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Panasonic FP0R User Manual

Programmable controllers
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PROGRAMMABLE CONTROLLERS
FP0R
User's Manual
ACGM0475V3EN

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Summary of Contents for Panasonic FP0R

  • Page 1 PROGRAMMABLE CONTROLLERS FP0R User’s Manual ACGM0475V3EN...
  • Page 2 Liability and copyright for the hardware This manual and everything described in it are copyrighted. You may not copy this manual, in whole or part, without written consent of Panasonic Electric Works Europe AG (PEWEU). PEWEU pursues a policy of continuous improvement of the design and per- formance of its products.
  • Page 3 Indicates a hazardous situation which, if not avoided, could result in serious or moderate injury. CAUTION Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury. NOTICE Indicates a property damage message. FP0R User's Manual...
  • Page 4  memory area tables  programming examples  For documentation on other units used with the FP0R, please refer to the hardware manual for that unit. All manuals can be downloaded from the Panasonic Web site (http://www.panasonic-electric-works.com). FP0R User's Manual...
  • Page 5 An insulated power supply with an internal protective circuit should be  used (FP power supply). The power supply for the CPU is a non-insulated circuit, so if an incorrect voltage is directly applied, the internal circuit may be damaged or destroyed. FP0R User's Manual...
  • Page 6 To prevent the accidental loss of programs, the user should consider the following measures: Backing up programs: To avoid accidentally losing programs, destroying  files, or overwriting the contents of a file, use the backup or export FP0R User's Manual...
  • Page 7 If the password is forgotten, however, it will be impossible to overwrite the program even if you want to. Also, if a password is forcibly bypassed, the program is delet- ed. Therefore, please note the password in a safe location. FP0R User's Manual...
  • Page 8 Programming conventions The programming examples in this manual are designed for Control FPWIN Pro. For FPWIN GR examples, please refer to: FP0R User’s Manual ARCT1F475E Most of the sample programs were written in Ladder Diagram. In Control FPWIN Pro, you can also program in Structured Text, Function Block Dia- gram, Instruction List, and Sequential Function Chart.

  • Page 9: Table Of Contents

    Overview ..........................15 Features ......................15 Unit types ......................18 1.2.1 CPU ....................... 18 1.2.2 FP0/FP0R I/O expansion units ..............19 1.2.3 FP0 intelligent units ................. 20 1.2.4 FP series link units ................... 20 1.2.5 Power supply unit ..................21 1.2.6 Accessories .....................
  • Page 10 5.1.3 Using optional mounting plates ..............61 5.1.3.1 Slim type mounting plate ............. 61 5.1.3.2 Flat type mounting plate .............. 63 Connecting FP0/FP0R expansion units ..............65 Safety instructions for wiring ................66 Wiring the power supply ..................68 5.4.1 Grounding ....................70 Input and output wiring ..................
  • Page 11 6.7.4 PLC link 0 and 1 allocation setting ............152 6.7.5 Monitoring .................... 152 6.7.6 PLC link response time ................155 6.7.6.1 Reducing transmission cycle times ..........158 6.7.6.2 Error detection time for transmission assurance flags ....159 FP0R User's Manual...
  • Page 12 7.4.3.5 Trapezoidal control ..............206 7.4.3.6 JOG operation and positioning ............ 208 7.4.3.7 JOG operation ................211 7.4.3.8 Data table control ..............213 7.4.3.9 Linear interpolation ..............214 7.4.3.10 Home return ................215 PWM output function ..................216 FP0R User's Manual...
  • Page 13 11.2.3 C32 CPU (MIL connector)............... 241 11.2.4 Power supply unit ................. 242 11.2.5 Using DIN rails ..................242 11.3 I/O allocation ....................242 11.4 Flags and memory areas for FP0R ..............244 11.5 System registers ..................... 247 FP0R User's Manual...
  • Page 14 11.6.3 MEWTOCOL-COM error codes ..............258 11.7 MEWTOCOL-COM communication commands ............259 11.8 Data types ..................... 260 11.8.1 Elementary data types ................260 11.8.2 Generic data types................261 11.9 Hexadecimal/binary/BCD ................. 262 11.10 SCII codes ....................263 FP0R User's Manual...

  • Page 15: Overview

    Chapter 1 Overview 1.1 Features The FP0R is an ultra compact PLC (programmable logic controller) with high-speed processing capabilities and a large memory capacity. The con- troller uses the comprehensive F instruction set and is programmed with Control FPWIN Pro or FPWIN GR. With Control FPWIN Pro, programming according to IEC 61131-3 is possible.
  • Page 16 Additional unit with battery free backup function (F32 type) The F32 type offers a battery-free automatic backup function for all opera- tion memories (internal flags, data registers, timers/counters). Maintaina- bility has been significantly improved, as there is no need to change a bat- tery. FP0R User's Manual...
  • Page 17 FP0 compatibility The FP0 compatibility mode enables programs that have been used on an existing FP0 to be activated on the FP0R with no further modifications. Al- so, since both units have an identical shape and terminal layout, there is no need to check the installation space or change the wiring.

  • Page 18: Unit Types

    Transistor (NPN): RS232C AFP0RT32CT 0.2A (built-in RS485 AFP0RT32MT battery) Transistor (PNP): RS232C AFP0RT32CP 0.2A RS485 AFP0RT32MP Transistor (NPN): RS232C AFP0RF32CT 0.2A (built-in RS485 AFP0RF32MT FRAM) Transistor (PNP): RS232C AFP0RF32CP 0.2A RS485 AFP0RF32MP Total number (input points/output points) FP0R User's Manual...

  • Page 19: Fp0/Fp0R I/O Expansion Units

    Overview 1.2.2 FP0/FP0R I/O expansion units Type I/Os Power Input Output Connection Product no. supply 8 (8/–) 24V DC MIL con- FP0R-E8X – – ±COM nector terminal 8 (4/4) 24V DC 24V DC Relay: 2A Terminal FP0R-E8RS ±COM block terminal 8 (–/8)

  • Page 20: Fp0 Intelligent Units

    Server 2 PLCs to the Ethernet, to send e-mails, and present PLC data as HTML pages. FP Web Must be connected to FP – FPWEBEXP ARCT1F446 Expansion Web-Server 2. Supplied with a unit USB and RS485 port. FP0R User's Manual...

  • Page 21: Power Supply Unit

    (packed with transistor output type) Pressure connection For wiring transistor output type connec- AXY5200FP tool tions FP0 slim type For vertical mounting of FP0/FP0R expan- AFP0803 mounting plate (10 sion units pcs) Flat type mounting For horizontal mounting of the CPU AFP0804...

  • Page 22: Restrictions On Unit Combinations

    However, the maximum number of expansion units per CPU is limited. A maximum of three expansion units can be connected on the right side of the FP0R CPU, these expansion units being either I/O expansion units or intelligent units. A combination of relay output types and transistor output types is also possible.

  • Page 23: Programming Tools

    FPWIN GR Version 2 or later FP Memory Loader (AFP8670/AFP8671) to transfer programs and sys-  tem registers PC connection cable You can connect your PC to the FP0R via USB or RS232C. Cable Connector Description Product no. USB cable 5-pin Mini-B type USB 2.0 Full Speed (or...

  • Page 24: Fp0 Program Compatibility

    The maximum permissible cable length is 5m. 1.5 FP0 program compatibility Programs from the existing FP0 can only be used on the FP0R, if they: 1. conform to FP0R specifications, or 2. are executed in FP0 compatibility mode Using programs that conform to FP0R specifications This allows you to make maximum use of FP0R performance and functions.
  • Page 25 Overview Due to the FP0R's higher operation speed, the scan time in FP0 N o t e compatibility mode may be shorter than the original FP0 scan time. If you require a scan time close to the original conditions, set a con- stant scan time in the system registers or add a dummy program, e.g.
  • Page 26 5. F169_PulseOutput_Jog, JOG operation There are two differences between the FP0 and the FP0R specifications: Count mode: The FP0R does not support the "no counting" setting. In- stead, incremental counting is performed with the FP0 pulse output in- structions set to "no counting".
  • Page 27 FP0: The value in the hold area of the data memory will be unstable. FP0 compatibility mode: The value in the hold area of the data memory will be cleared to 0. 9. The sampling trace function is not available in FP0 compatibility mode. FP0R User's Manual...

  • Page 28: Cpu Types

    CPU types Chapter 2 CPU types 2.1 CPU parts and functions Front view Right side view Left side view Q Operation status LEDs Display the current operation mode or the occurrence of an error. FP0R User's Manual...
  • Page 29 Verify the mode with the operation status LED. Otherwise, restart the FP0R and set the operation mode using the operation mode selector. E USB port (5-pin Mini-B type) Used to connect a programming tool.
  • Page 30 Used to secure an expansion unit. The hook is also used for installation on the flat type mounting plate (part no. AFP0804). { Connector for FP0/FP0R expansion units Connects an FP0/FP0R expansion unit to the internal circuit. The con- nector is located under the seal. } DIN rail attachment lever Used for easy attachment to a DIN rail.

  • Page 31: Cpu Input Specifications

    CPU types 2.2 CPU input specifications The input specifications below apply to all FP0R CPU types. Item Description Insulation method Optical coupler Rated input voltage 24V DC Operating voltage range 21.6–26.4V DC Rated input current 2.6mA Input points per common...

