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Panasonic AFP7MC16EC User Manual

Motion control unit.
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    -This manual and its contents are copyrighted. -You may not copy this manual, in whole or part, without written consent of Panasonic Industrial Devices SUNX Co., Ltd. -Windows is a registered trademark of Microsoft Corporation in the United States and other countries.

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    Introduction Thank you for buying a Panasonic product. Before you use the product, please carefully read the installation instructions and the users manual, and understand their contents in detail to use the product properly. Types of Manual • There are different types of users manual for the FP7 series, as listed below. Please refer to a relevant manual for the unit and purpose of your use.

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    Types of Manual Unit name or purpose of use Manual name Manual code FP7 Pulse Output Unit FP7 Pulse Output Unit Users Manual WUME-FP7PG FP7 Positioning Unit FP7 Positioning Unit Users Manual WUME-FP7POSP FP7 Serial Communication FP7 series Users Manual (SCU communication) WUME-FP7COM Unit PHLS System...

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    Glossary Glossary To make explanations simple, abbreviations are used for the following terms. Abbreviation Name Description FP7 MC Unit FP7 Motion Control Unit The product name of the unit described in this manual. Control Motion The software for stting parameters of FP7MC Unit. Integrator As for the following terms, they are expressed differently in software, manuals and specification concerning FP7 MC Unit and Servo Amplifier A5B.

  • Page 6: Table Of Contents

    Table of Contents Table of Contents 1. Unit Functions and Restrictions ........1-1 Functions of Motion Control ..............1-2 1.1.1 Functions of Unit ..................1-2 1.1.2 List of Models ..................1-3 Restrictions.................... 1-4 1.2.1 Supported Functions ................1-4 1.2.2 Restrictions by Power Consumption in FP7 System ....... 1-5 1.2.3 Applicable Versions of FPWINGR7 and FP7 Units .........

  • Page 7: Table Of Contents

    Table of Contents 3.1.1 Checking Rotary Switches ..............3-2 3.1.2 Connection of Input Signals ..............3-3 Connection of Network ................3-4 3.2.1 Wiring ...................... 3-4 3.2.2 Precautions on Wiring ................3-4 4. Basic Procedure ..............4-1 Section Details ..................4-2 Registration in I/O Map .................

  • Page 8: Table Of Contents

    Table of Contents 4.6.2 Saving as CMI Files ................4-26 4.6.3 Export to CSV Files ................4-27 5. Settings of FP7 MC Unit ............ 5-1 MC Common Settings ................5-2 5.1.1 MC Common Settings Dialog Box ............5-2 5.1.2 MC Common Settings Parameters ............5-3 Axis Parameter Settings ................

  • Page 9: Table Of Contents

    Table of Contents Checking While the Power is ON ............6-4 6.3.1 Items to Check When the Power is ON........... 6-4 6.3.2 Checking Network Communication State ..........6-5 6.3.3 Checking the safety circuit by the PLC unit ..........6-6 6.3.4 Checking the Operation of Near Home Switch ........

  • Page 10: Table Of Contents

    Table of Contents 8. Automatic Operation (Position Control) ......8-1 Basic Operation ..................8-2 8.1.1 Patterns of Position Control..............8-2 8.1.2 Setting and Operation of E-point Control ..........8-4 8.1.3 Setting and Operation of P-point Control ..........8-6 8.1.4 Setting and Operation of C-point Control ..........8-8 8.1.5 Setting and Operation of J-point Control ..........

  • Page 11: Table Of Contents

    Table of Contents 9.2.1 Selection of Master Axis and Settings ............ 9-4 9.2.2 Selection of Slave Axes and Settings ............. 9-5 9.2.3 Unit Type and Number of Axes ............... 9-5 9.2.4 Setting by CMI ..................9-6 Start and Cancel of Synchronous Control ..........9-8 9.3.1 Start and Cancel of Synchronous Control ..........

  • Page 12: Table Of Contents

    Table of Contents 11. Manual Operation (Home Return) ........11-1 11.1 Types of Home Return ................ 11-2 11.2 Operation of Home Return ..............11-8 11.3 Sample Programs ................11-10 11.3.1 Sample Program (Home Return) ............11-10 11.3.2 Precautions on Programming .............. 11-12 12.

  • Page 13: Table Of Contents

    Table of Contents 13.8 EtherCAT Communication Setting............. 13-12 13.8.1 EtherCAT Configurator ................ 13-12 13.8.2 Device Editor ..................13-13 13.8.3 Overview of PDO Mapping ..............13-14 13.8.4 Change of PDO Mapping ..............13-15 13.9 EC Packet Monitor Function .............. 13-18 13.9.1 Overview of Function ................13-18 13.9.2 Stored Files ..................

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    Table of Contents 15. Specifications ..............15-1 15.1 Specifications ..................15-2 15.1.1 General Specifications ................15-2 15.1.2 Communication Specifications .............. 15-3 15.1.3 Performance Specifications..............15-4 15.2 I/O Allocation ..................15-6 15.3 Whole Configuration of Unit Memories ..........15-8 15.4 Unit Memories (Input and Output Control Areas) ....... 15-10 15.4.1 Configuration of Input Control Area .............

  • Page 15: Table Of Contents

    Table of Contents 15.8 Unit Memories (Synchronous Control Setting Area) ......15-55 15.8.1 Configuration of Synchronous Control Setting Area ......15-55 15.8.2 Sychronous Control Setting Area ............15-56 15.8.3 Electronic Gear Setting Area ............... 15-57 15.8.4 Clutch Setting Area ................15-57 15.8.5 Electronic Cam Setting Area ...............

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    Table of Contents...

  • Page 17: Unit Functions And Restrictions

    Unit Functions and Restrictions...

  • Page 18: Functions Of Motion Control

    Unit Functions and Restrictions 1.1 Functions of Motion Control 1.1.1 Functions of Unit Control FPWIN GR7 PANATERM Control Motion Integrator FP7MC EtherCAT  Controlling Servo Motor MINAS A5B series through EtherCAT FP7 Motion Control Unit (hereafter FP7 MC Unit) adopts EtherCAT communication and controls servo motors.

  • Page 19: List Of Models

    1.1 Functions of Motion Control 1.1.2 List of Models  Main unit Product name Max. number of control axes Product no. 16 axes/unit AFP7MC16EC FP7 Motion Control Unit (Abbreviated name: FP7 32 axes/unit AFP7MC32EC MC Unit) 64 axes/unit AFP7MC64EC  Related software...

  • Page 20: Restrictions

    Always use a cable of category 5e or higher. cable Topology Line, Daisy chain, Star, Tree Daisy chain (without brach) Max. number of 65535 connected units Panasonic Connectable EtherCAT-compatible devices AC serv motor A5B series device (EtherCAT-compatible type)  Control mode Supported function...

  • Page 21: Restrictions By Power Consumption In Fp7 System

    Name Product no. Consumption current AFP7MC16EC FP7 Motion Control Unit AFP7MC32EC 180 mA or less AFP7MC64EC 1.2.3 Applicable Versions of FPWINGR7 and FP7 Units For using FP7 MC Unit, the following versions of FPWIN GR7 and units are required.

  • Page 22: System Configuration

    Unit Functions and Restrictions 1.3 System Configuration 1.3.1 Example of System Configuration The following figure shows the example of the configuration of one axis when using over limit switches and a near home switch.  Configuration of devices Item Explanation The above figure shows the minimum configuration that FP7 CPU Unit, ①...

  • Page 23: Type Of Software

    1.3 System Configuration 1.3.2 Type of Software The following three softwares are used for using the system combining FP7 MC Unit and Servo Amplifier A5B.  Control Motion Integrator Ver.1.0 Application: This software is used for setting parameters of FP7 MC Unit, monitoring the state and test operations.

  • Page 24: Mechanism Of Processing

    Unit Functions and Restrictions 1.4 Mechanism of Processing 1.4.1 Schematic View FP7 CPU FP7 MC X0: Link establishment CPU Config. I/O map ● ● ● ● ● Y0: System stop EtherCAT communication Update cycle 500μs-4000μs User program Input control area MC unit Input processing...

  • Page 25: Operation When Powe Supply Turns On

    1.4 Mechanism of Processing 1.4.2 Operation When Powe Supply Turns On • FP7 MC Unit reads the "parameters for FP7 MC Unit" stored in the FROM (FlashROM) within the unit and sets them in the memory areas within the unit. •...

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    Unit Functions and Restrictions 1-10...

  • Page 27: Names And Functions Of Parts

    Names and Functions of Parts...

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    Names and Functions of Parts 2.1 Names and Functions of Parts 2.1.1 Names and Functions of Parts ⑦ ②-a ②-b ① ②-c ② ⑥ ⑥ ⑤ ③ ④  Names and functions of parts Name Function Operation monitor Indicates the state of EtherCAT communication, the occurrence states of ①...

  • Page 29: Operation Monitor Leds

    2.1 Names and Functions of Parts 2.1.2 Operation monitor LEDs Color Status Description Turns on when the power is supplied to the unit. Blue - INIT state Indicates the state of the ESM (EtherCAT State Blinking Pre-Operational state EC RUN Green Machine) of EtherCAT Single flash...

  • Page 30: Esm (state Transition Diagram)

    Names and Functions of Parts 2.1.3 ESM (State Transition Diagram) Init (IP) (SI) (PI) Pre-Operational (OI) (PS) (SP) Safe-Operational (OP) (SO) (OS) Operational Reference: Created by us based on "Operating principle of EtherCAT" issued by ETG ESM state communication communication communication Description (Abbr.)

  • Page 31: Installation And Wiring

    Installation and Wiring...

  • Page 32: Settings Of Servo Amplifier A5b

    Installation and Wiring 3.1 Settings of Servo Amplifier A5B 3.1.1 Checking Rotary Switches When using FP7 MC Unit in combination with Servo Amplifier A5B, the address of the EtherCAT network is set by the software CMI. • Set the rotary switch of Station Alias (ID) on the front side of Servo Amplifier A5B to "00". •...

  • Page 33: Connection Of Input Signals

    3.1 Settings of Servo Amplifier A5B 3.1.2 Connection of Input Signals For the system which uses the over limit switches and near home switch, connect them to the I/O connector of Servo Amplifier A5B. Over limit Near home Over limit switch switch switch...

  • Page 34: Connection Of Network

    Installation and Wiring 3.2 Connection of Network 3.2.1 Wiring 100m max. 100m max. 100m max. • The cable connected to FP7 MC Unit is connected to the connector X2A of Servo Amplififer A5B. • The distance between each node should be within 100m. 3.2.2 Precautions on Wiring •...

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    3.2 Connection of Network  Conformity conditions to EMC Directive Although this product conforms to EN61131-2 for the European EMC Directive (EMC Directive 2004/108/EC), the following wiring condition is required. • Always use shielded twisted pair (STP) cables that are compatible with category 5e or higher. •...

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    Installation and Wiring...

  • Page 37: Basic Procedure

    Basic Procedure...

