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Panasonic RTEX Technical Manual

1. 17 48 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Addre Bank No aS Descriptions 05H OFH 19H 23H 2DH 37H 41H 4BH 000H Starting address of table 188 010H Starting address of table 189 020H Starting address of table 190 030H Starting address of table 191 040H Starting address of table 192 050H Starting address of table 193 O60H _ Starting address of table 194 070H Starting address of table 195 080H Starting address of table 196 090H Starting address of table 197 QAOH Starting address of table 198 OBOH Starting address of table 199 OCOH Starting address of table 200 ODOH Starting address of table 201 QEOH Starting address of table 202 OFOH Starting address of table 203 100H Starting address of table 204 110H Starting address of table 205 120H Starting address of table 206 130H Starting address of table 207 140H Starting address of table 208 150H Starting address of table 209 160H Starting address of table 210 170H Starting address of table 211 180H Starting address of table 212 190H Starting address of table 213 1A0H_ Starting address of table 214 1BOH Starting address of table 215 1COH Starting address of table 216 1DOH Starting address of table 217 1E0H Starting address of table 218 1FOH Starting address of table 219 200H Starting address of table 220 210H Starti
2. Bank po Name Descriptions Number of error 169H occurrences of Announces the number of occurrences of errors at axis 5 axis 5 16AH Error code annunciation Announces the code when an error occurred 16BH buffer 1 of axis 5 16CH Error code annunciation Announces the code when an error occurred 16DH buffer 2 of axis 5 16EH Error code annunciation Announces the code when an error occurred 16FH buffer 3 of axis 5 170H Error code annunciation Announces the code when an error occurred 171H buffer 4 of axis 5 172H Error code annunciation Announces the code when an error occurred 173H buffer 5 of axis 5 174H Error code annunciation Announces the code when an error occurred 175H buffer 6 of axis 5 176H Error code annunciation Announces the code when an error occurred Sok 177H buffer 7 of axis 5 Number of error 179H occurrences of Announces the number of occurrences of errors at axis 6 axis 6 17AH Error code annunciation Announces the code when an error occurred 17BH buffer 1 of axis 6 17CH Error code annunciation Announces the code when an error occurred 17DH buffer 2 of axis 6 17EH Error code k annunciation Announces the code when an error occurred 17FH buffer 3 of axis 6 180H Error code annunciation Announces the code when an error occurred 181H buffer 4 of axis 6 182H Error code annunciation Announces the code when an error occurred 183H buffer 5 of axis 6 1
3. 17 54 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Addre Bank No ae Descriptions OBH 15H 1FH 29H 33H 3DH 47H 51H 000H_ Starting address of table 572 010H Starting address of table 573 020H Starting address of table 574 030H Starting address of table 575 040H Starting address of table 576 050H Starting address of table 577 060H_ Starting address of table 578 070H Starting address of table 579 080H Starting address of table 580 090H Starting address of table 581 QAOH Starting address of table 582 OBOH Starting address of table 583 OCOH Starting address of table 584 ODOH Starting address of table 585 QEOH Starting address of table 586 OFOH Starting address of table 587 100H Starting address of table 588 110H Starting address of table 589 120H Starting address of table 590 130H Starting address of table 591 140H Starting address of table 592 150H Starting address of table 593 160H Starting address of table 594 170H Starting address of table 595 180H Starting address of table 596 190H Starting address of table 597 1A0H_ Starting address of table 598 1BOH Starting address of table 599 1COH Starting address of table 600 1DOH 1E0H 1FOH 200H 210H 220H 230H 240H 250H_ 260H 270H Starting address of table 10001 280H Starting address of table 10002 290H Starting address of table 10003 2A0H_ Starting addres
4. 15 21 15 6 List of Warning Codes Ver 1 13 or later Warning codes are from AOOOH to differentiate from the error codes 15 6 1 AMP Warning From A000H Ver 1 13 or later These are the warning codes to be given by the unit when warnings occurred in the AMP The warning codes to be output are represented by the warning codes output from the AMP AOOOH The warning codes of the AMP are written in decimal however the warning codes of the positioning unit are written in hexadecimal For the details of each warning code and the way of handling refer to the manual of the AMP A Available Warning code _ Warning name Description Object Clear A010H Overload warning Refer to the specifications of AMP Each axis A A012H Regenerative warning Refer to the specifications of AMP Each axis A A028H Battery warning Refer to the specifications of AMP Each axis A A053H aa communication error Refer to the specifications of AMP Each axis A A054H ee ace error accumulated Refer to the specifications of AMP Eachaxis A A056H Update Counter warning Refer to the specifications of AMP Each axis A A058H Fan lock warning Refer to the specifications of AMP Each axis A A059H External scale warning Refer to the specifications of AMP Each axis A 15 22 15 6 2 Unit Warnings From B000H Ver 1 13 or later These are the warning codes to be given when the warnings occurred in the positioni
5. 1 axis x 4 N 2 axis General purpose input 2 General purpose input 1 x lt a R General purpose input 2 General purpose input 1 3 axis N General purpose input 2 General purpose input 1 Monitor contact for the general purpose input connected to 4 axis SINIS SNI a General purpose input 2 the corresnponding AMP General purpose input 1 The input status of this contact does not affect on the 5 axis x lt 4 Ko 6 axis General purpose input 2 operation of the motor or positioning unit General purpose input 1 N 7 axis General purpose input 2 General purpose input 1 x gt lt gt x lt gt lt SISISIS ojojo m General purpose input 2 General purpose input 1 8 axis gt X lt X lt 3 R a General purpose input 2 Contact allocation Target WY10 WY 11 WY12 Name System stop Descriptions Contact for requesting the system stop When it turns on all axes will stop at the deceleration time 0 Recalculation request Turn on this signal when each positioning data standard area in the shared memory was changed The positioning data after the table number starting the recalculation specified in the shared memory can be restructured and will be executable by turning on this signal When restructuring of the positioning data completes the recalculation do
6. The starting point Home return credp speed is on the near home DOG and limit inp Home retum time deceleration i 22 3 22 1 4 DOG method 3 Stops at the first phase Z in the home return direction by detecting the trailing edge back end of near home DOG and the position becomes the starting point Home return direction lt Near home DOG input 1 1 Home return i deceleration i time _ Target speed 1 Homerreturn creep speed 1 The starting point is between the near Phasez home DOG and limit input including the point on the limit input 1 The starting point Homeireturn creep speed is on the near home DOG I 1 1 1 U 1 1 1 I j U 1 I I Limit stop i i i deceleration time Home return creep speed i l The starting point n 1 i is between the near AE l f home DOG and limit Home return input Target speed deceleration 1 1 time _ 1 1 Home return creep speed The starting point i i i is on the near home 1 J T BG aiat O a 3 Target speed Home return input Pi deceleration 1 1 time 1 1 1 I 22 1 5 Limit Method 1 Reverses after detecting the rising edge of the limit switch on the opposite side of the home return direction After that stops at the first phase Z and that point becomes the starting point Home return direction lt I Phase Z I I 1 I The starting point
7. Axis information of axis 8 Bank itis Name Descriptions address 1COH 1C1H 12H System ID of axis 8 1C3H PEN 1C4H Brand name or vendor Refer to the descriptions of axis 1 name 1C5H 1C6H 1C7H 1C8H 1C9H 1CAH ee eases TANRI Refer to the descriptions of axis 1 1CDH 1CEH 1CFH 1D0H 1D1H 1D2H D aa Saeed Refer to the descriptions of axis 1 1D5H 1D6H 1D7H 1D8H 1D9H 01H 1DAH ee PeH Hap A Refer to the descriptions of axis 1 1DDH 1DEH 1DFH 1E0H 1E1H 1E2H aan Seid Refer to the descriptions of axis 1 1E5H 1E6H 1E7H 1FOH Status indication of axis 8 Refer to the descriptions of axis 1 1F1H Enema terminal input Refer to the descriptions of axis 1 monitor of axis 8 1F2H Torque command of axis 8 Refer to the descriptions of axis 1 1F3H Actual speed of axis 8 Refer to the descriptions of axis 1 1F8H Pole table oF execution Refer to the descriptions of axis 1 done table of axis 8 1F9H ule output code ot Refer to the descriptions of axis 1 axis 8 1FCH Ta 1EDH Feedback value of axis 8 Refer to the descriptions of axis 1 ee a Refer to the descriptions of axis 1 17 36 17 6 Details of Each Axis Setting Area in Shared Memory 17 6 1 Configuration of Each Axis Setting Area The shared memory is composed of banks The each axis setting area is allocated
8. The numbers in parenthesis are the flag and contact numbers for the FP2 Operations of each contact e The BUSY flag FPz X118 FP2 X18 indicating the state that a motor is running turns on when the JOG operation started and it turns off when the operation completed e The operation done flag FPX X120 FP2 X20 indicating the state that an operation completed turns on when the JOG operation completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the stop position of the JOG operation 9 2 Sample program RO Y108 Y88 for axis 1 R1 Y150 Y130 3 n DF eH Servo off Servo off for axis 1 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 k Tool Connection Servolock Error for Start up establishment i j i forallaxes operation o confirmation for axis 1 axis 1 enabled flag 2 L A E Off edge of gery JOG Gen JOG 3 m DE 1 a k Off edge of Reverse JOG reverse JOG R R10 X118 X18 R11 Y120 Y100 ey ey Forward JOG Enabled flag Busy flag Y120 Y100 for axis 1 for axis 1 12 15 18 Off edge of Forward JOG forward JOG for axis 1 Forward JOG for axis 1 R3 R10 X118 X1
9. Two axis and three axis interpolation controls The 2 axis linear interpolation 2 axis circular interpolation 3 axis linear interpolation and 3 axis spiral interpolation contols can be performed 1 2 I O required for the control is aggregated in the AMP As the limit input and near home input is connected to the AMP and given to the positioning unit RTEX through the network the wiring can be simplified Positioning unit RTEX CW drive prohibited input Lo CCW drive prohibited input Near home input General purpose output 1 2 Servo alarm output __ _ Extemal brake cancellation signal A Phase A B Z output General purpose output 1 2 ER Motor Remote I O of 2 input and 2 output for one AMP The 2 point general purpose input and output transistors can be connected to the AMP and they can be programmed by the X contact and Y contact of the positioning unit RTEX They can be used as the remote I O for the input and output neighboring the AMP Supports the manual pulser The maximum of three manual pulsers can be connected It is possible to change the axes corresponding to each pulser by the setting of the positioning unit RTEX 1 1 2 Unit Types FP Positioning Unit RTEX Type Function Part number Product number 2 axis type 2 axis control FPG PN2AN AFPG43610 4 axis
10. Y106 Turn on this signal when each positioning data standard area in the shared memory was changed The positioning data after the table number starting the recalculation specified in the shared memory can be restructured Recalculation and will be executable by turning on this signal a KIQ a YET AJA axes request When restructuring of the positioning data completes the recalculation done contact X_7 will turn on Note It is used only when the positioning data has been rewritten by laddar programs Requests the servo lock for the corresponding AMP Y10A Y8A The servo lock is executed by the ON edge of this contact SON The servo cannot be free automatically even in the program Y10C VEC ervo request ode 6 axis To make the servo free turn on the servo OFF request contact 7 axis The operation is the edge type Y8F 8 axis v90 1 axis a vot 2 axis Requests the positioning control for the corresponding AMP Yo2 3 axis The starting table is specified in the area for specifying the Y113 Y93 4 axis nice position control starting table number in the shared memory 5 axis Positioning start up The operation is the edge type Y95_ 6 axis If this contact turns on during the Tool operation by Configurator 7 axis PM a warning will be output g lyo7_ 8 axis Y118_ 5 Y98_ 1 axis Requests the home return for the corresponding AMP 2 axis The settings for the direction or pattern of the home return are 3 axis specifi
11. occurred on the AMP When an error occurred the serveo automatically becomes free When an error occurred on the Positioning Unit RTEX no AMP error The state of servo is held even if an error When the Communication time out protection error occurred on the AMP After an error was recovered make the servo on request Y88 to 8F again lock the servo When an error occurred on the Positioning Unit RTEX no AMP error After an error was recovered the servo automatically returns to the state before the occurrence of error occurred Other errors The state of servo is held even if an error After an error was recovered the servo occurred automatically returns to the state before the error occurrence 15 3 List of Error Codes Ver 1 00 to 1 01 The areas that errors occurred can be identified according to the range of error codes When the error code is in the range of 0001H to OFFFH it indicates that the error occurred in the AMP When the error code is one from 1000H it indicates that the error occurred in the positioning unit 15 3 1 AMP Errors From 0001H Ver1 00 to 1 01 The alarms to be output from the AMP are output as error codes as they are The alarms occurred in the AMP is written in decimal however the error codes of the positioning unit are written in hexadecimal For the details of each error code and the way of handling refer to the manual of the AMP The errors occurred in
12. 4 axis 2 Set the servo to on off by clicking the Change ON OFF for the equivalent axes If the servo is on for the 1 axis to 3 axis the setting is as below Servo ON OFF E ooe taxis UGH Chanze ON OFF Help 2axis NGAI Change on OFF 3 axis OFF 4 axis Change ON OFF 3 Click Close to close this dialog after completing the servo ON for the axes operated in the tool operation The tool operation dialog is automatically shown once the dialog is closed IEF ne Note If the servo ON OFF has been controlled using the ladder program before starting the tool operation the state of the servo lock servo free is also kept in the tool operation 7 37 7 17 2 Tool Operation Home Return After the power supply of the positioning unit RTEX turned on the zero home of the machine position coordinate does not always agree with the zero of the coordinate value in the positioning unit RTEX Therefore coordinate the home of the machine position with the home of the positioning unit RTEX This setting is called Home return LOO Note To perform the home return the equivalent axes should be in the state that the servo is locked servo ON 1 Click Home Return in the tool operation dialog The following dialog is shown Tool operation Homing Axis Group Zero offset 1226480 1 axis 2 axis 3 axis 4 axis 626492 622988 Change Change Change Unit pulse pulse pulse pulse
13. R1 Y150 Y130 3 DF Servo off Servo off for axis 1 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 6 s S ibilshment Tool Connection Servolock Error for Start up for all axes operaron poh ly gal for axis 1 axis 1 gjar flag 12 an DF D A _t Off edge of Forward JOG forwan JOG R R10 X118 X18 R11 Y120 Y100 er Forward JOG Enabled flag Busy flag 120 Y100 for axis 1 for axis 1 15 Forward JOG forward JOG for axis 1 Forward JOG for axis 1 R 2 DF gt Fo mv K100 DTO Forward JOG JOG acceleration time 1 Fo mv K50 DT4 JOG deceleration time 1 F1DMVv_ K10000 DT2 JOG target speed 1 F151 WRT H200 DTO K4 H2A JOG acceleration time 1 4 DF gt Fo mv K200 DT10 Speed change JOG acceleration time 2 Fo mv K150 DT JOG deceleration time 2 F1 DMV K 20000 DT 12 JOG target speed 2 F151 WRT H200 DT10 K4 H2A JOG acceleration time 2 22 50 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e As the acceleration time and deceleration time will be retrieved when the speed is changed during the JOG operation the acceleration deceleration speed can be changed e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit 9 5 Chapter 10 Manual
14. Sets the upper limit value of the software limit for absolute coordinates bit Name Default Descriptions 00CH 31 to 0 Upper limit of 1 073 741 823 Upper limit of software limit software limit Interpretation is changed by the unit setting U limit of pulse 1 073 741 823 to 1 073 741 823 pulse pper limit o u m 0 1 u m 107 374 182 3 to 107 374 182 3 software limit um 1 um 1 073 741 823 to 1 073 741 823 inch 0 00001inch 10 737 41823 to 10 737 41823 00DH inch 0 0001inch 107 374 1823 to 107 374 1823 degree 0 1degree 0 0 to 359 9 degree degree 1degree 0 to 359 degree Any other settings will be errors 17 38 Offset ae Default Setting Name Descriptions Unit address value range Sets the lower limit value of the software limit for absolute coordinates bit Name Default Descriptions OOEH 31 to 0 Lower limit of 1 073 741 823 Lower limit of software limit software limit Interpretation is changed by the unit setting L limit of pulse 1 073 741 823 to 1 073 741 823 pulse OWS I HIMIES u m 0 1 u m 107 374 182 3 to 107 374 182 3 software limit um 1 um 1 073 741 823 to 1 073 741 823 inch 0 00001inch 10 737 41823 to 10 737 41823 OOFH inch 0 0001inch 107 374 1823 to 107 374 1823 degree 0 1degree 0 0 to 359 9 degree
15. Specify the table No range as 4 80 Choose the data type to download When downloading positioning setting data specify the data range OK to start downloading Axis information Parameter setting data Axis information Parameter setting data Positioning setting data Positioning setting data range Select this to download axis information and parameter only Select this to download all setting data The range of the positioning data to download can be specified All Download all setting data Table number range Download the positioning data in the specified range OK Start downloading with the selected settings Cancel Stop downloading 2 Click OK to start the download to the positioning unit The time required for the download depends on the range of the positioning setting data a Note To execute the download previously determine the target positioning unit RTEX by the communication settings and selecting the slot number 7 32 3 Once the download completes the following dialog is shown Configurator PM The current No of writing to FROM is 0 times 2 Is it OK to execute writing to FROM Yes No Clicking Yes indicates the following dialog and save the setting data in the FROM Flash Memory within the positioning unit RTEX The saved setting data is automatically read when the power supply of the PLC turns on Check the status of writing to F Conf
16. System An error occurred in the system If the setting values are correct 1003H processing All axes A rae processing due to any reason and the error occurred repeatedly please contact us FROM writin An error occurred when the positioning Rewrite into the FROM again 1010H airor 9 settings were written in the positioning All axes A Ifthe error occurred repeatedly unit please contact us Check the connection of the TO Anerer occumedin the RS232C cable connecting the PC 1020H operation communication with a PC in the tool All axes A g abnormal end operation by the Configurator PM ae p y 9 i Reboot the PC 15 7 15 3 3 AMP Communication Errors From 2000H Ver 1 00 to 1 01 These are the errors occurred in the communication beteween the positioning unit and AMP They occur when the communication data was judged as abnormal A Available N A Not available Error eine Error name Description Object Clear Countermeasures Check the power supply of the AMP is on Check the communication pathway Carefully check the AMP A communication error occurred connector failure and breaking of 2000H Communication after the network communication All axes N A the communication cable error has been established Also check if any excessive noise is caused in the usage environment If the error occurred repeatedly please contact us 2001H AMP Data Failed in the data acquisition
17. eee ceeeeeeeceesneeeeeeeeeeeseneeeseenaeeeeneeeeees 7 13 1 5 3 SAVING Files iria aae else ceed ese 7 14 7 5 4 Setting File Properties eee eeeeeeeeeeeeeeeesneeeeeeneeeeeeeeees 7 15 7 6 Exiting Configurator PM eeccceeesseeeeeeeeeeeeeneeeeeeneeeeeeeeees 7 16 7 7 Connection to Positioning Unit 7 17 7 7 1 Selecting Slot NUMDE eee eeeeeeeeeeeeeeeteneeeeeenateeenenaees 7 17 7 7 2 Communication Settings 0 eee eee eeeeeeeeeteeeeeenaeeeeeeeaees 7 18 7 8 Parameter Settings c ccceseccecsseeeeeeseeeeeeseeenessocteedeermeeeeeeeeeee 7 19 7 9 Changing Axis Information 0 ccccceeceeceeeeeeeteenteeeeeeeeeeees 7 21 7 10 Setting Positioning Data ec eeeeeeeeeeeeneeeeeeneeeeneneees 7 22 7 11 How to Edit Positioning Data 0 0 eeeceeceeeeeeeeeeeeeeeeeeeetees 7 24 7 11 1 Inputting Positioning Data eccceeeeeeeeeeeeeeteeeeeeeteeeees 7 24 7 11 2 Copying Positioining Data 7 25 7 11 3 Selecting All Cells iiin 7 25 7 11 4 Searching Character Strings cc eeeeeeeseeeeeeenneeeeeeneees 7 26 7 11 5 Replacing Character Strings 00 eecceeseeeeeeeenneeeeeeneeees 7 26 7 11 6 Selecting LINES isisao nnen 7 27 T1157 Selecting COMMS ii iriennet 7 27 7 11 8 Editing Data Items Collectively eeeeeesteeeeereees 7 27 7 12 Customizing Software 0 2 eee cece eeeeeeeeeeeeeeeeeenaeeeteeneeees 7 28 7 13 Checking Settings eee eeeneeeeeeeeeeeeseeeeseenaeeeeeneeees 7 30 7 13 1 Checking Parameters a
18. s insulation be careful not to scratch the core wire e Do not twist the wires to connect them e Do not solder the wires to connect them The solder may break due to vibration e After wiring make sure stress is not applied to the wire 3 5 3 3 1 Input Specifications and Pin Configuration HVaADCONOUTLWN Input terminals of pulser input connector pulse width pn Circuit Signal name Item Descriptions number Operating voltage OST 1 5 9 Pulse input A perating votage 5 VDC line driver w range ae c specifications TST l 2 Minimum ON 2 6 10 so Pulse input A g 3 V DC 4 mA voltage current E 3 7 11 Pulse input B 8 Maximum ON 1 V DC 2 0 mA a voltage current 1012 2 Input impedance Approx 390 Q E 4 8 12 Pulse input B Z Minimum input D2 pS OF toe Max 1 MHz for each phase Note When the pulser is connected to the pulse input the elapsed value increases if the phase A is proceeding more than the phase B Chapter 4 Power On Off and Items to Check 4 1 Safety Circuit Design Example of a safety circuit Installation of the over limit switch Positioning unit RTEX cs ta tale fee i prsaaasjaneneeng p b F i 4 i AMIATT TTT i PUEN IN 9 gt External safety circuit Install over limit switches as shown above Connect them to the CW and CCW dri
19. 00BH axis 1 j SOEN Each information is stored as ASCII code OH gOEH Model coos ot of 16 bytes Max 16 characters 0ODH AMP 2 l O0EH OOFH 010H 011H a oe ID of Stores the version of firmware of AMP 01H Each information is stored as ASCII code OH 014H Version of of 16 bytes Max 16 characters 015H firmware 016H 017H 018H 019H CAH le IP of Stores the model code of motor Each information is stored as ASCII code OH 01CH Model code of of 16 bytes Max 16 characters 01DH motor 01EH 01FH 020H 021H 022k System Ibo Stores the serial number of motor 023H axis 1 eos A Each information is stored as ASCII code OH 024H Serial number of 16 bytes Max 16 characters 025H of motor 026H 027H 17 28 Offset Te Defaul Settin i Bank Name Descriptions Unit address tvalue range Stores the status indication of AMP bit Name Default Descriptions 0 Imposition 0 0 Deviation counter is outside of the imposition range 1 Deviation counter is in the imposition range 1 0 2 Home return done 0 0 Home return has not compelted 1 Home return has completed 3 Torque limit 0 0 Normal 030H Status indication 1 Contact detection Torque limit of axis 1 4 Warning 0 0 Normal 1 Warning occurred 5 Alarm 0 0 Normal 1 Alarm occurred 6 Servo ready 0 0 Cannot shift to the on state 1 Servo ready 7 Servo active 0 0 Servo off 1 Servo on 15 to 8 0 Stores the i
20. 1 um 1 073 741 823 to 1 073 741 823 um inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 107 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Speed command range Pulse 1 to 32 767 000 pps pum 1 to 32 767 000 um s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Acceleration deceleration Linear acceleration deceleration S shaped acceleration deceleration Automatic operation Position control Acceleration time 0 to 10 000 ms can set in 1 ms Deceleration time 0 to 10 000 ms can set in 1 ms Number or Each axis Standard area 600 points extended area 25 points positioning tables 5 Independent PTP control E point control C point control CP control P point control ae Linear E point P point C point control Composite speed or long axis speed specification inter Circu f aay polation lar E point P point C point control Center point or pass point specification F oe Linear E point P point C point control Composite speed or long axis speed specification o R Spiral E point P point C point control Center point or pass point specification Start up speed Standard area 3 ms or less extended area 5 ms or less Other Dwell 0 to 32 767 ms can set in 1ms functions time 17 4
21. 20BH buffer 5 of axis 5 20CH Warning code tJ annunciation Announces the code when a warning occurred 20DH buffer 6 of axis 5 20EH Warning code annunciation Announces the code when a warning occurred popes buffer 7 of axis 5 No of warning 211H occurrences of Announces the number of occurrences of warnings at axis 6 axis 6 212H Warning code annunciation Announces the code when a warning occurred 213H buffer 1 of axis 6 214H Warning code annunciation Announces the code when a warning occurred 215H buffer 2 of axis 6 216H Warning code m annunciation Announces the code when a warning occurred 217H buffer 3 of axis 6 218H Warning code annunciation Announces the code when a warning occurred 219H buffer 4 of axis 6 21AH Warning code annunciation Announces the code when a warning occurred 21BH buffer 5 of axis 6 21CH Warning code annunciation Announces the code when a warning occurred 21DH buffer 6 of axis 6 21EH Warning code annunciation Announces the code when a warning occurred 21FH buffer 7 of axis 6 17 25 Offset Bank aes Name Descriptions No of warning 221H occurrences of Announces the number of occurrences of warnings at axis 7 axis 7 222H Warning code annunciation Announces the code when a warning occurred 223H buffer 1 of axis 7 224H Warning code annunciation Announces the code when a warning occurre
22. 600 points Extended for 25 points Parameter setting area OCH to 15H 2 axis Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area 16H to 1FH 3 axis Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area 20H to 29H 4 axis Positioning data setting area Standard for Each axis setting 600 points Extended for 25 points area Parameter setting area 2AH to 33H 5 axis Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area 34H to 3DH 6 axis Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area 3EH to 47H 7 axis Positioning data setting area Standard for 600 points Extended for 25 points Parameter setting area 48H to 51H 8 axis Positioning data setting area Standard for 600 points Extended for 25 points Note Firstly confirm that the link establishment annunciation flag is on when reading the axis information area using the ladder program 17 12 17 4 Details of Common Area in Shared Memory 17 4 1 Configuration of Common Area The shared memory is composed of banks The common area is allocated in the bank OOH in the shared memory and is used for the common settings of each axis Shared memory map 000H een bee seep e 000
23. A time is out of the range Positioning starting table The specified table number is 0 4303H No error 9 9 or it exceeds the maximum table Each axis A i number 3 The last table of the positionin Check the stign value 4304H Table setting error i po 9 Each axis A If the error occurred setting tables is not point E A The movement amount of the pebeatedly will ihe 4400H Positioning movement p siloning apean out of Each axis A correct setting value amount setting error please contact us the range Positioning The acceleration deceleration 4401H j acceleration deceleratio type of the positioning operation Each axis A n type error is incorrect Positioning acceleration The acceleration time of the 4402H 9 positioning operation is out of Each axis A time error the range Positioning deceleration The deceleration time of the 4403H 9 positionign operation is out of Each axis A time error the range Positioning target speed ithe targetspeed of the 4404H TOT positioning operation is out of Each axis A the range 4500H Interpolation type error ne setting ofthe interpolation Each axis A type is incorrect Circular interpolation not The parameter of the circular 4504H P interpolation such as center Each axis A executable BAA point or pass point is incorrect Spiral interpolation not The error occurred during the 4505H P P spiral interpolation as the setting Each axis A executable value is incorrect
24. Available annunciation emthod to Error value Check the torque judgment value 15 17 Error Bade Error name Description Object Clear jCountermeasures The synchronous group was Changing the synchronous group changed during the synchronous should be performed when the operation or when requesting busy signal for the axes to be the stop in the synchronous synchronized is off Synchronous operation Each Also it should be performed when 3040H _joperation group axis A various stop request signals error An unconnected axis number system stop emergency stop was specified deceleration stop are off An error occurred in the home return of the synchronous Specify an axis number existing operation on the network The home return process was executed with setting the Simultaneous mode A synchronous operation to Set the simultaneous operation to s Enabled when using the Disabled when performing the ynchronous synchronous mode A Each home return 3042H operation home y yis A return Gror A method other than the Simultaneous mode B usable home return mothods Select a usable home return was executed when using the method synchronous mode B Th peration wasistoppedas Check the unit setting of the P pp stopped axis and the AMP setting Synchronous an error has occurred on Each 3043H ete gt A If the error occurred repeatedly operation error another axis i
25. Axis 5 Bank 2AH 050H Bank 33H FFFH Positioning data setting area Axis 5 Bank 34H OOOH Bank 34H 04FH Parameter setting area Axis 6 Bank 34H 050H Bank 3DH FFFH Positioning data setting area Axis 6 Bank 3EH OOOH Bank 3EH 04FH Parameter setting area Axis 7 Bank 3EH 050H Bank 47H FFFH Positioning data setting area Axis 7 Bank 48H OOOH Bank 48H 04FH Parameter setting area Axis 8 Bank 48H 050H Bank 51H FFFH Positioning data setting area Axis 8 17 37 17 6 2 Parameter Setting Area Positioning parameters of each axis Data in the following foramts are stored from the starting address of positioning parameters of each axis Offset ee Default Setting z Name Descriptions Unit address value range Sets the unit system of movement amounts of the positioning control for each axis The same unit system should be set for all interpolation axes bit Name Default Descriptions 15 to 0 Unit setting 000H Sets the unit of movement amount of positioning control OOOH Pulse 000H Unit setting 0100H mm Minimum position command 0 1 m 0101H mm Minimum position command 1 m 0200H inch Minimum position command 0 1 inch 0201H inch Minimum position command 1 inch 0300H degree Minimum position command 0 1 degree 0301H degree Minimum position command 1 degr
26. BUSY flag of axis 1 Y118 X18 t 2 nnn nnn nnn n nnn n anne ee BUSY flag of axis 2 Y119 X19 Eee Operation done flag of axis 1 X120 X20 EEEE E APER EIEEE Operation done flag of axis 2 X121 X21 a 8 14 Operations of each contact e The BUSY flag for the axis 1 and 2 FPX X118 X119 FP2 X18 X19 indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag for the axis 1 and 2 FPX X120 X121 FP2 X20 X21 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position Sample program RO Y108 Y88 1H DF gt Servoon p Servo on foraxis1 lSeryo ON Y109 Y89 Servo on for axis 2 R1 Y 150 130 DF Servo off Servvoofi SIN OT ne foraxis f Servo OFF Y 151 131 Servo off for axis 2 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 Link Tool ran le sab lock Error for Start up enabled SS establishment onfirmation for axis 1
27. Each axis N A 0037H External scales Status 5 Protection error Refer to the specifications of AMP Each axis N A 0038H Software limit input error Refer to the specifications of AMP Each axis N A 0039H Current position overflow error Refer to the specifications of AMP Each axis N A 003AH External scale Other error protection Refer to the specifications of AMP Each axis N A 003BH Setup error Refer to the specifications of AMP Each axis N A 003CH Self diagnosis error Refer to the specifications of AMP Each axis N A 003DH Self diagnosis error Refer to the specifications of AMP Each axis N A 003EH Self diagnosis error Refer to the specifications of AMP Each axis N A 003FH Self diagnosis error Refer to the specifications of AMP Each axis N A 0040H Self diagnosis error Refer to the specifications of AMP Each axis N A 0041H Self diagnosis error Refer to the specifications of AMP Each axis N A 0042H Self diagnosis error Refer to the specifications of AMP Each axis N A 0043H Self diagnosis error Refer to the specifications of AMP Each axis N A 0044H Self diagnosis error Refer to the specifications of AMP Each axis N A 0045H Self diagnosis error Refer to the specifications of AMP Each axis N A 0046H Self diagnosis error Refer to the specifications of AMP Each axis N A 0047H Self diagnosis error Refer to the specifications of AMP Each axis N A 0048H Self diagnosis er
28. Item Description 2 axis type 4 axis type 8 axis type Pulse 1 to 32 767 000 pps Speed command pum 1 to 32 767 000 um s range inch 0 001 to 32 767 000 inch s 9 degree 0 001 to 32 767 000 rev s rey poceleralon Linear acceleration deceleration S shaped acceleration deceleration deceleration Acceleration time 0 to 10 000 ms can set in 1 ms 5 Deceleration time 0 to 10 000 ms can set in 1 ms S Pulse 1 to 32 767 000 pps a Speed command um 1 to 32 767 000 um s w g range inch 0 001 to 32 767 000 inch s 3 degree 0 001 to 32 767 000 rev s Acceleration Linear acceleration deceleration E deceleration Acceleration time 0 to 10 000 ms can set in 1 ms Deceleration time 0 to 10 000 ms can set in 1 ms Return method DOG method 5 2 Speed command Activates in synchronization with pulser input range Decelera Decelera wae F f oa Deceleration time of active operation tion stop tion time c Emergen Decelera zg 10 000 ms can set in 1 ms cy stop tion time O 5 Limit stop Decelera 0 to 10 000 ms can set in 1 ms tion time Q Error stop Decelera 0 to 10 000 ms can set in 1 ms tion time System Decelera immediate stop 0 ms stop tion time Pulse 1 073 741 823 to 1 073 741 823 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 um Software Settin um 1 um 1 073 741 823 to 1 073 741 823 um limit a te inch 0 00001 inch 10 7
29. Pulser operation ratio denominator Operates by the setting of each axis Specify the same settings for the axes to be synchronized when performing the synchronous operation 21 11 21 2 8 Stop Operation During Synchronous Operation If the stop operaiton is executed for the master and slave axis during the synchronous operation the operation is as follows Axis requested to stop Stop 7 Operational overview Master axis Slave axis operation Emergency All axes stop without All axes stop regardless the master or slave axis stop deceleration time Both master and slave axes stop Deceleration A specified axis stops with the deceleraiton time for the siop witha decelorati n time master axis The request to stop the slave axis Stops with a is ignored Limit stop decelerationn tiem when Both master and slave axes stop a limit occurred with the deceleraiton time for the Both master and slave axes stop master axis ith the deceleraiton time for th Stop the operation with a After those stopped the error pre ia N Pra NOMIM Error stop deceleration time when code occurred on the master axis an error occurs is set for the master slave axes After those stopped the error code occurred on the slave axis is set for the master slave axes 21 2 9 Precautions When Using Synchronous Operation The positioning unit RTEX always performs the ysnchronous operation
30. R100 X118 X18 R200 X119 X19 Enabled flag Busy flag Enabled flag Busy flag for axis 1 foraxis1 foraxis2 foraxis2 The numbers in parenthesis are the contact numbers for the FP2 19 6 Data of 1 table of axis 1 The setti e sae ing for table M270 1 tooo of ais 1 Data of 1 table of axis 2 41270 4 The seting or tabia 110001 of axis 2 H100 The starting table Y110 Y90 is from 10001 Positioning for axis 1 19 2 2 When Setting Positioning Data in Standard Area Using Ladder Program Write positioning data in the standard area using the ladder program Recalculating the positioning data is necessary after setting the positioining data Replace the part of the positioning start program in the sample program Positioning start program R1 oF Fomv HO DT10 Setting value Control code of axis 1 cha Fomv Ho OTH Operation pattern of axis 1 Fomv Ko oTiz2 J Fomv KO DoT Fomv K100 DT14 Acceleration time of axis 1 Fomv K100 oT Deceleration time of axis 1 F1omv Ks00000 otie Auxiliary speed of axis 1 F1oMv K 1000000 DT 18 Movement amount of axis 1 Fipmv Ko DT 20 Auxiliary point of axis 1 Fomv KO DT22 Dwell time of ads 1 Fomv KO DT23 Auxiliary output of axis 1 Fomv Ko oT2a Fomv ko oT2 F151 WRT H 200 DT10 K16 1 Control code of axis 1 82 lt oF gt Fo mv HO oT30 Setting value Control code of axis 2 ha iiaea Fomv Ho DT Op
31. Repeat count 0 loto255 Times setting value of axis 6 47BH Repeat count 0 to 65535 Times Current value of axis 6 1BAH Repeat count 0to255 Times setting value of axis 7 0 to 255 Times 1BBH Repeatcount 0 to 65535 Times Current value of axis 7 Repeat count gt Repeat count 21 4 21 2 Synchronous Operation Overview of Synchronous Operation The synchronous operation is a function to set master and slave axes and operate a slave axis with the same operation synchrounous as the master axis The features of the synchronous operation are as below A maximum of 2 groups can be set for the synchronous operation The master and slave axis can be set for laxis each Supports two types of synchronous operation 1 Synchronous mode A Synchronous r L Master axis Slave axis This is a standard mode of the synchronous operation It is possible to switch the setting of the synchronous operation between enabled and disabled and perform the synchronous operation as necessary 2 Synchronous mode B This mode is used to drive a large sized table such as a carrier machine with two motors The synchronous operation cannot be cancelled as the target axes master and slave are mechanically coupled Master axis Slave axis It is possible to switch the setting of the synchronous operation between enabled and disabled In the synchronous mode A only 21 5 21 2 1 Synchronous Mode
32. Z axis auxiliary point 0 degree 1 degree 1 073 741 823 to 1 073 741 823 degree Acceleration L Linear L Linear S S shaped acceleration deceleration deceleration pattern Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Interpolation speed 10000 pps Pulse 1 to 32 767 000 pps pm 1 to 32 767 000 um s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 8 19 Operation diagram Composite speed t ms Positioning start contact of axis 1 Y110 Y90 BUSY flag of axis 1 Y118 X18 PARR wee E Sa SES RS BUSY flag of axis 2 119 X19 Posccccccecenenwesnenccsccncesconees BUSY flag of axis SY 17 AQK1A nner nnn nnn nr nnn nar seseneecene Operation done flag of axis 1 X120 X20 Operation done flag of axis 2 X121 X21 Operation done flag of axis 3 X122 X22 Current value of axis 1 20000 XXXAXX X 20000 Current value of axis 2 10000 XNK ANNC 0o00 Current value of axis o YXXIXXX AON so00 Operations of each contact e The BUSY flag for the axes 1 2 and 3 FP X118 X119 X11A FP2 X18 X19 X1A indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag for the axes 1 2 and 3 FP X120 X121 X122 FP2 X20 X21 X22 indicating the state that an operation completed turns on when the position control completed and it
33. and pulser operation are manual operations Position control This is a generic term for the E point contro P point control and C point control For each control the control of a single axis and the interpolation control of multiple axes are available The interpolation control can be selected from a 2 axis linear interpolation 2 axis circular interpolation 3 axis linear interpolation and 3 axis sprial interpolation JOG operation This refers to an operation in which the motor is rotated only while operation commands are being input This is used to forcibly rotate the motor using input from an external switch for instance when to make adjustments Depending on the circumstances this can also be applied to unlimited feeding in some cases Home return The reference position for positioning is called a Home position and an operation to travel to a Home position is called Home return The home position should be set in advance This operation moves to the home position and its coordinate is set to be 0 The motor rotation is reversed automatically when the limit input or the limit input is input and the home position or the near home position is searched to return to the home position automatically Pulser operation A manual operation is available using a device pulser which generates pulses manually The output similar to an encoder is obtained from the pulser and the positioning unit RTEX is equipped with exclusive input termi
34. and then the error will be judged again If the error condition still continues the error will occur again even after the execution of error clear When an error targeted to all axes such as a network failure occurs it will be stored in the error annunciation buffers of all axes Up to 7 errors are stored in the error history The error clear can be executed by the error clear contact as well Offset Bank Name Descriptions address Executes the error clear for each axis bit Name Default Descriptions 0 Error clear of axis 1 0 1 Error clear of axis 2 0 Error clear 2 Error clear of axis 3 0 111H individual axis 3 Error clear of axis 4 0 0 No error clear setting 4 Error clear of axis 5 0 1 Executes error clear 5 Error clear of axis 6 0 After the execution of error clear the positioning unit sets to 0 automatically 6 Error clear of axis 7 0 7 Error clear of axis 8 0 8 to 15 Number of error Announces the number of occurrences of errors at axis 1 129H occurrences of bit Name Default Descriptions axis 1 15 to 0 No of oror occurrences Q Announces No of error of axis 1 currently occurred 12AH Error code annunciation 12BH buffer 1 of axis 1 12CH Error code annunciation 12DH buffer 2 of axis 1 12EH Error code annunciation OOH 12FH buffer 3 of axis 1_ Stores the
35. degree 1degree 0 to 359 degree Any other settings will be errors 010H 011H Sets the auxiliary output function of the auxiliary output contact and code to be enalbed or disabled The time that the auxiliary output contact is on is determined oe by the following auxiliary output ON time Auxiliary output yne g ry outp 012H mod bit Name Default Descriptions Oto7 Auxiliary output 0 0000H Not use the auxiliary output function auxiliary output contact code time 0001H Use the auxiliary output function 15 to 8 Auxiliary output 49 Setting range 00H Oms to FFH 255ms 013H Sets to enble or disable the limit input of the AMP and sets the moving direction and connection method Note This setting is should be written in the EEPROM within the AMP and the AMP should be rebooted after changing the setting bit Name Default Descriptions AMP operation 0 Limit enabled disabled 0 0 Use the input of the limit signal 014H settings 1 Ignore the input of the limit signal 1 CWICCW moving direction 0 0 CW CCW 1 CCW CW 2 Limit connection 0 0 Standard connection Forward CWL Reverse CCWL 1 Reverse connection Forward CWL Reverse CCWL 4to 15 015H 016H 017H 018H 018H 01AH After the movement of the specified amount in the 01BH Completion positioning control or JOG operation the 10 Positive Pulse width completion flag will turn on when the current value of th
36. error axis f axis due to any reason with the correct settign values please contact us Operation An error occutrediinthe acn If the error occurred repeatedly 3031H operation processing of each axis A abnormal end please contact us axis due to any reason All axes i Changing the axis group should qhe setting ot axis group was be performed when the axis stops changed during the operation or Axis group Each Also do not make the stop 3032H T when requesting the stop A operation error SA ted axi axis request N UNCONNECIEC AXIS WaS Check the setting of the axis specified for the axis group group Check the setting values of the The operation stopped as an positioning data for the Interpolation error occurred on other Each interpolation operation 3033H 2 A operation error interpolation axis during the axis If the error occurred repeatedly interpolation operaiton with the correct setting values please contact us Axis group not fanaa The setting of the axis group Each Changing the axis group should 3034H was changed during the pulser i A be performed when the pulser In pulser axis P i operaiton operation enalbed signal is off operation The torque value exceeds the setting upper and lower limit Design the system within the Torque judament values Each range that the torque of the motor 3050H sea Juag axis A does nto exceed the judgment This error occurs when setting torque judgment to
37. m H DF SS 1 Positioning start Position Enabled flag Busy flag Positioning control start for axis 1 for axis 1 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e Once starting the table 1 the operation continues up to the table 3 automatically The last table should be set to E End point e If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation EoiWard Limit input ON Not executable Error occurs When C point control is Limit input ON Not executable Error occurs executed Limit input ON Not executable Error occurs Reverse Limit input ON Not executable Error occurs Forward Limit input ON Deceleration stop Error occurs During C point control Reverse Limit input ON Deceleration stop Error occurs 8 8 8 2 Interpolation Control Type of perations For the interpolation control there are 2 axis linear interpolation control 2 axis circular interpolation control 3 axis linear