  • Page 32: Cpu Output Specifications

    0.2ms (Load current: 0.5mA) External power sup- Voltage 21.6–26.4V DC ply for internal circuit Current C16: 30mA C16:35mA (+ and - terminals) C32, T32, F32: C32, T32, F32: 60mA 70mA Surge absorber Zener diode Operation indicator LEDs FP0R User's Manual...
  • Page 33 Number of outputs per common that are TRUE simultaneously Q At 24V DC W At 26.4V DC Internal circuit diagram Q Internal circuit T Load W Output circuit Y External power supply E Output status LED U Load power supply R Output FP0R User's Manual...
  • Page 34 8ms Mechanical lifetime 20 000 000 operations (switching frequency: 180 operations/min) Electrical lifetime 100 000 operations (switching frequency at nom- inal switching capacity: 20 operations/min) Surge absorber – Operation indicator LEDs Internal circuit diagram Q Internal circuit FP0R User's Manual...

  • Page 35: Terminal Layout

    CPU types 2.4 Terminal layout C10RS, C10CRS, C10RM, C10CRM (The above illustration is the terminal block type.) Input Output Q Power supply FP0R User's Manual...
  • Page 36 CPU types C14RS, C14CRS, C14RM, C14CRM (The above illustration is the terminal block type.) Input Output Q Power supply C16T, C16CT The COM terminals of the input circuits are connected internally. Input Output FP0R User's Manual...
  • Page 37 CPU types C16P, C16CP The COM terminals of the input circuits are connected internally. Input Output C32T, C32CT, T32CT, F32CT The (+) terminals as well as the (-) terminals of the output circuits are connected internally. Input Output FP0R User's Manual...

  • Page 38: Backup And Clock/Calendar Functions

     The FP0R-F32 CPU has a built-in FRAM, which allows saving all data with- out a backup battery. The FP0R-F32 type does not offer a clock/calendar function. Charging the battery The built-in backup battery is not charged when the unit is shipped.
  • Page 39 Ambient temperature Lifetime of built-in backup battery 55°C 430 days (1 year) 45°C 1200 days (3 years) 40°C 2100 days (6 years) 35°C 3300 days (9 years) 10 years 34°C The built-in backup battery cannot be replaced. FP0R User's Manual...

  • Page 40: Backup Function

    <104s/month 25°C <51s/month 55°C <155s/month 2.5.1 Backup function Additional hold areas which will be saved with a backup battery (FP0R-T32) or with the built-in FRAM (FP0R-F32) can be specified for the following memory areas: Timers/Counter (T/C)  Internal flags (R) ...

  • Page 41: Clock/Calendar Function

    16#00–16#59 DT90055 sys_wClockCalendarDayHour Day data Hour data 16#01–16#31 16#00–16#23 DT90056 sys_wClockCalendarYearMonth Year data Month data 16#00–16#99 16#01–16#12 DT90057 sys_wClockCalendarDayOfWeek Day-of-the-week – data 16#00–16#06 DT90058 sys_wClockCalendarSet Bit 15=TRUE (16#8000): activates clock/calendar setting Bit 0=TRUE (16#0): sets seconds to FP0R User's Manual...

  • Page 42: Settings For Clock/Calendar Function

    CPU types 2.5.2.2 Settings for clock/calendar function The clock/calendar values are backed up using a battery. This feature is available in the FP0R-T32 CPU only. There are no default clock/calendar settings. There are two ways to set the clock/calendar function:...

  • Page 43: Sample Program For Fixed Schedule And Automatic Start

    8:30 a.m. every day. Here, the hour/minute data stored in special data register DT90053 is used to output the signal at the ap- pointed time. The value of DT90053 is written using the system variable sys_wClockCalendarHourMin. POU Header LD Body FP0R User's Manual...

  • Page 44: Sample Program For 30-Second Compensation

    CPU types 2.5.2.4 Sample program for 30-second compensation This is a program to perform the compensation for 30 seconds when R0 turns to TRUE. If the 30-second compensation is required, use this pro- gram. POU Header LD Body FP0R User's Manual...

  • Page 45: Expansion

    Expansion 3.1 Expansion method You can expand the FP0R by adding FP0/FP0R I/O expansion units (see p. 19), FP0 intelligent units (see p. 20) and FP Series link units (see p. 20). The expansion units are connected to the right side of the CPU. Use the expansion connectors and the expansion hooks on the side of each unit.

  • Page 46: Expansion Unit Parts And Functions

    Expansion 3.2 Expansion unit parts and functions Terminal block type MIL connector type Right side view (common to all expansion units) Q Power supply connector (24V DC) FP0R User's Manual...

  • Page 47: Expansion Input Specifications

    Min. ON voltage/min. ON cur- 19.2V DC/3mA rent Max. OFF voltage/max. OFF 2.4V DC/1mA current Response FALSE  TRUE 2ms time TRUE  FALSE Operation indicator LEDs All FP0 expansion units have been replaced by newer FP0R units with improved specifications. FP0R User's Manual...

  • Page 48: Expansion Output Specifications

    FALSE  TRUE 10ms time TRUE  FALSE 8ms Mechanical lifetime 20 000 000 operations (switching frequency: 180 operations/min) Electrical lifetime 100 000 operations (switching frequency at nominal switching capacity: 20 operations/min) Surge absorber – Operation indicator LEDs FP0R User's Manual...
  • Page 49 1ms TRUE  FALSE 1ms External power supply Voltage 21.6–26.4V DC for internal circuit Current 3mA/point Surge absorber Zener diode Operation indicator LEDs All FP0 expansion units have been replaced by newer FP0R units with improved specifications. FP0R User's Manual...
  • Page 50 Number of outputs per common that are TRUE simultaneously Q At 24V DC W At 26.4V DC Internal circuit diagram Q Internal circuit T Load W Output circuit Y External power supply E Output status LED U Load power supply R Output FP0R User's Manual...

  • Page 51: Terminal Layout

    Expansion Q Internal circuit T Load W Output circuit Y External power supply E Output status LED U Load power supply R Output 3.5 Terminal layout E8RS, E8RM Input Output Q Power supply FP0R User's Manual...
  • Page 52 Expansion E16R, E8YRS, E32RS Input (no input for E8YRS) Output Q Power supply E8X, E16T, E8YT The COM terminals of the input circuits are connected internally. Input (no input for E8YT) Output (no output for E8X) FP0R User's Manual...
  • Page 53 The (+) terminals as well as the (-) terminals of the output circuits are connected internally. Input (no input for E16YT) Output (no output for E16X) E16P, E8YP The COM terminals of the input circuits are connected internally. Input (no input for E8YT) Output FP0R User's Manual...
  • Page 54 Expansion E32P, E16YP The (+) terminals as well as the (-) terminals of the output circuits are connected internally. Input (no input for E16YP) Output FP0R User's Manual...

  • Page 55: I/O Allocation

    N o t e decimal (Q) and hexadecimal (W) numbers:  On the FP0R and the FP0, the same numbers are used for inputs and outputs, e.g. X20, Y20. The usable I/O addresses depend on the unit type. See ...

  • Page 56: Cpu

    I/O allocation is performed automatically when an expansion unit is added and is determined by the installation location. Expansion units from the FP0/FP0R series are connected on the right side of the CPU. The I/O ad- dresses are allocated from the unit nearest to the CPU in ascending order.
  • Page 57 The data for each channel of the A/D and D/A conversion units N o t e FP0-A80, FP0-TC4/TC8, FP0-A04V/I, and FP0-RTD6 is converted and loaded with a user program that includes a switching flag to convert the data in 16-bit words (see corresponding manuals). FP0R User's Manual...

  • Page 58: Installation And Wiring

    100mm of space between these devices and the unit. Static electricity Before touching the unit or equipment, always touch some grounded metal to discharge any static electricity you may have generated (especially in dry locations). The discharge of static electricity can damage parts and equipment. FP0R User's Manual...
  • Page 59 Do not install the unit above devices which generate heat such as heat-  ers, transformers or large-scale resistors. Installation space Leave at least 50mm of space between the wiring ducts of the unit and  other devices to allow heat radiation and unit replacement. FP0R User's Manual...

  • Page 60: Using Din Rails

    The CPU can be easily attached to DIN rails. P r o c e d u r e 1. Fit upper hook of unit onto DIN rail 2. Without moving upper hook, press on lower hook to fit unit into position FP0R User's Manual...

  • Page 61: Using Optional Mounting Plates

    Use M4 size pan-head screws for attaching the mounting plate to the mounting panel. The diagrams below show the dimensions of the mounting plates. 5.1.3.1 Slim type mounting plate The mounting plate AFP0803 can be used alternatively to DIN-rail mount- ing. FP0R User's Manual...
  • Page 62 Tighten all corner screws. The following diagram shows the combination of the mounting plates AFP0803 when the maximum number of expansion units is used and the mounting hole dimensions: FP0R User's Manual...

  • Page 63: Flat Type Mounting Plate

    P r o c e d u r e 1. Raise expansion hooks on top and bottom of the unit 2. Press unit on mounting plate and align expansion hooks with plate 3. Push expansion hooks back into place FP0R User's Manual...
  • Page 64 1. Raise expansion hooks on top and bottom of the unit 2. Remove unit from mounting plate Attachment to DIN rail A unit with an attached flat type mounting plate can also be installed side- ways on a DIN rail. Q DIN rail FP0R User's Manual...

  • Page 65: Connecting Fp0/Fp0R Expansion Units

    Installation and wiring 5.2 Connecting FP0/FP0R expansion units The expansion units are connected to the right side of the CPU. Use the expansion connectors and the expansion hooks on the side of each unit. P r o c e d u r e 1.