  • Page 38: Section Details

    Basic Procedure 4.1 Section Details The following are the procedures of configuring basic settings by connecting FP7 MC Unit and Servo Amplifier A5B. Confirm them before setting parameters and creating programs.  Operation procedure Item Used tool Outline of operation Regiser the unit configuration of the FP7 system on the "I/O Registration in I/O ①...

  • Page 39: Registration In I/o Map

    4.2 Registration in I/O Map 4.2 Registration in I/O Map 4.2.1 Creation of I/O map Before setting parameters or creating programs, register units to be used in the I/O map. The I/O is created on FPWIN GR7. The following procedure is explained on the condition that FPWIN GR7 has already started.

  • Page 40: Download Of I/o Map

    Basic Procedure 4.2.2 Download of I/O map The created I/O map is downloaded to the CPU unit as part of configuration information. Perform the following operations on FPWIN GR7.  Download to the CPU unit The I/O map is saved in the CPU unit together with program data. Execute "Online" > "Download to PLC".

  • Page 41: Confirmation Of Slot Numbers

    4.2 Registration in I/O Map 4.2.5 Confirmation of Slot Numbers Slot numbers are decided by registering units in the I/O map. Slot numbers are used when reading or writing the values of unit memories by user programs. They are also used when performing the data monitoring on FPWIN GR7.

  • Page 42: Setting Of Used Axes

    Basic Procedure 4.3 Setting of Used Axes 4.3.1 Registration of Used Axes Axes to be used in FP7 MC Unit are allocated by CMI. The following procedure is explained on the condition that FP7 MC Unit has been already allocated in the I/O map. PROCEDURE 1.

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    4.3 Setting of Used Axes 4. Select the axes to be used, and press the [OK] button. The dialog box for the interpolation operation group setting is displayed. When you do not set the interpolation operation, go to step 6. 5.

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    Basic Procedure 7. Confirm the change and press the [Yes] button. The data table is created in accordance with the setting content. The corresponding axis numbers are also displayed in the project tree. KEY POINTS When setting interpolation groups, setting items of the movement amount •...

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    4.3 Setting of Used Axes  Axis settings dialog box (For MC32EC)  Axis settings dialog box (For MC64EC)

  • Page 46: Setting Of Network Configuration

    Basic Procedure 4.4 Setting of Network Configuration 4.4.1 Registration of Slaves (Offline) Slaves connected to FP7 MC Unit are registered using the EtherCAT communication setting menu "EtherCAT Configurator" of CMI. The following procedure is explained on the condition that CMI has already started. PROCEDURE 1.

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    4.4 Setting of Network Configuration 4. Select slaves (servo amplifier form) to be used from the list. 5. Input the number of slaves, and press the [OK] button. The registration state of the slaves (A5B) connected to FP7 MC Unit is displayed in the project explorer.

  • Page 48: Registration Of Slaves (online)

    Basic Procedure 4.4.2 Registration of Slaves (Online) In FP7 MC Unit, the configuration of slaves connected to the network can be read and registered in online mode. The following procedure is explained on the condition that CMI has already started. PROCEDURE 1.

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    4.4 Setting of Network Configuration 5. Select "Scan EtherCAT Network" from the context menu. FP7 MC Unit executes scanning the network. The information on the servo amplifiers A5B connected to FP7 MC Unit is displayed in the project explorer in the connection order.

  • Page 50: Setting Of Station Addresses And Axis Numbers

    Basic Procedure 4.4.3 Setting of Station Addresses and Axis Numbers Once the information on devices connected to the network is displayed in the project explorer of EtherCAT Configurator, set the station addresses and axis numbers of servo amplifiers A5B.erCAT Configurator, set the station addresses and axis numbers of servo amplifiers A5B. ...

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    4.4 Setting of Network Configuration  Setting example Although station addresses and axis numbers can be set arbitrarily, it is recommended to set the same numbers to facilitate the management. By default, station addresses are allocated in the connection order. Display of project explorer Configuration of devices This shows the state the station addresses are the...

  • Page 52: Download To Fp7 Mc Unit

    Basic Procedure 4.4.4 Download to FP7 MC Unit Check the configuration of devices connected to the network, and download setting information to FP7 MC Unit after finishing the setting of station addresses and axis numbers. The following procedure is explained on the condition that CMI has already started. PROCEDURE 1.

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    4.4 Setting of Network Configuration 4. Press the [Yes] button to write data to the FROM in the unit, and press the [No] button not to perform the writing. When the processing is finished, the following message is displayed. 5. Press the [OK] button. The message for confirming the mode switching of the CPU unit is displayed.

  • Page 54: Restarting Power Supplies And Checking Communication State

    Basic Procedure 4.4.5 Restarting Power Supplies and Checking Communication State Download the parameters set by CMI to FP7 MC Unit, and then restart the power supplies for the system (Unit and Servo Amplifier). The setting is reflected and the communication is started.

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    4.4 Setting of Network Configuration  Unit memories (Slave tables) Unit Slave no. memory Name Default Description no. (Hex) 1-16 UM 000FE 17-32 UM 000FF Registered Turns on bits corresponding to each station address  slave table (slave number) registered in ENI file. 177-192 UM 00109 1-16...

  • Page 56: Connection Of Limit And Near Home Switches

    Basic Procedure 4.5 Connection of Limit and Near Home Switches 4.5.1 Connection of Input Signals For the system which uses the over limit switches and near home switch, connect them to the I/O connector (X4) of Servo Amplifier A5B. Over limit Near home Over limit switch...

  • Page 57: Pin Assignment Setting Of Servo Amplifier

    4.5 Connection of Limit and Near Home Switches 4.5.2 Pin Assignment Setting of Servo Amplifier The allocation of I/O connector (X4) and input logic is set by PANATERM. The following procedure is explained on the condition that PANATERM has already started. PROCEDURE 1.

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    Basic Procedure The change result can be confirmed in the "Pin Assign" dialog box. 8. Repeat the same operations in steps 6 and 7 for "SI-MON4", too. 9. When changing the input logic of near home switch, repeat the same operations.

  • Page 59: Checking Servo Amplifier Input State

    4.5 Connection of Limit and Near Home Switches KEY POINTS • When FP7 MC Unit is being controlled, the following message is displayed. 4.5.3 Checking Servo Amplifier Input State After the completion of the pin assign setting of Servo Amplifier, operate the connected limit inputs and near home inputs forcibly and check the input states.

  • Page 60: Settings Of Fp7 Mc Unit

    Basic Procedure 4.5.4 Settings of FP7 MC Unit To enable the limit function, the axis parameter "Limit input" in CMI should be set to be enabled. Also, the input logic should be confirmed on CMI.  Settings related to Limit switch Parameter name Default Description...

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    4.5 Connection of Limit and Near Home Switches  Setting of Home position proximity logic Parameter name Default Description Home position Normal Open The near home input logic is selected. proximity logic (A contact) 0: Normal Open (A contact), 1: Normal Close (B contact) KEY POINTS •...

  • Page 62: Saving And Managing Files

    Basic Procedure 4.6 Saving and Managing Files 4.6.1 File Type The set parameters and positioning table information can be saved or exported in the following four formats. File name Extension Application Operation The whole parameters of FP7 MC Unit are saved. ...

  • Page 63: Export To Csv Files

    4.6 Saving and Managing Files 4.6.3 Export to CSV Files The information on set parameters and positioning tables can be exported in csv format. It is possible to open the csv files and check the settings of each parameter and positioning table.. PROCEDURE 1.

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    Basic Procedure 4-28...

  • Page 65

    Settings of FP7 MC Unit...

  • Page 66: Mc Common Settings

    Settings of FP7 MC Unit 5.1 MC Common Settings 5.1.1 MC Common Settings Dialog Box In the "MC common settings" dialog box, The EtherCAT communication cycle and the operations when errors occur are set. The following procedure is explained on the condition that CMI has already started.

  • Page 67: Mc Common Settings Parameters

    5.1 MC Common Settings 5.1.2 MC Common Settings Parameters The Parameters common to the unit, such as error judgement conditions and operation when errors occur, are set.  MC operation Parameter name Default Description The EtherCAT communication error judgement threshold is set. Threshold of the number When the error occurs for the specified number of times of times of PDO error...

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    Settings of FP7 MC Unit  EtherCAT communication Parameter name Default Description EtherCAT communication Select the EtherCAT communication cycle. cycle (µs) 500 / 1000 / 2000 / 4000 (µs) (Note): Set the EtherCAT communication cycle in accordance with the following contents. The installation condition is the case by our measurement condition.

  • Page 69: Axis Parameter Settings

    5.2 Axis Parameter Settings 5.2 Axis Parameter Settings 5.2.1 Setting by CMI The parameters common to each axis, such as the motor rotation direction and the logics of home input and limit input, are set by CMI. The following procedure is explained on the condition that CMI has already started.

  • Page 70: Axis Parameters (basic Setup)

    Settings of FP7 MC Unit 5.2.2 Axis Parameters (Basic Setup)  Basic setup Parameter name Default Description Arbitrary comments can be input. However, they cannot be Comment Blank written into the unit. The number of repetitions of positioning control is set. Positioning repeat count Range: 0 to 255 (times) The units for specifying position command values and speed...

  • Page 71: Axis Parameters (options)

    5.2 Axis Parameter Settings 5.2.3 Axis Parameters (Options) These parameters are set according the used functions.  Software limit setting Parameter name Default Description Software limit (Positioning N: Disabled control) Select whether to enable or disable the software limit when Software limit (Home N: Disabled executing the positioning control, home return or JOG operation.

  • Page 72: Axis Parameters (operation)

    Settings of FP7 MC Unit 5.2.4 Axis Parameters (Operation) Common parameters to each axis related to operations are set.  Home return setting Parameter name Default Description Select the pattern of home return. 0:DOGmethod 1 (Based on front end + Z phase) 1: DOG method 2 (Based on front end) 2: DOG method 3 (Based on back end + Z phase) 9: DOG method 4 (Based on back end)

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    5.2 Axis Parameter Settings  JOG operation setting Parameter name Default Description Select the acceleration/deceleration pattern when Acceleration/deceleration 0: Linear acceleration/ performing the JOG operation. pattern setting deceleration 0: Linear acceleration/deceleration 1: S-shaped acceleration/deceleration Set the acceleration time when performing the JOG JOG acceleration time operation.

  • Page 74: Positioning Table Setting

    Settings of FP7 MC Unit 5.3 Positioning Table Setting 5.3.1 Construction of Positioning Tables Positioning tables are assigned using CMI. The following procedure is explained on the condition that CMI has already started.  Positioning table setting screen of CMI •...

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    5.3 Positioning Table Setting  Setting items (Common) Parameter Default Description name Select one from the following operation patterns. Operation pattern E: End point E: End point, C: Continuance point, P: Pass point, J: Speed point Select the control method. Control method I: Increment I: Increment, A: Absolute...

