relay goes on This goes on follow ing one scan after the startup contact relay goes on output busy flag goes on the startup signal is ignored This goes off when the pulse output is completed 1 scan 1 scan s This goes off follow This goes on when ing ie scan after Pulse the pulse output is the startup contact output completed relay goes on done flag e J x1 D 1 scan 1 scan EDP ___ E point control start relay Y_0 1 E point control is initiated based on the parameters written to the positioning unit 2 E point control is not initiated during the time that the pulse output busy flag X_0 is on 3 E point control start relay is reset when the power supply is turned off 6 18 FP2 Positioning Unit Automatic Acceleration Deceleration Control 6 3 Operation of the Input and Output Contacts Before and After E Point Control Pulse output busy flag X_0 1 This goes on with the next scan after E point control has been initiated and goes off when the pulse output is completed 2 Operation cannot be
178. rol Minus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side 4 axis type positioning unit 64 point type input unit WxX0 WX8 WX1 WX9 mw next page Automatic Acceleration Deceleration Control FP2 Positioning Unit 6 1 Sample Program Pulse output diagram Shared memory setting Control code K 500 Startup speed fs pps 1094h K 10000 Target speed ft pps tosh K 100 Acceleration deceleration A ieee time Ac ms f pps Jeon K 10000 Position command value Pt pulse 10000 10000 pulses 500 gt 100 100 t ms lt _ _ lt __ gt j Y40 E point control CPU EST start relay Pulse output ee Sa ee busy flag Apu sn X1 Pulse output CPU lt EDP done flag Elapsed value 2000 10000 Pe a Count A A 20000 10000 No of counts No of counts when booted when stopped Operations of the various flags e The pulse output busy flag X0 goes on when E point control is initiated and goes off when pulse output is completed e Th
179. s can be controlled with a single unit 2 axis type Ors 26 los oi Cc i Pulse train Tie o o Encoder h Els E i gt gt Positioning unit Driver Servo motor ae i o pes r Motor Driver Ns oor s AF 2 axis type 5 FP2 PP2 Motor Driver mw next page Functions of Unit and Restrictions on Combination FP2 Positioning Unit 1 1 Functions of FP2 Positioning Unit 4 axis type Motor Motor The user may select line driver output or open collector output Line driver output which supports high speed control is provided Driver Driver 4 axis type FP2 PP4 Driver Driver a ma Motor a aa Motor Drivers available only with stepping motors and open collectors are also supported If both types can be used we recommend using the line driver for connection Automatic acceleration
180. s flag is shared among E point control P point control jog operation and home returns except a pulser input enabled operation Pulse output done flag X_1 1 This goes on when the pulse output is completed and is maintained until the next E point control P point control jog operation home return or pulser input enabled status is initiated 2 This flag is reset when the power supply is turned off This flag is shared among E point control P point control jog operation and pulser input enabled operation Automatic Acceleration Deceleration Control FP2 Positioning Unit 7 4 Precautions When Creating P Point Control Programs 7 4 Precautions When Creating P Point Control Programs 74 1 Precautions Concerning the Setting Value Change Confirmation Flag X_A The setting value change confirmation flag is turned on and off at the timing noted below so an interlock should be applied to prevent the shared memory or other data from being overwritten at the same timing Conditions for turning the flag from off to on e This flag goes on when P point control or E point control is initiated e It goes on at the point when the next data can be written Conditions for turning the flag from on to off e This flag goes off when pulse output is completed after P point control or E point control is initiated e It goes off when the shared memory write instruction F151 is executed and any type of data is written to the shared memory of
181. s places for the acceleration deceleration time it takes to reach the target speed and the table moves X100 Y42 ig ors FPZCT JEE ZAE Home switch X6 Near home switch X7 Step 3 Near home input If there is near home input the speed slows to the startup speed ION Near home switch X7 mr next page 9 15 Home Return FP2 Positioning Unit 9 2 Flow of Operation Following a Home Return Step 4 Home input After decelerating to the startup speed value the movement unit stops if there is home input el JE exexexexexs ON Home switch X6 9 16 FP2 Positioning Unit Home Return 9 2 Flow of Operation Following a Home Return 9 2 1 Operation If the Home Input is the Z Phase of the Servo Driver When near home input is input the speed slows and
