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Panasonic AFP7MC16EC User Manual

Fp7 series. motion control unit
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Summary of Contents for Panasonic AFP7MC16EC

  • Page 2 -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.
  • Page 3 Introduction Thank you for buying a Panasonic product. Before you use the product, please carefully read the installation instructions and the user's manual, and understand their contents in detail to use the product properly. Types of Manual • There are different types of user's manual for the FP7 series, as listed below. Please refer to a relevant manual for the unit and purpose of your use.
  • Page 4 Types of Manual Unit name or purpose of use Manual name Manual code FP7 Thermocouple Multi-analog FP7 Thermocouple Multi-analog Input Unit Input Unit FP7 RTD Input Unit WUME-FP7TCRTD User's Manual FP7 RTD Input Unit FP7 Multi Input/Output Unit FP7 Multi Input/Output Unit User's Manual WUME-FP7MXY FP7 High-speed counter unit FP7 High-speed Counter Unit User's Manual...
  • Page 5 Items Requiring Particular Attention Items Requiring Particular Attention When using FP7 MC Unit in combination with Servo Amplifier A6B/A5B, please note the followings.  Wiring of Power Supply To avoid influence of noise, keep the power supply systems of servo amplifier and PLC separate.
  • Page 6 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 setting parameters of FP7 MC Unit. Integrator As for the following terms, they are expressed differently in software, manuals and specification concerning FP7 MC Unit and Servo Amplifiers A6B/A5B.

  • Page 7: Table Of Contents

    Table of Contents Table of Contents 1. Unit Functions and Restrictions ........1-1 Functions of Motion Control Unit ............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 .......
  • Page 8 Table of Contents 3.1.1 Type of Setting Method ................3-2 3.1.2 Settings of Servo Amplifier MINAS A6B/A5B .......... 3-2 3.1.3 Setting by Software CMI ................3-4 3.1.4 Node Address Setting and State Confirmation ........3-7 Connection of Network ................. 3-11 3.2.1 Wiring ....................
  • Page 9 Table of Contents 4.5.5 Download to FP7 MC Unit ..............4-26 4.5.6 Checking Input State ................4-26 Saving and Managing Files ..............4-27 4.6.1 File Type ....................4-27 4.6.2 Saving as CMI Files ................4-27 4.6.3 Export to CSV Files ................4-28 5.
  • Page 10 Table of Contents 6. Data Transfer to MC Unit and Test Operation ....6-1 Before Turning On the Power ..............6-2 Power-on and Power-off Sequences ............6-3 6.2.1 Procedure for Turning On the Power ............6-3 6.2.2 Procedure for Turning Off the Power ............6-3 Checking While the Power is ON ............
  • Page 11 Table of Contents 7.2.5 Writing Data to Output Control Area ............7-7 Precautions on Programming ..............7-8 7.3.1 Turning Off Power Supply Clears Contents in Unit Memories ....7-8 7.3.2 Operation Cannot be Switched Once One Operation Has Started ..7-8 7.3.3 Operation When PLC Mode Changes from RUN to PROG.
  • Page 12 Table of Contents 8.5.2 Setting Procedures and Operations ............8-36 8.5.3 Sample Program ................... 8-40 Dwell Time .................... 8-41 Auxiliary Output Code and Auxiliary Output Contact ......8-42 Sample Programs ................. 8-44 8.8.1 Sample Programs (E-point, P-point and C-point Controls) ....8-44 8.8.2 Precautions on Programming ..............
  • Page 13 Table of Contents Electronic Clutch Function ..............9-18 9.5.1 What is Electronic Clutch Function? ............. 9-18 9.5.2 Types and Contents of Setting Parameters .......... 9-19 9.5.3 Trigger Types for Electronic Clutch ............9-21 9.5.4 Connection Method of Electronic Clutch ..........9-23 9.5.5 Phase Specification Clutch OFF Function ..........
  • Page 14 Table of Contents 12. Stop Functions ..............12-1 12.1 Type of Stop Functions ................ 12-2 12.1.1 Type of Stop Functions ................. 12-2 12.1.2 Characteristics of Pause Function ............12-4 12.1.3 Stop Operation During Interpolation Control ......... 12-6 12.1.4 Stop Operation During Synchronous Control ........12-6 12.2 Settings Related to Stop Function ............
  • Page 15 Table of Contents 13.9.1 SDO Communication ................13-25 13.9.2 PDO Communication ................13-37 13.10ESI Manager ..................13-39 13.11Connection with Slave SL-VGU1-EC ..........13-40 13.11.1 Registration of Slaves ..............13-40 13.11.2 Confirmation of Unit Memory Numbers ........... 13-41 13.12Connection with Slave Encoder Input Device ........13-42 13.12.1 Operation of Encoder Input Device ..........
  • Page 16 Table of Contents 14.6 Upload of Logging Data (Time Chart) ..........14-20 14.6.1 Procedure of Uploading Logging Data ..........14-20 14.6.2 Settings for Time Chart Display Area ..........14-22 14.7 Storage of CMTimeChart Data ............14-25 14.8 Storage in SD Memory Card .............. 14-26 14.8.1 Storing Logging Data ................
  • Page 17 Table of Contents 16.1.1 General Specifications ................16-2 16.1.2 EtherCAT Communication Specifications ..........16-3 16.1.3 Performance Specifications ..............16-4 16.2 I/O Allocation ..................16-8 16.3 Whole Configuration of Unit Memories ..........16-10 16.4 Unit Memories (Input and Output Control Areas) ....... 16-13 16.4.1 Configuration of Input Control Area ............
  • Page 18 Table of Contents 16.7.3 Parameter Setting Area ............... 16-58 16.7.4 Configuration of Positioning Data Setting Area ........16-66 16.8 Unit Memories (Synchronous Control Setting Area) ......16-75 16.8.1 Configuration of Synchronous Control Setting Area ......16-75 16.8.2 Synchronous Control Setting Area ............16-76 16.8.3 Electronic Gear Setting Area ...............

  • Page 19: Unit Functions And Restrictions

    Unit Functions and Restrictions...

  • Page 20: Functions Of Motion Control Unit

    Unit Functions and Restrictions 1.1 Functions of Motion Control Unit 1.1.1 Functions of Unit Control FPWIN GR7 PANATERM Control Motion Integrator A6B/A5B A6B/A5B A6B/A5B FP7 MC EtherCAT  Controlling Servo Motor MINAS A6B/A5B series through EtherCAT FP7 Motion Control Unit (hereafter FP7 MC Unit) adopts EtherCAT communication and controls servo motors.

  • Page 21: List Of Models

    1.1 Functions of Motion Control Unit 1.1.2 List of Models  Control 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 ...

  • Page 22: Restrictions

    STP cable, category 5/5e Always use a cable of category 5e or higher. Topology Line, Daisy chain, Star, Tree Daisy chain (without branch) Panasonic AC Servo Motor A6B/A5B series Connected slave S-LINK V Gateway Controller SL-VGU1-EC series EtherCAT-compatible devices (Note 1) (Note 2)

  • Page 23: 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 FPWIN GR7 and FP7 Units For using FP7 MC Unit, the following versions of FPWIN GR7 and units are required.

  • Page 24: 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 25: Type Of Software

    1.3 System Configuration 1.3.2 Type of Software The following three software are used for using the system combining FP7 MC Unit and Servo Amplifier A6B/A5B.  Control Motion Integrator Application: This software is used for setting parameters of FP7 MC Unit, monitoring the state and test operations.

  • Page 26: Mechanism Of Processing

    Unit Functions and Restrictions 1.4 Mechanism of Processing 1.4.1 Schematic View FP7 CPU FP7 MC A6B/A5B 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 27: Operation When Power Supply Turns On

    1.4 Mechanism of Processing 1.4.2 Operation When Power 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. •...
  • Page 28 Unit Functions and Restrictions 1-10...

  • Page 29: Names And Functions Of Parts

    Names and Functions of Parts...

  • Page 30: Names And Functions Of Parts

    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 ① Operation monitor Indicates the state of EtherCAT communication, the occurrence states of unit's LEDs errors and alarms.

  • Page 31: Operation Monitor Leds

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

  • Page 32: 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 33: Installation And Wiring

    Installation and Wiring...

  • Page 34: Setting Of Node Address (Id)

    Installation and Wiring 3.1 Setting of Node Address (ID) 3.1.1 Type of Setting Method When using FP7 MC Unit in combination with Servo Amplifier A6B/A5B, the following three methods are available for setting node addresses. ① Set by the software CMI on FP7 MC Unit. ②...
  • Page 35 3.1 Setting of Node Address (ID)  Parameter settings by Panaterm The Station Alias (ID) is set by setting the parameters of Servo Amplifier [MINAS A6B/A5B]. Parameter Parameter Function name Classification Number The high-order 8 bits of station alias are set. Station alias Higher 8 bits Lower 8 bits...

  • Page 36: Setting By Software Cmi

    Installation and Wiring 3.1.3 Setting by Software CMI  EtherCAT communication node address discrimination method Item Name Function Select a node address discrimination method. Setting Function Set by the station address in the Follow the setting value "General" tab in the EtherCAT EtherCAT Node address of Station Address.
  • Page 37 3.1 Setting of Node Address (ID)  EtherCAT communication [Node address discrimination method: "Follow the setting value of Station Address"] PROCEDURE 1. Double-click a slave registered in the EtherCAT communication setting in the project tree. The device editor opens. 2. Set node addresses (IDs) for each servo amplifier. 3.
  • Page 38 Installation and Wiring  EtherCAT communication [Node address discrimination method: "Follow the node address discrimination method of each slave"] Name Function The node address setting method follows the setting method of each slave device. Setting Function ESC register Set the set values in the SC configuration area (SII area) as (0x0012) node addresses.

  • Page 39: Node Address Setting And State Confirmation

    3.1 Setting of Node Address (ID) 3.1.4 Node Address Setting and State Confirmation The confirmation areas of the ENI file registration by the node address setting and node addresses on the network are as follows. Unit Node memory Name Default Setting range and description no.
  • Page 40 Installation and Wiring Unit Node memory Name Default Setting range and description no. (Hex) Node UM 0010A 1-16 The bits corresponding to the station addresses of slaves participating in the network turn on. Node UM 0010B 17-32 Node no. Node Node 1+16n UM 0010C 33-48...
  • Page 41 3.1 Setting of Node Address (ID) The state confirmation areas of the ENI file registration by the node address setting and node addresses on the network are as follows. Unit Node memory Name Default Setting range and description no. (Hex) Node UM 00122 The bits corresponding to normal station addresses among...
  • Page 42 Installation and Wiring Unit Node memory Name Default Setting range and description no. (Hex) Node UM 0012E The bits corresponding to abnormal station addresses among 1-16 slaves participating in the network registered in the ENI file turn Node UM 0012F 17-32 Node no.

  • Page 43: Connection Of Network

    3.2 Connection of Network 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 Amplifier A6B/A5B. • The distance between each node should be within 100m. 3.2.2 Precautions on Wiring •...
  • Page 44 Installation and Wiring  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. •...

  • Page 45: Connection Of Servo Amplifier

    3.3 Connection of Servo Amplifier 3.3 Connection of Servo Amplifier 3.3.1 Connection of Input Signals For the system which uses the over limit switches and near home switch, connect them to the I/O connector of Servo Amplifier A6B/A5B. Over limit Near home Over limit switch...
  • Page 46 Installation and Wiring REFERENCE • For details of parameter settings, refer to "4.5 Connection of Limit and Near Home Switches". 3-14...

  • Page 47: Basic Procedure

    Basic Procedure...

  • Page 48: 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 A6B/A5B. Confirm them before setting parameters and creating programs.  Operation procedure Item Used tool Outline of operation Register the unit configuration of the FP7 system in the "I/O ①...

  • Page 49: 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 map is created on FPWIN GR7. The following procedure is explained on the condition that FPWIN GR7 has already started.

  • Page 50: 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 (Entire Project)".

  • Page 51: 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 52: 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.
  • Page 53 The "Axis settings" dialog box is displayed. (This is the 16-axis type. For the 32-axis and 64-axis types, see p.4-9.) Number of usable axes Product no. Real axis Virtual axis AFP7MC16EC Max. 16 axes Max. 8 axes AFP7MC32EC Max. 32 axes Max. 16 axes AFP7MC64EC Max.
  • Page 54 Basic Procedure 5. Drag the line to be allocated for interpolation to the interpolation group field. The following picture shows the allocations of "axes 1 and 2" to "group 1" and "axes 3 and 4" to "group 2" of interpolation groups. When removing the axes from the interpolation groups, right-click on the target axis in the "Interpolation group"...
  • Page 55 4.3 Setting of Used Axes KEY POINTS • When setting interpolation groups, setting items of the movement amount and interpolation operation are added to the data table, and the group numbers are displayed. • Closing the window with the X mark during editing displays a confirmation message.

  • Page 56: 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.
  • Page 57 4.4 Setting of Network Configuration 3. Select “Append Slave” from the context menu. The dialog box for selecting slaves is displayed. 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 (A6B/A5B) connected to FP7 MC Unit is displayed in the project explorer.