  • Page 76

    Settings of FP7 MC Unit  Setting items (Additional items for 3-axis interpolation) Parameter Default Description name Select one from the following operation patterns. 0: Linear (Composite speed), 1: Linear (Long axis speed), A: Spiral (Center point/ CW direction/1st axis movement), B: Spiral (Center point/CCW 0: Linear direction/1st axis movement), C: Spiral (Center point/CW direction/2nd axis Interpolation...

  • Page 77: Operation Patterns And Tables

    5.3 Positioning Table Setting 5.3.2 Operation Patterns and Tables • Use a number of tables if the positioning patterns consist of P-point control (pass point control), C-point control (continuance point control), and J-point control (JOG positioning control). • In these types of control, the tables are created continuously on CMI, and "E-point control" is selected for the operation pattern for the last table.

  • Page 78: Synchronous Parameter And Cam Pattern Settings

    Settings of FP7 MC Unit 5.4 Synchronous Parameter and Cam Pattern Settings 5.4.1 Synchronous Parameter Settings Parameters required for the synchronous control are assigned using CMI. The following procedure is explained on the condition that CMI has already started. PROCEDURE 1.

  • Page 79: Cam Pattern Setting

    5.4 Synchronous Parameter and Cam Pattern Settings 5.4.2 Cam Pattern Setting Make electronic cam settings in the case of using an electronic cam. Necessary parameters are assigned using CMI. The following procedure is explained on the condition that CMI has already started.

  • Page 80: Confirmation Of Setting Contents

    Settings of FP7 MC Unit 5.5 Confirmation of Setting Contents 5.5.1 Check on Parameter Data The following procedure is explained on the condition that CMI has already started. PROCEDURE 1. Select "Debug" > "Check parameters and data values" from the menu bar. A message box is displayed to show the check result.

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    5.5 Confirmation of Setting Contents (In normal state) (In abnormal state) 3. Press the [Close] button. The screen returns to the editing screen of CMI. KEY POINTS • When selecting "Unit" for the verification target, the contents of the unit memories (RAM) in the unit are verified.

  • Page 82: Transfer Of Parameters

    Settings of FP7 MC Unit 5.6 Transfer of Parameters 5.6.1 Writing Parameters to Unit The set parameter information is downloaded to the memory of FP7 MC Unit. The following procedure is explained on the condition that CMI has already started. PROCEDURE 1.

  • Page 83

    5.6 Transfer of Parameters 4. Press the [Yes] button to write data to the FROM in the unit, and press the [No] button not to perform the writing. When the processing is finished, the following message is displayed. 5. Press the [OK] button. The message for confirming the mode switching of the CPU unit is displayed.

  • Page 84

    Settings of FP7 MC Unit 5-20...

  • Page 85: Data Transfer To Mc Unit And Test Operation

    Data Transfer to MC Unit and Test Operation...

  • Page 86: Before Turning On The Power

    Data Transfer to MC Unit and Test Operation 6.1 Before Turning On the Power System configuration example Power supply Power supply for I/O Power supply Over limit Over limit switch switch  Items to check before turning on the power Item Description Checking connections to...

  • Page 87: Procedure For Turning On The Power

    6.2 Procedure for Turning On the Power 6.2 Procedure for Turning On the Power 6.2.1 Procedure for Turning On the Power When turning on the power to the system incorporating the unit, consider the nature and states of any external devices connected to the system, and take sufficient care so that turning on the power will not initiate unexpected movements.

  • Page 88: Checking While The Power Is On

    Data Transfer to MC Unit and Test Operation 6.3 Checking While the Power is ON 6.3.1 Items to Check When the Power is ON System configuration example Check each item in the following four major steps. Over limit Near home Over limit switch switch...

  • Page 89: Checking Network Communication State

    6.3 Checking While the Power is ON 6.3.2 Checking Network Communication State Procedure 1 Turn on the powers of the servo amplifier and FP7 MC Unit in this order, and check if no error occurs. Procedure 2 If an error occurs, check if the settings agree with the actual network configuration on CMI. Points to check After turning on FP7 MC Unit, the time until slaves participate in the network can be confirmed and changed in the axis parameter setting menu of CMI.

  • Page 90: Checking The Safety Circuit By The Plc Unit

    Data Transfer to MC Unit and Test Operation 6.3.3 Checking the safety circuit by the PLC unit Procedure 1 Check if the input of the over limit switches connected to the servo amplifier is loaded to the unit by operating them forcibly. Points to check Check if the limit setting is Enabled, input logic is correct in the parameter setting menu of CMI.

  • Page 91: Checking The Operation Of Near Home Switch

    6.3 Checking While the Power is ON 6.3.4 Checking the Operation of Near Home Switch Procedure 1 Check if the near home input is loaded as an input signal on the PLC properly by operating the input forcibly. Procedure 2 Start the home return by the tool operation function of CMI or inputting the home return program, and check if the operation transits to the deceleration operation by the near home input.

  • Page 92: Monitor Function Of Cmi

    Data Transfer to MC Unit and Test Operation 6.4 Monitor Function of CMI 6.4.1 Status Monitor • The connection state of each axis and input state of external terminals can be monitored. • The following procedure is explained on the condition that CMI has already started. PROCEDURE 1.

  • Page 93

    6.4 Monitor Function of CMI  Monitoring item Related Item Description page Revision Indicates the revision number of Servo Amplifier A5B. Indicates the station address of Servo Amplifier A5B allocated to each Station address axis. Indicates the connection status of each axis. Connection status Not connected / During stop / During operation / Warning occurs / Error occurs...

  • Page 94: Data Monitor

    Data Transfer to MC Unit and Test Operation 6.4.2 Data Monitor The operating state can be monitored. PROCEDURE 1. Select "Online" > "Data Monitor" from the menu bar. The data monitor dialog box is displayed. KEY POINTS • If a recoverable error occurs in FP7 MC Unit, click the [Clear errors] button to clear the error.

  • Page 95

    6.4 Monitor Function of CMI  Monitoring item Related Item Description page Displays the control mode. Control mode Positioning control / J-point control / Home return / JOG operation When an axis has been set as master axis, "Master" is displayed. When an axis has been set as slave axis, the master axis which this axis 9.2 Settings Synchronous...

  • Page 96: Tool Operation Function Of Cmi

    Data Transfer to MC Unit and Test Operation 6.5 Tool Operation Function of CMI 6.5.1 Tool Operation Function You can perform commissioning with CMI before actually starting user programs. The following procedure is explained on the condition that CMI has already started. PROCEDURE 1.

  • Page 97

    6.5 Tool Operation Function of CMI  Type of tool operation Item Description Serve Specify the servo ON/OFF setting for each axis. ON/OFF Home A home return is performed to the home of the machine coordinates according to the specified return parameter.

  • Page 98: Serve On/off With Tool Operation Function

    Data Transfer to MC Unit and Test Operation 6.5.2 Serve ON/OFF with Tool Operation Function The following procedure is explained on the condition that CMI has already started. PROCEDURE Select "Online" > "Tool Operation" from the menu bar. The "Tool operation" dialog box is displayed. 2.

  • Page 99

    6.5 Tool Operation Function of CMI KEY POINTS • If the servo ON/OFF has been controlled using user programs, the servo- lock or servo-free state before the start of the tool operation is kept and the operation shifts to the tool operation. •...

  • Page 100: Jog Operation With Tool Operation Function

    Data Transfer to MC Unit and Test Operation 6.5.3 JOG Operation with Tool Operation Function • You can perform commissioning with CMI before actually starting user programs. • The following procedure is explained on the condition that CMI has already started. PROCEDURE 1.

  • Page 101

    6.5 Tool Operation Function of CMI KEY POINTS • If a recoverable error occurs in FP7 MC Unit, click the [Clear errors] button to clear the error. • If a warning occurs in FP7 MC Unit, click [Warning clear] to clear the warning.

  • Page 102: Home Return By Tool Operation Function

    Data Transfer to MC Unit and Test Operation 6.5.4 Home Return by Tool Operation Function • When the power is turned on, the coordinates of FP7 MC Unit do not coincide with those of the machine position. Execute a home return before starting positioning. •...

  • Page 103

    6.5 Tool Operation Function of CMI KEY POINTS • If a recoverable error occurs in FP7 MC Unit, click the [Clear errors] button to clear the error. • If a warning occurs in FP7 MC Unit, click [Warning clear] to clear the warning.

  • Page 104: Positioning By Tool Operation Function

    Data Transfer to MC Unit and Test Operation 6.5.5 Positioning by Tool Operation Function Specifying a starting table number enables to check if positioning from the starting table operates properly. PROCEDURE 1. Select "Online" > "Tool Operation" from the menu bar. The "Tool operation"...

  • Page 105

    6.5 Tool Operation Function of CMI  Items of dialog box Related Item Description page When an axis has been set as master axis, "Master" is displayed. When an axis has been set as slave axis, the master axis which this axis 9.2 Settings follows is displayed.

  • Page 106

    Data Transfer to MC Unit and Test Operation KEY POINTS • Even in the tool operation, the unit operates in accordance with the data of the positioning table downloaded to FP7 MC Unit. The operations after the starting table number vary depending on operation patterns. •...

  • Page 107: Teaching By Tool Operation Function

    6.5 Tool Operation Function of CMI 6.5.6 Teaching by Tool Operation Function Activate each axis manually by the tool operation, and register the positioning addresses where each axis stops as the point data. PROCEDURE 1. Select "Online" > "Tool Operation" from the menu bar. The "Tool operation"...

  • Page 108

    Data Transfer to MC Unit and Test Operation  Items of dialog box Related Item Description page When an axis has been set as master axis, "Master" is displayed. When an axis has been set as slave axis, the master axis which this axis 9.2 Settings follows is displayed.

  • Page 109

    6.5 Tool Operation Function of CMI KEY POINTS • If a recoverable error occurs in FP7 MC Unit, click the [Clear errors] button to clear the error. If a warning occurs in FP7 MC Unit, click [Clear warning] to clear the •...

  • Page 110

    Data Transfer to MC Unit and Test Operation 6-26...

  • Page 111: Creation Of User Programs

    Creation of User Programs...

  • Page 112: How To Create User Programs

    Creation of User Programs 7.1 How to Create User Programs 7.1.1 Basic Configuration of Program The user programs which control FP7 MC Unit are created by the tool software "FPWIN GR7". • To support the multi-axis control through network, for FP7 MC Unit, main input and output signals required for the control are allocated to the unit memories (input control area/output control area).

  • Page 113

    7.1 How to Create User Programs  Program example The following program is simplified to show the whole configuration. The reading data from the input control area is inserted in the beginning of the program, and the writing data to the output control area is inserted at the end of the program.

  • Page 114: Overview Of Programs

    Creation of User Programs 7.2 Overview of Programs 7.2.1 Reading Data From Input Control Area • The reading program from the unit memories (input control area) reads and stores flags in the operation memories such as internal relays to enable them to be treated easily in consecutive control programs.