38. operation turns on when the operation for all the tables completed After this contact turned on the on state continues until the next control activates Turns on when the home return operation for the corresponding axis completed After this contact turned on the on state continues until the next control activates X34 x35 X36 X37_ x38_ 1 X39__ 2 axis _ X3A_ 3 axis _ X3B_ 4 axis IX3C_ 5 axis _ X3D_ 6 axis_ X3E_ 7 axis _ IX3F_ 8 axis axis axis X42 axis x43 4 axis X44 axis Auxiliary contact Monitor contact for the near home input connected to the corresnponding AMP Turns on when the position error of the corresponding axis is within the imposition range specified in AMP The setting of the imposition range can be changed by PANATERM that is a tool of AMP Turns on when the corresponding positioning table of the corresponding axis was executed Use Configurator PM or directly write in the shared memory for setting to able disable the auxiliary contact WX16 olola Dolo N WX17 Z ao gt ajajaja m ojO W x lt an oO T X X lt X lt X lt Mia H O WINI3 S x lt a O K E D a x a x lt a D fo x lt an D w D O x lt a O a D o sjala o m m SJS gt jojnim x lt a N N E N wo wo x lt a N KR SIN NIN SNIA WX7 x lt a N XIXI X IEI NIN ojojo
39. synchronous operation performs is Axis 5 is synchronous turned on in this area regardless of Axis 6 is synchronous a synchronous gourp master axis Axis 7 is synchronous or slave axis Axis 8 is synchronous 5to8 0 1 2 Synchronous 3 operation monitor 4 5 6 7 1 OOOO Difference threshold of the movement amounts of the master slave axis that the synchronous operation performs If the difference of he movement amounts of master slaves axis exceeds this threshold 3045H error will occur synchronous axis operation mismatch error This difference value is specified in a unit used for the master axis Default 10000 Synchronous operation difference value 1 This area is used to set the synchrounous operation to Enabled or Disabled for the synchronouls gorup that is enabled and to monitor the synchronous state when the synchronous operation setting in the axis group setting area has been set to be enabled 2 When the bit1 in the synchronous operation enabled disabled area is on the synchronous operation can be cancelled temporarily only when using the synchronous mode A and the JOG operation home return and positioning operation can be independently executed 3 The bit 1 in the synchronous operation enabled disabled area is off the synchronous operation is enabled The operation of the slave axis is perfectly synchronized with the master axis 4 In the synchronous operation monitor area when the
40. will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position 8 20 Sample program RO Y108 Y88 oF Servo on Servo on for axis 1 Y109 Y89 Servo on for axis 2 Y10A Y8A Servo on for axis 3 R1 Y150 Y130 e H DF Servo off Servo off for axis 1 Y151 Y131 Servo off for axis 2 Y152 132 Servo off for axis 3 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 tion Servolock Error for Start up enabled Ps Beto foraxis 1 axis 1 flag for axis 1 X109 X9 X111 X11 X161 X61 R11 Link Tool establishment i for all axes operon Connection Servo lock Error for Start up enabled St foraxis2 axis 2 flag for axis 2 X10A XA X112 X12 X162 X62 R12 ection Servolock Error for Start up enabled gontmation foraxis3 axis 3 flag for axis 3 R2 t DF gt Fo mv K1 DTO 4 Starting table No Oeming 8PM CO a I ee control start coo F151 WRT _HO DTO K1 H100 4 Starting table setting BernkO i eS eee Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R2 R10 R11 R12 X118
41. 133H Actual speed of axis 5 Refer to the descriptions of axis 1 138H Acitve table or xecution Refer to the descriptions of axis 1 done table of axis 5 139H Audiliary output codeof Refer to the descriptions of axis 1 axis 5 13CH i ARAA F 13DH Feedback value of axis 5 Refer to the descriptions of axis 1 ea nae EE Refer to the descriptions of axis 1 17 33 Axis information of axis 6 Bank Sis Name Descriptions address 140H 141H System ID of axis 6 a 144 Brand name or vendor Refer to the descriptions of axis 1 name 145H 146H 147H 148H 149H 14AH oa ees SOCAN Refer to the descriptions of axis 1 14DH 14EH 14FH 150H 151H 152H an aa ae Refer to the descriptions of axis 1 155H 156H 157H 158H 159H 01H 15AH a eae pire a Refer to the descriptions of axis 1 15DH 15EH 15FH 160H 161H 162H ean a i Refer to the descriptions of axis 1 165H 166H 167H 170H Status indication of axis 6 Refer to the descriptions of axis 1 171H Enema terminal input Refer to the descriptions of axis 1 monitor of axis 6 172H Torque command of axis 6 Refer to the descriptions of axis 1 173H Actual speed of axis 6 Refer to the descriptions of axis 1 178H PES tabis or execution Refer to the descriptions of axis 1 done table of axis 6 179H Awdliary output eodeiot Refer to the
42. 3 Check 6666H by the ladder program and write AAAAH over Time out of 6666H is 30 seconds 4 The positioning unit copies the content of the shared memory into FROM 5 The positioning unit checkes writing When OK The unit sets OOOOH When NG The unit sets FFFFH 6 When confirming OOOOH by the ladder program the operation will be completed successfully When confirming FFFFH an error will occur In that case write OOOOH over in this area 0000H 085H Recalculation starting table number When the recalculation request signal Y_7 contact turns on the positioning unit will recalculate the positioning data of all the axes from this table number to No 600 1 to 600 17 4 3 Operation Speed Rate Area Bank Offset address Name Descriptions Default value Setting range Unit 00H 088H Operation speed rate All operations relating to axes positioning JOG home return can be perfomred at the specified rate The unit is and can be input in the range of 1 to 100 100 1 to 100 17 14 17 4 4 Setting Parameter Control Area The interpolation groups for each axis are set in this area For the axis connected to network set the bit of the corresponding axis to 1 in any setting as below Bank offset Name Descriptions ad
43. 3 to 107 374 182 3 um u m 1 ym 1 073 741 823 to 1 073 741 823 um 00BH inch 0 00001inch 10 737 41823 to 10 737 41823 inch inch 0 0001inch 107 374 1823 to 107 374 1823 inch degree 0 1degree 107 374 182 3 to 107 374 182 3 degree idegree 1degree 1 073 741 823 to 1 073 741 823 degree After the completion of the positioning control of this table when the mode is C Continuation point stops the motor operation for the dwell time and starts the operation of the next table when the mode is P Pass point this setting is ignored 00CH Dwell time when the mode is E End point the positioning done contact will turn on after waiting for the dwell time bit Name Default Descriptions 15 to 0 Dwell time 0 0 to 32 767 The unit is ms Any other settings will be errors Sets the data to be output to the auxiliary output code in each axis information amp monitor area by the setting of the auxiliary output mode in the parameter setting Auxiliary output OODH ats ry p area bit I Name Default Descriptions 15to 0 Auxiliary output code 0 No specific setting range OOEH 00DH 17 45 Starting address of each positioning table Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis7 Axis 8 Bank No ae Descriptions 02H OCH 16H 20H 2AH 34H 3EH 48H 050H_ Starting address of table 1 060H Starting address of table 2 070H Starting address of table 3 080H Starting address of table 4 090H Starting address
44. 370H Starting address of table 435 380H Starting address of table 436 390H Starting address of table 437 3A0H_ Starting address of table 438 3B0H _ Starting address of table 439 3COH _ Starting address of table 440 3D0H_ Starting address of table 441 3E0H_ Starting address of table 442 3FOH Starting address of table 443 17 52 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Addre Bank No ae Descriptions 09H 13H 1DH 27H 31H 3BH 45H 4FH 000H Starting address of table 444 010H Starting address of table 445 020H Starting address of table 446 030H Starting address of table 447 040H Starting address of table 448 050H Starting address of table 449 O60H Starting address of table 450 070H Starting address of table 451 080H Starting address of table 452 090H Starting address of table 453 QAOH Starting address of table 454 OBOH Starting address of table 455 OCOH Starting address of table 456 ODOH Starting address of table 457 QEOH Starting address of table 458 OFOH Starting address of table 459 100H Starting address of table 460 110H Starting address of table 461 120H Starting address of table 462 130H Starting address of table 463 140H Starting address of table 464 150H
45. 5000 pulses inch 0 00001 inch 10 737 41823 to 10 737 41823 inch amount inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch Y axis auxiliary point 0 degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree PECAS rauon L Linear L Linear S S shaped acceleration deceleration deceleration pattern Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s Interp lation speed 10000 pps Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram Composite speed t ms Positioning start contact of axis 1 Y110 Y90 BUSY flag of axis 1 YNEGUIG jie aa BUSY flag of axis 2 Y119 X19 Operation done flag of axis 1 X120 X20 H EERE OENE NEE i mn MNc Current value of axis 2 1000 NNN WGs SSS Operation done flag of axis 2 X121 X21 Current value of axis 1 8 12 Operations of each contact e The BUSY flag for the axis 1 and 2 FPX X118 X119 FP2 X18 X19 indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag for the axis 1 and 2 FPX X120 X121 FP2 X20 X21 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation am
46. Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred Speed rate The target speed of the home return specified in the parameter settings for each axis is regarded as 100 and the operation is executed in the specified speed rate Clicking Speed rate shows the dialog for inputting the value The speed rate changed here is effective only in the tool operation and it changes to the original speed rate automatically once the tool operation quits cS ne Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 2 Click Change in the starting table number field to specify the starting table number Specify the starting table number and click Operate to start the positioning opration Log ne Note e In the positioning unit RTEX the positioning operation for the interpolation group is performed to request the start and stop for the smallest number of axes in the group e In the tool operation the positioning operation for the interpolation group is performed by clicking Operate for any axes However due to the above spec
47. Look in Documents ss c E a samp2 Be samp3 File name samp Files of type Configurator PM file npm X Cancel 2 Select the drive where the file is saved in the Location of File box 3 Select the file name in the box listing the folders and files under the Location of File box If the file you want to read is not indicated double click the folder name where the file is saved Double click the sub folder names until the sub folder where the file is saved is open 4 Click the file name The following contents are recorded in the positioning setting file npm that can be used in this software Axis information Parameter settings Data settings Data comments 5 Click Open 83 Key Point Click the file name indicated at the bottom of the File menu to open the file that was previously active 7 13 7 5 3 Saving Files Save the parameter settings or data settings in files The contents saved in files are axis information parameter settings data settings and data comments 1 The following methods are available to save files The operation procedures and the behaviors of this software differ depending on the case of overwrite save and the one saves as a new file Saving a file by overwriting an existing file Select File gt Save in the menu bar or click the Save icon in the toolbar Saving a file by naming a new name Select File gt Save As in the menu bar
48. NR NN Tm il A a Contact allocation Target WX6 X lt gt lt Xx Xx S G o N g a x SA g oa N x lt oO w aloo Olay 4 axis 57 5 X gt lt oo 5 axis g oa Co x lt oi gt 6 axis a 7 axis a a a m O O 8 axis Name Descriptions Limit Limit Limit Limit Monitor contact of the limit and connected to the Limit corresponding AMP Limit Limit During the positioning operation JOG operation or pulser operation performs the deceleration stop when the limit Limit input that is an extension of the operating direction turned Limit on Limit The deceleration stop time during the limit input can be Limit changed in the shared memory Limit It will be the contact for the automatic inversion when Limit performing the home return Limit Limit x lt oO S Limit 6 6 6 6 64 6 6 6 6 6 6 6B axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis X lt lt X lt wWIN gt S x lt x lt x lt 6D 6 6 XxX Error annunciation Warning annunciation Turns on when an error occurs on the corresponding axis The contacts of all axes turn on if an error occurs on all axes The details of the error can be confirmed in the error annunciat
49. Online Select slot in the menu bar The following dialog is shown Select slot Choose the slot No of destination unit Slot No M Cancel The slot numbers defined vary depending on the type of PLCs See below PLC FPS Slot No The positioning unit RTEX is installed on the left side of the CPU unit and defined as below Expansion unit 1 Slot No 0 Expansion unit 2 Slot No 1 Expansion unit 3 Slot No 2 Expansion unit 4 Slot No 3 FP2 The positioning unit RTEX is installed on the CPU unit with the motherboard The slot number for the unit installed on the right side of the CPU unit is the slot number 0 and then the slot number varies depending on the installed position of the motherboard 7 17 7 7 2 Communication Settings Set the condition to communicate with the PLC that the positioning unit RTEX has been installed Select Option Communication settings in the menu bar The following dialog is shown Communication Setting Network type COM port Cancel Baud rate 115200 v bps m Initialize Data length C 7 bits 8 bits Stop bit 1 bit 2bits Parity C Non Odd C Even S Time out 5 vj sec Parameter for automatic setting V Baud rate V Data Length V Parity Name Setting value Default Port number Select a COM port to be used COM1 Baud rate 1200 to 115200 bps 9600 Data length 7 bits 8 bits Set either 7 bits or 8
50. Power When turning on the power to the system incorporating the positioning unit RTEX the nature and statuses of any external devices connected to the system should be taken into consideration and sufficient care should be taken that turning on the power does not initiate unexpected movements or operations 4 3 1 Procedure for Turning On the Power Procedure 1 Turn on the power supplies for input and output devices connected to the PLC 2 Turn on the power supply for the AMP 3 Turn on the power supply for the PLC Positioning unit RTEX 4 Power supply for I O device Power supply for AMP Power supply for PLC 4 3 2 Procedure for Turning Off the Power Procedure 1 Check to make sure the rotation of the motor has stopped and then turn off the power supply for the PLC 2 Turn off the power supply for the AMP 3 Turn off the power supplies for the input and output devices connected to the PLC Positioning unit RTEX 3 Power supply for I O device Chapter 5 Preparation For Operation 5 1 Procedures For System Establishment 5 1 1 Procedure 1 Wiring Use the LAN cable with the Ethernet category 5e shielded type for the wiring of the network Connect the positioning unit RTEX with each AMP in a loop Connect the TX of the positioning unit RTEX to the RX of an AMP and then connect the TX of the AMP to the RX of the next AMP At the end connect the
51. Shock resistance Shock of 98 m s or more 4 times in the X Y Z directions 1000 V P P with pulse widths 50ns 1500 V P P with pulse widths 50ns Noise immunity and 1s based on in house and 1us based on in house measurements measurements Op raing Free of corrosive gases and excessive dust environment ere eneng 300 mA or less 300 mA or less consumption Weight Approx 90 g Approx 120 g 17 1 2 Network Specifications Item Description Baud rate 100 Mbps Physical layer 100 BASE TX Full duplex Cable Shielded twisted pair cable category 5e or more Topology Ring Insulation Pulse transformer Common mode choke is built in Connector 8 pin RJ45 Max cable length Between nodes 60m Total length 200 m Cormmdnlcatlen 0 5 ms 1 ms for update of position command cycle Max number of axes 8 axes Operation command Position command 17 2 17 1 3 Performance Specifications of Units FP Positioning unit RTEX individual specifications tem Description 2 axis type 4 axis type 8 axis type Product number AFPG43610 AFPG43620 AFPG43630 Part number FPG PN2AN FPG PN4AN FPG PN8AN Number of axes controlled 2 axes 1 system 4 axes 1 system 8 axes 1 system Occupied I O points Input 128 points Output 128 points SX128 SY128 Restriction on installation A maximum of 2 units can be connected on the left side of the control unit regardless of numbe
52. TX of the last AMP to the RX of the positioning unit RTEX Note Turn off the power supply of the system before wiring cables Positioning unit RTEX 5 2 5 1 2 Procedure 2 Axis Numbers and Unit Numbers of AMP The axis numbers of the positioning unit RTEX agree with the unit numbers of the rotary switch of the AMP As the connected order on the network is not related to the axis numbers the axis numbers can be determined after the establishment of the network AMP rotary switch number 1 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis number COIN Oo ow h Positioning unit RTEX Motor Motor Motor Axis 1 Axis 3 Axis 2 REST Note An error occurs when the settings as below were specified e When the same unit number is redundantly specified on the same network e When a unit number was set to 0 e When a unit number larger than the maximum axis number of the unit used was specified For the 4 axis type the settable unit numbers are 1 to 4 5 1 3 Procedure 2 Power On and Checking Network Establishment The power on procedure is as follows 1 Turn on the power supplies for input and output devices connected to the PLC 2 Turn on the power supply for the AMP 3 Turn on the power supply for the PLC After the power turned on check if the operation status display LEDs of
53. The center position can be specified case E The center position ro can be specified direction gt direction direction z direction X axis direction X axis 2 axis circular interpolation Pass point point specification direction Y axis The pass point on a arc can be specified direction direction direction direction X axis 8 10 3 axis linear interpolation Composite speed specification direction 4 Z axis The composite speed can be specified Y axis r direction X axis direction 3 axis linear interpolation Composite speed specification direction The axis speed for the axis to be a long axis can be specified Y axis A X axis direction 3 axis spiral interpolation Center point specification CW direction Z axis movement direction 4 Z axis The center position can be specified Y axis X axis direction direction The interpolation speed is the tangential velocity of arc 3 axis spiral interpolation Pass point specification Z axis movement direction 4 Z axis Y axis direction X axis 1 direct di Cy direction The pass point on an arc can be specifed The interpolation speed is the tangential velocity of arc 3 axis spiral interpolation Center point specification CCW direction Z axis movement direction 4 Z axis The center posi
54. The followings are the differences in the operations between the synchronous modes supported with the synchronous operation Synchronous mode A Synchronous mode B JOG operation Operation stop Pulser operation Synchronous Disabled The master and slave axes is operated with each setting The positioning starts for each axis Synchronous A maximum of 2 groups can be set for the synchronous group setting An individual operation mode can be set for each synchrounous group Enabled disabled ee of synchronous It can be selected either Enabled or Disabled aeons The Disabled setting is operation 9 Synchronous Enabled ae Operates with the setting of the master axis Positioning The setting of the slave axis is ignored operation The positioning starts for the master axis Operates with the setting of the master axis The setting of the slave axis is ignored The positioning starts for the master axis Home return The home return is performed for each axis individually Executed with the setting that the synchrounous operaiton is disalbed Set the synchronous operation to be Disabled when performing the home return It is necessary to cancel the synchronous operation If the home return is executed with the setting that the synchronous operaiton is enabled an error will occur The home return cannot be executed It is not possible to perform the home return for each axis
55. X18 X119 X19 X11A X1A yqzq ygo LK oF gt 4 kK FH Positioning start Position Enabled flag Enabled flag Enabled flag Busy flag Busy flag Busy flag Positioning control start foraxis1 foraxis2 foraxis3 foraxis1 foraxis2 foraxis3 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e For X Y plane in case of the center point specification the X axis auxiliary point is the center point of X axis and the Y axis auxiliary point is the center point of Y axis In case of the pass point each pass point is set as the pass point of X axis and Y axis These settings are the same for Y Z plane and X Z plane e When the control method is increment both the center point and pass point are the increment coordinatefrom the start point e When the start point and the operaton done point is the same it performs one circular operation when using the center point method However when using the pass point method an error occurs e In case of the pass point method when the start point pass point and operation done pont exsit in the same straight line an arc is not comprised and an error occurs e When setting the long axis speed the composite speed is faster than the long axis speed e If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position contr
56. and positioning data in the flash memory will be automatically reflected to the shared memory when the power supply of the PLC turns on When they are not written into the flash memory the parameters and positioning data finaly stored in the flash memory will be reflected when the power supply of the PLC turns on When using the ladder program to write into the shared memory Use the F151 instruction to write various parameters and positioning data into the shared memory 2 Reference e For the information on the storage addresses of various parameters and postioning data lt 17 6 Details of Each Axis Setting Area in Shared Memory gt e For the information on writing positioning data using ladder programs lt 14 1 3 How to Use Standard Area and Extended Area of Positioning Data gt 5 2 Preparation For Operation 5 2 1 Servo On Servo Off The servo motor should be in the state that the servo is locked in order to perform the JOG operation and position control Turn on the servo on request contat to make the servo motor to be the state that the servo is locked Turn on the servo off request contact to change the state that the servo is locked to the state that the servo is free Set either the servo on servo off by the tool operation of the Configurator PM without using the ladder program Each contact when the positioning unit RTEX is installed in the slot 0 Contact allocation allocation Target Describtisns Sees 2 an p
57. are the operations that are selectable in the tool operation Servo On off Control the on off state of the servo Home return Move to the home position in the machine coordinate Positioning Operate from the starting table number according to the settings of the data stored in the positioning unit RTEX JOG operation The specified axis can be moved to the specified direction with the specified speed while the operation command is on Teaching Control the axis manually using the same operation as the JOG operation and reflect the resulting positioning address on the data editing screen LOO ne Note It is not possible to change the mode to the tool operation mode during the ladder operation of PLC If any communication error occurs during the tool operation the positioning unit RTEX detects the error and stops automatically If the previous tool operation did not finish properly due to a communication error etc the tool operation mode will be cancelled forcibly when the next tool operation starts 7 36 7 17 1 Tool Operation Servo On Off Turn the servo on to make the motor be in the state that the servo is locked first in the operation of the servo motor Therefore in the tool operation set the servo to ON using this settin 1 Click Servo ON OFF in Tool operation dialog The following dialog is shown Servo ON OFF M ooe 1 axis OFF Change ON OFF Help 2 axis OFF Change ON OFF 3 axis OFF Change ON OFF
58. axis A A053H Continuous communication error warning Refer to the specifications of AMP Each axis A A054H Communication error accumulated warning Refer to the specifications of AMP Each axis A AO56H _ Update Counter warning Refer to the specifications of AMP Each axis A A058H Fan lock warning Refer to the specifications of AMP Each axis A A059H _ External scale warning Refer to the specifications of AMP Each axis A 15 12 15 4 2 Unit Warnings From B000H Ver 1 00 to 1 01 These are the warning codes to be given when the warnings occurred in the positioning unit A Available N A Not available Error aha Error name Description Object Clear Countermeasures Various requests from the PLC s cannot be executed during the The following request signals were Tool operation excebtthe turned on by the host PLC during the p p following requests Tool operation ae Deceleration stop Positioning startup request flag Each request flag each axis BOOOH Tool operation each axis A q 9 axis Emergency stop request Home return request flag each axis flag each axis JOG forward reverse rotation T Systemstop request M g request flag each axis all axes q 9 Pulser operation enabled flag each axis The requests for the axes being operated cannot be executed except the following The same axis was requested to start Each E BO10H Duplicate startup even t
59. below Numerator of ratio of pulser operation Denominator of ratio of pulser operation OK Update the parameter settings with the specified contents Cancel Close this dialog without updating the parameter settings Copy axis Specify the axes of the source and destination to copy the parameter setting between the axes The following dialog is shown by clicking the Copy axis button Specify the axes and click OK Specify the axis to copy Source EEN x Destinatior 1 axis f Cancel Choose the axes of the source and destination Initialize Initialize the parameter settings Help Indicate the help for this function 3 Click OK to determine the settings Click OK to determine the edited settings Click Cancel to cancel the edited settings 7 20 7 9 Changing Axis Information Change the used axes or the groups for the setting data being edited Select Set axis Change axis in the menu bar The following dialog is shown Settine used axis Miaxis W 2axs Maxis JV Faxis Saxis J 6axis Taxis J 8 axis Cancel Choose the axis to use The editing dialog for the interpolation axis group is shown by clicking OK after selecting the used axes 7 21 7 10 Setting Positioning Data Set the various data to perform the positioning operation They are set on the data setting screen This is an example for the interpolation group of 1 axis and 2 a
60. check the operation at the time that the system is installed or the operation of setting parameters without any ladder program Also the teaching function is provided which reflects the current position to the movement amount of data item 7 2 2 Basic Specifications Operating environment Applicable OS Windows 95 OSR2 or higher Windows 98 Windows Me WindowsNT Ver 4 0 or higher Windows 2000 Windows XP Required HDD capacity 20MB or more Recommended CPU Pentium 200MHz or higher Recommended resolution 800 600 or more Recommended memory 64MB or more Depending on OS Recommended display colors 256 colors or more Application specifications No of characters of data comment 100 bytes table No of histories of search replace strings 20 each 7 3 Installing Configurator PM Procedure for installing Configurator PM in a personal computer The Configurator PM is installed in a personal computer using the procedure outlined below For Windows NT Windows 2000 please be aware that the Configurator PM cannot be installed unless you log in at the Administrator level when booting the system 1 Exit any applications currently running If there are any applications currently running exit them 2 Insert the setup CD Insert the Configurator PM setup CD in the CD drive 3 Select Run Click on the Start button at the lower
61. control function is as below 1 The JOG positioning control can be set for independent axis only 2 The JOG positioning is executed by combining the JOG positioning control J point and the positioning control E point 3 Accelerates with a specified acceleration time after starting the speed control and operates at a constant speed target speed 4 The speed can be changed in multiple stages during the speed control Also the acceleration deceleration time can be changed according the change in speed The speed is changed by turning on the J point speed change contact that is allocated as I O of PLC 5 The speed control moves to the positioning control by turning on the J point positioning starting contact that is allocated as I O of PLC 6 In the positioning contro moves for the specified pulse number and decelerates and stops The operation completes Speed V1 J point control Speed control Speed can be chagned gt E point control Positioning control Speed V3 Speed V2 J point speed change contact J point positioning start contact 21 3 1 Example of Operation The positioning unit RTEX performs the control set for the positioning table up to E point control continuously Therefore numerous operations are achievable by bombining the positioning control P point C point and E point control and speed control J point control The examples are as follows lt
62. data Click Close to close the dialog 7 30 7 14 Transferring Setting Data 7 14 1 Uploading Setting Data from Positioning Unit RTEX Read the parameters and positioning data of the positioning unit RTEX 1 Make the connection between a PC and PLC and configure the settings Then select File gt Upload from Unit in the menu bar or click the Upload from Unit icon in the toolbar 2 Execute reading the unit Lo Note The process of reading may take for a few minutes Click Cancel to stop the read 3 When the read completes successfully a message asking if the data comment will be held is indicated Click Yes to leave all the comments set in the data Click No to clear all the comments LOO Note To execute the upload previously determine the target positioning unit RTEXby the communication settings and selecting the slot number The data comments are not stored in the positioning unit RTEX They are managed in the setting files of the PC 7 31 7 14 2 Downloading Setting Data to Positioning Unit RTEX Transfer the setting parameters and positioning data to the positioning unit RTEX 1 Make the connection between a PC and PLC and configure the settings Then select File gt Download to Unit in the menu bar or click the Download to Unit icon in the toolbar The dialog is shown as below Choose the data to download Positioning setting data range All C Table No range
63. descriptions of axis 1 axis 6 17CH gt Ta 17DH Feedback value of axis 6 Refer to the descriptions of axis 1 r E eens Refer to the descriptions of axis 1 17 34 Axis information of axis 7 Bank oeat Name Descriptions address 180H 181H a System ID of axis 7 184H Brand name or vendor Refer to the descriptions of axis 1 name 185H 186H 187H 188H 189H 18AH ea are sprite Refer to the descriptions of axis 1 18DH 18EH 18FH 190H 191H 192H ih pene ance Refer to the descriptions of axis 1 195H 196H 197H 198H 199H 01H 19AH Kae ees arene Refer to the descriptions of axis 1 19DH 19EH 19FH 1A0H 1A1H 1A2H sa je eer nace Refer to the descriptions of axis 1 1A5H 1A6H 1A7H 1BOH Status indication of axis 7 Refer to the descriptions of axis 1 1B1H External terminal input Refer to the descriptions of axis 1 monitor of axis 7 1B2H Torque command of axis 7 Refer to the descriptions of axis 1 1B3H Actual speed of axis 7 Refer to the descriptions of axis 1 1B8H Acitve table or xecution Refer to the descriptions of axis 1 done table of axis 7 1B9H Awdiiary output odeiof Refer to the descriptions of axis 1 axis 7 1BCH ARAA F 1BDH Feedback value of axis 7 Refer to the descriptions of axis 1 IBER ne E E Refer to the descriptions of axis 1 17 35
64. disable the software limit in the JOG operation Upper limit of software limit The upper limit value of the software limit Lower limit of software limit The lower limit value of the software limit Auxiliary output mode Enable disable the auxiliary output contact and auxiliary output code Auxiliary output ON time ms The time that the auxiliary output contact is ON Completion width pulse The width of the completion of command operation 7 19 Parameter name Description Monitor error Torque judgment The judgment operation of the torque command for the motors controlled by the AMP of each axis Not available Not perform the torque judgment Available Warning If the torque of the AMP exceeded the judgment value a warning occurs Monitor error Torque judgment value The torque command value of the motors controlled by the AMP of each axis Monitor error Actual speed judgment The judgment operation for the actual speed of the motors controlled by the AMP of each axis Not available Not perform the actual speed judgment Available Error If the actual speed of the AMP exceeded the judgment value an error occurs Available Warning If the actual speed of the AMP exceeded the judgment value a warning occurs Monitor error Actual speed judgment value The actual speed of the motors controlled by the AMP of each axis Ho
65. each axis can be checked with the Configurator PM When referring the error and warning logs for each axis read the following shared memory from the PLC Error log area Shared memory Bank 0 Address Name 128H Error log area of axis 1 Error log area 148H Error log area of axis 3 158H Eror log area of axis 4 168H Eror log area of axis 5 01H _ No of occurences of errors 03H buffer 1 OSH buffer 2 Error code annunciation 07H _ buffer 3 er Error code annunciation HOSE buffer 4 Error code annunciation buffer 5 Error code annunciation bet Tenor co QEH Error code annunciation buffer 7 Error log area of axis 6 Error log area Eror log area Warning log area Shared memory Bank 0 A Waming of axis 1 A8H Waming of axis 2 Warming of axis 3 1D8H Waming of axis 4 1E8H Waming of axis 5 ddress Name log area log area log area log area log area Offset Name an Warning code annunciation DUTTE Warning code annunciaton buffer 2 Warning code annunciation buffer 3 Warning code annunciation buffer 4 Warning code annunciation buffer 5 D gt ololdelololala aJojolc cabs 5 Go mp ae a al S a bd ea aa OT Ci OCH Waming re of axis 6 Waming of axis 7 Waming 5 of axis 8 208H log area log area log area Number of
66. if the setting has been set to the synchronous group Set the settings of the master and slave axes in the synchronous groups 1 and 2 to OH all bits off not to perform the synchronous operation During the synchronous operation the Busy signal of the slave axis turns on once the operation of the master axis starts and the operaiton doen signal of the slave axis turns on when the operation of the master slave completes When the synchronous operation is enalbed a request for the slave axis to operate is not accepted The servo on off can be executed independently regardless of whether the synchronous operation is enabled or disabled The slave axis can accept the request to stop the operation deceleration stop emergency stop and system stop regardless of whether the synchronous operation is enabled or disabled When requested to stop the master axis also stops being perfectly synchronized When the synchronous group has been set to be disabled the setting of the synchronous group cannot be changed in the operation sample Set the synchronous group to Enabled you want to change the setting for changing the synchronous group 21 12 21 2 10 Sample Program Refer to Synchronous operation ladder program for demo fp 21 2 11 Errors occurred in Synchronous Operation The following operations are errors in the synchronous operation The operating synchronous group cannot be changed during the synchronous ope
67. individually The synchronous operation cannot be set to be disabaled Therefore the executable home return methods are restricted The connection of sensors to the AMP may be changed according to the home return methods as hereinafter described 21 6 21 2 2 Home Return Method in Synchronous Operation When using Synchronous Mode A In the synchronous mode A the home return should be performed for each axis individually Therefore set the synchronous operation to be disabled when performing the home return If the synchronous operation is enabled when the home return operation starts an error will occur and the home return cannot be executed All the home return methods currently supported by the Positioning Unit RTEX can be used 21 2 3 Home Return Method in Synchronous Operation When using Synchronous Mode B As the synchronous operation cannot be set to be disabled always enabled in the synchronous mode B only the home return can be executed in the synchronous operation Therefore the executable home return methods are restricted The followings are the home return methods to be available in the synchronous mode B 1 DOG method 2 4 Limit method 2 6 Stop on contact method 1 8 Data set Each numbers are the home return setting code Also when performing the home return usign the 1 DOG method 2 and 4 Limit method 2 the input from the DOG sensor and limit sensor should be connected as
68. interpolation control and 3 axis spiral interpolation control The following methods are available to specify the operation of each interpolation control Select any of them as usage The axes in the relation of an interpolation are called X axis and Y axis for the 2 axis interpolation and are called X axis Y axis and Z axis for the 3 axis interpolation In each interpolation control the E point control tha tuses one table P point control and C point control that uses multiple tables can be combined arbitrarily as positioning data For example using the P point control enables the continuous interpolation control from the 2 axis linear control to the 2 axis circular interpolation control The acceleration time and deceleration time can be specified individually For the P point control and C point control the E point should be set as the last table Type Operation specification method Necessary data mies Composite speed Composite speed of X axis and Y axis int lati z F r F interpolati Long axis speed Speed of long axis Axis of which moving on control distance is long 2 axis Center point CW direction X axis and Y axis coordinate of center point eee Center point CCW direcvtion X axis and Y axis coordinate of center point interpolati on contro Pass point X axis and Y axis coordinate of pass point on arc rf Composite speed Composite speed of X axis and Y axis int lati interpolati aigassa Speed of
69. is i Home return creep speed pus bolt other han EI the limit input 1 1 1 I 1 Target spoed 7 geceleration I 1 i a 1 1 1 time The starting point 1 1 Home return creep speed is on the limit input T 1 I 1 22 4 22 1 6 Limit Method 2 Detects the rising edge of the limit switch in the home return direction and stops That point becomes the starting point Home return direction lt 1 1 Home return Target speed The starting point is deceleration Home return creep speed on a point other than time mA the limit input ENF The starting point Home return creep speed is on the limit input Target Fw Home return speed deceleration 1 time 1 1 22 1 7 Phase Z Method Moves toward the home return direction from the current value and stops at the first phase Z detection That point becomes the starting point Home return direction lt _ j i Home return creep speed 22 1 8 Stop on contact Method 1 The position reached after a constant time has passed at the torque value higher than a specified value using an automatic stop mechanism such as a stopper is regarded as orign Home return direction 4 Home return creep sped Stopper etc 22 5 22 1 9 Home Return Stop on contact Method 2 Although the operation is similar to the stop on contact method the position where the first phase Z was detected performing the reverse operati
70. latest error code from the buffer number 1 in order 130H Error code annunciation bit Name Default Descriptions 131H buffer 4 of axis 1 31to0 Emor code annunclation buter ni ct 6 Announces error codes 132H Error code annunciation 133H buffer 5 of axis 1 134H Error code annunciation 135H buffer 6 of axis 1 136H Error code annunciation 137H buffer 7 of axis 1 Number of error 139H occurrences of Announces the number of occurrences of errors at axis 2 axis 2 13AH Error code annunciation Announces the code when an error occurred 13BH buffer 1 of axis 2 13CH Error code annunciation Announces the code when an error occurred 13DH buffer 2 of axis 2 13EH Error code annunciation Announces the code when an error occurred 13FH buffer 3 of axis 2 17 19 Offset Bank ias Name Descriptions 140H Error code annunciation Announces the code when an error occurred 141H buffer 4 of axis 2 142H Error code annunciation Announces the code when an error occurred 143H buffer 5 of axis 2 144H Error code annunciation Announces the code when an error occurred 145H buffer 6 of axis 2 146H Error code annunciation Announces the code when an error occurred 147H buffer 7 of axis 2 Number of error 149H occurrences of Announces the number of occurrences of errors at axis 3 axis 3 14AH Error code annunciation Announces
71. long axis Axis of which moving on control distance is long ans A PORGE een Y axis and Z axis coordinate of center point X axis movement Sama point GOW airector Y axis and Z axis coordinate of center point X axis movement Sane F PONNO YY dtectow X axis and Z axis coordinate of center point 3 axi Y axis movement axis z a spiral Panie F PONGEN dieection X axis and Z axis coordinate of center point interpolati Y axis movement on control Genter point SVY direction X axis and Y axis coordinate of center point Z axis movement eo pointe recon X axis and Y axis coordinate of center point Z axis movement Pass point X axis movement Y axis and Z axis coordinate of pass point on arc Pass point Y axis movement X axis and Z axis coordinate of pass point on arc Pass point Z axis movement Y axis and Z axis coordinate of pass point on arc 2 axis linear interpolation 2 axis linear interpolation Composite speed specification Long axis speed specification direction direction Y axis The composite speed Y axis can be specified The axis speed for the axis to be a long axis can be specified direction gt direction direction gt direction direction X axis direction X axis 2 axis circular interpolation 2 axis circular interpolation Center point specification CW direction Center point specification CCW direction direction direction Y axis Y axis
72. noise is are incorrect caused in the usage environment If the error occurred repeatedly please contact us a Check the status of the AMP Network ee As information on the AMP cannot be si A the Positioning Unit RTEX Each so RES 2003H communication f A obtained when communication is cut off an f and AMP and axis timeout pie error on the AMP may not be obtained communication was cut alee off Check the communication cable The number of the AMPs connected to the network 2010H AMP Excess No ceeded the limit All axes N A of connections maximum No of axes of te positioning unit Afer checking the connection and settings AMP Node ee a of the AMP turn off the power supply and 2020H etree node number exist inthe All axes N A duplication network turn it on again The AMP with anode A occurred repeatedly please number other than the 2030H AMP Node No numbers below exists Allaxes N A setting error 2 axis type 1 to 2 4 axis type 1 to 4 8 axis type 1 to 8 15 16 15 5 4 Axis Operation Errors From 3000H Ver 1 13 or later These are the errors occurred while various operations are being executed ao Error name Description Object Clear Countermeasures 3000H__ Not servo ready The axis that servo is not locked Each A Confirm the servo is locked while was started axis each axis is operating Turn off the servo on inptu when 3001H Servo off detection The servo be
73. number of occurrences of warnings at axis 4 axis 4 4F2H Warning code annunciation Announces the code when a warning occurred 1F3H buffer 1 of axis 4 1F4H Warning code annunciation Announces the code when a warning occurred 1F5H buffer 2 of axis 4 1F6H Warning code annunciation Announces the code when a warning occurred 1F7H buffer 3 of axis 4 1F8H Warning code annunciation Announces the code when a warning occurred 1F9H buffer 4 of axis 4 1FAH Warning code annunciation Announces the code when a warning occurred 1FBH buffer 5 of axis 4 1FCH Warning code annunciation Announces the code when a warning occurred 1FDH buffer 6 of axis 4 1FEH Warning code annunciation Announces the code when a warning occurred 1FFH buffer 7 of axis 4 17 24 Offset Bank arene Name Descriptions No of warning 201H occurrences of Announces the number of occurrences of warnings at axis 5 axis 5 202H Warning code annunciation Announces the code when a warning occurred 203H buffer 1 of axis 5 204H Warning code annunciation Announces the code when a warning occurred 205H buffer 2 of axis 5 206H Warning code annunciation Announces the code when a warning occurred 207H buffer 3 of axis 5 208H Warning code annunciation Announces the code when a warning occurred 209H buffer 4 of axis 5 20AH Warning code annunciation Announces the code when a warning occurred
74. of Each axis N A Check the status of the AMP that acquisition error each AMP the error occurred Check the communication pathway Carefully check the connector failure and breaking of eee the communication cable 2002H ANE Parameter ie communication paramelersof Each axis A Also check if any excessive noise error each AMP are incorrect q is caused in the usage environment If the error occurred repeatedly please contact us AMP Excess The number of the AMPs connected to the network exceeded 2010H No of ae All axes A Bonncalons the limit maximum No of axes of the positioning unit Afer checking the connection and 2020H AMP Node The AMPs with the same node Allaxes N A settings of the AMP turn off the duplication number exist in the network power supply and turn it on again The AMP with a node number other If the error occurred repeatedly than the numbers below exists please contact us 2030H AMP Node No 5 axis type 1 to 2 All axes N A setting error 4 axis type 1 to 4 8 axis type 1 to 8 15 8 15 3 4 Axis Operation Errors From 3000H Ver 1 00 to 1 01 These are the errors occurred while various operations are being executed A Available N A Not available error This error occurs when setting actual speed judgment to Available annunciation method to Error Error Sor Error name Description Object Clear Countermeasures
75. of Warning Codes Ver 1 13 or later eee 15 22 15 6 1 AMP Warning From AOOOH Ver 1 13 or later 15 22 15 6 2 Unit Warnings From BOOOH Ver 1 13 or later 15 23 16 Troubleshooting ceeceecceeeeeeeeeeeeeeeeeeeeeeeeeeeeees 16 1 16 1 Cannot Communication With AMP 16 2 17 Specifications ccccccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 17 1 17 1 Table of Specificationa ceccecccececeeeeceeceeeeeseseeneeeeeeeeees 17 2 17 1 1 General Specifications ee eeeeeeeeeeeeeeeeeeeeeenneeeeneaas 17 2 17 1 2 Network Specifications ccccececeeeeeceeeeeeeeeeeseeetceeeees 17 2 17 1 3 Performance Specifications of Units 0 eee 17 3 17 1 4 Common Specifications ccccccccecseceeeeeeeeeeneeeeeeeees 17 4 17 2 Table of VO Area ooo ee ceeeeeeeeeeeeeeneeeeeeaeeeseneeeeeeneeeeneaaes 17 6 17 3 Configuration of Shared Memory Areas 17 12 17 4 Details of Common Area in Shared Memory 17 13 17 4 1 Configuration of Common Area n e 17 13 17 4 2 Setting Parameter Control Area ecccecceeeeceeeeeeeeeeeees 17 14 17 4 3 Operation Speed Rate Area 17 14 17 4 4 Setting Parameter Control Area eeen 17 15 17 4 5 Home Change Data Area 17 16 17 4 6 Torque Limit Area ccccececcccee cece ee eeeeeeaeeeeeeeeeeenaeeeeees 17 17 17 4 7 Positioning Table Setting Area 17 18 17 4 8 Error Annunciation amp Clear Area 17 19 17 4 9 Warning Annunciation amp Clea