  • Page 58: 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.
  • Page 59 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 Servo Amplifiers A6B/A5B connected to FP7 MC Unit is displayed in the project explorer in the connection order.

  • Page 60: 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 A6B/A5B.  Explanation of terms Setting Name Description...
  • Page 61 4.4 Setting of Network Configuration KEY POINTS • When a station address is overlapped, an error message is displayed on EtherCAT Configurator of CMI. • When "Not use" is displayed in the project explorer, no "Axis no." is set. When slave devices are servo amplifiers or encoders, set axis numbers. If the information on the configuration of slaves (servo amplifiers, encoders) existing on the network without axis numbers is downloaded, an error occurs.
  • Page 62 Basic Procedure  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 same as axis numbers, and set in the connection...

  • Page 63: Download To Fp7 Mc Unit

    4.4 Setting of Network Configuration 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.
  • Page 64 Basic Procedure 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 65: Restarting Power Supplies And Checking Communication State

    4.4 Setting of Network Configuration 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.
  • Page 66 Basic Procedure  Unit memories (Slave tables) ●: Available, -: Not available 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 67: Connection Of Limit And Near Home Switches

    4.5 Connection of Limit and Near Home Switches 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 A6B/A5B. Over limit Near home Over limit...

  • Page 68: Pin Assignment Setting Of Servo Amplifier

    Basic Procedure 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. Select "Other" > "Pin Assign" from the toolbar. The "Pin Assign"...
  • Page 69 4.5 Connection of Limit and Near Home Switches 7. Confirm "SI-MON3" is selected, switch the three radio buttons from "A- Connect" to "B-Connect", and press the [OK] button. The change result can be confirmed in the "Pin Assign" dialog box. 8.

  • Page 70: Checking Servo Amplifier Input State

    Basic Procedure 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. The input states can be checked on PANATERM.
  • Page 71 4.5 Connection of Limit and Near Home Switches 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. ...

  • Page 72: Checking Input State

    Basic Procedure  Setting of home position proximity logic Parameter name Default Description Home position 0: 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 73: Saving And Managing Files

    4.6 Saving and Managing Files 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 74: Export To Csv Files

    Basic Procedure 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.

  • Page 75: Settings Of Fp7 Mc Unit

    Settings of FP7 MC Unit Using CMI Tool...

  • Page 76: Fp7 Mc Unit Common Settings

    Settings of FP7 MC Unit Using CMI Tool 5.1 FP7 MC Unit Common Settings 5.1.1 FP7 MC Unit 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 77: Fp7 Mc Unit Common Settings Parameters

    5.1 FP7 MC Unit Common Settings 5.1.2 FP7 MC Unit 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 Threshold of the The EtherCAT communication error judgement threshold is set.
  • Page 78 Settings of FP7 MC Unit Using CMI Tool  EtherCAT communication Parameter name Default Description Select a node address discrimination method. Setting Function Follow the Set by the station address in the "General" setting value of Follow the tab in the EtherCAT communication Station Node address setting value...
  • Page 79 5.1 FP7 MC Unit Common Settings  Debug function Parameter name Default Description The operation of packet monitor request flag of EC(EtherCAT) communication is set. EC packet monitor Disabled Packet monitor is not executed when EC packet Disabled request flag setting monitor request flag turns on.

  • Page 80: Axis Parameter Settings

    Settings of FP7 MC Unit Using CMI Tool 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 near home input and limit input, are set by CMI. The following procedure is explained on the condition that CMI has already started.

  • Page 81: Axis Parameters (Basic Setup)

    5.2 Axis Parameter Settings 5.2.2 Axis Parameters (Basic Setup)  Basic Setup Parameter name Default Description Arbitrary comments can be input. Comments can be stored in Comment Blank FP7 MC Unit since Ver.1.2. The number of repetitions of positioning control is set. Range: 0 to 255 times Positioning repeat Repeat count: When it is 0 or 1, the positioning operation is not...

  • Page 82: Axis Parameters (Options)

    Settings of FP7 MC Unit Using CMI Tool 5.2.3 Axis Parameters (Options) These parameters are set according the used functions.  Software limit setting Parameter name Default Description Software limit (Positioning control) N: Disabled Select whether to enable or disable the software limit when UM 0324B bit0 executing the positioning control, home return or JOG Software limit (Home return)
  • Page 83 5.2 Axis Parameter Settings  Monitor setting Parameter name Default Description Select the operation when exceeding the movement amount Movement check operation 2: None automatic check threshold. UM 0324A 0: Error, 1: Warning, 2: None Set the threshold for the movement amount automatic check operation.

  • Page 84: Axis Parameters (Operation)

    Settings of FP7 MC Unit Using CMI Tool 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: DOG method 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)
  • Page 85 5.2 Axis Parameter Settings KEY POINTS • It is recommended to select "Normal Open (A contact)" for "Home position proximity logic". The input logic selected on Servo Amplifier A6B/A5B is reflected as is.  JOG operation setting Parameter name Default Description Select the acceleration/deceleration pattern when Acceleration/deceleration pattern...
  • Page 86 Settings of FP7 MC Unit Using CMI Tool  J-point operation setting Parameter name Default Description Select the acceleration/deceleration pattern when 0: Linear Operation setting code performing the J-point control acceleration/ UM 03281 bit1 0: Linear acceleration/deceleration deceleration 1: S-shaped acceleration/deceleration Set the acceleration time when performing the J-point Acceleration time (ms) control.

  • Page 87: Positioning Table Setting

    5.3 Positioning Table Setting 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 • Sheets are divided for each axis, and 1000 tables ranging no. 1 to no. 1000 can be set. •...
  • Page 88 Settings of FP7 MC Unit Using CMI Tool  Setting items (Common) Parameter name Default Description 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.
  • Page 89 5.3 Positioning Table Setting  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 (Major axis speed) A: Spiral (Center point / CW direction / 1st axis feed) B: Spiral (Center point / CCW direction / 1st axis feed) 0: Linear Interpolation...

  • Page 90: Operation Patterns And Tables

    Settings of FP7 MC Unit Using CMI Tool 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 (speed point control). •...

  • Page 91: Synchronous Parameter And Cam Pattern Settings

    5.4 Synchronous Parameter and Cam Pattern Settings 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. The synchronous parameter setting is made for slave axes.

  • Page 92: Cam Pattern Setting

    Settings of FP7 MC Unit Using CMI Tool 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 93: Confirmation Of Setting Contents

    5.5 Confirmation of Setting Contents 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.

  • Page 94: Comparison Of Parameter Information

    Settings of FP7 MC Unit Using CMI Tool 5.5.2 Comparison of Parameter Information The following items can be verified using CMI. • Verifying the data being edited with saved cmi files • Verifying the data being edited with the unit memory (RAM) data in FP7 MC Unit The following procedure is explained on the condition that CMI has already started.

  • Page 95: Transfer Of Parameters

    5.6 Transfer of Parameters 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 96 Settings of FP7 MC Unit Using CMI Tool 4. Press the [Yes] button to write data to the FROM in FP7 MC Unit, and press the [No] button not to perform the writing. When the processing is finished, the following message is displayed. 5.

  • Page 97: Data Transfer To Mc Unit And Test Operation

    Data Transfer to MC Unit and Test Operation...

  • Page 98: Before Turning On The Power

    Data Transfer to MC Unit and Test Operation 6.1 Before Turning On the Power System configuration example  Items to check before turning on the power Item Description Checking connections to Check to make sure the various devices have been connected as ①...

  • Page 99: Power-On And Power-Off Sequences

    6.2 Power-on and Power-off Sequences 6.2 Power-on and Power-off Sequences 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 100: 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 101: 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 102: 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 FP7 MC 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 103: Checking The Operation Of Near Home Input

    6.3 Checking While the Power is ON 6.3.4 Checking the Operation of Near Home Input 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 104: 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 105 6.4 Monitor Function of CMI  Monitoring item Item Description Revision Indicates the revision number of Servo Amplifier A6B/A5B. Station address Indicates the station address of Servo Amplifier A6B/A5B allocated to each axis. Indicates the connection status of each axis. Connection status Not connected / During stop / During operation / Warning occurs / Error occurs Indicates the servo ready status on the servo amplifier side.

  • Page 106: 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 107 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 108: 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 109 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 110: 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 1. Select "Online" > "Tool Operation" from the menu bar. The "Tool operation" dialog box is displayed. 2.
  • Page 111 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 112: 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 113 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 warning of FP7 MC Unit.

  • Page 114: 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 115 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 warning of FP7 MC Unit.

  • Page 116: 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 117 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 118 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 119: 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 120 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. 9.2 Settings When an axis has been set as slave axis, the master axis which this axis Synchronous for Master follows is displayed.
  • Page 121 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 warning of FP7 MC Unit.
  • Page 122 Data Transfer to MC Unit and Test Operation 6-26...

  • Page 123: Creation Of User Programs

    Creation of User Programs...

  • Page 124: 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 125 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 126: 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 127: 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 128: 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 129: 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 130: 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 power is turned on again, data is preset in the parameters saved in the FROM within FP7 MC Unit.

  • Page 131: Automatic Operation (Position Control)

    Automatic Operation (Position Control)

  • Page 132: 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 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 133 8.1 Basic Operation ●: Available, -: Not available Inter- Name Time chart Operation and application Repeat pola- tion  This refers to control which passes No speed change through a speed point “JOG ① Operation Point”, and is called "J- point control”.

  • Page 134: 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. 10000 pulses Table Ball screw (-) side (+) side  Settings Item Setting example Operation pattern E: End point Control method I: Increment...
  • Page 135 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 136: 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. 18000 pulses Table Ball screw (-) side (+) side  Settings Setting example Item Table 1 Table 2 Table 3 Operation pattern...
  • Page 137 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 138: 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 controls are performed by a single-axis control. 18000 pulses Table Ball screw (-) side (+) side  Settings Setting example Item Table 1 Table 2 Table 3 Operation pattern...
  • Page 139 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 140: 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 (without depending on a set movement amount).
  • Page 141 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 142: Interpolation Control

    Automatic Operation (Position Control) 8.2 Interpolation Control 8.2.1 Type of Interpolation Control (2-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 143 8.2 Interpolation Control 8-13...

  • Page 144: Setting And Operation Of 2-Axis Linear Interpolation

    Automatic Operation (Position Control) 8.2.2 Setting and Operation of 2-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 Remark...
  • Page 145 8.2 Interpolation 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 146: Setting And Operation Of 2-Axis Circular Interpolation

    Automatic Operation (Position Control) 8.2.3 Setting and Operation of 2-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 1st axis (X axis): 0 2nd axis (Y axis): 10000 1st axis (Ｘ...
  • Page 147 8.2 Interpolation 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 148: Type Of Interpolation Control (3-Axis Interpolation)

    Automatic Operation (Position Control) 8.2.4 Type of Interpolation Control (3-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 149 8.2 Interpolation Control REFERENCE • For details of the position control patterns, refer to "8.1.1 Patterns of Position Control". 3-axis linear interpolation 3-axis linear interpolation (Composite speed specification) (Long axis speed specification) 3rd axis 3rd axis (+) direction (+) direction (Z axis) (Z axis) The axis speed for...

  • Page 150: Setting And Operation Of 3-Axis Linear Interpolation

    Automatic Operation (Position Control) 8.2.5 Setting and Operation of 3-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 151 8.2 Interpolation 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 152: Setting And Operation Of 3-Axis Spiral Interpolation

    Automatic Operation (Position Control) 8.2.6 Setting and Operation of 3-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 153 8.2 Interpolation 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 154: Repeat Function

    Automatic Operation (Position Control) 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 155: Stop Operation During Repeat Operation

    8.3 Repeat Function  Setting area for positioning repeat count (Unit memories) Unit Axis memory Name Default Description no. (Hex) Axis 1 UM 009F0 Stores the number of times for repeating the operation starting from Axis 2 UM 009F1 the positioning control starting table number until the E-point. Value Operation Axis 64...

  • Page 156: Setting And Operation Of Repeat

    Automatic Operation (Position Control) 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...
  • Page 157 8.3 Repeat Function  Operation diagram f [pps] 20000 10000 5000 t [ms] Positioning start request BUSY flag Operation done flag Current value (Note): The above figure shows the case that the dwell time is 0.  Operation of input control/output control signals •...

  • Page 158: Target Speed Change Function

    Automatic Operation (Position Control) 8.4 Target Speed Change Function 8.4.1 Description of Functions The target speed change function is used to change the target speed on an active positioning table to an arbitrary speed. Even when the speed changes, the operation amount in the table does not change.