182. ses as the motor rotates is set as the plus direction This control assumes that the mode setting switches on the back of the positioning unit have been set to the normal setting side 4 axis type positioning unit 64 point type input unit E p 3 an 0 mw next page Automatic Acceleration Deceleration Control FP2 Positioning Unit 7 1 Sample Program Pulse output diagram Shared memory setting 100h Control code 100h Control code 100h Control code 101 h i M 10h E cap be omitted loih Fo can be one tartup speed fs tartup speed fs tartup speed fs 103h 103h 103h trek soofpegrerens te doegeerees ee oes tosh K 5000 4 larget speed ft pps osn K 20000 larget speed ft Pps osn K 500 Target speed ft pps 106h Acceleration decel 1406h Acceleration decel 106h 100 7 eration time Ac ms 107h eration time Ac ms 107h Position command 108h Position command 108h value Pt pulse tosh value Pt pulse 109h Acceleration decel K 500 eration time Ac ms K 6000 Position command value Pt pulse 5000 15000 pulses 500 T gt 100 100 500 ms P point control m i 7 i gt start relay Y4 CPU PST Setting value change con firmation flag CPU lt XA CEN de ona Goes off when F151 ins
183. setting Startup speed fs pps K 10000 Target speed ft pps Acceleration deceleration 10 18 10 18 10 time Ac ms NOUI AUON O0O ke eo pas pe pa pioa pra piem g A 10000 500 Diredion of ineeasing elapsed value Wo N Direction of increasing elapsed value D 9 1 Sample Program Home return start Y42 ORGS CPU gt Near home input External gt X7 DOG Home input t ims eME o o The signal logic following detection of the near home a i anne meee a External X6 contact does not affect operation M ZSG Deviation counter clear output Deviation External lt counter clear output Pus output busy flag Pulse width of about ims XO CPUs BUSY Home return done X8 CPU ORGE Elapsed value Pe L VOOK Cout done count value becomes 0 ne S WON When home return is Home Return FP2 Positioning Unit 9 1 Sample Program Shared memory setting Control parameter setting content Control code Set values in sample program example H14 Acceleration deceleration method Linear acceleration deceleration Direction of home return direction of elapsed value Home input logic Input valid when the power is on Near home input logic Input valid when the power is on Range of acceptable settings
184. sitioning Unit 4 2 Confirming the Slot Number and I O Number Allocations Notes If the CPU being used is a 2 module type the slot number of the unit incorporated in the CPU should be counted as 0 Slot No gt 0 2 3 4 9 lt 2 module type CPU 4 axis type positioning unit Ifthe CPU unit with S LINK is used the slot number of the unit incorporated in the CPU should be counted as 0 and 1 Slot No O 1 2 3 4 5 ot NO CPU unit with S LINK 4 axis type positioning unit When mounted on an expansion backplane The slot number of the slot to the right of the power supply unit on the expansion backplane should be counted as 16 CPU backplane Expansion backplane See le ie ie 1 a oh o PF 0000000 2 e TON oJ 12868888 en oJ 2888088 a 4 axis type positioning unit 4 12 FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 3 Increment and Absolute 4 3 Increment and Absolute With automatic acceleration deceleration control the position command value should be specified in ad
185. sitioning unit are set to the normal setting side 4 axis type positioning unit 64 point type input unit X96 Pulser input enabled Pulser Reverse Table Forward lt Ball screw mr next page Pulser Input Operation FP2 Positioning Unit 10 1 Sample Programs Pulse output diagram Shared memory setting Control code K 1000 Target speed ft pps Direction of increasing elapsed value f pps Direction of decreasing elapsed value 1000 Pulser input enabled Y47 CPU BEN Pulse output done flag x1 CPU EDP Ex ternal Pulser input A phase Ex ternal _ Pulser input B phase Ex ternal lt _ Pulser output A phase Ex ternal Pulser output B phase Pulser forward IN AON ec ee phase Seema ES aa phase Pulser reverse A Neel Se phase eee Oe em ea phase Ne 5 NG J 10 4 FP2 Positioning Unit Pulser Input Operation 10 1 Sample Programs Shared memory setting Control parameter Set values in sample program Range of acceptable settings setting content example Control code HO HO x 1 transfer multiple Multiplication ratio x 1 multiple H100 x 2 transfer m