  • Page 115: Servo On/off Control Program

    7.2 Overview of Programs 7.2.2 Servo ON/OFF Control Program • The servo ON/OFF is controlled by writing requests into the unit memories (output control area). • Create a program to turn on each bit of the unit memories allocated to the servo ON request signal or servo OFF request signal.

  • Page 116: Start Enabled Program

    Creation of User Programs 7.2.3 Start Enabled Program • The start enabled control program is inserted to check flags read from the unit memories (input control area) to confirm if each consecutive control (such as position control, JOG operation and home return) can be started. •...

  • Page 117: Writing Data To Output Control Area

    7.2 Overview of Programs 7.2.5 Writing Data to Output Control Area • The values of the operation memories (such as WR) in which the results operated in each control program are reflected are written to the unit memories (output control area). •...

  • Page 118: Precautions On Programming

    Creation of User Programs 7.3 Precautions On Programming 7.3.1 Turning Off Power Supply Clears Contents in Unit Memories • Data in unit memories are cleared when the power is turned off. • When the powe is turned on again, data is preset in the parameters saved in the FROM within FP7 MC Unit.

  • Page 119: Automatic Operation (position Control)

    Automatic Operation (Position Control)

  • Page 120: Basic Operation

    Automatic Operation (Position Control) 8.1 Basic Operation 8.1.1 Patterns of Position Control • 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 121

    8.1 Basic Operation Inter- Name Time chart Operation and application Repeat pola- tion No speed change  This refers to control which passes through a speed point “JOG Operation ① Point”, and is called "J-point control”.  After the start, it is controlled at specified speeds.

  • Page 122: Setting And Operation Of E-point Control

    Automatic Operation (Position Control) 8.1.2 Setting and Operation of E-point Control In the following example, a single-speed acceleration/deceleration control is performed by a single-axis control. Table 10000 pulses Ball screw (-) side (+) side  Settings Item Setting example Operation pattern E: End point Control method I: Increment...

  • Page 123

    8.1 Basic Operation  Operation of input control/output control signals • When a positioning start request (corresponding bit allocated to UM00192 to UM00197) turns ON by a user program, the positioning control will start. The positioning start request will be enabled at the edge where it turns ON. •...

  • Page 124: Setting And Operation Of P-point Control

    Automatic Operation (Position Control) 8.1.3 Setting and Operation of P-point Control In the following example, a three-speed acceleration/deceleration control is performed by a single-axis control. Table 18000 pulses Ball screw (-) side (+) side  Settings Setting example Item Table 1 Table 2 Table 3 Operation pattern...

  • Page 125

    8.1 Basic Operation  Operation of input control/output control signals • When a positioning start request (corresponding bit allocated to UM00192 to UM00197) turns ON by a user program, the positioning control will start. The positioning start request will be enabled at the edge where it turns ON. •...

  • Page 126: Setting And Operation Of C-point Control

    Automatic Operation (Position Control) 8.1.4 Setting and Operation of C-point Control In the following example, three successive acceleration/deceleration control is performed by a single-axis control. Table 18000 pulses Ball screw (-) side (+) side  Settings Setting example Item Table 1 Table 2 Table 3 Operation pattern...

  • Page 127

    8.1 Basic Operation  Operation of input control/output control signals • When a positioning start request (corresponding bit allocated to UM00192 to UM00197) turns ON by a user program, the positioning control will start. The positioning start request will be enabled at the edge where it turns ON. •...

  • Page 128: Setting And Operation Of J-point Control

    Automatic Operation (Position Control) 8.1.5 Setting and Operation of J-point Control In the following example, a J-point control is performed by a single-axis control. The unit operates at the target speed and J-point target speed until the J-point positioning start request turns ON, and will start the position control when the J-point positioning start request turns ON.

  • Page 129

    8.1 Basic Operation  Operation of input control/output control signals • When a positioning start request (corresponding bit allocated to UM00192 to UM00197) turns ON by a user program, the positioning control will start. The positioning start request will be enabled at the edge where it turns ON. •...

  • Page 130: Interpolation Control

    Automatic Operation (Position Control) 8.2 Interpolation Control 8.2.1 Type of Interpolation Control (Two-axis Interpolation) • The following types and operation specification methods are available for the 2-axis interpolation. • The axes in the relation of an interpolation are called 1st axis and 2nd axis for the 2-axis interpolation.

  • Page 131

    8.2 Interpolation Control 8-13...

  • Page 132: Type Of Interpolation Control (three-axis Interpolation)

    Automatic Operation (Position Control) 8.2.2 Type of Interpolation Control (Three-axis Interpolation) • The following types and operation specification methods are available for the 3-axis interpolation. • The axes in the relation of an interpolation are called 1st axis, 2nd axis and 3rd axis for the 3-axis interpolation.

  • Page 133

    8.2 Interpolation Control • In each interpolation control, the E-point control which uses one table, P-point control and C- point control which uses multiple tables can be combined arbitrarily as positioning data. For the P-point and C-point controls, the last table should be set as an end point. REFERENCE •...

  • Page 134

    Automatic Operation (Position Control) 3-axis linear interpolation 3-axis linear interpolation (Composite speed specification) (Long axis speed specification) 3rd axis 3rd axis (Z axis) (Z axis) The axis speed for the axis to be a long The composite speed axis can be specified. can be specified.

  • Page 135: Setting And Operation Of Two-axis Linear Interpolation

    8.2 Interpolation Control 8.2.3 Setting and Operation of Two-Axis Linear Interpolation In the following example, a 2-axis linear interpolation control is performed by a composite speed. 2nd axis (Y axis) 5000 pulses 1st axis (X axis) 10000 pulses  Settings Item Setting example Remarks...

  • Page 136

    Automatic Operation (Position Control)  Operation diagram f [pps] Composite speed 10000 t [ms] Positioning start request of 1st axis BUSY flag of 1st axis BUSY flag of 2nd axis Operation done flag of 1st axis Operation done flag of 2nd axis Current value of 1st axis 20000 30000...

  • Page 137: Setting And Operation Of Two-axis Circular Interpolation

    8.2 Interpolation Control 8.2.4 Setting and Operation of Two-Axis Circular Interpolation In the following example, a 2-axis circular interpolation control is performed by specifying the center point. 2nd axis (Y axis) 20000 pulses Center point (X axis: 0, Y axis: 10000) 1st axis (X...

  • Page 138

    Automatic Operation (Position Control)  Operation diagram f [pps] Composite speed 10000 t [ms] Positioning start request of 1st axis BUSY flag of 1st axis BUSY flag of 2nd axis Operation done flag of 1st axis Operation done flag of 2nd axis Current value of 1st axis 20000 20000...

  • Page 139: Setting And Operation Of Three-axis Linear Interpolation

    8.2 Interpolation Control 8.2.5 Setting and Operation of Three-Axis Linear Interpolation In the following example, a 3-axis linear interpolation control is performed by a composite speed. 3rd axis (Z axis) 5000 pulses 20000 pulses 1st axis (X axis) 10000 pulses 2nd axis (Y axis) ...

  • Page 140

    Automatic Operation (Position Control)  Operation diagram f [pps] Composite speed 10000 t [ms] Positioning start request of 1st axis BUSY flag of 1st axis BUSY flag of 2nd axis BUSY flag of 3rd axis Operation done flag of 1st axis Operation done flag of 2nd axis Operation done flag of 3rd axis 20000...

  • Page 141: Setting And Operation Of Three-axis Spiral Interpolation

    8.2 Interpolation Control 8.2.6 Setting and Operation of Three-Axis Spiral Interpolation In the following example, an arc is drawn with the 1st axis (X-axis) and 2nd axis (Y-axis), and a 3-axis spiral interpolation control is performed with 3rd axis (Z-axis) movement. 3rd axis (Z axis) Center point (X axis: 0, Y axis: 10000)

  • Page 142

    Automatic Operation (Position Control)  Operation diagram f [pps] Composite speed 10000 t [ms] Positioning start request of 1st axis BUSY flag of 1st axis BUSY flag of 2nd axis BUSY flag of 3rd axis Operation done flag of 1st axis Operation done flag of 2nd axis Operation done flag of 3rd axis 20000...

  • Page 143: Repeat Function

    8.3 Repeat Function 8.3 Repeat Function 8.3.1 Overview of Repeat Operation • This function is used to execute continuous positioning control by specifying a repeat count. • The repeat count is set in the "positioning repeat count area" in the unit memories. The continuous positioning control can be executed in the range of 2 to 254 times or unlimitedly according to the setting.

  • Page 144: Stop Operation During Repeat Operation

    Automatic Operation (Position Control)  Setting area for positioning repeat count (Unit memories) Unit Axis memory Name Default Description no. (Hex) Axis 1 UM 009F0 Axis 2 UM 009F1 Stores the number of times for repeating the operation starting from the positioning control starting table number until the E point.

  • Page 145: Setting And Operation Of Repeat

    8.3 Repeat Function 8.3.3 Setting and Operation of Repeat In the following example, the positioning control with three tables (P + P + E points) is repeated three times by a single axis control. 54000 pulses (18000 x 3) Table Ball screw (-) side (+) side...

  • Page 146

    Automatic Operation (Position Control)  Operation diagram f [pps] 20000 10000 5000 t [ms] Positioning start request BUSY flag Operation done flag (Note): The above figure shows the case that the dwell time is 0.  Operation of input control/output control signals •...

  • Page 147: Sample Programs

    8.4 Sample Programs 8.4 Sample Programs 8.4.1 Sample Programs (E-point, C-point and C-point Controls) The operation for starting the positioning operation is mainly divided into five steps on a user program. • Read flags stored in the unit memories (input control area). •...

  • Page 148

    Automatic Operation (Position Control)  Sample program SR14 X100 BKMV.US S1:UM00086 S1:UM00089 WR106 1-16 49-64 1-16 Link 1st scan OFF Connection Connection Connection Establish- confirmation confirmation confirmation ment BKMV.US S1:UM0008A S1:UM0008D WR110 1-16 49-64 1-16 ① Servo lock Servo lock Servo lock annunciation annunciation...

  • Page 149

    8.4 Sample Programs 8.4.2 Precautions on Programming  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.

  • Page 150: Rewriting Positioning Data By User Programs

    Automatic Operation (Position Control) 8.5 Rewriting Positioning Data by User Programs 8.5.1 Overview of Function • Positioning data set by CMI is downloaded to the FROM of FP7 MC Unit. • The positioning data stored in the FROM is transferred to the system area of FP7 MC Unit when the power is turned on.

  • Page 151: Procedure Of Rewriting

    8.5 Rewriting Positioning Data by User Programs 8.5.2 Procedure of Rewriting The following flowchart shows the flow of the operation required in a user program. • For reading and writing, the operations to be executed (read, write) and targets (axis number, table number, table size) are specified in the buffer control area of the unit memories.

  • Page 152: Sample Program (rewritign Positioning Tables)

    Automatic Operation (Position Control) 8.5.3 Sample Program (Rewritign Positioning Tables) The operation for rewriting positioning tables using a user program is mainly divided into five steps. • Specify the axis number, table number and table size to rewrite the positioning table. •...