  • Page 159: Setting Procedures And Operations (Speed Direct Specification Method)8-29

    8.4 Target Speed Change Function 8.4.2 Setting Procedures and Operations (Speed Direct Specification Method)  Setting procedures and operations of speed direct specification method The target speed change function in the speed direct specification method is activated by the following procedure during a positioning operation. 1.
  • Page 160 Automatic Operation (Position Control)  Setting parameters of speed direct specification method The following parameters are used in the target speed change function of the speed direction specification method. Positioning operation change setting area Unit Axis no. memory Name Default Description no.
  • Page 161 8.4 Target Speed Change Function  Example of operation (1) Speed direct specification, Active table only Parameter Setting value Change mode selection 0000H (Active table only) 150,000 （pps） Change speed 150,000pps 100,000pps Speed change request turns on. Only the speed of the table 1 is changed to 150,000 pps. The speeds of the table 2 and 3 do not change.
  • Page 162 Automatic Operation (Position Control)  Example of operation (For repetitive operations) When the speed change (speed direct specification, active table only) is performed during the positioning repeat operation, only the speed of the active table in an active repeat period is changed.

  • Page 163: Setting Procedures And Operations (Ratio Specification Method)

    8.4 Target Speed Change Function 8.4.3 Setting Procedures and Operations (Ratio Specification Method)  Setting procedures and operations of ratio specification method (Override) When setting the ratio specification, the command speed is immediately reflected in the specified ratio once the "Ratio specification" in the unit memory is changed. 200,000pps 100,000pps 50,000pps...

  • Page 164: Sample Program (Target Speed Change)

    Automatic Operation (Position Control) 8.4.4 Sample Program (Target Speed Change) SR14 X100 BKMV.US S1:UM00086 S1:UM00089 WR106 1-16 49-64 1-16 1st scan Link Connection Connection Connection establishment confirmation confirmation confirmation BKMV.US S1:UM0008A S1:UM0008D WR110 1-16 49-64 1-16 Servo lock Servo lock Servo lock BKMV.US S1:UM00090...

  • Page 165: Movement Amount Change Function

    8.5 Movement Amount Change Function 8.5 Movement Amount Change Function 8.5.1 Description of Functions The movement amount change function is used to change the movement amount on an active positioning table to an arbitrary amount. Even when the movement amount is changed, the target speed is the same.

  • Page 166: Setting Procedures And Operations

    Automatic Operation (Position Control) 8.5.2 Setting Procedures and Operations  Setting procedures and operations of movement amount change function The movement amount change function is activated by the following procedure during a positioning operation. 1. "Change movement amount" in the unit memory is set. 2.
  • Page 167 8.5 Movement Amount Change Function  Example of operation (1) When reducing the movement amount (Change movement amount > Current movement amount) Parameter Setting value Control method Increment Positioning movement 10,000 pulses amount (Before change) Positioning movement 7,000 pulses amount (After change) 10,000 pulses 7,000 pulses Movement amount change request on...
  • Page 168 Automatic Operation (Position Control)  Example of operation (3) When a continuous table operation is performed (Increment) Parameter Setting value Control method Increment First table positioning movement amount 5,000 pulses (Before change) First table positioning movement amount 8,000 pulses (After change) 5,000 pulses 8,000 pulses Movement amount change request on...
  • Page 169 8.5 Movement Amount Change Function  Example of operation (For repetitive operations) When the movement amount change is performed during the positioning repeat operation, only the movement amount of the active table in an active repeat period is changed. Repeat: 1st time Repeat: 2nd time Repeat: 3rd time Repeat: 1st time...
  • Page 170 Automatic Operation (Position Control) 8.5.3 Sample Program SR14 X100 BKMV.US S1:UM00086 S1:UM00089 WR106 1-16 49-64 1-16 Connection Connection Connection Link 1st scan OFF confirmation confirmation confirmation establish- BKMV.US S1:UM0008A S1:UM0008D WR110 ment 1-16 49-64 1-16 Servo lock Servo lock Servo lock BKMV.US S1:UM00090 S1:UM00095...

  • Page 171: Dwell Time

    8.6 Dwell Time 8.6 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 172: Auxiliary Output Code And Auxiliary Output Contact

    Automatic Operation (Position Control) 8.7 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. •...
  • Page 173 8.7 Auxiliary Output Code and Auxiliary Output Contact  Auxiliary output code • The auxiliary output code (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 code.

  • Page 174: Sample Programs

    Automatic Operation (Position Control) 8.8 Sample Programs 8.8.1 Sample Programs (E-point, P-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 175 8.8 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 1-16 49-64 1-16 Servo lock Servo lock Servo lock BKMV.US S1:UM00090 S1:UM00095...

  • Page 176: Precautions On Programming

    Automatic Operation (Position Control) 8.8.2 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 177: Reconstruction Of Positioning Data By User Programs

    8.9 Reconstruction of Positioning Data by User Programs 8.9 Reconstruction of Positioning Data by User Programs 8.9.1 Reconstruction of Positioning Data • Positioning data (standard area [1,000 tables]) set by CMI is downloaded to the FROM of FP7 MC Unit. •...

  • Page 178: Procedure Of Rewriting Positioning Data

    Automatic Operation (Position Control) 8.9.2 Procedure of Rewriting Positioning Data 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 179 8.9 Reconstruction of Positioning Data by User Programs  Recalculation Recalculation is necessary after rewriting positioning data using user programs. The procedure of recalculation is as follows. When recalculation is not performed, the operation is executed with the positioning table before rewriting. 1.
  • Page 180 Automatic Operation (Position Control) The unit memories used for rewriting positioning data is as follows. Buffer control area for positioning data Unit memory Name Default Description no. (Hex) Write data to this area for sending/receiving data of buffers for positioning data. After the completion of the execution, it is rewritten to H0 by FP7 MC Unit.
  • Page 181 8.9 Reconstruction of Positioning Data by User Programs Positioning data setting area Unit memory Name Default Description no. (Hex) Set the position setting mode and acceleration/deceleration pattern for the positioning operation. Name Description 0: Increment mode Control method UM 06248 Control code 1: Absolute mode 0: Linear acceleration/deceleration...
  • Page 182 Automatic Operation (Position Control) Unit memory Name Default Description no. (Hex) 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 183 8.9 Reconstruction of Positioning Data by User Programs Unit memory Name Default Description no. (Hex) Auxiliary output Set arbitrary data as auxiliary output codes when using the UM 06255 code auxiliary output function. 8-53...

  • Page 184: Sample Program (Rewriting Positioning Tables)

    Automatic Operation (Position Control) 8.9.3 Sample Program (Rewriting 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 185 8.9 Reconstruction of 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 （ ）...

  • Page 186: Use Of Extended Positioning Table

    Automatic Operation (Position Control) 8.10 Use of Extended Positioning Table 8.10.1 Use of Extended Positioning Table There are a standard area and an expansion area in the positioning data setting area, and they have the following characteristics. Use them in accordance with the intended use. Item Standard area Extended area...
  • Page 187 8.10 Use of Extended Positioning Table The unit memories used for the extended tables are as follows. Buffer control area for positioning data Unit Buffer memory Name Default Description no. (Hex) Buffer 1 UM 06246 Set whether to use the extended positioning table or not. Name Description Buffer 2...
  • Page 188 Automatic Operation (Position Control) Positioning data setting area Offset Name Setting range and description address Set the position setting mode and acceleration/deceleration pattern for the positioning operation. Name Description 0: Increment mode 000H Control code Control method 1: Absolute mode Acceleration/deceleration 0: Linear acceleration/deceleration method...
  • Page 189 8.10 Use of Extended Positioning Table Offset Name Description address For a single axis operation, it is the target speed of the corresponding axis. For an 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 190 Automatic Operation (Position Control) Offset Name Description address After the completion of the positioning operation of this table; when the mode is C: Continuance point, the motor stops for the dwell time and the next operation is started. When the mode is P: Pass point, it is ignored. When the mode is E: End point, the positioning done contact turns on after 00CH Dwell time...

  • Page 191: Sample Program (Extended Table)

    8.10 Use of Extended Positioning Table 8.10.2 Sample Program (Extended Table) SR14 X100 BKMV.US S1:UM00086 S1:UM00089 WR106 1-16 49-64 1-16 Connection Connection Connection 1st scan OFF Link confirmation confirmation confirmation establish- BKMV.US S1:UM0008A S1:UM0008D WR110 ment 1-16 Servo lock 49-64 Servo 1-16 Servo lock lock BKMV.US...
  • Page 192 Automatic Operation (Position Control) R141 （ ） MV.US U10001 DT110 Axis 1 Position control Axis 1 Position starting table no. control start MV.US DT110 S1:UM00990 Axis 1 Position Axis 1 Position control starting control starting table no. table no. R110 R1160 R4180 R141 （...

  • Page 193: Automatic Operation (Synchronous Control)

    Automatic Operation (Synchronous Control)

  • Page 194: 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 195 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. Make master axis settings for each operating axis. Master axis Master axis operation settings...

  • Page 196: 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 197: Selection Of Slave Axes And Settings

    • Movement per revolution 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. 64 axes...

  • Page 198: 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 199: Start And Cancel Of Synchronous Control

    9.3 Start and Cancel of 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 200 Automatic Operation (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 is performed on the master axis.

  • Page 201: Precautions When Canceling Or Starting Synchronous Control

    9.3 Start and Cancel of 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 202 Automatic Operation (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" by "cam control synchronous master axis cycle" is used as a phase.
  • Page 203 9.3 Start and Cancel of Synchronous Control  Procedures of canceling and starting synchronous control The following shows the procedures when selecting "Level" for the clutch ON edge selection, "Slip" for the clutch ON method and clutch OFF method. Section Procedure Operation by user programs and unit operation ①...
  • Page 204 Automatic Operation (Synchronous Control)  I/O allocation Signal name Real axis Virtual axis Axes Axes Axes Axes Axes Axes 1-16 17-32 33-48 49-64 1-16 17-32 Synchronous cancel UM001DA UM001DB UM001DC UM001DD request Synchronous cancel UM000CC UM000CD UM000CE UM000CF active annunciation Slave axis BUSY UM00090 UM00091...
  • Page 205 9.3 Start and Cancel of Synchronous Control When the slave axis clutch ON request is off when the synchronous control start processing is executed Synchronous Under control synchronous canceled control Slip time Slip time Master axis output speed ② Slave axis output speed Slave axis clutch ON request ①...

  • Page 206: 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 207: 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 208: 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 209 9.4 Electronic Gear Function  Gear ratio change request signal Real axis Signal name Axes 1-16 Axes 17-32 Axes 33-48 Axes 49-64 Slave axis gear ratio change request UM001E0 UM001E1 UM001E2 UM001E3 Slave axis gear ratio change UM000D2 UM000D3 UM000D4 UM000D5 annunciation (Note 1): Flags or request signals for 16 axes are allocated to each unit memory (1 word).

  • Page 210: 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 211: Types And Contents Of Setting Parameters

    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 Trigger type Set an I/O clutch ON request as a trigger to be detected.
  • Page 212 Automatic Operation (Synchronous Control) KEY POINTS • The electronic clutch is always engaged when setting the electronic clutch setting to "Not use", and output data from the electronic gear is input as it is into the electronic cam. At that time, the master axis always operates in synchronization with the slave axes.

  • Page 213: Trigger Types For Electronic Clutch

    9.5 Electronic Clutch Function 9.5.3 Trigger Types for Electronic Clutch The connection (ON)/disconnection (OFF) of the electronic clutch is performed by controlling the ON request or OFF request in the output control area of the unit memories using user programs. The following methods are available for performing the connection (ON)/disconnection (OFF) of the electronic clutch.
  • Page 214 Automatic Operation (Synchronous Control)  Clutch request signal Real axis Signal name Axes 1-16 Axes 17-32 Axes 33-48 Axes 49-64 Slave axis clutch ON request UM001E6 UM001E7 UM001E8 UM001E9 Slave axis clutch OFF request UM001EC UM001ED UM001EE UM001EF Slave axis clutch operation annunciation UM000D8 UM000D9 UM000DA...

  • Page 215: Connection Method Of Electronic Clutch

    9.5 Electronic Clutch Function 9.5.4 Connection Method of Electronic Clutch The electronic clutch function connects the clutch to start operating the slave axes and disconnects the clutch to stop operating the slave axes, the acceleration or deceleration of the slave axes can be set as shown below. ...
  • Page 216 Automatic Operation (Synchronous Control)  Slip method This method detects the connection (ON) or disconnection (OFF) of the clutch and set the slip time to acceleration time and deceleration time so that the operating speed of the slave axes to follow the operation speed of the master axis. The acceleration/deceleration method when the clutch is connected (ON) or disconnected (OFF) is the linear acceleration/deceleration.

  • Page 217: Phase Specification Clutch Off Function

    9.5 Electronic Clutch Function 9.5.5 Phase Specification Clutch OFF Function  What is phase specification clutch OFF function? • The "phase specification clutch OFF function" is a function for disconnecting an electronic clutch (OFF) at an arbitrarily specified phase. For stopping or starting at the same phase repeatedly, the control without variance can be performed.
  • Page 218 Automatic Operation (Synchronous Control)  Clutch OFF method (Slip) When setting "Slip" for the clutch OFF method, the deceleration stop is performed after a specified slip time from the time that the phase reaches the clutch off setting ratio. To stop the motors at the phase of a set ratio, set the clutch OFF method to "Direct".