186. stop immediately 12 6 FP2 Positioning Unit Precautions Concerning the Operation and Programs 12 2 Precautions Concerning Practical Usage Methods 12 2 Precautions Concerning Practical Usage Methods 12 2 1 Setting the Acceleration Deceleration to Zero To initiate the target speed immediately without accelerating or decelerating automatic startup operation the startup speed and acceleration deceleration time should both be set to O zero This produces pulse output at the target speed with an acceleration deceleration time of O zero Setting the startup speed equal to the target speed results in a set value error and the positioning unit will not start Shared memory setting contents Set the startup Startup speed fs pps Sneed and the leration tput f Target speed ft pps acce ion ane me oe Acceleration deceleration lt deceleration time f time Ac ms to 0 zero pps i Position command value Pt pulse 5000 gt Time t s 12 2 2 Precautions When Setting the Position Command Value to One Pulse When the travel amount becomes one pulse by E point control or P point control set the startup speed to one pps or more When the startup speed is O pps the operation will stop in the state that 1 pulse has been output It will be hanged Control code H 0 Control code H 0 Startup speed K 0 Startup speed K 1 Target speed K 1000 gt Tar
187. stopped If the pulse output done flag is being used as a trigger signal for operation after positioning has been completed the program should be set up so that operation does not proceed to the next step following a deceleration stop or a forcible stop 11 4 2 Restarting After a Stop When a deceleration stop or forcible stop is triggered the startup contacts for all operations must be turned off before operation can be restarted This operation is common to E point control P point control home returns jog operation and pulser input operation 11 4 3 Forcible Stop Elapsed Value Data Elapsed value data in the shared memory is saved after a forcible stop is applied Under normal conditions it is possible that a mechanical error has occurred so after home return we recommend positioning control start 11 11 Deceleration Stop and Forcible Stop FP2 Positioning Unit 11 4 Precautions Concerning Stopping Operations 11 12 Chapter 12 Precautions Concerning the Operation and 12 1 12 2 Programs Precautions Relating to Basic Operations of SUNE 222 Baye dre Sten ate mire Skincare Sinan Mea eet haa 12 3 12 1 1 Values of Shared Memory are Cleared When Power is Turned Off 00000000es 12 3 12 1 2 Operation When the CPU Switches from RUN to PROG Mode 12 5 12 1 3 Operation Cannot be Switched Once One Operation Has Started 12 6 Precautions Concerning Practical Usage Method
188. t which can be used FP2 2 Axis type positioning unit AFP2430 FP2 4 Axis type positioning unit AFP2431 Related products 0 5 m Cable for FP2 positioning unit AFP85100 1 m Cable for FP2 positioning unit AFP85101 1 m Cable for MINAS A series AFP85111 2 m Cable for MINAS A series AFP85112 1 m Cable for MINAS EX series AFP85121 2 m Cable for MINAS EX series AFP85122 The I F terminal Dimensions Connector for positioning unit Home input select pin 98 0 Sub I O terminal 2 o ol HEHA Connector for g 5 B IEA HEY 2 motor driver Seis S 1 O terminal 1 axis type Connector for positioning unit Home input select pin Sub I O 4 terminal loooooo CLMrssssssssrsssssesss HEE Connector for l motor driver 2o oo o oj E e The asterix below indicates the following AX1 and AX2 AX 8 and AX 4 which you can see at the PWB of the I F terminal both share the same connector slot at the FP2 positioning unit side for PP2 type and PP4 type When the user will use the 3 and 4 axis connection from the FP2 positioning unit the AX 3 and AX 4 can be used for this lt a Note Number 3 and 4 is pare
189. tarting After a Stop 11 11 11 4 3 Forcible Stop Elapsed Value Data 11 11 Deceleration Stop and Forcible Stop FP2 Positioning Unit 11 2 FP2 Positioning Unit Deceleration Stop and Forcible Stop 11 1 Sample Program 11 1_Sample Program 11 1 1 In progress Stopping Emergency Stopping and Overruns 4 axis type 64 point type positioning unit input unit x80 X110 Positioning In progress Emergency start switch stop switch stop switch Overrun limit side Overrun limit side mw next page 11 3 Deceleration Stop and Forcible Stop FP2 Positioning Unit 11 1 Sample Program Program X80 R80 H Fi DMV H 0 DT 0 F1 DMV K 300 DT 2 F1 DMV K 10000 DT 4 E point control positioning Fi DMV K 300 DT 6 4 operation program example Fi DMV K 50000 DT 8 H 4 F151 WRT KO DTO K10 H100 J 4 R80 Y40 X110 Y46 In progress stop In progress stop input L Forcible stop relay X111 Y45 Emergency stop input Emergency stop X112 _overrun DF Forcible stop relay Limit over input X113 Use differential instruc tion for limit over input Limit over input az Precautions concerning the program e The number of the stop input contact varies depending on
