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Panasonic FP7 User Manual

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PROGRAMMABLE CONTROLLER
FP7 Positioning Unit
User's Manual
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com

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   Summary of Contents for Panasonic FP7

  • Page 1

    PROGRAMMABLE CONTROLLER FP7 Positioning Unit User's Manual Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 2

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

  • Page 3

    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. • The manuals can be downloaded on our website.

  • Page 4: Table Of Contents

    Table of Contents Table of Contents 1. Functions of Unit and Restrictions on Combinations ..1-1 Functions of Positioning Unit ..............1-2 1.1.1 Functions of Unit ..................1-2 1.1.2 Unit Type ....................1-3 Restrictions on Combinations of Units ........... 1-4 2.

  • Page 5

    Table of Contents Connecting Servo On Output Signal ........... 3-11 Connecting Home Input/Near Home Input Signal ........ 3-12 3.7.1 Connecting Home Input (Connecting Motor Driver Z-phase Output) ..3-12 3.7.2 Connecting Home Input (Connecting External Switch Sensor) .... 3-12 3.7.3 Connecting Near Home Input Signal.............

  • Page 6

    Table of Contents Axis Allocation for Use ................5-5 5.2.1 Settings in Configurator PM7 ..............5-5 Parameter Settings ................5-7 5.3.1 Parameter Settings in Configurator PM7 ..........5-7 5.3.2 Parameter Setting Items................5-8 Synchronous Parameter/Cam Pattern Settings ........5-10 5.4.1 Synchronous Parameter Settings ............

  • Page 7

    Table of Contents 6.4.5 Tool Operation - Teaching ..............6-15 7. Automatic Operation (Positioning Control) ...... 7-1 Basic Operation ..................7-2 7.1.1 Positioning Control Patterns ..............7-2 7.1.2 Setting and Operation of E-Point Control ..........7-4 7.1.3 Setting and Operation of P-Point Control ..........7-5 7.1.4 Setting and Operation of P-Point Control ..........

  • Page 8

    Table of Contents 8.3.2 Types and Contents of Setting Parameters ..........8-8 8.3.3 Gear Ratio Changes while in Operation ..........8-9 Electronic Clutch Function ..............8-11 8.4.1 Electronic Clutch Function..............8-11 8.4.2 Types and Contents of Setting Parameters .......... 8-12 8.4.3 Trigger Types for Electronic Clutch ............

  • Page 9

    Table of Contents 13. Supplementary Functions ..........13-1 13.1 Dwell Time ..................13-2 13.2 Software Limit ..................13-3 13.3 Auxiliary Output Code and Auxiliary Output Contact ......13-4 13.4 Current Value Update ................. 13-6 13.5 Coordinate Origin ................13-8 13.6 Pulse Input ..................13-9 13.6.1 Pulse Input Types..................

  • Page 10

    Table of Contents 15.2 Changes in Recovery from Errors ............15-5 15.2.1 Outline ....................15-5 15.3 Error Code Table ................. 15-6 15.3.1 System Error (from 1000H) ..............15-6 15.3.2 Axis operation error (from 3000H) ............15-7 15.3.3 Set Value Error (from 4000H) ............... 15-9 15.4 List of Warning Codes ...............

  • Page 11

    Table of Contents 17.4.8 Error Annunciation & Clear Area ............17-22 17.4.9 Warning Annunciation & Clear Area ........... 17-25 17.4.10 Pulse Count Control Area..............17-28 17.4.11 Synchronous Control Monitor Area ..........17-29 17.4.12 System Operation Setting Area ............17-31 17.5 Details of Each Axis Information Area in Unit Memory ....... 17-32 17.5.1 Each Axis Information &...

  • Page 12

    Table of Contents Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 13: Functions Of Unit And Restrictions On Combinations

    Functions of Unit and Restrictions on Combinations Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 14: Functions Of Positioning Unit

    Functions of Unit and Restrictions on Combinations 1.1 Functions of Positioning Unit 1.1.1 Functions of Unit  The positioning unit can perform positioning control when it is used in combination with a stepping motor or servomotor equipped with a driver of pulse string input type.

  • Page 15: Unit Type

    1.1 Functions of Positioning Unit 1.1.2 Unit Type  Product type Type Product no. 2-axis transistor AFP7PP02T 2-axis line driver AFP7PP02L 4-axis transistor AFP7PP04T 4-axis line driver AFP7PP04L Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 16: Restrictions On Combinations Of Units

    Functions of Unit and Restrictions on Combinations 1.2 Restrictions on Combinations of Units When the system is configured, take the other units being used into consideration and use a power supply unit with a sufficient capacity.  Current consumption Type Product no.

  • Page 17: Names And Functions Of Parts

    Names and Functions of Parts Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 18: Names And Functions Of Parts

    Names and Functions of Parts 2.1 Names and Functions of Parts 4-axis type AFP7PP04T 2-axis type AFP7PP02T AFP7PP04L AFP7PP02L (1) Operation monitor LEDs Displays the operating status of two axes. (2) Operating monitor switch (AFP7PP04T and AFP7PP04L only) Toggles between the operating status display of 1st and 2nd axes and that of the 3rd and 4th axes.

  • Page 19: Operating Status Leds

    2.2 Operating Status LEDs 2.2 Operating Status LEDs The LEDs display the operating status of two axes at a time. If the unit is of 4-axis type, use the switch to toggle between the operating status display of the 1st and 2nd axes and that of the 3rd and 4-axes.

  • Page 20

    Names and Functions of Parts Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 21: Wiring

    Wiring Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 22: Connection Over Wire-pressed Terminal Cable

    Composition of parts 2-axis type 4-axis type Housing (40P) 1 x 1 set 1 x 2 sets Panasonic made Semi-cover (40P) 2 x 1 set 2 x 2 sets 5-pin contact (for AW22 and AW24) 8 x 1 set 8 x 2 sets (Note) One set is provided for the 2-axis type and two sets are provided for the 4-axis type.

  • Page 23: Assembly Of Connector For Wire-pressed Terminal Cable

    3.1 Connection over Wire-pressed Terminal Cable 3.1.2 Assembly of Connector for Wire-pressed Terminal Cable The wire end can be directly crimped without removing the wire’s insulation, which saves wiring effort. (Procedure) 1. Bend the contact back from the carrier, and set it in the pressure connection tool. 2.

  • Page 24: I/o Specifications And Terminal Wiring

    Wiring 3.2 I/O Specifications and Terminal Wiring 3.2.1 I/O Specifications 4-axis type 2-axis type Connector for 1- and 2- axis Connector for 3- and 4- axis Connector for 1- and 2- axis The 4-axis type and 2-axis type use two connectors and one connector, respectively. Signal pins for two axes are allocated to a single connector.

  • Page 25

    3.2 I/O Specifications and Terminal Wiring Output terminal (line driver output type) Pin no. 1st/ 2nd/ Circuit Signal name Items Description axis axis Pulse output A: Line driver (+) Pulse output A: Line driver Line driver (-) output Output type AM26C31 Pulse output B: or equivalent...

  • Page 26

    Wiring Input terminal (common) Pin no. Signal 1st/ 2nd/ Circuit Items Description name axis axis Operating 21.6 to 26.4 V DC voltage range Minimum ON 19.2 V DC/5.5 mA voltage/current Home input 24 V DC (+) Maximum OFF 2 V DC/2 mA voltage/current (Z24) Approximately 3 kΩ...

  • Page 27

    3.2 I/O Specifications and Terminal Wiring Pin no. Signal 1st/ 2nd/ Circuit Items Description name axis axis 3.5 to 5.25 V DC Pulse Operating voltage (5 V DC, line driver input A (+) range specifications) Pulse Minimum ON 3 V DC/3.2 mA A8/A17 input A (-) voltage/current...

  • Page 28: Supply Of Power To Drive Internal Circuit

    Wiring 3.3 Supply of Power to Drive Internal Circuit 3.3.1 Line Driver Output Positioning unit Motor driver Pulse command Pulse command output input A1, A2, A10, A11 Pulse command B1, B2, B10, B11 DC/DC converter +5V DC +24V DC External power supply Usable voltage range 21.4 to 26.4V DC Current 4-axis type...

  • Page 29: Connecting Pulse Instruction Signal Input

    3.4 Connecting Pulse Instruction Signal Input 3.4 Connecting Pulse Instruction Signal Input 3.4.1 Line Driver Output Type 3.4.2 Transistor Output Type Positioning unit Connection Motor driver Pulse command A A1,A10 PULSE (5V DC output) PULSE Pulse If 15mA is exceeded a or CW command A B1,B10...

  • Page 30: Connecting Deviation Counter Clear Output Signal

    Wiring 3.5 Connecting Deviation Counter Clear Output Signal The following diagram shows an example of connection to the counter clear input of the serve motor driver. This connection requires an external power supply of 5 to 24 V DC. If 10 mA is exceeded Connection Positioning unit a registor must be...

  • Page 31: Connecting Servo On Output Signal

    3.6 Connecting Servo On Output Signal 3.6 Connecting Servo On Output Signal The following diagram shows an example of connection to the servo on of the serve motor driver. This connection requires an external power supply of 5 to 24 V DC. If 15 mA is exceeded Connection Positioning unit...

  • Page 32: Connecting Home Input/near Home Input Signal

    Wiring 3.7 Connecting Home Input/Near Home Input Signal 3.7.1 Connecting Home Input (Connecting Motor Driver Z-phase Output) Positioning unit Connection Home input A3,A12 24V DC (+) Motor driver 3.9kΩ Home input A4,A13 5V DC (+) Z phase 560Ω signal Home input B3,B12 Input specifications (at 5V DC) Input voltage range...