  • Page 219: Electronic Cam Function

    9.6 Electronic Cam Function 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 220 Automatic Operation (Synchronous Control)  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 221 9.6 Electronic Cam Function 9.6.2 Types and Contents of Setting Parameters For using the electronic cam, set the following parameters in the "Synchronous parameter settings" menu. Parameter name Default Description Select the operation of the electronic cam. When selecting “Not use”, the Electronic cam setting - electronic cam function does not operate and the output from the Not use...

  • Page 222: Cam Pattern Setting Method

     Resolution setting Press the [Resolution] button on the Cam Pattern screen. The Resolution Settings screen will be displayed. Select the desired resolution and press the [OK] button. Cam setting range Resolution AFP7MC16EC AFP7MC32EC AFP7MC64EC 1024, 2048, 4096, 8192 1 to 64...
  • Page 223 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 224 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 225 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 •...
  • Page 226 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 227 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 228 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 229: Editing Cam Patterns By User Programs

    9.6 Electronic Cam Function 9.6.4 Editing Cam Patterns by User Programs Cam patters of data in the cam pattern setting area used for electronic cams can be edited by using the cam pattern editing area with user programs. This function is available since FP7 MC Unit Ver.1.2.
  • Page 230 Automatic Operation (Synchronous Control) The parameters used for the cam pattern editing with user programs are as follows. Unit Axis memory Name Default Unit Setting range and description no. (Hex) When reading: Set a cam pattern number to be read out. When rewriting: Set a cam pattern number to be written.
  • Page 231 9.6 Electronic Cam Function Unit Axis memory Name Default Unit Setting range and description no. (Hex) When reading, the start phase in the section 1 of the read cam pattern table is stored. The read value is always 0. When rewriting, the start phase in the section 1 of the rewritten cam pattern table is set.
  • Page 232 Automatic Operation (Synchronous Control) Unit Axis memory Name Default Unit Setting range and description no. (Hex) Reserved for UM 66F47 system Start phase of UM 66F48 0.01% section 2 Displacement UM 66F49 0.01% of section 2 Cam curve of UM 66F4A section 2 Reserved for UM 66F4B...
  • Page 233 9.6 Electronic Cam Function Unit Axis memory Name Default Unit Setting range and description no. (Hex) Start phase of UM 66F58 0.01% section 6 Displacement UM 66F59 0.01% of section 6 Cam curve of UM 66F5A section 6 Reserved for UM 66F5B system Start phase of...
  • Page 234 Automatic Operation (Synchronous Control) Unit Axis memory Name Default Unit Setting range and description no. (Hex) Start phase of UM 66F68 0.01% section 10 Displacement UM 66F69 0.01% of section 10 Cam curve of UM 66F6A section 10 Reserved for UM 66F6B system Start phase of...
  • Page 235 9.6 Electronic Cam Function Unit Axis memory Name Default Unit Setting range and description no. (Hex) Start phase of UM 66F78 0.01% section 14 Displacement UM 66F79 0.01% of section 14 Cam curve of UM 66F7A section 14 Reserved for UM 66F7B system Start phase of...
  • Page 236 Automatic Operation (Synchronous Control) Unit Axis memory Name Default Unit Setting range and description no. (Hex) Start phase of UM 66F88 0.01% section 18 Displacement UM 66F89 0.01% of section 18 Cam curve of UM 66F8A section 18 Reserved for UM 66F8B system Start phase of...
  • Page 237 9.6 Electronic Cam Function  Execution conditions of editing cam patterns The editing of cam patterns by programs can be executed when the following three conditions are met. • The synchronous operation is canceled for all axes. (The synchronous control cancel active annunciation flags of all axes are on.) •...
  • Page 238 Automatic Operation (Synchronous Control) The cam pattern reading results are as follows. Unit Axis memory Name Default Unit Setting range and description no. (Hex) - The result of reading processing (response code) is stored. Code Name Description Countermeasures Normal end Cam pattern The cam Check the set value...
  • Page 239 9.6 Electronic Cam Function  Rewriting cam patterns The procedure of rewriting cam pattern data in the cam pattern setting area is as follows. ① Write the setting of the cam pattern you want to rewrite into the cam pattern editing area. ②...
  • Page 240 Automatic Operation (Synchronous Control) The cam pattern rewriting results are as follows. Unit Axis memory Name Default Unit Setting range and description no. (Hex) The result of rewriting processing (response code) is stored. Code Name Description Countermeasures 0000H Normal end FF01H Cam pattern Setup error...
  • Page 241 9.6 Electronic Cam Function  Sample program • The following program shows the case that the phase, displacement, and the type of curve are changed in the section 2 of the cam table number 2. • The program is executed through five steps of (a) to (e). •...
  • Page 242 Automatic Operation (Synchronous Control) Code Specified content Description ⓐ Canceling the synchronous control for The cancellation of synchronous control for all axes is performed. all axes. Confirming the condition for execution It is confirmed that all axes are not in the synchronous control and ⓑ...
  • Page 243 9.6 Electronic Cam Function  Precautions for editing cam patterns by program • Even if cam pattern data is rewritten by this function, the cam pattern data stored as Flash ROM data in FP7 MC Unit will not be updated. •...
  • Page 244 Automatic Operation (Synchronous Control)  Precautions when using phase shift amount • Specify the values when the phase shift amount is 0(%) for the parameter values of cam pattern (starting phase, displacement and cam curve). • The starting phase of the section number 1 is 0(%). When any values other than 0(%), an error will occur.

  • Page 245: Advance Angle Correction Function

    9.6 Electronic Cam Function 9.6.5 Advance Angle Correction Function  What is advance angle correction function? "Advance angle correction function" is a function to correct the delay in the response of a machine system connected to an electronic cam output or the delay in a PLC arithmetic processing time.
  • Page 246 Automatic Operation (Synchronous Control)  Setting with tool software Set in the synchronous control setting dialog box. Parameter name Overview Advance angle correction operation Select the use or non-use of the advance angle correction function. setting When using the advance angle correction function, set the correction reference amount Advance angle used by FP7 MC Unit for calculating the advance angle correction amount.
  • Page 247 9.6 Electronic Cam Function  Changing the advance angle correction amount during operation The advance angle correction amount can be changed during the operation. In that case, the change processing starts by changing the set values of "advance angle correction reference speed" and "advance angle correction reference amount", and the speed change is complete in "advance angle correction parameter change time".
  • Page 248 Automatic Operation (Synchronous Control) Advance angle correction reference amount/ Advance angle correction reference speed 100/100 200/100 50/100 Advance angle correction parameter change time Advance angle correction Advance angle correction parameter change time (1ms) parameter change time (100ms) Advance angle correction amount •...
  • Page 249 9.6 Electronic Cam Function  When changing them during operation, the timing that the unit acquires the changed "advance angle correction reference speed" and "advance angle correction reference amount" may deviates. It is possible to set whether to "use" or "not use" the advance angle correction function by the synchronous parameter "synchronous output function selection".
  • Page 250 Automatic Operation (Synchronous Control)  Precautions for settings • Overshoot or undershoot may occur according to settings when sufficient acceleration/deceleration time is not set for the start or stop of master axis while the advance angle correction function is used, or when an input speed is rapidly accelerated or decelerated by the direct connection or disconnection of a clutch while the master axis is operated.

  • Page 251: Manual Operation (Jog Operation)

    Manual Operation (JOG Operation)

  • Page 252: Settings And Operations Of Jog Operation

    Manual Operation (JOG Operation) 10.1 Settings and Operations of JOG Operation 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 253 10.1 Settings and Operations of 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 254: 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 255 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 256 Manual Operation (JOG Operation) (Note 2): Flags or request signals for 16 axes are allocated to each unit memory (1 word). When the value of each bit is 1, it turns on. When the value of each bit is 0, it turns off. bit no.
  • Page 257 10.2 Changing Speed During JOG Operation MEMO 10-7...

  • Page 258: 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 259 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 UM001A9) turns on, the JOG inching operation will be performed.

  • Page 260: Sample Programs

    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 261 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 1-16 Servo lock 1-16 Servo lock 49-64 Servo lock BKMV.US S1:UM00090...

  • Page 262: Precautions On Programming

    Manual Operation (JOG Operation) 10.4.2 Precautions on Programming  Precautions on programming • If any value such as an inching movement, 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 263: Manual Operation (Home Return)

    Manual Operation (Home Return)

  • Page 264: Types Of Home Return

    Manual Operation (Home Return) 11.1 Types of Home Return The home return is a function to move a position to the origin of a reference position and set the coordinate to zero. The following ten home return methods are available for FP7 MC Unit. Reverse Forward （CCW）...
  • Page 265 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 266 Manual Operation (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 267 11.1 Types of 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 268 Manual Operation (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 269 11.1 Types of 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 270 Manual Operation (Home Return)  Phase Z method The home position is searched at a home return creep speed from the current position to the home return direction, and the operation stops at the leading edge of the first home position (Z phase).
  • Page 271 11.1 Types of Home Return REFERENCE • For details of the connections of over limit switches and near home switches, refer to "4.5 Connection of Limit and Near Home Switches". 11-9...

  • Page 272: 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 (HOME). Select "DOG method 1".
  • Page 273 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 274: Sample Programs

    Manual Operation (Home Return) 11.3 Sample Programs 11.3.1 Sample Program (Home Return) The operation for starting the home return operation is mainly divided into five steps on a user program. • Read flags stored in the unit memories (input control area). •...
  • Page 275 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 1-16 49-64 1-16 Servo lock Servo lock Servo lock BKMV.US S1:UM00090 S1:UM00095...

  • Page 276: Precautions On Programming

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

  • Page 277: Stop Functions

    Stop Functions...

  • Page 278: Type Of Stop Functions

    Stop Functions 12.1 Type of Stop Functions 12.1.1 Type of Stop Functions • 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 279 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 stop and the operation of corresponding Deceleration axes will stop.

  • Page 280: 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 281 12.1 Type of Stop Functions KEY POINTS • The deceleration stop cannot be executed when using the pause function. Use the emergency stop function to execute the stop operation when using the pause function. • The pause function is available only when performing the automatic operation (positioning control).

  • Page 282: Stop Operation During Interpolation Control

    Stop Functions 12.1.3 Stop Operation During Interpolation Control • For executing the emergency stop, deceleration stop, or pause, turn on a request corresponding to the smallest axis number in an interpolation group. • In the case of limit stop, software limit stop or error stop, the stop operation will start once a corresponding condition is established on one of axes in an interpolation group.

  • Page 283: 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 284: 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" > "Stop function setting" > "Axis parameter settings" of CMI. Item Default Description Emergency stop 100 ms Set the deceleration time at the time of emergency stop.

  • Page 285: 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 turning on an output signal (Y0) in the I/O area. The stop requests for the emergency stop, deceleration stop and pause are performed by turning on the bits allocated to the unit memories (UM) area.
  • Page 286 Stop Functions 12-10...

  • Page 287: Supplementary Functions

    Supplementary Functions...

  • Page 288: Software Limit

    Supplementary Functions 13.1 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 289: Current Value Update

    13.2 Current Value Update 13.2 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 290 Supplementary Functions  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 0, the current value coordinate controlled by FP7 MC Unit are UM 00590 1-16 changed to the current value update coordinate.

  • Page 291: Home Coordinates

    13.3 Home Coordinates 13.3 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 settings" dialog box of CMI or user programs.
  • Page 292 Supplementary Functions  Home coordinates area (Unit memories) Unit Axis memory Name Default Description no. (Hex) UM 0328E Axis 1 Set the home coordinates to be set after the completion of the - UM 0328F home return. Range: -2,147,483,648 to 2,147,483,647 UM 0330E The ranges vary depending on the unit settings as below.

  • Page 293: Movement Amount Automatic Check

    13.4 Movement Amount Automatic Check 13.4 Movement Amount Automatic Check The movement amount automatic check function is used to check if axes are operating in conformity to command values. The check function is used to generate an error or warning on the FP7 MC Unit side when the difference (deviation) between the command value and the current value after unit conversion controlled in FP7 MC Unit exceeds a set movement check value.
  • Page 294 Supplementary Functions  Operation of movement amount automatic check function The movement amount automatic check function is activated by the following procedure during all operations. ① Stores command values for AMP in FP7 MC Unit simultaneously when starting an operation for each communication period.

  • Page 295: Completion Width

    13.5 Completion Width 13.5 Completion Width It is used to set the timing to turn on the operation done flag allocated to the I/O of FP7 MC Unit. • The operation done flag turns on when the AMP current value (UM02654 to UM02655) is in the range of the +/- completion width (pulse) of the target command position after the completion of the pulse command output.

  • Page 296: Monitor Value Judgement

    Supplementary Functions 13.6 Monitor Value Judgement This is a function to monitor the actual speed/torque of AMP and generate an error or warning on the FP7 MC Unit side when it exceeds a set judgement value. When an error occurs, the operation will stop in the "error stop deceleration time, and a next operation cannot be executed until the error is cleared.

