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RS Automation RS OEMax NX70 Position User Manual

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NX70/700 Position
User Manual
Catalog Number(s): NX70-POSIx,
NX-POSIx

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Summary of Contents for RS Automation RS OEMax NX70 Position

  • Page 1 NX70/700 Position User Manual Catalog Number(s): NX70-POSIx, NX-POSIx...
  • Page 2 In no event will RS Automation Co., Ltd. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

  • Page 3: Table Of Contents

    Contents 1. Positioning Unit Specifications......... 7 Performance Specifications................. 7 Buffer Memory ..................... 9 I/O points List....................12 2. Functions of Unit and Restrictions on Combination15 Functions of NX700 Positioning Unit ............15 Unit Functioning and Operation Overview ..........18 Restrictions on Units Combination............21 3.
  • Page 4 7. Automatic Acceleration/Deceleration Control (P Point Control: Multi - Stage Acceleration/ Deceleration) ............77 Sample Program ..................77 Flow of P Point Control Operation ............85 Operation of the Input and Output Flag Before and After P Point Control....................89 Precautions When Creating P Point Control Programs......
  • Page 5 14. Dimensions and Driver Wiring....... 171 Motor Drive Connection Diagram............171 Wiring for Motor Driver ................174 NX700 PLC External Dimensions ............179 15. Sample Program ............ 181 Sample Program ..................181 Glossary............... 191...

  • Page 7: Positioning Unit Specifications

    Positioning Unit Specifications Performance Specifications General Specifications Item Specification Operating 0 to 55°C Ambient temperature temperature Storage temperature -25 to 70°C Operating humidity 30 to 85% RH (no dewing) Ambient humidity Storage humidity 30 to 85% RH (no dewing) Between external connector pins and GND: AC 500V for 1 minute Voltage resistance (exception: F .E connectors).
  • Page 8 Performance Specification Axis 2 Axis 4 Unit Axis 3 Unit Axis 1 Unit Item Unit (NX-POSI4) (NX-POSI3) (NX-POSI1) (NX-POSI2) 128 points (Input 64 points, 64 points (Input 32 points, Number of occupied I/O points Output 64 points) Output 32 points) Basic Motherboard (optional Motherboard) and slots in Slots remote I/O stations...

  • Page 9: Buffer Memory

    Buffer Memory Buffer Memory Address Setting necessary / not necessary ( ○ necessary (Hexadecimal number) not necessary) Name Content Home Pulse Axis Axis Axis Axis E point P point operati Positio Opera control control tion 100h 110h 120h 130h Acceleration/Deceleration method(Linear, S-pattern) Control control...
  • Page 10 Control Codes E-point control / P-point control Control Control method Control Control method Code Acceleration/Deceleration Codel Acceleration/Deceleration Incremental and S-pattern Incremental and Linear Absolute and S-pattern Absolute and Linear JOG operation Control Acceleration/Deceleration Control Acceleration/ Code method Codel Deceleration method S-pattern Acceleration/ Linear Acceleration/Deceleration Deceleration...
  • Page 11 Pulse Generator Input operation Control method Control method Control Control Acceleration/Deceleration Acceleration/Deceleration H400 50 times 1 times H500 100 times H100 2 times H600 500 times H200 5 times H700 1000 times H300 10 times Control codes are entered into buffer memory as shown below. IMPORTANT Since the control method, acceleration/deceleration method, home return method, and pulse multiplication factor settings are entered in...

  • Page 12: I/O Points List

    I/O points List I/O Point No. I/O Point No. (NX-POSI1, NX- (NX-POSI3, NX-POSI4) Points Name Description POSI2) 1 axis 2 axis 1 axis 2 axis 3 axis 4 axis Turned ON during Pulse Output X0 Pulse Output BUSY (Note 1) Pulse Output Turned ON when Pulse Output is X1...
  • Page 13 If turned ON using user program Pulse Pulse Generator Inputs are Y7 Generator allowed (valid only when it is Input Allow Y8 Y9 YA YB YC YD YE Errors are removed if turned ON YF Error Clear ECLR from user program when a Setting Error occurs.

