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Panasonic FP? Positioning Unit RTEX Technical Manual

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  • Page 2 It could lead to an electric shock. Copyright / Trademarks -This manual and its contents are copyrighted. Panasonic -You may not copy this manual, in whole or part, without written consent of Industrial Devices SUNX Co., Ltd.

  • Page 3: Table Of Contents

    Table of Contents Difference of Functions Between Versions Glossary About Illustrations in This Manual 1. Functions of Unit and Restrictions on Combination ..1-1 1.1 Functions of Positioning Unit RTEX ............1-2 1.2 Restrictions on Units Combination ............1-4 1.3 Restrictions on Unit and AMP ..............1-4 2.
  • Page 4 7.11 How to Edit Positioning Data ..............7-26 7.12 Customizing Software ................7-30 7.13 Checking Settings................. 7-32 7.14 Transferring Setting Data ..............7-33 7.15 Data Monitor ..................7-37 7.16 Status Display ..................7-38 7.17 Tool Operation ..................7-39 8. Automatic Operation (Position Control) ......8-1 8.1 Basic Operation ..................
  • Page 5 15. Errors and Warnings ............15-1 15.1 Errors and Warnings ................15-2 15.2 List of Error Codes ................15-4 15.3 List of Warning Codes ................ 15-21 16. Troubleshooting ............... 16-1 16.1 Cannot Communication With AMP ............16-2 17. Specifications ..............17-1 17.1 Table of Specificationa .................

  • Page 7: Difference Of Functions Between Versions

    Difference of Functions Between Versions Version Type Added / modified functions Positioning repeat function Synchronous operation J point (JOG positioning) control Added Home return method Additional DOG method 2 / DOG method 3 / Limit method 1 / Limit method 2 / functions Stop-on-contact method 1 / Stop-on-contact method 2 / Phase Z method / Data set method...

  • Page 8: Glossary

    PANATERM This is a setup support tool for the servo amplifiers of MINAS series made by Panasonic. By using this tool, the parameter settings within the AMP, monitoring control statuses, the setup support or analysis of machines can be executed on PC.
  • Page 9 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. Linear acceleration/deceleration / S acceleration/deceleration ...
  • Page 10 Acceleration time/deceleration time For the E point control or C point control, 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 changes from the target speed to the stop.
  • Page 11 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.
  • Page 12 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 execution of the position control can be confirmed by turning an exclusive auxiliary output contact on for a constant time.

  • Page 13: About Illustrations In This Manual

    About Illustrations in This Manual The FPΣ Positioning Unit RTEX and FP2 Positioning Unit RTEX are described in this manual. The illustrations in this manual shows the status with the FPΣ. If you use the FP2, please replace the illustrations of the FPΣ with the following illustration.

  • Page 15: Functions Of Unit And Restrictions On Combination

    Chapter 1 Functions of Unit and Restrictions on Combination...

  • Page 16: Functions Of Positioning Unit Rtex

    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. 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.
  • Page 17 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. 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.

  • Page 18: Restrictions On Units Combination

    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 designed, the other units being used should be taken into consideration, and a power supply unit with a sufficient capacity should be used. (For the FPΣ, there is no restrictions based on the current consumption.) FP2 Positioning Unit RTEX Type...
  • Page 19 1.3.2 Restrictions on AMP Parameters Some parameters of AMPs affect the operation of the positioning unit RTEX. Set parameters according to the following description. [A4N parameters] Factory Parameter name default Settings setting Control mode Use "setting value 0 (position control)". The positioning unit automatically changes the setting.
  • Page 20 [A6N/A5N parameters] Factory Parameter name default Settings setting Rotational direction The positioning unit automatically changes the Pr0.00 setup setting. Do not change this parameter. Pr0.01 Control mode setup Use "setting value 0 (semi-closed control)". Number of command Pr0.08 pulses per motor Factory default setting revolution When Pr.0.08=0, Pr.0.09=1, Pr.0.10=1, position...

  • Page 21: Parts And Functions

    Chapter 2 Parts and Functions...
  • Page 22 2.1 Parts and Functions FPΣ Positioning Unit RTEX FP2 Positioning Unit RTEX...

  • Page 23: Operation Status Display Leds

    2.2 Operation Status Display LEDs FPΣ Positioning Unit RTEX 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...

  • Page 25: Wiring

    Chapter 3 Wiring...

  • Page 26: Wiring Of Network

    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.

  • Page 27: Network Connector

    3.2 Network Connector RJ45 plug is connected to the network connector. Pins of RJ45 plug Connecting diagram...

  • Page 28: Wiring Of Pulser Input Connector

    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.
  • Page 29 Wiring method (1) Remove a portion of the wire’s insulation. (2) Press the orange switch of the connector using a tool such as a flat-blade screwdriver. (3) Insert the wire into the connector until it stops with pressing the orange switch. (4) Take the tool off the switch.
  • Page 30 3.3.1 Input Specifications and Pin Configuration Input terminals of pulser input connector Circuit Signal name Item Descriptions number 3.5 to 5.25 V DC Operating voltage 1, 5, 9 Pulse input A (+) (5 VDC, line driver range specifications) Minimum ON 2, 6, 10 Pulse input A (-) 3 V DC/4 mA...

  • Page 31: Power On/Off And Items To Check

    Chapter 4 Power On/Off and Items to Check...

  • Page 32: Safety Circuit Design

    4.1 Safety Circuit Design Example of a safety circuit Installation of the over limit switch Install over limit switches as shown above. Connect them to the CW and CCW driving 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.

  • Page 33: Before Turning On The Power

    4.2 Before Turning On the Power Items to check before turning on the power System configuration example Checking connections to the various devices ○ Check to make sure the various devices have been connected as indicated by the design. Checking the installation of the external safety circuit ○...

  • Page 34: Procedure For Turning On The Power

    P rocedure for Turning On the Power 2 9 B 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.
  • Page 35 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.

  • Page 37: Preparation For Operation

    Chapter 5 P reparation For Operation...

  • Page 38: Procedures For System Establishment

    P rocedures For System Establishment 3 0 B 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”...
  • Page 39 5.1.2 P rocedure 2: Axis Numbers and Unit Numbers of AMP 8 9 B 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.
  • Page 40 5.1.3 P rocedure 2: Power On and Checking Network Establishment 9 0 B The power-on procedure is as follows. 4. Turn on the power supplies for input and output devices connected to the PLC. 5. Turn on the power supply for the AMP. 6.
  • Page 41 5.1.5 P rocedure 4: Checking Input Signals 9 2 B 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.
  • Page 42 5.1.6 P rocedure 5: Checking Rotating and Moving Directions and Moving 9 3 B 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.
  • Page 43 5.1.7 P rocedure 6: Settings of Parameters and Positioning Data 9 4 B 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.

  • Page 44: Preparation For Operation

    P reparation For Operation 3 1 B 5.2.1 S ervo On/Servo Off 9 5 B 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 contact to make the servo motor to be the state that the servo is locked.

  • Page 45: I/O Allocation

    Chapter 6 I /O Allocation...