  • Page 66: Safety Instructions For Wiring

    Program the PLC so as to disregard the inputs and outputs until the  field devices are energized When stopping the operation of the PLC, have the input/output de- N o t e vices turned off after the PLC has stopped operating. FP0R User's Manual...
  • Page 67 Momentary power failures The FP0R continues to operate normally for a certain period of time in case of a momentary power failure. We call this the momentary power off time. However, if the power failure exceeds this period of time, operation de- pends on the combination of units, the power supply voltage, etc.

  • Page 68: Wiring The Power Supply

    The regulator on the unit is a non-insulated type.  If using a power supply device without an internal protective cir-  cuit, always make sure power is supplied to the unit through a protective element such as a fuse. FP0R User's Manual...
  • Page 69 CPU will detect the input fluctuations and may begin an unexpected operation. Be sure to supply power to a CPU and an expansion unit from the same  power supply, and turn the power on and off simultaneously for both. FP0R User's Manual...

  • Page 70: Grounding

    0V terminal) is connected to the function earth through a varistor, the var- istor may be shorted if there is an irregular potential between the power supply line and function earth. (The power supply line of the FP0R is con- nected to function earth through a high-voltage capacitor. Therefore, there is no risk of a short-circuit.)

  • Page 71: Input And Output Wiring

    Also, the FP0R TOOL port shielding is connected with the function earth terminal (PE). Therefore, the GND and function earth terminals of the FP0R may be connected if a computer is connected. Especially when the FP0R is connected to a computer with a plus terminal (+) grounded, the minus terminal (-) of an FP0R is connected with the function earth terminal.

  • Page 72: Input Wiring

    W Flag E Power supply for sensor R Power supply for input T Input terminal Source input: Sensor FP0R Q Internal circuit W Flag E Power supply for sensor R Power supply for input T Input terminal FP0R User's Manual...
  • Page 73 Open collector output type Sink output (NPN): Sensor FP0R Q Internal circuit W Output E Power supply for input R Input terminal Source output (PNP): Sensor FP0R Q Internal circuit W Output E Power supply for input R Input terminal FP0R User's Manual...
  • Page 74 Voltage output (universal output) type Sensor FP0R Q Internal circuit W Output E Power supply for input R Input terminal Two-wire output type Sensor FP0R Q Internal circuit W Output E Power supply for input R Input terminal FP0R User's Manual...

  • Page 75: Input Wiring Precautions

    If the input of the PLC does not turn off because of leakage current from the two-wire type sensor (photoelectric sensor or proximity sensor), the use of a bleeder resistor is recommended, as shown below. Two-wire type sensor FP0R Q Internal circuit W Bleeder resistor E Input terminal FP0R User's Manual...
  • Page 76 LED-equipped limit switch, the use of a bleeder resistor is rec- ommended, as shown below. LED-equipped limit switch FP0R Internal resistor of limit switch (k) Bleeder resistor (k) Q Internal circuit W Power supply for input E Input terminal FP0R User's Manual...

  • Page 77: Output Wiring

    When switching DC inductive loads with the relay output type, be sure to connect a diode across the ends of the load. Using an AC inductive load (relay output type) FP0R Q Output terminal W Load E Surge absorber, e.g. re- sistance R: 50, capacitance C: 0.47F FP0R User's Manual...

  • Page 78: Protective Circuit For Capacitive Loads

    5.5.2.2 Protective circuit for capacitive loads When connecting loads with large inrush currents, connect a protection circuit as shown below to minimize their effect. FP0R Q Output terminal W Load E Resistor FP0R Q Output terminal W Load E Inductor FP0R User's Manual...

  • Page 79: Wiring The Mil Connector

    AFP0521COLD wires), 1m I/O cable with 10-pin MIL connector, (2pcs: 2  10 colored AFP0523COLD wires), 3m I/O cable with 40-pin MIL connector, blue wires, 1m AYT58403BLUED I/O cable with 40-pin MIL connector, blue wires, 3m AYT58406BLUED FP0R User's Manual...
  • Page 80 P r o c e d u r e 1. Insert wire without removing its insulation until it stops 2. Lightly grip tool 3. Insert press-fitted wire into connector housing 4. When all wires have been inserted, fit semi-cover into place FP0R User's Manual...

  • Page 81: Wiring The Terminal Block

    After wiring, make sure stress is not applied to the wire.  If the socket in the terminal block closes upon counter-clockwise rota-  tion, the connection is wrong. Disconnect the wire, check the terminal hole, and then re-connect the wire. FP0R User's Manual...
  • Page 82 0.4 x 2.5. Wiring method P r o c e d u r e 1. Remove a portion of the wire's insulation 2. Insert the wire into the terminal block until it contacts the back of the socket FP0R User's Manual...

  • Page 83: Wiring The Com Port

     Do not twist the wires to connect them. Do not solder the wires to connect them. The solder may break due to  vibration.  After wiring, make sure stress is not applied to the wire. FP0R User's Manual...
  • Page 84 It is recommended to ground the shielded part. When using a pole terminal, please refer to "Wiring the terminal block" on p. 81. Wiring method P r o c e d u r e 1. Remove a portion of the wire's insulation FP0R User's Manual...
  • Page 85 Q Bridge the E terminal and the free (-) terminal on the first and on the last sta- tion of the transmission line to terminate the data bus. Wiring should extend from one station to the next. Never run two N o t e wires from a single station to two other stations. FP0R User's Manual...

  • Page 86: Transmission Cables

     one type.  Ground one end of the shielded twisted pair cable. If two wires are connected to the plus and minus terminals of the  RS485 port, use wires of the same cross-sectional area (0.5mm FP0R User's Manual...

  • Page 87: Communication

    Program controlled PLC Link (MEWNET-W0)  Modbus RTU Master/Slave  Communication ports The FP0R is equipped with the following ports: TOOL port (RS232C interface)  USB port (USB 2.0 Full Speed interface)  COM port (RS232C or RS485 interface) ...

  • Page 88: Mewtocol-Com Master/Slave

    This is called 1:1 or 1:N communication. A 1:N network is also known as a C-NET. MEWTOCOL-COM connection between a computer and the FP0R: MEWTOCOL-COM connection between a computer and the FP0R 1 Command message 2 Response message There is a master function and a slave function.

  • Page 89: Program Controlled Communication

    The data to be sent and the data received are stored in data register areas (DT) defined as send and receive buffers. For detailed information on the program controlled communication mode, R e f e r e n c e see "Program controlled communication" on p. 119. FP0R User's Manual...

  • Page 90: Plc Link

    LD0 in the other stations are also changed to a constant of 100. PLC Link connection between four FP0R units # Station number of PLC LD Link register For detailed information on the PLC Link communication mode, see "PLC R e f e r e n c e Link"...

  • Page 91: Modbus Rtu Master/Slave

    This is called 1:1 or 1:N com- munication. Modbus RTU connection between the FP0R and an external device Q Command message W Response message There is a master function and a slave function. The side that issues com- mands is called master.

  • Page 92: Ports: Names And Principle Applications

    The factory settings are shown below. They can be changed in the system registers. Communication parameter Factory settings Baud rate 9600bit/s Data length Parity Stop bit 1bit Set the station number for the TOOL port in the TOOL port setting area of the system registers. FP0R User's Manual...

  • Page 93: Com Port

    Transmission line (+) 6.2.3 USB port The USB port can be used to connect a programming tool. Panasonic's USB cable CABMINIUSB5D or a commercial USB2.0 AB type cable can be used. To use the USB port, you must install the USB driver.
  • Page 94 Install the programming tool before connecting the FP0R with a PC. If you connect the FP0R to a PC with the USB cable before the programming tool is installed or during installation, the USB driver will not be installed correctly.

  • Page 95: Installing The Usb Driver

    4. Follow the wizard's instructions Confirming COM Ports The FP0R connected to the PC via USB is treated as if connected via a COM port. It depends on your PC environment to which COM port the USB is al- located. Therefore, it is necessary to confirm the COM port number.
  • Page 96  Device Manager. 2. Double-click "Ports (COM & LPT)" 3. Confirm the COM port no. "CP210x USB to UART Bridge Controller (COM n)" is the COM port allo- cated. COM9 is allocated in the following display. FP0R User's Manual...

  • Page 97: Communication With The Programming Tool

    (Communicates with 115200bit/s when the USB is connected) Data length 8 bits Stop bit 1 bit Parity Please refer to your programming tool's online help for information on the R e f e r e n c e COM port settings. FP0R User's Manual...

  • Page 98: Reinstalling The Usb Driver

    2400, 4800, 9600, 19200, 38400, 57600, 115200bit/s Communication method Half-duplex Synchronous method Start stop synchronous system Communication format Data length: 7 bits/8 bits Parity: None/Odd/Even Stop bit: 1 bit/2 bits End code: CR/CR+LF/None/ETX Start code: No STX/STX FP0R User's Manual...
  • Page 99 Data transmission order Transmits from bit 0 character by character. Communication mode MEWTOCOL-COM Slave Modem connection Program controlled (in RUN mode only) USB port Item Description Standard (baud rate) USB 2.0 Full Speed Communication mode MEWTOCOL-COM Slave FP0R User's Manual...
  • Page 100 No. of connected stations 99 (32 with C-NET adapter) Communication mode MEWTOCOL-COM Master/Slave Modem connection Program controlled Modbus RTU Master/Slave PLC Link The number of stations, transmission distance, and baud rate may vary de- pending on the connected RS485 device. FP0R User's Manual...
  • Page 101 The large potential difference will damage the con- nected devices. Default settings Port Baud rate Data length Parity Stop bit TOOL port 9600bit/s 8 bits 1 bit COM port (RS232C) 9600bit/s 8 bits 1 bit COM port (RS485) 115200bit/s 8 bits 1 bit FP0R User's Manual...