  • Page 33: Connecting Near Home Input Signal

    3.7 Connecting Home Input/Near Home Input Signal 3.7.3 Connecting Near Home Input Signal Connection Positioning unit Power supply Switch 24V DC B4,B13 (COM) 3.6kΩ A5,A14 Near home imput Input specifications Input voltage range 21.6 to 26.4V DC Min. ON voltage/current 19.2V DC/5.0mA Max.

  • Page 34: Connecting Pulse Input

    Wiring 3.8 Connecting Pulse Input 3.8.1 Line Driver Type Encoder, pulser Connection Positioning unit Pulse input A (+) A8,A17 560Ω A phase Pulse input A (-) B8,B17 Pulse input B (+) A9,A18 560Ω B phase B9,B18 Pulse input B (-) 3.8.2 Transistor Open Collector Type Connection Positioning unit...

  • Page 35: Wiring Cautions

    3.9 Wiring Cautions 3.9 Wiring Cautions Connect the transistor output type or line driver output type to the motor driver over twisted- pair cable within the following wiring distance. <Signals supported> • Transistor output • Line driver output • Deviation counter clear output Output type Model no.

  • Page 36

    Wiring Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 3-16...

  • Page 37: Power On/off And Check Items

    Power On/Off and Check Items Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 38: Safety Circuit Design

    Power On/Off and Check Items 4.1 Safety Circuit Design Example of a safety circuit Installation of the over limit switch Positioning unit Motor driver Motor Over limit Over limit CW driving CCW driving switich switich inhibition inhibition switch switch Driver upper and lower limit input External safety circuit Input to positioning unit...

  • Page 39: Before Turning On The Power

    4.2 Before Turning On the Power 4.2 Before Turning On the Power  Check items before turning on the power System configuration example Positioning unit Power supply for PLC Power supply for input/output device Power supply for motor driver Motor driver Motor Over limit...

  • Page 40

    Power On/Off and Check Items • The use of the positioning unit requires configuration menu settings. Check that each parameter is set properly. Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 41: Procedure For Turning On The Power

    4.3 Procedure for Turning On the Power 4.3 Procedure for Turning On the Power 4.3.1 Procedure for Turning On the Power When turning on the power to the system incorporating the positioning unit, consider the nature and statuses of any external devices connected to the system, and take sufficient care so that turning on the power will not initiate unexpected movements.

  • Page 42: Procedure For Turning Off The Power

    Power On/Off and Check Items 4.3.2 Procedure for Turning Off the Power Procedure 1. Check and make sure the rotation of the motor has stopped, and then turn off the power supply for the PLC. 2. Turn off the power supply to the PLC. 3.

  • Page 43: Check With Power Turned On

    4.4 Check with Power Turned On 4.4 Check with Power Turned On 4.4.1 Check Items After Turning Power On  Check items after turning power On System configuration example Make checks in the following four major steps. Positioning unit Check on rotating direction and moving direction Check on near home...

  • Page 44: Check On External Safety Circuit

    Power On/Off and Check Items 4.4.2 Check on External Safety Circuit Make a check on the safety circuit recommended by the motor manufacturer, which include a check on the disconnection of the power supply to the motor driver with CW and CCW drive inhibition switch input from an external circuit.

  • Page 45: Operation Checks On Near Home Switch And Home Switch

    4.4 Check with Power Turned On 4.4.4 Operation Checks on Near Home Switch and Home Switch Step 1 Forcibly operate home input and near home input and check that the operation indicator of the positioning unit will be lit. Monitor the input contact with the FPWIN GR7 as well and make a similar check.

  • Page 46: Checking Rotating And Moving Directions And Moving Distance

    Power On/Off and Check Items 4.4.5 Checking Rotating and Moving Directions and Moving Distance Step 1 Confirm the rotating direction and moving direction of the motor by the JOG operation of the positioning unit. Use the tool operation function of the Configurator PM7 and perform the JOG operation of the positioning unit.

  • Page 47: Unit Allocation And Parameter Settings

    Unit Allocation and Parameter Settings Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 48: Unit Allocation

    5.1.1 I/O Map Registration Register the unit with the I/O map before making parameter settings. PROCEDURE 1. Select “Option” → “FP7 configuration” from the menu bar. The FP7 configuration dialog box will be displayed. 2. Select “I/O map” from the left pain.

  • Page 49: Check On I/o Allocation Information

    5.1 Unit Allocation 5.1.2 Check on I/O Allocation Information • Each operation start signal, stop signal, home input signal, and positioning completion signal of the positioning unit is allocated to I/O signals. • I/O numbers actually used vary with the number of the slot where the unit is installed and the first word number.

  • Page 50

    Unit Allocation and Parameter Settings  I/O signal allocation (output) I/O number Signal name Virtual axis axis axis axis axis System stop Axis group setting change request Request recalculation Servo ON (The operation is the edge type.) Positioning start (The operation is the edge type.) Home return start (The operation is the edge type.) JOG forward rotation (The operation is the level type.) JOG reverse rotation (The operation is the level type.)

  • Page 51: Axis Allocation For Use

    5.2 Axis Allocation for Use 5.2 Axis Allocation for Use 5.2.1 Settings in Configurator PM7 Use the Configurator PM7 to allocate axes for the use of the positioning unit along with the purposes of the axes. The following procedure is explained on the condition that the positioning unit has been already allocated in the I/O map.

  • Page 52

    Unit Allocation and Parameter Settings 4. Drag the icon of each axis to be allocated for interpolation to the interpolation group field. The following picture shows the allocation of 1st axis and 2nd axis to the interpolation group. 5. Press the [OK] button. A confirmation message will be displayed.

  • Page 53: Parameter Settings

    5.3 Parameter Settings 5.3 Parameter Settings 5.3.1 Parameter Settings in Configurator PM7 Use the Configurator PM7 to allocate the most fundamental parameters for positioning control, such as the motor rotation direction, pulse output method (CW/CCW and Pulse/Sign), home input, limit input logic, and positioning control. The following procedure is explained on the condition that the Configurator PM7 has already started.

  • Page 54: Parameter Setting Items

    Unit Allocation and Parameter Settings 5.3.2 Parameter Setting Items  Setting items Parameter name Description Unit setting The unit to be used for setting each axis. Number of pulses per rotation Number of pulses per motor rotation (note 1) Movement amount per rotation Movement amount per motor rotation (note 1) Pulse output method Pulse output method: Pulse/Sign or CW/CCW...

  • Page 55

    5.3 Parameter Settings Parameter name Description Startup speed Startup speed (initial speed) of all types of operation. Home return – Return setting code The pattern of the home return. Home return – Return direction The operating direction of the home return. Home return –...

  • Page 56: Synchronous Parameter/cam Pattern Settings

    Unit Allocation and Parameter Settings 5.4 Synchronous Parameter/Cam Pattern Settings 5.4.1 Synchronous Parameter Settings Use the Configurator PM7 to allocate parameters necessary for synchronous control. The following procedure is explained on the condition that the Configurator PM7 has already started. PROCEDURE 1.

  • Page 57: Cam Pattern Settings

    5.4 Synchronous Parameter/Cam Pattern Settings 5.4.2 Cam Pattern Settings Make electronic cam settings in the case of using an electronic cam. Use the Configurator PM7 to allocate necessary parameters. The following procedure is explained on the condition that the Configurator PM7 has already started. PROCEDURE 1.

  • Page 58: Creating Positioning Data Table

    Unit Allocation and Parameter Settings 5.5 Creating Positioning Data Table 5.5.1 Construction of Positioning Data Table Use the Configurator PM7 to allocate the positioning data table. The following procedure is explained on the condition that the Configurator PM7 has already started. ...

  • Page 59: Table No. Positioning Start

    5.5 Creating Positioning Data Table 5.5.2 Table No. Positioning Start • Execute the POSSET command in the user program to specify table numbers on the Configurator PM7. • The positioning unit will start control under the conditions set in the table by executing the POSSET reference and turning the corresponding positioning start contact ON after specifying the desired slot number, axis number, and table number.

  • Page 60: Operation Patterns And Tables

    Unit Allocation and Parameter Settings 5.5.3 Operation Patterns and Tables • Use a number of tables if the positioning patterns consist of pass point control, continuance point control, and JOG positioning control. • In these types of control, the tables will be created continuously on the Configurator PM7, and select the end point control for the operation pattern for the last table.

  • Page 61: Saving Parameters

    5.6 Saving Parameters 5.6 Saving Parameters 5.6.1 Save/Load Configuration Information on the basic parameters and positioning data tables that have been set for the Configurator PM7 are saved as configuration information along with information on I/O map allocations on a unit-by-unit basis. Save and load the configuration information as necessary. 5.6.2 Export and Import •...

  • Page 62

    Unit Allocation and Parameter Settings Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 5-16...

  • Page 63: Transfer To Unit And Commissioning

    Transfer to Unit and Commissioning Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 64: Check On Setting Contents

    Transfer to Unit and Commissioning 6.1 Check on Setting Contents 6.1.1 Check on Parameter Data • The following procedure is explained on the condition that the Configurator PM7 has already started. PROCEDURE 1. Select “Debug” → “Check parameters and data values” from the menu bar. A message box will be displayed to show the check result.