  • Page 153

    8.5 Rewriting Positioning Data by User Programs  Program example R500 MV.US DT500 ( ) Axis number Setting value read control R501 ①-ⓐ MV.US DT501 ( ) Starting table Setting value write number MV.US DT502 Table size R500 BKMV.US DT500 DT502 S1:UM06243 (...

  • Page 154

    Automatic Operation (Position Control) 8-36...

  • Page 155: Automatic Operation (synchronous Control)

    Automatic Operation (Synchronous Control)

  • Page 156: Synchronous Control

    Automatic Operation (Synchronous Control) 9.1 Synchronous Control 9.1.1 Overview of Synchronous Control  What is synchronous control? In the synchronous control, by operating a reference axis (master axis), the axes (slave axes) interlocking (synchronizing) with the master axis are activated. The advantages of using the synchronous control are as follows.

  • Page 157

    9.1 Synchronous Control  Execution order of synchronous control and setting procedures The following section provides information on the outline of functions achieved by synchronous control and setting procedures for the functions. Master axis Make master axis settings for each operating axis. Master axis operation settings Each operating axis will work as a slave axis if master axis settin...

  • Page 158: Settings For Master And Slave Axes

    Automatic Operation (Synchronous Control) 9.2 Settings for Master and Slave Axes 9.2.1 Selection of Master Axis and Settings The master axis serves as a reference for synchronization control. Start and stop requests for various operations are made to the master axis under synchronous control. It is possible to select one of the following master axes.

  • Page 159: Selection Of Slave Axes And Settings

    • Movement amount per rotation 9.2.3 Unit Type and Number of Axes Number of usable axes FP7 MC Unit model number Real axis Virtual axis AFP7MC16EC Max. 16 axes Max. 8 axes AFP7MC32EC Max. 32 axes Max. 16 axes AFP7MC64EC Max.

  • Page 160: Setting By Cmi

    Master and slave axes are allocated using CMI. The following procedure is explained on the condition that CMI has already started. In the following example, AFP7MC16EC (16-real axes, 8-virtual axes) type is used, and the axis 1 is allocated to the master and the axes 2 and 3 are allocated to slave axes.

  • Page 161

    9.2 Settings for Master and Slave Axes 5. Select "Parameter" > "Synchronous parameter settings" > "Axis 3" from the menu bar. The "Synchronous parameter Axis 3" window opens. Select "Axis 1" from the drop-down list of "Basic setup" > "Synchronous master axis".

  • Page 162: Start And Cancel Of Synchronous Control

    Automatic Operation (Synchronous Control) 9.3 Start and Cancel of Synchronous Control 9.3.1 Start and Cancel of Synchronous Control  Start and cancel operations • The synchronous control can be temporarily canceled by turning on "Synchronous cancel request" in the output control area of unit memories. •...

  • Page 163

    9.3 Start and Cancel of Synchronous Control  Operations while synchronous control is performed/canceled Operation while Operation during synchronization synchronization is being canceled Operation mode When requesting When requesting When requesting operation for operation for slave operation for master axis axis master/slave axis Home return operation...

  • Page 164: Precautions When Canceling Or Starting Synchronous Control

    Automatic Operation (Synchronous Control) 9.3.2 Precautions When Canceling or Starting Synchronous Control  Precautions when canceling synchronous control • The synchronous control can be canceled during the master operation, however, slave axes will stop immediately. • It is recommended to cancel the synchronous control after stopping slave axes using the clutch function.

  • Page 165

    9.3 Start and Cancel of Synchronous Control  Phase when starting synchronous control It is calculated from the "current value after unit conversion" of master axis and the "cam control synchronous master axis cycle" of synchronous parameter. The remainder obtained by dividing "current value after unit conversion"...

  • Page 166: Electronic Gear Function

    Automatic Operation (Synchronous Control) 9.4 Electronic Gear Function 9.4.1 Overview of Electronic Gear Function  Electronic gear function The electronic gear function operates the positioning unit at the speed of the master axis multiplied by a preset gear ratio. Master axis Gear ratio numerator operation Output speed...

  • Page 167: Types And Contents Of Setting Parameters

    9.4 Electronic Gear Function 9.4.2 Types and Contents of Setting Parameters For using the electronic gear, set the following parameters in the "Synchronous parameter settings" menu. Parameter name Default Description Select the operation of the electronic gear function. Use / Not use Electronic gear Not use The gear ratio of the electronic gear is set to 1:1 if the electronic gear is...

  • Page 168: Gear Ratio Changes While In Operation

    Automatic Operation (Synchronous Control) 9.4.3 Gear Ratio Changes while in Operation  Precautions for gear ratio changes while the positioning unit is in operation • If the gear ratio is changed with a new gear ratio while the electronic gear is in operation, the new gear ratio will be effective with an elapse of a preset gear change time.

  • Page 169

    9.4 Electronic Gear Function  Gear ratio change request signal Real axis Virtual axis Signal name Axes Axes Axes Axes Axes Axes 1-16 17-32 33-48 49-64 1-16 17-32 Slave axis gear ratio change UM001E0 UM001E1 UM001E2 UM001E3 UM001E4 UM001E5 request Slave axis gear ratio change UM001D2 UM001D3...

  • Page 170: Electronic Clutch Function

    Automatic Operation (Synchronous Control) 9.5 Electronic Clutch Function 9.5.1 What is Electronic Clutch Function? The electronic clutch function is used to engage or disengage the clutch for output from the electronic gear. When the electronic clutch is disengaged, the master axis is separated from the slave axes and the slave axes not in synchronization with the master axis come to a stop.

  • Page 171

    9.5 Electronic Clutch Function 9.5.2 Types and Contents of Setting Parameters For using the electronic clutch, set the following parameters in the "Synchronous parameter settings" menu. Parameter name Description Select the operation of the electronic clutch function. Clutch setting - Use Use / Not use Clutch ON trigger type Set an I/O clutch ON request as a trigger to be detected.

  • Page 172: Trigger Types For Electronic Clutch

    Automatic Operation (Synchronous Control) 9.5.3 Trigger Types for Electronic Clutch The electronic clutch is connected (ON) or disconnected (OFF) by controlling the ON request or OFF request in the output control area of the unit memories using user programs. 3-axis linear interpolation 3-axis linear interpolation (Composite speed specification) (Long axis speed specification)

  • Page 173: Engagement Method Of Electronic Clutch

    9.5 Electronic Clutch Function 9.5.4 Engagement Method of Electronic Clutch The electronic clutch function engages the clutch to start operating the slave axes and disengages the clutch to stop operating the slave axes, the acceleration or deceleration of the slave axes can be set as shown below. ...

  • Page 174: Electronic Cam Function

    Automatic Operation (Synchronous Control) 9.6 Electronic Cam Function 9.6.1 Overview of Electronic Cam Function  What is Electronic cam function? The electronic cam function uses a preset cam pattern, determines the movement amount of the slave axes according to the operation of the master axis (phase information) and cam pattern, and outputs the movement amount.

  • Page 175

    9.6 Electronic Cam Function  Cam pattern specifications Setting item Specifications Resolution 1024, 2048, 4096, 8192, 16384, 32768 AFP7MC16EC AFP7MC32EC AFP7MC64EC Resolutions of 1024, 2048, 4096, and No. of cam patterns 8192: Resolution of 16384: Resolution of 32768: Section setting 100%/cycle, 20 sections max.

  • Page 176: Cam Pattern Setting Method

    Automatic Operation (Synchronous Control) 9.6.3 Cam Pattern Setting Method The following procedure is explained on the condition that CMI has already started.  Starting Cam Pattern Setting Screen Select "Parameter" > "Cam pattern setting" from the menu bar. The cam patter setting screen is displayed.

  • Page 177

    9.6 Electronic Cam Function KEY POINTS • The resolution is valid for all cam patterns. You cannot set a different resolution per cam pattern. • The number of cam patterns available varies with each resolution. The current resolution cannot be changed to a new resolution if the number of cam patterns already set exceeds the number of cam patterns available for the new resolution.

  • Page 178

    Automatic Operation (Synchronous Control)  Cam pattern setting Press the "Insert" button from the "Section" field. Set the start phase, and press the [OK] button. In the default condition, only one section whose phase is 0 to 100% can be set for the cam pattern.

  • Page 179

    9.6 Electronic Cam Function  Edit of cam table Data of created cam tables is edited. Set the following items in each set section; - Start phase (%) - Displacement (%) - Cam curve The cam curve changes according to the settings. KEY POINTS The end phase cannot be set.

  • Page 180

    Automatic Operation (Synchronous Control)  Confirmation of cam table Confirm the set cam table (cam curve). In the synchronous control, slave axes operate following the cam curve. Therefore, a motor may not be able to follow the output if the change in the cam curve is rapid.

  • Page 181

    9.6 Electronic Cam Function  Adjustment of cam table There is a function to finely adjust the data of set cam curves in the cam table setting screen. Rapid change can be lessened by performing find adjustment of the set cam data using the adjustment function.

  • Page 182

    Automatic Operation (Synchronous Control)  Shift of cam table Although created cam patterns are defined for the phases of 0 to 100%, phases used as a reference for created cam patterns may be different in actual operations. The shift of cam table is a function to set the phase of the position of current value coordinate system 0 to be a percentage of a created cam pattern.

  • Page 183: Manual Operation (jog Operation)

    Manual Operation (JOG Operation)

  • Page 184: Setting And Operation Of Home Return

    Manual Operation (JOG Operation) 10.1 Setting and Operation of Home Return In this example, a forward or reverse operation is performed in the JOG operation. Reverse JOG Forward JOG Table Ball screw (-) side (+) side  Settings Item Setting example Acceleration/deceleration pattern 0: Linear acceleration/deceleration Acceleration time (ms)

  • Page 185

    10.1 Setting and Operation of Home Return  Operation of input control/output control signals • When a JOG operation forward or reverse request (corresponding bit allocated to UM0019E to UM001A9) is ON by a user program, the JOG operation control is performed. •...

  • Page 186: Changing Speed During Jog Operation

    Manual Operation (JOG Operation) 10.2 Changing Speed During JOG Operation The target speed can be changed during the JOG operation.  Settings Item Setting example Acceleration/deceleration pattern 0: Linear acceleration/deceleration Acceleration time 1 (ms) 100 ms Deceleration time 1 (ms) 50 ms Target speed 1 10000 pps...

  • Page 187

    10.2 Changing Speed During JOG Operation  Operation of input control/output control signals • When a JOG operation forward or reverse request (corresponding bit allocated to UM0019E to UM001A9) is ON by a user program, the JOG operation control is performed. •...

  • Page 188: Setting And Operation Of Jog Inching Operation

    Manual Operation (JOG Operation) 10.3 Setting and Operation of JOG Inching Operation In this example, a forward or reverse operation is performed in the JOG operation by the inching operation. Reverse JOG Forward JOG Table Ball screw (-) side (+) side ...