  • Page 46: Occupied I/O Area

    O ccupied I/O Area 3 2 B 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...

  • Page 47: Allocation Of Each Contact

    Allocation of Each Contact 3 3 B Followings are occupied I/O when FPΣ/FP2 Positioning unit RTEX is installed in the slot 0. Contact allocation Target Name Descriptions axis FPΣ Link establishment Indicates that the network link was established, and announce X100 All axes annunciation...
  • Page 48 Contact allocation Target Name Descriptions axis FPΣ X120 1 axis Turns on when the operation command for the corresponding X121 2 axis axis completed and the position error became in the specified X122 3 axis completion width. X123 4 axis For P point control and C point control of the automatic Operation done operation, turns on when the operation for all the tables...
  • Page 49 Contact allocation Target Name Descriptions axis FPΣ X150 Limit + 1 axis X151 Limit - X152 Limit + 2 axis X153 Limit - Monitor contact of the limit + and – connected to the X154 Limit + corresponding AMP. 3 axis X155 Limit - During the positioning operation, JOG operation or pulsar...
  • Page 50 Contact allocation Target Name Descriptions axis FPΣ Contact for requesting the system stop. When it turns on, all Y100 All axes System stop axes will stop at the deceleration time 0. Y101 Y102 Y103 Y104 Y105 Y106 Turn on this signal when each positioning data (standard area) in the shared memory was changed.
  • Page 51 Contact allocation Target Name Descriptions FPΣ axis Y130 Y110 1 axis Requests the emergency stop for the corresponding AMP. Y131 Y111 2 axis The deceleration time for the emergency stop is specified by Y132 Y112 3 axis Configurator PM or the emergency stop setting in the shared Y133 Y113 4 axis Emergency stop...
  • Page 52 Contact allocation Target Name Descriptions axis FPΣ Y160 Y140 1 axis Y161 Y141 2 axis Requests the error clear for the corresponding AMP. Y162 Y142 3 axis The processing to recover from errors is performed and Y163 Y143 4 axis the error logs are cleared by turning on this signal.

  • Page 53: Setting Tool Configurator Pm

    Chapter 7 S etting Tool Configurator PM...

  • Page 54: Connection With Computer

    C onnection With Computer 3 4 B Install the Configurator PM on a computer, and connect it to the tool port of the FPΣ 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.

  • Page 55: Functions Of Configurator Pm

    F unctions of Configurator PM 3 5 B 7.2.1 O verview 9 6 B The Configurator PM is the Windows-compliant setting software for our FP2/FPΣ Positioning Unit RTEX. Copy & Paste Copies and pastes the data you are editing into Microsoft Excel, etc. Also, pastes the position data calculated in Microsoft...
  • Page 56 7.2.2 B asic Specifications 9 7 B Operating environment Applicable OS WindowsXP Windows 7 (32-bit edition/64-bit edition) (Note) Windows 8 (32-bit edition/64-bit edition) (Note) Windows 8.1 (32-bit edition/64-bit edition) (Note) Required HDD capacity 20MB or more Recommended CPU Pentium 200MHz or higher Recommended resolution 800 * 600 or more Recommended memory...

  • Page 57: Installing Configurator Pm

    I nstalling Configurator PM 3 6 B 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 2000, please be aware that the Configurator PM cannot be installed unless you log in at the Administrator level when booting the system 1.
  • Page 58 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]. 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].
  • Page 59 A dialog box is displayed where the folder to which the Configurator PM is to be installed can be confirmed. To install the program in the displayed folder, click on the [Next] button. The standard destination is "C:\Progam Files\Panasonic-ID SUNX Control". To install the program in a different folder, click on the [Browse] button and specify a folder.
  • Page 60 [Next] button. The standard folder name is ”. “Panasonic-ID SUNX Control To use a different folder name, simply enter that name. 10. The installation process begins. A message is displayed on the screen indicating that the installation is in progress, and the Configurator...
  • Page 61 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]. 12. Reboot the computer. When all of the process has been completed, a dialog box is displayed, confirming that the computer will be rebooted.

  • Page 62: Starting Configurator Pm

    S tarting Configurator PM 3 7 B Click the [Start] button on Windows, and click [Program], [Panasonic-ID SUNX Control] and [Setting software] in the order. And then click [Configurator PM]. The following dialog is shown. [New] Create a new setting data for the positioning unit RTEX.

  • Page 63: Treating Files

    Treating Files 3 8 B 7.5.1 N ew 9 8 B 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. 2. Select a unit type to be used. 3.
  • Page 64 4. The [Interpolation group settings] dialog is shown. Set the grouping that the interpolation operation is executed for the selected axes in the above setting. 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.
  • Page 65 5. 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. 6.
  • Page 66 7.5.2 R eading from Files 9 9 B 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. 2. Select the drive where the file is saved in the [Location of File] box. 3.
  • Page 67 7.5.3 S aving Files 1 0 0 B 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.
  • Page 68 7.5.4 S etting File Properties 1 0 1 B Set the property of a file (creator and comment). 1. Select [File] => [File property] in the menu bar to specify the file property. The following dialog is shown. 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.

  • Page 69: Exiting Configurator Pm

    E xiting Configurator PM 3 9 B 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.

  • Page 70: Connection To Positioning Unit

    C onnection to Positioning Unit 4 0 B 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 [Online] → [Select slot] in the menu bar. The following dialog is shown. The slot numbers defined vary depending on the type of PLCs.
  • Page 71 7.7.2 C ommunication Settings 1 0 2 B 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. Name Setting value Default Network type Select C-NET (RS232C, USB).

  • Page 72: Parameter Settings

    P arameter Settings 4 1 B 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. Setting items Parameter name Description...
  • Page 73 Parameter name Description Auxiliary output delay ratio (%) When setting the auxiliary output to Delay mode, output is performed at the ratio (%) specified in this area. Completion width(pulse) The width of the completion of command operation. Monitor error – Torque judgment The judgment operation of the torque command for the motors controlled by the AMP of each axis.
  • Page 74 Parameter name Description J point control - Acceleration pattern in the J point (speed point) operation. Acceleration/Deceleration pattern J point control - Acceleration time Acceleration time in the J point (acceleration point) operation. (ms) J point control - Deceleration time Deceleration time in the J point (acceleration point) operation.

  • Page 75: Changing Axis Information

    C hanging Axis Information 4 2 B 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. The editing dialog for the interpolation axis group is shown by clicking [OK] after selecting the used axes.

  • Page 76: Setting Positioning Data

    7.10 S etting Positioning Data 4 3 B 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 axis. Positioning data editing screen Setting items Parameter Name Description...
  • Page 77 Parameter Name Description Y-axis movement Input the movement amount of Y axis. The movement amount depends on amount 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.

  • Page 78: How To Edit Positioning Data

    7.11 H ow to Edit Positioning Data 4 4 B 7.11.1 I nputting Positioning Data 1 0 3 B 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.
  • Page 79 7.11.2 C opying Positioining Data 1 0 4 B 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.
  • Page 80 7.11.4 S earching Character Strings 1 0 6 B 1. Select [Edit data] → [Find] in the menu bar, or click the [Find] icon in the toolbar. The following dialog is shown. 2. Input the character string to search in the [Character string to find] box, and select the target line (setting item).
  • Page 81 7.11.6 S electing Lines 1 0 8 B 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.