  • Page 297: Torque Judgement

    13.6 Monitor Value Judgement 13.6.1 Torque Judgement This is a function to generate an error or warning when a torque value exceeds the torque judgement value (UM0325D) when the monitor value error setting (UM0325C) is set to "H1 (Error annunciation)" or "H3 (Warning annunciation)". The torque monitor values can be confirmed in the following unit memory area.
  • Page 298 Supplementary Functions  Errors and Warnings [Monitor value error setting (UM0325C): 0x1 (Error annunciation)] Axis operation error [From 00F0 3000H] ●: Recoverable, -: Unrecoverable Error Error name Description Object Recovered Countermeasures code - Design the system within the range that the torque of the Torque The torque value exceeds the motor does not exceed the...

  • Page 299: Actual Speed Judgement

    13.6 Monitor Value Judgement 13.6.2 Actual Speed Judgement This is a function to generate an error or warning when the actual speed exceeds the actual speed judgement value (UM0325E to UM0325F) when the monitor value error setting (UM0325C) is set to "0x4 (Error annunciation)" or "0xC (Warning annunciation)". The actual speed can be confirmed in the following unit memory area.
  • Page 300 Supplementary Functions  When "Extend monitor value" in the system operation setting area is set to 2words Unit Axis memory Name Default Unit Description no. (Hex) UM 00770 The actual speed monitor value is stored. Axis 1 -UM 00771 bit. Name Description UM 00772...
  • Page 301 13.6 Monitor Value Judgement  Errors and Warnings [Monitor value error setting (UM0325C): 0x4 (Error annunciation)] Axis operation error [From 00F0 3000H] Error Error Description Object Recovered Countermeasures code name Design the system within the The actual speed range that the actual speed of the Actual speed exceeds the motor does not exceed the...

  • Page 302: Torque Limit

    Supplementary Functions 13.7 Torque Limit FP7 MC Unit supports a function (torque limit) to change the maximum torque for the AMP in real time. The torque limit can be arbitrarily changed when this unit is operating. However, the torque limit cannot be changed in the home return operation. The specified torque limit value is used as the maximum torque during the torque limit operation.

  • Page 303: Restrictions On Torque Limit

    13.7 Torque Limit For confirming the current torque monitor value of AMP, data is stored in the following unit memory area. Unit Axis memory Name Default Unit Setting range and description no. (Hex) Axis 1 UM 0264C Axis 2 UM 0266C Stores the torque monitor values.

  • Page 304: 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 ①...

  • Page 305: 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 Clock" tab The communication cycle of synchronous unit is "EtherCAT communication cycle".

  • Page 306: Overview Of Pdo Mapping

    Supplementary Functions 13.8.3 Overview of PDO Mapping PDO (process data object) is data updated for each communication cycle via EtherCAT. "PDO Mapping" can be confirmed in the device editor of CMI "EtherCAT Configurator".  PDO Mapping4 13-20...
  • Page 307 13.8 EtherCAT Communication Setting  PDO mapping tab Item Description The map of (input) data that is sent by Servo Amplifier A6B/A5B and received by FP7 MC Unit is displayed. Select The Inputs Transmit PDO mapping 1 to Transmit PDO mapping 4 are displayed. By default, Transmit PDO mapping 4 is selected.

  • Page 308: Change Of Pdo Mapping

    Supplementary Functions 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 309 13.8 EtherCAT Communication Setting 4. Select "Receive PDO mapping 4" from the "Select The Outputs" box, and press the "Edit" button. The "Edit PDO" dialog box is displayed. 5. Press the [Add] button. The "Add PDO" dialog box is displayed. 6.
  • Page 310 Supplementary Functions 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 311: Sdo/Pdo Communication

    13.9 SDO/PDO Communication 13.9 SDO/PDO Communication 13.9.1 SDO Communication FP7 MC Unit can perform SDO communication and PDO communication using CoE (CANopen over EtherCAT) protocol as a communication method with slave devices. SDO (Service Data Object) communication is a function to perform data communication with slave devices by user programs.
  • Page 312 Supplementary Functions  Unit memories (SDO communication area) ●: Available, -: Not available Unit Axis memory Name Default Unit Setting range and description no. (Hex) Station addresses of slave devices for SDO communication are set. Range: 1 to 192 When performing SDO communication with ...
  • Page 313 13.9 SDO/PDO Communication ●: Available, -: Not available Unit Axis memory Name Default Unit Setting range and description no. (Hex) When setting the data type to H9 (STRING) and performing SDO communication, the data unit (number of bytes) of CoE object data is set. bit.
  • Page 314 Supplementary Functions Error code Name Description 0000 0000H Normal end 0000 0001H Station address setting value error 0000 0002H Sub index number setting value error 0000 0003H Data type setting value error 0000 0005H Command code setting value error 0000 0006H Timeout value setting value error 0000 0007H...
  • Page 315 13.9 SDO/PDO Communication ●: Available, -: No Unit Axis memory Name Default Unit Setting range and description no. (Hex)   UM 7C4C0 0000H When reading: Data read from slave devices   UM 7C4C1 0000H and executed is stored. When writing: Data written to slave devices ...
  • Page 316 Supplementary Functions ●: Available, -: Not available Unit Axis memory Name Default Unit Setting range and description no. (Hex)   ： 0000H When reading: Data read from slave devices   ： 0000H and executed is stored. When writing: Data written to slave devices ...
  • Page 317 13.9 SDO/PDO Communication  SDO communication Read (receive) method The following flowchart shows the flow of the operation required in a user program for the SDO communication reading process. START Set Station Address. Station Address setting [UM 7C4B0] Set Index. Main - Index setting [UM 7C4B1] Sub - Index setting [UM 7C4B2] communication...
  • Page 318 Supplementary Functions Example) When performing the reading process for Index: 0x1018 Sub-Index: 0x01 Data type: U32 [Value: 0x0000066F] Read request Station Address 0x 1 (UM7C4B0) Main - Index 0x 1018 (UM7C4B1) Sub - Index 0x 01 (UM7C4B2) Data Type 0x 7 (UM7C4B3) Bit length (UM7C4B4)
  • Page 319 13.9 SDO/PDO Communication  Sample program (SDO communication: Read) R100 X100 （ ） MV.US DT100 Link Station Address Read request establishment MV.US H1018 DT101 Main-Index MV.US DT102 Sub-Index MV.US DT103 SDO communication Data type MV.US DT104 SDO communication Bit length R100 X100 （...
  • Page 320 Supplementary Functions  SDO communication Write (send) method The following flowchart shows the flow of the operation required in a user program for the SDO communication writing process. START Set Station Address. Station Address setting [UM 7C4B0] Set Index. Main - Index setting [UM 7C4B1] Sub - Index setting [UM 7C4B2] communication settings...
  • Page 321 13.9 SDO/PDO Communication Example) When performing the writing process for Index: 0x3214 Sub-Index: 0x00 Data type:I16 [Value:200] Write request Station Address 0x 1 (UM7C4B0) Main - Index 0x 3214 (UM7C4B1) Sub - Index 0x 00 (UM7C4B2) Data Type 0x 3 (UM7C4B3) Bit length (UM7C4B4)
  • Page 322 Supplementary Functions  Sample program (SDO communication: Write) R101 X100 （ ） MV.US DT100 Link Station Address Write request establishment MV.US H3214 DT101 Main-Index MV.US DT102 Sub-Index MV.US DT103 SDO communication Data type X100 R101 （ ） BKMV.US DT100 DT103 S1:UM7C4B0 Link Station Address...

  • Page 323: Pdo Communication

    13.9 SDO/PDO Communication 13.9.2 PDO Communication • FP7 MC Unit can perform SDO communication and PDO communication using CoE (CANopen over EtherCAT) protocol as a communication method with slave devices. • PDO (Process Data Object) communication is a function to perform the communication between a master (FP7 MC Unit) and slave devices for each EtherCAT communication cycle.
  • Page 324 Supplementary Functions  Precautions on programming • PDO communication can be used only when ESM is "SafeOP" or "OP". In addition, when it is "SafeOP", only "Slave->Master (TxPDO communication)" can be used. • PDO communication cannot be used in the diagnosis mode. 13-38...

  • Page 325: Esi Manager

    13.10 ESI Manager 13.10 ESI Manager ESI files of slaves connected to FP7 MC Unit need to be registered by the ESI manager in the EtherCAT communication menu "EtherCAT Configurator" of CMI. The following procedure is explained on the condition that CMI has already started. PROCEDURE 1.

  • Page 326: Connection With Slave Sl-Vgu1-Ec

    Supplementary Functions 13.11 Connection with Slave SL-VGU1-EC 13.11.1 Registration of Slaves 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.

  • Page 327: Confirmation Of Unit Memory Numbers

    13.11 Connection with Slave SL-VGU1-EC 13.11.2 Confirmation of Unit Memory Numbers Unit memory numbers for accessing SL-VGU1-EC from FP7 MC Unit can be confirmed in the "Variables" tab on the "Device Editor" window. They can be updated periodically by PDO communication and can be read via unit memories by user programs.

  • Page 328: Connection With Slave Encoder Input Device

    Supplementary Functions 13.12 Connection with Slave Encoder Input Device 13.12.1 Operation of Encoder Input Device • The encoder input device operates as a ring counter. • The count range of a usable encoder input device is unsigned 32 bits (0 to 4,294,967,295 [H FFFF FFFF]).

  • Page 329: Configuration

    13.12 Connection with Slave Encoder Input Device 13.12.2 Configuration For connecting an encoder input device to the network, it should be allocated to use axes in CMI. PROCEDURE 1. Register the number of counters of the encoder input device in the axis change setting.
  • Page 330 Supplementary Functions 3. Set the number of counters of the encoder input device. The number of counters of the slave device 4. Set to monitor the number of counters of the encoder input device by "AMP current value" in "Each axis information & monitor area" of FP7 MC Unit. Click "Used parameter setting".

  • Page 331: Monitor Operation

    13.12 Connection with Slave Encoder Input Device 5. The "Used parameter setting" window is displayed. Set an index number for the CoE object of the target slave device in "Position actual value (actual position information area of motor)". Set an index number for each counter by switching the axis number.

  • Page 332: Ec Packet Monitor Function

    Supplementary Functions 13.13 EC Packet Monitor Function 13.13.1 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 A6B/A5B) as files. Packet data can be confirmed using commercial analyzer software.

  • Page 333: Handling Of Sd Memory Card

    13.13 EC Packet Monitor Function 13.13.3 Handling of SD Memory Card  Usable SD memory cards Use of Panasonic industrial SD memory cards (SLC type) is recommended. https://panasonic.net/cns/sdcard/industrial_sd/index.html (Note) An operation check has not been conducted for SD memory cards made by other manufacturers.

  • Page 334: How To Set

    Supplementary Functions 13.13.4 How to Set For using the packet monitor function, the settings related to the EC packet monitor are configured in CMI.  MC common settings dialog box Item Default Description Set the operation of packet monitor request flag of EC (EtherCAT) communication.

  • Page 335: How To Execute

    13.13 EC Packet Monitor Function 13.13.5 How to Execute The packet monitor is executed in the following procedure. Procedure ① Insert the SD memory card into FP7 MC Unit. ② Confirm that the EC packet monitor is set with CMI. ③...
  • Page 336 Supplementary Functions 13-50...

  • Page 337: Cmtimechart Monitor

    CMTimeChart Monitor...
  • Page 338 CMTimeChart Monitor 14.1 Overview of Function 14-2...

  • Page 339: Overview Of Function

    14.1 Overview of Function  Function of CMTimeChart • This is a function to display data logged in the memory of FP7 MC Unit as time chart by reading it. • Up to 256 monitored devices can be registered. Also, up to 16 trigger conditions can be set as triggers to start logging data.

  • Page 340: Registration Of Devices

    CMTimeChart Monitor 14.2 Registration of Devices Devices on which logging is performed are registered in the device list of "CMTimeChart". The following procedure is explained on the condition that "CMTimeChart" has already started on CMI. PROCEDURE 1. Select "Set" > "Register Device" from the menu bar. Or double-click an arbitrary line in the device list window.
  • Page 341 14.2 Registration of Devices  Setting items (When Object is MC Unit) Item Description Trigger no. Select a trigger number corresponding to the monitored device. Range: 1 to 16 Object MC Unit Select one from eleven classification items of unit memory configuration. All / Input control area / Output control area / Each axis information &...

  • Page 342: Trigger Condition Setting

    CMTimeChart Monitor 14.3 Trigger Condition Setting 14.3.1 Setting Procedure of Trigger Conditions Trigger conditions are registered in the trigger condition setting of CMTimeChart. The following procedure is explained on the condition that "CMTimeChart" has already started on CMI. PROCEDURE 1. Select "View" > "Trigger condition setting” from the menu bar. Or click Trigger window The Trigger condition setting dialog box is displayed.
  • Page 343 14.3 Trigger Condition Setting 3. Press either [Set] button of Trigger A or B according to the trigger condition. The "Trigger Setting" dialog box is displayed. 4. Select trigger setting conditions, and press the [OK] button. The detailed information of trigger conditions is displayed. 14-7...