  • Page 15: Functions Of Unit And Restrictions On Combination15

    Functions of Unit and Restrictions on Combination Functions of NX700 Positioning Unit Functions of Unit Positioning can be controlled through the combination of a servo motor and a stepping motor with a driver using the pulse train input method. Positioning Control(Servo Motor) Encoder Pulse Train Servo Motor...
  • Page 16 NX700 PLC has four Positioning Units Transistor output type (Open collector) and Line driver output type are available. The unit has 2 types; one is the Line driver output type, can handle the high-speed control, and another is the Transistor output type, can handle the driver can be connected with only the open collector such as a stepping motor.
  • Page 17 Automatic acceleration and deceleration can be controlled simply by providing the startup speed, target speed, acceleration/deceleration time, and position instruction values, as data. The linear acceleration/deceleration and “S” acceleration/deceleration can be selected simply by setting parameters, enabling to cope with the control needs smooth acceleration and deceleration.

  • Page 18: Unit Functioning And Operation Overview

    Unit Functioning and Operation Overview Unit Combinations for Positioning Control CCW limit Zero points Control signals such as alarm, positioning completion etc. Near-zero point Input [Pulse instruction Output] [Deviation Counter Clear Output] CW limit Control output signals such as servo-ON, alarm reset etc. Zero Point Input, Near-zero Point Input Limit over inputs Interfaces provided with the positioning unit...
  • Page 19 Basic Operation of NX700 Positioning Unit Control proceeds by turning ON and OFF the shared memory and input/output flag. 1. Determining the necessary data. The types of data written to the positioning unit include control codes, the startup speed, the target speed, the acceleration/deceleration time, and the position instruction value.
  • Page 20 3. Initiating control operations. In order to execute the data waiting in the positioning unit, the startup flag of the various operation modes are turned ON. The abovementioned- programming example shows this process for Y40. Y40 is the number of the flags that starts up the E point control of the first axis when the unit is installed in slot 0.

  • Page 21: Restrictions On Units Combination

    Restrictions on Units Combination Restrictions on Combinations Based on Current Consumption The internal current consumption (at 5 V DC power supply) for the positioning units is noted below. When the system is configured, the other units being used should be taken into consideration, and a power supply unit with a sufficient capacity should be used.

  • Page 23: Parts And Specifications

    Parts and Specifications Parts and Specifications Parts and Specifications Unit Bottom Unit Bottom Axis 1 Axis 2 Axis 3 Axis 4 Positioning Positioning Positioning Positioning (NX-POSI1) (NX-POSI2) (NX-POSI3) (NX-POSI4)
  • Page 24 Names and Functions of External Parts 1. Status LED Displays the operational statues of the Positioning Unit. 2. User interface connector (20-pin connector(3M)) Used for Motor Drive (Servo and Stepping) connection and interfacing. 3. Operation mode setting switches These switches assign the rotation direction and pulse output method of each axis.
  • Page 25 Operation Status Display LEDs Content Flicker Pulse/ Sign Output Stop Pulse Output method setting Indicates Pulse Output Pulse Output CW/ CCW Output Stop signal A *1 (Forward method setting (Forward Rotation) Rotation) Reverse Forward Rotation Pulse/ Sign Output Rotation direction method setting direction Indicates...
  • Page 26 Operation mode setting switch Factory setting NX-POSI1(Axis 1 Unit) NX-POSI3(Axis 3 Unit) NX-POSI2(Axis 2 Unit) NX-POSI4(Axis 4 Unit) Unit bottom Operation mode setting switch Switch Axis Content ON (factory setting) Pulse Output mode Pulse/Sign mode CW/CCW mode Axis 1 Unit Rotation direction Normal Settings Reverse Settings...