76. of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse Item pong Allowable range example Operation pattern E End point C Continuance point E End point P Pass point 0 Linear Composite speed 1 Linear Long axis speed A Spiral Center point CW direction X axis movemet B Spiral Center point CCW direction X axis movemet 0 Linear C Spiral Center point CW direction Y axis movemet Interpolation operation Composite D Spiral Center point CCW direction Y axis movemet speed E Spiral Center point CW direction Z axis movemet F Spiral Center point CCW direction Z axis movemet L Spiral Pass point X axis movement M Spiral Pass point Y axis movement N Spiral Pass point Z axis movement Control method I Increment I Increment A Absolute X axis movement amount 10000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse X axis auxiliary point 0 um 0 1 um 107 374 182 3 to 107 374 182 3 um Y axis movement amount 5000 pulses um 1 um 1 073 741 823 to 1 073 741 823 um Y axis auxiliary point 0 inch 0 00001 inch 10 737 41823 to 10 737 41823 inch Z axis movement amount 20000 pulses inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch Ta degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree Z axis auxiliary point 0 degree 1 degree 1 073 741 823 to 1 073 741 823 degree Neceleration L Linear L Linear S S shaped acceleration
77. on the keyboard 2 Input the data item For example press A on the keyboard to change the X axis pattern from I Increment to A Absolute 3 Press the Enter key to determine the content of the data item The data item can be edited collectively in the above procedure 3 Key Point When inputting the data item using the edit box e g movement amount acceleration time etc input the data item directly using the numbered keyboard 7 27 7 12 Customizing Software Changing Column Width Widen the column width to enable all the characters to be shown during data editing or narrow it when the resolution of the PC you use is small As the column width is saved when this software quits the same width will be recreated at the next time of the start up 1 The mouse cursor changes to a mark like by moving the mouse cursor to the right end of the column you want to widen the width in the header on the upper corner of the data editing screen 2 Move the cursor left and right with clicking down the left button of the mouse 3 Release the left button of the mouse to finish the change in the column width 83 Key Point The column width returns to the one on start up by double clicking the mouse in the state of the above procedure 1 Showing Hiding Toolbar Set to show or hide the toolbar Select View Toolbar and check or uncheck in the menu The toolbar is indicated with the check and it i
78. operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred Help Indicate the help regarding this function Close Close this dialog L Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 7 34 7 16 Status Display The states of the motors of each axis can be monitored Make the connection between a PC and PLC Then select Online Status Display in the menu bar The following dialog is shown Motor Status monitor Model FPSIGMA N Axis Group 1 axis Connection status Brand name AMP model code Motor model code Status display Servo free Status Completion width External terminal input monitor Home proximity Limit Limit No of writing to FROM Version 2 axis 3 axis 4 axis Panasonic Panasonic Panasonic Panasonic MADDT1107N MADDT1107N MADDT1107N MADDT1107N MSMDO11P15 MSMD011P1S MSMD011P15 MSMD011P1S lhactive hhactive lhactive lhactive Model The model name of positioning unit RTEX Axis
79. or ladder programs A Available N A Not available Error ES 2 eae Error name Description Object Clear Countermeasures Check the following items in the settings of the axis group and independent axis The same axis number has been y The settings of axis groups are s registered in more than 4000H Axis group setting error Each axis A not correct one group Four or more axes have been set in one group The group is composed of one axis only The unit system for the axis Cont the Unione o7 4002H Unit setting error Pete y Each axis N A the followings setting is out of the range Pulse mm inch degree 4004H Pulse number error per The pulse number is out of the Each axis N A Check the setting value rotation range If the setting value is out of the range reduce it by the F following formula 4005H Movement Sea ie movement amountis Our gt Each axis N A Pulse number per rotation error per rotation e range Movement amount per rotation 4010H Software limit setting The upper or lower limit value of Each axis N A error software limit is out of the range 4020H Limit stop deceleration The limit stop deceleration time is Eatas A time error out of the range 4021H Error stop deceleration The rror stop deceleration time is Each axis A time error out of the range 4022H Emergency stop The emergency stop deceleration Each axis A dece
80. set in the ms unit Interpolation speed Set the interpolation speed Dwell time ms Set the time from when the positioning command in the end point control completes till when the completion flag Y contact turns on For the continuance point control it is the wait time between each table For the pass point control the dwell time is ignored Auxiliary output Set the auxiliary output code When the auxiliary output is set to enable in the parameter settings the auxiliary output code specified here is output Comment Input the comments of tables The comments are saved in the positioning setting file npm of the PC only They are not saved in the positioning unit RTEX Note The details for the settings in each parameter are indicated in the guidance bar 7 23 7 11 How to Edit Positioning Data 7 11 1 Inputting Positioning Data The cursor on the positioning data editing screen can be moved by clicking double clicking with the mouse and with the arrow Enter and Tab keys Move the cursor to the data item Using the arrow key enables to move the cursor to the adjacent cell in the direction of the arrow Using the mouse enables to move the cursor only by clicking the cell If the cell you want to specify is not in the data editing screen scroll the screen using the scroll bar until you can see the cell Input the data item Pressing any character input key or double clicking the mouse
81. the AMP cannot be basically cleared and also the power supply of the unit must be turned off and on again N A Not available Error Bey p Error name Description Object Clear code OOOAH Input voltage error Generator error Refer to the specifications of AMP Each axis N A OOOBH Control power supply shortage voltage protection _ Refer to the specifications of AMP Each axis N A 000CH Overvoltage protection Refer to the specifications of AMP Each axis N A OOODH Main power supply shortage voltage protection Refer to the specifications of AMP Each axis N A OOOEH Overcurrent protection Refer to the specifications of AMP Each axis N A OOOFH Overheat protection Refer to the specifications of AMP Each axis N A 0010H Overload protection Refer to the specifications of AMP Each axis N A 0011H A D converter error protection Refer to the specifications of AMP Each axis N A 0012H Regenerative overload protection Refer to the specifications of AMP Each axis N A 0013H Motor thermal protection Refer to the specifications of AMP Each axis N A 0014H Encoder Phase A B error protection Refer to the specifications of AMP Each axis N A 0015H Encoder Communication error protection Refer to the specifications of AMP Each axis N A 0016H Encoder Wiring error protection Refer to the specif
82. the J point operation proceeds the operation to the positioning process for the next table and completes the operation after performing the process for the E point table J point positioning start contact Ia Reference 17 2 Table of I O Area Addition of 17 2 Table of I O Area ver 1 13 or later Y158 1 axis Kea Y139 2 axis ke 3 axis Turning on this signal during the J poing operation for the BN i J point positioning appropriate axis ends the J point operation and moves to the Ra 5C 5 axis start contact process for the next table ee 5D Ma ee SF ike The operation is the edge type 6 axis 7 axis 8 axis 21 3 3 Sample Program Refer to J point control ladder program for demo fp 21 17 21 3 4 Restrictions on JOG Positioning Control The JOG positioning target speed can be changed by turning on the J point speed change contact in the JOG positioning contorol however the speed cannot be changed while it is accelerating or decelerating Therefore the J point speed change contact is ignored while the speed is accelerating decelerating After the speed becomes a constant speed the speed will be changed J point speed cannot be changed J point speed change contact is invalid Also only the increment method is available for the position setting for points P C and E following point J 21 3 5 Repeat Accuracy of JOG Pos
83. the code when an error occurred 14BH buffer 1 of axis 3 14CH Error code annunciation Announces the code when an error occurred 14DH buffer 2 of axis 3 14EH Error code annunciation Announces the code when an error occurred 14FH buffer 3 of axis 3 150H Error code annunciation Announces the code when an error occurred 151H buffer 4 of axis 3 152H Error code annunciation Announces the code when an error occurred 153H buffer 5 of axis 3 OOH 154H Error code annunciation Announces the code when an error occurred 155H buffer 6 of axis 3 156H Error code k annunciation Announces the code when an error occurred 157H buffer 7 of axis 3 Number of error 159H occurrences of Announces the number of occurrences of errors at axis 4 axis 4 15AH Error code annunciation Announces the code when an error occurred 15BH buffer 1 of axis 4 15CH Error code annunciation Announces the code when an error occurred 15DH buffer 2 of axis 4 15EH Error code annunciation Announces the code when an error occurred 15FH buffer 3 of axis 4 160H Error code annunciation Announces the code when an error occurred 161H buffer 4 of axis 4 162H Error code annunciation Announces the code when an error occurred 163H buffer 5 of axis 4 164H Error code annunciation Announces the code when an error occurred 165H buffer 6 of axis 4 166H Error code annunciation Announces the code when an error occurred 167H buffer 7 of axis 4 17 20 Offset
84. the interpolation control 2 Starts the JOG positioning control by writing the table number that the J poin control has been specified in the positioninga table settimg area and turning on the positioning starting flag for an appropriate axis After that consecutive table numbers are exectued up to the table number that the end point control E point has been specified The acceleration deceleration time and target speed when starting the J point operation is set in the positioning table area as well as other operation patterns For the details refer to 17 6 3 The speed can be changed in during the J point control To change the speed the J point speed change contact should be on after writing a prescribed value in the following offset address in the each axis positioning parameter area 21 15 Each Axis Positioning Parameter Area The parameters for the JOG positionign control are set in the following offset addresses words in each axis positioning parater area ba Reference 17 6 2 Parameter Setting Area Addition of 17 6 2 Parameter Setting Area ver 1 13 or later Sets the mode of the JOG positioning operation Bit Name Default Description 0 JOG positioning 1 Acceleration 0 0 Linear cceleration deceleration operation setting code deceleration pattern setting 1 S shaped acceleration deceleration 2to15 JOG positioning Sets the acceleration deceleration time when performing the J
85. the positioning unit RTEX is in the following state STATUS Lights up LINK Lights up 3 Key Point e If the STATUS LED is blinking the network is not established e If the LINK LED is off the connection between the RX of the positioning unit RTEX receiver and the TX of the AMP sender is not electrically correct 5 1 4 Procedure 3 Matching Parameters With AMP At the factory setting the operating directions of the positioning unit RTEX and the AMP are different as below e Parameters of positioning unit RTEX CW direction is elapsed value direction e Parameters of AMP CW direction is elapsed value direction Therefore they must be matched according to the following procedures 1 Boot the Configurator PM and set the corresponding axis 2 Specify the Select slot from the Online on the menu and select the slot number that the positioning unit RTEX is installed 3 Specify the Download to unit from the File on the menu and down the axis information and parameter setting data 4 The indication for writing into the FROM flash memory is shown Select Yes to carry out writing to the FROM 5 After the completion of writing turn off the power supplies of AMP and PLC and then turn them on again 6 After turning on the power supplies again the system will be operated with the parameters set in the positioning unit RTEX 3 Key Point Followings are the parameter
86. the state when each error occurred In the following list of error code the recoverable state is indicated with O the unrecoverable state is indicated with X and the recovered state after restoring the power supply of the AMP is indicated with A 15 5 1 AMP Errors From 0001H Ver 1 13 or later The alarms to be output from the AMP are output as error codes as they are The alarms occurred in the AMP is written in decimal however the error codes of the positioning unit are written in hexadecimal For the details of each error code and the way of handling refer to the manual of the AMP When an AMP error occurs When an error occurred on the AMP the servo automatically becomes free Execute the servo on request again after clearing the error Error code Error name Description Object Clear 000BH Serme odi supply shortage voltage Refer to the specifications of AMP Eachaxis O 000CH Overvoltage protection Refer to the specifications of AMP Each axis O 000DH Main Power supply shortage voltage Refer to the specifications of AMP Each axis O protection OOOEH Overcurrent protection Refer to the specifications of AMP Each axis OOOFH Overheat protection Refer to the specifications of AMP Each axis 0010H Overload protection Refer to the specifications of AMP Each axis O 0012H Regenerative overload protection Refer to the
87. the system within the Torque iudament Each range that the torque of the motor BO50H que judg This warning occurs when A __ does not exceed the judgment value warning axis setting value torque judgment to Available Check the torque judgment value annunciation method to Warning The monitored actual speed exceeded the specified upper lower limit value Design the system within the ct al speed range that the actual speed of the P This warning occurs when Each motor does not exceed the B051H judgment value A setting axis judgment value warning actual speed judgment to Available annunciation method to Warning Check the actual speed judgment value 15 23 15 24 Chapter 16 Troubleshooting 16 1 Cannot Communication With AMP Is the STATUS LED of the positioning unit flashing No Is the ERR LED of the positioning unit lighted Is the LINK LED of the positioning unit lighted Turn on the power supply of The connection with the Check the error code and the system next node is incorrect take appropriate measures again Check if the connection of for the error content If the similar Are the LINK LEDs of all the network cable is correct Check if the network cable error repeatedly connected AMPs lighted Check if the network cable is is normal occurs please normal Check if an
88. to any Each axis A Ifthe error occurred repeatedly reason with the correct setting values please contact us An error occurred in the operation s Pum ont he power supply and Operation i Each axis turn it on again 3031H processing of each axis due to any N A abnormal end All axes If the error occurred repeatedly reason please contact us Check the setting values of the The operation stopped as an error positioning qata fe Interpolation interpolation operation 3033H f occurred on other interpolation axis Each axis A operation error i If the error occurred repeatedly during the interpolation operation with the correct setting values please contact us The torque value exceeds the setting upper and ower limit Design the system within the values Torque range that the torque of the motor 3050H Each axis A does not exceed the judgment judgment error This error occurs when setting val i torque Judgment 10 Avallablie Check the torque judgment value annunciation method to Error The actual speed exceeded the setting upper and lower limit Design the system within the values range that the actual speed of the Actual spoed motor does not exceed the 3051H judgment value Each axis A judgment value Check the actual speed judgment value 15 9 15 3 5 Setting Value Errors From 0x4000 These are the errors in the various setting values specified using the Configurator PM
89. type 4 axis control FPG PN4AN AFPG43620 8 axis type 8 axis control FPG PN8AN AFPG43630 FP2 Positioning Unit RTEX Type Function Part number Product number 2 axis type 2 axis control FP2 PN2AN AFP243610 4 axis type 4 axis control FP2 PN4AN AFP243620 8 axis type 8 axis control FP2 PN8AN AFP243630 Setting software Name Specifications Product number Control Configurator PM English AFPS66510 1 2 Restrictions on Units Combination 1 2 1 Restrictions on Combinations Based on Current Consumption FP2 only For the FP2 when the system is configured the other units being used should be taken into consideration and a power supply unit with a sufficient capacity should be used For the FPx there is no restrictions based on the current consumption FP2 Positioning Unit RTEX Type Part number Product number Current consumption from power supply 2 axis type FP2 PN2AN AFP243610 300 mA 4 axis type FP2 PN4AN AFP243620 300 mA 8 axis type FP2 PN8AN AFP243630 300 mA 1 2 2 Restrictions on the Number of Units Installed FP Positioning Unit RTEX The maximum of 2 units can be installed FP2 Positioning Unit RTEX There is no restriction on the number of units installed if it is within the restrictions on the current consumption Chapter 2 Parts and Functions 2 1 Parts and Functions FP Positioning Unit RTEX Expansion cover Operation status display 5 LEDs Pulser input conn
90. warning will be output Requests the home return for the corresponding AMP The settings for the direction or pattern of the home return are specified by Configurtor PM or the home return operation setting area in the shared memory The operation is the edge type If this contact turns on during the Tool operation by Configurator PM a warning will be output Requests the JOG operation for the corresponding AMP The settings for acceleration time etc are specified by Configurator PM or the JOG operation settings in the shared memory The operation is the level type If this contact turns on during the Tool operation by Configurator PM a warning will be output 17 9 Contact allocation Target Descrintions axis R Requests the emergency stop for the corresponding AMP The deceleration time for the emegency stop is specified by Configurator PM or the emergency stop setting in the shared Emergency stop jmemory The operation is the level type Note The deviation counter cannot be cleared Requests the deceleration stop for the corresponding AMP The deceleration time for the deceleration stop is specified by Configurator PM or the deceleration stop setting in the shared Deceleration stop memory The operation is the level type Note The deviation counter cannot be cleared Requests the permission for the pulser operation of the corresponding AMP Pulser operation The multiple setting and other s
91. 00 pps um 1 to 32 767 000 u m s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 17 44 Offset Name Descriptions address p The area to set the movement amount for the positioning operation The interpretation is chagned for the increment movement amount or absolute 008H coordiate by the control code setting bit Name Default Descriptions Positioning 31 to 0 Positioning 0 Setting range 1 073 741 823 to 1 073 741 823 movement movement amount Any other settings will be errors x The interpretation alters depending on the unit setting amount pulse 1 073 741 823 to 1 073 741 823 pulse u m 0 1 um 107 374 182 3 to 107 374 182 3 um 009H um 1 ym 1 073 741 823 to 1 073 741 823 um inch 0 00001inch 10 737 41823 to 10 737 41823 inch inch 0 0001inch 107 374 1823 to 107 374 1823 inch degree 0 1degree 107 374 182 3 to 107 374 182 3 degree idegree 1degree 1 073 741 823 to 1 073 741 823 degree The area to set the auxiliary points center poijnt pass point coordinates in case of the circular interpolation or spiral interpolation control OOAH bit Name Default Descriptions 31 to 0 Auxiliary point 0 Setting range 1 073 741 823 to 1 073 741 823 Any other settings will be errors Auxiliary point The interpretation alters depending on the unit setting pulse 1 073 741 823 to 1 073 741 823 pulse u m 0 1 um 107 374 182
92. 1 13 or later These are the errors in the various setting values specified using the Configurator PM or ladder programs Error ae 3 Rode Error name Description Object Clear Countermeasures Check the following items in the settings of the axis group and independent axis The same axis number has 4000H Axis group setting error The settings of axis groups Each A been registered in more than one are not correct axis group Four or more axes have been set in one group The group is composed of one axis only r Check if the unit is one of the 4002H Unit setting error The unit System Or Wie axle Ear A followings setting is out of the range axis Pulse mm inch degree Pulse number error per The pulse number is out of Each Check the setting value 4004H i A rotation the range axis If the setting value is out of the range reduce it by the following 4005H Movement amount error The movement amount is Each A formula per rotation out of the range axis Pulse number per rotation Movement amount per rotation ee The upper or lower limit 4010H Software limit setting Vale of software limit is out E2 a error axis of the range Limit stop deceleration The limit stop deceleration Each 4020H Fa A time error time is out of the range axis Error stop deceleration The error stop deceleration Each 4021H SA i A time error time is out of the range axis The emergency stop 4022H Emerg
93. 1 18 22 Home Return Ver 1 13 or later cceeeeeee 22 1 22 1 Additional of Home Return Method l 22 2 22 1 1 Setting Method of Home Return Methods eee 22 2 22 1 2 DOG method 1 00 eee cece eeeceeeeeeeeeeeeeeeeeeeseaeeeeeeeetaeeeeneees 22 3 22 1 3 DOG method 2 oss cei seieeeee ies el ap siesta teenies 22 3 22 1 4 DOG method 3 oc eeeccecceeeeceeeeeeeeeceaeeeeeeeeaeseeeeeenaeeeeneees 22 4 22 1 5 Limit Method 1 00 eeeeeeceeeseeceeeeeeeeeceaeeeeeeeeaeeeeeeeseaeeeeeeees 22 4 22 1 6 Limit Method 2s 22 5 22 1 7 Phase Z Method 00 ccecceeeececeeeeeeeeeeeeeeeeeeseeeeeeeeenaeeeeeeees 22 5 22 1 8 Stop on contact Method 1 22 5 22 1 9 Home Return Stop on contact Method 2 0 0 eee 22 6 22 1 10 Data Set Method oe ceeeceeeeeneeeeeeneeeeeneeeeeenaeeeeeeaas 22 6 22 1 11 Sample Program eeeceeeeeeeeeeeeneeeeeeneeeesneeeeeenaeeeeeeaas 22 6 23 Supplementary functions Ver 1 13 or later 23 1 23 1 Realtime Torque Limit 23 2 23 1 1 Restrictions on Real time Torque Limit ee 23 2 23 1 2 Sample Program iieii tii eiei aaae ti 23 2 23 1 3 Each Axis Information amp Monitor Area 23 2 23 2 Auxiliary Contact Delay Mode 23 3 23 2 1 Delay Mode Setting 0 eeeeeeeeeeeeeeneeeeeeeeeeeeeneeeeeeaas 23 3 23 3 Current Value Update Function ecsseeeseeeeeeenteeeeeenes 23 4 23 3 1 Differences with Home Offset Function 0 eee 23 4 23 3 2 Current Value Update cccccceceeeeeeeeeeeeeeeeeeseeeeneeeeeees 23 5
94. 23 3 3 Coordinate Origin eee eeeeceeeeeeeeeeeeneeeeeneeeeeenaeeeeeeaas 23 5 23 3 4 Setting Method Current Value Update ee 23 6 23 3 5 Coordinate Origin eee eeeeeeeeeeeeeeeeeneeeeseeeeeeenaeeeeeeaas 23 7 23 3 6 Sample Program ikisinin eieiaeo aaeeeiai 23 7 23 3 7 Restrictions On Operation 23 7 23 4 Position Deviation Simple Monitor 23 8 23 4 1 Monitoring Method eeeeeeceeeesneeeeeeneeeeeneeeeeenaeeeeeeaas 23 8 23 4 2 Sample Program cccccesseeeeeeeeeeesneeeeeeneeeeeneeeeeeneeeeeeaas 23 8 23 4 3 Restrictions On Operation 23 8 Glossary RTEX RTEX which stands for Realtime Express is the network exclusive for motion connecting the Positioning Unit RTEX and AMP Realtime Express is the name of the network servo system produced by Matsushita Electric Industrial Co Ltd AMP AMP means a servo amplifier which may be called a driver that controls a servo motor Configurator PM Configurator PM is a setting tool for Positioning Unit RTEX Using the Configurator PM enables the settings for positioning data and various parameters and various monitoring As a tool operation mode to activate a motor without using ladder programs is provided in this tool it is convenient especially to confirm the operation at the time of an initial start up PANATERM This is a setup support tool for the servo amplifiers of MINAS series made by Matsushita Electric Industrial Co Ltd By using this tool the paramete
95. 3000H Not servo ready The axis that servo is not locked Each axis A Confirm the servo is locked while was started each axis is operating Servo off Turn off the servo on input when 3001H detection in The servo became off during the Each axis ll A the Busy signal for the target axis ooefation operation being processed is not on P Check the status of the AmP 3010H Limit a signal The input on the plus side of the Eachan l A Move the motor into the range of detection limit turned on the limit by an operation such as Limit signal The input on the minus side of the the JOG operation il detection limit turned on EA ats IR Check the limit singal is correct Check the status of the limit au Both inputs on the plus and minus signal 3012m Limitsignal error sides of the limit turned on Eachaxis A Turn off the power supply and turn it on again Software limit The movement amount of the ape Move the motor into the range of 3020H plus side motor exceeded the upper limit of Each axis A ee i f Aa the limit by an operation such as detection the software limit Software limit The movement amount of the the JOG operation Check th tti f th 3021H minus side motor exceeded the lower limit of Each axis A an z MINA HOS Orge aes software limit detection the software limit Check the setting values and Axis operation An error occurred in the operation parameters of the positioning unit 3030H re P processing of each axis due
96. 37 41823 to 10 737 41823 inch function g inch 0 0001 inch 107 374 1823 to 107 374 1823 inch 2 degree 0 1 degree 0 0 to 359 9 degree degree 1 degree 0 to 359 degree Torque Torque judgment Valid invalid Error warning selectable O i o 2 Monitor judgment 0 0 to 500 E judgment Actual speed judgment Valid invalid Error warning selectable o speed 0 0 to 5000 rpm te judgment Backup Parameters and positioning data are stored in flash memory Battery is not requred Limit input CWL CCWL monitor Near home DOG monitor General purpose input 2 points general purpose output 2 points Input output from AMP Auxiliary output contact auxiliary output code Torque 17 5 17 2 Table of I O Area Followings are occupied I O when FP2 FP2 Positioning unit RTEX is installed in the slot 0 Contact allocation Target D are pri escriptions 7 Link establishment Indicates that the network link was established and announce All axes igs annunciation the system started running Announces that data such as positioning parameters in the alt axes Write FROM shared memroy is being written in FROM Contact to indicate the Tool operation from Configurator PM All axes Tool operation The start up from I O is not available during the Tool operaiton If it performs a warning will occur o o ee ie an re IIE l ee ee ee If the recalculation request contact Y_7 turns on the positioning data of t
97. 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree X axis movement amount Acceleration decelerati L Linear L Linear S S shaped acceleration deceleration on pattern Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps Target speed 10000 pps um 1 to 32 767 000 um s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram f pps 10000 4 10000 pulses Positioning start contact Y110 Y90 BUSY flag Y118 X18 Operation done flag X120 X20 ____________________l 0 2 2 eee ee ee Current value i Count The numbers in parenthesis are the flag and contact 20000 numbers for the FP2 Number of counts when starting Number of counts when stopping 8 3 Operations of each contact e The BUSY flag FPz X118 FP2 X18 indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag FPX X120 FP2 X20 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home ret
98. 7 43 LOO e Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 2 Click Teaching after stopping the axis at the desired position by the JOG operation and input the table number to execute the teaching operation 3 Click OK after inputting the table number The current value is registered for the movement amount of the specified table number Also if the axis that the teaching operation is performed is the interpolation axis the current value is registered for the movement amount of the equivalent coordinate in the interpolation group 2J Note e The control method for the table number that the teaching operation was performed is automatically changed to Absolute e The result of the teaching becomes effective once the tool operation quits and the setting data is downloaded to the positioning unit RTEX 4 Click Close to close the dialog aS ne Note This dialog cannot be closed during the JOG operation 7 44 Chapter 8 Automatic Operation Position Control 8 1 Basic Operation Type of perations The automatic operation is an operation mode to be perform a position control For the position control there are a single axis control and an interpolation control that starts and stops multiple axes simultaneously For the operations of the pos
99. 70H Starting address of table 323 080H Starting address of table 324 090H Starting address of table 325 QAOH Starting address of table 326 OBOH Starting address of table 327 OCOH Starting address of table 328 ODOH Starting address of table 329 QEOH Starting address of table 330 OFOH Starting address of table 331 100H Starting address of table 332 110H Starting address of table 333 120H Starting address of table 334 130H Starting address of table 335 140H Starting address of table 336 150H Starting address of table 337 160H Starting address of table 338 170H Starting address of table 339 180H Starting address of table 340 190H Starting address of table 341 1A0H_ Starting address of table 342 1BOH Starting address of table 343 1COH Starting address of table 344 1DOH Starting address of table 345 1E0H Starting address of table 346 1FOH Starting address of table 347 200H Starting address of table 348 210H Starting address of table 349 220H Starting address of table 350 230H Starting address of table 351 240H_ Starting address of table 352 250H Starting address of table 353 260H Starting address of table 354 270H Starting address of table 355 280H Starting address of table 356 290H Starting address of table 357 2A0H_ Starting address of table 358 2B0H_ Starting address of table 359 2COH Starting address of table 360 2D0H_ Starting address of table 361 2E0H _ Starting address of table 362 2FOH Starting add
100. 8 R12 Y 121 101 25 k pF Reverse JOG Enabled flag Busy flag Off edge of Reverse JOG Y121 Y101 for axis 1 for axis 1 reverse JOG for axis 1 Reverse JOG for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation Forward Limit input ON Not executable Error occurs When JOG operation is Limit input ON Executable executed Limit input ON Executable Reverse Limit input ON Not executable Error occurs Forward Limit input ON Deceleration stop Error occurs During JOG operation Reverse Limit input ON Deceleration stop Error occurs 9 3 9 2 Changing the Speed During JOG Operation The target speed can be changed during the JOG operation Setting The parameters necessary for the setting of the JOG operation are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range 0 Linear acceleration deceleration Acceleration deceleration pattern 0 Linear acceleration deceleration A 1 S shaped acceleration deceleration Acceleration time 1 ms 100 ms 0 to 10000 ms Decele
101. 84H Error code annunciation Announces the code when an error occurred 185H buffer 6 of axis 6 186H Error code annunciation Announces the code when an error occurred 187H buffer 7 of axis 6 17 21 Offset Bank sites Name Descriptions Number of error 189H occurrences of Announces the number of occurrences of errors at axis 7 axis 7 18AH Error code annunciation Announces the code when an error occurred 18BH buffer 1 of axis 7 18CH Error code annunciation Announces the code when an error occurred 18DH buffer 2 of axis 7 18EH Error code annunciation Announces the code when an error occurred 18FH buffer 3 of axis 7 190H Error code annunciation Announces the code when an error occurred 191H buffer 4 of axis 7 192H Error code annunciation Announces the code when an error occurred 193H buffer 5 of axis 7 194H Error code annunciation Announces the code when an error occurred 195H buffer 6 of axis 7 196H Error code annunciation Announces the code when an error occurred OOH 197H buffer 7 of axis 7 Number of error 199H occurrences of Announces the number of occurrences of errors at axis 8 axis 8 49AH Error code annunciation Announces the code when an error occurred 19BH buffer 1 of axis 8 49CH Error code annunciation Announces the code when an error occurred 19DH buffer 2 of axis 8 49EH Error code annunciation An
102. 9AH Hee ees ares Refer to the descriptions of axis 1 09DH 09EH O9FH OAOH 0A1H 0A2H va EE ee Refer to the descriptions of axis 1 0A5H OA6H 0A7H OBOH Status indication of axis 3 Refer to the descriptions of axis 1 0B1H External terminal input Refer to the descriptions of axis 1 monitor of axis 3 0B2H Torque command of axis 3 Refer to the descriptions of axis 1 0B3H Actual speed of axis 3 Refer to the descriptions of axis 1 OB8H Adve table a exertion Refer to the descriptions of axis 1 done table of axis 3 OB9H ea output coderof Refer to the descriptions of axis 1 OBCH 7 ARAA F OBDH Feedback value of axis 3 Refer to the descriptions of axis 1 EH nie OA a Refer to the descriptions of axis 1 17 31 Axis information of axis 4 Bank his Name Descriptions address OCOH 0C1H oean System ID of axis 4 0C3H eae 0C4H Brand name or vendor Refer to the descriptions of axis 1 name OC5H OC6H 0C7H 0C8H OC9H OCAH He eases Lai Refer to the descriptions of axis 1 OCDH OCEH OCFH ODOH 0D1H 0D2H oh Recon ae Refer to the descriptions of axis 1 OD5H OD6H 0D7H OD8H OD9H 01H ODAH een o Hire ae Refer to the descriptions of axis 1 ODDH ODEH ODFH OEOH 0E1H 0E2H mest E e i Refer to the descriptions of axis 1 0E5H OE6H 0E7H OEOH Status indication of axis 4
103. Descriptions Limit Limit Limit Limit Monitor contact of the limit and connected to the Limit corresponding AMP Limit Limit During the positioning operation JOG operation or pulser operation performs the deceleration stop when the limit Limit input that is an extension of the operating direction turned Limit on Limit The deceleration stop time during the limit input can be Limit changed in the shared memory Limit It will be the contact for the automatic inversion when Limit performing the home return Limit Limit 8 axis X lt oO S 6 6 6 6 64 6 6 6 6 6 6 6B 6 L 6D 6 6 axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis axis X X lt gt lt X lt wWIN gt S x lt x o gt x lt x lt Limit Error annunciation Warning annunciation Turns on when an error occurs on the corresponding axis The contacts of all axes turn on if an error occurs on all axes The details of the error can be confirmed in the error annunciation area of the shared memory Turns on when a warning occurs on the corresponding axis The contacts of all axes turn on if a warning occurs on all axes The details of the warning can be confirmed in the warning annunciation area of the shared memory General purpose input 1
104. Group The axis number and group names to be monitored Connection status Monitor the connection statuses of each axis Brand name The individual brand names for each axis AMP model code Obtain and display the model code of AMP Motor model code Obtain and display the model code of a motor servo free The state of the servo of the AMP whether it is locked or free Status The operating states of axes P The state of the deviation counter whether it is in the range of the Completion width imposition or out of the range of the imposition Home proximity The state of the AMP input contact whether the home return is input or not Limit The limit input state of the AMP input setting Limit The limit input state of the AMP input setting Number of writing to FROM The number of writing the setting data to FROM in the positioning unit RTEX Version The version of the positioning unit RTEX Help Indicate the help regarding this function Close Close this dialog 7 35 7 17 Tool Operation As the positioning unit RTEX can activate without a ladder program in the tool operation the operation can be checked quickly Select Online Tool operation in the menu bar and click the Tool operation icon in the toolbar The following dialog is shown Tool operation Homing Positioning JOG Teaching Exit The followings
105. H OD8H 0E7H Torque change area 100H 107H Positioning table setting area 111H 1A7H_ Error annunciation amp clear area 1A9H 23FH Warning annunciation amp clear area 3FFH 000H Bank 02H to 51H 17 13 17 4 2 Setting Parameter Control Area This is the area to write the setting values of the positioning parameters and positioning data in the shared memory into FROM or to execute the recalculation of the positioning data The number of writing to FROM in the positioning unit is announced to the CPU unit control unit through this area and writing the positioning parameters and positioning data in the shared memory to FROM is requested Also the recalculation starting table number is set to recalculate the positioning data in the standard area Bank Offset address Name Descriptions Default value Setting range Unit 00H 080H Annunciation of number of writing to FROM Announces the number of writing the positioning parameters and data in the shared memory into FROM times 081H Request for writing to FROM When writing into FROM by Configurator PM the following procedures will be automatically performed When writing into FROM by ladder programs it is necessary to achieve the following Configurator PM operation by the ladder programs 1 Write 5555H in this area by the ladder program 2 The positioning unit checks 5555H and write 6666H over in the same area
106. H_ Starting address of table 252 010H Starting address of table 253 020H Starting address of table 254 030H Starting address of table 255 040H Starting address of table 256 050H Starting address of table 257 O60H_ Starting address of table 258 070H Starting address of table 259 080H Starting address of table 260 090H Starting address of table 261 QAOH Starting address of table 262 OBOH Starting address of table 263 OCOH Starting address of table 264 ODOH Starting address of table 265 QEOH Starting address of table 266 OFOH Starting address of table 267 100H Starting address of table 268 110H Starting address of table 269 120H Starting address of table 270 130H Starting address of table 271 140H Starting address of table 272 150H Starting address of table 273 160H Starting address of table 274 170H Starting address of table 275 180H Starting address of table 276 190H Starting address of table 277 1A0H_ Starting address of table 278 1BOH Starting address of table 279 1COH Starting address of table 280 1DOH Starting address of table 281 1E0H Starting address of table 282 1FOH Starting address of table 283 200H Starting address of table 284 210H Starting address of table 285 220H Starting address of table 286 230H Starting address of table 287 240H_ Starting address of table 288 250H Starting address of table 289 260H Starting address of table 290 270H Starting address of table 291 280H Starting address of tab
107. Home return mode Home search Start Start Start Start Home search Home search Home search State of axis i Error code hhactive lhactive se Error clear lhactive hhactive Error clear Warning code Warning clear Warning clear Warning clear Speed rate 100 Warning clear te Axis Group The axis numbers and group names to be monitored Zero offset Monitor the feedback values after the unit system conversion for each axis Click Change to display the dialog for inputting value to change the value of the zero offset Unit The unit of position for each axis specified in the parameter settings Home return mode Indicate the contents of the home return setting code specified in parameters Start Stop Execute the operation to start stop the home return Click Start to execute the home return operation The button name changes to Stop Click Stop to execute the deceleration stop operation The button name changes to Start State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred The tar
108. OG positioning operation acceleration operation ti Bit Name Default Description JOG positioning 15to 0 JOG operation 100 Setting range 0 to 10 000 ms 1 acceleration time Any other settings will be an error operation JOG operation deceleration time deceleration time Set the target speed when performing the JOG positioning operation Bit Name Defaul Description 31to0 JOG operation 1 000 Setting range 1 to 32 767 000 target speed Any other settings will be an error Interpretation is changed by the unit setting Pulse 1 to 32 767 000 pps u m 1 to 32 767 000 u m s Inch 0 001 to 32 767 000 inch s Degree 0 001 to 32 767 000 rev s JOG positioning operation target speed 21 16 J point speed change contact This flag is assigned to the following I O that is directly controlled from the CPU unit Note that the I O allocation varies according to the type of the JOG operation deceleration time CPU or the number of connected units ip Reference 17 2 Table of I O Area ae of 17 2 Table of I O Area ver 1 13 or later S Y14B S 12B 4 axis S V12C S axis Y14D Y14E Y14F Y12F 8 axis The speed changes by turning on this signal during the J point operation to the target speed with the specified acceleration deceleration time and pattern The operation is the edge type J point speed change contact 3 Turning on J point positioning start contact in
109. Operation Home Return 10 1 Setting and Operation of Home Return The example below is a case when using the FP with the positioning unit RTEX installed in the slot 0 The unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Home return l Table Ball screw ITT zrn S gt side A Near home switch side Home position Setting The parameters necessary for the setting of the home return are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range Return setting 0 Near point dog type 0 Near point dog type Return direction 0 Limit direction 0 Limit direction 1 Limit direction Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Target speed 10000 pps Return creep speed 1000 pps Operation diagram Target speed Home return creep speed Near home DOG _ i yd phase _i i Home return start contact Y118 Y98 SS ey eres BUSY flag X118 X18 SES Home return done flag X128 X28 ae o re Operations of each contact e The BUSY flag FP X118 FP2 X18 indicating the state that a motor is running turns on when the home return started and it turns off when the operation completed e
110. Panasonic PROGRAMMABLE CONTROLLER FP X FP2 Positioning Unit RTEX Technical Manual ee ee l FP X FP2 Panong po RTEX Technical Manual ARCT1F421E 1 08 http www mew co jp ac e fasys Matsushita Electric Works Ltd Safety Precautions Observe the following notices to ensure personal safety or to prevent accidents To ensure that you use this product correctly read this User s Manual thoroughly before use Make sure that you fully understand the product and information on safe This manual uses two safety flags to indicate different levels of danger WARNING If critical situations that could lead to user s death or serious injury is assumed by mishandling of the product Always take precautions to ensure the overall safety of your system so that the whole system remains safe in the event of failure of this product or other external factor Do not use this product in areas with inflammable gas It could lead to an explosion Exposing this product to excessive heat or open flames could cause damage to the lithium battery or other electronic parts Battery may explode if mistreated Do not recharge disassemble or dispose of fire CAUTION If critical situations that could lead to user s injury or only property damage is assumed by mishandling of the product To prevent excessive exothermic heat or smoke generation use this product at the values less than the maximum of the characteristics and performance tha
111. Parameter Setting Area Addition of 17 6 2 Positioning parameters of each axis Ver 1 13 or later Sets the pattern of the home return Bit Name Default Descriptions 15 to0 Home return setting code 0 0 DOG method 1 1 DOG method 2 DOG method 3 Limit method 1 Limit method 2 Phase Z method Stop on contact method 1 Stop on contact method 2 Data set Any other settings will be errors Home return setting code ANODAKRWND It is used when the stop on contact method 1 or 2 has been specified for the home return method Home return By the stop on contact 03DH Stop on cotnact torque It is regarded as a criterion for judging the home return once the torque value of value the AMP exceeded this set value by the stop on contact Default 100 Unit Setting range 0 to 5000 It is used when the stop on contact method 1 or 2 has been specified for the home return method Home return It is regarded as a criterion for judging the home return once this set time 03EH Stop on contact has passed after the torque value of the AMP exceeded the home return judgment time stop on contact torque value by the stop on contact Default 100 ms Unit ms Setting range 0 to 10000 22 2 22 1 2 DOG method 1 The phase Z after detecting the rising edge of near home DOG becomes the starting point Home return direction lt lt eras OOS The starting point is between the near home DOG and limit
112. Refer to the descriptions of axis 1 0E1H External terminal input Refer to the descriptions of axis 1 monitor of axis 4 0E2H Torque command of axis 4 Refer to the descriptions of axis 1 0E3H Actual speed of axis 4 Refer to the descriptions of axis 1 OE8H PONG tab eor exec tion Refer to the descriptions of axis 1 done table of axis 4 OE9H Awdliary outputcod ot Refer to the descriptions of axis 1 axis 4 OECH Ta OEDH Feedback value of axis 4 Refer to the descriptions of axis 1 EEH Pe eaten AA Refer to the descriptions of axis 1 17 32 Axis information of axis 5 Bank oet Name Descriptions address 100H 101H a System ID of axis 5 104H Brand name or vendor Refer to the descriptions of axis 1 name 105H 106H 107H 108H 109H 10AH ae o are ae Refer to the descriptions of axis 1 10DH 10EH 10FH 110H 111H 112H m peel ea Refer to the descriptions of axis 1 115H 116H 117H 118H 119H 01H 11AH a a ees irae Refer to the descriptions of axis 1 11DH 11EH 11FH 120H 121H 122H sn E ane Refer to the descriptions of axis 1 125H 126H 127H 130H Status indication of axis 5 Refer to the descriptions of axis 1 131H External terminal input Refer to the descriptions of axis 1 monitor of axis 5 132H Torque command of axis 5 Refer to the descriptions of axis 1