190. terrupted and forcibly terminated Deceleration stop When turned on in the user program operations currently running are interrupted and decelerate to a stop Pulser input en When turned on in the user abled program pulser input is enabled valid only while on Error clear If a set value error occurs the Y2F Y3F Y4F Y5F Y6F Y7F error is canceled when this is turned on in the user program eS Notes 1 This goes on during pulse output in various operations such as E point control P point control home return and jog operation and remains on until the operation has been completed 2 This goes on when the various operations such as E point control P point control jog operation and pulser input operation have been completed It also goes on when deceleration stop have been completed and when a forcible stop has been completed It goes off when the next operation such as E point control P point control jog operation a home return or pulser input operation is initiated 3 This goes on when P point control or E point control is initiated and goes off when the shared memory write instruction F151 is executed and data of any kind is written to the shared memory of the positioning unit 4 The input and output relay numbers indicate the number when the unit number is 0 The numbers actually used change depending on the position in which the unit is installed
191. the effects of the noise Glossary FP2 Positioning Unit Home return In terms of positioning the position that serves as a reference is called the home position and a movement back to that position is called a home return or return to home position The table travels to a reference position home position specified ahead of time and the coordinates of that position are set as the zero of the absolute position Home input This refers to input of the reference position used for positioning and is connected to the Z phase signal of the servo motor driver or to an external input switch and sensor Near home input In order to stop the table at the home position a position called the near home position is specified at which deceleration begins This is connected to an external input switch and sensor Input logic Depending on the type of sensor and switch connected to the home input and near home input it is necessary to confirm whether the input signal will be valid when current is flowing or whether input will be valid when no current is flowing This is called the input logic With the FP2 positioning unit this setting is entered using a control code in the program Deviation counter This is located inside the servo motor driver and counts the difference between command pulses and the feedback from the encoder Command pulses are counted as plus values and feedback pulses are counted as negative values with control
192. the elapsed value increases J setting switches im CH eee Reverse Forward ono lt ___ gt oc pe Cop Tore J p 1 N Motor driver a N S Reverse y Forward E Pulse output A Pulse output B Direction of increasing elapsed value Direction of decreas ing elapsed value Ks J Confirming the Unit Settings and Design Contents FP2 Positioning Unit 4 1 Setting the Operation Mode Setting Switches CW CCW mode Rotation direction switch normal setting Fa ent AON Operation mode setting switches With forward rotation the elapsed value increases s With reverse rotation the elapsed value decreases 2 fc Ho jojo Reverse Forward q sh Co RPT sais eh SS n S y i N Motor driver Forward a Reverse fi Pulse output A Pulse output B Direction of increasing elapsed value Direction of decreas ing elapsed value a J CW CCW mode Rotation direction switch reverse setting w With forward rotation the elapsed value decreases es L With reverse rotation the elapsed value i increases J Operation mode setting switches oo Im mn ko all gt o lon o off gt mm No co mm 288088
193. the number of axes that the unit has and the position in which it is mounted For detailed information about contact number Section 4 2 and 14 3 e Ifa deceleration stop or forcible stop is triggered the startup contacts for the various operations must be turned off before operation can be restarted This content is common to E point control P point control home returns jog operation and pulser input operation 11 4 FP2 Positioning Unit Deceleration Stop and Forcible Stop 11 1 Sample Program Pulse output diagram Deceleration stop operation In progress stop f pps 10000 2 300 gt Time t s E point control 40 start relay CPU EST Deceleration uO stop relay CFU DCL Pulse output _ X0 busy flag CPU BUSY Pulse output spy EDP done flag 11 5 Deceleration Stop and Forcible Stop FP2 Positioning Unit 11 1 Sample Program Forcible stop operation Emergency stop and overrun E point control start rela Forcible stop relay when an emergency stop is input Forcible stop relay when an overrun is input Pulse output busy flag Pulse output done flag f pps 4 10000 n 300 Time t s Y40 CPU EST Y45 CPU EMR Y45 CPU gt EMR X1 CPU EDP 11 6 FP2 Positioning Unit Deceleration Stop and Forc