  • Page 27: Input /Output Specifications And Output Terminal Layout

    Input /Output Specifications and Output terminal Layout Connector Pin Configuration: 20-Pin Connector (3M) • NX700 Positioning Unit uses only 20-pin connector (3M) regardless of the number of axes. The figure on the right side shows an example of axis 3 type unit.
  • Page 28 20-Pin Configuration (Power Connectors) Signal Name Circuit Item Specification External power input: DC Power supply input voltage 21.4 to 26.4 VDC 24V (+) range Axis 4 type average: 90mA 24V IN or lower External power input: DC Current dissipation 24V (-) Axis 2 type average: 45mA or lower Reference...
  • Page 29 Pulse generator input signals(A and B) are differential phase inputs. If PHASE A IMPORTANT leads PHASE B, travel value increases.

  • Page 30: Supplying Power For Internal Circuit Drive

    Supplying Power for Internal Circuit Drive Always make sure an external +24V DC power supply is connected to the pins for external input power supply (pin No. 1 and 11). The applied 24V DC passes through an internal DC/DC converter and is converted to 5 V DC voltage.

  • Page 31: Connection Of Pulse Command Output Signal

    Connection of Pulse Command Output Signal Two types of output types are available for the NX700 positioning unit due to two types of the interfaces of motor driver. Select and connect one or the other, depending on the interface of the motor driver being used. We recommend using twisted - pair cables as the wiring between the positioning IMPORTANT unit output and the motor driver, or twisting the cables to be used.
  • Page 32 "The current capacity of the Output Common Connector (+5VDC, connector no.6) IMPORTANT is 120mA (max) in total at Output Common (5V)." A value of 15 mA per signal should be used as a guide. If exceeds this, resistance should be added.

  • Page 33: Connection Of Deviation Counter Clear Output Signal (For Servo Motor)

    Connection of Deviation Counter Clear Output Signal (for servo motor) This is an example showing connection of the counter clear input to the servo motor driver. An external power supply (+5 V DC to +24 V DC) must be provided for the connection.

  • Page 34: Connection Of Home Input/Near Home Input Signals

    Connection of Home Input/Near Home Input Signals This is the home signal input connection for the home return. It should be connected to the Z phase output (Line driver output or Transistor output) of the motor driver, or to an external switch and sensor. We recommend using twisted - pair cables as the wiring between the positioning IMPORTANT unit output and the motor driver, or twisting the cables used.
  • Page 35 Connection of Near Home Input Signal Limit Over Input Connection Use Input Unit for Limit Over Inputs to PLC. Install the motor manufacturer's recommended circuits outside. DC Input Unit Limit Over Input +24VDC Table Ball screw MOTOR Limit Over Limit Over switch(+) switch(-) Reference:...

  • Page 36: Connection Of Pulse Input

    Connection of Pulse Input The signal output style may differ depending on Pulser or Encoder. Connect in accordance with the output style. Line driver type, Transistor open collector type and Transistor-resistance pull-up type are available for the output styles. The same pulse input terminal is used for Pulser input operation and Feedback pulse count, so it is used for either.

  • Page 37: Precausions On Wiring

    Precausions on Wiring Connect the wire in less than or the following length between the Transistor output type and the motor driver. Output type Wiring length Transistor output Line driver output Deviation counter clear output...

  • Page 39: Confirming The Unit Settings And Design Contents

    Confirming the Unit Settings and Design Contents Operation mode setting switch Check if the mode setting switches at the bottom are set according to your system specifications before you install Positioning Unit to motherboard. All set to ON by factory setting. Operation mode setting switch ATTENTION setting is valid while power is ON.
  • Page 40 Mode Setting Switch selects the rotation direction of motor and pulse output mode of each axis. Switch Axis Content ON (factory setting) Pulse Output mode Pulse/Sign mode CW/CCW mode Axis 1 Unit Rotation direction Normal Settings Reverse Settings Pulse Output mode Pulse/Sign mode CW/CCW mode Axis 2 Unit...
  • Page 41 Relationship between Switch Setting and Rotation Direction Pulse/Sign mode <rotation direction switch: ON> Pulse/Sign mode <rotation direction switch: OFF>...
  • Page 42 CW/CCW mode <rotation direction switch: ON> CW/CCW mode <rotation direction switch: OFF> The direction of rotation varies depending on the wiring, the motor driver settings, IMPORTANT the position command value in the program, and other factors.