113. Starting address of table 465 160H Starting address of table 466 170H Starting address of table 467 180H Starting address of table 468 190H Starting address of table 469 1A0H_ Starting address of table 470 1BOH_ Starting address of table 471 1COH Starting address of table 472 1DOH Starting address of table 473 1E0H_ Starting address of table 474 1FOH Starting address of table 475 200H Starting address of table 476 210H Starting address of table 477 220H Starting address of table 478 230H Starting address of table 479 240H_ Starting address of table 480 250H Starting address of table 481 260H Starting address of table 482 270H Starting address of table 483 280H Starting address of table 484 290H Starting address of table 485 2A0H_ Starting address of table 486 2BOH_ Starting address of table 487 2COH_ Starting address of table 488 2D0H_ Starting address of table 489 2E0H _ Starting address of table 490 2FOH Starting address of table 491 300H Starting address of table 492 310H Starting address of table 493 320H Starting address of table 494 330H Starting address of table 495 340H Starting address of table 496 350H Starting address of table 497 360H Starting address of table 498 370H Starting address of table 499 380H Starting address of table 500 390H Starting address of table 501 3A0H Starting address of table 502 3BOH_ Starting address of table 503 3COH_ Starting address of table 504 3D0H_ Starting address
114. The home return done flag FPX X128 FP2 X28 indicating the state that an operation completed turns on when the home return operation completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the home return operation completed 10 2 Sample program X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 6 Link c ti establishment Jool a ii S Servo look Eror for for all axes for allaxes foraxis 1 for axis xi R10 X118 X18 12 DF Home Enabled flag Busy flag return for axis 1 for axis 1 Y108 Y88 for axis 1 Y150 Y130 for axis 1 R10 Start up enabled flag 118 Y98 Home return start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation Limit input ON Executable Forward OnE When Home return operation Limit input ON Executable is executed Limit input ON Executable Reverse Tas Limit input ON Executable Durna Dome Reo DB StOR Forward Limit input ON Automatic reverse operaiton g p R
115. When saving a file by overwriting an existing file the operation completes when the function is selected When saving a file by name a new name the following dialog is shown Save As Save in Documents v e CK EB sampi BEsamp2 samp3 File name Save as type Configurator PM file npm ka Cancel 2 Input a new file name in the File name box 3 Click Save 7 14 7 5 4 Setting File Properties Set the property of a file creator and comment 1 Select File gt File property in the menu bar to specify the file property The following dialog is shown File property File name C Program Files Panasonic MEY Creator MEW Cancel Comment fsamplel Help Date 2006 06 16 2 Input the creator and comment and click OK Up to 10 one byte characters 5 two byte characters for the creator and 40 one byte characters 20 two byte characters for the comment can be input 7 15 7 6 Exiting Configurator PM Select File Exit in the menu bar to quit the Configurator PM If the file is not unsaved a message asking for the save is shown Click Yes to save the file Click No to end the Configurator PM without saving the file 7 16 7 7 Connection to Positioning Unit 7 7 1 Selecting Slot Number When accessing the positioning unit RTEX in the Configurator PM specify the slot number that the positioning unit RTEX is installed in advance Select
116. able OCW direction HNot available HNot available NNot availible NNot available 1073741823 1073741823 NNot available NNot available Not available 1073741808 1073741808 t used HNot used 1073741823 1073741823 NEN available Shouse trom the loliorrnes Ppulse Mum Mm 07 Mum Min 1 bineh Min DODOM tech Min 000M Oudegree Min 01 Detegree Min 1 f Ea unit of each aos Setting items Fitialize Parameter name Description Unit setting The unit to be used for setting each axis Pulse number per rotation The pulse number per rotation It should be cancelled down with the movement amount per rotation Movement amount per rotation The movement amount per rotation It should be cancelled down with the pulse number per rotation CW CCW direction setting The directions of CW and CCW CW direction is CW CCW direction is CCW Limit switch Enable disable the limit switch Limit switch connection The connections of the direction limit switch and direction limit switch Standard direction limit is CWL direction limit is CCWL Reverse connection direction limit is CCWL direction limit is CWL Software limit Positioning control Enable disable the software limit in the positioning control Software limit Home return Enable disable the software limit in the home return Software limit JOG operation Enable
117. ach axis 002DH Absolute multi rotations counter error Refer to the specifications of AMP Each axis 002FH Absolute status error Refer to the specifications of AMP Each axis 15 14 Error code Error name Description Object Clear 0030H Encoder phase Z error Refer to the specifications of AMP Each axis 0031H Encoder CS signal error Refer to the specifications of AMP Each axis 0032H External scales status 0 protection error Refer to the specifications of AMP Each axis 0033H External scales status 1 protection error Refer to the specifications of AMP Each axis 0034H External scales status 2 protection error Refer to the specifications of AMP Each axis 0035H External scales status 3 protection error Refer to the specifications of AMP Each axis 0036H External scales status 4 protection error Refer to the specifications of AMP Each axis 0037H External scales status 5 protection error Refer to the specifications of AMP Each axis 003AH External scale other error protection Refer to the specifications of AMP Each axis 0052H Node address setting error Refer to the specifications of AMP Each axis 0053H Continuous communication error protection Refer to the specifications of AMP Each axis O 0054H Communication timeout error protection Refer to the specifications of AMP Each axis O 0056H Cyclic data not receivable Refer to the specifications of AMP Each axi
118. ack from the AMP This function is the same as the deviation counter provided in the AMP The difference between the command value of the positionign unit in the positioning process and the current value of the AMP can be confirmed by indicating this deviation in the monitor area on the positioning unit 23 4 1 Monitoring Method Positioning deviation is added in the each axis information amp monitor area ba Reference 17 5 2 Each Axis Information amp Monitor Area Addition of 17 5 2 Axis information of axis 1 to 8 Ver 1 13 or later Bank Offset Name Description addres 034H_ Posiition deviation of axis 035H 1 074H_ Posiition deviation of axis 2 Posiition deviation of axis OB5H 3 Posiition deviation of axis Posiition deviation of axis 135H 5 174H _ Posiition deviation of axis 175H 6 Posiition deviation of axis 1B5H 7 1F4H_ Posiition deviation of axis 1F5H 8 The posiition deviation calculated on the unit of axis 1 is stored The posiition deviation calculated on the unit of axis 2 is stored The posiition deviation calculated on the unit of axis 3 is stored The posiition deviation calculated on the unit of axis 4 is stored 01H The posiition deviation calculated on the unit of axis 5 is stored The posiition deviation calculated on the unit of axis 6 is stored The posiition deviation calculated on the unit of axis 7 is stored T
119. ag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation Fenvard Limit input ON Not executable Error occurs When E point control is Limit input ON Not executable Error occurs executed Limit input ON Not executable Error occurs Reverse Limit input ON Not executable Error occurs Forward Limit input ON Deceleration stop Error occurs During E point control Reverse Limit input ON Deceleration stop Error occurs 8 4 8 1 2 Setting and Operation of P Point Control The example below is the case of a single axis control when using the FP2 with the positioning unit RTEX installed in the slot 0 The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Table 18000 pulses gt side side Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse Setting example Table 1 Table2 Table3 Operation P Pass P Pass E End Item Allowable range C Continuance point E End point P Pass point pattern point point point Control l l l Increment A Absolute method I
120. al coordinate Specified coordinate origin AMP coordinate 0 Current value The current vaue controlled by Positioning Unit RTEX is changed to an update arbitrary value Note The coordinate origin does not change due to the current value update Ver 1 13 The coordinate origin is changed to an arbitrary value or later Once the home return is executed the set coordinate will be registered as se ang origin specications Coordinate The coordinate after the home return is as below origin Positioning Unit RTEX internal coordinate Specified coordinate origin AMP coordinate 0 Unlike the home change home offset function the current value is changed after the home return has completed Note In Configurator PM Current value update is written as Home offset 23 4 23 3 2 Current Value Update Changes the current value that is controlled by the Positioning Unit RTEX to any value The current value update can be executed only when the target axes stop The current updated executing during the axis operation Busy is ignored and the current value will be updated once the axis operation stops The coordinate origin does not change The current value update can be set in the unit specified in the parameter setting The settable range varies depending on the unit to be used as below Specified unit Settable range pulse 1 073 741 823 to 1 073 741 823 um 0 1 um 107 374 182 3
121. an be monitored with the data monitor 7 33 7 15 Data Monitor The internal data of the positioning unit RTEX can be monitored Make the connection between a PC and PLC and configure the settings Then select Online gt Data Monitor in the menu bar The following dialog is shown Data monitor Axis Group Active table No o Auxiliary output code of AMP current value pulse 626501 626500 l 623000 1247 Current value after unit conversion 626501 pulse 626500 pulse 623000 pulse 1247 pulse Torque command Actual speed pm 04 18 20 0 0 0 State of axis Error code hactive hactive hactive rc Error Clear Error Clear Error Clear Warning code 00000 EB010 Warning Clear oo000 EB010 Warning Clear 00000 EB010 Warning Clear 00000 EB010 Warning Clear i Help Close Axis Group The axis No and group names to be monitored Active table number The table number that the positioning data is being executed or has completed Auxiliary output code Auxiliary output code AMP current value pulse Monitor the value of feedback pulses Current value after unit conversion Monitor the feedback value of the AMP after the unit conversion Torque command value Monitor the torque command value of the AMP Actual speed rpm Monitor the actual speed rpm of the AMP State of axis The
122. anging the Speed During JOG Operation ee 9 4 10 Manual Operation Home Return 0000 10 1 10 1 Setting and Operation of Home Return ee eeeeeeeeees 10 2 11 Manual Operation Pulser Operation 11 1 11 1 Setting and Operation of Pulser Operation 11 2 12 Stop FUNCTIONS ccceceeeeeeeeeeeeeeeeeeeeeeeeeeeneeeees 12 1 12 1 Settings and Operations of Stop Functions 12 2 13 Supplementary Functions cceeeeeee 13 1 1321 Dwell Time n date a aa E r E a ERRES 13 2 13 2 SoftWare Limit ireren ea a eaaa 13 3 ECKO Ko 0E NTa a E EERTE EET 13 4 13 4 Auxiliary Output Code and Auxiliary Output Contact 13 5 13 5 Actual Speed Torque Value Judgment 13 6 13 6 Imposition Flag and Completion Width 13 7 13 7 Home Change niseni e a Hades aaa 13 8 14 Precautions During Programming 000 14 1 14 1 Precautions During Programming cceeeeeeeeeeeeees 14 2 14 1 1 Turning Off Power Supply Clears Contents in Shared Memory 14 2 14 1 2 Once starting an Operation s es 14 2 14 1 3 How to Use Standard Area and Extended Area of Positioning Data 14 3 14 1 4 Operation When the Mode of PLC Changed to PROG from RUN 14 4 15 Errors And WarningS cccsseeseeeeeeeeeeeeeeeeeneneees 15 1 15 1 Errors and Warnings ccccccecseceeeeeeeceeeeeeeeeeeeeseaeeeeees 15 2 15 1 1 About Errors and Warnings ceccceeesseeeeeneeeeeeneeeeeees 15 2 15 1 2 Error and War
123. arameters are specified by the Configurator PM The unit is set to pulse Setting example Item Allowable range Table 1 Table2 Table 3 B A C C Operation Continu Continuan E End C Continuance point E End point P Pass point pattern point ance point ce point Gonitrol l l I Increment A Absolute method Increment Increment Increment Pulse 1 073 741 823 to 1 073 741 823 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 um X axis um 1 um 1 073 741 823 to 1 073 741 823 um movement ee ee es inch 0 00001 inch 10 737 41823 to 10 737 41823 inch amount p P P inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Acceleration deceleration L Linear L Linear L Linear L Linear S S shaped acceleration deceleration pattern Acceleration 100 ms 200 ms 30 ms 0 to 10000 ms time ms Deceleration 10 ms 20 ms 150 ms 0 to 10000 ms time ms Pulse 1 to 32 767 000 pps pm 1 to 32 767 000 mm s Target speed 10000 pps 20000 pps 5000 pps Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram Positioning start contact Y110 Y90 BUSY flag Y118 X18 Operation done flag X120 X20 Current value The numbers in parenthesis are the flag and contact numbers for the FP2 8 7 Operations of each con
124. as the extended area is used Replace the part of the positioning start program in the sample program Positioning start program R3 HDF gt From HO DT10 Positioning Control code of axis 1 start r Fomv HO orn Operation pattern of axis 1 Fomv KO DT12 Fomv Ko DT13 Fomv K100 DTi Acceleration time of axis 1 Fomv K100 DT15 Deceleration time of axis 1 F1DMmvV_ K500000 DT16 Auxiliary speed of axis 1 F1pmMv K1000000 DT18 Movement amount of axis 1 F1pmMv KO DT20 Auxiliary point of axis 1 Fomv Ko orz Dwell time of ass 1 Fomv ko D233 e Auxiliary output of axis 1 Fo mv KO oT24 Fomv ko DT 25 F151 WRT B00 OT10 K16 R3 Control code of axis 1 82 H DoF H Fo mv HO DT30 Positioning Control code of axis 2 start z5 Fomv HO oTs1 J Operation pattern of axis 2 Fomv KO DT32 Fomv Ko DT33 Fomv K100 DT34 e Acceleration time of axis 2 Fomv K100 DT35 Deceleration time of axis 2 F1pmMv K1000 oT36 Auxiliary speed of axis 2 F1pMv K100000 DoT38 Movement amount of axis 2 FipmMv KO DT40 Auxiliary point of axis 2 Fomv ko DT42 Dwell time of axes 2 Fomv Ko oT43 O Auxiliary output of axis 2 Fomv Ko oT44 Fomv Ko DT45 F H1500 DT30 K16 R3 Control code of axis 2 164 H DF FOMV K10001 DTO Positioning Starting table al F151 WRT HO DTO K1 Starting table
125. ation Click the JOG for the JOG operation in the reverse rotation 3 Click Change for the zero offset to change the offset after the home return operation The value can be changed during the JOG operation as well 4 Click Close to close the dialog LO ner Note This dialog cannot be closed during the JOG operation 7 42 7 17 5 Tool Operation Teaching Activate each axis manually by the tool operation and register the positioning addresses where the axes stopped as the point data Log Note To perform the teaching operation the equivalent axes should be in the state that the servo is locked servo ON 1 Click Teaching in the tool operation dialog The following dialog is shown Tool operation Teaching Axis Group 1 axis 2 axis 3 axis 4 axis Zero offset Unit pulse pulse pulse pulse 626492 622988 1225 1226480 G Change Change Change Jog target speed Change 500000 500000 Change 500000 1000 Change Change 2 Table No Teaching 1 Teaching Teaching Teaching State of axis Error code lhactive se Error clear Inactive hhactive lhactive Warning code il Speed rate 100 Warning clear Warning clear Warning clear Warning clear te Axis Group The axis numbers and group names to be monitored Zero offset Monitor the feedback
126. aton done point is the same it performs one circular operation when using the center point method However when using the pass point method an error occurs e In case of the pass point method when the start point pass point and operation done pont exsit in the same straight line an arc is not comprised and an error occurs e When setting the long axis speed the composite speed is faster than the long axis speed e If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit 8 15 8 2 3 Setting and Operation of Three Axis Linear Interpolation The example below is the case of a single axis control when using the FP2 with the positioning unit RTEX installed in the slot 0 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Z axis N CCC E baml KCE 7 N S t o a nn TTT CA ct fl AT It 10000 pulses Qa Setting The parameters necessary for the setting
127. axis 1 iti wa operation fr axis 1 flag for axis Start enabled condition ora axes forall axes X4109 X9 X111 X11 X161 X61 11 on Connection Servo lock Error for Start up enabled confirmation for axis 2 axis 2 flag for axis 2 for axis 2 R2 Ss he te et m i DF gt Fo mv K1 _ DTO 4 Starting table No POM Te te ee eee 8 eee control start r F151 WRT _HO DTO K1 H100 Starting table setting rs S O re Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R2 R10 R11 X118 X18 X119 X19 Y110 Y90 A ee DF 1 1 Positioning start Position Enabled flag Enabled flag Busy flag Busy flag Positioning T control start for axis 1 for axis 2 foraxis1 for axis 2 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e To start the interpolation control turn on the positioning start contact of the axis with the smallest number in the same group e In case of the center point specification the X axis auxiliary point is the center point of X axis and the Y axis auxiliary point is the center point of Y axis In case of the pass point each pass point is set as the pass point of X axis and Y axis e When the control method is increment both the center point and pass point are the increment coordinatefrom the start point e When the start point and the oper
128. below Master axis Slave axis DOG method Connect the DOG sensor of the master axis to the AMP of the slave axis too Limit method Connect the master sensor of the master axis to the AMP of the slave axis too 21 7 21 2 4 Synchronous Operation Setting Note the precautions below when using the synchronous operation One slave axis can be specified for each synchronized master axis The master axis can belong to an inerpolation group however the slave can be specified for independent axis Up to 2 groups of master slave axes can be set If the synchronous setting is specified the synchronous operation is always performed on the master and slave axes The slave axis can be oprated individually by the setting Synchronous group n Enabled Disabled in the shared memory In the synchronous mode A only The slave axis is synchronized with the master slave during the synchronous operation however the operations of the master and slave axes may not be synchronized due to a reason such as a mechanical error The Positioning Unit RTEX monitors the current values of the master and slave axes and it stops the operation if the difference in the operations of the master and slave axes exceeds a certain value synchronous operation difference value 21 8 21 2 5 Synchronous Operation Setting For the synchronous operation one slave axis is set for one master axis Up to two groups can be set p Reference 17 4 4 Se
129. bits to send 1 byte 8 bits Stop bit 1 bit 2 bits 1 bit Parity None Odd Even Odd Timeout Set the communication timeout time with PLC 0 to 60 seconds 5 seconds Automatic When the communication condition is different from the PLC All items are communication check the items to search the matched conditions checked settings If all items are not checked the communication condition is not automatically searched 7 18 7 8 Parameter Settings Set the initial operation for the positioning unit RTEX 1 Select Set axis Parameter settings in the menu bar or click the Parameter setting icon in the toolbar 2 The parameter setting dialog is shown Set the parameters Parameter settings Unit setting Putse rnumber per roration Movement amount per rotation CW CCW direction settine Limit switch Limit switch connection Software limit Positioning control Software limit Home return Software limit JOG eeeratinn Unnee limit of software limit Lowes limit of software limit Auxiliary output mode Ausiliney cestput ON time mes Completion width pulse Monitor error Torque judgment Meritor error Torque judement vakas W al OCW direction NNot available Nhot availble Mhot availble NNot availble 1072741823 1072741823 Mhot used Mhot availble xi 2 axis osre Trou Ppulse OCW direction NNot avail
130. ble 119 3COH Starting address of table 120 3D0H_ Starting address of table 121 3E0H_ Starting address of table 122 3FOH Starting address of table 123 17 47 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis7 Axis 8 Bank No stale Descriptions 04H OEH 18H 22H 2CH 36H 40H 4AH 000H_ Starting address of table 124 010H Starting address of table 125 020H Starting address of table 126 030H Starting address of table 127 040H Starting address of table 128 050H Starting address of table 129 O60H Starting address of table 130 070H Starting address of table 131 080H Starting address of table 132 090H Starting address of table 133 QAOH Starting address of table 134 OBOH Starting address of table 135 OCOH Starting address of table 136 ODOH Starting address of table 137 QEOH Starting address of table 138 OFOH Starting address of table 139 100H Starting address of table 140 110H Starting address of table 141 120H Starting address of table 142 130H Starting address of table 143 140H Starting address of table 144 150H Starting address of table 145 160H Starting address of table 146 170H Starting address of table 147 180H Starting address of table 148 190H Starting address of table 149 1A0H_ Starting addre
131. came off during the Each A the Busy signal for the target axis in operation operation being processed axis is not on Check the status of the AMP Turn the servo on after the main Main power supply he servo on wastequested Each power supply has been turned on 3005H when the main power supply of gt A ee ky off error axis Check the voltage of the main the AMP was off power supply 3010H Limit signal The input on the plus side of the Each A Move the motor into the range fo detection limit turned on axis the limit by an operation such as 3011H Limit signal The input on the minus side of Each A the JOG operation detection the limit turned on axis Check the limit signal is correct Both inputs on the plus and Em 3012H Limit signal erro imnus sides of the limit turned kach A Chee he statusortheAmit Sr axis signal Software limit The movement amount of the Each Move the motor into the ranae of 3020H __ plus side motor exceeded the upper limit A ee 9 ee axis the limit by an operation such as detection of the software limit Soft limit Th t forth the JOG operation orars Im Se Oe eC amount orme Ezeh Check the setting values of the 3021H minus side motor exceeded the lower limit A ie aa axis software limit detection of the software limit Check the setting values and Axis operation An error occurred in the Each parameters of the positioning unit 3030H p operation processing of each 4 A If the error occurred repeatedly
132. ce is determined by the image processing Therefore the positioning table cannot be determined until just before sarting the positioning operation In that case the positioning table is set just before the start up of the positioning In the extended area the positioning table can be rewritten as needed and the recalculation is not necessary However it is up to 25 tables and Configurator PM cannot be used The ladder programs should be used to write the positioning table in the prescribed address in the shared memory The start up time is longer than the standard area and when performing the P point control or C point control in the extended area note that the start up time varies depending on the number of tables to be executed consecutively How to use each area and the precautions are as below How touse Number Table Setting using Setting using of points number Configurator PM ladder program Area to be used when Available Standard the setting value of the 600 110 600 Available Calculation for area positioning table is points restructuring is predetermined necessary Area to be used when the setting value of the Available rate 10001 Extended positioning table cannot Calculation for 4 a 25 points to Not available EGEN area be determined until just restructuring is A 10025 before executing the not necessary positioning operation 17 43 Positioning tables Data in the foll
133. ciation Error clear flag request flag flag for axis 1 for axis 1 Y160 Y140 Error clear flag for axis 1 The numbers in parenthesis are the I O numbers for the FP2 Error logs will be stored in the following registers DT101 Number of occurrences DT103 Error log buffer 1 DT105 Error log buffer 2 DT107 Error log buffer 3 DT109 Error log buffer 4 DT111 Error log buffer 5 DT113 Error log buffer 6 DT115 Error log buffer 7 15 3 15 2 Change in Error Recovery Process Ver 1 13 or later 15 2 1 Overview of Operational Change For the Positioning Unit RTEX the whole sysmem RTEX and AMP should be rebooted when an unrecoverable error occurred The methods to recover errors have been changed to decrease the man hour taken to recover errors The method to recover from error occurrence varies according to the states when errors occur Status when an error occurred Description Error type Recoverable state O After an error occurred the operating axes stop After an error occurred the Positioning Unit RTEX can recover the error at any timing All error types Unrecoverable state x Error when a critical trouble occurred on the Positioning Unit RTEX system When an unrecoverable error occurred the power supply of the Positioning Unit RTEX should be restored However the power supply of the AMP does not need to be restored System error AMP commu
134. corresponding AMP The deceleration time for the deceleration stop is specified by Configurator PM or the deceleration stop setting in the shared memory The operation is the level type Note The deviation counter cannot be cleared Requests the permission for the pulser operation of the corresponding AMP The multiple setting and other settings for the pulser operation are specified by Configurator PM or the pulser operation setting area in the shared memory The operation is the level type 6 7 Contact allocation Target 6 8 x A gt lt o gt 7A A 7 xxx BN ENIN PN NINNIN wiNj o xxx EN PNPN PN yoyo WINM A oO lt N A oa A lt N oa lt o oa lt N Oo lt oa O NS Djojo WY15 alalala Djol N w lt oa Ww on N O is 7 N m Request error clear Request warning clear General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 Descriptions Requests the error clear for the corre
135. d 225H buffer 2 of axis 7 226H Warning code annunciation Announces the code when a warning occurred 227H buffer 3 of axis 7 228H Warning code annunciation Announces the code when a warning occurred 229H buffer 4 of axis 7 22AH Warning code annunciation Announces the code when a warning occurred 22BH buffer 5 of axis 7 22CH Warning code annunciation Announces the code when a warning occurred 22DH buffer 6 of axis 7 22EH Warning code annunciation Announces the code when a warning occurred Soa A buffer 7 of axis 7 No of warning 231H occurrences of Announces the number of occurrences of warnings at axis 8 axis 8 232H Warning code annunciation Announces the code when a warning occurred 233H buffer 1 of axis 8 234H Warning code annunciation Announces the code when a warning occurred 235H buffer 2 of axis 8 236H Warning code annunciation Announces the code when a warning occurred 237H buffer 3 of axis 8 238H Warning code annunciation Announces the code when a warning occurred 239H buffer 4 of axis 8 23AH Warning code annunciation Announces the code when a warning occurred 23BH buffer 5 of axis 8 23CH Warning code annunciation Announces the code when a warning occurred 23DH buffer 6 of axis 8 23EH Warning code annunciation Announces the code when a warning occurred 23FH buffer 7 of axis 8 17 26 17 5 Details of Each Axis Information Area in Shared Memory 17 5 1 Configuration of Each Axis Information Area Th
136. d data transfer Transfers the setting parameter or positioning data to the positioning unit RTEX Also reads the parameters or positioning data within the positioning unit RTEX Batch checking of parameters and data Checks the contents of parameters and positioning data all at once Jumps to the place automatically if there are parameters or data out of the range Also this function is automatically executed when sending parameters or positioning data to the positioning unit RTEX Verify function Verifies the parameter or positioning data you are editing with the files on the disk or the settings values in the positioning unit RTEX You can jump the cursor to the data with differences from the dialog of the result of verification Search and Replace functions The search or replacement for data item each is possible Twenty search strings and twenty replace strings can be memorized so it is convenient for the repeated search or replacement Showing comments for all parameters and positioning data Shows the guidance for all parameters and positioning data when making the settings Up to 100 one byte characters of data comments can be input Up to 100 one byte characters 50 two byte characters of comments can be input for thepositioning data of 1 table each It is useful for the revision or the control of programs However the comments cannot be stored within the positioning unit RTEX Tool operation The tool operation enables to
137. deceleration deceleration pattern Acceleration time ms 100 ms O to 10000 ms Deceleration time ms 100 ms O to 10000 ms Pulse 1 to 32 767 000 pps pm 1 to 32 767 000 um s Interpolation speed 10000 PpS Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 8 16 Operation diagram Composite speed t ms Positioning start contact of axis 1 Y110 Y90 BUSY flag of axis 1 118 X18 Lasaaeeesnnnnnnnnnnnnnnn nnnm mM m BUSY flag of axis 2 Y119 X19 Pre rete eee aeereweccererecnccencecens t BUSY flag of axis 3 Y11A X1A pan cwccnnenennnnnnencencnennnccncne Operation done flag of axis 1 X120 X20 pac ce cen enw enn nnceenenenns Operation done flag of axis 2 X121 X21 t e Operation done flag of axis 3 X122 X22 1 PEE curent vate o i 1 N N Curent vate of axis 2 FN WANG 000 curt vate ot ie YANN Caco Operations of each contact e The BUSY flag for the axes 1 2 and 3 FP X118 X119 X11A FP2 X18 X19 X1A indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag for the axes 1 2 and 3 FP X120 X121 X122 FP2 X20 X21 X22 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that
138. done flag es ee For P point control In the P point control the positioning table operates consecutively therefore the dwell time is ignored For the last table E point as well as the E point control the dwell time is the time taken from the completion of the position command until the operation done flag turns on Dwell time BUSY flag J L Operation done flag For C point control The dwell time is the waiting time for executing the next table from the completion of the positioning talble deceleraiton stop For the last table E point as well as the E point control the dwell time is the time taken from the completion of the position command until the operation done flag turns on Dwell time Dwell time Dwell time BUSY flag L Operation done flag 13 2 13 2 Software Limit The system is designed to mechanically set the limit and limit to restrict the moving range of a motor Separately from the mechanical limits and the software limit is a function to add the limits for the absolute coordinate managed within the positioning unit RTEX As the software limit is a function for the protection of the motor and AMP it is recommended to set them to the values within the range of the mechanical limits and as below Limit Table Limit Laa Ball screw amiss lpm gt side N i i Lower limit value of Upper limit value C9 Siae software limit of softwar
139. dress OBOH Group A axis Set either independent or interpolation for each axis in this area In case settings of interpolation each axis belongs to any group among A to D For Group B axis example the axes 1 2 and 3 belong to group A and are 3 axis eet settings interpolation set the corresponding 3 bits to 1 in the interpolation axis 0B2H Group C axis setting of group A In case of single axis independent setting it does not settings belong to any group Turn on the corresponding bits of the rest of the independent axis settings Maximum number of interpolation axis per group is 3 The same axis cannot be set in more than one group bit Name Default Descriptions 0 Group attribute of axis 1 0 1 Group attribute of axis 2 0 0B3H Group D axis 2 Group attribute of axis 3 0 0 Not belong to the group settings 3 Group attribute of axis 4 0 1 Belong to the group 4 Group attribute of axis 5 0 P 3 5 Group attribute of axis 6 O An error occurs if more than 4 bits are set to 1 in the group or the same axis is set to 1 in another OOH 6 Group attribute of axis 7 0 group 7 Group attribute of axis 8 0 15 to8 For the axes that do not belong to the interpolation relation set the corresponding bits to 1 bit Name Default Descriptions 0 Independent axis attribute of axis 1 O 1 Independent axis attribute of axis 2 O OB4H Independent 2 Independent axis athik daka 0 0 Not belong to the independent axis axis settings 3 Independent ax
140. e Execute the servo on and make the AMP under the condition that the servo is locked before performing the JOG operation and position control Confirm whether the moving distance and moving direction is as designed or not by the specified output pulse number Positioning unit RTEX 5 1 7 Procedure 6 Settings of Parameters and Positioning Data The basic operation of the positioning system was checked in the procedure 5 In the procedure 6 set the parameters and positioning data in accordance with the actual operation The parameters and positioning data is stored in the shared memory of the positioning unit RTEX Although there are two methods to store the data in the shared memory it is recommended to set the parameters that are not changed so often using the Configurator PM e Use the Configurator PM e Use the ladder program to write into the shared memory When using the Configurator PM Boot the Configurator PM and select Set axis Parameter settings on the menu to set the various parameters Also create the table for the positioning table on the positioning data editing screen After setting the parameters and data download them to the positioning unit RTEX Note After the parameters and posiioning data was downloaded the display to select whether to write them into the FROM flash memory or not is shown When they are written into the flash memory the parameters
141. e AMP becomes in this completion width This is the setting to give an error or warning by setting judgment values for the torque monitor values and actual speed of each axis bit Name Default Descriptions 0 Torque judgment value enabled 0 0 Disables the torque judgment value 1 Enables the torque judgment value 01CH Monitor value 1 Torque judgment value 0 0 Announces an error when it is enabled error settings error warning setting 1 Announces a warning when it is enabled 2 Actual speed judgment value 0 0 Disables the actual speed judgment value enabled 1 Enables the actual speed judgment value 3 Actual speed judgment value 0 0 Announces an error when it is enabled error waning setting 1 Announces a warning when it is enabled 4 to 15 pa O1DH Torque Sets the limit value of the torque 5000 2 0 1 judgment value 5000 0 1rps DIEM Actual speed Sets the limit value of the actual speed 5000 2t or judement value 5000 0 1rpm 01FH 17 39 Offset pte Default Setting z Name Descriptions Unit address value range Sets the pattern of the home return Home return bit Name Default Descriptions 020H setting code 15 to 0 Home return setting 0 0 DOG method code 1 Limit method Any other settings will be errors Sets the operating direction of the home return Home return bit Name D
142. e limit When exceeding the setting range of the software limit upper and lower limit values an error occurs and the deceleration stop is executed It is necessary to clear the erro and move the motor into the range of the softwarelimit using an operation such as JOG operation after the stop Table The table can move within the setting range of the software limit side e side Lower limit value of software limit Whether the software limit is set to be available or not can be specified individually for the positioning control JOG operation and home return each For example it is possible to set the limit software to be invalid only in the home return operation 13 3 13 3 Torque Limit The positioning unit RTEX supports a function torque limit to change the maximum torque for the AMP in real time The torque limit can be arbitrarily changed during the torque limit operaiton however note that the torque cannot be changed in the home return operation The specified torque limit value is used as the maximum torque during the torque limit operation Also the torque limit cannot be specified by the setting tool Configurator PM Data must be written into the shared memory from the PLC in order to carry out the torque limit Followings are the details of the shared memory to carry out the torque limit Torque limit setting area Shared memory Bank 0 Add ate Default Settin
143. e number of 1st axis Tto S00 100M starting table starting the position control i ene I number of 1st axis eee 10025 Position control Stores the table number of 2nd axis Tip 600 191m starting table starting the position control 1 10091 toii number of 2nd axis oe 10025 Position control Stores the table number of 3rd axis 1 10600 102M starting table starting the position control 10001 10 j number of 3rd axis ome 10025 Position control Stores the table number of 4th axis 110 600 IOSH starting table starting the position control 1 TOOTO a an number of 4th axis JSP 10025 Fosition control Stores the table number of 5th axis ite 600 104H starting table Starlina tHe BOSCH cohirol A 10001 to number of 5th axis gee 10025 Reston control Stores the table number of 6th axis 1107999 105H starting table starina the bosition control 1 10001 to number of 6th axis JoeP 10025 Position control Stores the table number of 7th axis 1 10 690 106H starting table starting the position contol 1 10001 to number of 7th axis eee 10025 Position control Stores the table number of 8th axis 1 t0600 107H starting table startna the bositioricontiol 1 10001 to number of 8th axis ee 10025 17 18 17 4 8 Error Annunciation amp Clear Area When an error occurs that leads to the stop the error and the number of occurrences for each axis will be stored in this area Once the error clear is executed the error and number of occurrences will be cleared
144. e shared memory is composed of banks The each axis information area is allocated in the bank 01H in the shared memory Also the information on the axes 1 to 8 is allowcated for each address in this area Shared memory map 000H 3FFH 000H 1FFH Axis information amp monitor area 000H OOOH 03FH Information of axis 1 Axis information 040H 07FH Information of axis 2 area 080H OBFH Information of axis 3 a Oe ce ee ail es 3 per OCOH OFFH Information of axis 4 3FFH 000H 100H 03FH Information of axis 5 140H 17FH Information of axis 6 180H OBFH Information of axis 7 1COH 1FFH Information of axis 8 Bank 02H to 51H e Note Firstly confirm that the link establishment annunciation flag is on when reading the axis information area using the ladder program 17 27 17 5 2 Each Axis Information amp Monitor Area These are the areas for the AMP system information of each axis and monitoring operation states Axis information of axis 1 Offset Default Settin Bank Name Descriptions E Unit address value range 000H 001H wee System lof Stores the brand name or vendor name 003H axis 1 i ae Each information is stored as ASCII code OH 004H Brand name or of 16 bytes Max 16 characters 005H vendor name 006H 007H 008H 009H Vala System IDo Stores the model code of AMP
145. e update request for axis 4 Current value update request for axis 5 Current value update request for axis 6 Current value update request for axis 7 Current value update request for axis 8 Description 0 No change 1 Changes the current value of a target axis After change the positioning unit clears the correponding bits to 0 automatically w o Current value update request flag OCOH NOOR WN O COCO COCOCON Bit Name Default Description 15to8 00H Current value update coordinate Stores the coordinate to update the current value of axis 1 of axis 1 Current value update coordinate Stores the coordinate to update the current value of axis 2 jof axis 2 Current value poate coordinate Stores the coordinate to update the current value of axis 3 of axis OCEH Current value OCFH update coordinate Stores the coordinate to update the current value of axis 4 of axis 4 Current value OD1H update coordinate Stores the coordinate to update the current value of axis 5 of axis 5 0D2H Current value update coordinate Stores the coordinate to update the current value of axis 6 of axis 6 Current value update coordinate Stores the coordinate to update the current value of axis 7 of axis 7 Current value update coordinate Stores the coordinate to update the current value of axis 8 of axis 8 Set the coordinate to update the current value and turn on the c
146. ector Network connector Expansion hook FP2 Positioning Unit RTEX Operation status display LEDs z Network N connector Pulser input connector 2 2 Operation Status Display LEDs FP Positioning Unit RTEX 7 2 SnZo o zorxo2zo2Z0 Name Color Status Remarks STATUS Green LED blinks Waiting for network establishment LED on Network establishment LINK Green LED off Not connected The state that the TX of LED on Normal connection the sending node and the RX of the own node are electrically connected properly ERROR Red LED off Normal In case of warning the LED blinks A warning occurred operation continues LED on An error occurred In case of error the operation stops ALARM Red LED off Normal If the LED turns on the LED on System error power supply should be turned off and on again P1 Green LED off Either pahse A or phase Check the input signals P2 B is in the off state of the pulsers P3 LED on Both phase A and phase B are in the on state FP2 Positioning Unit RTEX lt 2 axis type gt lt 4 axis type gt lt 8 axis type gt PN2AN PNAN PNSAN STATUS LEK ERROR AAPM STATUS UNK ERROR ALARM STATUG LAK ERROR ALARMI ant eee OS RE pe gt o P1 P2 P1 P2 P3 Pi P2 P3 Name Color Status Remarks STATUS Green LED blinks Waiting for network establishm
147. ed by Configurtor PM or the home return operation setting Home return start Jarea in the shared memory 5 axis up The operation is the edge type Y11D Y9D_ 6 axis If this contact turns on during the Tool operation by Configurator Y11F YOr PM a warning will be output JOG forward JOG reverse JOG forward JOG reverse Y124 Y104 JOG forward Requests the JOG operation for the corresponding AMP JOG reverse The settings for acceleration time etc are specified by Y126 Y106 JOG forward Configurator PM or the JOG operation settings in the shared S JOG reverse memory Z JOG forward The operation is the level type JOG reverse JOG forward If this contact turns on during the Tool operation by Configurator Y12B Y10B JOG reverse PM a warning will be output JOG forward Y12D Y10D JOG reverse JOG forward Y12F Y10F JOG reverse a O Contact allocation Target axis Emergency stop Deceleration stop Pulser operation lt a N o N gt 3 N ive NINNIN nimo wo oO lt wo lt ar wo N lt x BN PN PNPN wj olaj AJ x wo N lt wo lt wo o eS Requests the emergency stop for the corresponding AMP The deceleration time for the emegency stop is specified by Configurator PM or the emergency stop setting in the shared memory The operation is the level type Note The deviation counter cannot be cleared Requests the deceleration stop for the
148. ed position of the positioning unit RTEX Reference lt FP gt User s Manual ARCT1F333 gt lt FP2 FP2SH Users Manual ARCT1F320 gt 6 2 Allocation of Each Contact Followings are occupied I O when FPX FP2 Positioning unit RTEX is installed in the slot 0 Contact allocation Target D ee apie escriptions 3 Uv M x 3 x a a a gt lt gt lt gt lt gt lt N EAN ANEAN gt gt gt gt a amp oo x lt a D WX11 xX S N xx xx olol Sje 5 x lt es m x X101 X103 S X X10F X Link establishment Indicates that the network link was established and announce X0 All axes poet annunciation the system started running F Announces that data such as positioning parameters in the alt axes Write FROM shared memroy is being written in FROM Contact to indicate the Tool operation from Configurator PM All axes Tool operation The start up from I O is not available during the Tool operaiton If it performs a warning will occur eo bo o y yY O eo o bo o y yY O If the recalculation request contact Y_7 turns on the positioning data of the shared memory standard area will be restructured This contact will turn on after restructuring completes If the recalculation request contact Y_7 turns on again this contact will be off once Note It is used only when the positioning data has been rewritten by laddar programs X KIS 3 X4 7 All axes Recalcu
149. ee Any other settings will be errors 001H Sets the pulse number per rotation It is necessary for the conversion of the pulse 002H number in the settings of mm inch and degree Pulse number bit Name Default Descriptions per rotation 15 to 0 Pulse number per 1 Pulse number per rotation 003H rotation Setting range 1 to 32 767 Any other settings will be errors Sets the movement amount per rotation It is necessary for the conversion of the TOR pulse number in the settings of mm inch and degree bit Name Default Descriptions Movement 31 to 0 Movement amount per 1 Movement amount per rotation amount per rotation Setting range 1 to 32 767 rotation Any other settings will be errors Interpretation is changed by the unit setting 005H mm 1 um inchi 1 10 000 inchi degree idegree 006H 007H 008H 009H 00AH Sets the software limit to be enabled or disabled for each control bit Name Default Descriptions 0 Software limit enbled disabled 0 0 Disables the software limit in positioning Software limit setting for positioning control 1 Enables the software limit in positioning 00BH enabled 1 Software limit enbled disabled 0 0 Disables the software limit in home return disabled setting setting for home return 1 Enables the software limit in home return 2 Software limit enbled disabled 0 0 Disables the software limit in JOG operation setting for JOG operation 1 Enables the software limit in JOG operation 15 to3