  • Page 82: Customizing Software

    7.12 C ustomizing Software 4 5 B 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.
  • Page 83 - Setting Font Select [Option] → [Font] in the menu bar. The following dialog is shown. 7-31...

  • Page 84: Checking Settings

    7.13 C hecking Settings 4 6 B 7.13.1 C hecking Parameters and Data Values 1 1 1 B 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.

  • Page 85: Transferring Setting Data

    7.14 Transferring Setting Data 4 7 B 7.14.1 U ploading Setting Data from Positioning Unit RTEX 1 1 2 B 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] → [Upload from Unit] in the menu bar, or click the [Upload from Unit] icon in the toolbar.
  • Page 86 7.14.2 D ownloading Setting Data to Positioning Unit RTEX 1 1 3 B 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] → [Download to Unit] in the menu bar, or click the [Download to Unit] icon in the toolbar.
  • Page 87 Axis information + Select this to download axis information and parameter only. Parameter setting data Axis information + Select this to download all setting data. The range of the positioning Parameter setting data + data to download can be specified. Positioning setting data Positioning setting data range Download all setting data.
  • Page 88 7.14.3 W riting Settings to FROM 1 1 4 B 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.

  • Page 89: Data Monitor

    7.15 D ata Monitor 4 8 B 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] → [Data Monitor] in the menu bar. The following dialog is shown. Axis [Group] The axis No.

  • Page 90: Status Display

    7.16 S tatus Display 4 9 B 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. Model The model name of positioning unit RTEX Axis [Group]...

  • Page 91: Tool Operation

    7.17 Tool Operation 5 0 B 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.
  • Page 92 7.17.1 T ool Operation – Servo On/Off 1 1 5 B 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 setting. 1.
  • Page 93 7.17.2 T ool Operation – Home Return 1 1 6 B 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.
  • Page 94 Execute the operation to start/stop the home return. ・Click [Start] to execute the home return operation. The button name Start/Stop 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.
  • Page 95 7.17.3 T ool Operation - Positioning 1 1 7 B 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. 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).
  • Page 96 Execute the operation to start/stop the home return. ・Click [Operate] to execute the positioning operation. The button name Operate/Stop 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. Error code The latest error code when an error occurred.
  • Page 97 7.17.4 T ool Operation – JOG Operation 1 1 8 B Each axis can be operated manually using the tool operation. Note: To perform the JOG operation, the equivalent axes should be in the state that the servo is locked (servo ON).
  • Page 98 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 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.
  • Page 99 7.17.5 T ool Operation - Teaching 1 1 9 B Activate each axis manually by the tool operation, and register the positioning addresses where the axes stopped as the point data. Note: To perform the teaching operation, the equivalent axes should be in the state that the servo is locked (servo ON).
  • Page 100 Axis [Group] The axis numbers and group names to be monitored. Synchronous Displays the current synchronous group. group Synchronous Displays the current synchronous mode. mode Synchronous Displays the current synchronous state (synchronous or asynchronous). condition Click [Change synchronous] to display the dialog for changing the synchronous setting.
  • Page 101 4. Click [Current value update] to change the current value. The following dialog box is displayed. Enter the current value to be changed. 5. Click [Close] to close the dialog. Note: This dialog cannot be closed during the JOG operation. 7-49...
  • Page 102 7-50...

  • Page 103: Automatic Operation (Position Control)

    Chapter 8 A utomatic Operation (Position Control)

  • Page 104: Basic Operation

    B asic Operation 5 1 B Type of operations 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.
  • Page 105 Operation flow of single axis control Operation flow of interpolation control 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 control is determined according to the contents of the positioning data to be set.
  • Page 106 8.1.1 S etting and Operation of E Point Control 1 2 0 B The example below is the case of a single axis control when using the FPΣ 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.
  • Page 107 Operation diagram Operations of each contact • The BUSY flag (FPΣ: 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. • The operation done flag (FPΣ: 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.
  • Page 108 Precautions on programming • 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. • The number of the startup contact and flag varies depending on the number of axes and the installation position.
  • Page 109 8.1.2 S etting and Operation of P Point Control 1 2 1 B The example below is the case of a single axis control when using the FPΣ 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.
  • Page 110 Operations of each contact • The BUSY flag (FPΣ: 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. • The operation done flag (FPΣ: 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.
  • Page 111 8.1.3 S etting and Operation of C Point Control 1 2 2 B The example below is the case of a single axis control when using the FPΣ 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.
  • Page 112 Operation diagram *1 The operation shifts to the next action after the elapse of dwell time. For details of dwell time, refer to "13.1 Dwell Time". 8-10...
  • Page 113 Operations of each contact • The BUSY flag (FPΣ: 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. • The operation done flag (FPΣ: 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.
  • Page 114 8.1.4 S etting and Operation of J Point Control 1 2 3 B J-point control operates until the start contact of J-point positioning turns ON after the operation of the positioning unit starts, and the next positioning control will start when the start contact of J-point positioning turns ON.
  • Page 115 Settings The parameters necessary for the setting of the positioning data and parameters are specified by the Configurator PM. The unit is set to pulse. Setting example Item Allowable range Table 1 Table 2 Table 3 J: Speed Operation J: Speed P: Pass E: End C: Continuance point E: End point P: Pass point...
  • Page 116 Operations of each contact • The BUSY flag (X18), which indicates that the motor is running, will turn ON when the positioning control starts, and it will turn OFF when the operation completes. • The operation done flag (X20), which indicates the completion of operation, will turn ON when the current operation is completed, and it will be held until the next positioning control, JOG operation, home return, or pulser operation starts.

  • Page 117: Interpolation Control

    I nterpolation Control 5 2 B Type of operations For the interpolation control, there are 2-axis linear interpolation control, 2-axis circular interpolation control, 3-axis linear interpolation control, and 3-axis spiral interpolation control. The following methods are available to specify the operation of each interpolation control. Select 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.
  • Page 118 8-16...
  • Page 119 When the X axis and Y axis is the moving axes, each axis in the above diagram is replaced. 8-17...
  • Page 120 8.2.1 S etting and Operation of Two-Axis Linear Interpolation 1 2 4 B The example below is the case of a single axis control when using the FPΣ 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.
  • Page 121 Operations of each contact • The BUSY flag for the axis 1 and 2 (FPΣ: 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. •...
  • Page 122 8.2.2 S etting and Operation of Two-Axis Circular Interpolation 1 2 5 B The example below is the case of a single axis control when using the FPΣ 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.
  • Page 123 Operations of each contact • The BUSY flag for the axis 1 and 2 (FPΣ: 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. •...
  • Page 124 8.2.3 S etting and Operation of Three-Axis Linear Interpolation 1 2 6 B The example below is the case of a single axis control when using the FPΣ 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.
  • Page 125 Operation diagram Operations of each contact • The BUSY flag for the axes 1, 2 and 3 (FPΣ: 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.
  • Page 126 Sample program Precautions on programming • To start the interpolation control, turn on the positioning start contact of the axis with the smallest number in the same group. • The values of the X-axis auxiliary point and Y-axis auxiliary point are invalid for the linear interpolation. •...
  • Page 127 8.2.4 S etting and Operation of Three-Axis Linear Interpolation 1 2 7 B The example below is the case of a single axis control when using the FPΣ with the positioning unit RTEX installed in the slot 0. The X axis is set to the 1st axis, the Y axis is set to the 2nd axis and the Z axis is set to the 3rd axis.
  • Page 128 Operation diagram Operations of each contact • The BUSY flag for the axes 1, 2 and 3 (FPΣ: 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.
  • Page 129 Sample program Precautions on programming • 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.