  • Page 65

    6.1 Check on Setting Contents Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 66: Transfer Of Parameters

    1. Select “File” → “Exit” from the menu bar of the Configurator PM7. 2. When “Save data in the configuration area?” appears, press [Yes(Y)]. 3. Press the [OK] button in the FP7 configuration dialog box. 4. Select “Online” → “Download to PLC” from the FPWIN GR7 menu bar.

  • Page 67: Monitoring On Configurator Pm7

    6.3 Monitoring on Configurator PM7 6.3 Monitoring on Configurator PM7 6.3.1 Status Monitor • It is possible to monitor the connection state of each axis and input state of the external terminal. • The following procedure is explained on the condition that the Configurator PM7 has already started.

  • Page 68

    Transfer to Unit and Commissioning  Monitor items Items Description The table number that the positioning data is being executed or has been Table number executing executed. Auxiliary output code Auxiliary output code Current value (pulse) The current value of the positioning unit. Unit conversion current value The unit-converted current value of the positioning unit.

  • Page 69: Tool Operation

    6.4 Tool Operation 6.4 Tool Operation 6.4.1 Tool Operation Function • You can perform commissioning with the Configurator PM7 before actually starting the user program. • Be sure to save the settings and download the project to the CPU unit before starting the tool operation of the positioning unit.

  • Page 70

    Transfer to Unit and Commissioning • If the previous tool operation does not finish properly due to a communication error, etc., the tool operation mode will be cancelled forcibly when the next tool operation starts. Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 71: Jog Operation With Tool Operation Function

    6.4 Tool Operation 6.4.2 JOG Operation with Tool Operation Function • You can perform commissioning with the Configurator PM7 before actually starting the user program. • The following procedure is explained on the condition that the Configurator PM7 has already started.

  • Page 72

    Transfer to Unit and Commissioning • If a warning occurs in the positioning unit, click [Clear warning] to clear the warning. • This dialog cannot be closed while the positioning unit is in JOG operation.  Dialog box items Items Description Monitors the feedback values after the unit system conversion for each axis.

  • Page 73: Tool Operation - Home Return

    6.4 Tool Operation 6.4.3 Tool Operation - Home Return • When the power is turned on, the coordinates of the positioning unit do not coincide with those of the machine position. Execute a home return before starting positioning. • You can perform commissioning with the Configurator PM7 before actually starting the user program.

  • Page 74

    Transfer to Unit and Commissioning • If a warning occurs in the positioning unit, click [Warning clear] to clear the warning. • This dialog cannot be closed while the positioning unit is in home return operation.  Dialog box items Items Description Click [Home position coordinates] to display the dialog for inputting value to change the value...

  • Page 75: Tool Operation - Positioning

    6.4 Tool Operation 6.4.4 Tool Operation - Positioning 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 dialog box will be displayed. 2.

  • Page 76

    Transfer to Unit and Commissioning KEY POINTS • For the positioning operation, the setting data should be downloaded to the positioning unit in advance. The operations after the starting table number vary depending on the operation patterns. • If an recoverable error occurs in the positioning unit, click the [Error clear] button to clear the error.

  • Page 77: Tool Operation - Teaching

    6.4 Tool Operation 6.4.5 Tool Operation - Teaching Activate each axis manually by the tool operation, and register the positioning addresses where the axes come to a stop as the point data. PROCEDURE 1. Select “Online” → “Tool Operation” from the menu bar. The tool operation dialog box will be displayed.

  • Page 78

    Transfer to Unit and Commissioning KEY POINTS • If an recoverable error occurs in the positioning unit, click the [Error clear] button to clear the error. • If a warning occurs in the positioning unit, click [Warning clear] to clear the warning.

  • Page 79: Automatic Operation (positioning Control)

    Automatic Operation (Positioning Control) Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 80: Basic Operation

    Automatic Operation (Positioning Control) 7.1 Basic Operation 7.1.1 Positioning Control Patterns  Type of operations The automatic operation is an operation mode to perform positioning control. A single axis control and an interpolation control that starts and stops multiple axes simultaneously are available for positioning control.

  • Page 81

    7.1 Basic Operation  Operation flow of single axis control  Operation flow of interpolation control Use the Configuration menu Use the Configuration menu and set the target axis as a and set the axes subject to single axis. interpolation as a group. Use the Configuration menu and Use the Configuration menu set the target positioning data.

  • Page 82: Setting And Operation Of E-point Control

    Automatic Operation (Positioning Control) 7.1.2 Setting and Operation of E-Point Control The example below is a case of single-axis control with the positioning unit installed in slot 1. The movement amount setting uses an increment method in pulses.  Settings Items Setting example Operation pattern...

  • Page 83: Setting And Operation Of P-point Control

    7.1 Basic Operation 7.1.3 Setting and Operation of P-Point Control The example below is a case of single-axis control with the positioning unit installed in slot 1. The movement amount setting uses an increment method in pulses.  Settings Setting example Items Table 1 Table 2...

  • Page 84: Setting And Operation Of P-point Control

    Automatic Operation (Positioning Control) 7.1.4 Setting and Operation of P-Point Control The example below is a case of single-axis control with the positioning unit installed in slot 1. The movement amount setting uses an increment method in pulses.  Settings Use the tool software to make positioning data and parameter settings.

  • Page 85: Setting And Operation Of J-point Control

    7.1 Basic Operation 7.1.5 Setting and Operation of J-point Control • JOG positioning (J-point) control operates at target speed until the start contact of J-point positioning turns ON after the operation of the positioning unit starts, and the next positioning control will start when the start contact of J-point positioning turns ON.

  • Page 86

    Automatic Operation (Positioning Control)  Operation diagram J-point Table 1 Table 2 Table 3 parameter f [pps] 30000 20000 10000 6000 t [ms] Positioning start contact Y110 BUSY flag X118 Operation done flag X120 J point speed change contact Y148 J point positioning start contact Y158 Current value ...

  • Page 87: Sample Program (e-point, P-point, And C-point Control)

    7.1 Basic Operation 7.1.6 Sample Program (E-Point, P-Point, and C-Point Control)  Sample program X100 X104 X160 Operation enabled condition Ready Tool 1st axis error Operation positioning operation enabled flag Specify slot number, axis POSSET number, and table Positioning Slot Axis Table number.

  • Page 88: Programming Precautions

    Automatic Operation (Positioning Control) 7.1.8 Programming Precautions  Programming Precautions • The last table should be set to E: End point. • If any value such as a movement amount, acceleration time, deceleration time or target speed is out of the specified range, a set value error will occur when the positioning control starts.

  • Page 89: Interpolation Control

    7.2 Interpolation Control 7.2 Interpolation Control 7.2.1 Types of Interpolation Control  Types of operations Interpolation control includes 2-axis linear interpolation control, 2-axis circular interpolation control, 3-axis linear interpolation control, and 3-axis spiral interpolation control. The following methods are available to specify the operation of each interpolation control. Select an appropriate method according to the application.

  • Page 90

    Automatic Operation (Positioning Control) Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 7-12...

  • Page 91

    7.2 Interpolation Control When the X-axis and Y-axis is the moving axes, each axis in the above diagram is replaced. 7-13 Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 92: Setting And Operation Of 2-axis Linear Interpolation

    Automatic Operation (Positioning Control) 7.2.2 Setting and Operation of 2-Axis Linear Interpolation The example below is a case of E-point control with the positioning unit installed in slot 1. The X-axis is set to the 1st axis and the Y-axis is set to the 2nd axis. The movement amount setting is the increment method in pulses.

  • Page 93

    7.2 Interpolation Control  Operation diagram f [pps] Composite speed 10000 t [ms] Positioning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 Current value of axis 1 20000 30000...

  • Page 94: Setting And Operation Of 2-axis Circular Interpolation

    Automatic Operation (Positioning Control) 7.2.3 Setting and Operation of 2-Axis Circular Interpolation The example below is a case of E-point control with the positioning unit installed in slot 1. The X-axis is set to the 1st axis and the Y-axis is set to the 2nd axis. The movement amount setting is the increment method in pulses.

  • Page 95

    7.2 Interpolation Control  Operation diagram f [pps] Composite speed 10000 t [ms] Positioning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 Current value of axis 1 20000 40000...

  • Page 96

    Automatic Operation (Positioning Control)  Programming Precautions • To start the interpolation control, turn ON the positioning start contact of the axis with the smallest number in the same group. • In the case of the center point specification, the X-axis auxiliary point is the center point of X- axis, and the Y-axis auxiliary point is the center point of Y-axis.

  • Page 97: Setting And Operation Of 3-axis Linear Interpolation

    7.2 Interpolation Control 7.2.4 Setting and Operation of 3-Axis Linear Interpolation The example below is a case of E-point control with the positioning unit installed in slot 1. The X-axis is set to the 1st axis, the Y-axis is set to the 2nd axis, and the Z-axis is set to the 3rd axis.

  • Page 98

    Automatic Operation (Positioning Control)  Operation diagram f [pps] Composite speed 10000 t [ms] Positioning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 BUSY flag of axis 3 X11A Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 Operation done flag of axis 3 X122 20000...

  • Page 99: Setting And Operation Of Three-axis Linear Interpolation

    7.2 Interpolation Control 7.2.5 Setting and Operation of Three-Axis Linear Interpolation The example below is a case of E-point control with the positioning unit installed in slot 1. The X-axis is set to the 1st axis, the Y-axis is set to the 2nd axis, and the Z-axis is set to the 3rd axis.