150. eeeeeenneeeeeeeeees 21 3 21 1 3 Sample Program eeeeseeeeeeeeeeeeeneeeeeeneeeeenneeeeeeneeeeseeeees 21 3 21 1 4 Each Axis Information amp Monitor Area aeee 21 4 21 2 Synchronous Operation 2 0 eecceeeeeeeeceeeeeeeeeneeeeeeneerenenaees 21 5 21 2 1 Synchronous MOE eee cece ee sent ip 21 6 21 2 2 Home Return Method in Synchronous Operation When using Synchronous Mode A ceseeeeeeeeeeeeeeees 21 7 21 2 3 Home Return Method in Synchronous Operation When using Synchronous Mode B secese 21 7 21 2 4 Synchronous Operation Setting eeeeeeeeeeteeeeeeeees 21 8 21 2 5 Synchronous Operation Setting ce eeeeeeeeeseeeeeeenees 21 9 21 2 6 Canceling and Monitoring Synchronous Operation 21 10 21 2 7 Positioning Parameters in Synchronous Operation 21 11 21 2 8 Stop Operation During Synchronous Operation 21 12 21 2 9 Precautions When Using Synchronous Operation 21 12 21 2 10 Sample Program eeeceeeeeceeeesneeeeeeneeeeeneeeeeenneeeeeeaas 21 13 21 2 11 Errors occurred in Synchronous Operation 00 21 13 21 3 JOG Positioning Control ee eeeeeeeeeneeeeeeeeeeeeeneeeeeeaes 21 14 21 3 1 Example of Operation 21 14 21 3 2 Setting Method niaii aeaaee 21 15 21 3 3 Sample Program cceeecceeeeeeeeeeeeeeeeeseeeeseeneeeeeneeeeeeaaes 21 17 21 3 4 Restrictions on JOG Positioning Control ee 21 18 21 3 5 Repeat Accuracy of JOG Positioning Control 2
151. efault Descriptions 021H direction 15 to 0 Home return 0 0 Elapsed value decreasing direction Limit direction direction 1 Elapsed value increasing direction Limit direction Any other settings will be errors Home return Sets the acceleration deceleration time when performing the home return 022H acceleration At the beginning of the home return accelerates for the specified acceleration time time decelerates for the specified deceleration time after the proximity input and changes to the creep speed Home return bit Name Default Descriptions 023H deceleration z ti 15 to 0 Home return acceleration time 100 Setting range 0 to 10 000 ms ime Home return deceleration time Any other settings will be errors Sets the target speed when performing the home return When there is no proximity input after starting the home return accelerates to the 024H target speed bit Name Default Descriptions Home return 31 to 0 Home return target 1 000 Setting range 1 to 32 767 000 target speed Any other settings will be errors The ranges vary depending on the unit 025H pulse 1 to 32 767 000 pps um 1 to 32 767 000 ums inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Sets the speed to search the home position after the proximity input Sond Sets the value lower than the home return target speed bit Name Default Descriptions Home return 31 to 0 Home return searching 100 Setting range 1 to 32 767 000 speed Any othe
152. ency stop deceleration time is out of Eel A F deceleration tiem error the rang axis Check the settign value gs TF If the error occurred repeatedly The settings of auxiliary with the correct setting value output are not correct please contact us A mode other than With e gt mode or Delay mode for the 4028H Ssi output setting auxiliary output mode has S A been set A value other than 0 to 100 was specified for the auxiliary output delay ratio in the delay mode 15 19 Error Beas Error name Description Object Clear Countermeasures The settings of synchronous group are not correct The same axis has been set for the synchronous groups 1 and 2 einen Either master axis or slave axis 4030H ynenronous group has not been set All bits are off Each axis A setting error Multiple axes have been set for the master or slave axis The same axis has been set for the master and slave axes The slave axis has been set to the interpolation group 4041H Positioning completion The positioning completion width is Each axis A width error out of the range 4042H ___ Pulser setting error The pulser inptu mode is incorrect Each axis A 4044H Speed rate error The Sting Or Mi epeed Talos Our of Each axis A the range JOG positioning The acceleration deceleration 4080H _ acceleration deceleratio method of the JOG positioning is Each ax
153. ent LED on Network establishment LINK Green LED off Not connected The state that the TX of the sending LED on Normal connection node and the RX of the own node are electrically connected properly ERROR Red LED off Normal In case of warning the operation LED blinks A warning occurred continues LED on An error occurred In case of error the operation stops ALARM Red LED off Normal If the LED turns on the power supply LED on System error should be turned off and on again P1A Green LED off Off state Check the input signals of the pulsers P1B LED on On state P2A P2B P3A P3B Chapter 3 Wiring 3 1 Wiring of Network Use the LAN cable with the category 5e shielded type for the wiring of the network To prevent the cable from coming off securely connect the connector of the cable to the network connector RJ45 connector of the unit The length between each node should be within 60 m and the total length of the communication loop should be within 200 m AMP AMP AMP Positioning unit RTEX EJ Total length Within200 m IHJ HEH F UUE C R o Within 60 m Within 60 m Within 60 m 3 2 3 2 Network Connector RJ45 plug is connected to the network connector Pins of RJ45 plug 1 8 Connecting diagram AMP Positioning unit RTEX 3 White Green mee 1 White Orange l Caan a ee TAIE OQ ieee 5 White Blue RJ45 i I plug H eee plug 17 w
154. eon E E IH see E lps PCy a Leia ce heer I I 1 Twisted part oA i i J 1 i 3 3 Wiring of Pulser Input Connector Supplied connector Suitable wire A connector of the spring connection type is used Use the following suitable wires for the wiring Supplied connector socket The connector socket manufactured by Phoenix Contact Co should be used Manufacturer Number of pins Part No Product No Phoenix Contact Co 12 pins FK MCO 5 12 ST 2 5 1881422 Suitable wires strand wire Suitable wires AWG 28 to 20 Tightening torque 0 14 to 0 5 mm Pole terminal with a compatible insulation sleeve If a pole terminal is being used the following models manufactured by Phoenix Contact Co should be used Manufacturer Hesses area Size Part No mm i 0 34 AWG 22 A 0 34 7 Phoenix Contact Co 0 50 AWG 20 A0 5 6 Pressure welding tool for pole terminals Manufacturer Part No Product No Phoenix Contact Co CRIMPFOX UD 6 4 1205244 For tightening the connector For inserting the wires use a screwdriver Phoenix contact Co Product No 1205202 with a blade size of 0 4 x 2 0 Part No SZS 0 4x2 0 Wiring method 1 Remove a portion of the wire s insulation lt 8mm 2 Press the orange switch of the connector using a tool such as a flat blade screwdriver Precautions on wiring e When removing the wire
155. eration pattern of axis 2 Fomv Ko oT32 Fomv Ko oT33 Ffomv K100 DT34 Acceleration time of axis 2 Fomv K100 DT35 Deceleration time of axis 2 F1omv K1000 DT36 Auxiliary speed of axis 2 F1omv K10000 DT38 Movement amount of axis 2 Fiomv Ko OT 40 Auxiliary point of axis 2 Fo mv KO oraz Dwell time of axis 2 Fo mv KO DT43 Auxiliary output of axis 2 Fomv KO oTa Fo mv KO oT4s O F151 WRT HCOO DT30 K16 Control code of axis 2 X107 X7 FOMV K1 oro Starting table F151 WRT HO _ DTO K1 Starting table R100 X118 X18 R200 X119 x19 Enabled flag Busy flag Enabled flag Busy flag foraxis1 foraxis1 foraxis2 for axis2 The numbers in parenthesis are the contact numbers for the FP2 H50 H50 f 4 4 Y107 Y87 Recalculation request flag H100 Y110 Y90 Positioning for axis 1 gt Data of 1 table of axis 1 E The setting for table 1 of axis gt Data of 1 table of axis 2 en table 1 of axis When the positioning data in the standard area is changed the recalculation will be necessary 19 7 19 8 Chapter 20 Power ON OFF Ver 1 13 or later 20 1 Operational Change When System Starts Operational Overview To start the Positioning Unit RTEX Ver 1 00 1 01 both the control power supply and main power supply of the AMP must be on The startup process is changed to enable the unit to normall
156. erpolation Center point CW direction Y axis movement 53H Spiral interpolation Center point CCW direction Y axis movement 54H Spiral interpolation Center point CW direction Z axis movement 55H Spiral interpolation Center point CCW direction Z axis movement 60H Spiral interpolation Pass point X axis movement 61H Spiral interpolation Pass point Y axis movement 62H Spiral interpolation Pass point Z axis movement Any other settings will be errors 002H E 003H Positioning Sets the acceleration and deceleration time for the positioning operation 004H acceleration The acceleration time and deceleration time can be set individually time EE bit Name Default Descriptions Positioning 15t0 0 Acceleration ti 100 Sett 0 to 10 000 ms A cceleration time etting range 0 to 10 ms 005H deceleration Deceleration time Any other settings will be errors time In case of the individual operation no interpolation it is the target speed of the 006H corresponding axis In case of the interpolation operaiton it is the target speed of the interpolation Positioning In the interpolation operation the target speed for the axis of the smallest number target speed in a group is valid interpolation bit Name Defautt Descriptions 007H speed 31 to 0 Psotioning target 1000 Setting range 1 to 32 767 000 Interpolation speed Any other settings will be errors The interpretation is changed by the unit setting pulse 1 to 32 767 0
157. es of home change 1 Write an coordinate to be the home in the home change coordinate area of the target axis 2 Write the value at the time that the bit of the target axis set to 1 in the home change request flag area As the home change process is performed for the axis that is 1 in the home request flag area do not set any bit to 1 other than the target axis 3 Execute the home return for the target axis to make the home change value valid After the completion of the home return the operation is carried out with the coordinate specified in the above 1 as the home position 13 8 Chapter 14 Precautions During Programming 14 1 Precautions During Programming 14 1 1 Turning Off Power Supply Clears Contents in Shared Memory The data in the shared memory of the positioning unit RTEX is cleared when the power supply of the PLC turns off So if you want to perform the positioning control with the current settings of the shared memory the next time the power supply turns on the positioning data should be written in the FROM flash memory within the positioning unit RTEX When parameters and positioning data has been set using the Configurator PM it is selectable whether to store them in the FROM flash memory or not at the time of downloading to the positioning unit 14 1 2 Once starting an Operation Once any start up contact of the automatic operation position control manual operations JOG operation home return pulser
158. ettings for the pulser operation are specified by Configurator PM or the pulser operation setting area in the shared memory The operation is the level type lt a N o a N gt N iv NINNIN TMOlO a w oO lt wo wo N SS Sic wj W e ojal Aj lt oO NX lt pany wo oe lt wo o 17 10 Contact allocation Target sar Descriptions Requests the error clear for the corresponding AMP Request error clear The processing to recover from errors is performed and the error logs are cleared by turning on this signal Requests the warning clear for the corresponding AMP Request warning clear The warning logs are cleared by turning on this signal lt o gt 7 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 Contact for the general purpose output connected to the General purpose output 2 corresponding AMP General purpose output 1 The input status of this contact does not affect on the General purpose output 2 operation of the motor or positioning unit General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 General purpose output 1 General purpose output 2 lt lt lt lt aN BN BN EN NININ N WIN 3 0 lt N A lt oa amp lt N oa lt
159. everse Limit input ON Automatic reverse operaiton 10 3 10 4 Chapter 11 Manual Operation Pulser Operation 11 1 Setting and Operation of Pulser Operation The example below is a case when using the FP with the positioning unit RTEX installed in the slot 0 The unit is set to pulse When using the FP2 change the contact and flag numbers appropriately cat cree ss Manual pulser side side Setting The parameters necessary for the setting of the pulser operation are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range Operation setting code 0 Pulser 1 0 Pulser 1 1 Pulser 2 2 Pulser 3 Pulser operation ratio numerator 2 1 to 32 767 Pulser operation ratio denominator 1 1 to 32 767 Operation diagram Pulser forward i Pulser reverse Pee a E apie oto Pulser input A phase Pulser input B phase Pulser operation enabled contact Y140 Y 120 r i i i BUSY flag Y118 X18 Operation done flag X120 X20 i i T i i i ana a se ee et 1 i i i 1 T i i i i i i i i i i i 1 1 Current value 1000 soa2 X 1004 100 1008 1006 X 1008 002 7000 The numbers in parenthesis are the contact and flag number for the FP2 E O Reina Operations of each contact e The BUSY flag FPz X118 FP2 X18 indicating the state that a motor is running turns on when a pulser operation enabled con
160. excessive noise beat se is applied on the system Check if the length of the network cable is the f regulation size Did the error occur on all connected AMPs Turn on the power supply of the system again Check the settings of the AMP that If the similar error repeatedly the error occurred occurs please contact us Turn on the power supply of the system again If the similar error repeatedly occurs please contact us 16 2 Chapter 17 Specifications 17 1 Table of Specificationa 17 1 1 General Specifications tam Description FP Positioning Unit RTEX FP2 Positioning Unit RTEX Ambient operating 0 to 55 C temperature Ambient storage 20 to 70 C temperature Ambient operating ee 30 to 85 RH at25 C non condensing humidity Ambient storage o 30 to 85 RH at25 C non condensing humidity 500 V AC 1 minute 1500 V AC 1 minute Breakdown Between the various pins of the Between the various pins of the voltage external connector and the ground external connector and the ground However excluding F E terminal However excluding F E terminal 100MOQ or more measured with 500 V DC testing Insulation Between the various pins of the external connector and the ground resistance f However excluding F E terminal Vibration 10 to 55 Hz 1 cycle min resistance Double amplitude of 0 75 mm 10 min each in the X Y Z directions
161. f Auxiliary output Auxiliary output ON time ON time ms ms ad Auxiliary output flag 13 5 13 5 Actual Speed Torque Value Judgment These are the functions that monitor the actual speed torque of the AMP in real time and to give an error or warning when the monitored values exceed the judgment values The judgment values for the actual speed and torque can be specified for axis each and it is possible to select either to give an error or warning When an error occurs the oprationstops with the error stopdeceleration time and the next operation cannot be executed until performing the error clear When giving a warning the warning is just informed and the operation continues Actual speed judgment value Torque judgment value i gt Error stop i deceleration time Error annunciation flag 13 6 13 6 Imposition Flag and Completion Width Imposition The imposition flag is a flag to inform the imposition status of the AMP allocated to the I O and it turns on when the position error of the corresponding axis is within the setting range speciifed in the AMP It does not relate to the control of the positioning RTEX It is the imposiiton monitor of the AMP The imposition range must be directly specifieid in the AMP Use the PANATERM that is a setting tool for the AMP Note The PANATERN M is the setting tool software for the AMP manufactured by Matsushita Electric Indus
162. f AMP Each axis N A 002AH Absolute Overspeed error Refer to the specifications of AMP Each axis N A 002BH Absolute Battery error Refer to the specifications of AMP Each axis N A 002CH Absolute One rotation counter error Refer to the specifications of AMP Each axis N A 002DH Absolute Multi rotations counter error Refer to the specifications of AMP Each axis N A 002EH Absolute Other errors Refer to the specifications of AMP Each axis N A 002FH Absolute Status error Refer to the specifications of AMP Each axis N A 15 5 A Available N A Not available Error Poe 3 Error name Description Object Clear code 0030H Encoder Phase Z error Refer to the specifications of AMP Each axis N A 0031H Encoder CS signal error Refer to the specifications of AMP Each axis N A 0032H External scales Status 0 Protection error Refer to the specifications of AMP Each axis N A 0033H External scales Status 1 Protection error Refer to the specifications of AMP Each axis N A 0034H External scales Status 2 Protection error Refer to the specifications of AMP Each axis N A 0035H External scales Status 3 Protection error Refer to the specifications of AMP Each axis N A 0036H External scales Status 4 Protection error Refer to the specifications of AMP
163. g 3 Name Descriptions Unit ress value range int Sets whehter to enable or disable the OD8H Torque limit enabled flag i Bgd OH execution of the torque limit for each axis OD9H to Not used ODFH OEOH Torque limit value of axis 1 Stores the torque limit value of axis 1 3000 1 to 5000 0 1 OE1H Torque limit value of axis 2 Stores the torque limit value of axis 2 3000 1to 5000 0 1 0E2H Torque limit value of axis 3 Stores the torque limit value of axis 3 3000 1to 5000 0 1 OE3H_ Torque limit value of axis 4 Stores the torque limit value of axis 4 3000 1to 5000 0 1 OE4H Torque limit value of axis 5 Stores the torque limit value of axis 5 3000 1to 5000 0 1 OE5H_ Torque limit value of axis 6 Stores the torque limit value of axis 6 3000 1to 5000 0 1 OE6H_ Torque limit value of axis 7 Stores the torque limit value of axis 7 3000 1to 5000 0 1 OE7H_ Torque limit value of axis 8 Stores the torque limit value of axis 8 3000 1to 5000 0 1 Torque limit enabled flag bit Name Default value Descriptions Torque limit of axis 1 Torque limit of axis 2 Torque limit of axis 3 Torque limit of axis 4 Torque limit of axis 5 Torque limit of axis 6 Torque limit of axis 7 Torque limit of axis 8 ojojojojojojojo 0 Torque limit desabled Default 1 Torque limit enabled 0 1 2 3 4 5 6 7 i 5 to 8 Torque limit values of axes 1 t
164. g Directions and Moving Distance Check whether the rotating and moving direction of the motor and the moving distance is correct or not The operations can be easily confirmed using the tool operation function of the Configurator PM without ladder programs 1 Confirm the rotating direction and moving direction of the motor by the JOG operation Select the Online Tool operation on the menu of the Configurator PM and make the servo on for the corresponding axis to execute the the JOG operation When using the ladder program turn on the forward JOG and reverse contact after turning on the servo on contact The rotating direction is determined according to the installation of the ball screw or the CW CCW direction setting of the parameter Confirm whether the moving distance is as designed or not by the position control Set the table 1 of the positioning data using the Cofigurator PM and select the Online Tool operation on the menu of the Configurator PM after downloading the table to the positioning unit RTEX and make the servo on for the corresponding axis to execute the the JOG operation When using the ladder program set the position control starting table and then turn on the positioning start contact after turning on the servo on contact The moving distance is determined according to the pitch of the ball screw deceleration gear rate or setting movement amount of the positioning data Not
165. get speed operates with the target speed JOG operation bit Name Default Descriptions target speed 31 to O JOG operation target 1 000 Setting range 1 32 767 000 speed Any other settings will be errors The interpretation is changed by the unit setting 02DH pulse 1 to 32 767 000 pps um 1 to 32 767 000 u mis inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 revis 02EH 02FH 030H i When the deceleration stop is requested by I O it will be valid and the Deceleration deceleraiton operation will complete in this deceleration time sto 031H P bit Name Default Descriptions deceleration time 15 to 0 Deceleration stop 100 Setting range 0 to 10 000 ms deceleration time Any other settings will be errors 032H When the emergency stop is requested by I O it will be valid and the deceleration Emergency stop operation will complete in this deceleration time 033H deceleration bit Name Default Descriptions time 15 to 0 Emergency stop 100 Setting range 0 to 10 000 ms deceleration time Any other settings will be errors 034H 2 When the limit is input the deceleration operation will complete in this deceleration Limit stop time 035H deceleraiton bit Name Default Descriptions time 15 to 0 Limit stop 100 Setting range 0 to 10 000 ms deceleration time Any other settings will be errors 036H When an error occurred it will be valid and the deceleration operation will Error stop complete i
166. get speed of the home return specified in the parameter settings for each axis is regarded as 100 and the operation is executed in the specified speed rate Speed rate Clicking Speed rate shows the dialog for inputting the value The speed rate changed here is effective only in the tool operation and it changes to the original speed rate automatically once the tool operation quits MB Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 7 38 2 Click Change for the zero offset to change the offset after the home return operation The value can be changed during the home return operation as well 3 Execute the home return Click Start for the axis to execute the home return 4 Click Close to close the dialog ne Note This dialog cannot be closed during the home return operation 7 17 3 Tool Operation Positioning The test run is possible like actual positioning operations Specifying the starting table number enables to check if the positioning interpolation from the starting table operates properly iS ne Note For the positioning operation the setting data should be downloaded to the positioning unit in advance For the positioning operation the equivalent axes should be in the state that the servo is locked Servo ON The operations after the sta
167. h axis 005EH Encoder EEPROM verify error Refer to the specifications of AMP Each axis N A 005FH Motor automatic recognition error protection Refer to the specifications of AMP Each axis N A 0060H SEN signal selection error protection Refer to the specifications of AMP Each axis N A 0061H Control mode setting error protection Refer to the specifications of AMP Each axis N A 0062H Microcomputer peripheral system error protection Refer to the specifications of AMP Each axis N A 0063H Other errors Refer to the specifications of AMP Each axis N A 15 6 15 3 2 System Errors From 1000H Ver 1 00 to 1 01 These are the errors that occur due to any failure within the positioning unit The system errors are defined as the fatal errors for the system Except for some items the power supply must be turned off and on again to recover from the errors A Available N A Not available Error ode Error name Description Object Clear Countermeasures System System runaway If the error occurred 1000H the ALARM LED on the positioning All axes N A runaway Mea Turn off the power supply and unit is lighted Hardware An error occurred in the hardware test tumit on again 1001H All axes N A If the error occurred repeatedly error when the power supply turned on A din the int please contact us 1002H Unit error EOE Sapa A E S ye All axes N A processing Check the settings
168. he posiition deviation calculated on the unit of axis 8 is stored 23 4 2 Sample Program Refer to Position deviation ladder program for demo fp 23 4 3 Restrictions on Operation As the deviation to be displayed with the position deviation simple monitor is calculated within the positioning unit a deffirence may occur with the deviation counter value of the AMP The display of the position deviation monitor is updated in 10 ms units Record of changes Manual No Date Desceiption of changes ARCT1F421E NOV 2006 First Edition ARCT1F421E 1 Feb 2008 Addition function of Ver1 13 or later Please contact Matsushita Electric Works Ltd Automation Controls Company E Head Office 1048 Kadoma Kadoma shi Osaka 571 8686 Japan E Telephone 81 6 6908 1050 E Facsimile 81 6 6908 5781 http Awww mew co jp ac e fasys All Rights Reserved 2008COPYRIGHT Matsushita Electric Works Ltd Printed in Japan ARCT1F421E 1 200802 Specifications are subject to change without notice ACG M421E 1
169. he shared memory standard area will be restructured This contact will turn on after restructuring completes If the recalculation request contact Y_7 turns on again this contact will be off once Note It is used only when the positioning data has been rewritten by laddar programs All axes Recalculation done 1 axis Each axis connection Turns on when the corresponding axis exists axis 5 confirmation 6 axis 7 axis 11 2 axis Turns on when the corresponding axis is in the state of servo Servo lock lock BUSY Turns on when the corresponding axis is operating 1D 1F 17 6 Contact allocation Target Sere Descriptions x lt aN N Turns on when the operation command for the corresponding axis completed and the position error became in the specified completion width For P point control and C point control of the automatic operation turns on when the operation for all the tables completed After this contact turned on the on state continues until the next control activates x lt a N rg x lt aN N o Operation done x127 19 X X128 X28 X12A X2A Turns on when the home return operation for the corresponding Home return done axis completed After this contact turned on the on state continues until the next control activates X12F X134 X34 X136 X36 z z X13B X3B enome Monitor contact for the near home i
170. home return Each axis A error method is set to the stop on contact method 1 or 2 The home return stop on contact Home return stop on judgment time is out of the range 4116H_ contact judgment time It occurs when the home return Each axis A error method is set to the stop on contact method 1 or 2 4120H _ Coordinate origin error aa i originas CUBE te Each axis A 4201H JOG operaiton target The target speed of the JOG Each axis A speed error operation is out of the range 15 20 Error cade Error name Description Object Clear Countermeasures JOG operation The acceleration deceleration 4203H _ acceleration deceleratio type of the JOG operation is Each axis A n type error incorrect JOG operation The acceleration time of the 4204H selena JOG operation is out of the Each axis A acceleration time error range JOG operation The deceleration time of the 4205H ee eaaipe JOG operation is out of the Each axis A deceleration time error range 4250H Current value update The setting value of the current Each axis A error value update is out of the range Realtime torque limit The specified realtime torque meet value error value is out of the range Fach axis A Absolute incremental A Value other than the 4301H f absolute increment is set for the Each axis A setting error move method 4302H Dwell time error The setting value of the dwell lEach axis
171. hough the axis operation has not A P axis request flag each axis completed Emergency stop request flag each axis System stop request flag all axes The monitored torque value exceeded Design the system within the the specified upper lower limit value range that the torque of the Torque judgment Each motor does not exceed the BO50H F A value warning This warning occurs when setting axis judgment value torque judgment to Available Check the torque judgment annunciation method to Warning value The monitored actual speed exceeded Design the system within the the specified upper lower limit value range that the actual speed of Actual speed Each the motor does not exceed the B051H judgment value F A A This warning occurs when setting axis judgment value g actual speed judgment to Available Check the actual speed annunciation method to Warning judgment value 15 13 15 5 List of Error Codes Ver 1 13 or later The followings are the list of error codes to be displayed on the RTEX of Ver 1 13 or later The areas that errors occurred can be identified according to the range of error codes When the error code is in the range of 0001H to OFFFH it indicates that the error occurred in the AMP When the error code is one from 1000H it indicates that the error occurred in the positioning unit Also the recovery method for each error code varies according to
172. hould be used to write the positioning table in the prescribed address in the shared memory The start up time is longer than the standard area and when performing the P point control or C point control in the extended area note that the start up time varies depending on the number of tables to be executed consecutively How to use each area and the precautions are as below Howto us Number Table Setting using Setting using of points number Configurator PM ladder program Area to be used when Available Standard the setting value of the 600 1 to 600 Available Calculation for area positioning table is points restructuring is predetermined necessary Area to be used when the setting value of the Available a 10001 Extended positioning table cannot 3 Calculation for a 25 points to Not available papa area be determined until just restructuring is A 10025 before executing the not necessary positioning operation 14 3 14 1 4 Operation When the Mode of PLC Changed to PROG from RUN Any start up contact of the automatic operation position control manual operations JOG operation home return pulser operation turns on and the operation will continue even if the PLC changes to the PROG mode from the RUN mode after starting the operation 14 4 Chapter 15 Errors and Warnings 15 1 Errors and Warnings 15 1 1 About Errors and Warnings When any operational unconfor
173. ications of AMP Each axis N A 0017H Encoder Communication data error Refer to the specifications of AMP Each axis N A 0018H Positioning deviation overprotection Refer to the specifications of AMP Each axis N A 0019H Hybrid deviation excessive error Refer to the specifications of AMP Each axis N A 001AH Over speed protection Refer to the specifications of AMP Each axis N A 001BH Command error protection Refer to the specifications of AMP Each axis N A 001CH External scale communication data error Refer to the specifications of AMP Each axis 001DH Deviation counter overflow protection Refer to the specifications of AMP Each axis N A 001EH CPU error WDT error Refer to the specifications of AMP Each axis N A 0022H Software limit protection Refer to the specifications of AMP Each axis N A 0023H External scale communication error protection Refer to the specifications of AMP Each axis N A 0024H EEPROM Parameter error protection Refer to the specifications of AMP Each axis N A 0025H EEPROM Check code error protection Refer to the specifications of AMP Each axis N A 0026H Drive inhibit input protection Refer to the specifications of AMP Each axis N A 0027H External input trip command Refer to the specifications of AMP Each axis N A 0028H Absolute System down error Refer to the specifications of AMP Each axis N A 0029H Absolute Counter over error Refer to the specifications o
174. ifications a warning message is shown when any Operate button other than the one for the smallest axis number is clicked 3 Click Change for the zero offset to change the offset after the home return operation The value can be changed during the positioning operation as well 4 Click Close to close the dialog KY aS ne Note This dialog cannot be closed during the positioning operation 7 40 7 17 4 Tool Operation JOG Operation Each axis can be operated manually using the tool operation i Note To perform the JOG operation the equivalent axes should be in the state that the servo is locked servo ON 1 Click JOG operation in the tool operation dialog The following dialog is shown Tool operation JOG operation Axis Group 1 axis 2 axis 3 axis 4 axis Zero offset 1226480 626492 622988 Change Change Change Unit Jog target speed 500000 500000 500000 Change Change pulse pulse pulse Change Change a gt ee State of axis hhactive lhactive lhactive hhactive Error code Error clear Error clear Warning code Warning clear Speed rate 100 Warning clear Warning clear Warning clear tt Axis Group The axis numbers and group names to be monitored Zero offset Monitor the feedback values after the unit system conversion for each axis Click Change to display the dialog for inputting va
175. igurator PM Writing to FROM Y Writing to FROM completed successfully Please wait gt Click No not to write the setting data to the FROM The downloaded data is erased when the power supply of the PLC turns off IEF Note Writing to FROM is restricted up to 10000 times The current number of write can be monitored with the data monitor 7 14 3 Writing Settings to FROM Save the setting data written in the positioning unit RTEX in the FROM Flash Memory within the positioning unit RTEX The saved setting data is automatically read when the power supply of the unit turns on Make the connection between a PC and PLC and configure the settings Then select Tool gt Write to FROM in the menu bar The following dialog is shown Configurator PM 2 The current No of writing to FROM is 0 times Ts it OK to execute writing to FROM Yes No Clicking Yes indicates the following dialog and save the setting data in the FROM Flash Memory in the unit The saved setting data is automatically read when the power supply of the PLC turns on Check the status of writing to F Configurator PM 1 Writing to FROM completed successfully Writing to FROM Please wait gt Click No not to write the setting data to the FROM The downloaded data is erased when the power supply of the PLC turns off ic Note Writing to FROM is restricted up to 10000 times The current number of write c
176. in the banks 02H to 51H in the shared memory The each axis setting area is used to store positioning parameters and positioning data and the setting values are allocated to every address from the axes 1 to 8 The positioning setting area of each axis is composed of 600 tables of the standard area and 25 tables of the extended area Shared memory map Bank 02H 000H Bank 02H Parameter setting area Axis 1 Bank 02H 050H Bank OBH FFFH 3FFH 000H 3FFH 000H 02H to OBH Banks OCH to 15H Banks 16H to 1FH Banks 20H to 29H Banks 2AH to 33H Banks 34H to 3DH Banks 3EH to 47H Banks 48H to 51H Axis setting area Axis 1 Axis setting area Axis 2 Axis setting area Axis 3 Axis setting area Axis 4 Axis setting area Axis 5 Axis setting area Axis 6 Axis setting area Axis 7 Axis setting area Axis 8 Positioning data setting area 050H O5FH Table 1 060H 06FH Table 2 070H 07FH Table 3 080H 08FH Table 4 Bank OCH 000H Bank OCH 04FH Parameter setting area Axis 2 Bank OCH O50H Bank 15H FFFH Positioning data setting area Axis 2 Bank 16H OOOH Bank 16H 04FH Parameter setting area Axis 3 Bank 16H 050H Bank 1FH FFFH Positioning data setting area Axis 3 Bank 20H OOOH Bank 20H 04FH Parameter setting area Axis 4 Bank 20H O50H Bank 29H FFFH Positioning data setting area Axis 4 Bank 2AH OOOH Bank 2AH 04FH Parameter setting area
177. in the positioning unit and enables to shorten the start up time for the positioning When using Configurator PM to download the positioning data the data is restructured automatically so the calculation is not necessary However the calculation is necessary after rewriting the poisitoning data from the ladder program The procedures for the calculation are as follows 1 Change the positioning table in the shared memory 2 Turn on the output contact Y_7 recalculation request contact 3 Confirm the input contact X_7 recalculation done contact is on Confim the completion of the recalculation If the data is not recalculated after rewriting the positioning table by the ladder program note that the operation will be executed with the positioning table before the rewriting The extended area is used when the setting values of the positioning table cannot be determined until just before executing the positioning operation For example in the application of alignment using an image processing the moving distance is determined by the image processing Therefore the positioning table cannot be determined until just before sarting the positioning operation In that case the positioning table is set just before the start up of the positioning In the extended area the positioning table can be rewritten as needed and the recalculation is not necessary However it is up to 25 tables and Configurator PM cannot be used The ladder programs s
178. ing address of table 47 340H Starting address of table 48 350H Starting address of table 49 360H Starting address of table 50 370H Starting address of table 51 380H Starting address of table 52 390H Starting address of table 53 3A0H_ Starting address of table 54 3BOH_ Starting address of table 55 3COH Starting address of table 56 3D0H_ Starting address of table 57 3E0H_ Starting address of table 58 3FOH Starting address of table 59 17 46 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Addre Bank No aS Descriptions 03H ODH 17H 21H 2BH 35H 3FH 49H 000H Starting address of table 60 010H Starting address of table 61 020H Starting address of table 62 030H Starting address of table 63 040H Starting address of table 64 050H Starting address of table 65 O60H Starting address of table 66 070H Starting address of table 67 080H Starting address of table 68 090H Starting address of table 69 OAOH Starting address of table 70 OBOH Starting address of table 71 OCOH Starting address of table 72 ODOH Starting address of table 73 QEOH Starting address of table 74 OFOH Starting address of table 75 100H Starting address of table 76 110H Starting address of table 77 120H Starting address
179. input including the point on the limit input 1 t Phase 2 p Home return creep speed 1 Target speed mM t i I I I Home retum deceleration time 1 Home retum cre p speed 1 i 1 The starting point is on the near home DOG 1 I Home return 1 deceleration i Target speed time I 1 1 I i I Target speed I I i i i Limit stop H j i AN i jome return cree ee i OThe starting point ae PsP i is between the near ll home DOG and limit alan deceleration 1 1 time i The starting point i i Home retum cre p speed is on the near home 1 i DOG and limit j input Home retum 7 deceleration t time j 22 1 3 DOG method 2 The rising edge of near home DOG is detected It becomes the starting point Home retum direction lt ___ artare OOS The starting point is between the near home DOG and limit input including the point on the limit input Home return deceleration time bturn crebp speed Target speed The starting point is on the near home DOG 1 Home return crebp speed Home return 1 deceleration Target speed time Limit stop deceleration time I 1 Home return creep speed I i 1 Target speed The starting point is between the near home DOG and limit input Home retum deceleration time
180. ion area of the shared memory Turns on when a warning occurs on the corresponding axis The contacts of all axes turn on if a warning occurs on all axes The details of the warning can be confirmed in the warning annunciation area of the shared memory General purpose input 1 1 axis x lt 4 N 2 axis General purpose input 2 General purpose input 1 x lt 3 oN 3 axis General purpose input 2 General purpose input 1 General purpose input 2 General purpose input 1 Monitor contact for the general purpose input connected to 4 axis SUSTAIN SNI aja General purpose input 2 the corresnponding AMP General purpose input 1 The input status of this contact does not affect on the 5 axis x lt 4 General purpose input 2 operation of the motor or positioning unit 6 axis General purpose input 1 N General purpose input 2 7 axis General purpose input 1 x gt lt gt lt gt lt ISIN ojojo General purpose input 2 x lt S m 8 axis General purpose input 1 General purpose input 2 6 5 Contact allocation Target FPS axis 80 All axes xxx aN ENNEN 3 ojojojoj o AJolNj o Name System stop Descriptions Contact for requesting the system stop When it turns on all axes will stop at the deceleration time 0 RA Y105 Yy85
181. ion control Set target interpolation axes as a group using Configurator PM Set positioning data using Configurator PM In case of circular interpolation and spiral interpolation set a center point or pass point V Transfer the data to the shared memory of Positioning Unit RTEX i Set a position control starting table in the positioning table setting area of the shared memory for the axis with the smallest number in the group V my Tum on the start contact of the axis with the smallest number in the group J 8 1 1 Setting and Operation of E Point Control The example below is the case of a single axis control when using the FP2 with the positioning unit RTEX installed in the slot 0 The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Table 10000 pulses gt side side Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range Operation pattern E End point C Continuance point E End point P Pass point Control method I Increment I Increment A Absolute Pulse 1 073 741 823 to 1 073 741 823 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 um um 1 um 1 073 741 823 to 1 073 741 823 um 10000 pulse inch 0 00001 inch 10 737
182. is 0 OD8H Torque limit 2 Torque limit of axis 0 enabled flag 3 Torque limit of axis 0 0 Torque limit disabled Default 4 Torque limit of axis 0 1 Torque limit enabled 5 Torque limit of axis 0 6 Torque limit of axis 0 7 Torque limit of axis 0 15 to 8 Gami oeo Toraue limit Stores the torque limit value of axis 1 3000 1 0 1 00H value of axis 1 q i 5000 aS Torque limit E 1 to d 0E1H valu of axis 2 Stores the torque limit value of axis 2 3000 5000 0 1 Torque limit Na 1 to R 0E2H value of axis 3 Stores the torque limit value of axis 3 3000 5000 0 1 Torque limit ae 1 to 5 0E3H valuesfakisd Stores the torque limit value of axis 4 3000 5000 0 1 Torque limit N 1 to d 0E4H valueof axis 5 Stores the torque limit value of axis 5 3000 5000 0 1 Torque limit a 1 to R OE5H value of axis 6 Stores the torque limit value of axis 6 3000 5000 0 1 Torque limit zna 1 to P OE6H valu ofa s Stores the torque limit value of axis 7 3000 5000 0 1 Torque limit 7 1 to a 0E7H valus ofans8 Stores the torque limit value of axis 8 3000 5000 0 1 17 17 17 4 7 Positioning Table Setting Area Used to specify the table number to start the position control The setting ranges are 1 to 600 in the standard area and 10001 to 10025 in the extended area Offset Default Settin Bank Name Descriptions E Unit address value range Position control Stores the tabl
183. is A n method error out of the range 4081H JOG positioning The acceleration time of the JOG Each axis A acceleration time error positioning is out of the range 4082H JOG positioning The deceleration time of the JOG Each axis A deceleration time error _ positioning is out of the range itioni Check the settign 4083H JOG positioning target The target speed of the JOG Each axis A g speed error positioning is out of the range value 4102H Home return target The target speed of the home Each axis A If the error occurred speed error return is out of the range repeatedly with the 41054 _ Home return The acceleration time of the home e on ais a correct setting value acceleration time error _ return is out of the range please contact us A106H Home return The deceleration time of the home Each axis A deceleration time error return is out of the range 4107H Home return setting The home return setting code is Each axis A code error incorrect Home return creep The creep speed of the home FTOR speed error return is out of the range Each axis A 4111H Home return returning The moving direction of the home Each axis A direction error return is out of the range The limit switch is disabled 4112H Home return limit error tt OpQuUIS WDE He Ome TEIN Each axis A method is set to the stop on contact method 1 or 2 The home return stop on contact Home return stop on torque value is out of the range 4115H contact torque value It occurs when the
184. is attribute of axis 4 O 1 Belong to teh independent axis 4 Independent axis attribute of axis 5 O 5 28 g 5 lindependent axis attribute ofaxis6 O A is ae te 6 Independent axis attribute of axis 7 O 7 Independent axis attribute of axis 8 O 15 to8 17 15 17 4 5 Home Change Data Area To change the coordinate origin default is 0 of each axis managed in the positioning unit store the changed coordinate in this area and turn on the home change request flag Offset axis 8 Bank adress Name Descriptions Only when the corresponding bits fo reach axis changed to 1 from 0 the coordinate origin managed in the positioning unit will be changed to the following home change coordiates Afther the change the positioning unit clear the corresponding bits to 0 automatically bit Name Default Descriptions 0 Request home change of axis 1 0 ocoH Home change F Requesthome change ofaxis2_ 0 request flag 2 Request home change ofaxis3 0 0 No change 3 Request home change of axis 4 0 1 Change the coordinate origin 4 Request home change of axis 5 0 After the change the positioning unit sets to 0 5 Request home change of axis 6 T 0 automatically 6 Request home change of axis 7 0 7 Request home change ofaxis8 O 15 to 8 OC8H Home change coordinate of Stores the coordinate t
185. is movement amount Input the movement amount of X axis The movement amount depends on the unit system specified in the parameter settings X axis auxiliary point It is used when the circular interpolation is selected and ignored when the linear interpolation is selected The details of the auxiliary points differ depending on the type of circular interpolation Circular interpolation Center point The auxiliary point is used as the X axis of the center point Circular interpolation Pass point The auxiliary point is used as the X axis of the pass point 7 22 Parameter Name Description Y axis movement amount Input the movement amount of Y axis The movement amount depends on the unit system specified in the parameter settings Y axis auxiliary point It is used when the circular spiral interpolation is selected and ignored when the linear interpolation is selected The details of the auxiliary points differ depending on the type of circular interpolation Circular interpolation Center point The auxiliary point is used as the Y axis of the center point Circular interpolation Pass point The auxiliary point is used as the Y axis of the pass point Acceleration decelera tion pattern Select the pattern to accelerate decelerate Acceleration time ms Set the acceleration time It is set in the ms unit Deceleration time ms Set the deceleration time It is
186. it stop System stop 0 Refer to the following table for the stop by turning contacts on It indicates the allocated I O when the FPX FP2 positioning unit RTEX is installed in the slot 0 Contact allocation Target eae Descriptions Contact for requesting the system stop When it turns on all axes will stop with 0 deceleration time Requests the emergency stop for the corresponding AMP The deceleration time for the emegency stop is specified by Configurator PM or the emergency stop setting in the shared memory The operation is the level type Note The deviation counter cannot be cleared Requests the deceleration stop for the corresponding AMP The deceleration time for the deceleration stop is specified by Configurator PM or the deceleration stop setting in the shared Deceleration stop memory The operation is the level type Note The deviation counter cannot be cleared 12 2 Chapter 13 Supplementary Functions 13 1 Dwell Time The time taken until the next operation after the completion of an executed positioning table in the automatic operation is called dwell time The operations of the dwell time vary according to control methods slightly Followings are the operations in each control method For E point control The dwell time is the time taken from the completion of the position command until the operation done flag turns on Dwell time BUSY flag Operation