194. the positioning unit lights Solution 2 Check to make sure the input logic for the home input is normally either on or off Solution 3 Check the specifications of the control codes in the home return program The specified control codes vary depending on the input logic confirmed under Solution 2 For detailed information about control code section 14 2 1 For detailed information about input logic section 9 4 Point to check If no home input has been connected the home input will be recognized as being on 13 16 Chapter 14 Specifications 14 1 Table of Performance Specification 14 3 14 2 Table of Shared Memory Area 4 14 6 14 2 1 Quick Guide to Control Codes 14 7 14 3 Table of I O Contact Relay Allocation 14 10 Specifications FP2 Positioning Unit 14 2 FP2 Positioning Unit Specifications 14 1 Table of Performance Specification 14 1 Table of Performance Specification General specifications Item Description Ambient operating 0 C to 55 C 32 F to 131 F temperature Ambient storage 20 C to 70 C 4 F to 158 F temperature Ambient operating 30 to 85 RH 25 C non condensing humidity Ambient storage 30 to 85 RH 25 C non condensing humidity Breakdown voltage 500 V AC 1 minute Between the various pins of the external connector and the ground except for the F E pins
195. tion 8 4 Teaching Following Jog Operation Pulse output diagram Shared memory setting K 500 Startup speed fs pps K 10000 Target speed ft pps Can be set to K5000 Acceleration deceleration time Ac ms Forward Reverse 5000 f 7 P a S N 500 gt po Deceleration begins at the point t ms Forward jog s when the contact goes off start mrp Y43 Forward CPU GF Reverse jog start Y44 Reverse CPU JGR Pulse output busy flag he ee lt CPU lt _X0 BUSY Pulse output done flag a fe ee aed EDP copsea vane MNN NOOK NK gt NX Pe COEN RS 8 19 Jog Operation FP2 Positioning Unit 8 4 Teaching Following Jog Operation Sample program X90 X0 R90 JOG start Fi DMV K 5000 DT4 x92 R90 Fi DMV K 10000 DT4 Target speed Low speed Target speed High speed F1 Dow H 0 DTO Control code Fi DMV K 500 DT2 Fi DMv K 100 DT6 Startup speed Acceleration deceleration time F151 WRT KO DTO K 8 H100 Shared memory writing This specifies the positioning unit in slot no 0 from which the 8 word contents from data registers DTO to DT7 are written to the shared memory addresses H100 t
196. to the number of comparison pulse Set value change confirmation With P point control this is used to confirm rewriting of set values Note 3 Set value error Goes on when a set value error occurs E point control start When turned on in the user program E point control is initiated P point control start When turned on in the user program P point control is initiated Home return start When turned on in the user program a home return is initiated Forward jog When turned on in the user program jog forward rotation is initiated 14 10 FP2 Positioning Unit Specifications 14 3 Table of I O Contact Relay Allocation Con Description I O contact relay number ee ay 2 axis type 4 axis type Reverse jog When turned on in the user program jog reverse rotation is initiated Forced stop When turned on in the user program operations currently running are interrupted and forcibly stopped Deceleration stop When turned on in the user program operations currently running are interrupted and decelerate to a stop Pulser input When turned on in the user enabled program pulser input is enabled valid only while on Error clear If a set value error occurs the error is canceled when this is turned on in the user program Notes 1 This
197. topping until the startup speed is reached and then the motor continues to rotate at the startup speed until a Z phase signal is input If ahome return is started at whatever point both the near home and home input become valid the table positioning unit does not move 9 18 FP2 Positioning Unit Home Return 9 2 Flow of Operation Following a Home Return 9 2 2 Operation If the Home Input is Through an External Limit Switch When near home input is input the speed slows and when the startup speed has been reached the home input signal is input and stops When a 4 axis type positioning unit is mounted in slot 0 Example of specified data Shared memory setting Togn Control code Josh Startup speed fs pps Ion Target speed ft pps 106h Acceleration deceleration 107h time Ac ms f pps ft 6000 fs 100 t ms Ac Edges of signal 200 detected The signal logic following detection of the near home CPU gt _Y42 ORGS contact does not affect N i operation ear L p Externa gt home contac BL p 4 F External gt Home input Deviation External lt counter clear output PU X0 eee BUSY Signals input during CPU TonaE deceleration are not viewed as home input signals Pe Count When home return is done When the home return has been completed the X8 ORGE goes on