  • Page 100

    Automatic Operation (Positioning Control)  Operation diagram f [pps] Composite speed 10000 t [ms] Positioning start contact of axis 1 Y110 BUSY flag of axis 1 X118 BUSY flag of axis 2 X119 BUSY flag of axis 3 X11A Operation done flag of axis 1 X120 Operation done flag of axis 2 X121 Operation done flag of axis 3 X122 20000...

  • Page 101: Sample Program (interpolation Control)

    7.2 Interpolation Control Programming Precautions • For X-Y plane, in the case of the center point specification, the X-axis auxiliary point is the center point of X-axis, and the Y-axis auxiliary point is the center point of Y-axis. In the case of the pass point, each pass point is set as the pass point of X-axis and Y-axis.

  • Page 102: Setting And Operation Of Positioning Repeat Function

    Automatic Operation (Positioning Control) 7.3 Setting and Operation of Positioning Repeat Function The positioning repeat function enables continuous positioning control according to the number of repetitions specified. The number of repetitions is set in the area for the number of positioning repetitions on each axis.

  • Page 103

    7.3 Setting and Operation of Positioning Repeat Function  Setting area for positioning repeat function Set the number of repetitions of positioning control per axis before starting positioning control. The positioning unit repeats positioning control for the number of repetitions set and finishes operating.

  • Page 104

    Automatic Operation (Positioning Control) • Repeating E-point control (with dwell time: 0 ms) When the positioning unit detects a deceleration stop, the positioning unit will come to a stop after repeating positioning control N+2 times. • Implementing a number of positioning tables continuously When the positioning unit detects a deceleration stop, the positioning unit will come to a stop after repeating positioning control N+1 times.

  • Page 105

    7.3 Setting and Operation of Positioning Repeat Function  Settings Setting example Items Table 1 Table 2 Table 3 Operation pattern P: Pass point P: Pass point E: End point Control method I: Increment I: Increment I: Increment X-axis movement amount 5000 pulses 10000 pulses 3000 pulses...

  • Page 106

    Automatic Operation (Positioning Control)  Sample program X100 X104 X160 Operation enabled condition 1st axis error Ready Tool Operation positioning operation enabled flag Specify slot number, axis POSSET number, and table number. Slot Axis Table Positioning number number number control start Specify repeat MV.US S1: UM00108...

  • Page 107: Automatic Operation (synchronous Control)

    Automatic Operation (Synchronous Control) Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 108: Synchronous Control

    Automatic Operation (Synchronous Control) 8.1 Synchronous Control 8.1.1 Outline of Synchronous Control  Synchronous control The positioning unit in synchronous control operates a master axis so that salve axis will operate in synchronization with the master axis. The use of synchronous control provides the following merits.

  • Page 109: Settings For Master And Slave Axes

    8.2 Settings for Master and Slave Axes 8.2 Settings for Master and Slave Axes 8.2.1 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 110: Selection Of Slave Axes And Settings

    Automatic Operation (Synchronous Control) KEY POINTS • While the positioning unit is in synchronous control, slave axes set to use the master axis will operate only in synchronization with the master axis, i.e., the slave axes cannot operate independently. • The virtual axis is assigned to a single axis only.

  • Page 111: Enabling/disabling Synchronous Control

    8.2 Settings for Master and Slave Axes 8.2.3 Enabling/Disabling Synchronous Control  Settings to Enable/Disable Synchronous Control • It is possible to cancel the synchronous state temporarily with a sync cancel request signal turned ON. • It is possible to operate any slave axes individually while the synchronous state is canceled. •...

  • Page 112

    Automatic Operation (Synchronous Control)  Difference between synchronous control enabled/disabled Operates with Operates with synchronous control synchronous control enabled Operation request axis disabled Master axis set Slave axis set Master/Slave axis set The master axis performs a home return. The slave axes do not perform a home return but operate in The master axis or slave...

  • Page 113: Electronic Gear Function

    8.3 Electronic Gear Function 8.3 Electronic Gear Function 8.3.1 Outline 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 x  ...

  • Page 114: Types And Contents Of Setting Parameters

    Automatic Operation (Synchronous Control) 8.3.2 Types and Contents of Setting Parameters The use of the electronic gear requires the following parameter settings. Parameter name Outline Set to use or not to use the electronic gear function. Electronic gear operation The gear ratio of the electronic gear will be set to 1:1 if the electronic gear is not settings used, and the operation of the master axis will be input as it is into the electronic clutch.

  • Page 115: Gear Ratio Changes While In Operation

    8.3 Electronic Gear Function 8.3.3 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 116

    Automatic Operation (Synchronous Control) REFERENCE For detailed information on the gear ratio setting area, refer to 17.7.1 Synchronous Control Setting Area. Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 8-10...

  • Page 117: Electronic Clutch Function

    8.4 Electronic Clutch Function 8.4 Electronic Clutch Function 8.4.1 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 will be separated from the slave axes and the slave axes not in synchronization with the master axis will come to a stop.

  • Page 118: Types And Contents Of Setting Parameters

    Automatic Operation (Synchronous Control) 8.4.2 Types and Contents of Setting Parameters The use of the electronic clutch requires the following parameter settings. Parameter name Outline Set to use or not to use the electronic clutch function. The electronic clutch is by default disengaged. Be sure to engage the electronic clutch in response to the operation.

  • Page 119: Trigger Types For Electronic Clutch

    8.4 Electronic Clutch Function 8.4.3 Trigger Types for Electronic Clutch The following methods are available for the engagement or disengagement of the electronic clutch.  Clutch request signal (Y98 to Y9B and Y100 to Y103) An I/O signal (clutch request signal) allocated to the unit is in control of the electronic clutch. ...

  • Page 120: Engagement Methods Of Electronic Clutch

    Automatic Operation (Synchronous Control) 8.4.4 Engagement Methods 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 121: Electronic Cam Function

    8.5 Electronic Cam Function 8.5 Electronic Cam Function 8.5.1 Outline of Electronic Cam Function  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 122: Types And Contents Of Setting Parameters

    Automatic Operation (Synchronous Control)  Cam pattern specifications The following specifications of cam patterns can be set. Setting items Description Resolution 1024, 2048, 4096, 8192, 16384, 32768 Resolutions of 1024, 2048, and 4096: 16 Resolution of 8192: 8 No. of cam patterns Resolution of 16384: 4 Resolution of 32768: 2 Section setting...

  • Page 123: Cam Pattern Setting Method

    8.5 Electronic Cam Function 8.5.3 Cam Pattern Setting Method  Starting Cam Pattern Setting Screen Open the Configuration screen on the FPWIN GR7 and select “Positioning settings” so that the setting tool for the positioning unit will start. Select “Axis settings” - “Cam pattern settings” from the toolbar of the setting tool for the positioning unit or click the following icon: The Cam Pattern Settings screen is displayed.

  • Page 124

    Automatic Operation (Synchronous Control)  Making/duplicating new cam pattern The Cam No. Selection screen is displayed by pressing the [Add] button from the Cam field. Select the desired cam number and press the [OK] button. The cam pattern can be copied. Press the [Duplicate] button and select the copying destination and original cam pattern numbers.

  • Page 125

    8.5 Electronic Cam Function The selected sections are displayed with a white background and the non-selected sections are displayed with a gray background. In relation to the resolution, the starting phase may not be set to the specified phase value. 8-19 Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 126

    Automatic Operation (Synchronous Control)  Editing of the cam table Edit the cam table data that was created. Set the following items for each section set: • Starting phase (%) • Displacement (%) • Cam curve The cam curve changes according to the settings. KEY POINTS •...

  • Page 127

    8.5 Electronic Cam Function  Cam table checks Check the cam table (cam curve) that has been set. The slave axes in synchronous control operate to follow the cam curve cam. Therefore, there will be a possibility that the motor cannot follow the output if the change in the cam curve is steep.

  • Page 128

    Automatic Operation (Synchronous Control)  Cam table adjustments The Cam Table settings screen is provided with a function to make the fine-tuning of set cam curve data. In order to mitigate radical changes, this adjustment function makes it possible to fine-tune cam data that has been set.

  • Page 129

    8.5 Electronic Cam Function  Cam table shift The created cam pattern is defined with a phase of 0% to 100%, but the actual operation may differ in phase from the reference of the cam pattern. The cam table shift is a function to set the percentage of the created cam pattern for the phase at a current coordinate position of zero.

  • Page 130

    Automatic Operation (Synchronous Control) Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 8-24...

  • Page 131: Manual Operation (jog Operation)

    Manual Operation (JOG Operation) Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 132: Setting And Operation Of Jog Operation

    Manual Operation (JOG Operation) 9.1 Setting and Operation of JOG Operation The example below is a case of the positioning unit installed in the slot 1. Settings are made in pulses.  Settings Parameters required for the JOG operation of the positioning unit is set in the positioning setting menu of the programming tool.

  • Page 133

    9.1 Setting and Operation of JOG Operation  Sample program X100 X104 X160 Operation enabled condition 1st axis error Ready Tool Operation positioning operation enabled flag DF / JOG forward Forward OFF edge DF / JOG reverse Reverse OFF edge X118 Y120 1st axis JOG...

  • Page 134: Changing The Speed During Jog Operation

    Manual Operation (JOG Operation) 9.2 Changing the Speed During JOG Operation The target speed can be changed while the positioning unit is in JOG operation.  Settings Parameters required for the JOG operation of the positioning unit is set in the positioning setting menu of the programming tool.