187. ithg ccececscceceeeeeeeeeaeceeeeeeeeeeeaeeeeeeeeneees 5 2 5 1 2 Procedure 2 Axis Numbers and Unit Numbers of AMP 5 3 5 1 3 Procedure 2 Power On and Checking Network Establishment 5 4 5 1 4 Procedure 3 Matching Parameters With AMP 5 4 5 1 5 Procedure 4 Checking Input Signals eee 5 5 5 1 6 Procedure 5 Checking Rotating and Moving Directions and Moving Distance 5 6 5 1 7 Procedure 6 Settings of Parameters and Positioning Data 5 7 5 2 Preparation For Operation cccccccccsecceceeeeeeeeneeeeeeeeeeeees 5 8 2 1 Servo On Servo Off d arrsenicp ndaga 5 8 6 1 0 AllOGA ON sisictcecteeastiessccnai ctaraedewheiedacadane 6 1 6 1 Occupied 1 0 Arbani 6 2 6 2 Allocation of Each Contact ccccecccccececeeseseeeeeeeeseaaeeeeeees 6 3 7 Setting Tool Configurator PM cccceeseeees 7 1 7 1 Connection With Computer cece eeeeeeeeesneeeeenneeeeeneeees 7 2 7 2 Functions of Configurator PM ccsceeeeceeeeseeeeeenneeeeeeeeees 7 3 7 2 A OVOIVIOW mp e e Ae a Ea Aaa AE E a S 7 3 7 2 2 Basic Specifications ccccccecceeceeeeceececeeeseeeeneeeeeeeeeseees 7 4 7 3 Installing Configurator PM eee ce eeeeseeeeeeeeeseneeeeeeneeeeeeeeees 7 5 7 4 Starting Configurator PM 00 0 eeeseeeeeeeeeeeseneeeeeeneeeeneeaees 7 10 7 5 Treating Files iisi fosee he ton ais aston ee nee 7 11 TOC NOW Aerie oraaa en aaa a aE ae a ree aE RATERS 7 11 7 5 2 Reading from FileS
188. ition control there are the E point control that uses the positioning data of 1 table the P point control and C point control that use multiple tables for the single axis control or interpolation control Each operaton is as mentioned below and the acceleration time and deceleration time can be set individually For the P point control and C point control the E point should be set as the last table Also in the P point control and C point control the operation done flag turns on after the last table was executed Speed i Speed i f pps E point control f pps P point control i 1 i d i E point i table P point Ppoint gt Time table table Time t ms t t t ms Start Stop Start Stop Speed f pps C point control Time t ms Start Stop Operation flow of single axis control Set a target axis as a single axis using Configurator PM Set positioning data using Configurator PM Transfer the data to the shared memory of Positioning Unit RTEX Set a position control starting table in the positioning table setting area of the shared memory V Turn on the start contact of the target axis The procedures to set the positioning data and to start the position control are the same for the E point control P point control and C point control The operation of each cotntrol is determined according to the contents of the positioning data to be set 8 2 Operation flow of interpolat
189. itioning Control As each request contact during the speed control J point speed change cotnact J point positionign start contact is controlled by I O in the JOG positioning control the positioning accuracy depends on the scan time of I O In JOG positioning control the speed cange positioning operation can be started within 1 to 2 ms after the Positioning Unit RTEX detected the above contact signal In the actual operation the movement amount at 1 ms that is calculated from the items such as the speed during the speed control and the ratio of the motor rotations to the movement amount of the actual work becomes a repeat error Also ladder programs to output the contact signals affect on the error note that when creating ladder programs 21 18 Chapter 22 Home Return Ver 1 13 or later 22 1 Additional of Home Return Method The following 8methods are added to the home return method in addition to the DOG method A total of 9 types are supported DOG method 2 Edge detection of near home DOG DOG method3 Near home ODG Phase Z based on back end Limit method 1 Limit switch Phase Z Limit method 2 Edge detection of limit switch Phase Z method Stop on contact method 1 Stop on contact Stop on contact method 2 Stop on contact amp phase Z Data set method 22 1 1 Setting Method of Home Return Methods The type of the home return is set to a prescribed address in the shared memory ba Reference 17 6 2
190. itioning repeat count of axis 4__ Same as above O 0to255 Times 10CH__ Positioning repeat count of axis 5__ Same as above Oto 255 Times 10DH__ Positioning repeat count of axis 6 __ Same as above to 255 Times 10EH Positioning repeat count of axis 7__ Same as above JO to 255 Times 10FH_ Positioning repeat count of axis 8__ Same as above OJ to 255 Times The following operations are performed depending on the setting values of the positioning repeat count Positioning Positioning operation repeat count 0 1 The positioning repeat operation is not performed The specified positioning operation is performed only once 2 to 254 The positioning operation is performed repeatedly for the specified number of times 255 The positioning operation is performed repeatedly without limit Unlimited repeat The Emergency stop or Deceleration stop should be executed to stop the positioning operation 21 2 21 1 2 Examples of operations Examples of operations when N times have been specified Table 1 P point Table 2 P point Table 3 P point Table 4 E point 1 When N 0 or N 1 SUUNA 2 When N 3 and when the dwell time 0 at the E point table the E point in the repeat operation is treated as the P point w w 3 When N 3 and when the dwell time 0 at the E point table the E point in the repeat operation is treated as the C point Setting of dwell time Se
191. lace Column Pattern X I Match Case Find entire cells only Replace All 2 Input the character string to search in the Character string to find box 3 Input the character string after the replacement in the Character string after replacement 4 Select the target line setting item 5 Click Next and Replace or Replace all 7 26 7 11 6 Selecting Lines The cells in a line or multiple lines can be selected before the operations such as copy or paste are done Click the Table No header on the upper left corner of the positioning data editing screen with the mouse to select the all the cells in one line Drag the mouse up and down holding down the left click to select multiple lines 7 11 7 Selecting Colums It is convenient for editing data collectively before the operations such as copy and paste or for data item each Click the header on the upper corner of the data editing screen to select all the cells in one column Drag the header holding down the left click on the mouse to select multiple columns 7 11 8 Editing Data Items Collectively Select a series of the data item in the same column and change them all at once Select this area Type A Press Enter Key L Increme b RAGING I hcreme I hcreme I Increme I Increme I Increme I Ihcreme 4 Absolu T narama I Increme 1 Select the part to change with the mouse or the up and down arrows
192. lation control that controls positions as the locas of the operations of the 2 axis motor with the grouped X axis and Y axis or 3 axis motor with the grouped X axis Y axis and Z axis becomes a straight line There are two setting methods which are a composition speed specification and long axis speed specification Circular interpolation This is the inerpolation control that controls positions as the locas of the operation of the 2 axis motor with the grouped X axis and Y axis becomes a circular arc Therea re tow setting methods which are a center point specification and pass point specification Spiral interpolation This is the interpolation control that controls positions as the loca of the operation of the 3 axis motor with the grouped X axis Y axis and Z axis becomes a spiral Arbitrary 2 axes describe an arc and the remaining one axis moves to achieve a spiral There are two setting methods which are a center point specification and pass point specification Edge type This is one of the methods to detect the request signals allocated to this unit It executes each requested process by detecting a trigger that is the leading edge when the request signal turns on Therefore the next request cannot be accepted until the request signal turns off Level type This si one of the methods to detect the request signals allocated to this unit It executes each requested process by detecting a trigger that the request signal is on and continue
193. lation done Each axis connection Turns on when the corresponding axis exists confirmation lt XK X lt gt lt lt lt gt lt gt lt x lt x lt X lt a MMOlO gt o c OO x Turns on when the corresponding axis is in the state of servo lock BUSY Turns on when the corresponding axis is operating Servo lock X lt gt lt On amp r 6 3 Contact allocation Target x lt aN N x lt ae N x lt a N N x lt 2 N o X gt lt gt lt a S NINN EN ates NIN y WX2 8 E N gt lt i x N gt PAA NINN mojoj x lt 2 N T X X lt X lt X lt ISISI a oo ooo wOINI3 S x lt ce wo BK x lt en wo a WXx13 a oO O WX3 w w DloloN x lt A w wW x w O A w o aa ed MEd pE Aj Ajoj gt jojnim x lt N A N x lt a A wo x lt a P EN WX14 NENESE JND WX4 x lt a A o eS Coes aS B ALAIA OO gt a A m 6 4 X20 _ 1 axis _ X21 2 axis _ X22 _ 3 axis X23 4axis X24 _ 5axis _ X25 6 axis X26 _ 7 axis 8 axis x28 _ 1axis_ 2 axis 2A 3axis 2B 4axis gt X lt N N gt lt Home return done Descriptions Turns on when the operation command for the corresponding axis completed and the position error became in the specified completion width For P point control and C point control of the automatic
194. lave 4 Synchronous attribute of axis 5 axis setting of group 5 6 7 1 Synchronous attribute of axis 6 Synchronous attribute of axis 7 Synchronous attribute of axis 8 5to8 Synchronous group 1 Slave axis ooo000000 Each synchronous axis can be set for only one axis 21 9 21 2 6 Canceling and Monitoring Synchronous Operation The synchronous operation control monitor area is added to the shared memory common area to set the synchronous operation to be enalbed disabled and to confirm the current synchronous setting ip Reference 17 4 Details of Common Area in Shared Memory Addition of 17 4 17 4 10 Synchronous control monitor area ver 1 13 or later Offset Bank addres Name Description s The setting for the synchronous operation can be switched between Enabled Synchronous group and Disabled 1 operation When using the synchronous mode B this setting is ignored and an operation Enabled disabled always being synchronized is perfomred Bit Name Default Description 0 Group attribute of r axis 0 0 Execute the synchronous operation Synchronous group 1z Cancel the synchronous operation 2 operation Enabled disabled 1 7 15to8 Bit Name Default_ Description Axis 1 is synchronous 0 Not syvchronous Axis 2 is synchronous 1 Synchronous operation target axis Axis 3 is synchronous The bit of the axis whrere the Axis 4 is synchronous
195. le 292 290H Starting address of table 293 2A0H_ Starting address of table 294 2B0H_ Starting address of table 295 2COH Starting address of table 296 2D0H_ Starting address of table 297 2E0H Starting address of table 298 2FOH Starting address of table 299 300H Starting address of table 300 310H Starting address of table 301 320H Starting address of table 302 330H Starting address of table 303 340H Starting address of table 304 350H Starting address of table 305 360H Starting address of table 306 370H Starting address of table 307 380H Starting address of table 308 390H Starting address of table 309 3A0H_ Starting address of table 310 3BOH_ Starting address of table 311 3COH_ Starting address of table 312 3D0H_ Starting address of table 313 3E0H_ Starting address of table 314 3FOH Starting address of table 315 17 50 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Addre Bank No ae Descriptions 07H 11H 1BH 25H 2FH 39H 43H 4DH 000H Starting address of table 316 010H Starting address of table 317 020H Starting address of table 318 030H Starting address of table 319 040H Starting address of table 320 050H Starting address of table 321 O60H Starting address of table 322 0
196. left of the screen or press the Ctrl ESC keys to display the start menu of Windows Operation System Select Run Internet My Documents Internet Explorer ao My Recent Documents gt 24 E mail Fe iJ EJ Microsoft Office Outlook r ererat OTE oa L My Pictures D xI MSN Explorer E My Music Qs My Computer Windows Media Player B Control Panel Q windows Movie Maker Set Program Access and Defaults D Tour Windows XP Printers and Faxes b Files and Settings Transfer wizard z Help and Support B Microsoft Office Excel 2003 Search P Log OFF io Turn Off Computer All Programs gt 4 Enter the name of the file on which the function is to be run When Run is selected the dialog box shown at the left is displayed Enter d setup exe and click on the OK button Type the name of a program Folder document or Internet resource and Windows will open it for you Open d setup v IEF Note The drive name d varies depending on the computer configuration 5 A confirmation message is displayed When the setup program is booted a confirmation dialog box is displayed Confirm the contents and click on the Next button To interrupt the installation click on Cancel Configurator PM Setup Welcome to the InstallShield Wizard for Configurator PM The InstallShield Wizard will install Configurator PM on your computer To con
197. leration time error time is out of the range 4041H Positioning completion The posiitoning completion width Each ais CA width error is out of the range 4042H Pulser setting error a ri input mode is Each axis A Check the setting value The settin of the speed rate is Intg eror occurred 4044H Speed rate error g P Each axis A repeatedly with the correct outiof th range setting value please 4102H Home return target The target speed of the home Eachasie in Veontact us speed error return is out of the range 4105H Home return i The acceleration time of the home Fach axis A acceleration time error return is out of the range 4106H Home return i The deceleration time of the home Each axis A deceleration time error return is out of the range 4107H Home return setting The home return setting code is Eadhaxis A code error incorrect 4110H Home return creep The creep speed of the home Each axis A speed error return is out of the range 4111H Home return returning The moving direction of the home Each axis A direction error return is out of the range 15 10 A Available N A Not available Error pede Error name Description Object Clear Countermeasures 4201H JOG operation target The target speed of the JOG Faen avis A speed error operation is out of the range JOG operation The acceleration deceleration 4203H acceleration decelera type of the JOG operaiton is Each axis A tio
198. lt Example 1 gt gt Speed control lt 41 c gt Positioning control J point P point E point Trg 1 Trg 1 Trg 2 lt lt Example 2 gt gt Positioning control lt C gt Speed control P point P point t Trg 1 Trg 1 Trg 2 XTrg 1 J point speed change contact___Trg 2 J point positioning start contact 21 14 21 3 2 Setting Method Each setting items to perform the JOG positioning control are described below 1 J JOG positioning point is added to the operation patterns of positioning operation The following item is added to the operation of offsett address below of the positioning table starting address of each axis iP Reference 17 6 3 Positioning Data Setting Areas Addition of 17 6 3 Positioning Data Setting Areas ver 1 13 or later Area to set the single and interpolation operation pattern for the positioning operaiton The underlined black faced parts are the additional contents Bit Name Default Description 7to0 Control patterns 00H OOH E point control End point control 01H P point control Pass point control 02H C point control Continuance point control 03H J point control JOG positioning control Any other settings will be an error Interpolation setting OOH The interpolation setting is invalid for the J point The JOG positioning control J point is available only for a single axis control The setting will be an error if it is specified for
199. lue to change the value of the zero offset Unit The unit of position for each axis specified in the parameter settings Monitor and display the target speed in the JOG operation JOG tatget speed Click Change to change the target speed for the JOG operation JOG Click to perform the forward rotation JOG Click to perform the reverse rotation State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred Speed rate The target speed of the home return specified in the parameter settings for each axis is regarded as 100 and the operation is executed in the specified speed rate Clicking Speed rate shows the dialog for inputting the value The speed rate changed here is effective only in the tool operation and it changes to the original speed rate automatically once the tool operation quits 7 41 LOO e Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 2 Click the JOG for the JOG operation in the forward rot
200. me return Setting code The pattern of the home return Home return Direction The operating direction of the home return Home return Acceleration time The acceleration time in the home return Home return Deceleration time The deceleration time in the home return Home return Target speed The target speed in the home return Home return Creep speed The speed to search the home position after the proximity input JOG operation Acceleration Deceleration type The acceleration deceleration type in the JOG operation JOG operation Acceleration time The acceleration time in the JOG operation JOG operation Deceleration time The deceleration time in the JOG operation JOG operation JOG target rate The target rate in the JOG operation Emergency stop deceleration time ms Limit stop deceleration time ms The deceleration time when the emergency stop is requested by the input contact The deceleration time for the deceleration operation when the limit is input Error stop deceleration time ms The deceleration time for the deceleration operation when an error occurs Pulser operation setting code Pulser operation ratio numerator Pulser operation ratio denominator The pulser input 1 to 3 in the pulser operation No of movement pulse is calculated by multiplying the No of input pulse from the pulser by the ratio
201. ment valeu Monitor error Actual spped judgment Monitor error Actual speed judgment value Follows the operation of the master axis during the synchronous operation Home Setting code Home return Direction Home return Acceleration time Home return Deceleration time Home return Traget speed Home return Creep speed Home return Stop on contact judgment time Home return Stop on contact torque value Varies depending on the operation mode of the synchronous operation Synchronous mode A Operates by the setting of each axis Synchronous mode B Follows the operation of a master axis JOG operation Acceleration Deceleration type JOG operation Acceleration time JOG operation Deceleration time JOG operation Target speed JOG positioning operation setting code JOG positioning operation acceleration time JOG positioning operation deceleration time JOG positioning operation target speed Follows the operation of the master axis during the synchronous operation Emergency stop deceleration time ms Limit stop deceleration time ms Error stop deceleration time ms The operation varies according to the type of stop operations For the details refer to 3 5 2 Stop Operation During Synchronous Operation Pulser operation setting code Pulser operation ratio numerator
202. mity occurs in the positioningn unit RTEX errors or warnings will occur When errors or warnings occur the following operations will be performed Errors executed Warnings Occurs in any abnormal conditions When a motor is operating the operation stops The motor stopped due to the occurrence of error will not activate until the error clear is Occurs when any operational unconformity not abnormal conditions exist The operation can continue even after the occurrence of warnings and the motor continues running if the motor is operating The errors and warnings can be confirmed on the data monitor and status monitor screens of the Configurator PM The errors and warnings occur in the positioning unit RTEX and AMP The area that errors warnings occurred and the details can be indentified by the error warning codes 15 1 2 Error and Warning Logs There are log areas to store the error warning logs within the positioning unit RTEX Error log Max 7 error codes can be stored for each axis axis 1 to 8 Warnings log Max 7 warning codes can be stored for each axis axis 1 to 8 Once an error warning occurs the error warning code will be stored in the log area of the axis that the error occurred When an error warning that is not related to the axes occurs such as an failure in the unit the error warning code will be stored in the log areas of all axes The latest error warning codes for
203. n the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position Sample program RO y108 Y88 DE aaa allMlllMMMMMMMMlMllMlMMlMlMsssssssssssSN H Servo ON Servo on Snooi oo for axis 1 R1 Y150 Y130 H k or _ _ Servo OFF Servo off Servooff 7 ii for axis 1 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 RID 4 ee st ee f a t Vt _ Start enabled condition ot Tool Connection Servolock Error for aun stablishment k for al axes operation contemanon for axis 1 axis 1 enabled flag mxo H omv kK DTO Starting table No Position coniro sin F151 WRT HO DTO K1 H100 4 Starting table setting bako e ee e a ees Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R2 R10 X118 X18 Y110 Y90 porani m H DF SS 1 Positioning start Position Enabled flag Busy flag Positioning control start for axis 1 for axis 1 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e Once starting the table 1 the operation conti
204. n the synchronous axis with the correct setting values operaiton please contact us Synchronous operation not The setting of the synchronous Changing the setting of the i Each synchronous operation should be 3044H settable opration was changed during the _ A axis performed when the pulser In pulser pulser operation operation enabled signal is off operation The difference between the Synchronous movement amounts of the target Each Check the operation of the target 3045H operation axes for the synchronous Sis A axes for the synchronous mismatch error operation exceeded the operation specified difference threshold The torque value exceeds the setting upper and lower limit Design the system within the Torque judgment values Each range that the torque of the motor 3050H Aine Zis A does nto exceed the judgment This error occurs when setting value torque judgment to Available Check the torque judgment value annunciation emthod to Error The actual speed exceeded the setting upper and lower limit Design the system within the values range that the actual speed of the Actal speed Each motor does not exceed the 3051H judgment value F A This error occurs when setting axis judgment value error actual speed judgment to Available annunciation method to Error Check the actual speed jdgement value 15 18 15 5 5 Setting Value Errors From 4000H Ver
205. n this deceleration time 037H deceleration bit Name Default Descriptions time 15 to 0 Error stop 100 Setting range 0 to 10 000 ms deceleration time Any other settings will be errors Specify one pulser among 1 to 3 for the input for the case that pulser operation is requested by I O Pulser operation bit Name Default Descriptions 038H setting code 15 to 0 Pulser operation 0 0 Pulser input 1 setting code 1 Pulser input 2 2 Pulser input 3 Any other settings will be errors 17 41 Offset Ae Default Setting d Name Descriptions Unit address value range Sets the multiplier for the input pulse string in the pulser operation Moving pulse number of AMP Pulse strings of input from pulser x Numerator Pulser operation of ratio of pulser operation Denominator of ratio of pulser operation pean ratio numerator bit Name Default Descriptions 15 to 0 Pulser operation ratio 1 Setting range 1 to 32 767 numerator Any other settings will be errors Sets the divisor for the input pulse string in the pulser operation Moving pulse number of AMP Pulse strings of input from pulser x Pulser operation Denominator of ratio of pulser operation Numerator of ratio of pulser operation 03AH ratio denominator bit Name Default Descriptions 15 to o Pulser operation ratio 1 Setting
206. n type error incorrect 4204H JOG operation The acceleraiton time of the JOG Each axis A acceleration time error operation is out of the range 4205H JOG operation The deceleraiton time of the JOG Each axis A deceleration time error operation is out of the range Absolute Incremental A Value other man ihe 4301H i absolute increment is set for the Each axis A setting error move method 4302H Dwell time error The setting valle oF Me dwell tim E ehai A is out of the range Positioning startin The specified table number is 0 4303H 9 9 or it exceeds the maximum table Each axis A table No error number 4304H Table setting error The lastitable et the positioning Each axis A setting tables is not point E Check the setting value Shed The movement amount of the Positioning movement Piette bat If the error occurred 4400H positioning operation is out of the Each axis A amount setting error repeatedly with the correct range setting value please Positioning rotating The acceleration deceleration contact us 4401H acceleration decelera type of the positioning operation is Each axis A i tion type error incorrect Positionin The acceleration time of the 4402H 9 positioning operation is out of the Each axis A acceleration time error range Positionin The deceleration time of the 4403H a s positioning operation is out of the Each axis A deceleration time error range Pasifioninc taruet The target speed
207. nals It is also called a manual pulse generator Deceleration stop This is a function that interrupts the operation in progress slows the rotation and brings it to a stop The deceleration time can be specified individually Emergengy stop This is a function that interrupts the operation in progress slows the rotation and brings it to a stop Generally a time shorter than a time for a deceleration stop is set The deceleration time can be specified individually Positioning table Table A series of positioning data such as acceleration deceleration time target speed and interpolation operation that is necessary for a position control is managed as a positioning table For example one table is necessary for the E point control and multiple tables are necessary for the P point control and C point control depending on the number of pass points and continuance points Limit input limit input This is an input to set a limit the motor movement Limit input is the maximum limit and the limit input is the minimum limit They are connected to the AMP for the positioning unit RTEX Near home DOG input In order to stop the table at the home position a position at which deceleration begins is called the near home position This is connected to an external input switch or sensor It is connected to the AMP for the positioning unit RTEX Dwell time In case of the E point control a time from the completion of a position comma
208. ncrement Increment Increment Pulse 1 073 741 823 to 1 073 741 823 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 um X axis um 1 um 1 073 741 823 to 1 073 741 823 um movement awe ee see inch 0 00001 inch 10 737 41823 to 10 737 41823 inch amount p P P inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Acceleration deceleration L Linear L Linear L Linear L Linear S S shaped acceleration deceleration pattern Acceleration 100 ms 200 ms 30 ms 0 to 10000 ms time ms Deceleration 10 ms 20 ms 150 ms 0 to 10000 ms time ms Pulse 1 to 32 767 000 pps um 1 to 32 767 000 mm s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Target speed 10000 pps 20000 pps 5000 pps Operation diagram Positioning start contact Y110 Y90 BUSY flag Y118 X18 n Operation done flag X120 X20 ____________ Current value The numbers in parenthesis Count are the flag and contact numbers for the FP2 8 5 Operations of each contact e The BUSY flag FPz X118 FP2 X18 indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag FPX X120 FP2 X20 indicating the state that an operation completed turns on whe
209. nd Data Values eee 7 30 7 14 Transferring Setting Data 7 31 7 14 1 Uploading Setting Data from Positioning Unit RTEX 7 31 7 14 2 Downloading Setting Data to Positioning Unit RTEX 7 32 7 14 3 Writing Settings to FROM uu ee ceeseeeeeneeeeenneeeeeeeeees 7 33 7 15 Data MOHON niisiis iieii iy 7 34 716 Status DISPIAY c2 cciee sencereecdscagssceentedecvhetaysaredsszecdbethoeesutsteevs 7 35 LVF TOOl Operation ii e pes tiade bee ee tE 7 36 7 17 1 Tool Operation Servo On Off eenen 7 37 7 17 2 Tool Operation Home Return eeen 7 38 7 17 3 Tool Operation Positioning c e 7 39 7 17 4 Tool Operation JOG Operation eeen 7 41 7 17 5 Tool Operation Teaching eeceeeeseeeseeeeeenneereeeeees 7 43 8 Automatic Operation Position Control 8 1 8 1 Basic Operation ssri noinine iie 8 2 8 1 1 Setting and Operation of E Point Control 8 3 8 1 2 Setting and Operation of P Point Control eee 8 5 8 1 3 Setting and Operation of C Point Control ee 8 7 8 2 Interpolation Control assioni 8 9 8 2 1 Setting and Operation of Two Axis Linear Interpolation 8 12 8 2 2 Setting and Operation of Two Axis Circular Interpolation 8 14 8 2 3 Setting and Operation of Three Axis Linear Interpolation 8 16 8 2 4 Setting and Operation of Three Axis Linear Interpolation 8 19 9 Manual Operation JOG Operation 9 1 9 1 Setting and Operation of Home Return eens 9 2 9 2 Ch
210. nde until the operation done flag turns on can be specified as a dwell time In case of the C point control a time from the deceleration stop until the next table activates can be specified Auxiliary output code auxiliary output contact They are used to check the operation of a position control The auxiliary output code is a 16 bit code that can be specified for each positioning table and enables to monitor which positioning table is being executed The exeuction fo the position control can be confirmed by turning an exclusive auxiliary output contact on for a constant time Software limi Limits can be set for the absolute coordinate managed within the positioning unit RTEX When exceeding the setting range of the software limit an error occurs and the system decelerates and stops The decelration time can be set individually Torque limit The output torque of the AMP can be limited arbitrary Servo lock Servo free According the command from the positioning unit the state that the motor is controllable is called a servo lock state and the state that the motor is uncontrollable is called a servo free state The servo on operation is necessary to make it to the servo lock state Servo ON Servo OFF The operation that changes the servo free state to the servo lock state is called a servo on and the operation that changes the servo lock state to the servo free state is called a servo off Linear interpolation This is the interpo
211. ne contact X_7 will turn on Note It is used only when the positioning data has been rewritten by laddar programs Servo ON request Requests the servo lock for the corresponding AMP The servo lock is executed by the ON edge of this contact The servo cannot be free automatically even in the program mode To make the servo free turn on the servo OFF request contact The operation is the edge type Requests the positioning control for the corresponding AMP The starting table is specified in the area for specifying the position control starting table number in the shared memory Positioning start up The operation is the edge type up JOG forward JOG reverse JOG forward JOG reverse JOG forward JOG reverse JOG forward JOG reverse JOG forward JOG reverse JOG forward JOG reverse JOG forward JOG reverse JOG forward FPS FP2 axis Y80_ All axes 81 Y82_ Y83 y84 Y105 y85 Y106 y86 rte axes Y10A Y8A Y10C Y8C LY8D__ 6 axis Y8E_ 7 axis Y8F 8 axis LY90_ 1 axis Y91 2 axis v92 _ 3 axis Y113 Y93 4 axis v94 5 axis LY95_ 6 axis LY96_ 7 axis v117 g Yo97 8 axis Y11418 z Y98 1 axis LY99_ 2 axis Y9A_ 3 axis LY9C_ 5 axis Y11D Y9D 6 axis Y11F YOF l Y124 Y104 Y126 Y106 127 _ S Y107 128 S 108 Y12B Y10B Y12D Y10D Y12F Y10F JOG reverse If this contact turns on during the Tool operation by Configurator PM a
212. nformation of I O connected to the AMPs of each axis bit Name Default Descriptions 0 CWL 0 1 CCWL 0 O1H External terminal 2 HOME proximit 0 0 Non active 031H input monitor of 3 EX IN1 o 1 Active axis 1 4 EX IN2 0 5 EX IN3 0 6 EX SON EX IN4 0 7 EMG STP lo 15 to 8 Torque 0to 032H command of Stores the torque monitor value 5000 0 1 axis 1 0 1 Actual speed of 0 to rps or 033H P Stores the actual speed monitor value P axis 1 5000 0 1 rpm Acitve table or N oie Stores the number of active positioning 1 to 038H execution done 1 table or when the operation completed 600 table of axis 1 Auxiliary output zo 039H y P Stores the auxiliary output code 0 code of axis 1 03CH Feedback value Stores the current value absolute 0 age 03DH of axis 1 coordinate of AMP P 03EH Unit system conversion Stores the current value after the unit 0 feedback value was converted 03FH of axis 1 17 29 Axis information of axis 2 Bank Sel Name Descriptions address 040H 041H war System ID of axis 2 043H eae 0444 Brand name or vendor Refer to the descriptions of axis 1 name 045H 046H 047H 048H 049H 04AH Hace
213. ng Starting table start F151 WRT HO DTO K1 H100 Starting table R100 X118 X18 R200 X119 X19 Y110 Y90 Enabled flag Busy flag Enabled flag Busy flag Positioning for axis 1 for axis 1 for axis 2 for axis 2 for axis 1 senser JOG operation R4 R101 DF c SUA Forward JOG Off edg forward JOG R5 R102 DF ese Reverse JOG Off ene i reverse R4 R100 X118 X18 R101 120 Y100 DF gt _ 1 Forward JOG Enabled flag Busy flag Off edge of Forward JOG Positioning start The programs in this part vary depending on the setting methods This program is the one when the data has been already set by the configurator PM When the data is set using other 2 methods please replace this part 73 76 79 93 103 106 113 133 138 R100 X118 X18 R102 Y121 Y101 pF gt Reverse JOG Enabled flag Busy flag Off edge of Reverse JOG Y121 Y101 for axis 1 foraxis1 reverse JOG for axis 1 Reverse JOG R201 DF e Forward JOG Off edge of forward JOG R202 n DF SO gara R6 R200 X119 X19 R201 Y122 Y102 a DF Forward JOG Enabled flag Busy flag Off edge of Forward JOG 122 Y102 for axis 2 for axis 2 forward JOG for axis 2 rowa oG r axis R7 R200 X119 X19 R202 Y123 Y103 DF Reverse JOG Enabled flag Busy flag Off edge of Reverse JOG Y123 Y103 for axis 2 for axis 2 reverse JOG for axis 2 Reve
214. ng address of table 221 220H Starting address of table 222 230H Starting address of table 223 240H_ Starting address of table 224 250H Starting address of table 225 260H Starting address of table 226 270H Starting address of table 227 280H Starting address of table 228 290H Starting address of table 229 2A0H_ Starting address of table 230 2BOH_ Starting address of table 231 2COH_ Starting address of table 232 2D0H_ Starting address of table 233 2E0H _ Starting address of table 234 2FOH Starting address of table 235 300H Starting address of table 236 310H Starting address of table 237 320H Starting address of table 238 330H Starting address of table 239 340H Starting address of table 240 350H Starting address of table 241 360H Starting address of table 242 370H Starting address of table 243 380H Starting address of table 244 390H Starting address of table 245 3A0H_ Starting address of table 246 3BOH_ Starting address of table 247 3COH _ Starting address of table 248 3D0H_ Starting address of table 249 3E0H_ Starting address of table 250 3FOH Starting address of table 251 17 49 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis7 Axis 8 Bank No S Descriptions 06H 10H 1AH 24H 2EH 38H 42H 4CH 000
215. ng address of table 394 OFOH Starting address of table 395 100H Starting address of table 396 110H Starting address of table 397 120H Starting address of table 398 130H Starting address of table 399 140H Starting address of table 400 150H_ Starting address of table 401 160H Starting address of table 402 170H Starting address of table 403 180H Starting address of table 404 190H Starting address of table 405 1A0H_ Starting address of table 406 1BOH Starting address of table 407 1COH Starting address of table 408 1DOH Starting address of table 409 1E0H Starting address of table 410 1FOH Starting address of table 411 200H Starting address of table 412 210H Starting address of table 413 220H Starting address of table 414 230H Starting address of table 415 240H_ Starting address of table 416 250H Starting address of table 417 260H Starting address of table 418 270H Starting address of table 419 280H Starting address of table 420 290H Starting address of table 421 2A0H_ Starting address of table 422 2BOH_ Starting address of table 423 2COH_ Starting address of table 424 2D0H_ Starting address of table 425 2E0H _ Starting address of table 426 2FOH Starting address of table 427 300H Starting address of table 428 310H Starting address of table 429 320H Starting address of table 430 330H Starting address of table 431 340H Starting address of table 432 350H Starting address of table 433 360H Starting address of table 434
216. ng unit Error Soda Error name Description Object Clear Countermeasures Various requests from the PLC t cannot be executed during the The following request signals Teol operation excaot the were turned on by the host PLC P P following requests during the Tool operation s Ree Deceleration stop request flag Positioning startup request flag A Each each axis BOOOH Tool operation each axis A axis Emergency stop request flag Home return request flag each h axi axis each axis JOG forward reverse rotation System stop request flag all A axes request flag each axis Pulser operation enabled flag each axis The requests for the axes being operated cannot be executed except the following requests The same axis was requested to Each Deceleration stop request flag B010H Duplicate startup start even though the axis A each axis axis operation has not completed Emergency stop request flag each axis System stop request flag all axes J point sepped change contact When the both contacts have port Sin Ultaneous and J point positioning start Each been turned on simultaneously J BO30H ute arin contact was turned on axis _ point positioning start contact up warning simultaneously during the JOG a has a priority and J point speed positioning J point operation change contact is ignored The monitored torque value exceeded the specified upper lower limit value Design
217. nges from the target speed to the stop For the P point control the acceleraiton time is the time during which the speed accelerates form the current speed to the next target speed and the deceleration time is the time during which the speed decelerates from the current speed to the next target speed CW CCW Generally these indicate the direction in which the motor is rotating with CW referring to clockwise rotation and CCW to counterclockwise rotation Absolute method absolute value control method This is a control method in which the target position is specified as an absolute position from the home position This is specified on the positioning data editing screen of the Configurator PM 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 This is specified on the positioning data editing screen of the Configurator PM D Position command value setting 5000 O 2 3000 setting ow Absolute method ezzr fe ah elf See oy T Position command value setting 5000 0 2 2000 setting i Increment method exer S A D GOONS a ER 3000 5000 Automatic operation This is an operation to be automatically executed and means a position control Manual operation This is an operation to be executed for an initial boot or adjustments The home return JOG operation
218. nication error Axis operation error Recovered state after restoring the power supply of the AMP A Error occurred when a problem was cuased on AMP such as a network error and proteciton error during operation When an error occurred the error can be recoevered by restoring the power supply of the AMP after removing the error factor AMP error Refer to List of Error Code for the details of error types 15 2 2 State of Servo After an Error Occurred The state of the servo of the AMP after an error occurred varies depending on the occurred error types and code Error type Error code State of servo when an error occurred State of servo after an error was recovered AMP error From 0000H When an error occurred on the AMP the servo automatically becomes free regardless of the state of the error occurrence The servo lock flags X10 to X17 also turns off automatically If the state when an errro occcurred is Recovered state after restoring the power supply remove the error factor and restore the power supply of the AMP After that clear the error and make the servo on request Y88 to 8F again time out 2003H Network communication When communication time out occurrred the error information on the AMP may not be obtained Therefoere the state of servo at that time is one of the followings When the Communication time out protection error
219. ning LOgS 0c cccececeeeeeeeeeeeceeeeeeeenteaeees 15 2 15 1 3 Errro and Warning Clear occ cceeeceeeesneeeeeneeeeenneeeenees 15 3 15 1 4 Errro and Warning Code Format 15 3 15 1 5 Sample Program cc ceceseeeeeeeeeeeseeeeeeeeneeeeeeeeeeeeneeeeeeaas 15 3 15 2 Change in Error Recovery Process Ver 1 13 or later 15 4 15 2 1 Overview of Operational Change cscceceeseeeestreeeeees 15 4 15 2 2 State of Servo After an Error Occurred ecce 15 4 15 3 List of Error Codes Ver 1 00 to 1 01 15 5 15 3 1 AMP Errors From 0001H Ver1 00 to 1 01 ee 15 5 15 3 2 System Errors From 1000H Ver 1 00 to 1 01 a 15 7 15 3 3 AMP Communication Errors From 2000H Ver 1 00 to 1 01 15 8 15 3 4 Axis Operation Errors From 3000H Ver 1 00 to 1 01 15 9 15 3 5 Setting Value Errors From 0x4000 ec eeeeeeeeeeeeeeee 15 10 15 4 List of Warning Codes Ver 1 00 to 1 01 eerie 15 12 15 4 1 AMP Warnings From A000H Ver 1 00 to 1 01 15 12 15 4 2 Unit Warnings From BOOOH Ver 1 00 to 1 01 15 13 15 5 List of Error Codes Ver 1 13 or later n n 15 14 15 5 1 AMP Errors From 0001H Ver 1 13 or later 0 15 14 15 5 2 System Errors From 1000H Ver 1 13 or later 15 15 15 5 3 AMP Communication Errors From 2000H Ver 1 13 or later 15 16 15 5 4 Axis Operation Errors From 3000H Ver 1 13 or later 15 17 15 5 5 Setting Value Errors From 4000H Ver 1 13 or later 15 19 15 6 List
220. ning movement amount Example If the rate has been set to 50 in the delay mode the auxiliary output contact will turn on once it moves to the position where is 50 of the movement amount of the positioning table Busy flag Operation done flag aS SS a a Auxiliary output data Auxiliary output Auxiliary output bn time With mode ms Auxiliary contact flag acai ee A A aS Auxiliary output i Delay mode H Auxiliary contact flag Delay rate 23 2 1 Delay Mode Setting Delay mode is added to the auxiliary output mode The Ver1 00 and Ver 1 01 auxiliary output mode is With mode Also the delay rate of the delay mode is added to Each axis positioning parameter setting area ba D Reference 17 6 2 Parameter Setting Area Addition of 17 6 2 Each axis positioning parameter setting area Ver 1 13 or later Offset addres Name Descriptions s Set the auxiliary output contact and auxiliary output function of the auxiliary output code whether to be used or unused The on time of the auxiliary output contact is determined by the following auxiliary output on time Bit Name Default Description Oto7 Auxiliary output mode 0 OOOOH Not use the auxiliary output function auxiliary output contact and code 0001H Use With mode 0002H Use Delay mode Auxiliary output mode 15 to 8 Auxiliary output on time 10 The setting range is OOH 0 ms to FFH 225 ms When using the delay mode for the auxiliary o
221. nounces the code when an error occurred 19FH buffer 3 of axis 8 4A0H Error code annunciation Announces the code when an error occurred 1A1H buffer 4 of axis 8 1A2H Error code annunciation Announces the code when an error occurred 1A3H buffer 5 of axis 8 1A4H Error code annunciation Announces the code when an error occurred 1A5H buffer 6 of axis 8 1A6H Error code annunciation Announces the code when an error occurred 1A7H buffer 7 of axis 8 17 22 17 4 9 Warning Annunciation amp Clear Area When a warning occurs that does not lead to the stop the warning and the number of occurrences for each axis will be stored in this area Once the warning clear is executed the warning and number of occurrences will be cleared and then the warning will be judged again If the warning condition still continues the warning will occur again even after the execution of warning clear When a warning targeted to all axes occurs it will be stored in the warning annunciation buffers of all axes Up to 7 warnings are stored in the warning history The warning clear can be executed by the warning clear contact as well Bank offset Name Descriptions address Executes the warning clear for each axis bit Name Default Descriptions 0 Waming dear of axis 1 0 1 Waming clear of axis 2 0 Warning clear 2 Waming dea
222. nput connected to the x3C_ 5axis_ corresnponding AMP X13D X3D X142 X42 Turns on when the position error of the corresponding axis is x43 4 axis i within the imposition range specified in AMP X144 X44 pene The setting of the imposition range can be changed by PANATER M that is a tool of AMP MEZA 5 kias S X149 X49 Turns on when the corresponding positioning table of the Auxiliary contact CO esPonding axis was executed Y Use Configurator PM or directly write in the shared memory for setting to able disable the auxiliary contact X14E X4E X14F X4F 17 7 FPS g a g a x lt ee oO 2 g oa N z oa N x lt 2 oO o alata Olay aloo Olay XX ol N WX5 158 WX15 3 oa o g ao Oo a a gt ajajaja m ojO wW x lt ae oO TT X X lt gt lt X lt ean Dea ead ey D H H O WINI3 S x lt a O K E D a x a Xx N Q ro WX6 x gt lt X lt X lt S G o N WX16 olaola Djol N x lt a D w Z op O x O a O O NIN JO o o n m SJS gt jojnim x lt a N N E N wo B Si wo x lt a N KR lt gt lt gt lt gt lt SISSI NINN S NS WX17 x lt WX7 a N te za ard Ean ea NIJ NI NIN ojojo gt x lt gt x lt Sa NIN nim 17 Co Contact allocation Target x 2 x lt oO oo N X5 X x lt oO Q gt o a alan a mojoj 7 axis Name
223. nter that name Configurator PM Setup Select Program Folder Please select a program folder Setup will add program icons to the Program Folder listed below You may type a new folder name or select one from the existing folders list Click Next to continue Program Folders Existing Folders Accessories Administrative Tools Ethereal Games Java Web Start Panasonic MEW Control Realtek Sound Manager Startup lt Back Cancel 10 The installation process begins A message is displayed on the screen indicating that the installation is in progress and the Configurator PM setup begins Configurator PM Setup Setup Status Configurator PM Setup is performing the requested operations Installing C Program Files NAIS MEWNETSNAIS_MEWINTER dll 77 Cancel 11 Display the Readme file When the setup process has been completed a dialog box showing the completion is displayed The latest information is described in the Readme file Click on Yes Question gt Setup is completed s The Readme contains the latest information that is not contained in the Help files Do you want to display the Readme file 12 Reboot the computer When all of the process has been completed a dialog box is displayed confirming that the computer will be rebooted Select either radio button reboot at once or reboot later aand click on Finish Configurator PM Setup InstallShield Wizard Complete Setup ha