  • Page 344: Trigger Condition Setting (Sampling)

    CMTimeChart Monitor 14.3.2 Trigger Condition Setting (Sampling) The sampling conditions in the Trigger condition setting dialog box are set as follows.  Setting item Item Description The set EtherCAT communication cycle is displayed. Although the communication cycle specified in "MC common settings" is in [µs] unit, Communication cycle the communication cycle is displayed in [ms] unit according to the time scale display.

  • Page 345: Trigger Condition Setting (Trigger Mode/Trigger Position)

    14.3 Trigger Condition Setting 14.3.3 Trigger Condition Setting (Trigger Mode/Trigger Position) "Trigger mode" and "Trigger position" in the Trigger condition setting dialog box are set as follows.  Setting item Item Description Specifying the timing to log data. Select Description After the start request, the logging is executed only at the time of Single the first trigger detection.

  • Page 346: Trigger Condition Setting (Trigger Condition)

    CMTimeChart Monitor 14.3.4 Trigger Condition Setting (Trigger Condition) "Trigger condition", "Trigger A" and "Trigger B" in the Trigger condition setting dialog box are set as follows.  Setting item Item Description Select a condition for the corresponding trigger number. It will be valid when the condition specified for Trigger A is met. It will be valid when the condition specified for Trigger B is met.
  • Page 347 14.3 Trigger Condition Setting  "Trigger Setting" dialog box ① ② ③ ④ Item Description ① Setting object The trigger for the setting is displayed. Select comparison conditions to enable the trigger. It will be valid when the leading edge (off to on) of the "condition set for ↑...

  • Page 348: Download To Setting Data To The Unit

    CMTimeChart Monitor 14.4 Download to Setting Data to the Unit The device registration and trigger conditions made by "CMITimeChart" must be downloaded to FP7 MC Unit. The following procedure is explained on the condition that "CMTimeChart" has already started on CMI. PROCEDURE 1.

  • Page 349: Start And Stop Of Logging Operation

    14.5 Start and Stop of Logging Operation 14.5 Start and Stop of Logging Operation 14.5.1 Procedures of Start and Stop by "CMTimeChart" The logging operation of FP7 MC Unit can be operated on "CMTimeChart". The following procedure is explained on the condition that "CMTimeChart" has already started on CMI. PROCEDURE 1.
  • Page 350 CMTimeChart Monitor 4. Confirm if the presence/absence of logging data flag is on. 5. Select "Online" > "Stop Logging" from the menu bar. A confirmation message appears. 6. Press the [OK] button. The logging operation stops and a confirmation message are displayed. 7.

  • Page 351: Start/Stop By User Programs

    14.5 Start and Stop of Logging Operation 14.5.2 Start/Stop by User Programs The logging operation of FP7 MC Unit can be operated by user programs. The operation by user programs is performed by I/O and unit memories. PROCEDURE 1. Confirm if the trigger conditions of a corresponding trigger number has been registered in the unit by "Announce Trigger Registration (UM02630)"...
  • Page 352 CMTimeChart Monitor  Unit memories (Time chart function operation setting/annunciation area) ●: Available, -: Not available Unit Axis memory Name Default Description no. (Hex) When a trigger condition has been registered in FP7 MC Unit, the bit corresponding to the trigger number Announce trigger turns on.

  • Page 353: Logging Operation Diagram

    14.5 Start and Stop of Logging Operation 14.5.3 Logging Operation Diagram The timing of sampling data by the logging operation of FP7 MC Unit varies according to the "Trigger mode" (Single / Normal / Auto) set in "CMTimeChart".  When Trigger mode is "Single" After the logging operation is executed, the data at the point of time when the first trigger condition is met will be logged and stored as data.
  • Page 354 CMTimeChart Monitor  When Trigger mode is "Normal" After the logging operation is executed, the data at the point of time whenever the trigger condition is met will be logged and stored as data. When the "Upload logging data" operation is performed on CMTimeChart, the time chart displays only the latest information.
  • Page 355 14.5 Start and Stop of Logging Operation  When Trigger mode is "Auto" While the logging enable flag (YB) is on, the logging operation is continued and data is stored. Once the loggings enable flag (YB) turns off, the data from the time traced back by the measurement time specified in "CMTimeChart"...

  • Page 356: Upload Of Logging Data (Time Chart)

    CMTimeChart Monitor 14.6 Upload of Logging Data (Time Chart) 14.6.1 Procedure of Uploading Logging Data Data logged in FP7 MC Unit can be read on "CMTimeChart" and displayed as a time chart. The following procedure is explained on the condition that the logging is complete and "CMTimeChart"...
  • Page 357 14.6 Upload of Logging Data (Time Chart) KEY POINTS • For uploading logging data and displaying the time chart, the logging operation should be complete. • During the execution of the logging operation, it is not possible to upload logging data and start the time chart. 14-21...

  • Page 358: Settings For Time Chart Display Area

    CMTimeChart Monitor 14.6.2 Settings for Time Chart Display Area The display of "CMTimeChart" can be adjusted in the Display Setting dialog box. Selecting "View” > "View Setting..." opens the Display Setting dialog box.  Display Setting dialog box (Common tab) Item Description Set the number of grids of a displayed chart in the logging monitor.
  • Page 359 14.6 Upload of Logging Data (Time Chart) No. of Displayed Grids 1 grid No. of displayed grids Time in display = Time scale x No. of data per grid x No. of displayed grids 1 data Color Setting Trigger color Cursor A color Cursor B color 1908640...
  • Page 360 CMTimeChart Monitor  Display Setting dialog box (Device tab) The display range and position can be set for each registered device. (Note): In Scale field, enter an interval between the scales of Y axis by grids. Range: 1 to (Upper end - Lower end) 14-24...

  • Page 361: Storage Of Cmtimechart Data

    14.7 Storage of CMTimeChart Data 14.7 Storage of CMTimeChart Data Conditions and data set in "CMTimeChart" can be stored as files. Store them after uploading data. The following procedure is explained on the condition that the logging is complete and "CMTimeChart"...

  • Page 362: Storage In Sd Memory Card

    CMTimeChart Monitor 14.8 Storage in SD Memory Card 14.8.1 Storing Logging Data Data logged in the memory of FP7 MC Unit can be stored in SD memory cards.  Specifications Item Specifications Number of logs Max. 256 devices Max. 32k words Buffer memory It can be divided into max.

  • Page 363: Setting When Using Sd Memory Cards

    14.8 Storage in SD Memory Card 14.8.2 Setting When Using SD Memory Cards Make the following settings to store logging data of FP7 MC Unit.  Setting of time data acquisition When storing logging data of FP7 MC Unit in an SD memory card, the time data of FP7 CPU Unit is used.
  • Page 364 CMTimeChart Monitor  Setting of trigger conditions For storing logging data of FP7 MC Unit in an SD memory card, check the checkbox of "Write SD memory card" in the "Trigger condition setting" dialog box. KEY POINTS • Even when using an SD memory card, the operations such as registering devices, setting trigger conditions, downloading setting data, starting/stopping logging operation and uploading logging data are the same.

  • Page 365: Troubleshooting

    Troubleshooting...

  • Page 366: Errors And Warnings

    Troubleshooting 15.1 Errors and Warnings 15.1.1 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 367: Clearing Errors/Warnings Using User Programs

    15.1 Errors and Warnings 15.1.3 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 368: Error And Warning Logs

    Troubleshooting 15.1.4 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 369: Error Recovery Process

    15.2 Error Recovery Process 15.2 Error Recovery Process 15.2.1 Overview The method to recover from error occurrence varies according to the states when errors occur. Status when an error Description Error type occurred -After an error occurred, the operating axes stop. Recoverable All error types state...

  • Page 370: Error Code Table

    Troubleshooting 15.3 Error Code Table 15.3.1 AMP Errors (From 00FF 0000H) • Alarms/errors occurred on the AMP side are output from FP7 MC Unit as error codes. • The AMP errors differ depending on the types of AMP. For details of the processing for AMP errors, refer to the manual of servo amplifiers.
  • Page 371 15.3 Error Code Table  AMP error code table [For A6B] A6B error no. FP7 MC Description error code Main 000BH Control power supply under voltage protection 000CH Over-voltage protection Main power supply under voltage protection (between P to 000DH Main power supply under voltage protection (AC interception detection) Over-current protection...
  • Page 372 Troubleshooting A6B error no. FP7 MC Description error code Main EEPROM parameter error protection 0024H EEPROM parameter error protection EEPROM check code error protection 0025H EEPROM check code error protection EEPROM check code error protection Over-travel inhibit input protection 1 0026H Over-travel inhibit input protection 2 0028H...
  • Page 373 15.3 Error Code Table A6B error no. FP7 MC Description error code Main Synchronization cycle error protection Mailbox error protection PDO watchdog error protection 0051H DC error protection SM event mode error protection SyncManager2/3 error protection 0054H Synchronous establishment initialization error protection TxPDO assignment error protection RxPDO assignment error protection 0055H...
  • Page 374 Troubleshooting  AMP error code table [For A5B] A5B error no. FP7 MC Description error code Main 000BH Control power supply under voltage protection 000CH Over-voltage protection Main power supply under voltage protection (between P to 000DH Main power supply under voltage protection (AC interception detection) Over-current protection 000EH...
  • Page 375 15.3 Error Code Table A5B error no. FP7 MC Description error code Main Software limit protection 0022H One revolution absolute working range error EEPROM parameter error protection 0024H EEPROM parameter error protection EEPROM parameter error protection EEPROM check code error protection 0025H EEPROM check code error protection EEPROM check code error protection...
  • Page 376 Troubleshooting A5B error no. FP7 MC Description error code Main Synchronization cycle error protection Mailbox error protection PDO watchdog error protection 0051H DC error protection SM event mode error protection SyncManager2/3 error protection 0054H Synchronous establishment initialization error protection TxPDO assignment error protection RxPDO assignment error protection 0055H Lost link error protection...

  • Page 377: System Errors (From 00F0 1000H)

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

  • Page 378: Amp Communication Errors (From 00F0 2000H)

    Troubleshooting 15.3.3 AMP Communication Errors (From 00F0 2000H) These are the errors occurred in the communication between FP7 MC Unit and AMP. They occur when the communication data was judged as abnormal. ●: Recoverable, -: Unrecoverable Error Error name Description Object Recovered Countermeasures...

  • Page 379: Axis Operation Errors (From 00F0 3000H)

    Each  3030H operation processing of If the error occurs repeatedly error axis each axis. with the correct set values, consult your Panasonic representative. Each An error occurred in the If an error occurs repeatedly, Operation axis  3031H operation processing of...
  • Page 380 Each If the error occurs repeatedly  3033H operation error interpolation axis during the axis with the correct set values, interpolation operation. consult your Panasonic representative. Positioning The positioning movement Each  3035H movement amount has exceeded the Check the set value.
  • Page 381 15.3 Error Code Table ●: Recoverable, -: Unrecoverable Error Error name Description Object Recovered Countermeasures code The difference between the Check the operation of the target command value and axes. Movement feedback value exceeded Each  3046H automatic check the movement automatic Check the parameter of the axis value error...

  • Page 382: Setting Value Errors (From 00F0 4000H)

     4012H completion width of the range. axis If the error occurs repeatedly error with the correct set values, Limit stop consult your Panasonic The limit stop deceleration Each  4020H deceleration representative. time is out of the range. axis...
  • Page 383  4080H acceleration/deceleratio method of the JOG axis correct set values, n type error positioning is out of the range. consult your Panasonic JOG positioning The acceleration time of the Each representative.  4081H operation acceleration JOG positioning is out of the...
  • Page 384 The set home coordinates are Each  4120H Home coordinate error correct set values, out of the range. axis consult your Panasonic JOG operation target The target speed of the JOG Each representative.  4201H speed error operation is out of the range.
  • Page 385  4403H positioning operation is out of time error axis repeatedly with the the range. correct set values, The target speed of the consult your Panasonic Positioning target speed Each  4404H positioning operation is out of representative. error axis the range.

  • Page 386: Synchronous Parameter Setting Errors (From 00F0 5000H)

    Troubleshooting 15.3.6 Synchronous Parameter Setting Errors (From 00F0 5000H)  Synchronous parameter: Common errors ●: Recoverable, -: Unrecoverable 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 error axis...
  • Page 387 15.3 Error Code Table  Synchronous parameter: Electronic clutch related errors ●: Recoverable, -: Unrecoverable 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 -...
  • Page 388 Troubleshooting  Synchronous parameter: Electronic cam related errors ●: Recoverable, -: Unrecoverable Error Error name Description Object Recovered Countermeasures code Electronic cam - Cam control The setting for the cam control Each  5300H synchronous master synchronous master axis cycle axis axis cycle setting is incorrect.
  • Page 389 15.3 Error Code Table  Cam pattern related errors ●: Recoverable, -: Unrecoverable Error Error name Description Object Recovered Countermeasures code Cam pattern The setting for the cam pattern Each  5400H resolution setting resolution is out of the range. axis error Cam pattern set...