  • Page 135

    9.2 Changing the Speed During JOG Operation  Sample program X100 X104 X160 Operation enabled condition 1st axis error Ready Tool Operation positioning operation enabled flag DF / Forward forward OFF edge X118 Y120 1st axis JOG forward request JOG forward 1st axis Forward 1st axis...

  • Page 136

    Manual Operation (JOG Operation) Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 137: Manual Operation (home Return)

    Manual Operation (Home Return) Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 138: Pattern Of Home Return

    Manual Operation (Home Return) 10.1 Pattern of Home Return The home return is a function to move the current position to the reference origin and set the coordinates as 0. The following home return methods are available for the positioning unit. ...

  • Page 139

    10.1 Pattern of Home Return  DOG method 3 (Edge detection of near home switch + Falling edge of home position as reference) The falling edge of the near home switch is detected. The first rising edge of the home switch in the home return direction becomes the start point.

  • Page 140

    Manual Operation (Home Return)  Limit method 2 (Edge detection of limit switch) Detects the rising edge of the limit switch in the home return direction and stops. That point becomes the start point.  Home position method (Edge detection of home switch) Moves from the current position in the home return direction, and detects the first rising edge of the home switch and stops.

  • Page 141: Setting And Operation Of Home Return

    10.2 Setting and Operation of Home Return 10.2 Setting and Operation of Home Return The example below is a case of the positioning unit installed in the slot 1. Settings are made in pulses.  Settings Parameters required for the home return operation of the positioning unit is set in the positioning setting menu of the programming tool.

  • Page 142

    Manual Operation (Home Return)  Operation of each contact • The BUSY flag (X118) indicating the state that a motor is running will turn ON when the home return of the positioning unit starts, and it will turn OFF when the operation completes. •...

  • Page 143: Manual Operation (pulser Operation)

    Manual Operation (Pulser Operation) Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 144: Setting And Operation Of Pulser Operation

    Manual Operation (Pulser Operation) 11.1 Setting and Operation of Pulser Operation  Types of Pulser Operation Pulser operation is a function that uses a pulser connected to the positioning unit to output pulses manually. The following pulser operation methods are available. Operation Operation method...

  • Page 145

    11.1 Setting and Operation of Pulser Operation  Settings Parameters required for the pulser operation of the positioning unit is set in the positioning setting menu of the programming tool. Items Setting example Settable range 0: Pulser 1 1: Pulser 2 Operation setting code 0: Pulser 1 2: Pulser 3...

  • Page 146

    Manual Operation (Pulser Operation)  Sample program X100 X104 X160 Operation enabled condition 1st axis error Ready Tool Operation positioning operation enabled flag DF / Pulser operation Pulser OFF edge X118 Y140 Pulser permission for axis 1 Pulser Pulser operation Operation 1st axis Pulser OFF...

  • Page 147: Stop Functions

    Stop functions Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 148: Settings And Operations Of Stop Functions

    Stop functions 12.1 Settings and Operations of Stop Functions Following stop functions are available during operations. Each deceleration time can be set individually. Set the deceleration time according to each occurrence condition of the stop operation. Name Occurrence condition Stop axis Stop Deceleration stop contact Stops control with an elapse of deceleration...

  • Page 149: Settings And Operations Of Pause Functions

    12.2 Settings and Operations of Pause Functions 12.2 Settings and Operations of Pause Functions The pause function temporarily stops operation. Toggle between the pause function and the deceleration stop function for use. The pause function performs a deceleration stop in the deceleration time of operation when the deceleration stop request contact turns ON.

  • Page 150

    Stop functions • Like other stop functions, the pause function will maintain the stop state while the deceleration stop (pause) request signal is ON. The pause will be canceled if an emergency stop or system stop is executed while the positioning unit is not operating, and the positioning unit will go into the emergency stop or system stop state.

  • Page 151: Supplementary Functions

    Supplementary Functions Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 152: 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 reference until the operation done flag turns ON.

  • Page 153: 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 for the absolute coordinate managed within the positioning unit.

  • Page 154: 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 announce externally which table is in operation when the automatic operation (E-point control, C-point control, P-point control, and J-point control) is executed. The auxiliary output contact and auxiliary output code are available by setting parameter auxiliary output to With mode or Delay mode on an axis-by-axis basis.

  • Page 155

    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 auxiliary output. The values in the auxiliary output data are held until the next positioning table is executed.

  • Page 156: Current Value Update

    Supplementary Functions 13.4 Current Value Update The current value update function is a function to change the current value controlled by the positioning unit to a desired (preset) value. Refreshing the current value requires data writing to the unit memory. ...

  • Page 157

    13.4 Current Value Update The value to be changed by updating the current value is the current value after unit conversion. 13-7 Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 158: Coordinate Origin

    Supplementary Functions 13.5 Coordinate Origin The positioning unit performs a home return to set the managing coordinate to 0. The coordinate origin is a function that allows to set the coordinate to a desired value after home return processing.  Coordinate origin processing procedure 1.

  • Page 159: Pulse Input

    13.6 Pulse Input 13.6 Pulse Input 13.6.1 Pulse Input Types Each axis of the positioning unit has pulse input, thus connecting to a variety of input devices. Select the desired type of pulse input in the positioning setting menu of the tool software. Input target Description •...

  • Page 160: Monitoring Pulse Input Values

    Supplementary Functions 13.6.2 Monitoring Pulse Input Values The positioning unit can monitor pulse input from programs. Pulse input monitoring uses the following areas. Unit memory no. Name Description (Hex) UM 00436 Pulse input value of 1st axis UM 00437 UM 00476 Pulse input values are stored according to the pulse input application Pulse input value of 2nd axis (e.g., pulser, feedback pulse, or high-speed counter).

  • Page 161: Pulser Input Function

    13.6 Pulse Input 13.6.3 Pulser Input Function By setting the positioning unit to pulser for the pulse input application, a manual pulser can be used. Settings allows manual pulsers to connect to different axes. Therefore, a single pulser can operate a number of axes simultaneously. However, pay attention to settings for the axis connected to the pulser and the axes operated by the pulser.

  • Page 162

    Supplementary Functions The automatic check function of movement amount is set in the following areas. 1st axis Unit memory no. Name Description (Hex) Set a correction value of pulse input at the time of making an Numerator of automatic movement UM 00808 automatic movement amount check.

  • Page 163

    13.6 Pulse Input 3rd axis Unit memory no. Name Description (Hex) UM 05808 Numerator of automatic movement amount check correction UM 05809 Denominator of automatic movement amount check correction Refer to the description for the UM 0580A Automatic movement amount checking 1st axis.

  • Page 164

    Supplementary Functions  Deviation monitoring The value (deviation) calculated by the automatic check function of movement amount can be checked with the program. The deviation monitor uses the following areas. Unit memory no. Name Description (Hex) UM 00434 Deviation of 1st axis UM 00435 UM 00474 Deviation of 2nd axis...

  • Page 165: High-speed Counter Function

    13.6 Pulse Input  Changing pulse input value If the pulse input application is set to feedback pulse, the pulse input value can be changed to a desired value. The following areas are used to change the pulse input value. Unit memory no.

  • Page 166

    Supplementary Functions Unit Name Description memory no. (Hex) UM 00240 Pulse count enable The pulse input value will be changed to the set pulse count when the flag corresponding bit for each axis is set to 0 from 1. Name Default Description 0: Pulse count enabled...

  • Page 167: Startup Speed

    13.7 Startup speed 13.7 Startup speed The positioning unit allows startup speed settings for the startup of each type of operation. The startup speed is available for positioning, JOG operation, and home return control.  Setting method of startup speed Set the startup speed in the parameter-setting menu for each axis of the Configurator PM7.

  • Page 168

    Supplementary Functions Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 13-18...

  • Page 169: Programming Cautions

    Programming Cautions Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 170: Turning Off Power Supply Clears Contents Of Unit Memory

    Programming Cautions 14.1 Programming Cautions 14.1.1 Turning Off Power Supply Clears Contents of Unit Memory The unit memory data of the positioning unit will be cleared when the PLC is turned off. 14.1.2 Not Going to Other Operation from Current Operation Automatic operation (positioning control) or manual operation (JOG operation, home return, or pulser operation) that has started with the start contact turned ON will continue even if the contact of other operation turns ON.

  • Page 171: Types Of Positioning Data Setting Areas

    14.1 Programming Cautions 14.1.4 Types of Positioning Data Setting Areas The positioning unit has a standard 600-point positioning data setting area and 25-point extended area with the following characteristics. Use either of them according to the application.  Comparison of standard area and expansion area Items Standard area Extended area...

  • Page 172

    Programming Cautions REFERENCE For the difference in programming method between the standard area and extended area, refer to Section 18 Sample program. Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 14-4...

  • Page 173: Errors And Warnings

    Errors and Warnings Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 174: About Errors And Warnings

    Errors and Warnings 15.1 About Errors and Warnings 15.1.1 Errors and Warnings If any operational unconformity occurs in the positioning unit, an error or warning will occur. When an error or warning occurs, the following operation will be performed. Occurs in any abnormal conditions. When a motor is operating, the operation stops. Errors The motor stopped due to the occurrence of error will not be activated until the error clear is executed.

  • Page 175: Check And Clearing With User Program

    15.1 About Errors and Warnings 15.1.3 Check and Clearing with User Program  Check on error and warning information • Use the dedicated command PERED (to get errors and warnings) and read information. X160 Slot number PERRD DT100 Axis number 1st axis error Slot Axis...