  • Page 189

    10.3 Setting and Operation of JOG Inching Operation  Operation of input control/output control signals • When a JOG inching request (corresponding bit allocated to UM001AA to UM001AF) is ON by a user program and a JOG operation forward or reverse request (corresponding bit allocated to UM0019E to UM001A) turns ON, the JOG inching operation will be performed.

  • Page 190

    Manual Operation (JOG Operation) 10.4 Sample Programs 10.4.1 Sample Program (JOG Operation) The operation for starting the JOG operation is mainly divided into five steps on a user program. • Read flags stored in the unit memories (input control area). •...

  • Page 191

    10.4 Sample Programs  Sample program SR14 X100 BKMV.US S1:UM00086 S1:UM00089 WR106 1-16 49-64 1-16 Link 1st scan OFF Connection Connection Connection Establish- confirmation confirmation confirmation ment BKMV.US S1:UM0008A S1:UM0008D WR110 1-16 49-64 1-16 ① Servo lock Servo lock Servo lock annunciation annunciation annunciation...

  • Page 192

    Manual Operation (JOG Operation) 10.4.2 Precautions on Programming  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 at the time of startup. •...

  • Page 193: Manual Operation (home Return)

    Manual Operation (Home Return)

  • Page 194: Types Of Home Return

    Manual Operation (Home Return) 11.1 Types of Home Return  DOG method 1 (Based on front end + Z phase) • The leading edge of the first home position (Z phase) is set as a home position after the detection of the leading edge of a near home input (HOME). •...

  • Page 195

    11.1 Types of Home Return  DOG method 2 (Based on front end) • The leading edge of a near home input (HOME) is detected and it is set as a home position. • After the leading edge of a near home input (HOME) is detected, the deceleration stop is performed in the home return deceleration time.

  • Page 196

    Manual Operation (Home Return)  DOG method 3 (Based on back end + Z phase) • The leading edge of the first home position (Z phase) in the home return direction set as a home position after the detection of a trailing edge (back end) of the near home input (HOME).

  • Page 197

    11.1 Types of Home Return  DOG method 4 (Based on back end) • The trailing edge of a near home input (HOME) is detected and it is set as a home position. • After the trailing edge of a near home input (HOME) is detected, the deceleration stop is performed in the home return deceleration time.

  • Page 198

    Manual Operation (Home Return)  Limit method 1 (Limit signal + Z phase) • Reverses after detecting the leading edge of the limit switch on the opposite side of the home return direction. After that, the operation stops at the first leading edge of the home position (Z phase).

  • Page 199

    11.1 Types of Home Return  Z phase method The home position is searched at a home return creep speed from the current position, and the operation stops when the leading edge of the first home position (Z phase) is detected. For the Z phase method, the home return positioning control mode (Method33/34) of Servo Amplifier A5B is used.

  • Page 200: Operation Of Home Return

    Manual Operation (Home Return) 11.2 Operation of Home Return In this example, the leading edge of the first home position (Z phase) is set as a home position after the detection of the leading edge of a near home input (DOG). Home return Table Ball screw...

  • Page 201

    11.2 Operation of Home Return  Operation of input control/output control signals • When the home return request (corresponding bit allocated to UM00198 to UM0019D) turns ON by a user program, the home return will start. The home return request will be enabled at the edge where the contact turns ON.

  • Page 202

    Manual Operation (Home Return) 11.3 Sample Programs 11.3.1 Sample Program (Home Return) The operation for starting the JOG operation is mainly divided into five steps on a user program. • Read flags stored in the unit memories (input control area). •...

  • Page 203

    11.3 Sample Programs  Sample program SR14 X100 BKMV.US S1:UM00086 S1:UM00089 WR106 1-16 49-64 1-16 Link 1st scan OFF Connection Connection Connection establish- confirmation confirmation confirmation ment BKMV.US S1:UM0008A S1:UM0008D WR110 1-16 49-64 1-16 ① Servo lock Servo lock Servo lock annunciation annunciation annunciation...

  • Page 204

    Manual Operation (Home Return) 11.3.2 Precautions on Programming  Precautions on programming • If any value such as an acceleration time, deceleration time or target speed is out of the specified range, a setting value error occurs at the time of start. •...

  • Page 205: Stop Functions

    Stop Functions...

  • Page 206: Type Of Stop Functions

    Stop Functions 12.1 Type of Stop Functions 12.1.1 Type of Stop Operations • The following seven stop operations are available. • The system stop, emergency stop, deceleration stop, and pause will be effective when allocated request signals turn ON by user programs. •...

  • Page 207

    12.1 Type of Stop Functions Name Time chart Occurrence condition and operation Deceleration time  When a deceleration stop request (corresponding bit allocated to UM001B6 to UM001BB) turns ON, an active operation will Deceleration stop and the operation of corresponding stop axes will stop.

  • Page 208: Characteristics Of Pause Function

    Stop Functions 12.1.2 Characteristics of Pause Function • The pause function is a function to temporarily stop the control in operation. The pause function is used by switching between the pause and deceleration stop functions. • The pause function is used to perform the deceleration stop in the deceleration time of an active control when a deceleration stop request (corresponding bit allocated to UM001B6 to UM001BB) turns ON.

  • Page 209: Settings Related To Stop Function

    12.2 Settings Related to Stop Function 12.2 Settings Related to Stop Function 12.2.1 MC Common Settings • An operation when an error occurs is specified in the "MC common settings" dialog box. • Specify the items in "Parameter" > "MC common settings" of CMI. Parameter name Default Description...

  • Page 210: Axis Parameter

    Stop Functions 12.2.2 Axis Parameter The time of a stop operation is specified in the axis parameter setting menu. Specify the items in "Parameter" > "Axis parameter" > "Stop function setting" of CMI. Item Default Description Emergency stop 100 ms Set the deceleration time at the time of emergency stop.

  • Page 211: Operation During Stop

    12.3 Operation During Stop 12.3 Operation During Stop  Operation during stop • The stop request for the system stop is performed by an output signal (Y0) in the I/O area. The stop requests for the emergency stop, deceleration stop and pause are performed by the bits allocated to the unit memories (UM) area).

  • Page 212

    Stop Functions 12-8...

  • Page 213: Supplementary Functions

    Supplementary Functions...

  • Page 214: Dwell Time

    Supplementary Functions 13.1 Dwell Time The time taken until the next operation after the completion of an executed positioning table in the automatic operation is called dwell time.  For E-point control The dwell time is the time taken from the completion of the position command until the operation done flag turns on.

  • Page 215: Software Limit

    13.2 Software Limit 13.2 Software Limit The system is designed to mechanically set the limit (+) and limit (-) to restrict the moving range of a motor. Separately from the mechanical limits (+) and (-), the software limit is a function to add the limits on software for the absolute coordinate managed within the unit.

  • Page 216: Auxiliary Output Code And Auxiliary Output Contact

    Supplementary Functions 13.3 Auxiliary Output Code and Auxiliary Output Contact The auxiliary output contact is a function to inform about which table's operation is performing when the automatic operation (E-point control, C-point control, P-point control, 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 217

    13.3 Auxiliary Output Code and Auxiliary Output Contact  Auxiliary output data The auxiliary output data (1 word) can be set for each table of the positioning data. The content of the process currently carried out can be confirmed by setting the auxiliary output. The values in the auxiliary output data are held until the next positioning table is executed.

  • Page 218: Current Value Update

    Supplementary Functions 13.4 Current Value Update The current value update is a function to set the "current value after unit conversion" stored in the unit memories within FP7 MC Unit to an arbitrary value. • A value is set in the current value update coordinate area (UM005A0 to UM0065F) in the unit memories as a current value using a user program.

  • Page 219

    13.4 Current Value Update  Current value update data area (Unit memories) Unit Axis memory no. Name Default Description (Hex) Only when the corresponding bit for each axis changes to 1 from Axes 1- 0, the current value coordinate controlled by FP7 MC Unit are UM 00590 changed to the the current value update coordinate.

  • Page 220: Home Coordinates

    Supplementary Functions 13.5 Home Coordinates The home coordinates is a function to set the coordinates after the home return processing to arbitrary values. • The coordinates after the home return processing can be set in the "Axis parameter setting" dialog box of CMI or user programs. •...

  • Page 221

    13.5 Home Coordinates KEY POINTS • An integer equivalent to the current value after unit conversion is set for home coordinates. Example) When the unit is um (0.1 um), set to "10000" for making it be 1000.0 um. 13-9...

  • Page 222: Movement Amount Automatic Check

    Supplementary Functions 13.6 Movement Amount Automatic Check This is a function to monitor the position deviation calculated in FP7 MC Unit and generate an error or warning on the FP7 MC Unit side when it exceeds a set judgement value. •...

  • Page 223: Monitor Error (torque / Actual Speed Judgement)

    13.7 Monitor Error (Torque / Actual Speed Judgement) 13.7 Monitor Error (Torque / Actual Speed Judgement) This is a function to monitor the actual speed/torque of servo amplifier and generate an error or warning on the FP7 MC Unit side when it exceeds a set judgement value. •...

  • Page 224: Ethercat Communication Setting

    Supplementary Functions 13.8 EtherCAT Communication Setting 13.8.1 EtherCAT Configurator EtherCAT Configurator is a menu to configure a system and set parameters of EtherCAT communication on CMI.  Configuration of EtherCAT Configurator ① ② ③ ④  Names and functions Name Description Registered slaves (Servo Amplifier A5B) are displayed.

  • Page 225: Device Editor

    13.8 EtherCAT Communication Setting 13.8.2 Device Editor Registered slaves and parameter information can be confirmed in the device editor.  "General" tab The address, axis number settings and information on ESI files and topology are displayed.  "Distributed Clocks" tab The communication cycle of synchronous unit is "EtherCAT communication cycle".

  • Page 226: Overview Of Pdo Mapping

    Supplementary Functions 13.8.3 Overview of PDO Mapping PDO (process data object) is data upated for each communication cycle via EtherCAT. "PDO Mapping" can be confirmed in the device editor of CMI "EtherCAT Configurator".  PDO mapping tab Item Description The maps of (input) data that is sent by Servo Amplifier A5B and received by FP7 MC Unit is displayed.

  • Page 227: Change Of Pdo Mapping

    13.8 EtherCAT Communication Setting 13.8.4 Change of PDO Mapping For using the general-purpose output (EXOUT1) of Servo Amplifier, it should be added to the PDO mapping. The following procedure is explained on the condition that servo amplifiers have already been registered in CMI. PROCEDURE 1.

  • Page 228

    Supplementary Functions Press the [Add] button. The "Add PDO" dialog box is displayed. 6. Input the following items, and press the [OK] button. It returns to the "Edit PDO" dialog box. Item Input content General Name Digital Outputs Index 0x60FE Settings Sub index Data type...

  • Page 229

    13.8 EtherCAT Communication Setting 7. Confirm that the added information is displayed, and press the [OK] button. 8. Select "Settings" > "Enable Slave Edit" > "PDO Mapping" from the menu bar, and uncheck the checkbox. • Carry out the operation of the above procedure 8 to prevent data from being rewritten carelessly after finishing the edit of PDO mapping.