224. nues up to the table 3 automatically The last table should be set to E End point e If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation EoiWard Limit input ON Not executable Error occurs When P point control is Limit input ON Not executable Error occurs executed Limit input ON Not executable Error occurs Reverse Limit input ON Not executable Error occurs Forward Limit input ON Deceleration stop Error occurs During P point control Reverse Limit input ON Deceleration stop Error occurs 8 6 8 1 3 Setting and Operation of C Point Control The example below is the case of a single axis control when using the FP2 with the positioning unit RTEX installed in the slot 0 The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Table 18000 pulses gt side side Setting The parameters necessary for the setting of the positioining data and p
225. o oa lt SX a oO lt oa o WY15 alalala Djol NIN S N Pje lt NX wW lt oa wW N O a a O D Z a x lt N m oa m 17 11 17 3 Configuration of Shared Memory Areas The positioning unit RTEX manages all the setting values of parameters and positioning data in the shared memory Therefore all the setting values can be specified by ladder programs as well as Configurator PM Followings are the details of the shared memory Area name Shared memory bank Individual name of each area Setting parameter control area Operation speed rate area Axis group setting area Common area 00H Home change data area Torque limit area Position control starting table number setting area Error annunciation amp clear area Warning annunciation amp clear area 1axis Each axis information amp monitor area 2 axis Each axis information amp monitor area 3 axis Each axis information amp monitor area Each axis i R A 4 axis Each axis information amp monitor area information area 01H Note 5 axis Each axis information amp monitor area 6 axis Each axis information amp monitor area 7 axis Each axis information amp monitor area 8 axis Each axis information amp monitor area Parameter setting area 02H to OBH 1 axis Positioning data setting area Standard for
226. o 8 bit Name Default value Descriptions 3000 Sets the torque limit value Th it is 0 1 15 to0 Torque limit value G unitis 10 1 If 2000 is written in this area it operates with 2000 x 0 1 200 as the maximum torque 13 4 13 4 Auxiliary Output Code and Auxiliary Output Contact The auxiliary output contact is a function to inform about which table s operation is performing when the automatic operation E point control C point control P point control is executed The auxiliary output contact and the auxiliary output code can be used by setting the parameter auxiliary output mode of each axis to the With mode Note that it is not available if the auxiliary output mode is not used Auxiliary output contact When the automatic operation started the auxiliary contact flag of the corresponding axis allocated to I O turns on Also the ON time of the auxiliary contact falg can be specified in the ms unit Auxiliary output data The auxiliary output data 1 word can be set for each table of the positioning data The content of the process currently carried out can be confirmed by setting the auxiliary output The values in the auxiliary output data are held until the next positioning table is executed Also the auxiliary output data that was output just before the completion of the automatic operation is held BUSY flag a ne or Operation done flag ee ee Auxiliary output data
227. o change the original point of axis 1 0C9H axis 1 00H OCAH Home change coordinate of Stores the coordinate to change the original point of axis 2 OCBH axis 2 OCCH Home change coordinate of Stores the coordinate to change the original point of axis 3 OCDH axis 3 OCEH Home change coordinate of Stores the coordinate to change the original point of axis 4 OCFH axis 4 ODOH Home change coordinate of Stores the coordinate to change the original point of axis 5 0D1H axis 5 0D2H Home change coordinate of Stores the coordinate to change the original point of axis 6 OD3H axis 6 0D4H Home change coordinate of Stores the coordinate to change the original point of axis 7 ODSH axis 7 OD6H Home change are coordinate of Stores the coordinate to change the original point of axis 8 17 16 17 4 6 Torque Limit Area The output torque from the AMP to motor can be changed The setting range of 1 to 5000 is equivalent to 0 1 to 500 0 It cannot be changed during the positioning operation The change done during the positioning operation will be affected at the next start up Offset Default Settin Bank Name Descriptions g Unit address value range Sets whehter to enable or disable the execution of the torque limit for each axis To enable the torque limit set the corresponding bit to 1 bit Name Default Descriptions 0 Torque limit of axis 0 1 Torque limit of ax
228. o the following home change coordiates Afther the change the positioning unit clear the corresponding bits to 0 automatically bit Name Default Descriptions 0 i Request home change ofaxis 1 o OCOH Home a 1 Request home change ofaxis2 0 roques rag 2 Request home change ofaxis3 0 0 No change 3 Request home change of axis 4 0 1 Change the coordinate origin 4 Request home change of axis 5 0 After the change the positioning unit sets to 0 5 Request home change of axis 6 0 OY 6 Request home change of axis 7 0 7 Request home change of axis 8 0 15 to 8 0C8H Home change Stores the coordinate to change the original point of axis 1 OC9H coordinate of axis 1 OCAH Home change Stores the coordinate to change the original point of axis 2 OCBH coordinate of axis 2 OCCH Home change Stores the coordinate to change the original point of axis 3 OCDH coordinate of axis 3 OCEH Home change Stores the coordinate to change the original point of axis 4 OCFH coordinate of axis 4 ODOH Home change Stores the coordinate to change the original point of axis 5 OD1H coordinate of axis 5 0D2H Home change F Stores the coordinate to change the original point of axis 6 0D3H coordinate of axis 6 0D4H Home change Stores the coordinate to change the original point of axis 7 OD5H coordinate of axis 7 OD6H Home change F Stores the coordinate to change the original point of axis 8 0D7H coordinate of axis 8 Procedur
229. occcurrences of errors warnings Stores the number of occurrences of errors and warnings Error warning annunciation buffers 1 to 8 Stores error and warning codes The buffer 1 is always the latest code 15 2 15 1 3 Errro and Warning Clear When an error warning occurred it can be cleared at the each axis that the error occurred Note that all the contents of the error log will be initialized once the error warning clear is executed The error warning clear can be executed on the data monotor screen of the Configurator PM but errors warnings can be cleared by the error clear request flag or warning clear request flag allocated for the I O Note When an error occurred the axis that the error occurred will not be operated until the execution of the error clear 15 1 4 Errro and Warning Code Format The error and warning codes are 32 bit data and in the format as follows 32 bits double word 16 bits word 16 bits word Not used Error warning code 15 1 5 Sample Program The program below is a sample program to detect the occurrence of error and to clear the error after reading the error log X160 X60 0 DF F150 READ HO H128 K16 DT 100 Error annunciation BankO Starting address No of Data register of flag for axis 1 Slot No O for reading reading storage location shared memory words R100 X160 X60 Y160 Y140 14 f DF Error clear Error annun
230. of table 5 OQAOH Starting address of table 6 OBOH Starting address of table 7 OCOH Starting address of table 8 ODOH Starting address of table 9 QEOH Starting address of table 10 OFOH Starting address of table 11 100H Starting address of table 12 110H Starting address of table 13 120H Starting address of table 14 130H Starting address of table 15 140H_ Starting address of table 16 150H Starting address of table 17 160H Starting address of table 18 170H Starting address of table 19 180H Starting address of table 20 190H Starting address of table 21 1A0H _ Starting address of table 22 1BOH Starting address of table 23 1COH Starting address of table 24 1DOH Starting address of table 25 1E0OH Starting address of table 26 1FOH Starting address of table 27 200H Starting address of table 28 210H Starting address of table 29 220H Starting address of table 30 230H_ Starting address of table 31 240H Starting address of table 32 250H Starting address of table 33 260H Starting address of table 34 270H Starting address of table 35 280H Starting address of table 36 290H_ Starting address of table 37 2A0H _ Starting address of table 38 2BOH _ Starting address of table 39 2COH_ Starting address of table 40 2D0H_ Starting address of table 41 2E0H Starting address of table 42 2FOH Starting address of table 43 300H Starting address of table 44 310H Starting address of table 45 320H Starting address of table 46 330H Start
231. of table 505 3E0H_ Starting address of table 506 3FOH Starting address of table 507 17 53 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis7 Axis 8 Bank No T Descriptions OAH 14H 1EH 28H 32H 3CH 46H 50H 000H Starting address of table 508 010H Starting address of table 509 020H Starting address of table 510 030H Starting address of table 511 040H Starting address of table 512 050H Starting address of table 513 O60H Starting address of table 514 070H Starting address of table 515 080H Starting address of table 516 090H Starting address of table 517 QAOH Starting address of table 518 OBOH Starting address of table 519 OCOH Starting address of table 520 ODOH Starting address of table 521 QEOH Starting address of table 522 OFOH Starting address of table 523 100H Starting address of table 524 110H Starting address of table 525 120H Starting address of table 526 130H Starting address of table 527 140H Starting address of table 528 150H Starting address of table 529 160H Starting address of table 530 170H Starting address of table 531 180H Starting address of table 532 190H Starting address of table 533 1A0H_ Starting address of table 534 1BOH Starting address of table 535 1COH Starting addres
232. of table 78 130H Starting address of table 79 140H Starting address of table 80 150H__ Starting address of table 81 160H Starting address of table 82 170H Starting address of table 83 180H__ Starting address of table 84 190H Starting address of table 85 1A0H_ Starting address of table 86 1BOH Starting address of table 87 1COH Starting address of table 88 1DOH Starting address of table 89 1E0H Starting address of table 90 1FOH Starting address of table 91 200H Starting address of table 92 210H Starting address of table 93 220H Starting address of table 94 230H Starting address of table 95 240H_ Starting address of table 96 250H Starting address of table 97 260H Starting address of table 98 270H Starting address of table 99 280H Starting address of table 100 290H Starting address of table 101 2A0H_ Starting address of table 102 2B0H_ Starting address of table 103 2COH_ Starting address of table 104 2D0H_ Starting address of table 105 2E0H _ Starting address of table 106 2FOH Starting address of table 107 300H Starting address of table 108 310H Starting address of table 109 320H Starting address of table 110 330H Starting address of table 111 340H Starting address of table 112 350H Starting address of table 113 360H Starting address of table 114 370H Starting address of table 115 380H Starting address of table 116 390H Starting address of table 117 3A0H_ Starting address of table 118 3BOH_ Starting address of ta
233. of the 4404H g targ positioning operation is out of the Each axis A speed error range 4500H Interpolation type error he setting ofthe interp latiori Each axis A type is incorrect Circular ihteroclaton The parameter of the circular 4504H p interpolation such as center point Each axis A not executable PERNA or pass point is incorrect Spiral interpolation not The error occurred during the 4505H p p spiral interpolation as the setting Each axis A executable ne value is incorrect 15 11 15 4 List of Warning Codes Ver 1 00 to 1 01 Warning codes are from 0xA000 to differentiate from the error codes 15 4 1 AMP Warnings From A000H Ver 1 00 to 1 01 These are the warning codes to be given by the unit when warnings occurred in the AMP The warning codes to be output are represented by the warning codes output from the AMP OxA000 The warning codes of the AMP are written in decimal however the warning codes of the positioning unit are written in hexadecimal For the details of each warning code and the way of handling refer to the manual of the AMP N A Not available Warning ae 5 Warning name Description Object Clear code A010H_ Overload warning Refer to the specifications of AMP Each axis A A012H _ Regenerative warning Refer to the specifications of AMP Each axis A A028H _ Battery warning Refer to the specifications of AMP Each
234. ol starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit 8 21 8 22 Chapter 9 Manual Operation JOG Operation 9 1 Setting and Operation of Home Return The example below is a case when using the FP with the positioning unit RTEX installed in the slot 0 The unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Reverse JOG Forward JOG TET Table a m So side side Ball screw VUIT Setting The parameters necessary for the setting of the JOG operation are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range 0 Linear acceleration deceleration Acceleration deceleration pattern 0 Linear acceleration deceleration 1 S shaped acceleration deceleration Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Target speed 10000 pps Operation diagram tims Forward JOG contact Y120 Y100 SEE aware Reverse JOG contact Y121 Y101 ELORE A eens BUSY flag Y118 X18 4 nn en 222 222 2 222222222222222 222222222220 Operation done flag X120 X20
235. on after the stop by a stopper is regarded as origin Home return direction lt _ _ Phasez _L Home return creep speed Stopper etc 22 1 10 Data Set Method The current value is considered as the origin Home lt Current value position 22 1 11 Sample Program Refer to Home return ladder program for demo fp 22 6 Chapter 23 Supplementary functions Ver 1 13 or later 23 1 Realtime Torque Limit Operational Overview It enables the torque limit value to be changed during the Busy state of the JOG operation or positioning operation The torque value cannot be changed during the Busy state in axis operation by the Positioning Unit RTEX Ver 1 00 and ver 1 01 23 1 1 Restrictions on Real time Torque Limit The realtime torque limit function cannot be used for the home return operation As a paramter of AMP Primary torque limit value is used do not change the used torqu e limit by PANATER M etc when using the torque limit 23 1 2 Sample Program Refer to Real time limit ladder program for demo fp 23 1 3 Each Axis Information amp Monitor Area ip Reference 17 5 2 Each Axis Information amp Monitor Area 23 2 Auxiliary Contact Delay Mode Overview of Operation The Delya mode is a new operation mode added to the auxiliary output contacts Using this mode enables the auxiliary output contact to turn on according to the ratio of the positio
236. on at limit input Condition Direction Limit status Operation ee Not executable Forward Limitinput ON Limit error occurs When Pulser operation is Limit input ON Executable executed Limit input ON Executable Reverse Limit input ON Not executable Limit error occurs Forward Limit input ON Decelerevon lop Limit error occurs During Pulser operation ES Deceleration stop Reverse Limit input ON Limit error occurs 11 3 11 4 Chapter 12 Stop Functions 12 1 Settings and Operations of Stop Functions Following stop functions are available during operations Each deceleration time can be set individually Set the deceleration time according to each occurrence condition of the stop operation Name Occurrence condition Operation Time until stop When the deceleratish Deceleration condtion for Deceleration stop Decelerate and stop the control being stop contact turns on operated when the emergency stop contact turns on when the input of limit switch turns on when exceeding the range of the software limit Error stop when an error occurred Decelerate and stop Can be set individually when the system stop Stop without contact turns on deceleraiton time Emergency stop Decelerate and stop Can be set individually Limit stop Decelerate and stop Can be set individually Software limit stop Decelerate and stop Same as lim
237. on the cell you want to input data enables to input the data as below 5 E End 0 Line I hc 0 6 E End 0 Line F hc 0 7 E End 0 Line FT Inc D 8 EEnd Oline In J 9 E End 0 Line I hc 0 10 E End 0 Line E Ine 0 11 E End 0 Line TI Inc 0 12 E End 0 Line I Inc 0 However in the column with the combo box as below the data item can be set only by inputting the initial character on the keyboard For example input C directly in the column of the pattern Then the data item will be C Continuance point Also it is possible to select with the arrow keys after the input is enable 6 cb cna U LINE r inc 0 Line E Inc O Line E Inc e I hc e E hc U Line I Inc E End 0 Line I Inc E End 0 Line I Inc 3 4 5 6 7 8 9 Press Enter key to determine Press ESC key to cancel Click the tab of a sheet to change to the sheet When using the keyboard press Ctrl Page Up or Ctrl Page Down 23 E End I Increme 24 E End I Increme 25 E End I Increme 26 E End I Increme 2 E End I Increme Taxis 7 24 7 11 2 Copying Positioining Data The data contents can be stored in the clipboard by setting the preference field of the cells on the positioning data editing screen The data stored in the clipboard are pasted in Microsoft Excel as well as the data editing screen of this software cS Note Pasting i
238. ong the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position Sample program RO Y108 Y88 c oF Servoon po oamoam Servo on foraxis1 Servo ON Y109 Y89 Servo on for axis 2 R1 Y 150 Y130 DF Servo off Servo off On poemom for axis 1 r Servo OFF Y151 Y131 L F Servo off for axis 2 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 Link I Tool ection Servo lock Error for Start up enabled 3 3 fral aree operation aun pon foraxis1 axis1 flag for axis 1 Start enabled condition feral ees pir X111 X11 X161 X61 R1 M Connection Servo lock Error for Start up enabled confirmation for axis 2 axis 2 flag for axis 2 for axis 2 Re ng ae a a MS A a 8 8 8 Se t pF gt Fromv_ K1 DTO f 4 Starting table No POMOC Cg Se eee OU ran arae l ee aara ee iil penne emcees F151 WRT _HO DTO Ki H100_ 4 Starting table setting MRG a 1 ee S Y Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R10 R11 X118 X18 _X119 X19 Y110 Y90 PAAR TAE I ee ee tae cy ln ee reer Position Enabled flag Enabled flag Busy flag B
239. operation turns on and the operation starts it will not change to another operation even if the contact of the other contact turns on However the stop operation deceleration stop emergency stop system stop can be executed during other operations 14 2 14 1 3 How to Use Standard Area and Extended Area of Positioning Data When executing the automatic operation position control with the positioning unit RTEX specify the number of the positioning table that has been specified in advance and start the position control After the start up the motor is automatically controlled according to the settings of the table There are the method that creates the positioning table using Configurator PM that is an exclusive setting tool and the other method that writes the positioning table in a prescribed address by ladder programs There are the standard area of 600 points that is specified by No 1 to 600 and the extended area of 25 points that is specified by No 10001 to 10025 The standard area is used when the setting values of the positioning table are predetermined It can be set using Configurator PM and can be rewritten from the ladder programs too However if the positioning table is changed by the ladder program the caulculation is necessary to restructure the positioning data before executing the automatic operation This function enables to read the positioning data of 600 points in advance and to prepare for the start up with
240. oraxis3 foraxis1 foraxis2 foraxis3 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e To start the interpolation control turn on the positioning start contact of the axis with the smallest number in the same group e The values of the X axis auxiliary point and Y axis auxiliary point are invalide for the linear interpolation e When setting the long axis speed the composite speed is faster than the long axis speed e If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit 8 2 4 Setting and Operation of Three Axis Linear Interpolation The example below is the case of a single axis control when using the FP2 with the positioning unit RTEX installed in the slot 0 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately Z axis i Center point X axis 0 Y axis 10000 COTTE Nt 20000 pulses CCC t 5000 pulses SLE wow uses Ceccecca ane 4
241. owing formats is stored from the starting address of positioning tables of each axis Offset Hen Name Descriptions address Sets the position setting mode and acceleration deceleration pattern for the positioning operation bit Name Default Descriptions 0 Increment absolute 00H 00 Increment mode 000H Control code setting 1 Absolute mode 1 Acceleration deceleration 00H 00 Linear acceleration deceleration pattern setting 1 S shaped acceleration deceleration 15 to 4 Sets the independent and interpolation patterns for the positioning operation The relation of the inerpolation depends on the settings in the axis group setting area in the common area of the shared memroy bit Name Default Descriptions 7to0 Control pattern 00H 0OH E point control End point control 01H P point control Pass point control 02H C point control Continuation point Any other settings will be errors 15 to 8 Interpolation setting 00H OOH Linear interpolation Composite speed Operation 01H Linear interpolation Long axis speed 001H Atterh 10H Circular interpolation Center point CW direction p 11H Circular interpolation Center point CCW direction 20H Circular interpolation Pass point 50H Spiral interpolation Center point CW direction X axis movement 51H Spiral interpolation Center point CCW direction X axis movement 52H Spiral int
242. patterns for setting positioning data 1 When the positioning data has been already set in the standard area with the Configurator PM 2 When setting the positioning data in the extended area using the ladder program 3 When setting the positioning data in the standard area using the ladder program Sample program The positioning start is the setting that has been already set in the standard area by the Configurator PM RO DF Servo on R1 HoF Servo off Operation enabled condition X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 Link nection Servo lock Error for establishment operation axis 1 M j axis 1 for all axes for allaxes X109 X9 X111 X11 X161 X61 Conpaction Servo lock Error for EB for axis 2 axis 2 Home return Y108 Y88 Servo on for axis 1 Y109 Y89 Servo on for axis 2 Y150 Y 130 Servo off for axis 1 Y151 131 Servo off for axis 2 R100 Enabled flag for axis 1 R200 Enabled flag for axis 2 for axis 1 for axis 1 forward JOG Y 120 Y 100 Forward JOG for axis 1 The numbers in parenthesis are the contact numbers for the FP2 19 4 R2 R100 X118 X18 Y118 Y98 H DF Home Enabled flag Busy flag Home start retum for axis 1 for axis 1 for axis 1 R200 X11319 Y119 Y99 Enabled flag Busy flag Home start for axis 2 for axis 2 for axis 2 Positioning start R3 1 DF Fomv K1 DTO Positioni
243. peatedly the positioning unit please contact us An error occurred in the Check the connection of the 1020H Tool operation communication with a PC in the Allaxes lA RS232C cable connecting the PC abnormal end tool operation by the Configurator and PLC PM Reboot the PC 15 15 15 5 3 AMP Communication Errors From 2000H Ver 1 13 or later These are the errors occurred in the communication beteween the positioning unit and AMP They occur when the communication data was judged as abnormal A Available N A Not available ede Error name Description Object Clear Countermeasures Check the power supply of the AMP is on Check the communication pathway A communication error Carefully check the connector failure and AMP A SE TONE occurred after the network breaking of the communication cable 2000H Communication SESE All axes N A BaS communication has been Also check if any excessive noise is error i established caused in the usage environment If the error occurred repeatedly please contact us AMP Data Failed in the data Each Check the status of the AMP that the error 2001H aie IA A acquisition error acquisition of each AMP axis occurred Check the communication pathway Carefully check the connector failure and AMP P t The communication Each breaking of the communication cable 2002H error IRs parameters of each AMP as A Also check if any excessive
244. polation group settings dialog is shown Set the grouping that the interpolation operation is executed for the selected axes in the above setting interpolation eroup settines Independent Change group Independent The area of the axes to be used as independent axes without performing the interpolation operation Interpolation group The area of the groupings of the axes to perform the interpolation operation Up to 4 groups can be specified Change group It is used to register the interpolation groups by other way than the drag and drop with the mouse Click the axis icon at the top of the window and select the groups to allocate by executing this function OK Determine the allocation of the interpolation groups Cancel Back to the previous setting for the axes to use 4 Drag the axis icon at the top of the window with the mouse and drop it in any area of the groups A to D at the bottom of the window to determine the axes of the interpolation groups interpolation group settings Independent dle Aa Interpolation group Change group Click OK to determine the interpolation groups 5 The data setting screen is shown which enables the setting 7 12 7 5 2 Reading from Files Read the parameter settings or data settings from files 1 Select File Open in the menu bar or click Open icon in the toolbar The following dialog is shown
245. r ees ere Refer to the descriptions of axis 1 04DH 04EH 04FH 050H 051H 052H net Recon re Refer to the descriptions of axis 1 055H 056H 057H 058H 059H 01H 05AH hia fine Refer to the descriptions of axis 1 05DH 05EH 05FH 060H 061H 062H or Pera eaneret ee Refer to the descriptions of axis 1 065H 066H 067H 070H Status indication of axis 2 Refer to the descriptions of axis 1 071H Enema terminal input Refer to the descriptions of axis 1 monitor of axis 2 072H Torque command of axis 2 Refer to the descriptions of axis 1 073H Actual speed of axis 2 Refer to the descriptions of axis 1 078H POC tabis or execution Refer to the descriptions of axis 1 done table of axis 2 079H Awdiliary output cod of Refer to the descriptions of axis 1 axis 2 07CH Ta 07DH Feedback value of axis 2 Refer to the descriptions of axis 1 oren r E E Refer to the descriptions of axis 1 17 30 Axis information of axis 3 Bank ieee Name Descriptions address 080H 081H ube System ID of axis 3 083H ae 084H Brand name or vendor Refer to the descriptions of axis 1 name 085H 086H 087H 088H 089H 08AH Hee are ioe Refer to the descriptions of axis 1 08DH 08EH 08FH 090H 091H 092H et peel auc Refer to the descriptions of axis 1 095H 096H 097H 098H 099H 01H 0
246. r Area aeee 17 23 17 5 Details of Each Axis Information Area in Shared Memory 17 27 17 5 1 Configuration of Each Axis Information Area 17 27 17 5 2 Each Axis Information amp Monitor Area ccecce 17 28 17 6 Details of Each Axis Setting Area in Shared Memory 17 37 17 6 1 Configuration of Each Axis Setting Area cee 17 37 17 6 2 Parameter Setting Area oe eee eeeeneeeeeeeeeeeenneeeeeenaes 17 38 17 6 3 Positioning Data Setting Areas 0 ee eeeeeeeeeeneeeeeenes 17 43 18 DIMENSIONS ies ciscccdssecsssidssvadvicedeiieavstecsssesncesvccessesss 18 1 18 1 FP Positioning Unit RTEX cece ceeeeeeeeeeeeeeeeneeeeees 18 2 18 2 FP2 Positioning Unit RTEX cceeccceeceeeeeceeeeeeeeeeeeeeeeees 18 3 19 Sample Programs ccccccceeeeeseeeeeeeeeeeeeeeeeeeneeees 19 1 19 1 Basic Configuration and Contact Allocations of Sample Programs 19 2 19 2 Sample Programs i ssie iie teii aaas 19 4 19 2 1 When Setting Positioning Data in Extended Area Using Ladder Program 19 6 19 2 2 When Setting Positioning Data in Standard Area Using Ladder Program 19 7 20 Power ON OFF Ver 1 13 or later seceeeeeees 20 1 20 1 Operational Change When System Starts eee 20 2 21 Position control Ver 1 13 or later 2222222 21 1 21 1 Positioning Repeat Function cccsesseeeeeeeeeseceeeeeees 21 2 21 1 1 Function and setting method 21 2 21 1 2 Examples of operations 20 0 0 eeeeeeeseeeeeee
247. r Information Please enter your information Please enter your name the name of the company for whom you work and the product serial number User Name Panasonic Company Name MEW Serial Number Tuuunnnnnnnnnnnnnn EAE ET lt Back Cancel The contents entered here can be confirmed under Version Information on the splash screen and in the Help function when the Configurator PM is booted 8 Select the installation destination A dialog box is displayed where the folder to which the Configurator PM is to be installed can be confirrmed To install the program in the displayed folder click on the Next button The standard destination is c Program Files Panasonic MEW Control To install the program in a different folder click on the Browse button and specify a folder Configurator PM Setup Choose Destination Location Select folder where Setup will install files Setup will install Configurator PM in the following folder Ta install to this folder click Next To install to a different folder click Browse and select another folder p Destination Folder C Program Files Panasonic MEW Control Browse l Cancel 9 Select the program folder A dialog box is displayed where the program folder name can be confirmed To use the displayed folder name click on the Next button The standard folder name is Panasonic MEW Control To use a different folder name simply e
248. r of axes FP2 Positioning unit R TEX individual specifications item Description 2 axis type 4 axis type 8 axis type Product number AFP243610 AFP243620 AFP243630 Part number FP2 PN2AN FP2 PN4AN FP2 PN8AN Number of axes controlled 2 axes 1 system 4 axes 1 system 8 axes 1 system Input 128 points Output 128 points SX128 SY128 Occupied I O points Restriction on installation Only the restriction of the supply current of power supply unit 17 3 17 1 4 Common Specifications Item Description 2 axis type 4 axis type 8 axis type Number of axes controlled 2 axes 1 system 4 axes 1 system 8 axes 1 system Interpolation control 2 axis linear interpolation 2 axis linear interpolation 3 axis linear interpolation 2 axis circular interpolation 2 axis circular interpolation 3 axis sprial interpolation Occupied I O points Input 128 points Output 128 points SX128 SY128 Position setting modes Position setting units Absolute absolute position setting Increment relative position setting pulse um Minimum command unit is selected from 0 1 um or 1 um inch Minimum command unit is selected from 0 00001 inch or 0 0001 inch degree Minimum command unit is selected from 0 1 degree or 1 degree Position command range Pulse 1 073 741 823 to 1 073 741 823 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 um um
249. r of axis 3 0 1A9H individual axis 3 Waming clear of axis 4 0 0 No warning clear setting 4 Waming clear of axis 5 0 1 Executes warning clear 5 Warning dear of axis 6 O After the execution of warning clear the positioning l unit sets to 0 automatically 6 Warning clear of axis 7 0 7 Waming clear of axis 8 0 8 to 15 Number of Announces the number of occurrences of warnings at axis 1 1C1H warning i bit Name Default Descriptions ae 2 beola i 0 Announces No of warning of axis 1 currently occurred 1C2H Warning code annunciation 1C3H buffer 1 of axis 1 1C4H Warning code m annunciation 1C5H buffer 2 of axis 1 1C6H Warning code annunciation OOH 1C7H buffer 3 of axis 1 Stores the latest warning code from the buffer number 1 in order 1C8H Warning code annunciation bit Name Default Descriptions 1C9H buffer 4 of axis 1 31 to 0 yaming code annunciation buller n g Announces warning codes 1CAH Warning code annunciation 1CBH buffer 5 of axis 1 1CCH Warning code annunciation 1CDH buffer 6 of axis 1 1CEH Warning code annunciation 1CFH buffer 7 of axis 1 No of warning 1D1H occurrences of Announces the number of occurrences of warnings at axis 2 axis 2 1D2H Warning code annunciation Announces the code when a warning occurred 1D3H buffer 1 of axis 2 1D4H Warning code annunciation Announces the code when a warning occurred 1D5H buffer 2 of axis 2 1D6H Warning code annunciation Announces the code when an error occu
250. r settings will be errors creep speed The ranges vary depending on the unit settings as below pulse 1 to 32 767 000 pps 027H um 1 to 32 767 000 ums inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 028H Sets the mode of the JOG operation bit Name Default Descriptions 029H JOG operation 0 setting code 1 Acceleration deceleration pattern 0 0 Linear acceleration deceleration setting 1 S shaped acceleration deceleration 2 to 15 j 17 40 Offset Pee Default Setting s Name Descriptions Unit address value range JOG operation Sets the acceleration deceleraion time when performing the JOG operaiton 02AH acceleraiton At the beginning of the JOG operation accelerates for the specified acceleration time time decelerates for specified deceleraiton time when the starting contact of the JOG operation turns off and stops JOG operation bit Name Default Descriptions 02BH deceleration i 15 to O JOG operation acceleration time 100 Setting range 0 to 10 000 ms time JOG operation deceleration Any other settings will be errors Sets the target speed when performing the JOG operation After starting the JOG operation accelerates with the specified operation to the 02CH target speed while the starting contact of the JOG operation is on After reaching the tar
251. r settings within the AMP monitoring control statuses the setup support or analysis of machines can be executed on PC E point control This is a method of control which is initiated up to an end point and in this manual is referred to as E point control This method is used for a single speed acceleration deceleration It is also called a trapezoidal control Speed Simple acceleration deceleration control when moving to an end point E point control Time P point control This refers to control which passes through a Pass Point and is called P point control in this manual This method is used when a multi stage speed is to be specified in the same motion Speed Acceleration deceleration control in which multiple pass points can be consecutively specified P point control Time C point control This refers to control which passes through a Continuance Point and is called C point control in this manual This method is used for executing continuous E point controls by one time start Speed C point control Acceleration deceleration control which executes E point control continuously by setting a continuous point Time Acceleration time deceleration time For the E point control or C point contro the acceleration time is the time during which the speed changes from the startup speed of a motor to the target speed The deceleration time is the time during which the speed cha
252. range 1 to 32 767 denominator Any other settings will be errors 03BH 03CH 03DH 03EH 03FH 040H 041H x 042H z 043H A 044H 045H A 046H z 047H 048H 049H 04AH a 04BH 04CH a 04DH 5 04EH z 04FH Starting address of each positioning parameter Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis7 Axis 8 Bank No aby Descriptions 02H OCH 16H 20H 2AH 34H 3EH 48H 050H Starting address of parameters 17 42 17 6 3 Positioning Data Setting Areas They are the areas for setting positioning data The positioning data for 8 axes can be set individually The positioning data is stored in the table format of 625 points per axis When executing the automatic operation position control with the positioning unit RTEX specify the number of the positioning table that has been specified in advance and start the position control After the start up the motor is automatically controlled according to the settings of the table There are the method that creates the positioning table using Configurator PM that is an exclusive setting tool and the other method that writes the positioning table in a prescribed address by ladder programs There are the standard area of 600 points that is specified by No 1 to 600 and the extended area of 25 points that is specified by No 10001 to 10025 The standard area is used when the se
253. ration If the group is changed during the synchronous operation the synchronous group error 3040H will occur and the the operating axis will stop If the AMP error occrus during the synchronous operation the synchronous operation error 3043H will occru on other corresponding axes and the axes will stop The home return method during the synchronous operation vaires depending on the synchronous modes Synchronous mode A There is no restriction on the home return method however it is necessary to set the synchoronous operation to disabled before the home return If the synchronous operation is set to enabled the home return prodess will be an error Synchronous mode B If a home return method other than usable methods has been set an error occurs when starting the home return process and the home return process cannot be executed The following settings specified for the synchronous group become errors Also when both master and slave axes are not set all bits are off the normal operation is performed The same axis has been set for the synchronous groups 1 and 2 Either master axis or slave axis has not been set All bits are off Multiple axes have been set for the master or slave axis The same axis has been set for the master and slave axes The slave axis has been set to the interpolation group 21 13 21 3 JOG Positioning Control Overview of Operation The overview of the JOG positioning
254. ration time 1 ms 50 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s Tagen seeds tpg pee Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Acceleration time 2 ms 200 ms 0 to 10000 ms Deceleration time 2 ms 150 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps Target speed 2 20000 pps pim to 188 Q00 ums Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram BUSY flag Y118 X18 BUSY flag Y118 X18 Operation done flag X120 X20 ee eee eed eee The numbers in parenthesis are the flag and contact numbers for the FP2 Writing the target speed 2 Operations of each contact e The BUSY flag FPz X118 FP2 X18 indicating the state that a motor is running turns on when the JOG operation started and it turns off when the operation completed e The operation done flag FPX X120 FP2 X20 indicating the state that an operation completed turns on when the JOG operation completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the stop position of the JOG operation 9 4 Sample program RO Y108 Y88 for axis 1
255. ress of table 363 300H Starting address of table 364 310H Starting address of table 365 320H Starting address of table 366 330H Starting address of table 367 340H Starting address of table 368 350H Starting address of table 369 360H Starting address of table 370 370H Starting address of table 371 380H Starting address of table 372 390H Starting address of table 373 3A0H_ Starting address of table 374 3BOH_ Starting address of table 375 3COH_ Starting address of table 376 3D0H_ Starting address of table 377 3E0H_ Starting address of table 378 3FOH Starting address of table 379 17 51 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis7 Axis 8 Bank No stale Descriptions 08H 12H 1CH 26H 30H 3AH 44H 4EH 000H Starting address of table 380 010H Starting address of table 381 020H Starting address of table 382 030H Starting address of table 383 040H Starting address of table 384 050H Starting address of table 385 O60H Starting address of table 386 070H Starting address of table 387 080H Starting address of table 388 090H Starting address of table 389 QAOH Starting address of table 390 OBOH Starting address of table 391 OCOH Starting address of table 392 ODOH Starting address of table 393 QEOH Starti
256. ror Refer to the specifications of AMP Each axis N A 0049H Self diagnosis error Refer to the specifications of AMP Each axis N A 004AH Self diagnosis error Refer to the specifications of AMP Each axis N A 004BH Self diagnosis error Refer to the specifications of AMP Each axis N A 004CH Self diagnosis error Refer to the specifications of AMP Each axis N A 004DH Self diagnosis error Refer to the specifications of AMP Each axis N A 004EH Self diagnosis error Refer to the specifications of AMP Each axis N A 004FH Self diagnosis error Refer to the specifications of AMP Each axis N A 0050H Parameter initialization sequence error Refer to the specifications of AMP Each axis N A 0051H Serial communication error Refer to the specifications of AMP Each axis N A 0052H Node address setting error Refer to the specifications of AMP Each axis N A 0053H Continuous communication error protection Refer to the specifications of AMP Each axis N A 0054H Communication timeout error proteciton Refer to the specifications of AMP Each axis N A oo55H OPtical communication ID duplicate error Duplicate p tarts the specifications of AMP Each axis N A MACID error 0056H Cyclic data not receivable Refer to the specifications of AMP Each axis N A 0057H Emergency stop input error Refer to the specifications of AMP Each axis 0058H Microcomputer memory error Refer to the specifications of AMP Eac
257. rred 1D7H buffer 3 of axis 2 17 23 Offset Bank as Name Descriptions 1D8H Warning code annunciation Announces the code when a warning occurred 1D9H buffer 4 of axis 2 1DAH Warning code annunciation Announces the code when a warning occurred 1DBH buffer 5 of axis 2 1DCH Warning code annunciation Announces the code when a warning occurred 1DDH _ buffer 6 of axis 2 4DEH Warning code annunciation Announces the code when a warning occurred 1DFH buffer 7 of axis 2 No of warning 1E1H occurrences of Announces the number of occurrences of warnings at axis 3 axis 3 1E2H Warning code annunciation Announces the code when a warning occurred 1E3H buffer 1 of axis 3 1E4H Warning code m annunciation Announces the code when a warning occurred 1E5H buffer 2 of axis 3 1E6H Warning code annunciation Announces the code when a warning occurred 1E7H buffer 3 of axis 3 1E8H Warning code annunciation Announces the code when a warning occurred 1E9H buffer 4 of axis 3 1EAH Warning code annunciation Announces the code when a warning occurred Seiad Wes buffer 5 of axis 3 4ECH Warning code annunciation Announces the code when a warning occurred 1EDH buffer 6 of axis 3 4EEH Warning code annunciation Announces the code when a warning occurred 1EFH buffer 7 of axis 3 No of warning 1F1H occurrences of Announces the
258. rse JOG for axis 2 Pulser operation R103 DF Pulser operation Off a of R100 X118 X18 R101 my 1401120 pF _ Pulser operation Enabled flag Busy flag Off of a A for axis 1 for axis 1 pulser ena lag Y140 120 are p operation for axis 1 esr tg ans R203 DF S Pulser operation Off edge of i R200 X119 X19 R201 Pa AVARI m DF Pulser operation Enabled flag Busy flag Kama Euser g for axis 2 foraxis2 pulser operation ena lag Y141 Y121 r exis ans for axis 2 Pulser enabled flag for axis 2 eeee Error annunciation and clear DT101 Announces the number of errors occurred on the axis 1 DT102 to 115 Error codes occurred on the axis 1 DT121 Announces the number of errors occurred on the axis 2 DT122 to 135 Error codes occurred on the axis 2 R9010 __ F150 READ HO H129 K15 DT 101 Error content for axis 1 F150 READ HO H139 K15 enbrettee J r axis 0 X160 X60 Y160 140 DF Error clear Error for Error clear Y160 Y140 axis 1 for axis 1 Error clear for axis 1 R10 X161 X61 Y161 Y141 DF Error clear Error for Error clear Y161 Y141 axis 2 for axis 2 Error clear for axis 2 The numbers in parenthesis are the contact numbers for the FP2 19 5 19 2 1 When Setting Positioning Data in Extended Area Using Ladder Program Write positioning data in the extended area using the ladder program Recalculating the positioning data is not necessary
259. rting table number vary depending on the Operation patterns 1 Click Positioning in the Tool operation dialog The following dialog is shown Tool operation Positioning Axis Group 1 axis 2 axis 3 axis 4 axis Zero offset 1226480 626492 622988 1225 Change Change Change Change Unit pulse Active table No Starting table No Change Change Change Change Operate Operate Operate Operate State of axis lhactive lhactive lhactive lhactive Error code Sones Warning code Speed rate 100 7 39 Axis Group The axis numbers and group names to be monitored Zero offset Monitor the feedback values after the unit system conversion for each axis Click Change to display the dialog for inputting value to change the value of the zero offset Unit The unit of position for each axis specified in the parameter settings Active table number Monitor the table number during the operation or when it completes Starting table number The starting table number for the positioning control Click Change to change the starting table number Operate Stop Execute the operation to start stop the home return Click Operate to execute the positioning operation The button name changes to Stop Click Stop to execute the deceleration stop operation The button name changes to Operate State of axis The operating states of axes or error and warning occurrences
260. s O 0057H Emergenty stop input error Refer to the specifications of AMP Each axis O oosFH Motor automatic recognition error Refer to the specifications of AMP Each axis A protection Other errors Contact the dealer of the AMP Each axis 15 5 2 System Errors From 1000H Ver 1 13 or later These are the errors that occur due to any failure within the positioning unit The system errors are defined as the fatal errors for the system Except for some items the power supply must be turned off and on again to recover from the errors A Available N A Not available ne Error name Description Object Clear Countermeasures System runaway If the error 1000H System runaway occurred the ALARM LED onthe Allaxes N A positioning unit is lighted Turn off the power supply and An error occurred in the hardware turn it on again 1001H Hardware error __ test when the power supply turned All axes N A If the error occurred repeatedly on please contact us 4002H Unit error Any error occurred in the internal Allaxes N A processing Check the settings 1003H System An error occurred in the system All If the setting values are correct A f axes A processing error processing due to any reason and the error occurred repeatedly please contact us FROM writing An error occurred when the Rewrite into the FROM again 1010H iror positioning settings were written in All axes A If the error occurred re