  • Page 390: Warning Code Table

    Troubleshooting 15.4 Warning Code Table 15.4.1 AMP Warnings (From 00A0 0000H) • Warnings occurred on the AMP side are output from FP7 MC Unit as warning codes. • The AMP warnings differ depending on the types of AMP. For details of the processing for AMP warnings, refer to the manual of servo amplifiers.
  • Page 391 15.4 Warning Code Table  AMP warning code table [For A5B] FP7 MC A5B warning no. Description Warning code 00A0 Overload protection 00A1 Over-regeneration alarm 00A2 Battery alarm 00A3 Fan alarm 00A4 Encoder communication alarm 00A5 Encoder overheat alarm 00A6 Oscillation detection warning 00A7 Lifetime detection alarm...

  • Page 392: Unit Warnings (From 00B0 0000H)

    Troubleshooting 15.4.2 Unit Warnings (From 00B0 0000H) These are the warning codes to be given when the warnings occurred in the unit. ●: Recoverable, -: Unrecoverable Warning Warning Description Object Recovered Countermeasures code name Various requests cannot be executed from the PLC during the The following request flags turned tool operation.
  • Page 393 15.4 Warning Code Table ●: Recoverable, -: Unrecoverable Warning Warning Description Object Recovered Countermeasures code name - Design the system within the range that the torque of the motor Torque The torque value exceeds the does not exceed the judgment Each ...
  • Page 394 Troubleshooting ●: Recoverable, -: Unrecoverable Warning Warning name Description Object Recovered Countermeasures code The movement amount Movement amount change request contact change function Each  0070H turned on when the disable warning axis positioning operation was (except positioning) not performed. Movement amount The movement amount change function...
  • Page 395 15.4 Warning Code Table ●: Recoverable, -: Unrecoverable Warning Warning Description Object Recovered Countermeasures code name - Confirm the setting values of the parameters required for rewriting cam patterns. - Confirm if any axes are in The operation for the cam pattern synchronous operation.
  • Page 396 Troubleshooting 15-32...

  • Page 397: Specifications

    Specifications...

  • Page 398: General Specifications

    Specifications 16.1 Specifications 16.1.1 General Specifications Item Description Operating ambient 0 to +55 °C temperature Storage ambient -40 to +70 °C temperature 10 to 95%RH (at 25 °C with no-condensing) Operating ambient humidity 10 to 95%RH (at 25 °C with no-condensing) Storage ambient humidity Each external connector pin and entire power supply terminals of CPU unit Breakdown voltage...

  • Page 399: Ethercat Communication Specifications

    Connector 9-pin RJ45 x 1 Communication cycle 0.5 ms / 1 ms / 2 ms / 4 ms Panasonic AC Servo Motor A6B/A5B series Connected slave S-LINK V Gateway Controller EtherCAT-compatible SL-VGU1-EC series (Note 1) (Note 2) (Note 3) EtherCAT-compatible Communication Unit for Digital Sensor SC-GU3-03 series AFP7MC16EC: 1 to 144 (Servo/Encoder: Max.

  • Page 400: Performance Specifications

    Specifications 16.1.3 Performance Specifications Description Item 16-axis type 32-axis type 64-axis type AFP7MC16EC AFP7MC32EC AFP7MC64EC Real axis: 32 axes Real axis: 64 axes Real axis: 16 axes No. of control axes Virtual axis: 16 Virtual axis: 32 Virtual axis: 8 axes...
  • Page 401 16.1 Specifications Description Item 16-axis type 32-axis type 64-axis type AFP7MC16EC AFP7MC32EC AFP7MC64EC Dwell time 0 to 32,767 ms (settable by 1 ms) Auxiliary output code Output as auxiliary output codes in the axis information area. With mode: Auxiliary output ON time: 0 to 255 ms...
  • Page 402 Specifications Description Item 16-axis type 32-axis type 64-axis type AFP7MC16EC AFP7MC32EC AFP7MC64EC pulse: 1 to 2,147,483,647 pps μm: 1 to 2,147,483,647 μm/s Speed reference range inch: 0.001 to 2,147,483.647 inch/s degree: 0.001 to 2,147,483.647 rev/s Acceleration/ Linear acceleration/deceleration deceleration type...
  • Page 403 16.1 Specifications Description Item 16-axis type 32-axis type 64-axis type AFP7MC16EC AFP7MC32EC AFP7MC64EC pulse: -2,147,483,648 to +2,147,483,647 pulses μm (0.1 μm): -214,748,364.8 to +214,748,364.7 μm μm (1 μm): -2,147,483,648 to +2,147,483,647 μm Software limit Setting range inch (0.00001 inch): -21,474.83648 to +21,474.83647 inches function inch (0.0001 inch): -214,748.3648 to +214,748.3647 inches...

  • Page 404: I/O Allocation

    Specifications 16.2 I/O Allocation  Allocation of I/O Numbers (Input) Target I/O no. Name Description axis Link Announces the establishment of the network link. All axes establishment ON: Link is established, OFF: Link is stopped Turns on when the monitoring of EtherCAT communication packet is EC packet All axes executed by the EC packet monitor request (Y1).
  • Page 405 16.2 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 406: Whole Configuration Of Unit Memories

    Specifications 16.3 Whole Configuration of Unit Memories The unit memories of F7 MC Unit are configured as follows. For details of each area, refer to “16.4” to "16.11". No. of Unit memory no. Name occupied Description (Hex) words Reserved area for the UM00000 - UM0007F 128 words Reserved area for the system...
  • Page 407 16.3 Whole Configuration of Unit Memories No. of Unit memory no. Name occupied Description (Hex) words Parameter setting area 12,288 UM03240 - UM0623F For (128 words for each axis) x (64 real axes + 32 words virtual axes) Each axis No.
  • Page 408 Specifications  Reading from unit memories (UM) It is possible to read the areas which are shown with "Available" in the "R" column in the following table using transfer instructions or arithmetic instructions with user programs. The operand of an instruction is specified by the combination of the slot number where the slot is installed and a unit memory number (UM).

  • Page 409: Unit Memories (Input And Output Control Areas)

    16.4 Unit Memories (Input and Output Control Areas) 16.4 Unit Memories (Input and Output Control Areas) 16.4.1 Configuration of Input Control Area Starting no. Name No. of words Whole unit memory map UM 00000 System area UM 00080 Reserved area for the system 6 words 128 words UM 0007F...

  • Page 410: List Of Input Control Area Functions

    Specifications 16.4.2 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 ...
  • Page 411 16.4 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, 33-48 UM 0009E Home return the bits corresponding to each axis number ...
  • Page 412 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Monitor flag of the limit + input and limit - input UM 000B2 connected to the corresponding AMP. [The update cycle is communication (EtherCAT communication) cycle.] 9-16 UM 000B3 When "Limit switch"...
  • Page 413 16.4 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. 33-48 UM 000BC The bits of all axes turn on if all axes have...
  • Page 414 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 000D2 Changes the gear ratio by the slave axis gear Slave axis ratio change request of the output control 17-32 UM 000D3 gear ratio ...
  • Page 415 16.4 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 corresponding AMP.
  • Page 416 Specifications ●: Available, -: Not available Unit Slave 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 address ...
  • Page 417 16.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 00116 Positioning: 17-32 UM 00117 Speed Starts the speed change operation when the 33-48 UM 00118 change positioning speed change request turns on ...
  • Page 418 Specifications ●: Available, -: Not available Unit Slave 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 address 81-96 UM 00127 Normal (slave number) in the OP mode out of the slaves ...
  • Page 419 16.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Slave no. memory Name Default Description no. (Hex) (Master) UM 0013A UM 0013B UM 0013C 9-12 UM 0013D 13-16 UM 0013E 17-20 UM 0013F 21-24 UM 00140 25-28 UM 00141 29-32...
  • Page 420 Specifications ●: Available, -: Not available Unit Slave no. memory Name Default Description no. (Hex) 149-152 UM 00160 153-156 UM 00161 157-160 UM 00162 161-164 UM 00163 165-168 UM 00164 Current ESM  169-172 UM 00165 Refer to the previous page. state 173-176 UM 00166...
  • Page 421 16.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Slave no. memory Name Default Description no. (Hex) 1-16 UM 0016B Indicates the state of error indicator (ESC register #130_bit4) of each slave device. 17-32 UM 0016C Name Description Node 1+16n...

  • Page 422: Configuration Of Output Control Area

    Specifications 16.4.3 Configuration of Output Control Area Whole unit memory map Starting no. Name No. of words UM 00000 System area UM 00180 Reserved area for the system 6 words 128 words UM 0007F UM 00080 Input control area UM 00186 Servo ON request 4 words 256 words...

  • Page 423: List Of Output Control Area Functions

    16.4 Unit Memories (Input and Output Control Areas) 16.4.4 List of Output Control Area Functions ●: 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.
  • Page 424 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) UM 0019E 9-16 UM 0019F Requests the JOG forward or reverse 17-24 UM 001A0 operation for corresponding axes. In the case of JOG operation, this request signal is 25-32 UM 001A1 enabled when the bits corresponding to each...
  • Page 425 16.4 Unit Memories (Input and Output Control Areas) ●: 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  ...
  • Page 426 Specifications ●: 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   Clears warnings and warning logs by turning clear request 49-64 UM 001D1...
  • Page 427 16.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Starts the clutch off operation when the 1-16 UM 001EC request flag for the corresponding axis during 17-32 UM 001ED the synchronous operation turns on.
  • Page 428 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) General-purpose outputs connected to the UM 001F2 corresponding AMP. Signal name Axis number 9-16 UM 001F3 set-brake 1+8n EX-OUT1 17-24 UM 001F4 set-brake 2+8n EX-OUT1 set-brake 25-32 UM 001F5...
  • Page 429 16.4 Unit Memories (Input and Output Control Areas) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) 1-16 UM 001FE 17-32 UM 001FF Positioning 33-48 UM 00200 speed Starts the speed change operation when the ...
  • Page 430 Specifications ●: Available, -: Not available Unit Slave no. memory Name Default Description no. (Hex) 1-16 UM 0020A Requests to clear the error indicator (ESC register #130_bit4) of each slave device. 17-32 UM 0020B Name Description Node 1+16n 33-48 UM 0020C Node 2+16n Node 3+16n 49-64...

  • Page 431: Unit Memories (Common Area)

    16.5 Unit Memories (Common Area) 16.5 Unit Memories (Common Area) 16.5.1 Configuration of Common Area Starting no. Name No. of words Whole unit memory map UM 00000 System area Setting parameter control area 256 words UM 00280 128 words UM 0007F UM 00080 Input control area Operation speed rate area...

  • Page 432: Setting Parameter Control Area

    Specifications 16.5.2 Setting Parameter Control Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Number of Announces the number of writing the UM 00280  － writing to positioning parameters and data in the unit -UM 00281 FROM memory into FROM.

  • Page 433: Axis Group Setting Area

    16.5 Unit Memories (Common Area) 16.5.4 Axis Group Setting Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set either independent or interpolation for 1-16 UM 00490 each axis in this area. In case of interpolation, 17-32 UM 00491 each axis belongs to any group 1 to 32.

  • Page 434: Current Value Update Data Area

    Specifications 16.5.5 Current Value Update Data Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Changes "Unit system conversion current value" managed by FP7 MC Unit to "current value update coordinate" only when the bit corresponding to each axis number changes 1-16 UM 00590...
  • Page 435 16.5 Unit Memories (Common Area) ●: Available, -: Not available Unit Axis no. memory no. Name Default Description (Hex) UM 00596 Reserved for -UM 0059F system Stores the coordinate value to be preset as the current value after unit conversion. Range: -2,147,483,648 to 2,147,483,647 The ranges vary depending on the unit settings as below.

  • Page 436: Torque Limit Area

    Specifications 16.5.6 Torque Limit Area The output torque from Servo amplifier to a motor can be changed. The setting range is 1 to 5000. It is equivalent to 0.1 to 500.0%. It cannot be changed during positioning operation. The changed made during positioning operation will be reflected at the next startup time. ●: Available, -: Not available Unit Axis no.

  • Page 437: Actual Speed Monitor Area

    16.5 Unit Memories (Common Area) 16.5.7 Actual Speed Monitor Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) The actual speed monitor value is stored.  For command unit/s, the ranges vary depending on the unit settings as below Actual speed UM 00770 pulse: 0 to 2,147,483,647 pps...

  • Page 438: Positioning Control Area

    Specifications 16.5.9 Positioning Control Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set the number of times for repeating the operation from the positioning control starting table number until the E-point control. Range: 0 to 255 Positioning ...

  • Page 439: Error Annunciation And Clear Area

    16.5 Unit Memories (Common Area) 16.5.10 Error Annunciation and Clear Area ●: Available, -: Not available Unit Axis no. memory no. Name Default Description (Hex) UM 00A90 Reserved for -UM 00A95 system 1-16 UM 00A96 17-32 UM 00A97 Clears the error of the axis for the 33-48 UM 00A98 corresponding bit.
  • Page 440 Specifications ●: Available, -: Not available Unit Axis no. memory no. Name Default Description (Hex) No. of Annunciates the number of occurrences of  UM 00AC0 occurrences errors on the 1st axis. of errors Reserved for UM 00AC1 system UM 00AC2 Error code -UM 00AC3 Buffer 1...