  • Page 230: Ec Packet Monitor Function

    Supplementary Functions 13.9 EC Packet Monitor Function 13.9.1 Overview of Function The packet monitor function is a function to store sent or received packet data between the master (FP7 MC Unit) and slaves (Servo Amplifier A5B) as files. Packet data can be confirmed using commercial analyzer software.

  • Page 231: How To Set

    13.9 EC Packet Monitor Function 13.9.3 How to Set For using the packet monitor function, the settings related to the EC packet monitor are configured in CMI.  MC common setting dialog box Item Default Description Set the operation of packet monitor request flag of EC (EtherCAT) communication.

  • Page 232: How To Execute

    Confirm that the operation monitor LED [SD] is off, and remove the SD memory card. 13.9.5 Handling of SD Memory Card  Usable SD memory cards Use of Panasonic industrial SD memory cards (SLC type) is recommended. http://panasonic.net/avc/sdcard/industrial_sd/lineup.html (Note) An operation check has not been conducted for SD memory cards made by other manufacturers.

  • Page 233

    13.9 EC Packet Monitor Function A file system formatted by PC's standard formatting software does not • satisfy the SD memory card specifications. Please use the dedicated formatting software. • It is recommended to save important data in another media for backup. Never remove the card or power off the PLC body while the SD LED on FP7 MC Unit is lit (data is being read from or written into the card).

  • Page 234

    Supplementary Functions 13-22...

  • Page 235: Troubleshooting

    Troubleshooting...

  • Page 236: Errors And Warnings

    Troubleshooting 14.1 Errors and Warnings 14.1.1 Errors and warnings When any operational unconformity occurs in FP7 MC Unit, 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. Error The motor stopped due to the occurrence of error will not activate until the error clear is executed.

  • Page 237: Clearing Errors/warnings Using User Programs

    14.1 Errors and Warnings 14.1.3 Clearing Errors/Warnings Using User Programs Errors and warnings can be cleared by turning on the "error clear request" or "warning clear request" allocated to the output control area using user programs.  Clearing errors/warnings using unit memories (output control area) It is possible to clear errors and warnings on an axis-by-axis basis by turning on the error/warning clear request flags allocated to the output control area.

  • Page 238: Error And Warning Logs

    Troubleshooting 14.1.4 Error and Warning Logs FP7 MC Unit has log areas to store error and warning codes in its unit memories. • Once an error/warning occurs, the error/warning code will be stored in the log area of the axis that the error occurred. •...

  • Page 239: Error Recovery Process

    14.2 Error Recovery Process 14.2 Error Recovery Process 14.2.1 Overview The method to recover from error occurrence varies according to the states when errors occur. Status when an error Description Error type occurred Recoverable - After an error occurred, the operating axes stop. state All error types - After an error occurred, FP7 MC Unit can recover the error at any...

  • Page 240: Error Code Table

    An error occurred in the hardware Hardware If an error occurs repeatedly, 1001H test when the power supply turned error axes consult your Panasonic representative. Any error occurred in the internal 1002H Unit error processing. axes Any error occurred in the Execute writing to FROM again.

  • Page 241: Axis Operation Errors (from 00f0 3000h)

    3030H operation operation processing of each If the error occurs repeatedly with axis error axis. the correct set values, consult your Panasonic representative. Each Operation An error occurred in the If an error occurs repeatedly, axis 3031H abnormal operation processing of each consult your Panasonic axis.

  • Page 242

    3033H operation If the error occurs repeatedly with interpolation axis during the axis error the correct set values, consult interpolation operation. your Panasonic representative. Positioning The positioning movement Each 3035H movement amount has exceeded the upper Check the set value.

  • Page 243: Setting Value Errors (from 00f0 4000h)

    Auxiliary with the correct set values, Delay mode has been set for the Each 4028H output setting consult your Panasonic auxiliary output mode. axis error representative. The auxiliary output delay ratio of Delay mode is not in the range of 0 to 100 (%).

  • Page 244

    4111H error home return is out of the range. axis correct set values, The limit switch is disabled. consult your Panasonic Each (It occurs when the home return representative. 4112H Home return limit error method is set to the stop-on- axis contact method 1 or 2.)

  • Page 245

    If the error occurs repeatedly operation is incorrect. with the correct set values, The acceleration time of the Positioning Each consult your Panasonic 4402H positioning operation is out representative. acceleration time error axis of the range. The deceleration time of the...

  • Page 246: Synchronous Parameter Setting Errors (from 00f0 5000h)

    Troubleshooting 14.3.5 Synchronous Parameter Setting Errors (From 00F0 5000H)  Synchronous parameter: Common errors Error Error name Description Object Recovered Countermeasures code The setting for the synchronous master axis is incorrect. Synchronous master Each 5000H ⇒Setting error (Value is setting value axis incorrect.) error...

  • Page 247

    14.3 Error Code Table  Synchronous parameter: Electronic clutch related errors Error Error name Description Object Recovered Countermeasures code Electronic clutch - The setting for the clutch ON Each 5200H Clutch ON trigger trigger type is incorrect. axis type setting error Electronic clutch - Clutch ON edge The setting for the clutch ON...

  • Page 248

    Troubleshooting  Synchronous parameter: Electronic cam related errors Error Error name Description Object Recovered Countermeasures code Electronic cam - Cam control The setting for the cam synchronous Each 5300H control synchronous master master axis axis axis cycle is incorrect. cycle setting error Check the set value.。...

  • Page 249: Warning Code Table

    14.4 Warning Code Table 14.4 Warning Code Table 14.4.1 Unit Warnings (From 00B0 0000H) These are the warning codes to be given when the warnings occurred in the unit. Error Error name Description Object Recovered Countermeasures code SD memory The SD memory card access Check if an SD memory card is 0008H card warning...

  • Page 250

    Troubleshooting Error Error name Description Object Recovered Countermeasures code - Design the system within the range that the actual speed of the Actual speed The actual speed exceeds motor does nto exceed the Each 0051H judgment value the setting upper and lower judgment value.

  • Page 251: Specifications

    Specifications...

  • Page 252

    Specifications 15.1 Specifications 15.1.1 General Specifications Items Description Operating ambient 0°C to +55°C temperature Storage ambient -40°C to +70°C temperature Operating ambient humidity 10% to 95%RH (at 25°C with no-condensing) Storage ambient humidity 10% to 95%RH (at 25°C with no-condensing) Each external connector pin and entire power supply terminals of CPU unit Breakdown voltage 500 V AC for 1 minute...

  • Page 253: Communication Specifications

    Communication cycle 0.5ms / 1ms / 2ms / 4ms No. of connected slaves Max. 16 / 32 / 64 slaves (according to models) Coonnected slave Panasonic AC servo motor A5B series (Note): Hubs for EtherCAT and Ethernet cannot be used. 15-3...

  • Page 254: Performance Specifications

    Specifications 15.1.3 Performance Specifications Description Item AFP7MC16EC AFP7MC32EC AFP7MC64EC Real axis: 16 axes Real axis: 32 axes Real axis: 64 axes No. of control axes Virtual axis: 8 axes Virtual axis: 16 axes Virtual axis: 32 axes 2-axis linear interpolation, 2-axis circular interpolation, 3-axis linear...

  • Page 255

    15.1 Specifications Description Item AFP7MC16EC AFP7MC32EC AFP7MC64EC Master axis Selectable from real axes, virtual axes and pulse inputs. Synchronous Max. 8 Max. 16 Max. 32 basic setting Slave axis axes/master axes/master axes/master Operation setting Gear ratio setting Electronic gear Operation method...

  • Page 256: I/o Allocation

    Specifications 15.2 I/O Allocation • In FP7 MC Unit, the I/O signals common to each axis are allocated to the I/O numbers in the following table. • The I/O numbers actually used vary according to the slot number where the unit is installed and the starting word number.

  • Page 257

    15.2 I/O Allocation  Allocation of I/O Numbers (Output) Target I/O no. Name Description axis Request the system stop. When it turns on, all axes stops with the All axes System stop deceleration time of 1 ms. While this is on, all operation cannot be started.

  • Page 258: Whole Configuration Of Unit Memories

    Specifications 15.3 Whole Configuration of Unit Memories The unit memories of F7 MC Unit are configured as follows. For details of each area, refer to "15.4 to 15.8". No. of Unit memory no. Name occupied Individual name of each area (Hex.)...

  • Page 259

    15.3 Whole Configuration of Unit Memories No. of Unit memory no. Name occupied Individual name of each area (Hex.) words For (112 words for each axis) x (64 real axes) The configuration per axis is as follows. Synchronous Synchronous control setting area: 16 words UM63F40 –...

  • Page 260: Unit Memories (input And Output Control Areas)

    Specifications 15.4 Unit Memories (Input and Output Control Areas) 15.4.1 Configuration of Input Control Area Whole unit memory map Starting no. Name No. of words UM 00000 System area UM 00080 Reserved area for the system 6 words 128 words UM 0007F UM 00080 Input control area...

  • Page 261: Configuration Of Output Control Area

    15.4 Unit Memories (Input and Output Control Areas) 15.4.2 Configuration of Output Control Area Starting no. Name No. of words Whole unit memory map UM 00000 System area UM 00180 Reserved area for the system 6 words 128 words UM 0007F UM 00080 Input control area UM 00186...

  • Page 262: List Of Input Control Area Functions

    Specifications 15.4.3 List of Input Control Area Functions ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) UM 00080 Reserved for -UM 00085 system 1-16 UM 00086 Each axis 17-32 UM 00087 When corresponding axes exist, the bits connection ...

  • Page 263

    15.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 0009C 17-32 UM 0009D When the home return operation is completed, Home return 33-48 UM 0009E the bits corresponding to each axis number done ...

  • Page 264

    Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) UM 000B2 Monitor flag of the limit + input and limit - input connected to the corresponding AMP. 9-16 UM 000B3 [The update cycle is communication (EtherCAT communication) cycle.] When "Limit switch"...

  • Page 265

    15.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 000BA When an error occurs in FP7 MC Unit, the bits 17-32 UM 000BB corresponding to each axis number turn on. The bits of all axes turn on if all axes have 33-48 UM 000BC...

  • Page 266

    Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 000D2 Slave axis Changes the gear ratio by the slave axis gear ratio 17-32 UM 000D3 gear ratio change request of the output control area. After ...

  • Page 267

    15.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) UM 000DE UM 000DF UM 000E0 UM 000E1 9-10 UM 000E2 11-12 UM 000E3 13-14 UM 000E4 Monitor flag for the general-purpose input connected to the corresnponding AMP.

  • Page 268

    Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 000FE 17-32 UM 000FF 33-48 UM 00100 49-64 UM 00101 65-80 UM 00102 81-96 UM 00103 Registered Turns on bits corresponding to each station ...