  • Page 102: Communication Parameters

    To make settings for the TOOL port, select "TOOL port" under "System registers". The following communication parameters are set in the system registers: Communication mode Select a communication mode. The factory setting for the communication mode is "MEWTOCOL-COM Master/Slave". FP0R User's Manual...
  • Page 103 Set the baud rate in the system registers and set the DIP switch on the bottom of the unit to the same setting. Confirm the baud rate setting before installation. The factory setting is 115200bit/s. FP0R User's Manual...
  • Page 104 The communication format settings are fixed. Receive buffer For program controlled communication, a receive buffer must be specified in the system registers. Set a value for receive buffer starting address and receive buffer capacity. See "Setting communication parameters" on p. 142. FP0R User's Manual...

  • Page 105: Changing Communication Mode In Run Mode

    This is called 1:1 or 1:N communication. A 1:N network is also known as a C-NET. MEWTOCOL-COM connection between a computer and the FP0R Q Command message W Response message There is a master function and a slave function.
  • Page 106 MEWTOCOL-COM Master/Slave mode is recommended over program con- trolled mode since programming is easier. The master function can be used for communication with all Panasonic de- vices equipped with a MEWTOCOL-COM slave function, for example PLCs, Imagecheckers, temperature controllers, or eco-power meters.
  • Page 107 The program for the master side must send and receive commands ac- cording to the MEWTOCOL-COM protocol. MEWTOCOL-COM contains the commands used to control and monitor the slave operation. Q Master W Slave Panasonic offers software tools with implemented MEWTOCOL-COM N o t e Master functionality: ...

  • Page 108: Operation Outline For Mewtocol-Com Slave

    COL-COM communication procedures. Data is sent in ASCII format. The computer has the first right of transmission. The right of transmission shifts back and forth between the computer and the PLC each time a message is sent. MEWTOCOL-COM communication between the FP0R and a computer FP0R User's Manual...

  • Page 109: Command And Response Format

    Commands must always have a "%" (ASCII code: 16#25) or a "<" (ASCII code: 16#3C) at the beginning of a message. The FP0R supports an expansion start code ("<") to send single frames of up to 2048 characters. Using the start code "%", a maximum of 118 characters can be sent in one frame.
  • Page 110 OR operation, and replaces the final result with character text. End code There is always a " " (ASCII code: 16#0D) at the end of the message. Data For a read command, the data read is stored here. FP0R User's Manual...

  • Page 111: Commands

    Reads the value set for a timer/counter. value area Write timer/counter set Writes a timer/counter setting value. value area Read timer/counter elapsed Reads the timer/counter elapsed value. value area Write timer/counter Writes the timer/counter elapsed value. elapsed value area FP0R User's Manual...

  • Page 112: Setting Communication Parameters

    The station number can be set within a range of 1 to 99.   With a C-NET adapter, a maximum of 32 stations can be speci- fied. The master function is only available via the COM port.  FP0R User's Manual...

  • Page 113: Fp0 Compatibility Mode

      modem connection (disable/enable) For details on setting the communication parameters, see p. 102. The end code setting must always be "CR", and the start code setting N o t e must be "No STX". FP0R User's Manual...

  • Page 114: 1:1 Slave Communication

    If a software program such as PCWAY is used on the computer side, PLC data can easily be read and written without having to think about the MEWTOCOL-COM protocol. FP0R User's Manual...

  • Page 115: 1:1 Communication With A Computer

    Q Command message W Response message 1:1 MEWTOCOL-COM connection between a computer and the FP0R It is recommended to connect the computer to the TOOL port of the FP0R. A connection cable (order no. AFC8513D) with a 5-pin mini-DIN connector and a 9-pin Sub-D connector is available.

  • Page 116: 1:1 Communication With Gt Touch Panels

    No program is required for communication. Simply set the mutual commu- nication settings to operate the PLC via the touch panel. It is recommended to connect the computer to the TOOL port of the FP0R. A connection cable (order no. AFC8513D) with a 5-pin mini-DIN connector and a 9-pin Sub-D connector is available.

  • Page 117: 1:N Slave Communication

    COM port 1 - communica- MEWTOCOL-COM Master/Slave tion mode COM port 1 - communica- Data length: 7 bits/8 bits tion format Parity: None/Odd/Even Stop bit: 1 bit/2 bits End code: Start code: No STX COM port 1 - baud rate 2400–115200bit/s FP0R User's Manual...

  • Page 118: Sample Program For Master Communication

    Use the F145_WRITE and F146_READ instructions for the MEWTOCOL-COM master function. Be sure to set the COM port used in the program to "MEWTOCOL-COM Master/Slave" in the system registers. The master func- tion is only available via the COM port. FP0R User's Manual...

  • Page 119: Program Controlled Communication

    PLC and one or more external devices connected to the communication port, e.g. an image processing device or a bar code reader. Hence any desired protocol can be pro- grammed to adapt to external devices. FP0R User's Manual...
  • Page 120 The maximum volume of data that can be sent is 2048 bytes. Receiving data Data is automatically received in the receive buffer (see p. 128). The re- ceive buffer must be defined in the system registers. After the end of re- FP0R User's Manual...

  • Page 121: Setting Communication Parameters

    Make the following settings for the communication port: communication mode (Program controlled)   baud rate communication format  receive buffer  For details on setting the communication parameters, see "Setting system registers in PROG mode" on p. 102. FP0R User's Manual...
  • Page 122 Communication Program controlled mode is available via COM port and TOOL port. N o t e FP0R User's Manual...
  • Page 123 FPWIN Pro: In order to use the data in the receive buffer, define a global N o t e variable having the same starting address and capacity. The setting range for the receive buffer starting address is different for the 16k and the 32k type. FP0R User's Manual...

  • Page 124: Fp0 Compatibility Mode

     Please be aware that the setting ranges of the FP0 apply if the FP0R is used in FP0 compatibility mode. For details on setting the communication parameters, see p. 102. The end code setting must always be "CR", and the start code set- N o t e ting must be "No STX".
  • Page 125 When connecting to a three-wire port, short-circuit the RS and CS pins. For details on the operation of the "reception done" flag, the "transmis- R e f e r e n c e sion done" flag, and the communication error flag see p. 133. FP0R User's Manual...

  • Page 126: Receiving Data

    When the end code is received, the "reception done" flag turns to TRUE. Reception of any further data is prohibited. The maximum volume of data that can be received is 4094 bytes. No end code is included in the data stored. FP0R User's Manual...
  • Page 127  Use one of the following instructions: Instruction Comment ClearReceiveBuffer The receive buffer is automatically reset when sending the next data. To reset the receive buffer without sending any F159_MTRN data use one of these instructions. (n_Number=0) FP0R User's Manual...

  • Page 128: Setting Receive Buffer For Cpu

    To make settings for the TOOL port, select "TOOL port" under "System registers". The number of the system register for the respective settings may vary according to the PLC type used. FP0R User's Manual...
  • Page 129 When reception begins, the value in offset 0 is 0. At the end of reception, the value in offset 0 is 8. The data in offset 1 to offset 4 is received in or- der from the low order byte. FP0R User's Manual...
  • Page 130 (the end code has been received), the "reception done" flag turns to TRUE, and subsequently, receiving data is prohibited. To prepare the sys- tem to receive the next data without immediately sending further data, the receive buffer is reset by executing F159_MTRN with n_Number = 0. FP0R User's Manual...

  • Page 131: Format Of Send And Receive Data

    If "None" is selected for the end code, an end code is not added to the data sent and is not recognized in the data received. Without end code, the "reception done" flag does not turn to TRUE. The end of reception FP0R User's Manual...
  • Page 132 F159_MTRN specifying a negative number for n_Number. Send 4 bytes of data without adding an end code: E x a m p l e POU Header LD Body FP0R User's Manual...

  • Page 133: Flag Operation

    Port name TOOL COM1 Port number Special internal R903E R9038 flag Function name IsReceptionDone System variable sys_bIsToolPortReceptionDone sys_bIsComPort1ReceptionDone name Bit status TRUE FP0R User's Manual...
  • Page 134 Or use the system variable sys_bIsComPort1CommunicationError or sys_bIsToolPortCommunicationError, depending on the port. Port Port Special Function name System variable name number internal name status flag TOOL R900E IsCommunicationError sys_bIsToolPort- TRUE CommunicationError COM1 R9037 sys_bIsComPort1- CommunicationError FP0R User's Manual...

  • Page 135: Start Code: No-Stx, End Code: Cr

     The "transmission done" flag turns to FALSE.  The communication error flag turns to FALSE.  Characters 1, 2, and 3 are sent to the external device.  The end code is automatically added to the data sent. FP0R User's Manual...