261. s finished installing Configurator PM on your computer No will restart my computer later Remove any disks from their drives and then click Finish to complete setup la Reference The above group icon is displayed only when the installation completed The procedures of the start up refer to the sections of Starting Configurator PM and Exiting Configurator PM IES Note Never eject the CD during the installation process 7 4 Starting Configurator PM Click the Start button on Windows and click Program Panasonic MEW Control and Setting software in the order And then click Configurator PM The following dialog is shown Configurator PM T Open Upload from unit Exit New Create a new setting data for the positioning unit RTEX Open Read the existing setting data Upload from Unit Read the setting data of the positioning unit RTEX Exit End this software 7 10 7 5 Treating Files 7 5 1 New Create a new file 1 Select File New in the menu bar or click New file icon in the toolbar The Select axes dialog is shown Settine used axis l 2axis T Saxis T 4 axis l 5axs J 6axis J 7axis 8 axis Cancel Choose the axis to use 2 Check the axes to use and click OK Setting used axis IV taxis W 2axis M 3 axis 5axis J 6axis 7axis 8 axis Cancel Choose the axis to use 3 The Inter
262. s not indicated without the check Showing Hiding Status Bar Set to show or hide the status bar Select View Status Bar and check or uncheck in the menu The status bar is indicated with the check and it is not indicated without the check Showing Hiding Parameter Status Bar Set to show or hide the parameter status bar Select View Parameter Status Bar and check or uncheck in the menu The parameter status bar is indicated with the check and it is not indicated without the check Showing Hiding Guidance Bar Set to show or hide the guidance bar on the main screen that provides guidance on various settings Select View Guidance Bar and check or uncheck in the menu The guidance bar is indicated with the check and it is not indicated without the check Configuration setting Select Option Configuration in the menu bar The following dialog is shown The current folder in the setting data file can be changed Configuration Current folder C Program Files Panasonic MEW Control Contigurator PM Documents Browse Tool operation time out ORN lt Cane He Current folder Specify a current folder to be used for this software Tool operation monitoring time Set the communication error detection time in the Tool operation 7 28 Setting Font Select Option Font in the menu bar The following dialog is shown Font Font style Arial Feg
263. s not possible if the content in the clipboard is different from the attributes of the pasted area If values are contained in the contents of the clipboard the values can be pasted up to the maximum digit number of the data item 8 Key Point If the pasted area is different from the data in the clipboard paste as shown below oO oO 0 0 0 0 0 0 ooo 0 0 000 7 11 3 Selecting All Cells All cells can be selected before the operations such as copy or paste are done It is convenient to copy all the settings of the specified axis to another axis Press Ctrl A on the keyboard or click the Table No header on the upper left corner of the data editing screen with the mouse to select all cells 7 25 7 11 4 Searching Character Strings 1 Select Edit data Find in the menu bar or click the Find icon in the toolbar The following dialog is shown Find what E End Close Replace Column Pattern I Match Case I Find entire cells only 2 Input the character string to search in the Character string to find box and select the target line setting item 3 Click Next 3 Key Point Press Esc to end the search Press Replace to change the replacement screen 7 11 5 Replacing Character Strings 1 Select Replace Find in the menu bar The following diaglo is shown Replace Find what C Continuation zi Close Replace with Replace P X __Bep
264. s of table 10004 2B0OH_ Starting address of table 10005 2COH_ Starting address of table 10006 2D0H_ Starting address of table 10007 2E0H _ Starting address of table 10008 2FOH Starting address of table 10009 300H Starting address of table 10010 310H Starting address of table 10011 320H Starting address of table 10012 330H Starting address of table 10013 340H Starting address of table 10014 350H Starting address of table 10015 360H Starting address of table 10016 370H Starting address of table 10017 380H Starting address of table 10018 390H Starting address of table 10019 3A0H_ Starting address of table 10020 3BOH_ Starting address of table 10021 3COH _ Starting address of table 10022 3D0H_ Starting address of table 10023 3E0H_ Starting address of table 10024 3FOH Starting address of table 10025 17 55 17 56 Chapter 18 Dimensions 18 1 FP Positioning Unit RTEX Unit mm DIN rail installing groove 35 mm _ 18 2 18 2 FP2 Positioning Unit RTEX 15 93 Unit mm 18 3 18 4 Chapter 19 Sample Programs 19 1 Basic Configuration and Contact Allocations of Sample Programs In the sample programs the internal relays are used for the start up contac
265. s of table 536 1DOH Starting address of table 537 1E0H Starting address of table 538 1FOH Starting address of table 539 200H Starting address of table 540 210H Starting address of table 541 220H Starting address of table 542 230H Starting address of table 543 240H_ Starting address of table 544 250H Starting address of table 545 260H Starting address of table 546 270H Starting address of table 547 280H Starting address of table 548 290H Starting address of table 549 2A0H_ Starting address of table 550 2BOH _ Starting address of table 551 2COH Starting address of table 552 2D0H_ Starting address of table 553 2E0H Starting address of table 554 2FOH Starting address of table 555 300H Starting address of table 556 310H Starting address of table 557 320H Starting address of table 558 330H Starting address of table 559 340H Starting address of table 560 350H Starting address of table 561 360H Starting address of table 562 370H Starting address of table 563 380H Starting address of table 564 390H Starting address of table 565 3A0H_ Starting address of table 566 3BOH_ Starting address of table 567 3COH_ Starting address of table 568 3D0H_ Starting address of table 569 3E0H_ Starting address of table 570 3FOH Starting address of table 571
266. s the requested process while the request signal is on About Illustrations in This Manual The EP Positioning Unit RTEX and FP2 Positioning Unit RTEX are described in this manual The illustrations in this manual shows the status with the FP2 If you use the FP2 please replace the illustrations of the FP with the following illustration FP Positioning Unit RTEX FP2 Positioning Unit RTEX Chapter 1 Functions of Unit and Restrictions on Combination 1 1 Functions of Positioning Unit RTEX 1 1 1 Functions of Unit Network control The motion only network Realtime Express RTEX enables to easily construct a system of network servo motors using the cables with a category 5e shield AMP AMP Positioning unit RTEX ee ee i l ciiam ir T Motor Motor Configuration of axes according to the system In accordance with the number of required axes 2 axis 4 axis and 8 axis unit are available Can confirm operations without ladder programs Using the tool operation function of the Configurator PM enables a test run without a ladder program and enables to confirm various items such as the rotating direction various input contacts or automatic operation settings Positioning unit RTEX Servo on off Position control JOG operation Home return Be GL Start Stop Monitor
267. s to match the operating directions of the positioning unit RTEX and AMP according to the above procedure CW CCW direction setting Limit switch connection As these parameters are important to establish the system they will be reflected to the operation of a motor by turning on the power supply again after writing them into the FROM flash memory of the positioning unit RTEX Positioning unit RTEX bomen jaca na L C Change to Positioning unit RTEX CW gt cw o gt ok AMP lt 2 CW cw gt 5 1 5 Procedure 4 Checking Input Signals Check the input of the over limit switch for the protection circuit connected to the AMP and the input of the near home DOG switch Confirm whether the input of the signals is properly loaded into the positioning unit RTEX or not with operating each switch forcibly The statuses of the input of switches can be confirmed on the status indication disply of the Configurator PM 8 Key Point If the operating direction of the motor is opposite to the position of the limits and after the installation of the over limit switch the connection of the limits and can be set to Reverse connection in the parameter setting of the Configurator PM Positioning unit RTEX L 4 Near home ON N Over Near Over limit home limit switch switch switch 5 1 6 Procedure 5 Checking Rotating and Movin
268. specifications of AMP Each axis 0015H Encoder communication error protection Refer to the specifications of AMP Each axis 0017H Encoder communication data error Refer to the specifications of AMP Each axis 0018H Positioning deviation overprotection Refer to the specifications of AMP Each axis O 0019H Hybrid deviation excessive error Refer to the specifications of AMP Each axis 001AH Over speed protection Refer to the specifications of AMP Each axis O 001BH Command error protection Refer to the specifications of AMP Each axis O 001CH External scale communication data error Refer to the specifications of AMP Each axis 001DH Deviation counter overflow protection Refer to the specifications of AMP Each axis O 0022H Software limit protection Refer to the specifications of AMP Each axis O 0023H ma Serres eae Refer to the specifications of AMP Eachaxis A 0024H EEPROM parameter error protection Refer to the specifications of AMP Each axis 0025H EEPROM check code error protection Refer to the specifications of AMP Each axis 0026H Drive inhibit input protection Refer to the specifications of AMP Each axis O 0028H Absolute system down error Refer to the specifications of AMP Each axis 0029H Absolute counter over error Refer to the specifications of AMP Each axis 002AH Absolute overspeed error Refer to the specifications of AMP Each axis 002CH Absolute one rotation counter error Refer to the specifications of AMP E
269. sponding AMP The processing to recover from errors is performed and the error logs are cleared by turning on this signal Note Unrecoverable errors cannot be recovered even if this signal turned on Requests the warning clear for the corresponding AMP The warning logs are cleared by turning on this signal Contact for the general purpose output connected to the corresponding AMP The input status of this contact does not affect on the operation of the motor or positioning unit Chapter 7 Setting Tool Configurator PM 7 1 Connection With Computer AMP AMP Positioning unit RTEX pa pe ee qrrtrerttert Tool port Connection cable AFC8503 packaged with tFPWIN GR Motor Motor ae Positioning unit RTEX mand Exclusive tool software Configurator PM Install the Configurator PM on a computer and connect it to the tool port of the FP control unit like the above example as well as a programming tool For the FP2 connect to the tool port of the FP2 CPU unit 7 2 Functions of Configurator PM 7 2 1 Overview The Configurator PM is the Windows compliant setting software for our FP2 FPz Positioning Unit RTEX The positioning operations can be set by the input method similar to Microsoft Excel Copy amp Paste Copies and pastes the data you are editing into Microsoft Excel etc Also pastes the position data calculated in Microsoft Excel into Configurator PM Parameters an
270. ss of table 150 1BOH_ Starting address of table 151 1COH Starting address of table 152 1DOH Starting address of table 153 1E0H Starting address of table 154 1FOH Starting address of table 155 200H Starting address of table 156 210H Starting address of table 157 220H Starting address of table 158 230H Starting address of table 159 240H_ Starting address of table 160 250H Starting address of table 161 260H Starting address of table 162 270H Starting address of table 163 280H Starting address of table 164 290H Starting address of table 165 2A0H_ Starting address of table 166 2B0OH_ Starting address of table 167 2COH Starting address of table 168 2D0H_ Starting address of table 169 2E0H _ Starting address of table 170 2FOH Starting address of table 171 300H Starting address of table 172 310H Starting address of table 173 320H Starting address of table 174 330H Starting address of table 175 340H Starting address of table 176 350H Starting address of table 177 360H Starting address of table 178 370H Starting address of table 179 380H Starting address of table 180 390H Starting address of table 181 3A0H_ Starting address of table 182 3BOH_ Starting address of table 183 3COH Starting address of table 184 3D0H_ Starting address of table 185 3E0H_ Starting address of table 186 3FOH Starting address of table 187
271. synchronous operation is enalbed the target bits of all master slave axes to be synchronized are turned on and the bits of axes to be normally operated and the axes of synchronous groups that the synchronous operation is disabled are turned off 21 10 21 2 7 Positioning Parameters in Synchronous Operation Operational Overview of Positioning Parameters Various positioning parameters should be set to perform operations on the positioning unit RTEX As the table below there are the parameters that operate by the types of positioning parameters and the ones that operate by the settings for each axis during the synchronous operation Note that when setting the positioning parameters Positioning parameters Parameter name Operation during synchronous operation Unit setting Pulse number per rotation Movement amount per rotation CW CCW direction setting Operates by the setting of each axis Specify the same settings for the axes to be synchronized when performing the synchronous operation Limit switch Limit switch connection Software limit Positioning control Software limit Home return Software limit JOG operation Upper limit of software limit Lower limit of software limit Auxiliary output mode Auxiliary output ON time ms Auxiliary output Delay rate Completion width pulse Monitor error Torque judgment Monitor error Torque judg
272. t I Increment I Increment I Increment I Increment E Increment E Increment I Increment I Increment I Increment I Increment I Increment I Increment I Increment I Increment I Increment I Increment I Increment I Increment I Increment fal123axis 7 _4axis 7 X Choose the pattern of interpolation operation from D Linear Composite speed 1 Linear Lone axis speed A Spiral Genter point CW direction X axis movement B Spiral Genter point CGW direction X axis movement C Spiral Genter point CW direction Y axis movement D Spiral Genter point COW direction Y axis movement E Spiral Center point CW direction Z axis movement F Spiral Center point CCW direction Z axis movement L Spiral Pass point X axis movement M Spiral Pass point Y axis movement N Spiral Pass point Z axis move ment Ready Setting items Parameter Name Description Operation pattern Select one from the following operation patterns End point control Execute the trapezoidal control of only one table Continuance point control Execute the trapezoidal control continuously Specify the end point at the end of the continuance point control Pass point control Execute the continuous speed change control Specify the end point at the end of the pass point control Interpolation operation Select the operation of interpolation X axis control method Select either increment or absolute coordinate X ax
273. t are assured in these specifications Do not dismantle or remodel the product It could cause excessive exothermic heat or smoke generation Do not touch the terminal while turning on electricity It could lead to an electric shock Use the external devices to function the emergency stop and interlock circuit Connect the wires or connectors securely The loose connection could cause excessive exothermic heat or smoke generation Do not allow foreign matters such as liquid flammable materials metals to go into the inside of the product It could cause excessive exothermic heat or smoke generation Do not undertake construction such as connection and disconnection while the power supply is on It could lead to an electric shock Copyright Trademarks This manual and its contents are copylighted You may not copy this manual in whole or part without written consent of Matsushita Electric Works Ltd Windows and Windows NT are registered trademarks of Microsoft Corporation in the United States and or other countries All other company names and product names are trademarks or registered trademarks of their respective owners Matsushita Electric Works Ltd pursues a policy of continuous improvement of the Design and performance of its products therefore we reserve the right to change the manual product without notice Table of contents Glossary About Illustrations in This Manual 1 Functions of Unit and Res
274. tact e The BUSY flag FPz X118 FP2 X18 indicating the state that a motor is running turns on when the position control started and it turns off when the operation completed e The operation done flag FPX X120 FP2 X20 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position Sample program RO y108 Y88 DE aaa allMlllMMMMMMMMlMllMlMMlMlMsssssssssssSN H Servo ON Servo on Snooi oo for axis 1 R1 Y150 Y130 H k or _ _ Servo OFF Servo off Servooff 7 ii for axis 1 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 RID 4 ee st ee f a t Vt _ Start enabled condition ot Tool Connection Servolock Error for aun stablishment k for al axes operation contemanon for axis 1 axis 1 enabled flag mxo H omv kK DTO Starting table No Position coniro sin F151 WRT HO DTO K1 H100 4 Starting table setting bako e ee e a ees Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R2 R10 X118 X18 Y110 Y90 porani
275. tact turned on and it turns off when the pulser operation enabled contact turned off e The operation done flag FP X120 FP2 X20 indicating the state that an operation completed turns on when an pulser operation enabled contact turned off and it will be held until any operation among the position control JOG operation Home return and pulser operation starts 11 2 Sample program RO ee E Y108 Y88 Servo on for axis 1 R1 Y150 130 3 DF a Servo off Servo off for axis 1 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 6 Link Too Connection Servolock Error for Start up stablish t i i 4 A foraleree BRN Braio forexist axis erate fag 12 lt DF a J i Oo e ol Pulser operation pulsar operation R2 R10 X118 X18 R11 Y140 15 k DF gt Pulser operation Enabled flag Busy flag Off edge of Pulser Y140 for axis 1 for axis 1 pulser enabled flag operation for axis 1 Pulser enabled flag for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e The movement amount per an 1 pulse signal from the pulser can be changed by setting the ratio numerator and ratio denominator for the input signal of the pulser e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit Operati
276. ters are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range Operation pattern E End point C Continuance point E End point P Pass point 0 Linear Composite speed 1 Linear Long axis speed S Circular Pass point CW direction T Circular Pass point CCW direction U Circular Pass point S Circular Pass Interpolation operation point CW direction Control method I Increment l Increment A Absolute X axis movement 0 pulse Pulse 1 073 741 823 to 1 073 741 823 pulse amount um 0 1 um 107 374 182 3 to 107 374 182 3 um X axis auxiliary point 0 pulse um 1 um 1 073 741 823 to 1 073 741 823 um Y axis movement inch 0 00001 inch 10 737 41823 to 10 737 41823 inch 20000 pulses amount inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch Y axis auxiliary point 10000 pulses degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree AGSIETAUON L Linear L Linear S S shaped acceleration deceleration deceleration pattern Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Pulse 1 to 32 767 000 pps um 1 to 32 767 000 um s Interpolation speed 19090 pps Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram Composite speed t ms Positioning start contact of axis 1 Y110 Y90
277. the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position 8 17 Sample program RO Y108 Y88 L H oF Servo on Servo on for axis 1 Y109 Y89 __ fServo ON Jj Sevoon for axis 2 Y10A Y8A Servo on for axis 3 R1 Y150 130 L o Servo off Servo off for axis 1 Y151 131 _ sej Servo OFF Servooff for axis 2 Y152 Y132 Servo off for axis 3 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 R10 Link Connecti Servo lock Error fi establishment oe ation C aon for axis T axis 1 i Fre ekri i forall axes X4109 X9 X111 X11 X161 X61 RHE i eg ee 7 i Start enabled condition Servo lock Error for Start up enabled 9 7 7 7 7 for axis 2 axis 2 flag for axis 2 X112 X12 X162 X62 R12 lon Servo lock Error for Start up enabled gentimation foraxis3 axis 3 flag tor wis 3 R2 H x DF gt H Fo mv K1 DTO 4 Starting table No Postion a E ee control start PEE E E EAN F151 WRT _HO DTO K1 H 100 Starting table setting Pt lf a Slot No 0 R2 R10 R1 R12 X18 X18 X119 K19 XIMA XIA yaqqrygo H K oF gt KJ H Positioning start Position Enabled flag Enabled flag Enabled flag Busy flag Busy flag Busy flag Positioning control start foraxis1 foraxis2 f
278. tinue click Next 6 Confirm the licensing agreement The licensing agreement confirmation box is displayed If you agree to all of the items in the displayed license agreement click on Yes The setup process begins Configurator PM Setup License Agreement Please read the following license agreement carefully Press the PAGE DOWN key to see the rest of the agreement Licensing terms for the software This Agreement is a legally binding agreement between the final user and Matsushita Electric Works Ltd hereinafter referred to as MEW By clicking the Yes button you signify your assent to this Agreement If you do not agree with the terms and conditions of this Agreement you will not be able to use the Software 1 Grant of License MEW hereby grants you the nonexclusive license to use the Software acquired under this Agreement for the operation of a single user computer provided that the Software will at Do you accept all the terms of the preceding License Agreement If you choose No the setup will close To install Configurator PM you must accept this agreement nstallShield 7 Register the user information A user information dialog box is displayed Fill in the User Name Company Name and Serial Number items and click on the Next button The serial number is noted on the user card included in the Configurator PM package Make sure it is entered correctly Configurator PM Setup Custome
279. tion can be specified Y axis A direction X axis direction The interpolation speed is the tangential velocity of arc When the X axis and Y axis is the moving axes each axis in the above diagram is replaced 8 11 8 2 1 Setting and Operation of Two Axis Linear Interpolation The example below is the case of a single axis control when using the FP2 with the positioning unit RTEX installed in the slot 0 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately 10000 pulses Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse Item Setting example Allowable range Operation pattern E End point C Continuance point E End point P Pass point 0 Linear 0 Linear Composite speed 1 Linear Long axis speed Interpolation operation Composite speed S Circular Pass point CW direction T Circular Pass point CCW direction U Circular Pass point Control method I Increment l Increment A Absolute X axis movement Pulse 1 073 741 823 to 1 073 741 823 pulse 10000 pulses amount um 0 1 um 107 374 182 3 to 107 374 182 3 um X axis auxiliary point 0 um 1 um 1 073 741 823 to 1 073 741 823 um Y axis movement
280. to 107 374 182 3 um 1 um 1 073 741 823 to 1 073 741 823 inch 0 00001inch 10 737 41823 to 10 737 41823 inch 0 0001inch 107 374 1823 to 107 374 1823 degree 0 1degree 107 374 182 3 to 107 374 182 3 degree 1degree 1 073 741 823 to 1 073 741 823 23 3 3 Coordinate Origin Changes the coordinate origin to an arbitrary value After setting the coordinate origin the coordinate origin set by the coordinate origin is registered as origin by performing the home return and when the home return completed The coordinate origin is set in pulse units in regardless of the unit specified in the parameter setting The coordinates after the home return are as follows Positioning Unit RTEX control coordinate Specified coordinate origin AMP coordinate 0 23 5 23 3 4 Setting Method Current Value Update The Home change data area is changed to Current value update data area The setting method is the same as the one for the home change home offset function Current value update data area Offset Bank oe Name Description Only when the corresponding bit for each axis changes to 1 from 0 the current coordinate controlled by the positioning unit to the following current value After change the positioning unit clears the corresponding bits to 0 automatically Bit Name Current value update request for axis 1 Current value update request for axis 2 Current value update request for axis 3 Current valu
281. trial Co Ltd Completion width It is used to set the timing to turn on the operaiton done flag allocated to the I O of the positioning unit RTEX The operation done flag turns when the current position is in the range of the completion width pulse of the target command position after the completion of the pulse output The completion width is monitored by the positioning unit RTEX unlike the position error of the AMP Therefore note that the timing of which the imposition flag turns on may differ from the timing of which the operaiton done flag turns on Imposition Completion width t H Operation done Imposition flag 13 7 13 7 Home Change The positionig unit RTEX manages the coordinate origin default is 0 When the position command method is set to Absolute it operates as the position command for the coordinate origin The home change is a function to set the managed home position to an aubitrary coordinate positon Data must be written into the shared memory from the PLC in order to carry out the home change Followings are the details of the shared memory to carry out the home change Home change area Shared memory Bank 0 address Name Descriptions Only when the corresponding bits fo reach axis changed to 1 from 0 the coordinate origin managed in the positioning unit will be changed t
282. trictions on Combination 1 1 1 1 Functions of Positioning Unit RTEX cccceeeeeeeeeeeeeeeteees 1 2 TTA FUNCtIONS Of U Mitec cesses an ides deset cence 1 2 VEZ UNIT TYPOS a pisitari ingeine eeatt paeroa d ana tee aaaea tanni 1 3 1 2 Restrictions on Units Combination 0 0 0 eeeeeeeeeeeeeeees 1 4 1 2 1 Restrictions on Combinations Based on Current Consumption FP2 only 1 4 1 2 2 Restrictions on the Number of Units Installed 1 4 2 Parts and Functions 2 2 seeeeeeeeeeeeeee 2 1 2 1 Parts and FUNCTIONS 0 0 2 ee ceeeceeeeeeeeeneeeeeeneeeeeeeeeeeeenateeeeeaas 2 2 2 2 Operation Status Display LEDS 2 3 SWVIPING EE E 3 1 3 1 Wiring of Network siiniiiiicii iiie 3 2 3 2 Network Connector 0 eecceeeeeeeeeeenneeeeeeeeeeeeeeeeeeenaeeeeeeneees 3 3 3 3 Wiring of Pulser Input Connector ecese 3 4 3 3 1 Input Specifications and Pin Configuration ee 3 6 4 Power On Off and Items to Check ccceee 4 1 4 1 Safety Circuit Design diei 4 2 4 2 Before Turning On the POWED eeceeeeeneeeeereeeenneeeeeeaes 4 3 4 3 Procedure for Turning On the Power cceeeeeeeeeteeeeeees 4 4 4 3 1 Procedure for Turning On the PoWe ceeeeeeetteeeeees 4 4 4 3 2 Procedure for Turning Off the Powet ccteeeeees 4 5 5 Preparation For Operation 2 0 010 5 1 5 1 Procedures For System Establishment ceceeeeeeeeeeeeees 5 2 5 1 1 Procedure 1 WiIr
283. ts of each operation If necessary reconnect them to the input contacts that switches etc are connected Basic Configuration Positioning Unit RTEX Pulser terete prere Motor Motor The FP positioning unit RTEX is installed in the slot 0 Also the axes 1 and 2 are designated as the axes used and the linear interpolation of 2 axes is designated as a sample operation by the Configurator PM in advance The FP2 positioning unit RTEX is also installed in the slot 0 Used contacts and data registers Number Descriptions RO Request servo on R1 Request servo off R2 Request home return R3 Request positioning start R4 Request forward JOG for axis 1 R5 Request reverse JOG for axis 1 R6 Request forward JOG for axis 2 R7 Request reverse JOG for axis 2 R8 Request pulser operation for axis 1 R9 Request pulser operation for axis 2 R10 Error clear R11 Request setting value change R100 Operation enabled flag for axis 1 R101 Off edge of forward JOG for axis 1 R102 Off edge of reverse JOG for axis 1 R103 Off edge of pulser operation for axis 1 R200 Operation enabled flag for axis 2 R201 Off edge of forward JOG for axis 2 R202 Off edge of reverse JOG for axis 2 R203 Off edge of pulser operation for axis 2 19 2 N
284. tting Parameter Control Area aaa of 17 4 4 Setting Parameter Control Area ver 1 13 or later Offset Bank oon Name Description Synchronous group 1 Sets the operation mode of the synchronous operation Synchronous mode 00H Synchronous mode A 01H Synchronous mode B Turn on the corresponding bit for the axes to be the master and slave axes in the synchronous operation Synchronous group 1 fen Master axis Bit Name Default_ Description 0 Synchronous attribute of axis 1 0 Not execute the 1 Synchronous attribute of axis 2 synchronous operation 2 Synchronous attribute of axis 3 1 Synchronous 3 Synchronous attribute of axis 4 operation 4 Synchronous attribute of axis 5 master slave 5 Synchronous attribute of axis 6 axis setting of group 6 Synchronous attribute of axis 7 7 Synchronous attribute of axis 8 15to8 Synchronous group 1 Slave axis Each synchronous axis can be set for only one axis Synchronous group 2 Sets the operation mode of the synchronous operation Synchronous mode OOH Synchronous mode A 01H Synchronous mode B Turn on the corresponding bit for the axes to be the master and slave axes in the synchronous operation Synchronous group 1 Bit Master axis Name Default Description 0 Synchronous attribute of axis 1 0 Not execute the 1 Synchronous attribute of axis 2 synchronous operation 2 Synchronous attribute of axis 3 1 Synchronous operation 3 Synchronous attribute of axis 4 master s
285. tting of dwell time The operations of the BUSY flag and operation done flag are the same as the Ver 1 00 and Ver 1 01 operation 21 1 3 Sample program Refer to Repeat function ladder program for demo fp 21 3 21 1 4 Each Axis Information amp Monitor Area Monitoring repeat count The each axis information amp monitor area to confirm the active repeat count ba Reference 17 5 2 Each Axis Information amp Monitor Area Addition of 17 5 2 Axis information of axis 1 to 8 ver 1 13 or later Defau Bank ties Name Descriptions It Setting address range Unit Feeds back and stores the setting value of the repeat count specified for the 1st axis Repeat count This area is 1 if the positioning repeat does setting value of axis 1 not perform repeat count 0 1 Also when the repeat count is set to be unlimited 255 is stored in this area Repeat count that is currently being performed on the first axis Repeat count This area is 1 if the positioning repeat does Current value of axis 1 not perform 0 to 65535 Times The upper limit is 65535 in this area If the repeat count exceeds the upper limit the count will be started from 0 TAH _ Repeateount i 0to255 Times setting value of axis 2 B Repeat count lt s 0 to 65535 Times Current value of axis 2 BAT Repeaticounti 0t0255 Times setting value of axis 3 Repeat count Repeat count Repeat count Repeat count Repeat count k qzaH
286. tting values of the positioning table are predetermined It can be set using Configurator PM and can be rewritten from the ladder programs too However if the positioning table is changed by the ladder program the caulculation is necessary to restructure the positioning data before executing the automatic operation This function enables to read the positioning data of 600 points in advance and to prepare for the start up within the positioning unit and enables to shorten the start up time for the positioning When using Configurator PM to download the positioning data the data is restructured automatically so the calculation is not necessary However the calculation is necessary after rewriting the poisitoning data from the ladder program The procedures for the calculation are as follows 1 Change the positioning table in the shared memory 2 Turn on the output contact Y_7 recalculation request contact 3 Confirm the input contact X_7 recalculation done contact is on Confim the completion of the recalculation If the data is not recalculated after rewriting the positioning table by the ladder program note that the operation will be executed with the positioning table before the rewriting The extended area is used when the setting values of the positioning table cannot be determined until just before executing the positioning operation For example in the application of alignment using an image processing the moving distan
287. uf dd pir L UU X axis Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM The unit is set to pulse in Item peting Allowable range example Operation pattern E End point C Continuance point E End point P Pass point 0 Linear Composite speed 1 Linear Long axis speed A Spiral Center point CW direction X axis movemet B Spiral Center point CCW direction X axis movemet E Spiral C Spiral Center point CW direction Y axis movemet Center point CW D Spiral Center point CCW direction Y axis movemet direction Z axis E Spiral Center point CW direction Z axis movemet movement F Spiral Center point CCW direction Z axis movemet L Spiral Pass point X axis movement M Spiral Pass point Y axis movement N Spiral Pass point Z axis movement Interpolation operation Control method l Increment l Increment A Absolute X axis movement amount 0 pulse Pulse 1 073 741 823 to 1 073 741 823 pulse X axis auxiliary point 0 pulse um 0 1 um 107 374 182 3 to 107 374 182 3 um Y axis movement amount 20000 pulses um 1 um 1 073 741 823 to 1 073 741 823 um Y axis auxiliary point 10000 pulses inch 0 00001 inch 10 737 41823 to 10 737 41823 inch Z axis movement amount 5000 pulses inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch Pi degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree
288. ular Arial Black O Arial Narrow O Ajial Rounded MT Boh O Blackadder ITC O Bodoni MT AaBbYyZz Script Westem v This is an OpenType font This same font will be used on both your printer and your screen 7 29 7 13 Checking Settings 7 13 1 Checking Parameters and Data Values Collectively check the parameter setting first and then the positioning data if the values are within the range If an error is found in the parameter setting the parameter setting dialog is automatically indicated and the position where the error exists is focused Also if an error is found in the positioning data the cursor moves to the position where the error exists Select Debug Check Parameters and Data in the menu bar or click the Check Parameter and Data icon in the toolbar Verifying File Contents Verify the file currently being edited and the files on the disk or the information in the unit The following procedure is for the verification with the files on the disk Verify the axis information parameters and positioning data collectively Select Debug Verify File in the menu bar The dialog to select the file to verify is shown as below Select the file to verify The contents of the file currently being edited are verified with the selected file and the result is indicated in the dialog below Result of verification Target G Program Files Panasonic MEW Control Configurator Verification
289. umber EPZ FP2 Descriptions X100 XO Link establishment for all axes X104 X4 Tool operation for all axes X107 X7 Recalculation done flag X108 X8 Connection confirmation for axis 1 X109 x9 Connection confirmation for axis 2 X110 X10 Servo lock for axis 1 X111 X11 Servo lock for axis 2 X118 X18 Busy flag for axis 1 X119 X19 Busy flag for axis 2 X160 X60 Error occurrence annunciation for axis 1 X161 X61 Error occurrence annunciation for axis 2 Y107 Y87 Request recalculation Y108 Y88 Servo on for axis 1 Y109 Y89 Servo on for axis 2 Y110 Y90 Positioning start for axis 1 Y118 Y98 Home return for axis 1 Y119 Y99 Home return for axis 2 Y120 Y100 Forward JOG for axis 1 Y121 Y101 Reverse JOG for axis 1 Y122 Y102 Forward JOG for axis 2 Y123 Y103 Reverse JOG for axis 2 Y140 Y120 Pulser operation for axis 1 Y141 Y121 Pulser operation for axis 2 Y150 Y130 Servo off for axis 1 Y151 Y131 Servo off for axis 2 Y160 Y140 Error clear for axis 1 Y161 Y141 Error clear for axis 2 Number Descriptions DTO Starting table number DT101 Number of errors of axis 1 DT102 to DT115 Error contents of axis 1 DT121 Number of errors of axis 2 DT122 to DT135 Error contents of axis 2 DT10 to DT25 Positioning data of 1 table of axis 1 DT30 to DT45 Positioning data of 1 table of axis 2 19 3 19 2 Sample Programs There are 3
290. urn and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after sending the command to move to the target position Sample program RO y108 Y88 oF H Servo ON Servo on Snooi oo for axis 1 Y150 130 1 if DE S Servo OFF Servo off Serooff for axis 1 X100 X0 X104 X4 X108 X8 X110 X10 X160 X60 RIO H ee st ee Link ae Eed _ a a J f Start enabled condition at Connection Servo lock Error for Startup To stablishment 10 r p for ai aee operation contemanon for axis 1 axis 1 enabled flag L morom ki DTO Starting table No Poole EE coniro sin F151 WRT HO DTO _K1 H100 4 Starting table setting PaO an ee ees Slot No 0 the 1 word contet from DTO are written to the shared memory address H100 R10 X118 X18 Y110 Y90 par ee a TT Position Enabled flag Busy flag Positioning control start for axis 1 for axis 1 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and fl
291. urrent value update request flag The positioning unit changes the current value to the specified coordinate After changing the coordinate the positioning unit turns off the current value update request flag automatically 23 6 23 3 5 Coordinate Origin The Coordinate origin is added to each axis positioning parameter p Reference 17 6 2 Parameter Setting Area Addition of 17 6 2 Each axis positioning parameter setting area Ver 1 13 or later linet Description address P 04AH E origin Stores the value of coordinate origin after the home return Set the coordinate origin after the home return to the coordinate origin of the target axis Execute the home return process After the home return completed the coordinate origin is changed to a set value 23 3 6 Sample Program Current Value Update Refer to Current value update ladder program for demo fp Coordinate Origin Refer to Coordinate origin ladder program for demo fp 23 3 7 Restrictions on Operation The current value update can be executed only when the target axes stop The current updated executing during the axis operation Busy is ignored and the current value will be updated once the axis operation stops 23 7 23 4 Position Deviation Simple Monitor Functional Overview The position deviation is the difference between the current value controlled by the positioning unit RTEX and the AMP current position fed b
292. usy flag Positioning control start for axis 1 foraxis2 foraxis1 for axis 2 start for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Precautions on programming e To start the interpolation control turn on the positioning start contact of the axis with the smallest number in the same group e The values of the X axis auxiliary point and Y axis auxiliary point are invalide for the linear interpolation e When setting the long axis speed the composite speed is faster than the long axis speed e If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts e The number of the startup contact and flag varies depending on the number of axes and the installation position e The specified slot number varies depending on the installation position of the unit 8 13 8 2 2 Setting and Operation of Two Axis Circular Interpolation The example below is the case of a single axis control when using the FP2 with the positioning unit RTEX installed in the slot 0 The X axis is set to the 1st axis and the Y axis is set to the 2nd axis The movement amount setting is the increment method and the unit is set to pulse When using the FP2 change the contact and flag numbers appropriately 10000 pulses Setting The parameters necessary for the setting of the positioining data and parame
293. utput specify the ratio to output Auxiliary outptu The setting range is 0 to 100 If the setting is 50 the auxiliary output will be Delay rate perfomred when the positioning movement amount exceeds 50 Default 0 23 3 23 3 Current Value Update Function Functional Overview of Current Value Update The current value update function is a function to change the current value controlled by the Positioning Unit RTEX to an arbitrary value The home change home offset function is provided for the Positioning Unit RTEX Ver 1 00 and Ver 1 01 however the home offset function is eliminated on the Positioning Unit RTEX of Ver 1 13 or later and the current update and coordinate origin functions are added 23 3 1 Differences with Home Offset Function The differences in the home change home offset current value update and coordinate origin are as below Version of Function Operation Positioning Unit RTEX This is a function to set the home position controlled by Positioning Unit RTEX to an arbitrary coordinate position The current coordinate controlled by Positioning Unit RTEX becomes the Ver1 00 1 01 Home change offset value from the specified home position specifications Once the home return is executed the set coordinate will be registered as Home offset origin The coordinate after the home return is as below Positioning Unit RTEX intern
294. values after the unit system conversion for each axis Click Change to display the dialog for inputting value to change the value of the zero offset Unit The unit of position for each axis specified in the parameter settings Monitor and display the target speed in the JOG operation JOG target speed Click Change to change the target speed for the JOG operation JOG Click to perform the forward rotation JOG Click to perform the reverse rotation Table number Indicate the table number to perform the teaching Click Teaching to change the table number for the teaching and register the current value State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred Speed rate The target speed of the home return specified in the parameter settings for each axis is regarded as 100 and the operation is executed in the specified speed rate Clicking Speed rate shows the dialog for inputting the value The speed rate changed here is effective only in the tool operation and it changes to the original speed rate automatically once the tool operation quits
295. ving inhibition input of the parallel I O connector of AMP For the positioning unit RTEX connect them to the limit input and limit input through the network Install the safety circuit recommended by the manufacturer of the motor being used 4 2 Before Turning On the Power Items to check before turning on the power System configuration example Positioning unit RTEX soar eres it 4 2 i e izp P yts Ag Pd Over limit ey Over limit switch switch 2 External safety circuit Checking connections to the various devices Check to make sure the various devices have been connected as indicated by the design E Checking the installation of the external safety circuit Check to make sure the safety circuit wiring and installation of over limit switch based on an external circuit has been installed securely Checking the procedure settings for turning ON the power supplies Make sure settings have been entered so that power supplies will be turned on according to the procedure outlined in section Procedure for Turning On the Power Checking the CPU mode selection switch Set the PLC in the PROG mode Setting it in the RUN mode can cause inadvertent operation IES ne Note When the power to the PLC is turned on the start flags for the various operations of the positioning unit RTEX should be off If they are on they may activate improperly 4 3 Procedure for Turning On the
296. x10 1 axis _ Solod Turns on when the corresponding axis is in the state of servo lock Contact allocation Descriptions rps FP2 axi Y108 Y109 Requests the servo lock for the corresponding AMP Y10A The servo lock is executed by the ON edge of this contact Y10B g The servo cannot be free automatically even in the program mode To make the servo free turn on the servo OFF request contact The operation is the edge type z Requests the servo free for the corresponding AMP Y193 X133 Request servo off The servo free is executed by the ON edge of this contact Y154 Y134 ka The operation is the edge type Y155 Y135 S Y156 S Y136 v1i57 v137 Sample program RO Y108 Y88 ie or TL Servo on Servo on for axis 1 R1 Y 150 Y130 m ie or O Servo off Servo off for axis 1 The numbers in parenthesis are the flag and contact numbers for the FP2 Note The servo lock status continues if the PLC changed to the program mode 5 8 Chapter 6 I O Allocation 6 1 Occupied I O Area The input X output Y should be allocated to use the Positioning Unit RTEX as well as other I O units 256 points 128 point input 128 point output are occupied for any axis types Type Number of occupied points allocated using a tool software 2 axis type Input 128 points 4 axis type Output 128 points 8 axis type 128SX 128SY With the FP or FP2 the I O numbers vary depending on the install
297. xis Positioning data editing screen Sl Untitled Configurator PM File Edit View Online Debug Set Axis Option Help Dai ae wm Ay Kea Destination of communication Home Slot No 0 Unit of position pulse Unit of speed pulse Table No Pattern Interpolation operation E End T Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End O Linear Composite speed E End O Linear Composite speed E End O Linear Composite speed E End O Linear Composite speed E End O Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed E End 0 Linear Composite speed Control me X axis 1 movement X axis 1 auxiliary Y axis movement Y axis auxiliar Z axis move E End O Linear Composite speed E Increment E Increment I Increment E Increment I Increment I Increment I Increment I Incremen
298. y start even if the main power supply of the AMP is off in order to respond to various startup methods 20 2 Chapter 21 Position control Ver 1 13 or later 21 1 Positioning Repeat Function When the same operation is repeated in an application for machines such as a coil widing machine 21 1 1 Function and setting method Set the repeat count in a prescribed address to repeat the operation for N times Operation of the positioning unit Set the number of repeat count in the repeat count area of an axis number to be start before startring positioning The positioning unit refers to the repeat count positioning control area when starting positioning When the operation completes repeats for N times the operation done signal will turn on The repeat count area will be cleared when the repeat operation completes for the target axes regardless of a single axis and interpolation group ip Reference 17 4 7 Positioning Table Setting Area Addition of 17 4 7 Position control area Ver 1 13 or later Bank Offset Name Descriptions Default Setting Unit address value range Sets the No of times for repeating the operation Positioning repeat count of axis 1 starting from the position 0 to 255 Times control starting table No of the first axis until the E point 00H 109H Positioning repeat count of axis 2 Same as above ss 0s to 255 10AH__ Positioning repeat count of axis 3__ Same as above Oto 255 Times 10BH__ Pos

Panasonic RTEX Technical Manual

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