198. truction is executed Pulse output busy flag XO Pulse output done flag XI S CPU lt DP e Elapsed value Pe 4 Count 36000 No of counts when booted 10000 No of counts when stopped FP2 Positioning Unit Automatic Acceleration Deceleration Control Shared memory setting Control parameter setting content Control code Set values in sample program example 1st speed HO Increment Linear acceleration deceleration 2nd speed The same as left 3rd speed The same as left 7 1 Sample Program Range of acceptable settings HO Increment Linear acceleration deceleration H2 Increment S acceleration deceleration Startup speed pps K500 The same as left The same as left K10 to K1000000 K10 is the recommended value Target speed pps K5000 K20000 K500 K11 to K1000000 The target speed for the first speed should be set to a value larger than the startup speed K11 is the recommended value Acceleration deceleration time ms K1 to K32767 Position command K 5000 value pulse K 6000 K 2147483648 to K2147483647 wr next page Automatic Acceleration Deceleration Control FP2 Positioning Unit 7 1 Sample Program Program F Check to make sure the pulse output busy flag is not BUSY X87 X
199. ultiple H200 x 5 transfer multiple H300 x 10 transfer multiple H400 x 50 transfer multiple H500 x 100 transfer multiple H600 x 500 transfer multiple H700 x 1000 transfer multiple Target speed pps K10000 K1 to K1000000 Program X96 R96 Starting condition R96 F1 DMV H 0 DT 0 F151 WRT KO DTO K2 H100 Shared memory writing Control code This specifies the positioning unit in slot no 0 from which the 2 word contents from data registers DTO to DT1 are written to the shared memory addresses H100 to H101 F1 DMV K 1000 DT 4 Target speed F151 WRT KO DT4 K2 H104 Shared memory writing This specifies the positioning unit in slot no 0 from which the 2 word contents from data registers DT4 to DT5 are written to the shared memory addresses H104 to H105 Pulser input enabled next page Pulser Input Operation FP2 Positioning Unit 10 1 Sample Programs Precautions concerning the program e The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control home returns and other types of control These should not be overwritten by other conditions e If the target speed is out of the range of possible settings a set va
200. unter clockwise pulse signals are output from the pulse output B pin FP2 Positioning Unit Confirming the Unit Settings and Design Contents 4 1 Setting the Operation Mode Setting Switches 4 1 3 Relationship Between Switch Setting and Rotation Direction Pulse sign mode Rotation direction switch normal setting With forward rotation the elapsed value increases s arai AA Operation mode With reverse rotation the elapsed value decreases setting switches SS Reverse Forward llan an oe HPT a Ta n Motor driver o all a Co ON Forward me Reverse z Pulse output A Pulse output B 7 p Direction of increasing elapsed value Direction of decreas ing elapsed value C J Pulse sign mode Rotation direction switch reverse setting With forward rotation the elapsed value decreases ag a aN Operation mode With reverse rotation
201. urn Forcible stop return busy flag RO RO R8 Y45 R1 DF Home return in progress R7 Home return Forcible stop done pulse Retry of home return command R1 Home return command Home return command R2 F1 DMV Home return command pulse F1 DMV 10 DT 0 500 DT 2 AAA LT F1 DMV 2000 DT 4 F1 DMV 10 DT 6 F151WAT KO DT 0 K 8 H100 X112 R1 R6 R3 es 0 CCW limit Home return Near home error R3 command detection CCW limit detection XO R3 R6 R4 lt t Pulse CCW limit Near home error output detection detection busy flag R4 After limit detecting reverse command R4 RS DF After limit detecting reverse command R5 F1 DMV K 500 DT 2 After limit detecting Fi DMV K 2000 DT 4 reverse Fi DMV K 300 DT 6 command pulse Fi51WRT KO DT 0 K 8 H100 next page Home return in progress Home return command pulse fccw limit detection A L After limit detecting reverse command J Atter limit detecting reverse command pulse FP2 Positioning Unit Home Return X7 R4 R7 R6 DF 1 Near home After limit Retry of home input detecting return command reverse R6 command Near home error detection XO R6 R7 Pulse output Near home error detection busy flag R2 Y42 Home return command pulse X8 R8 LF M Home return done flag X8 Y45 R9