  • Page 136: Start Code: Stx, End Code: Etx

    E F159_MTRN execution Y Write pointer When receiving data, operation is as follows: 1. Characters A, B, and C received from the external device are stored in the receive buffer. 2. The start code "STX" resets the receive buffer. FP0R User's Manual...
  • Page 137 1 and overwriting the existing data. If two start codes are received from the external device, data  following the second start code overwrites the data in the receive buffer. FP0R User's Manual...
  • Page 138 5. When the specified number of bytes has been sent, the "transmission done" flag turns to TRUE. 6. Now, F159_MTRN can be executed again. When F159_MTRN is execut- ed: Steps 1 to 5 are repeated. This time, the characters c, d, and e are sent. FP0R User's Manual...

  • Page 139: 1:1 Communication

    N o t e 6.6.7 1:N communication The FP0R and the external devices are connected using an RS485 cable. A protocol that matches the external devices and the instruction F159_MTRN (or any instruction that uses F159_MTRN implicitly) are used to send and receive data.

  • Page 140: Programming In Fp0 Compatibility Mode

    The setting must match the external device connected to the communication port. 6.6.8 Programming in FP0 compatibility mode Make sure that the PLC type selected in Control FPWIN Pro is "FP0". In the FP0 compatibility mode, the instruction F144_TRNS is used instead of F159_MTRN. FP0R User's Manual...

  • Page 141: Plc Link

    PLCs contain areas for sending and areas for re- ceiving data. Station numbers and link areas are allocated using the sys- tem registers. Sharing of data in a PLC link using dedicated send and receive areas Send area Receive area # Station number of PLC FP0R User's Manual...

  • Page 142: Setting Communication Parameters

    TRUE. A constant of 100 is written to link register LD0 of station #1. The contents of LD0 in the other stations are also changed to a constant of 100. PLC Link connection between four FP0R units # Station number of PLC LD Link register Panasonic PLCs available for PLC Link FP0R (RS485 type) ...
  • Page 143 Station num- bers should be set sequentially and consecutively, starting from 1, with no breaks between them. See "Setting the highest sta- tion number for a PLC link" on p. 151. FP0R User's Manual...

  • Page 144: Link Area Allocation

    Link flags - Send area - Number of words 0-64 words to send Link registers - Send area - Start sending 0-127 from this word address Link registers - Send area - Number of 0-128 words to send words Highest station number in network 1-16 FP0R User's Manual...

  • Page 145: Example For Plc Link 0

    PLC. The link flags and registers in the receive area on the re- ceiving side must be within the same area as on the sending side. Link flag allocation Send area Receive area # Station number of PLC FP0R User's Manual...
  • Page 146 1 can receive data from the send areas of stations no. 2 and 3. Station no. 4 is allocated as a receive area only and can receive data from stations no. 1, 2, and 3, but cannot send data to other stations. FP0R User's Manual...

  • Page 147: Example For Plc Link 1

    Link flags - Send area - Number of words to send 20 20 24 The value of this system register must be identical for all stations. Link register allocation Send area Receive area # Station number of PLC FP0R User's Manual...

  • Page 148: Partial Use Of Link Areas

    Parts of the area which have not been reserved can be used as internal flags and internal registers. Link flag allocation Send area Receive area Area for internal flags Used for link flags Not used for link flags FP0R User's Manual...
  • Page 149 Link registers - Send area - Start sending from this word address Link registers - Send area - Number of words to send With the above settings for station number 1, the 28 words consisting of LD100 to LD127 can be used as internal registers. FP0R User's Manual...

  • Page 150: Precautions For Allocating Link Areas

    Link flags - Send area - Start sending from this word address 0 Link flags - Send area - Number of words to send Invalid allocations The following allocations are not possible, neither for link flags nor for link registers: FP0R User's Manual...

  • Page 151: Setting The Highest Station Number For A Plc Link

    The highest station number is set using system register no. 47 for PLC link 0 or system register no. 57 for PLC link 1. Sample settings Total number of stations: Station number: Highest station number Same setting for each station FP0R User's Manual...

  • Page 152: Plc Link 0 And 1 Allocation Setting

    Monitor  PLC link status in FPWIN Pro. Remote programming of other linked PLCs is not possible. To access special data registers and special internal flags, use the N o t e PLC-independent system variables. FP0R User's Manual...
  • Page 153 R9065 sys_bIsPlcLink0Station6Active if a problem has occurred,  R9066 sys_bIsPlcLink0Station7Active R9067 sys_bIsPlcLink0Station8Active  if a PLC link is not being used R9068 sys_bIsPlcLink0Station9Active R9069 sys_bIsPlcLink0Station10Active R906A sys_bIsPlcLink0Statio11Active R906B sys_bIsPlcLink0Station12Active R906C sys_bIsPlcLink0Station13Active R906D sys_bIsPlcLink0Station14Active R906E sys_bIsPlcLink0Station15Active R906F sys_bIsPlcLink0Station16Active FP0R User's Manual...
  • Page 154 TRUE: TransmissionError if a transmission error has oc-  curred in the PLC link, or if an error has occurred in the  setting of the PLC link area FALSE: if there are no transmission errors  FP0R User's Manual...

  • Page 155: Plc Link Response Time

    Ttx = 1/transmission speed  1000  11ms  0.096ms at 115200bit/s Tlc = link addition command sending time Twt = addition waiting time Ttx = sending time per byte Tls = link error stop command sending time Tso = master station scan time FP0R User's Manual...
  • Page 156 PLC: 5ms. Ttx = 0.096 Ts (per station) = 5 + 6.82 = 11.82ms Tlt = 0.096  (13 + 2  15) = 4.31ms Tlk = 0.96 + 400 + 0.67 + 5  407ms FP0R User's Manual...
  • Page 157 Calculation example 6 Conditions: All stations have been added to a 2-unit link. Highest station number = 2. 32 relays and 2 register words have been evenly allocated. Scan time for each PLC: 1ms. Ttx = 0.096 FP0R User's Manual...

  • Page 158: Reducing Transmission Cycle Times

    Tso = master station scan time With the SYS1 instruction, the link addition waiting time (Twt) in the above formula can be reduced. Thus, SYS1 can be used to minimize the increase in the transmission cycle time. FP0R User's Manual...

  • Page 159: Error Detection Time For Transmission Assurance Flags

    This time period can be shortened using the SYS1 instruction. Set SYS1 to change the time that the PLC link transmission assurance is E x a m p l e off from the default value of 6.4s to 100ms. LD Body FP0R User's Manual...

  • Page 160: Modbus Rtu Communication

    6.8 Modbus RTU communication The Modbus RTU protocol enables the communication between the FP0R and other devices (including the Panasonic FP-e PLCs, touch panels of the GT series and KT temperature controllers as well as Modbus devices by other manufacturers). The master station sends instructions (command messages) to the slave stations and the slave stations respond (send re- sponse messages) based on the instructions received.
  • Page 161 After having received a command message from the master station, the slave stations send back the response message based on the instructions received. Do not execute the F145_WRITE and F146_READ instructions on slave stations. Q Master W Slave FP0R User's Manual...
  • Page 162 If a parameter which is to be processed but is disabled is found in a com- mand (except for a transmission error): ADDRESS FUNCTION + 80H ERROR CODE ERROR CODE: 1: Illegal function 2: Illegal data address (no word address) 3: Illegal data value (not a multiple of 16) FP0R User's Manual...
  • Page 163 – F145_WRITE Force Multiple Write Multiple Coils Ys and Rs F145_WRITE Preset Multiple Write DT Multi- Registers ple Words Cannot be issued Mask Write 4X Write DT Mask Register Cannot be issued Read/Write 4X Read/Write DT Registers FP0R User's Manual...

  • Page 164: Setting Communication Parameters

    Communication Modbus references and FP0R addresses Modbus reference PLC address Name Decimal Hexadecimal address address Coil 000001–001760 0000–06DF Y0–Y109F 002049–006144 0800–17FF R0–R255F Input 100001–001760 0000–06DF X0–X109F Holding register C10, C14, C16 400001–412315 0000–301B DT0–DT12314 C32, T32, F32 40001–432765 0000–7FFC DT0–DT32764 Input register 300001–300128...

  • Page 165: Sample Program For Master Communication

    GVL of a common library. LD Body For details on Modbus settings and communication, please refer to the R e f e r e n c e F145_WRITE_DATA and F146_READ_DATA commands in the FPWIN Pro online help. FP0R User's Manual...

  • Page 166: High-Speed Counter And Pulse Output

    High-speed counter and pulse output Chapter 7 High-speed counter and pulse output 7.1 Overview Three built-in hardware extensions allow the FP0R to be used for position- ing control and measurement: high-speed counting, pulse output, and PWM (pulse-width modulation) output. High-speed counter function The high-speed counter function counts external inputs such as those from sensors or encoders.
  • Page 167 Q Increasing the pulse width increases heating W Decreasing the pulse width decreases heating Counting Range The counting range of the built-in high-speed counter is from -2 147 483 648 to 2 147 483 647 (32-bit binary number). FP0R User's Manual...
  • Page 168 W Minimum value Using linear interpolation instruction F175_PulseOutput_Linear or N o t e PulseOutput_Linear_FB: The target value or the amount of travel must be within the range of -8 388 608 to +8 388 607 (24-bit bina- ry number). FP0R User's Manual...

  • Page 169: Function Specifications And Restrictions

    The maximum counting speed may be lower than the values indicated in the table when the pulse output speed is changed, or when a cam control, target value match on/off, or other interrupt programs are executed simultaneously. FP0R User's Manual...
  • Page 170 POU header. See "Instructions and system variables" on p. 179. Related instructions  F165_HighSpeedCounter_Cam: Cam control F166_HighSpeedCounter_Set or Hsc_TargetValueMatch_Set: Target  value match ON F167_HighSpeedCounter_Reset or Hsc_TargetValueMatch_Reset: Tar-  get value match OFF F178_HighSpeedCounter_Measure: Input pulse measurement  FP0R User's Manual...