  • Page 130: Synchronous Operation

    S ynchronous Operation 5 3 B 8.3.1 O verview of Synchronous Operation 1 2 8 B The synchronous operation is a function to set an axis to be the standard (master axis) and an axis to be synchronized (slave axis), and make the operations the master and slave axes identical (synchronous). The features of the synchronous operation are as below.
  • Page 131 8.3.2 H ome Return in Synchronous Operation 1 2 9 B The usable home return methods vary according to the synchronous mode to be used in the synchronous operation. A: Available N/A: Not available Home return method Synchronous mode A Synchronous mode B DOG method 1 DOG method 2...
  • Page 132 8.3.3 S ynchronous Operation Difference Behavior Check Function 1 3 0 B The difference behavior check function is used to check if the master and slave axes perform the synchronous operation properly, and detect the feedback pulse value between the master and slave axes exceeds the threshold by comparing the feedback pulse value.
  • Page 133 8.3.5 O peration of Master and Slave Axes 1 3 2 B Operation of master and slave axes Various positioning parameters should be set to perform operations on the positioning unit. The parameters to be applied vary in the synchronous operation as follows. Parameter name Operation during synchronous operation Unit setting...
  • Page 134 8.3.6 S etting and Operation of Synchronous Operation 1 3 3 B The example below is the case of the synchronous operation for 2 axes with the positioning unit installed in the slot 0. The movement amount setting is the increment method, and the unit is set to pulse. Setting The parameters necessary for the setting of the positioning data and parameters are specified by the Configurator PM.
  • Page 135 Operation diagram Operations of each contact The BUSY flag (FP∑: X118 and X119, FP2: X18 and X19) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag (FPsigma: X120 and X121, FP2: X20 and 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.
  • Page 136 Sample program Precautions on programming 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. The number of the startup contact and flag varies depending on the number of axes and the installation position.

  • Page 137: Setting And Operation Of Positioning Repeat Function

    S etting and Operation of Positioning Repeat Function 5 4 B The positioning repeat function is a function to execute the positioning control repeatedly for the specified times. The repeat count is specified in the positioning repeat count area for each axis. It can be specified in the range of 2 to 254 times.
  • Page 138 - When executing multiple positioning table consecutively Once the positioning unit detects the deceleration stop, it will stop the positioning control after repeating for N+1 times. The example below is the case of a single axis control with the positioning unit installed in the slot 0. The movement amount setting is the increment method, and the unit is set to pulse.
  • Page 139 Operation diagram Operations of each contact The BUSY flag (FPΣ: 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. The operation done flag (FPΣ: X20, 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.
  • Page 140 Operation at limit input Condition Direction Limit status Operation Limit input(+):ON Not executable, Error occurs. Forward Limit input (-):ON Not executable, Error occurs. When Position control is executed Limit input(+):ON Not executable, Error occurs. Reverse Limit input (-):ON Not executable, Error occurs. Forward Limit input(+):ON Deceleration stop, Error occurs.

  • Page 141: Manual Operation (Jog Operation)

    Chapter 9 M anual Operation (JOG Operation)

  • Page 142: Setting And Operation Of Home Return

    S etting and Operation of Home Return 5 5 B The example below is a case when using the FPΣ 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. Setting The parameters necessary for the setting of the JOG operation are specified by the Configurator PM.
  • Page 143 Sample program Precautions on programming • The number of the startup contact and flag varies depending on the number of axes and the installation position. • The specified slot number varies depending on the installation position of the unit. Operation at limit input Condition Direction Limit status...

  • Page 144: Changing The Speed During Jog Operation

    C hanging the Speed During JOG Operation 5 6 B The target speed can be changed during the JOG operation. Setting The basic parameters necessary for the setting of the JOG operation are specified by the Configurator PM. However, the speed change during operation is set in pulse. Item Setting example Allowable range...
  • Page 145 Sample program Precautions on programming • 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. • The number of the startup contact and flag varies depending on the number of axes and the installation position.

  • Page 147: Manual Operation (Home Return)

    Chapter 10 M anual Operation (Home Return)

  • Page 148: Type Of Home Return Method

    10.1 Type of Home Return Method 5 7 B The home return is a function to move a position to the origin of a reference position and set the coordinate to zero. The following home return methods are available for the positioning unit. ■DOG method 1 (Edge detection of near home switch + Home, based on front end) The rising edge of the first home position (phase Z) is set as the starting point after the detection of the rising edge of the near home switch (DOG).
  • Page 149 ■DOG method 2 (Edge detection of near home switch) The rising edge of the near home switch is detected and it is set as the starting point. ■DOG method 3 (Edge detection of near home switch + Home, based on back end) The rising edge of the first home position (phase Z) in the home return direction is set as the starting point after the detection of the trailing edge (back end) of the near home switch (DOG).
  • Page 150 ■Limit method 1 (Edge detection of limit switch + Home, based on front end) Reverses after detecting the rising edge of the limit switch on the opposite side of the home return direction. ■Limit method 2 (Edge detection of limit switch) Detects the rising edge of the limit switch in the home return direction and stops.
  • Page 151 ■Stop-on-contact method 2 (Stop-on-contact + Home, based on front end) Although the operation is similar to the stop-on-contact method, it performs the reverse operation after the stop by a stopper and stops at the position where the first home position (phase Z) is detected. This coordinate is set as the starting point.

  • Page 152: Amp Settings And Usable Home Return Methods

    10.2 AMP Settings and Usable Home Return Methods 5 8 B When using A6N or A5N as AMP, some home return methods cannot be used depending on the connections of limit signal and near home signal, and the parameter settings of AMP. Note that the home return which cannot be executed is treated as an error and the positioning unit does not operate.

  • Page 153: Setting And Operation Of Home Return

    10.3 S etting and Operation of Home Return 5 9 B The example below is a case when using the FPΣ 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. Setting The parameters necessary for the setting of the home return are specified by the Configurator PM.
  • Page 154 Sample program Precautions on programming • The number of the startup contact and flag varies depending on the number of axes and the installation position. • The specified slot number varies depending on the installation position of the unit. Operation at limit input Condition Direction Limit status...

  • Page 155: Manual Operation (Pulser Operation)

    Chapter 11 M anual Operation (Pulser Operation) 1 0 B...