  • Page 269

    15.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 00122 17-32 UM 00123 33-48 UM 00124 49-64 UM 00125 65-80 UM 00126 Turns on bits corresponding to each station 81-96 UM 00127 Normal...

  • Page 270: List Of Output Control Area Function

    Specifications 15.4.4 List of Output Control Area Function ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) UM 00180 Reserved for -UM 00185 system 1-16 UM 00186 Requests the servo lock for the corresponding AMP. 17-32 UM 00187 Servo ON...

  • Page 271

    15.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) UM 0019E 9-16 UM 0019F Requests the JOG forward or reverse operation 17-24 UM 001A0 for corresponding axes. In the case of In the case of JOG operation, this request signal is 25-32 UM 001A1...

  • Page 272

    Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 001B0 17-32 UM 001B1 Requests the emergency stop for corresponding axes. 33-48 UM 001B2 Emergency   This request signal is enabled when the bits stop request 49-64 UM 001B3...

  • Page 273

    15.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 001CE 17-32 UM 001CF Requests the warning clear for FP7 MC Unit. 33-48 UM 001D0 Warning clear ...

  • Page 274

    Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 001EC Starts the clutch off operation when the request flag for the corresponding axis during the synchronous 17-32 UM 001ED Slave axis operation turns on. * Axes that no clutch is used do clutch OFF not operate.

  • Page 275: Unit Memories (common Area)

    15.5 Unit Memories (Common Area) 15.5 Unit Memories (Common Area) 15.5.1 Configuration of Common Area Starting no. Name No. of words Whole unit memory map UM 00000 System area 256 words UM 00280 Setting parameter control area 128 words UM 0007F UM 00080 Input control area 128 words...

  • Page 276: Setting Parameter Control Area

    Specifications 15.5.2 Setting Parameter Control Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Number of Announces the number of writing the positioning UM 00280 writing to parameters and data in the unit memory into ...

  • Page 277: Axis Group Setting Area

    15.5 Unit Memories (Common Area) 15.5.4 Axis Group Setting Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set either independent or interpolation for each 1-16 UM 00490 axis in this area. In case of interpolation, each 17-32 UM 00491 axis belongs to any group 1 to 32.

  • Page 278: Current Value Update Data Area

    Specifications 15.5.5 Current Value Update Data Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 00590 Changes "Unit system conversion current 17-32 UM 00591 value" managed by FP7 MC Unit to the following "current value update coordinate"...

  • Page 279: Positioning Control Starting Table Number Setting Area

    15.5 Unit Memories (Common Area) 15.5.6 Positioning Control Starting Table Number Setting Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Positioning Set the table number of each axis starting the control start position control. UM 00990 ...

  • Page 280: Error Annunciation And Clear Area

    Specifications 15.5.8 Error Annunciation and Clear Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) UM 00A90 Reserved -UM 00A95 for system 1-16 UM 00A96 17-32 UM 00A97 33-48 UM 00A98 Clears the error of the axis for the corresponding bit. Error clear individual ...

  • Page 281

    15.5 Unit Memories (Common Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) No. of Annunciates the number of occurrences of errors on UM 00AC0 occurrences  the 1st axis. of errors Reserved UM 00AC1 for system UM 00AC2 Error code...

  • Page 282: Warning Annunciation And Clear Area

    Specifications 15.5.9 Warning Annunciation and Clear Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) UM 01710 Reserved -UM 01715 for system 1-16 UM 01716 17-32 UM 01717 Clears the warning of the axis for the corresponding Warning 33-48 UM 01718...

  • Page 283

    15.5 Unit Memories (Common Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) No. of Annunciates the number of occurrences of warnings UM 01740 occurrences  on the 1st axis. of warnings Reserved UM 01741 for system Warning UM 01742...

  • Page 284: Synchronous Control Monitor Area

    Specifications 15.5.10 Synchronous Control Monitor Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Stores the information on the master axis of synchronous control. Value Under Synchrono synchrono us control Master axis us control canceled No synchronous setting H FFFF...

  • Page 285

    15.5 Unit Memories (Common Area) [MEMO] 15-35...

  • Page 286: Unit Memories (each Axis Information Area)

    Specifications 15.6 Unit Memories (Each Axis Information Area) 15.6.1 Configuration of each axis information area Starting no. Name No. of words Whole unit memory map UM 00000 System area UM 02640 Information and monitor area of 1st axis 32 words 128 words UM 0007F UM 00080...

  • Page 287: Each Axis Information & Monitor Area

    15.6 Unit Memories (Each Axis Information Area) 15.6.2 Each Axis Information & Monitor Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) UM 02640 Stores the ID code corresponding to brand name or Vender ID ...

  • Page 288

    Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Stores the statuses of input terminals connected to each axis. bit. Name Value External HOME input UM 0264B  terminal SI-MON1 / EXT1 0: Non active monitor 1: Active SI-MON2 / EXT2...

  • Page 289

    15.6 Unit Memories (Each Axis Information Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Stores the current value based on a mechanical origin in pulse units. It will be reset to "0" on the current completion of home return.

  • Page 290: Unit Memories (each Axis Setting Area)

    Specifications 15.7 Unit Memories (Each Axis Setting Area) 15.7.1 Configuration of Each Axis Setting Area Whole unit memory map UM 00000 System area 128 words UM 0007F UM 00080 Input control area 256 words UM 0017F UM 00180 Output control area 256 words UM 0027F UM 00280...

  • Page 291: Configuration Of Parameter Setting Area

    15.7 Unit Memories (Each Axis Setting Area) 15.7.2 Configuration of Parameter Setting Area Whole unit memory map UM 00000 System area 128 words UM 0007F UM 00080 Input control area 256 words UM 0017F UM 00180 Output control area 256 words UM 0027F UM 00280 Starting no.

  • Page 292: Parameter Setting Area

    Specifications 15.7.3 Parameter Setting Area The following table shows the unit memory numbers of axis number 1. 128-word area is allocated to each axis. ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set the unit system of movement amounts of the positioning control for each axis.

  • Page 293

    15.7 Unit Memories (Each Axis Setting Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Select whether to enable or disable the software limit for each control. Name Description Software For positioning limit UM 0324B ...

  • Page 294

    Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Configure the settings of limit, moving direction and input logic. Name Description Limit 0: Enable enabled/disabled 1: Disable 0: Elapsed value + direction is CW Moving direction 1: Elapsed value + Operation...

  • Page 295

    15.7 Unit Memories (Each Axis Setting Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set the pattern of home return. 0: DOGmethod 1 (Based on front end + Z phase) 1: DOG method 2 (Based on front end) 2: DOG method 3 (Based on back end + Z phase) 3: Limit method 1 (Limit signal + Z phase) Home...

  • Page 296

    Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Sets the mode when performing the JOG operation. Name Description - - 0: Linear UM 03269 operation   Acceleration/ acceleration/deceleration setting code deceleration 1: S-shaped pattern setting acceleration/deceleration 15-2...

  • Page 297

    15.7 Unit Memories (Each Axis Setting Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Reserved for UM 03276 system Set the deceleration time at the time of error stop. Error stop UM 03277 deceleration U100 Range: 0 to 10,000 (ms)

  • Page 298: Configuration Of Positioning Data Setting Area

    Specifications 15.7.4 Configuration of Positioning Data Setting Area The positioning data setting area is used for reading or writing positioning data by user programs. It is constituted by 24 buffers (buffer no. 1 to buffer no.24). Whole unit memory map UM 00000 System area 128 words...

  • Page 299

    15.7 Unit Memories (Each Axis Setting Area)  Constitution of buffers Each buffer is constituted by the "control area (8 words)" which specifies an operation to be executed and "positioning data setting area (16000 words)" which sets positioning data. The following figure shows the constitution of buffer no. 1. Buffers no. 2 to 24 have the same constitution.

  • Page 300

    Specifications  Buffers 9 to 16 Buffer Buffer Buffer Buffer Buffer Buffer Buffer Buffer Request flag UM25680 UM29508 UM2D390 UM31218 UM350A0 UM38F28 UM3CDB0 UM40C38 control Request code UM25681 UM29509 UM2D391 UM31219 UM350A1 UM38F29 UM3CDB1 UM40C39 control Response code UM25682 UM2950A UM2D392 UM3121A UM350A2...

  • Page 301

    15.7 Unit Memories (Each Axis Setting Area) Control Area for Buffer Control 15.7.4.1 This area is used for reading or writing positioning data by user programs. ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Write data to this area for sending/receiving data of buffers for positioning data.

  • Page 302

    Specifications Positioning Data Setting Area 15.7.4.2 The positioning data setting area is used for reading or writing positioning data by user programs. The following table shows the offset addresses from the starting table of each buffer. ●: Available, -: Not available Offset Name Default Description...

  • Page 303

    15.7 Unit Memories (Each Axis Setting Area) ●: Available, -: Not available Offset Name Default Description address In case of the individual operation (no interpolation), it is the target speed of the corresponding axis. In case of the interpolation operation, it is the target speed of the interpolation. In the interpolation operation, the setting for the axis with the smallest number in an axis group is effective.

  • Page 304

    Specifications ●: Available, -: Not available Offset Name Default Description address Set the dwell time. 00CH Dwell time Range: 0 to 32,767 [ms]   Any other settings will be errors. Auxiliary Set arbitrary data as auxiliary output codes when using the 00DH ...

  • Page 305: Unit Memories (synchronous Control Setting Area)

    15.8 Unit Memories (Synchronous Control Setting Area) 15.8 Unit Memories (Synchronous Control Setting Area) 15.8.1 Configuration of Synchronous Control Setting Area Whole unit memory map UM 00000 System area 128 words UM 0007F UM 00080 Input control area 256 words UM 0017F UM 00180 Output control area...

  • Page 306: Sychronous Control Setting Area

    Specifications 15.8.2 Sychronous Control Setting Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set the synchronous master axis for each axis. Value Setting The target axis is the master H 0000 axis. H 0001 Axis 1 H 0002 Axis 2...

  • Page 307: Electronic Gear Setting Area

    15.8 Unit Memories (Synchronous Control Setting Area) 15.8.3 Electronic Gear Setting Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set the numerator and denominator for the gear Gear ratio UM 63F50 ratio of electronic gear separately. numerator of ...

  • Page 308

    Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Select the clutch ON method. Clutch ON UM 63F70 H0: Direct   method H1: Slip Reserved UM 63F71 for system Clutch ON UM 63F72 H0: Slip time setting ...

  • Page 309: Electronic Cam Setting Area

    15.8 Unit Memories (Synchronous Control Setting Area) 15.8.5 Electronic Cam Setting Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Cam control UM 63F90 synchronous Set the cam control synchronous master cycle.   -UM 63F91 master axis U1 to U2147483647...

  • Page 310: Dimensions

    Specifications 15.9 Dimensions  AFP7MC16EC/ AFP7MC32EC/ AFP7MC64EC (Unit: mm) 15-60...

  • Page 311

    Record of changes Manual No. Date Record of Changes WUME-FP7MCEC-01 Sep. 2016 1st Edition...

This manual also for:

Fp7, Afp7mc32ec, Afp7mc64ec

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