  • Page 171: Pulse Output Function

    FALSE to TRUE (e.g. MOVE (16#140 sys_wHscOrPulseControlCode Any input can be specified in the global variable list. The near home input is enabled/disabled using the pulse output control code. See p. 199. FP0R User's Manual...
  • Page 172 F171_PulseOutput_Jog_Positioning or PulseOut-  put_Jog_Positioning0_FB/PulseOutput_Jog_Positioning1_FB: JOG opera- tion and positioning F172_PulseOutput_Jog or PulseOut-  put_Jog_FB/PulseOutput_Jog_TargetValue_FB: JOG operation F174_PulseOutput_DataTable: Data table control  F175_PulseOutput_Linear or PulseOutput_Linear_FB: Linear interpola-  tion control F177_PulseOutput_Home or PulseOutput_Home_FB: Home return  FP0R User's Manual...

  • Page 173: Pwm Output Function

    7.2.4 Maximum counting speed and output frequency The maximum counting speed of the high-speed counter function is deter- mined by the number of channels used and the simultaneous use of the pulse output function. Use the following simplified chart as a guide. FP0R User's Manual...
  • Page 174       Channel is being used  The numbers are reference numbers for the specifications continued in the next table. When combined with pulse output function: trapezoidal control, no change in speed (50kHz) FP0R User's Manual...
  • Page 175 Using linear interpolation control: Even if all channels are used for interpo- lation, the maximum output frequency is 50kHz for all. Linear interpolation control Maximum output frequency [kHz] Channel 0 Channel 2     Channel is being used FP0R User's Manual...

  • Page 176: High-Speed Counter Function

    4. Select the desired inputs for each channel 7.3.1 Count input modes Input mode Input signals Incremental High-speed counter input: X0 (X1, X3, X4, X6, X7) Counter value Decremental High-speed counter input: X0 (X1, X3, X4, X6, X7) Counter value FP0R User's Manual...
  • Page 177 High-speed counter input: X0+X1 (X3+X4 or X6+X7) Counter value Increasing Decreasing Incremental/ decremental control High-speed counter input: X0+X1 (X3+X4 or X6+X7) Counter value Increasing Decreasing Count for reset (incremental) High-speed counter input: X0+X1 (X3+X4 or X6+X7) Counter value FP0R User's Manual...

  • Page 178: Minimum Input Pulse Width

    Using channel 0 with incremental input and reset input FP0R: Q Count input X0 W Reset input X2 E TRUE/FALSE output at Yn Yn The output which is turned TRUE or FALSE when the target value is reached: Y0–Y7 FP0R User's Manual...

  • Page 179: Instructions And System Variables

    FALSE when the specified target value is reached. To turn the output to TRUE, use F166_HighSpeedCounter_Set or Hsc_TargetValueMatch_Set. To turn the output to FALSE, use F167_HighSpeedCounter_Reset or Hsc_TargetValueMatch_Reset. The instruction F178_HighSpeedCounter_Measure measures the number of input pulses in a specified counting period and the pulse period. FP0R User's Manual...

  • Page 180: Writing The High-Speed Counter Control Code

    When programming with tool instructions: Use universal high-speed coun- ter control instructions which apply to all PLC types to make control code settings. Use the high-speed counter information instructions to monitor control code settings. FP0R User's Manual...
  • Page 181 When bit 2 of the control code is set to TRUE, a hardware reset using the reset input specified in the system registers is not possible. Counting will continue even if the reset input has turned to TRUE. The hardware reset is disabled until bit 2 is reset to 0. FP0R User's Manual...
  • Page 182 When bit 0 of the control code is set to TRUE, a software reset is performed and the elapsed value is set to 0. The elapsed value keeps the value 0 until bit 0 is reset to FALSE. FP0R User's Manual...
  • Page 183 Reset input: enabled (bit 2) Count: permit (bit 1) Reset elapsed value to 0: yes (bit 0) Use the reset input setting (bit 2) to disable the reset input allocated N o t e in the system registers. FP0R User's Manual...

  • Page 184: Writing And Reading The Elapsed Value Of The High-Speed Counter

    1 sys_diHscChannel1ElapsedValue DDT90304 2 sys_diHscChannel2ElapsedValue DDT90308 3 sys_diHscChannel3ElapsedValue DDT90312 4 sys_diHscChannel4ElapsedValue DDT90316 5 sys_diHscChannel5ElapsedValue DDT90320 Please refer to the Control FPWIN Pro online help for programming exam- R e f e r e n c e ples. FP0R User's Manual...

  • Page 185: Target Value Match On

    In addition, the high-speed counter control flag turns to FALSE and the instruction is deactivated. For programming examples, please refer to Example for R e f e r e n c e Hsc_TargetValueMatch_Set or Example for F166_HighSpeedCounter_Set in the Control FPWIN Pro online help. FP0R User's Manual...

  • Page 186: Target Value Match Off

    In addition, the high-speed counter control flag turns to FALSE and the instruction is deactivated. For programming examples, please refer to Example R e f e r e n c e for Hsc_TargetValueMatch_Reset or Example for F167_HighSpeedCounter_Reset in the Control FPWIN Pro online help. FP0R User's Manual...

  • Page 187: Input Pulse Measurement

    The following programming examples demonstrate how to make control code settings and how to use the high-speed counter instructions. The Control FPWIN Pro projects in LD and ST code can be downloaded from the Panasonic Web site (http://www.panasonic-electric-works.com/eu/downloadcenter.htm). The programming examples for this chapter can be found in pe_63403_0001_sample_high_speed.zip.

  • Page 188: Positioning Operations With A Single-Speed Inverter

    When X5 turns to TRUE, Y0 turns to TRUE and the conveyor starts to move. When the elapsed value (sys_diHscChannel0ElapsedValue) reaches 5000, Y0 turns to FALSE and the conveyor stops. Operation chart x Number of pulses y Speed FP0R User's Manual...

  • Page 189: Positioning Operations With A Double-Speed Inverter

    When X5 turns to TRUE, Y0 and Y1 turn to TRUE and the conveyor begins to move. When the elapsed value (sys_diHscChannel0ElapsedValue) reaches 4500, Y1 turns to FALSE and the conveyor begins to decelerate. When the elapsed value reaches 5000, Y0 turns to FALSE and the conveyor stops. FP0R User's Manual...
  • Page 190 High-speed counter and pulse output Operation chart x Number of pulses y Speed System register settings For POU Header and POU Body, please see the programming examples in R e f e r e n c e Panasonic's download area. FP0R User's Manual...

  • Page 191: Pulse Output Function

    P r o c e d u r e 1. Double-click "PLC" in the navigator 2. Double-click "System registers" 3. Double-click "High-speed counter, pulse-catch input, interrupt input" 4. Set any high-speed counter allocated to a pulse output channel to "Un- used" FP0R User's Manual...

  • Page 192: Pulse Output Methods And Position Control Modes

    Control is carried out using one pulse output to specify the speed and an- other to specify the direction of rotation with TRUE/FALSE signals. In this mode, forward rotation is carried out when the rotation direction signal is FALSE. FP0R User's Manual...
  • Page 193 With a current position of 5000 and a target value of +1000, 4000 pulses E x a m p l e are output from CCW to reach the new position at 1000. FP0R User's Manual...
  • Page 194 The deviation counter clear output can be set to TRUE when home return has been completed. JOG operation Pulses are output from the specified channel while the trigger for the jog operation instruction is TRUE. Direction output and output frequency are specified with an instruction. FP0R User's Manual...

  • Page 195: I/O Allocation

    Home input Near home input (see note) e.g. X0 e.g. X1 CW pulse output CCW pulse output Any input that is not used for other applications can be used as the N o t e near home input. FP0R User's Manual...

  • Page 196: Instructions And System Variables

    PLC-independent functions and DUTs, as well as variable channel numbers. Most of the information, which is accessible via information and control functions, is stored in special internal flags and special data registers. These flags and registers can also be accessed using PLC-independent sys- tem variables. FP0R User's Manual...
  • Page 197 The flag is TRUE if a pulse output instruction is being executed. Use this flag to prohibit the simultaneous execution of other pulse output instruc- tions on the specified channel, and to verify completion of the execution. FP0R User's Manual...
  • Page 198 3 sys_diPulseChannel3ElapsedValue DDT90430 Pulse output: target 0 sys_diPulseChannel0TargetValue DDT90402 value for channel 1 sys_diPulseChannel1TargetValue DDT90412 2 sys_diPulseChannel2TargetValue DDT90422 3 sys_diPulseChannel3TargetValue DDT90432 Corrected initial speed 0 sys_iPulseChannel0CorrectedInitialSpeed DT90406 for channel 1 sys_iPulseChannel1CorrectedInitialSpeed DT90416 2 sys_iPulseChannel2CorrectedInitialSpeed DT90426 3 sys_iPulseChannel3CorrectedInitialSpeed DT90436 FP0R User's Manual...