  • Page 176: Error And Warning Logs

    Errors and Warnings 15.1.4 Error and Warning Logs There are log areas to store the error/warning logs within the positioning unit. Error log Up to 7 error codes can be stored for each axis (1st axis to 4th axis). Warnings log Up to 7 warning codes can be stored for each axis (axis 1 to 4).

  • Page 177: Changes In Recovery From Errors

    15.2 Changes in Recovery from Errors 15.2 Changes in Recovery from Errors 15.2.1 Outline The method to recover from error occurrence varies according to the states when errors occur. Status if an error Description Error type occurs • After an error occurs, the operating axes stop. All errors Recoverable state •...

  • Page 178: Error Code Table

    Hardware An error has occurred in a hardware If an error occurs repeatedly, 1001H error test with the power supply turned on. axes consult your Panasonic representative. Any error has occurred in the internal 1002H Unit error processing. axes Check the settings.

  • Page 179: Axis Operation Error (from 3000h)

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

  • Page 180

    3043H operation while the positioning unit is in axis with the correct set values, error synchronous operation. consult your Panasonic representative. Synchronous Changing the setting of the The setting of the synchronous operation not synchronous operation should operation was changed while the...

  • Page 181: Set Value Error (from 4000h)

    15.3 Error Code Table 15.3.3 Set Value Error (from 4000H) The following errors occur to various set values made in the positioning setting menu of the programming tool and ladder programs. Error Error name Description Object Recovered Countermeasures code Check the following items in the settings of the axis group and independent axis.

  • Page 182

    The auxiliary output delay repeatedly with the ratio while the positioning correct set values, consult unit is in Delay mode is not your Panasonic 0 to 100 (%). representative. The same axis has been set for the synchronous groups 1 and 2.

  • Page 183

    The home return setting code is Each with the correct set values, 4107H code error incorrect. axis consult your Panasonic representative. Home return creep The creep speed of the home Each 4110H speed error return is out of the range.

  • Page 184

    If an error occurs 4401H acceleration/deceleratio positioning operation is axis repeatedly with the n type error incorrect. correct set values, consult your Panasonic The acceleration time of the Positioning acceleration Each representative. 4402H positioning operation is out of time error axis the range.

  • Page 185

    15.3 Error Code Table Error Error name Description Object Recovered Countermeasures code Check the set value. Check the combination The pulse input settings are Each 4600H Pulse input setting error of the input type, input incorrect. axis multiplication, and input application.

  • Page 186: List Of Warning Codes

    Errors and Warnings 15.4 List of Warning Codes 15.4.1 Unit Warning (from B000H) These are the warning codes to be given when the warnings occurred in the positioning unit. Error Error name Description Object Recovered Countermeasures code No requests from the PLC can be The following request executed while the positioning unit signals were turned ON...

  • Page 187

    15.4 List of Warning Codes Error Error name Description Object Recovered Countermeasures code The difference between the movement amounts of the target axes in synchronous operation has exceeded the specified difference Synchronous Each Check the operation of the target threshold. B045H axis difference axis...

  • Page 188

    Errors and Warnings Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 15-16...

  • Page 189: Troubleshooting

    Troubleshooting Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 190: What To Do If An Error Occurs

    Troubleshooting 16.1 What to Do If an Error Occurs 16.1.1 Motor is not Rotating or Operating (Pulse Output A and B LEDs are Flashing or Lit)  Solution 1: Servo motor Check that the servo input is ON. Y108 Servo on input Motor driver Positioning unit ...

  • Page 191: Reversed Rotation Or Movement Direction

    16.1 What to Do If an Error Occurs 16.1.3 Reversed Rotation or Movement Direction [Example of reversed rotation or movement direction] (Reverse direction) (Intended direction)  Solution 1 Check that the positioning unit and driver are wired correctly. Points of confirmation Check that the CW/CCW output or Pulse/Sign output is connected to the corresponding input of the driver.

  • Page 192

    Troubleshooting Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 16-4...

  • Page 193: Specifications

    Specifications Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 194: General Specifications

    Specifications 17.1 Specifications 17.1.1 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 195: Performance Specifications

    17.1 Specifications 17.1.2 Performance Specifications Description Items 2-axis type 4-axis type Product no. AFP7PP02T AFP7PP02L AFP7PP04T AFP7PP04L Voltage output type Transistor Line driver Transistor Line driver No. of control axes 2-axis 4-axis 2-axis linear interpolation, 2-axis linear interpolation 3-axis linear interpolation, Interpolation control 2-axis circular interpolation and 2-axis circular interpolation...

  • Page 196

    Specifications Description Items 2-axis type 4-axis type AFP7PP02T, AFP7PP04T, Product no. AFP7PP02L AFP7PP04L PTP control (E- and C-point control) Independent CP control (P-point control) Speed control (J-point control) Linear E-, P-, C-point control; composite speed or long- interpolation axis speed specification 2-axis Interpolation Circular...

  • Page 197

    17.1 Specifications Description Items 2-axis type 4-axis type Product no. AFP7PP02T AFP7PP02L AFP7PP04T AFP7PP04L Deceleration Deceleration Deceleration time while in operation stop time Emergency Deceleration 0 to 10,000 ms (adjustable in 1-ms increments) stop time Deceleration Limit stop 0 to 10,000 ms (adjustable in 1-ms increments) time Deceleration Error stop...

  • Page 198: I/o Number Allocation

    Specifications 17.2 I/O Number Allocation The following I/O numbers indicate offset addresses. The I/O numbers actually allocated are based on the first word number allocated to the unit. Example) If the first word number of the unit is 10, the positioning ready signal will be X100. Contact Target axis Name...

  • Page 199

    17.2 I/O Number Allocation Contact Target axis Name Description allocation 1st axis Turns ON when the operation instruction for the corresponding axis completed and the position deviation became in the specified 2nd axis completion width. Operation 3rd axis Turns ON when the operation for all the tables completed for P-point done control and C-point control of the automatic operation.

  • Page 200

    Specifications Contact Target axis Name Description allocation − − − 1st axis 2nd axis Auxiliary Turns ON when the corresponding positioning table of the corresponding contact axis is executed. 3rd axis 4th axis − − − Virtual Auxiliary Turns ON when the corresponding positioning table of the virtual axis is axis contact executed.

  • Page 201

    17.2 I/O Number Allocation Contact Target axis Name Description allocation − − − 1st axis Make synchronous settings in the unit with the synchronous setting 2nd axis request contact (Y80 to Y83) turned ON after making synchronous Synchronous setting done setting changes with the program.

  • Page 202

    Specifications Contact Target axis Name Description allocation Contact for requesting the system stop. When it turns ON, all axes All axes System stop will stop at the deceleration time 0. − − − − − − − − − − −...

  • Page 203

    17.2 I/O Number Allocation Contact Target axis Name Description allocation Requests the home return of the virtual axis. The home return of Virtual axis Home return start the virtual axis is possible only by data setting. JOG forward 1st axis JOG reverse Requests the JOG operation for the corresponding axis.

  • Page 204

    Specifications Contact Target axis Name Description allocation 1st axis Pulser 2nd axis Requests the permission for the pulser operation of the corresponding operation axis. (The operation is of level type.) 3rd axis enabled 4th axis − − − Pulser Virtual operation Requests the permission for the pulser operation of the virtual axis.

  • Page 205

    17.2 I/O Number Allocation Contact Target axis Name Description allocation 1st axis Requests the error clear of the corresponding axis. 2nd axis Error clear The processing to recover from errors is performed and the error logs are request cleared by turning ON this signal. 3rd axis Note) Unrecoverable errors cannot be recovered even if this signal turns ON.

  • Page 206

    Specifications Contact Target axis Name Description allocation 1st axis A gear ratio change is made with the contact for the corresponding Slave axis 2nd axis axis turned ON while the positioning unit is in synchronous gear ratio change operation. 3rd axis request (The operation is the edge type.) 4th axis...

  • Page 207: Entire Configuration Of Memory Unit Area

    17.3 Entire Configuration of Memory Unit Area 17.3 Entire Configuration of Memory Unit Area The unit memory is in control of parameter and positioning data set values for the positioning unit. All set values are set with the programming tool software or a user program. Unit memory Area name Name of each individual area...

  • Page 208: Details Of Common Area In Unit Memory

    Specifications 17.4 Details of Common Area in Unit Memory 17.4.1 Common Area Configuration The common area is allocated to the head of the unit memory to make common settings for each axis. Unit memory map UM 00000 Setting parameter control area UM 00085 Common area Operation speed factor area...

  • Page 209: Setting Parameter Control Area

    17.4 Details of Common Area in Unit Memory 17.4.2 Setting Parameter Control Area Set a recalculation starting table number in order to recalculate the positioning data in the standard area. Unit Setting memory no. Name Description Default range unit (Hex) If the ON state of the recalculation request signal (contact Recalculation Y7) is detected, the positioning unit will recalculate...

  • Page 210

    Specifications Unit Name Description memory no. (Hex) Set the corresponding bit to 1 in this area if the axis is not related to interpolation. Name Default Description 0: Not belongs to any group. Group attribute of 1st axis Independent 1: Belongs to a group. UM 000B4 Group attribute of 2nd axis axis settings...

  • Page 211: Current Value Update Data Area

    17.4 Details of Common Area in Unit Memory 17.4.5 Current Value Update Data Area To change the current value of each axis under the control of the positioning unit, store the changed coordinates in this area and turn ON the current value update request flag. Unit memory no.