202. us control parameters are written are used for acceleration deceleration control home returns and other types of control These should not be overwritten by other conditions e Ifthe values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated e The number of the startup contact varies depending on the number of axes the unit has and the installation position For detailed information about contact number Section 4 2 3 and 14 3 e The specified slot number and shared memory address vary depending on the slot position and axis number of the positioning unit For detailed information about slot number Section 4 2 3 2 For detailed information about shared memory area address w Section 14 2 e The settings vary depending on the logic of the home return input and near home input which have been connected For detailed information about input logic Section 9 4 FP2 Positioning Unit Home Return Specifying the control code Control code Description 9 1 Sample Program Acceleration deceleration method Direction of home return Home input logic Near home input logic HO Linear direction Valid when power Valid when power is not supplied is supplied H2 S direction Valid when power Valid when power is not supplied is supplied
203. ut switch is connected 9 5 2 When the Near Home and Home Input are Allocated by Turning a Single Limit Switch On and Off Environment in which this function can be used This can be used in a system in which when a home return is begun the near home input switch goes on and then off again N a N Near home Home Home LLLI a LOLLL a TTL gt OFF J X 2 se Example of usage method Connection The near home and home input are connected to the near home input switch Limit switch near home switch To home input B5 or B14 To near home input B7 or B16 To A4 A7 or A13 A16 24V DC Input logic setting The control code in the shared memory should be set as indicated below Home input logic Input exists when power is not supplied Near home input logic Input exists when power is supplied FP2 Positioning Unit Home Return Operation 9 5 Practical Use for a Home Return When a home return is begun the motor rotates in the direction of the home return Deceleration begins when the near home input switch goes on and the speed slows to the startup speed Rotation continues until the near home input goes off At that point there is considered to be home input and rotation stops Example of data specification ae memory setting f pps ft 5000 Target speed ft pps ionic eo N tion time Ac ms Ne h
204. vance as a numeric value a number of pulses There are two ways to specify this numeric value described below Select whichever method is appropriate for the usage conditions For detailed information on entering settings refer to Chapter 6 Automatic Acceleration Deceleration Control E point control and Chapter 7 Automatic Acceleration Deceleration Control P point control 4 3 1 Increment relative value control The position command value is normally specified as the relative position from the current position using a number of pulses AY a Example Travels from the current position to a position 5 000 pulses away 5000 pulses is set as the position command value and travel is carried out l cy pulses A gt as f TFI lal Je J ii j b Current position Target position 2000 pulses is set as the next position command value and travel is carried out 5000 aaa A 2000 pulses gt E Qm Ta Current position Target position
205. wer is supplied Valid when power is not supplied Pulser input operation direction Valid when power is supplied Valid when power is not supplied Control Control multiplication ratio ad Transfer multiplication ratio coda Transfer multiplicatio x 1 time x 50 times x 2 times x 100 times x 500 times x 1000 times x 5 times x 10 times 14 8 FP2 Positioning Unit Specifications 14 2 Table of Shared Memory Area Control codes are written to the shared memory area with the bit configuration shown below The settings for the control method the method of acceleration and deceleration the home return method and the pulser transfer multiple ratio are all written to the same area so be careful that overwriting is not done at the same timing Higher 16 bits Address 101h 111h 121h 131h 15 1413 12 1110 9 8 7 6 5 4 3 2 1 0 Indicates the invalid bit Lower 16 bits Address 100h 110h 120h 130h 15 1413 12 1110 9 8 7 6 5 4 3 2 1 0 0 Default value 1 Control method Increment Absolute Acceleration Linear S acceleration 10 9 8 Pulser transfer multiple deceleration acceleration deceleration method deceleration 0 0 0 x1 Direction of direction of direction of 0 0 1 x2 home return elapsed va