  • Page 199: Writing The Pulse Output Control Code

    See also: "Writing the pulse output control code" in the FPWIN Pro online help Operations performed by the pulse output control code: Setting/resetting near home input  Continuing/stopping pulse output (forced stop)  FP0R User's Manual...
  • Page 200  Resetting the elapsed value (software reset) of the high-speed counter   Cancelling high-speed counter and position control instructions (FP0R only) Setting/resetting near home input To decelerate movement when near the home position, designate a near home input and set bit 4 of the special data register storing the pulse out- put control code (sys_wHscOrPulseControlCode) to TRUE and back to FALSE again.
  • Page 201 To cancel execution of a pulse output instruction, set bit 2 of the data reg- ister storing the pulse output control code (sys_wHscOrPulseControlCode) to TRUE. The pulse output control flag will then change to FALSE. To reen- able execution of the instruction, reset bit 2 to FALSE. FP0R User's Manual...
  • Page 202 Decelerated stop request: disabled Near home input: FALSE Hex 9 corresponds to binary 1001 Pulse output: stop (bit 3) Cancel pulse output control (bit 2) Count: permit (bit 1) Reset elapsed value to 0: yes (bit 0) 1 FP0R User's Manual...

  • Page 203: Writing And Reading The Elapsed Value Of The Pulse Output

    Pulse output: elapsed value for 0 sys_diPulseChannel0ElapsedValue DDT90400 channel 1 sys_diPulseChannel1ElapsedValue DDT90410 2 sys_diPulseChannel2ElapsedValue DDT90420 3 sys_diPulseChannel3ElapsedValue DDT90430 Please refer to the Control FPWIN Pro online help for programming exam- R e f e r e n c e ples. FP0R User's Manual...

  • Page 204: Target Value Match On (Pulse Output)

    In addition, the "Output control active" flag turns to FALSE and the instruction is deactivated. Please refer to the Control FPWIN Pro online help for details and a pro- R e f e r e n c e gramming example. FP0R User's Manual...

  • Page 205: Target Value Match Off

    In addition, the "Output control active" flag turns to FALSE and the instruction is deactivated. Please refer to the Control FPWIN Pro online help for details and a pro- R e f e r e n c e gramming example. FP0R User's Manual...

  • Page 206: Trapezoidal Control

    Type 1: The difference between the maximum speed of 50kHz and the final speed determines the slope of the deceleration ramp. The difference be- tween the maximum speed of 50kHz and the initial speed determines the slope of the acceleration ramp. FP0R User's Manual...
  • Page 207 E 2nd change of target speed I Pulse output control flag R Acceleration time O Execution condition T Acceleration Please refer to the Control FPWIN Pro online help for details and a pro- R e f e r e n c e gramming example. FP0R User's Manual...

  • Page 208: Jog Operation And Positioning

    F instruction: F171_PulseOutput_Jog_Positioning Pulse output characteristics Q Initial and final speed T Deceleration time W Target speed Y Execution condition E Target value U Position control trigger input R Acceleration time I Pulse output control flag FP0R User's Manual...
  • Page 209 Without changing the target speed: With changing the target speed: Q Initial and final speed T Deceleration time W Target speed Y Execution condition E Target value U Position control trigger input R Acceleration time I Pulse output control flag FP0R User's Manual...
  • Page 210 I Execution condition R Target value O Position control trigger input T Acceleration time Please refer to the Control FPWIN Pro online help for details and a pro- R e f e r e n c e gramming example. FP0R User's Manual...

  • Page 211: Jog Operation

    W Change of target speed T Decelerated stop E Execution condition Target value match stop mode (type 1): Output stops when the target  value is reached. Set this mode in the control code, and specify the FP0R User's Manual...
  • Page 212 W Change of target speed T Target value E Execution condition Y Deceleration time Please refer to the Control FPWIN Pro online help for details and a pro- R e f e r e n c e gramming example. FP0R User's Manual...

  • Page 213: Data Table Control

    Pulse output stops when the last target value is reached.  Please refer to the Control FPWIN Pro online help for details and a pro- R e f e r e n c e gramming example. FP0R User's Manual...

  • Page 214: Linear Interpolation

    The two axes are controlled so that a linear path is followed to the target position. Please refer to the Control FPWIN Pro online help for details and a pro- R e f e r e n c e gramming example. FP0R User's Manual...

  • Page 215: Home Return

    Without near home input: With near home input: Q Initial speed R Home input: TRUE W Target speed T Creep speed E Near home input: TRUE Y Home input is effective at any time. FP0R User's Manual...

  • Page 216: Pwm Output Function

    You can insert system variables directly into the POU body: Use the "Variables" dialog without entering a declaration in the POU header. For detailed information, please refer to using system variables in the R e f e r e n c e FPWIN Pro online help. FP0R User's Manual...
  • Page 217 Channel and pulse output numbers Channel no. Pulse output System variables for memory areas used Description System variable Address Pulse output: control flag for channel 0 sys_bIsPulseChannel0Active R9120 1 sys_bIsPulseChannel1Active R9121 2 sys_bIsPulseChannel2Active R9122 3 sys_bIsPulseChannel3Active R9123 FP0R User's Manual...

  • Page 218: Security Functions

    PLC will not be recoverable, either by a person knowing the password or by customer support. You can cancel the setting for this function using FPWIN Pro. However, all programs, system registers and password information will be deleted! FP0R User's Manual...

  • Page 219: Plc Protection (Password Protection)

    PLC's comment memory. For details, please refer to the description of the SYS1 instruction in your R e f e r e n c e Programming Manual or in the FPWIN Pro online help. FP0R User's Manual...

  • Page 220: Fp Memory Loader

    To change existing security settings, choose [Change Protection]. 5. Download program from source PLC to FP Memory Loader 6. Transfer program to target PLC 7. After program download from the FP Memory Loader to the target PLC, this PLC is now upload-protected. FP0R User's Manual...

  • Page 221: Download Protection

    4. Choose [Set Protection] or [Change Protection] When defining security settings for the first time, choose [Set Protec- tion]. To change existing security settings, choose [Change Protection]. 5. Download program from source PLC to FP Memory Loader FP0R User's Manual...
  • Page 222 PLC only if password in the PLC is the 8-digit password same" setting disabled 8-digit password set, "Allow download to Password will not be changed (no PLC only if password in the PLC is the download possible) same" setting enabled FP0R User's Manual...

  • Page 223: Other Functions

    9.1 F-ROM backup (P13_EPWT) Data registers of 32765 words can be written to the built-in F-ROM of the FP0R CPU using the instruction P13_EPWT. Writing can be performed up to 10000 times. After that, the correct opera- tion cannot be guaranteed.

  • Page 224: Input Time Constants

    R e f e r e n c e Time constants can be set for the following inputs, depending on the CPU type: Input CPU type C10/C14/C16 C32/T32/F32 X0–X3   X4–X7   X8–XB –  XC–XF –  FP0R User's Manual...

  • Page 225: Troubleshooting

    PROG mode Stop Flashes Flashes Off Forcing on/off in RUN Continue mode Abnormal Flashes A self-diagnostic error Continue condition has occurred Flashes A self-diagnostic error Stop has occurred Varies Varies System watchdog Stop timeout has occurred FP0R User's Manual...

  • Page 226: Operation On Error

    Choose [Clear] in the "PLC status" dialog while in PROG mode  Turn the power supply off/on while in PROG mode (this clears all of the  contents of the operation memory except hold type data) Execute the self-diagnostic error set instruction F148_ERR  FP0R User's Manual...

  • Page 227: Error/Alarm Led Is On

    LED turns on, the program execution time is too long.  Check if instructions such as JP or LOOP are programmed in such a way that a scan can never finish.  Make sure that interrupt instructions are executed in succession. FP0R User's Manual...

  • Page 228: All Leds Are Off

    Set the output to TRUE by force using Control FPWIN Pro.   If the output status LED is turned ON, you must check the input side.  If the output status LED remains OFF, there is probably an abnormal- ity with the outputs. FP0R User's Manual...

  • Page 229: Password Protection Error Message

    2. Enter your password under "PLC Access" 3. Choose [Login] NOTICE If you are not logged in, [Clear Password] will erase not only the password but also the program and parameters stored in the PLC's comment memory. FP0R User's Manual...

  • Page 230: Prog Mode Does Not Change To Run

    Check to see if the ERROR/ALARM LED is flashing. See "ERROR/ALARM  LED is flashing" on p. 226. Locate the syntax error by executing Monitor  PLC status or  FP0R User's Manual...

  • Page 231: Appendix

    5–9Hz, 1 sweep/min, amplitude of 3.5mm 9–150Hz, 1 sweep/min, constant acceleration of 9.3m/s , 10min on 3 axes (in X, Y, and Z direction) Shock resistance 147m/s , 4 times on 3 axes (in X, Y, and Z direction) FP0R User's Manual...

  • Page 232: Performance Specifications

    Special internal flags (R) Timer flags/Counter 1024 flags (T/C) Factory setting timers: 1008 points (T0–T1007) Factory setting counters: 16 points (C1008–C1023) Timer: 1–32767 (in units of 1ms, 10ms, 100ms, or 1s). Counter: 1–32767 Link flags (L) 2048 FP0R User's Manual...
  • Page 233 Pulse output can be specified up to 50kHz. PWM output can be specified up to 4.8kHz. A maximum error on the pulse width of 40s may occur for the setting value depending on voltage, temperature or operating condition. Writing is possible up to 10000 times. FP0R User's Manual...