  • Page 156: Setting And Operation Of Pulser Operation

    11.1 S etting and Operation of Pulser Operation 6 0 B Types of pulse operation The pulser operation is a function to output pulses in the manual operation using the pulser connected to the positioning unit. The following operation methods can be used. Operation method Operation Standard operation...
  • Page 157 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 1 to 32,767 Pulser operation ratio denominator...
  • Page 158 Sample program Precautions on programming • 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. • The number of the startup contact and flag varies depending on the number of axes and the installation position.

  • Page 159: Stop Functions

    Chapter 12 S top Functions 1 1 B...

  • Page 160: Settings And Operations Of Stop Functions

    12.1 S ettings and Operations of Stop Functions 6 1 B 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 Axis stopped Operation Deceleration...

  • Page 161: Setting And Operation Of Pause Function

    12.2 S etting and Operation of Pause Function 6 2 B The pause function is a function to temporarily stop the control in operation. The pause function is used switching between the deceleration stop function. Using the pause function enables to perform the deceleration stop in the deceleration time of the control being operated by turning on the deceleration stop request contact.
  • Page 162 12-4...

  • Page 163: Supplementary Functions

    Chapter 13 S upplementary Functions 1 2 B...

  • Page 164: Dwell Time

    13.1 D well Time 6 3 B 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.

  • Page 165: Software Limit

    13.2 S oftware Limit 6 4 B 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 in software for the absolute coordinate managed within the positioning unit RTEX.

  • Page 166: Torque Limit

    13.3 Torque Limit 6 5 B 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 operation, however, note that the torque cannot be changed in the home return operation.
  • Page 167 13.3.1 R estrictions on Real-time Torque Limit 1 3 4 B The realtime torque limit function cannot be used for the home return operation. As a parameter of AMP “Primary torque limit value” is used, do not change the used torque e limit by PANATERM, etc when using the torque limit.

  • Page 168: Auxiliary Output Code And Auxiliary Output Contact

    13.4 Auxiliary Output Code and Auxiliary Output Contact 6 6 B 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, J point control) is executed. The auxiliary output contact and the auxiliary output code can be used by setting the parameter “auxiliary output mode”...

  • Page 169: Actual Speed/Torque Value Judgment

    13.5 Actual Speed/Torque Value Judgment 6 7 B 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.

  • Page 170: Imposition Flag And Completion Width

    13.6 I mposition Flag and Completion Width 6 8 B 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 specified in the AMP. It does not relate to the control of the positioning RTEX.

  • Page 171: Current Value Update

    13.7 C urrent Value Update 6 9 B The current value update is a function to change the current value managed in the positioning unit to an arbitrary value. Data must be written into the shared memory from the PLC in order to carry out the current value update. Followings are the details of the shared memory to carry out the current value update.
  • Page 172 Reference: <17.4.6 Current Value Update Data Area> Note: The value to be changed by updating the current value is the feedback value after unit conversion. 13.7.1 R estrictions on Operation 1 3 5 B The current value update can be executed only when the target axes stop. Although the current value update function can be executed during the operation of a target axis, the current value update request during the axis operation (Busy) is ignored, and the current value is automatically updated after the axis operation stops.

  • Page 173: Coordinate Origin

    13.8 C oordinate Origin 7 0 B The positioning unit sets the coordinate managed to 0 by the home return process. Coordinate origin is a function to set the coordinate after the home return process to an arbitrary value. Procedure of coordinate origin process 1.

  • Page 174: Position Deviation Simple Monitor

    13.9 P osition Deviation Simple Monitor 7 1 B Overview The position deviation is the difference between the current value controlled by the positioning unit RTEX and the AMP current position fed back from the AMP. This function is the same as the deviation counter provided in the AMP. The difference between the command value of the positioning 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.
  • Page 175 13.9.2 S ample program 1 3 7 B 13.9.3 Restrictions on Operation As the deviation to be displayed with the position deviation simple monitor is calculated within the positioning unit, a difference may occur with the deviation counter value of the AMP. The display of the position deviation monitor is updated by 10 ms.

  • Page 176: Amp Parameter R/W Function

    13.10 AMP Parameter R/W Function The positioning unit RTEX can execute the following operations for AMP via network (Realtime Express). Reading AMP parameters Writing AMP parameters Saving AMP parameters (EEPROM write) Resetting AMP (Restart) For performing the AMP control with the positioning unit RTEX, use the AMP parameter control area (Shared memory: Bank 52H, Address from 000H) after changing the AMP control mode (System operation setting area: Shared memory: Bank 00H, Address 384H) to 1H (AMP control enable).
  • Page 177 Sample program (When reading AMP parameter No.1.1 of axis 1 with A6N or A5N) 13-15...
  • Page 178 13.10.2 Writing AMP Parameters [With A4N】 1. Change the AMP control mode to "1 (AMP control enable)". 2. AMP parameter control area Set the axis number (AMP ID No.) to be read to AMP ID number. Set the parameter number to be read to the individual parameter number. Store the parameter value to be written in the A4N parameter data.
  • Page 179 Sample program (When writing AMP parameter No.1.1 of axis 1 with A6N or A5N) 13-17...
  • Page 180 13.10.3 Saving AMP Parameters (EEPROM Write) [With A4N / A5N / A6N] 1. Change the AMP control mode to "1 (AMP control enable)". 2.AMP parameter control area Set the axis number (AMP ID No.) to be read to AMP ID number. Set the control flag to "5H (EEPROM write request)".
  • Page 181 13.10.4 Resetting AMP (Restart) [With A4N / A5N / A6N] 1. Change the AMP control mode to "1 (AMP control enable)". 2. AMP parameter control area Set the axis number (AMP ID No.) to be read to AMP ID number. Set the control flag to "6H (AMP reset request)".

  • Page 182: Position Deviation Simple Monitor

    13.11 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 back from the AMP. This function is the same as the deviation counter provided in the AMP. The difference between the command value of the positioning 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.

  • Page 183: Precautions During Programming

    Chapter 14 Precautions During Programming...

  • Page 184: 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.
  • Page 185 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.
  • Page 186 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.

  • Page 187: Errors And Warnings

    Chapter 15 Errors and Warnings...

  • Page 188: Errors And Warnings

    15.1 Errors and Warnings 15.1.1 About Errors and Warnings When any operational unconformity occurs in the positioning unit RTEX, errors or warnings will occur. When errors or warnings occur, the following operations will be performed. Occurs in any abnormal conditions. When a motor is operating, the operation stops. Errors The motor stopped due to the occurrence of error will not activate until the error clear is executed.
  • Page 189 15.1.3 Error 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 following three error/warning clear methods are available. •...