  • Page 212: Positioning Control Starting Table Number Setting Area

    Specifications 17.4.6 Positioning Control Starting Table Number Setting Area Set the starting table number of positioning data on each axis at the time of staring positioning control. The setting ranges are 1 to 600 for the standard area and 10001 to 10025 for the extended area.

  • Page 213: Positioning Control Area

    17.4 Details of Common Area in Unit Memory 17.4.7 Positioning Control Area • Set the number of repetitions of positioning control per axis. • The positioning unit repeats positioning control for the number of repetitions set and finishes operating. The number of repetitions will be reset to the default value on completion of positioning control. Unit memory no.

  • Page 214: Error Annunciation & Clear Area

    Specifications 17.4.8 Error Annunciation & Clear Area If errors (involving a stoppage) occur, data on the errors along with the number of errors will be stored on an axis-by-axis basis in this area. If the error clear is executed, the errors and the number of errors that have occurred will be cleared once.

  • Page 215

    17.4 Details of Common Area in Unit Memory Unit Name Description memory no. (Hex) UM 00140 2nd axis error code annunciation buffer 4 A code will be annunciated if an error occurs. UM 00141 UM 00142 2nd axis error code annunciation buffer 5 A code will be annunciated if an error occurs.

  • Page 216

    Specifications Unit Name Description memory no. (Hex) UM 0019A Virtual axis error code A code will be annunciated if an error occurs. annunciation buffer 1 UM 0019B UM 0019C Virtual axis error code A code will be annunciated if an error occurs. annunciation buffer 2 UM 0019D UM 0019E...

  • Page 217: Warning Annunciation & Clear Area

    17.4 Details of Common Area in Unit Memory 17.4.9 Warning Annunciation & Clear Area If warnings (not involving a stoppage) occur, data on the warnings along with the number of warnings will be stored on an axis-by-axis basis in this area. If the warning clear is executed, the warnings and the number of warnings occurred will be cleared once.

  • Page 218

    Specifications Unit Name Description memory no. (Hex) UM 001D8 2nd axis warning code A code will be annunciated if a warning occurs. annunciation buffer 4 UM 001D9 UM 001DA 2nd axis warning code A code will be annunciated if a warning occurs. annunciation buffer 5 UM 001DB UM 001DC...

  • Page 219

    17.4 Details of Common Area in Unit Memory Unit Name Description memory no. (Hex) UM 00232 Virtual axis warning code A code will be annunciated if a warning occurs. annunciation buffer 1 UM 00233 UM 00234 Virtual axis warning code A code will be annunciated if a warning occurs.

  • Page 220: Pulse Count Control Area

    Specifications 17.4.10 Pulse Count Control Area Makes input pulse changes if high-speed pulses are set for pulse input. Unit memory no. Name Description (Hex) The pulse input will be counted when the corresponding bit for each axis is set to 0. This flag will be enabled only if the pulse input application is set to high-speed counter.

  • Page 221: Synchronous Control Monitor Area

    17.4 Details of Common Area in Unit Memory 17.4.11 Synchronous Control Monitor Area This is an area for monitoring the setting status of synchronous control. Unit memory no. Name Description Default (Hex) Stores the setting status of the master axis under synchronous control. Stored value Master axis Under...

  • Page 222

    Specifications Unit memory no. Name Description Default (Hex) Monitoring selection state of synchronous UM 002BF 0000H (fixed) 0000H output function for virtual axis Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 17-30...

  • Page 223: System Operation Setting Area

    17.4 Details of Common Area in Unit Memory 17.4.12 System Operation Setting Area This is an area for changing the operation of the positioning unit. Unit memory no. Name Description (Hex) Specify the operation of the positioning unit with the deceleration stop request signal activated (turned ON).

  • Page 224: Details Of Each Axis Information Area In Unit Memory

    Specifications 17.5 Details of Each Axis Information Area in Unit Memory 17.5.1 Each Axis Information & Monitor Area Unit memory map UM 00000 Common area 400H-5FFH Axis information & monitor area UM 003FF UM 00400 - UM 0043F Information of axis 1 UM 00400 Axis Information of axis 2...

  • Page 225

    17.5 Details of Each Axis Information Area in Unit Memory 17.5.2 Each Axis Information & Monitor Area  1st axis information Unit Setting memory no. Name Description Default Set unit range (Hex) Stores I/O information connected to each axis. Name Default Description 0: Non-active...

  • Page 226

    Specifications  2nd axis information Unit Name Description memory no. (Hex) UM 00471 External terminal input monitor of 2nd axis Refer to the description for the 1st axis. UM 00474 Deviation of 2nd axis Refer to the description for the 1st axis. UM 00476 Pulse input value of 2nd axis Refer to the description for the 1st axis.

  • Page 227

    17.5 Details of Each Axis Information Area in Unit Memory  4th axis information Unit Name Description memory no. (Hex) UM 004F1 External terminal input monitor of 4th axis Refer to the description for the 1st axis. UM 004F4 Deviation of 4th axis Refer to the description for the 1st axis.

  • Page 228: Details Of Each Axis Setting Area In Unit Memory

    Specifications 17.6 Details of Each Axis Setting Area in Unit Memory 17.6.1 Configuration of Each Axis Setting Area Each axis setting area stores the parameter setting area and positioning data. The positioning data setting area of each axis consists of a standard area with 600 tables and extended area with 25 tables.

  • Page 229: Parameter Setting Area

    17.6 Details of Each Axis Setting Area in Unit Memory 17.6.2 Parameter Setting Area  First address of each axis positioning parameter area Axis 1st axis 2nd axis 3rd axis 4th axis Virtual axis Unit memory UM 00800 UM03000 UM 05800 UM 08000 UM 12000 address...

  • Page 230

    Specifications KEY POINTS The unit memory address of a parameter is based on the first address of the corresponding axis added with the offset address. The first number of the positioning parameter setting area of each axis. 1st axis 2nd axis 3rd axis 4th axis Virtual axis...

  • Page 231

    17.6 Details of Each Axis Setting Area in Unit Memory Offset Name Default Setting range and description address Makes pulse input signal settings. Make settings according to the application of pulse input. Name Description Rotating Set the rotating direction of pulse input direction 0: Forward 1: Reverse...

  • Page 232

    Specifications Offset Name Default Setting range and description address Set an action when the difference between the instruction value and feedback value exceeds the movement check value at the time of automatic movement amount check. 0: Error An error will occur and the operation of the positioning unit will come to a stop Automatic if the difference between the feedback value and reference movement movement...

  • Page 233

    17.6 Details of Each Axis Setting Area in Unit Memory Offset Name Default Setting range and description address Enables or disables the software limit on each control. Name Default Description 0: Disables the software limit Enables/disables for positioning control the software limit 1: Enables the software limit for positioning for positioning control...

  • Page 234

    Specifications Offset Name Default Setting range and description address − − − 010H − − − 011H Set whether to use or not to use the auxiliary output contact and auxiliary output function of the auxiliary output code whether to be used or unused. The ON time of the auxiliary output contact is determined by the following auxiliary output ON time.

  • Page 235

    17.6 Details of Each Axis Setting Area in Unit Memory Offset Name Default Setting range and description address Set the threshold to use the automatic check function of movement amount. Automatic movement 018H 10000 amount check value Setting range: 0 to 65536 Default: 10000 (pulses) −...

  • Page 236

    Specifications Offset Name Default Setting range and description address Sets the pattern of the home return. 0: DOG method 1 1: DOG method 2 2: DOG method 3 Home return setting 020H code 3: Limit method 1 4: Limit method 2 5: Phase Z method 8:Data set Any other settings will be errors.

  • Page 237

    17.6 Details of Each Axis Setting Area in Unit Memory Offset Name Default Setting range and description address Set the speed to search the home position after near home input. Set a speed lower than the target home return speed. 026H Setting range: 1 to 32,767,000 Any other settings will be errors.

  • Page 238

    Specifications Offset address Name Default Setting range and description − − − 02EH − − − 02FH − − − 030H − − − 031H − − − 032H This parameter will be enabled if an emergency stop request is made with I/O, and the deceleration of the positioning unit will be completed in the Emergency specified deceleration time.

  • Page 239

    17.6 Details of Each Axis Setting Area in Unit Memory Offset Name Default Setting range and description address Area to set the single and interpolation operation pattern of positioning. 0: Standard operation Pulser operation 03BH method 1: Speed limit (pulse hold) 2: Speed limit (truncated) Any other settings will be errors.

  • Page 240

    Specifications Offset Name Default Setting range and description address The maximum speed of the pulser operation with speed limits selected. The positioning unit will operate at maximum speed if the speed 048H obtained from pulse input multiplied by the numerator of pulse operation/denominator of pulser operation is in excess of the specified maximum speed.

  • Page 241: Positioning Data Setting Areas

    17.6 Details of Each Axis Setting Area in Unit Memory 17.6.3 Positioning Data Setting Areas  Positioning table Data in the following format is stored from the first address of the positioning table for each axis. Refer to the list in and after page 17-52 for the first address of each positioning table. Offset Name Default...

  • Page 242

    Specifications Offset Name Default Setting range and description address − − − 002H − − − 003H The setting area for acceleration time and deceleration time for positioning Positioning operation. 004H acceleration Different settings can be made for acceleration and deceleration. time The settings for the axis with the smallest number in the axis group are enabled for interpolation operation.

  • Page 243

    17.6 Details of Each Axis Setting Area in Unit Memory Offset Name Default Setting range and description address The setting area for the positioning movement amount for positioning operation. The amount of increment movement or absolute coordinates will be set according to the control code settings.