  • Page 234: Communication Specifications

    Data transmission order Transmits from bit 0 character by character. Communication mode MEWTOCOL-COM Slave Modem connection Program controlled (in RUN mode only) USB port Item Description Standard (baud rate) USB 2.0 Full Speed Communication mode MEWTOCOL-COM Slave FP0R User's Manual...
  • Page 235 No. of connected stations 99 (32 with C-NET adapter) Communication mode MEWTOCOL-COM Master/Slave Modem connection Program controlled Modbus RTU Master/Slave PLC Link The number of stations, transmission distance, and baud rate may vary de- pending on the connected RS485 device. FP0R User's Manual...
  • Page 236 The large potential difference will damage the con- nected devices. Default settings Port Baud rate Data length Parity Stop bit TOOL port 9600bit/s 8 bits 1 bit COM port (RS232C) 9600bit/s 8 bits 1 bit COM port (RS485) 115200bit/s 8 bits 1 bit FP0R User's Manual...

  • Page 237: Power Supply Specifications

    17V. Below this the power tion supply will enter hicc-up mode to protect power sup- ply and load from over temperature or burning. Lifetime of capacitors Min. 50000h at an airflow temperature of Tu=50°C FP0R User's Manual...

  • Page 238: Current Consumption

    The current consumed by the output circuits of the various units. The value indicates the current used to drive the output circuits. The value does not in- clude the load current value. FP0R User's Manual...

  • Page 239: Dimensions

    Appendix 11.2 Dimensions 11.2.1 C10/C14 CPU (terminal block) FP0RC10CRS/14CRS, FP0RC10RS/14RS The same dimensions apply to the following FP0/FP0R expansion units: FP0R-E8RS  FP0R-E16RS.  When mounting terminal block and power supply cable Q Maximum installation dimension FP0R User's Manual...

  • Page 240: C16 Cpu (Mil Connector)

    Appendix 11.2.2 C16 CPU (MIL connector) FP0RC16CT/P, FP0RC16T/P The same dimensions apply to the following FP0/FP0R expansion units: FP0R-E32T, FP0R-E32P  FP0R-E16X, FP0R-E16YT, FP0R-E16YP, FP0R-E16T, FP0R-E16P  FP0R-E8X, FP0R-E8YT, FP0R-E8YP  When mounting MIL connector and power supply cable Q Maximum installation dimension...

  • Page 241: C32 Cpu (Mil Connector)

    Appendix 11.2.3 C32 CPU (MIL connector) FP0RC32CT/P, FP0RT32CT/P, FP0RF32CT/P, FP0RT32T/P When mounting MIL connector and power supply cable Q Maximum installation dimension FP0R User's Manual...

  • Page 242: Power Supply Unit

    Appendix 11.2.4 Power supply unit FP-PS24-024E/FP-PS24-060E/FP-PS24-120E 11.2.5 Using DIN rails 11.3 I/O allocation FP0R CPUs CPU type I/Os I/O addresses Input X0–X5 Output Y0–Y3 Input X0–X7 Output Y0–Y5 Input X0–X7 Output Y0–Y7 C32/T32/F32 Input X0–XF Output Y0–YF FP0R User's Manual...
  • Page 243 Appendix FP0/FP0R expansion units I/O allocation is performed automatically when an expansion unit is added and is determined by the installation location. Type of unit I/Os Channel Unit number (installation loca- tion) FP0/FP0R I/O expansion unit FP0R-E8X Input X20–X27 X40–X47 X60–X67...

  • Page 244: Flags And Memory Areas For Fp0R

    N o t e FP0-TC4/TC8, FP0-A04V/I, and FP0-RTD6 is converted and loaded with a user program that includes a switching flag to convert the data in 16-bit words (see corresponding manuals). 11.4 Flags and memory areas for FP0R Flags [bits] Type Memory...
  • Page 245 DWR0–DWR254 %MD0.0– Code for specifying %MD0.254 32 internal flag points as a double word (32 bits) of data. Link flags DWL0–DWL126 %MD7.0– Code for specifying %MD7.126 32 link flag points as a double word (32 bits) of data. FP0R User's Manual...
  • Page 246 They are cleared to 0 the next time the power is turned on. See "Backup and clock/calendar functions" on p. 38. The number of points for timer and counter flags can be changed using system register 5. The numbers in the table are the default settings. FP0R User's Manual...

  • Page 247: System Registers

    5. Specify the start address for the counter flags. Act on error (system registers 4, 20, 23, 26) Set the operation mode to be chosen after errors such as an operation er- ror, a battery error, or an I/O verification error. FP0R User's Manual...

  • Page 248: Checking And Changing System Registers

    2. Double-click "System registers" 3. To change a value, write the new value into the system register table 4. Online  Online mode or 5. Online  Download program code and PLC configuration This downloads the project and system registers. FP0R User's Manual...

  • Page 249: Table Of System Registers

    Fixed or Hold/Non-hold FP0R-T32: If the battery is empty the data values in the hold area will become indefinite during pow- er-off. They are cleared to 0 the next time the power is turned on. Depending on PLC type (16k/32k type)
  • Page 250 PLCs PLC link 1 - Link registers - Send area - Start sending from this 128–255 word address PLC link 1 - Link registers - Send area - Number of words to 0–127 words send FP0R User's Manual...
  • Page 251 Pulse output: Channel 0 (tran- Unused  Pulse output (Y0, Y1) sistor types only) Pulse output (Y0, Y1), Home input (X4)  Pulse output (Y0, Y1), Home input (X4), Position con-  trol trigger input (X0) PWM output (Y0)  FP0R User's Manual...
  • Page 252 Interrupt input: X4Interrupt 4 Unused Rising edge/Falling edge/Rising and falling edge 404/ Interrupt input: X5Interrupt 5 Unused Rising edge/Falling edge/Rising and falling edge 404/ Interrupt input: X6Interrupt 6 Unused Rising edge/Falling edge/Rising and falling edge 404/ Interrupt input: X7Interrupt 7 Unused Rising edge/Falling edge/Rising and falling edge FP0R User's Manual...
  • Page 253 For C16: Channel 0 = Y6, channel 1 = Y7 For C32/T32/F32: Channel 0 = Y8, channel 1 = Y9, channel 2 = YA, channel 3 = YB If used for the deviation counter clear signal, these outputs are not available as pulse outputs. FP0R User's Manual...
  • Page 254 No-STX No-STX/STX TOOL port - sending end CR/CR+LF/ETX/None code/reception done condition TOOL port- -receive buffer starting 0–12312 (16k type) address 0–32762 (32k type) TOOL port - receive buffer capacity 0-2048 TOOL port - modem connection Disable Disable/Enable FP0R User's Manual...
  • Page 255 COM port 1 - modem connection Disable Disable/Enable For PLC Link, the communication format and baud rate settings are fixed: Data length: 8 bits Parity: Stop bit: 1 bit End code: Start code: No STX Other system register settings will be ignored. FP0R User's Manual...

  • Page 256: Error Codes

    Change to PROG mode and correct the error. In Control FPWIN Pro, these errors are detected by the compiler. N o t e Therefore, they are not critical. FP0R User's Manual...

  • Page 257: Self-Diagnostic Error Codes

    23 to con- tinue operation. E100–E299 Self-diagnostic E100– Stops The self-diagnostic error specified by the error set by E199 F148_ERR instruction has occurred. Use Monitor F148_ERR E200–E299 Continues  PLC status or to check the error code. FP0R User's Manual...

  • Page 258: Mewtocol-Com Error Codes

    ROM or IC memory card does not conform to specifications  Protection error A program or system register write operation was executed when the protect mode (password setting or DIP switch, etc.) or ROM operation mode was being used. FP0R User's Manual...

  • Page 259: Mewtocol-Com Communication Commands

    Specifies the contents of a system register. Read the status of PLC Reads the specifications of the PLC and error codes if an error occurs. Remote control Switches the operation mode of the PLC. Abort Aborts communication. FP0R User's Manual...

  • Page 260: Data Types

    TIME_OF_DAY Time of day TOD#00:00:00–TOD#23:59:59 32 bits TOD#00:00:00 STRING Variable-length 1–32767 bytes (ASCII) de- 2 words character pending on PLC memory size for the string head + (n+1)/2 words for the char- acters Depending on PLC type FP0R User's Manual...

  • Page 261: Generic Data Types

    DINT, UDINT, DWORD, REAL, DATE, TOD, STRING WORD ANY_NOT_BOOL INT, UINT, DINT, UDINT, DWORD, REAL, DATE, TOD, WORD ANY_NUM INT, UINT DINT, UDINT, REAL ANY_INT INT, UINT DINT, UDINT ANY_BIT BOOL WORD DWORD ANY_BIT_NOT_BOOL WORD DWORD ANY_DATE DATE, TOD, DT FP0R User's Manual...

  • Page 262: Hexadecimal/Binary/Bcd

    · · · · · · 00FF 0000 0000 1111 1111 0000 0010 0101 0101 · · · · · · · · · · · · 9999 270F 0010 0111 0000 1111 1001 1001 1001 1001 FP0R User's Manual...

  • Page 263: Ascii Codes

    Appendix 11.10 ASCII codes FP0R User's Manual...
  • Page 264 ACGM0475V1.1EN 02/2011 Correction of errors Addition of RS485 type CPUs, including RS485 specifications and wiring ACGM0475V2EN 01/2012  information Change of FP0 expansion units to FP0R expansion units  Change of pressure connection tool product no. from AXY5200 to  AXY5200FP Modification of FP0 program compatibility mode description ...
  • Page 265 ACGM0475V3EN 10/2014...

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