  • Page 190: List Of Error Codes

    15.2 List of Error Codes 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 0FFFH, 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.
  • Page 191 AMP error code table [For A6N] Error code of A6N error no. FPΣ/FP2 Positioning Description Main Unit RTEX 000BH Control power supply undervoltage protection 000CH Over-voltage protection Main power supply undervoltage protection (between P to 000DH Main power supply undervoltage protection (AC 010DH interception detection) 000EH...
  • Page 192 AMP error code table [For A6N] Error code of A6N error no. FPΣ/FP2 Positioning Description Main Unit RTEX 0421H I/F output function number error 1 protection 0521H I/F output function number error 2 protection 0821H Latch input allocation error protection 0022H Software limit protection 0024H...
  • Page 193 AMP error code table [For A6N] Error code of A6N error no. FPΣ/FP2 Positioning Description Main Unit RTEX 0554H RTEX communication cycle error protection 0056H RTEX cyclic data error protection 1 0156H RTEX cyclic data error protection 2 0256H RTEX update counter error protection 0057H Compulsory alarm input protection 025AH...
  • Page 194 AMP error code table [For A5N] Error code of A5N error no. FPΣ/FP2 Positioning Description Main Unit RTEX 000BH Control power supply undervoltage protection 000CH Over-voltage protection 000DH Main power supply undervoltage protection (between P to N) 010DH Main power supply undervoltage protection (AC interception detection) 000EH Over-current protection...
  • Page 195 AMP error code table [For A5N] Error code of A5N error no. FPΣ/FP2 Positioning Description Main Unit RTEX 051BH Command generation error protection 061BH Operation command contention protection 071BH Position information initialization error protection Limit of pulse replay error protection 001CH Deviation counter overflow protection 1 011DH...
  • Page 196 AMP error code table [For A5N] Error code of A5N error no. FPΣ/FP2 Positioning Description Main Unit RTEX ・For Absolute 002DH Absolute multi-turn counter error protection ・For Incremental Incremental multi-turn counter error protection Absolute status error protection 002FH Incremental encoder Z-phase error protection 0030H Incremental encoder CS signal error protection 0031H...
  • Page 197 AMP error code table [For A5N] Error code of A5N error no. FPΣ/FP2 Positioning Description Main Unit RTEX 035DH External scale connection error protection 055DH Parameter setting error protection 4 025EH Home position return error protection 005FH Motor automatic recognition error protection 015FH Motor automatic recognition error protection 025FH...
  • Page 198 AMP error code table [For A4N] Error code of FPΣ/FP2 Positioning Alarm code Description Unit RTEX 000BH Control power supply under-voltage protection 000CH Over-voltage protection 000DH Main power supply under-voltage protection 000EH Over-current protection 000FH Over-heat protection 0010H Over-load protection 0012H Over-regeneration load protection 0015H...
  • Page 199 AMP error code table [For A4N] Error code of FPΣ/FP2 Positioning Alarm code Description Unit RTEX 003AH External scale other error protection 0052H Node addressing error protection 0053H Communication error protection 0054H Time out error protection 0056H Cyclic data error protection 0057H Compulsory alarm input protection 005FH...
  • Page 200 15.2.2 System Errors (From 1000H) 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.
  • Page 201 15.2.3 AMP Communication Errors (From 2000H) These are the errors occurred in the communication between the positioning unit and AMP. They occur when the communication data was judged as abnormal. A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code...
  • Page 202 15.2.4 Axis Operation Errors (From 3000H) These are the errors occurred while various operations are being executed. A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code The axis that servo is not locked Confirm the servo is locked while 3000H Not servo ready Each axis...
  • Page 203 A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code - Changing the synchronous The synchronous group was group should be performed changed during the synchronous when the busy signal for the operation or when requesting the axes to be synchronized is off.
  • Page 204 15.2.5 Setting Value Errors (From 4000H) These are the errors in the various setting values specified using the Configurator PM or ladder programs. A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code Check the following items in the settings of the axis group and independent axis.
  • Page 205 A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code The operation settings of the Synchronous operation 4031H synchronous operation difference Each axis method setting error check function are not correct. Positioning completion The positioning completion width 4041H Each axis width error...
  • Page 206 A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code JOG operation target The target speed of the JOG 4201H Each axis speed error operation is out of the range. JOG operation The acceleration/deceleration 4203H acceleration/decelera- type of the JOG operation is Each axis tion type error incorrect.

  • Page 207: List Of Warning Codes

    15.3 List of Warning Codes Warning codes are from A000H to differentiate from the error codes. 15.3.1 AMP Warnings (From A000H) Warnings occurred on the AMP side are output from the positioning unit RTEX as warning codes. The warning codes output from this unit are written in hexadecimal, however, the warning codes output from the AMP are written in hexadecimal when using A6N/A5N, and decimal when using A4N.
  • Page 208 AMP warning code table [For A6N] Warning code of Warning Σ /FP2 Positioning Warning name code (Hex) Unit RTEX A0A0H Overload protection A0A1H Over-regeneration alarm A0A2H Battery alarm A0A3H Fan alarm A0A4H Encoder communication alarm A0A5H Encoder overheat alarm A0A6H Oscillation detection alarm A0A7H Lifetime detection alarm...
  • Page 209 AMP warning code table [For A4N] Warning code of Warning Σ /FP2 Positioning code No. Warning function Unit RTEX (Decimal) A010H Overload warning A012H Regenerative overload warning A028H Battery warning A053H Continuous communication error warning A054H Communication error accumulated warning A056H Update Counter warning A058H...
  • Page 210 15.3.2 Unit Warnings (From B000H) These are the warning codes to be given when the warnings occurred in the positioning unit. A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code Check the status of the host Host CPU The operation mode of the host CPU Each...
  • Page 211 A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code 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 This warning occurs when setting...
  • Page 212 15-26...

  • Page 213: Troubleshooting

    Chapter 16 Troubleshooting...

  • Page 214: Cannot Communication With Amp

    16.1 Cannot Communication With AMP 16-2...

  • Page 215: Specifications

    Chapter 17 Specifications...

  • Page 216: Table Of Specificationa

    17.1 Table of Specificationa 17.1.1 General Specifications Description Item FPΣ Positioning Unit RTEX FP2 Positioning Unit RTEX Ambient operating 0 to +55 °C temperature Ambient storage -20 to +70 °C temperature Ambient operating 30 to 85 % RH (at25 °C non-condensing) humidity Ambient storage 30 to 85 % RH (at25 °C non-condensing)
  • Page 217 17.1.3 Performance Specifications of Units FPΣ Positioning unit RTEX individual specifications Description Item 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 2 axes/1 system 4 axes/1 system 8 axes/1 system controlled Occupied I/O points Input: 128 points, Output: 128 points (SX128, SY128)
  • Page 218 17.1.4 Common Specifications Description Item 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 2-axis linear interpolation, 2-axis linear interpolation, 3-axis linear interpolation Interpolation control 2-axis circular interpolation 2-axis circular interpolation, 3-axis spiral interpolation Occupied I/O points Input: 128 points, Output: 128 points (SX128, SY128) Position setting...
  • Page 219 Description Item 2-axis type 4-axis type 8-axis type Pulse:1 to 32,767,000 pps µ µ Speed command m: 1 to 32,767,000 range inch: 0.001 to 32,767.000 inch/s degree: 0.001 to 32,767.000 rev/s Acceleration/ Linear acceleration/deceleration, S-shaped acceleration/deceleration 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) Pulse:1 to 32,767,000 pps...