  • Page 244

    Specifications KEY POINTS The unit memory address of each item on the positioning table is based on a separate address allocated to each axis and table added with the offset address.  First address of each positioning table Table no. 1st axis 2nd axis 3rd axis...

  • Page 245

    17.6 Details of Each Axis Setting Area in Unit Memory Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 00AA0 UM 032A0 UM 05AA0 UM 082A0 UM 122A0 UM 00AB0 UM 032B0 UM 05AB0 UM 082B0 UM 122B0 UM 00AC0 UM 032C0...

  • Page 246

    Specifications Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 00D40 UM 03540 UM 05D40 UM 08540 UM 12540 UM 00D50 UM 03550 UM 05D50 UM 08550 UM 12550 UM 00D60 UM 03560 UM 05D60 UM 08560 UM 12560 UM 00D70 UM 03570...

  • Page 247

    17.6 Details of Each Axis Setting Area in Unit Memory Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 00FE0 UM 037E0 UM 05FE0 UM 087E0 UM 127E0 UM 00FF0 UM 037F0 UM 05FF0 UM 087F0 UM 127F0 UM 01000 UM 03800...

  • Page 248

    Specifications Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 01280 UM 03A80 UM 06280 UM 08A80 UM 12A80 UM 01290 UM 03A90 UM 06290 UM 08A90 UM 12A90 UM 012A0 UM 03AA0 UM 062A0 UM 08AA0 UM 12AA0 UM 012B0 UM 03AB0...

  • Page 249

    17.6 Details of Each Axis Setting Area in Unit Memory Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 01520 UM 03D20 UM 06520 UM 08D20 UM 12D20 UM 01530 UM 03D30 UM 06530 UM 08D30 UM 12D30 UM 01540 UM 03D40...

  • Page 250

    Specifications Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 017C0 UM 03FC0 UM 067C0 UM 08FC0 UM 12FC0 UM 017D0 UM 03FD0 UM 067D0 UM 08FD0 UM 12FD0 UM 017E0 UM 03FE0 UM 067E0 UM 08FE0 UM 12FE0 UM 017F0 UM 03FF0...

  • Page 251

    17.6 Details of Each Axis Setting Area in Unit Memory Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 01A60 UM 04260 UM 06A60 UM 09260 UM 13260 UM 01A70 UM 04270 UM 06A70 UM 09270 UM 13270 UM 01A80 UM 04280...

  • Page 252

    Specifications Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 01D00 UM 04500 UM 06D00 UM 09500 UM 13500 UM 01D10 UM 04510 UM 06D10 UM 09510 UM 13510 UM 01D20 UM 04520 UM 06D20 UM 09520 UM 13520 UM 01D30 UM 04530...

  • Page 253

    17.6 Details of Each Axis Setting Area in Unit Memory Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 01FA0 UM 047A0 UM 06FA0 UM 097A0 UM 137A0 UM 01FB0 UM 047B0 UM 06FB0 UM 097B0 UM 137B0 UM 01FC0 UM 047C0...

  • Page 254

    Specifications Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 02240 UM 04A40 UM 07240 UM 09A40 UM 13A40 UM 02250 UM 04A50 UM 07250 UM 09A50 UM 13A50 UM 02260 UM 04A60 UM 07260 UM 09A60 UM 13A60 UM 02270 UM 04A70...

  • Page 255

    17.6 Details of Each Axis Setting Area in Unit Memory Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 024E0 UM 04CE0 UM 074E0 UM 09CE0 UM 13CE0 UM 024F0 UM 04CF0 UM 074F0 UM 09CF0 UM 13CF0 UM 02500 UM 04D00...

  • Page 256

    Specifications Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 02780 UM 04F80 UM 07780 UM 09F80 UM 13F80 UM 02790 UM 04F90 UM 07790 UM 09F90 UM 13F90 UM 027A0 UM 04FA0 UM 077A0 UM 09FA0 UM 13FA0 UM 027B0 UM 04FB0...

  • Page 257

    17.6 Details of Each Axis Setting Area in Unit Memory Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 02A20 UM 05220 UM 07A20 UM 0A220 UM 14220 UM 02A30 UM 05230 UM 07A30 UM 0A230 UM 14230 UM 02A40 UM 05240...

  • Page 258

    Specifications Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis UM 02CC0 UM 054C0 UM 07CC0 UM 0A4C0 UM 144C0 UM 02CD0 UM 054D0 UM 07CD0 UM 0A4D0 UM 144D0 UM 02CE0 UM 054E0 UM 07CE0 UM 0A4E0 UM 144E0 UM 02CF0 UM 054F0...

  • Page 259

    17.6 Details of Each Axis Setting Area in Unit Memory Table no. 1st axis 2nd axis 3rd axis 4th axis Virtual axis 10016 UM 02F60 UM 05760 UM 07F60 UM 0A760 UM 14760 10017 UM 02F70 UM 05770 UM 07F70 UM 0A770 UM 14770 10018...

  • Page 260: Unit Memory Synchronous Control Setting Area

    Specifications 17.7 Unit Memory Synchronous Control Setting Area 17.7.1 Synchronous Control Setting Area This is an area for monitoring the setting status of synchronous control. Unit memory no. (Hex) Description UM 16000 - UM1600F Synchronous control common setting area UM 16010 - UM1601F Electronic gear setting area Synchronous setting area of 1st axis...

  • Page 261: Detailed Information On Synchronous Control Setting Area

    17.7 Unit Memory Synchronous Control Setting Area 17.7.2 Detailed Information on Synchronous Control Setting Area Make synchronous control settings in this area. These values set in the Configuration menu will be stored automatically. Therefore, individual settings are not necessary.  Synchronous control common setting area Offset Name Default...

  • Page 262

    Specifications  Clutch setting area Offset Name Default Description address 020H Clutch ON trigger types 00H: I/O clutch ON request Set enabled conditions for the trigger signal. 00H: Level 021H Clutch ON edge selection 01H: Rising edge 02H: Falling edge 028H Clutch OFF trigger types 00H: I/O clutch OFF request...

  • Page 263: Dimensions

    17.8 Dimensions 17.8 Dimensions  2-axis type (19) (Unit: mm)  4-axis type (19) (Unit: mm) 17-71 Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 264

    Specifications Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com 17-72...

  • Page 265: Sample Program

    Sample program Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

  • Page 266: Basic Configuration And Contact Allocations Of Sample Programs

    Sample program 18.1 Basic Configuration and Contact Allocations of Sample Programs In the sample programs, the internal relays are used for the start contacts of each operation. Connect them to the input contacts such as switches as needed.  Basic Configuration Motor driver Motor Motor driver...

  • Page 267

    18.1 Basic Configuration and Contact Allocations of Sample Programs Number Description X100 Ready positioning flag X104 Tool operation for all axes X107 Recalculation done flag X118 1st axis BUSY flag X119 2nd axis BUSY flag X160 Error occurrence annunciation for 1st axis X161 Error occurrence annunciation for 2nd axis Y107...

  • Page 268: Sample Program

    Sample program 18.2 Sample program 18.2.1 When Settings Done in Standard Area with Programming tool  Sample program *****Operation enabled condition***** X100 X104 X160 R100 1st axis error Operation enabled Ready Tool operation positioning flag for 1st axis X161 R200 2nd axis error Operation enabled flag for 2nd axis...

  • Page 269

    18.2 Sample program R101 JOG forward Forward OFF edge R102 JOG reverse Reverse OFF edge R100 X118 R101 Y120 JOG forward 1st axis Forward Operation 1st axis BUSY OFF edge enabled flag for 1st forward Y120 axis 1st axis JOG forward R100 X118...

  • Page 270

    Sample program R200 X119 R202 Y123 2nd axis Operation 2nd axis Reverse reverse enabled BUSY OFF edge reverse flag Y123 2nd axis JOG reverse *****Error annunciation and clear***** DT101 Annunciates the number of errors occurred to 1st axis. DT102 to DT115 Error codes occurred to 1st axis DT121 Annunciates the number of errors occurred to 2nd axis.

  • Page 271: When Setting Positioning Data In Extended Area By Programming

    18.2 Sample program 18.2.2 When Setting Positioning Data in Extended Area by Programming Write positioning data in the extended area by programming. Recalculating the positioning data is not necessary as the extended area is used. Replace the part of the positioning start program in the sample program ...

  • Page 272

    Sample program MV.SS DT30 2nd axis control Positioning code start MV.SS DT31 2nd axis control pattern MV.SS DT32 MV.SS DT33 MV.SS K100 DT34 2nd axis acceleration time MV.SS K100 DT35 2nd axis deceleration time MV.SL K1000 DT36 1-table data on 2nd axis target 2nd axis speed...

  • Page 273: When Setting Positioning Data In Standard Area By Programming

    18.2 Sample program 18.2.3 When Setting Positioning Data in Standard Area by Programming Write positioning data in the standard area by programming. Recalculating the positioning data is necessary after setting the positioning data. Replace the part of the positioning start program in the sample program ...

  • Page 274

    Sample program MV.SS DT30 2nd axis control Set value code change MV.SS DT31 2nd axis control pattern MV.SS DT32 MV.SS DT33 MV.SS K100 DT34 2nd axis acceleration time MV.SS K100 DT35 2nd axis deceleration time 1-table data on MV.SL K1000 DT36 2nd axis 2nd axis target...

  • Page 275

    Record of changes Manual No. Date Record of Changes WUME-FP7POSP-01 Mar.2013 First Edition Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com...

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