  • Page 441: Warning Annunciation And Clear Area

    16.5 Unit Memories (Common Area) 16.5.11 Warning Annunciation and Clear Area ●: Available, -: Not available Unit Axis no. memory no. Name Default Description (Hex) UM 01710 Reserved -UM 01715 for system 1-16 UM 01716 17-32 UM 01717 Clears the FP7 MC Unit warning of the axis for Warning the corresponding bit.
  • Page 442 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) No. of Annunciates the number of occurrences of  UM 01740 occurrences warnings on the 1st axis. of warnings Reserved for UM 01741 system UM 01742 Warning code -UM 01743 Buffer 1...

  • Page 443: Synchronous Control Monitor Area

    16.5 Unit Memories (Common Area) 16.5.12 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 Master axis synchrono us control us control canceled...

  • Page 444: System Operation Setting Area

    Specifications 16.5.13 System Operation Setting Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Specify the operation when setting the deceleration stop request signal to “Active” (from off to on). 0: Deceleration stop When performing the repeat operation, stops after reaching E-point that is targeted for the repeat operation.

  • Page 445: Time Chart Function Operation Setting/Annunciation Area

    16.5 Unit Memories (Common Area) 16.5.14 Time Chart Function Operation Setting/Annunciation Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) The trigger numbers registered in FP7 MC Unit turn on. bit. Name Description Trigger no. 1 Trigger no.
  • Page 446 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) The logging state is stored. When FP7 MC Unit detects trigger conditions, the corresponding bits turn on. bit. Name Description Trigger no. 1 Trigger no. 2 Trigger no.

  • Page 447: Esm Switch Control Area

    16.5 Unit Memories (Common Area) 16.5.15 ESM Switch Control Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Specify the mode of ESM switch request. bit. Name Description Switch request 0001H：Int   UM 02638 Switch 0002H：PreOP 15-0...

  • Page 448: Unit Memories (Each Axis Information Area)

    Specifications 16.6 Unit Memories (Each Axis Information Area) 16.6.1 Configuration of Each Axis Information Area Whole unit memory map UM 00000 System area UM 02640 Information and monitor area of 1st axis 32 words UM 0007F 128 words UM 00080 Input control area UM 02660 Information and monitor area of 2nd axis...

  • Page 449: Each Axis Information & Monitor Area

    16.6 Unit Memories (Each Axis Information Area) 16.6.2 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  Vender ID -UM 02641 name or vendor name.
  • Page 450 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 input HOME  UM 0264B terminal SI-MON1 / EXT1 0: Non active monitor 1: Active SI-MON2 / EXT2...
  • Page 451 16.6 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 AMP current to "0" on the completion of home return. The UM 02654 value ...

  • Page 452: Unit Memories (Each Axis Setting Area)

    Specifications 16.7 Unit Memories (Each Axis Setting Area) 16.7.1 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 453: Configuration Of Parameter Setting Area

    16.7 Unit Memories (Each Axis Setting Area) 16.7.2 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 Common area...

  • Page 454: Parameter Setting Area

    Specifications 16.7.3 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 455 16.7 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 limit Software limit  ...
  • Page 456 Specifications ●: Available, -: Not available Unit Axis no. memory no. Name Default Description (Hex) Configure the settings of limit, moving direction and input logic. Name Description 0: Enable Limit switch 1: Disable 0: Elapsed value + direction is CW CW/CCW 1: Elapsed value direction setting...
  • Page 457 16.7 Unit Memories (Each Axis Setting Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) The judgement values for torque monitor values and execution speed of each axis can be set to announce errors or warnings. Name Description 0: Disables the...
  • Page 458 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set the pattern of home return. 0: DOG method 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) 4: Limit method 2 (Limit signal)
  • Page 459 16.7 Unit Memories (Each Axis Setting Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Sets the mode when performing the JOG operation. Name Description － － JOG operation   UM 03269 Acceleration/ 0: Linear setting code deceleration...
  • Page 460 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set the deceleration time at the time of error Error stop stop.   UM 03277 deceleration U100 Range: 0 to 10,000 (ms) time Any other settings will be errors. UM 03278 Reserved for -UM 0327C...
  • Page 461 16.7 Unit Memories (Each Axis Setting Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set the home coordinates to be set after the completion of the home return. Range: -2,147,483,648 to 2,147,483,647 The ranges vary depending on the unit settings as below.

  • Page 462: Configuration Of Positioning Data Setting Area

    Specifications 16.7.4 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 463 16.7 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 (16,000 words)" which sets positioning data. The following figure shows the constitution of buffer no. 1. Buffers no. 2 to 24 has the same constitution.
  • Page 464 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 465 16.7 Unit Memories (Each Axis Setting Area)  Buffers 17 to 24 Buffer Buffer Buffer Buffer Buffer Buffer Buffer Buffer Request flag UM44AC0 UM48948 UM4C7D0 UM50658 UM544E0 UM58368 UM5C1F0 UM60078 control Request code UM44AC1 UM48949 UM4C7D1 UM50659 UM544E1 UM58369 UM5C1F1 UM60079 control Response code...
  • Page 466 Specifications 16.7.4.1 Control Area for Buffer Control This area is used for reading or writing positioning data by user programs. ●: Available, -: Not available Unit Buffer no. memory Name Default Description no. (Hex) Write data to this area for sending/receiving data of buffers for positioning data.
  • Page 467 16.7 Unit Memories (Each Axis Setting Area) ●: Available, -: Not available Unit Buffer no. memory Name Default Description no. (Hex) Set whether to use the extended positioning table or not. Name Description 0: Not make the table Extended Extended setting positioning positioning...
  • Page 468 Specifications 16.7.4.2 Positioning Data Setting Area 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 469 16.7 Unit Memories (Each Axis Setting Area) ●: Available, -: Not available Offset Name Default Description address For a single axis operation, it is the target speed of the corresponding axis. For an 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 470 Specifications ●: Available, -: Not available Offset Name Default Description address When the positioning operation of this table is finished; C-point (Continuance The motor stops for the dwell time point) and the next operation is started. P-point (Pass point) It is ignored. ...

  • Page 471: Unit Memories (Synchronous Control Setting Area)

    16.8 Unit Memories (Synchronous Control Setting Area) 16.8 Unit Memories (Synchronous Control Setting Area) 16.8.1 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 472: Synchronous Control Setting Area

    Specifications 16.8.2 Synchronous 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 473: Electronic Gear Setting Area

    16.8 Unit Memories (Synchronous Control Setting Area) 16.8.3 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. ...

  • Page 474: Clutch Setting Area

    Specifications 16.8.4 Clutch Setting Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Clutch ON   UM 63F60 H0: I/O clutch ON request trigger type Set the valid condition of trigger signals. Clutch ON H0: Level ...
  • Page 475 16.8 Unit Memories (Synchronous Control Setting Area) ●: 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 for UM 63F71 system Clutch ON ...

  • Page 476: Electronic Cam Setting Area

    Specifications 16.8.5 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 cycle Reserved for UM 63F92...
  • Page 477 16.8 Unit Memories (Synchronous Control Setting Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Set the time required until a changed value is reflected when the parameter related to advance Advance angle correction (advance angle correction angle reference speed or advance angle correction ...

  • Page 478: Unit Memories (Positioning Operation Change Setting Area)

    Specifications 16.9 Unit Memories (Positioning Operation Change Setting Area) 16.9.1 Configuration of Positioning Operation Change 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...

  • Page 479: Positioning Speed/Movement Amount Change Parameter

    16.9 Unit Memories (Positioning Operation Change Setting Area) 16.9.2 Positioning Speed/Movement Amount Change Parameter ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Reserved for UM 66940 system Area for setting the range of the positioning speed change.

  • Page 480: Unit Memories (Cam Pattern Editing Area)

    Specifications 16.10 Unit Memories (Cam Pattern Editing Area) 16.10.1 Configuration of Cam Pattern Editing 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 481: Cam Pattern Setting Area

    16.10 Unit Memories (Cam Pattern Editing Area) 16.10.2 Cam Pattern Setting Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) When reading: Set a cam pattern number to be read out. When rewriting: Set a cam pattern number to be written.
  • Page 482 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) When reading, the start phase in the section 1 of the read cam pattern table is stored. The read value is always 0. When rewriting, the start phase in the section 1 of the rewritten cam pattern table is set.
  • Page 483 16.10 Unit Memories (Cam Pattern Editing Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) When reading, the cam curve of the read cam pattern table is stored. When rewriting, the cam curve of the rewritten cam pattern table is set.
  • Page 484 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Start phase of   UM 66F48 section 2 Displacement of   UM 66F49 section 2 Cam curve of   UM 66F4A section 2 Reserved for UM 66F4B system...
  • Page 485 16.10 Unit Memories (Cam Pattern Editing Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Start phase of   UM 66F5C section 7 Displacement of   UM 66F5D section 7 Cam curve of ...
  • Page 486 Specifications ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Start phase of   UM 66F70 section 12 Displacement of   UM 66F71 section 12 Cam curve of   UM 66F72 section 12 Reserved for UM 66F73 system...
  • Page 487 16.10 Unit Memories (Cam Pattern Editing Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Start phase of   UM 66F84 section 17 Displacement of   UM 66F85 section 17 Cam curve of ...

  • Page 488: Cam Pattern Editing Execution Area

    Specifications 16.10.3 Cam Pattern Editing Execution Area ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Stores the result of reading processing (response code). Cam pattern  UM 66F98 reading result H0: Normal end Other than H0: Abnormal end Stores the result of rewriting processing (response code).
  • Page 489 16.10 Unit Memories (Cam Pattern Editing Area) ●: Available, -: Not available Unit Axis no. memory Name Default Description no. (Hex) Announces the valid cam pattern table data. Name Description Cam no. 1 Valid condition Cam no. 2 Valid condition Cam no.

  • Page 490: Unit Memories (Sdo/Pdo Communication Area)

    Specifications 16.11 Unit Memories (SDO/PDO Communication Area) 16.11.1 Configuration of SDO/PDO Communication 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 Common area...

  • Page 491: Sdo Communication Area

    16.11 Unit Memories (SDO/PDO Communication Area) 16.11.2 SDO Communication Area "SDO communication" is a function to perform communication between "Master (FP7 MC Unit)" and "Slave devices" by user programs. ●: Available, -: Not available Unit Axis memory Name Default Unit Setting range and description no.
  • Page 492 Specifications ●: Available, -: Not available Unit Axis memory Name Default Unit Setting range and description no. (Hex) When setting the data type to H9 (STRING) and performing SDO communication, the data unit (number of bytes) of CoE object data is set.
  • Page 493 16.11 Unit Memories (SDO/PDO Communication Area) Error code Name Description 0000 0000H Normal end 0000 0001H Station address setting value error 0000 0002H Sub index number setting value error 0000 0003H Data type setting value error 0000 0005H Command code setting value error 0000 0006H Timeout value setting value...
  • Page 494 Specifications ●: Available, -: Not available Unit Axis memory Name Default Unit Setting range and description no. (Hex)   UM 7C4C0 0000H When reading: Data read from slave devices and   UM 7C4C1 0000H executed is stored. When writing: Data written to slave devices and ...
  • Page 495 16.11 Unit Memories (SDO/PDO Communication Area) ●: Available, -: Not available Unit Axis memory Name Default Unit Setting range and description no. (Hex)   0000H When reading: Data read from slave devices and   0000H executed is stored. When writing: Data written to slave devices and ...

  • Page 496: Pdo Communication Area [Rxpdo (Master -> Slave Devices)]

    Specifications 16.11.3 PDO Communication Area [RxPDO (Master -> Slave Devices)] This area is used for FP7 MC Unit to send data stored in the addresses corresponding various slave devices for each Ethernet communication cycle. ●: Available, -: Not available Unit Axis memory no.

  • Page 497: Pdo Communication Area [Txpdo (Master <- Slave Devices)]

    16.11 Unit Memories (SDO/PDO Communication Area) 16.11.4 PDO Communication Area [TxPDO (Master <- Slave Devices)] This area is used for FP7 MC Unit to store data received from various slave devices into the corresponding addresses for each EtherCAT communication cycle. ●: Available, -: Not available Axis Unit memory...
  • Page 498 Specifications ●: Available, -: Not available Unit Axis memory Name Default Unit Setting range and description no. (Hex)    The order of data storage is as follows.  Example) 2-byte data  UM 7DFD3  15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 UM 7DFD4 ...

  • Page 499: Reference "Ascii Codes

    16.12 Reference "ASCII Codes" 16.12 Reference "ASCII Codes" SPACE " & ￥ < > 16-103...

  • Page 500: Dimensions

    Specifications 16.13 Dimensions  AFP7MC16EC/ AFP7MC32EC/ AFP7MC64EC (Unit: mm) 16-104...
  • Page 501 Record of changes Manual No. Date Record of Changes WUME-FP7MCEC-01 Sep. 2016 1st Edition WUME-FP7MCEC-02 Nov. 2017 2nd Edition Added functions supported by FP7 MC Unit Ver.1.2.  Supports Servo Amplifier A6B.  Added slave devices compatible with EhterCAT. (SC-GU3-03, SL-VG1-EC, encoder devices) ...

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