  • Page 220: Table Of I/O Area

    17.2 Table of I/O Area Followings are occupied I/O when FPΣ/FP2 Positioning unit RTEX is installed in the slot 0. Contact allocation Target Name Descriptions axis FPΣ Link establishment Indicates that the network link was established, and announce X100 All axes annunciation the system started running.
  • Page 221 Contact allocation Target Name Descriptions axis FPΣ X120 1 axis Turns on when the operation command for the corresponding X121 2 axis axis completed and the position error became in the specified X122 3 axis completion width. X123 4 axis For P point control and C point control of the automatic Operation done operation, turns on when the operation for all the tables...
  • Page 222 Contact allocation Target Name Descriptions axis FPΣ X150 Limit + 1 axis X151 Limit - X152 Limit + 2 axis X153 Limit - Monitor contact of the limit + and – connected to the X154 Limit + corresponding AMP. 3 axis X155 Limit - During the positioning operation, JOG operation or pulser...
  • Page 223 Contact allocation Target Name Descriptions axis FPΣ Contact for requesting the system stop. When it turns on, all Y100 All axes System stop axes will stop at the deceleration time 0. Y101 Y102 Y103 Y104 Y105 Y106 Turn on this signal when each positioning data (standard area) in the shared memory was changed.
  • Page 224 Contact allocation Target Name Descriptions FPΣ axis Y130 Y110 1 axis Requests the emergency stop for the corresponding AMP. Y131 Y111 2 axis The deceleration time for the emergency stop is specified by Y132 Y112 3 axis Configurator PM or the emergency stop setting in the shared Y133 Y113 4 axis Emergency stop...
  • Page 225 Contact allocation Target Name Descriptions axis FPΣ Y160 Y140 1 axis Y161 Y141 2 axis Y162 Y142 3 axis Requests the error clear for the corresponding AMP. Y163 Y143 4 axis Request error clear The processing to recover from errors is performed and Y164 Y144 5 axis the error logs are cleared by turning on this signal.

  • Page 226: Configuration Of Shared Memory Areas

    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.

  • Page 227: Details Of Common Area In Shared Memory

    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 00H in the shared memory, and is used for the common settings of each axis. 17-13...
  • Page 228 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.
  • Page 229 17.4.4 Axis Group Setting 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. Offset Bank Name Descriptions address Group A axis Set either independent or interpolation for each axis in this area.
  • Page 230 17.4.5 Synchronous Group Setting Area For the synchronous operation, one slave axis is set for one master axis. Up to two groups can be set. Offset Bank Name Descriptions address Synchronous Sets the operation mode of the synchronous operation. group 1 00H: Synchronous mode A 01H: Synchronous mode B 0B7H...
  • Page 231 17.4.6 Current Value Update Data Area For changing the current value of each axis controlled in the positioning unit, store the changed coordinates in this area and turn on the current value update request flag. Offset Bank Name Descriptions address Only when the corresponding bit for each axis changes to 1 from 0, the current values controlled by the positioning unit are changed to the following values.
  • Page 232 17.4.7 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.
  • Page 233 17.4.9 Positioning Control Area This is the area to set the repeat count of the positioning control to be started by axis. The positioning unit repeats the started positioning control for the specified repeat count and then completes the operation. The repeat count is changed to the default value on completion of the operation.
  • Page 234 17.4.10 Error Annunciation & 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, and then the error will be judged again.
  • Page 235 Offset Bank Name Descriptions address Error code 140H annunciation Announces the code when an error occurred. 141H buffer 4 of axis 2 Error code 142H annunciation Announces the code when an error occurred. 143H buffer 5 of axis 2 Error code 144H annunciation Announces the code when an error occurred.
  • Page 236 Offset Bank Name Descriptions address Number of error 169H occurrences of Announces the number of occurrences of errors at axis 5. axis 5 Error code 16AH annunciation Announces the code when an error occurred. 16BH buffer 1 of axis 5 Error code 16CH annunciation...
  • Page 237 Offset Bank Name Descriptions address Number of error 189H occurrences of Announces the number of occurrences of errors at axis 7. axis 7 Error code 18AH annunciation Announces the code when an error occurred. 18BH buffer 1 of axis 7 Error code 18CH annunciation...
  • Page 238 17.4.11 Warning Annunciation & 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.
  • Page 239 Offset Bank Name Descriptions address Warning code 1D8H annunciation Announces the code when a warning occurred. 1D9H buffer 4 of axis 2 Warning code 1DAH annunciation Announces the code when a warning occurred. 1DBH buffer 5 of axis 2 Warning code 1DCH annunciation Announces the code when a warning occurred.
  • Page 240 Offset Bank Name Descriptions address No. of warning 201H occurrences of Announces the number of occurrences of warnings at axis 5. axis 5 Warning code 202H annunciation Announces the code when a warning occurred. 203H buffer 1 of axis 5 Warning code 204H annunciation...
  • Page 241 Offset Bank Name Descriptions address No. of warning 221H occurrences of Announces the number of occurrences of warnings at axis 7. axis 7 Warning code 222H annunciation Announces the code when a warning occurred. 223H buffer 1 of axis 7 Warning code 224H annunciation...
  • Page 242 17.4.12 Synchronous Operation Control/Monitor Area This is the area to set the synchronous operation to be enabled or disabled and to confirm the current synchronous settings. Offset Bank Name Descriptions address Synchronous Switches the setting for the synchronous operation between “Enabled” and group 1 “Disabled”.
  • Page 243 17.4.13 System Operation Setting Area This area is used to switch the operation of the positioning unit. Offset Default Setting Bank Name Descriptions Unit address value range Executes operations such as changing the parameters of AMP (A4N/A5N/A6N). The following operations can be executed by changing this area to "AMP control enable".