206. wer Supply Terminals for Three Axes 3 14 3 2 3 2 Input Terminals for Three Axes 55 3 16 3 2 4 Pin Layout for Four Axes 31 65 shincdee Bh bhai a oabes ee 3 18 3 2 4 1 Output and Power Supply Terminals for Four Axes 3 18 3 2 4 2 Input Terminals for Four Axes 00 3 20 Supplying Power for Internal Circuit Drive 000 eee 3 22 3 3 1 Line Driver Output vise t oe eee eee tage lesa ee te eee aeee es 3 22 3 3 2 Open Collector Output 0 0 eee ee 3 23 Connection of Pulse Command Output Signal 0000 3 24 Table of Contents FP2 Positioning Unit 3 4 1 IMG DIIVGEY 2 22 i rats a hate riaa Shs Pate a ereavi a a 3 24 3 4 2 Transistor Open Collector 000 cece eee eee 3 24 3 5 Connection of Deviation Counter Clear Output Signal for servo motor 3 26 3 6 Connection of Home Input Near Home Input Signals 3 27 3 6 1 Connection of Home Input When connecting to motor driver Z phase output ioeo sansa sad dae suni aaa nie 3 27 3 6 2 Connection of Home Input When connecting to an external SWICH SGMSOL tansia arenira does EE E a he a ARR Ea a 3 28 3 6 3 Connection of Near Home Input Signal 3 28 3 7 Connection of Limit Over Input 0 eee eee 3 29 3 8 Connection of Pulser Only when pulser is used 0 3 30 3 8 1 Line Driver Type s 303o tbs oaeG i tea Gasset cae Ranedenidiess 3
207. width 3 16 FP2 Positioning Unit Wiring need Signal name Circuit Near home input Near home input Input voltage range Input Output Specifications and Connector Pin Layout Specification 4 75 to 26 4 V DC Min ON voltage current 4 0V 2mA Max OFF voltage current 1 5 V 0 5 mA Input impedance Approx 1 6 KQ Min input pulse width 500 us Pulser input A Pulser input A Pulser input B Pulser input B EF Note Input voltage range 3 5 to 5 25 V DC Min ON voltage current 3 0 V 6 mA Max OFF voltage current 1 0 V 0 5 mA Input impedance Approx 220 Q Min input pulse width 2 us or higher max 250 kHz each phase Pulser input signals A and B are input at different phase When the phase of A leads the phase of B the elapsed value increments T gt X2 X3 x4 x1 i gt A phase B phase T 4 us or higher X1 X2 0 5T 0 1T X2 X3 0 5T 0 1T Xn 2 0 125T n 1 2 3 4 3 17 Wiring FP2 Positioning Unit 3 2 3 2 4 3 2 4 1 OMNDARWN gt OMANDAHWNM Ww 2 m Output terminals input and ground terminals Output terminals Pin Layout for Four Axes Circuit Input Output Specifications and Connector Pin Layout Output and Power Supply Te
208. wn below 5 4 1 Checking the External Safety Circuit Check the safety circuit recommended by the manufacturer of the motor by checking the power supply cutoff of the motor driver and other functions using limit over input through an external circuit FP2 Positioning Unit Turning the Power On and Off and Booting the System 5 4 Procedure Prior to Starting Operation 5 4 2 Checking the Safety Circuit Based on the PLC Procedure 1 Using forced operation of the limit over input for the PLC safety circuit check to see if the limit input is being properly taken in by the input unit for the PLC 2 If necessary input a program that causes the emergency stop circuit of the positioning unit to be triggered when the limit over input is activated Check both the jog operation and forced operation of the limit input 3 Using the jog operation check to see if the limit over input is functioning properly For detailed information about jog operation chapter 8 Positioning unit _ unit Ie e _ i i Check to see if the limit over y input is properly taken in 2 _ Limit over switch Limit over switch 9 i Limit over input Limit over input k Safety circuit To motor driver based on the PLC Turning the Power On and Off and Booting the System FP2 Positioning Unit 5 4 Procedure Prior to Starting
209. x load current 15 mA ON voltage drop Ez SA 9 B19 _ FE 1 2 Vor less Specification External power supply input 24 V DC External power supply input 24 V DC eo Notes 24VINN 0 A20 Power supply voltage range 21 4 to 26 4 V DC Current consumption 4 axis type 90 mA or less Pin numbers A19 B19 A20 and B20 are shared among all of the axes e For the 4 axis type pin numbers A19 B19 A20 and B20 are connected internally using the A19 B19 A20 and B20 pins for the 1 axis and 2 axis connectors 3 15 Wiring FP2 Positioning Unit 3 2 Input Output Specifications and Connector Pin Layout 3 2 3 2 Input Terminals for Three Axes 4 axis type afe ajo oo AUN Ww loco NI OD Fel Input lto terminals ONOaRWND gt Circuit Specification Home input Input voltage 11 4 to 26 4 V 24 V DC range DC Min ON 10 5 V 6 mA voltage current Max OFF 2 0 V 0 5 mA voltage current Home input Input Approx 1 6 kQ 5V DC A4 impedance Input voltage 3 5 to 5 25 VDC range Min ON 3 0 V 6 mA voltage current Home input Max OFF 1 0 V 0 5 mA voltage current Input Approx 220 Q impedance Min input pulse 100 us

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