  • Page 244: Details Of Each Axis Information Area In Shared Memory

    17.5 Details of Each Axis Information Area in Shared Memory 17.5.1 Configuration of Each Axis Information Area The 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 allocated for each address in this area. Note: Firstly confirm that the link establishment annunciation flag is on when reading the axis information area using the ladder program.
  • Page 245 17.5.2 Each Axis Information & 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 Setting Bank Name Descriptions Unit address value range 000H 001H 002H System ID of Stores the brand name or vendor name.
  • Page 246 Offset Default Setting Bank Name Descriptions Unit address value range Stores the status indication of AMP Name Default Description Imposition 0: Deviation counter is outside of the imposition range. 1: Deviation counter is in the imposition range. Home 0: Home return has not completed. return done 1: Home return has completed.
  • Page 247 Axis information of axis 2 Offset Bank Name Descriptions address 040H 041H 042H 043H System ID of axis 2 Refer to the descriptions of axis 1. (Brand name or vendor name) 044H 045H 046H 047H 048H 049H 04AH 04BH System ID of axis 2 Refer to the descriptions of axis 1.
  • Page 248 Axis information of axis 3 Offset Bank Name Descriptions address 080H 081H 082H 083H System ID of axis 3 Refer to the descriptions of axis 1. (Brand name or vendor name) 084H 085H 086H 087H 088H 089H 08AH 08BH System ID of axis 3 Refer to the descriptions of axis 1.
  • Page 249 Axis information of axis 4 Offset Bank Name Descriptions address 0C0H 0C1H 0C2H 0C3H System ID of axis 4 Refer to the descriptions of axis 1. (Brand name or vendor name) 0C4H 0C5H 0C6H 0C7H 0C8H 0C9H 0CAH 0CBH System ID of axis 4 Refer to the descriptions of axis 1.
  • Page 250 Axis information of axis 5 Offset Bank Name Descriptions address 100H 101H 102H 103H System ID of axis 5 Refer to the descriptions of axis 1. (Brand name or vendor name) 104H 105H 106H 107H 108H 109H 10AH 10BH System ID of axis 5 Refer to the descriptions of axis 1.
  • Page 251 Axis information of axis 6 Offset Bank Name Descriptions address 140H 141H 142H 143H System ID of axis 6 Refer to the descriptions of axis 1. (Brand name or vendor name) 144H 145H 146H 147H 148H 149H 14AH 14BH System ID of axis 6 Refer to the descriptions of axis 1.
  • Page 252 Axis information of axis 7 Offset Bank Name Descriptions address 180H 181H 182H 183H System ID of axis 7 Refer to the descriptions of axis 1. (Brand name or vendor name) 184H 185H 186H 187H 188H 189H 18AH 18BH System ID of axis 7 Refer to the descriptions of axis 1.
  • Page 253 Axis information of axis 8 Offset Bank Name Descriptions address 1C0H 1C1H 1C2H 1C3H System ID of axis 8 Refer to the descriptions of axis 1. (Brand name or vendor name) 1C4H 1C5H 1C6H 1C7H 1C8H 1C9H 1CAH 1CBH System ID of axis 8 Refer to the descriptions of axis 1.

  • Page 254: Details Of Each Axis Setting Area In Shared Memory

    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 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.
  • Page 255 17.6.2 Parameter Setting Area Positioning parameters of each axis Data in the following formats are stored from the starting address of positioning parameters of each axis. Offset Default Setting 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.
  • Page 256 Offset Default Setting Name Descriptions Unit address value range Sets the lower limit value of the software limit for absolute coordinates. Name Default Description Lower 1,073,741,823 Lower limit of software limit 31 to 0 00EH Interpretation is changed by the unit setting. limit of Pulse: -1,073,741,823 to 1,073,741,823 pulse software...
  • Page 257 Offset Default Setting Name Descriptions Unit address value range Sets the pattern of the home return. Name Default Description Home return 0: DOG method 1 15 to 0 setting code 1: DOG method 2 2: DOG method 3 Home return 3: Limit method: 1 020H setting code...
  • Page 258 Offset Default Setting Name Descriptions Unit address value range Sets the acceleration/deceleration time when performing the JOG operation. JOG operation At the beginning of the JOG operation, accelerates for the specified acceleration 02AH acceleration time, decelerates for the specified deceleration time when the starting contact of time the JOG operation turns off.
  • Page 259 Offset Default Setting 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). 039H ratio numerator Name...
  • Page 260 Offset Default Setting Name Descriptions Unit address value range The maximum speed when selecting the speed limit for the pulser operation method. When the speed calculated by multiplying the pulser input by (Pulser operation 048H numerator / Pulser operation denominator) is over the specified maximum speed, the operation is performed at the maximum speed.
  • Page 261 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.
  • Page 262 Positioning tables Data in the following formats is stored from the starting address of positioning tables of each axis. Offset Name Descriptions address Sets the position setting mode and acceleration/deceleration pattern for the positioning operation. Name Default Description Increment /absolute 0: Increment mode 000H Control code...
  • Page 263 Offset Name Descriptions address The area to set the movement amount for the positioning operation. The interpretation is changed for the increment movement amount or absolute coordinate by the control code setting. 008H Name Default Description Positioning Setting range: -1,073,741,823 to 1,073,741,823 31 to 0 Positioning movement...
  • Page 264 Starting address of each positioning table Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Add- Bank No. Descriptions ress 050H Starting address of table 1 060H Starting address of table 2 070H Starting address of table 3 080H Starting address of table 4...
  • Page 265 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Add- Bank No. Descriptions ress 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...
  • Page 266 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Add- Bank No. Descriptions ress 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...
  • Page 267 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Add- Bank No. Descriptions ress 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...
  • Page 268 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Add- Bank No. Descriptions ress 000H 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...
  • Page 269 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Add- Bank No. Descriptions ress 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...
  • Page 270 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Add- Bank No. Descriptions ress 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...
  • Page 271 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Add- Bank No. Descriptions ress 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...
  • Page 272 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Add- Bank No. Descriptions ress 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...
  • Page 273 Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Add- Bank No. Descriptions ress 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...
  • Page 274 AMP parameter control area This area is used to read/write, save and reset parameters for the AMP. Offset Default Setting Bank Name Descriptions Unit address value range Specify the target axis number (AMP ID No.) to 000H AMP ID No. perform each operation such as changing 1 to 8 parameters.

  • Page 275: Dimensions

    Chapter 18 Dimensions...

  • Page 276: Fpsigma Positioning Unit Rtex

    18.1 FPSigma Positioning Unit RTEX 18-2...

  • Page 277: Fp2 Positioning Unit Rtex

    18.2 FP2 Positioning Unit RTEX 18-3...
  • Page 278 18-4...

  • Page 279: Sample Programs

    Chapter 19 Sample Programs...

  • Page 280: I/O Allocation Of Sample Programs

    19.1 I/O Allocation of Sample Programs In the sample programs, the internal relays are used as the activation request signal for each operation. If necessary, replace them with the input contacts that switches, etc are connected. Basic Configuration The FPΣ 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.
  • Page 281 Number Descriptions FPΣ X100 Link establishment for all axes X104 Tool operation for all axes X107 Recalculation done flag X108 Connection confirmation for axis 1 X109 Connection confirmation for axis 2 X110 Servo lock for axis 1 X111 Servo lock for axis 2 X118 Busy flag for axis 1 X119...

  • Page 282: Sample Programs

    19.2 Sample Programs There are 3 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.
  • Page 283 19-5...
  • Page 284 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 as the extended area is used. Replace the part of the positioning start program in the sample program Positioning start program 19-6...
  • Page 285 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 positioning data. Replace the part of the positioning start program in the sample program Positioning start program 19-7...
  • Page 286 19-8...
  • Page 287 Record of changes Manual No. Date Description of changes NOV.2006 First edition ARCT1F421E ARCT1F421E-1 FEB.2008 Second edition - Addition of functions (Ver1.13) ARCT1F421E-2 NOV.2008 Third edition - Change in Corporate name Fourth edition ARCT1F421E-3 JUL.2009 Fifth edition ARCT1F421E-4 OCT.2011 - Addition of functions (Ver.1.30) Supported MINAS A5N, AMP parameter R/W function - Change of Corporate name Sixth edition...

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