  • Page 43: Confirming The Slot Number And I/O Number Allocations

    Confirming the Slot Number and I/O Number Allocations Occupied I/O Area With the positioning unit, as with other I/O units, allocations are entered for the input (X) and output (Y). The positioning unit has 16 input points and 16 output points per axis, for a total of 32.
  • Page 44 Contents of Input and Output Allocations I/O flag number I/O flag number (NX-POSI1, NX- (NX-POSI3, NX-POSI4) POSI2) Name Description axis axis axis axis axis axis Pulse output ON during pulse output. BUSY busy (* 1) Pulse output Goes ON when pulse output done ends.
  • Page 45 I/O flag number I/O flag number (NX-POSI1, NX- (NX-POSI3, NX-POSI4) POSI2) Name Description axis axis axis axis axis axis When turned ON in the user E point program, E point control is control start initiated. When turned ON in the user P point program, P point control is control start...
  • Page 46 Confirming I/O Number and Slot Number Allocations The I/O numbers is always required when creating a program. These change depending on the position at which the unit is installed on the backplane, and should always be checked to make sure they match the design. For information on allocating I/O numbers, refer to the NX700 Hardware Manual, “section: I/O Allocation”.
  • Page 47 The following is an example of a 1 - axis type positioning unit being mounted after the 3rd I/O unit. Confirming Slot No. When mounted on the CPU backplane Slots are numbered in sequential order, with the slot to the right of the CPU being No.0 When mounted on an expansion backplane The slot number of the slot to the right of the power supply unit on the expansion...

  • Page 48: Increment And Absolute

    Increment and Absolute In an automatic accelerating and decelerating control, the position command value is specified by a number (a number of pulses) in advance. There are two ways to set the position command value. Specify whichever due to your usage (For more information about setting, refer to “Chapter 6 Automatic accelerating and decelerating control (E-point control)”, “Chapter 7 Automatic accelerating and decelerating control (P-point control)”.).
  • Page 49 Absolute (absolute value control) The position command value is normally specified as the absolute position from the home position, using a number of pulses (Absolute). Example: If the unit is 15,000 pulses away from the home position, it travels +5,000 pulses, “20000 pulses”...

  • Page 50: Selection Of Acceleration / Deceleration Method

    Selection of Acceleration / Deceleration Method Linear and S Acceleration/Decelerations The NX700 positioning unit has two methods of acceleration and deceleration which can be selected: Linear acceleration/deceleration and S acceleration/ deceleration. With linear acceleration/deceleration, acceleration and deceleration (the acceleration from the starting speed to the target speed) are carried out in a straight line.
  • Page 51 Indicating the Method of Acceleration / Deceleration Indicating the method of acceleration/deceleration This is specified in the program, as a control code. Example: With E point control The method of control varies depending on the control code. When the code is H0: increment method, linear acceleration/deceleration ...

  • Page 52: Internal Absolute Counter

    Internal Absolute Counter How the Internal Absolute Counter Works How the internal absolute counter works The positioning unit is equipped with a function that counts the number of  pulses output. The counted value of each axis is stored in the shared memory area of the ...
  • Page 53 Reading Elapsed Value The F150/P150 instructions are used to read the elapsed value from the shared memory of the positioning unit. F150 (READ) and P150 (PREAD) instructions These are the instructions used to read data from the memory of the positioning unit.
  • Page 54 Writing Elapsed Value The F151/P151 instructions are used to write data to the shared memory of the positioning unit. F151 (WRT) and P151 (PWRT) instructions These are the instructions that write data to the shared memory of the positioning unit. Explanation: This stores the contents of the CPU area specified by “S2”...

  • Page 55: Power On And Off, And Booting The System

    Power ON and OFF , and Booting the System Safety Circuit Design Example of a safety circuit Installation of the Over limit switch Safety circuit based on Positioning unit Install Over limit switches as shown above. Safety circuit based on external circuit Install the safety circuit recommended by the manufacturer of the motor being used.

  • Page 56: Before Turning On The Power

    Before Turning ON the Power Items to check before turning ON the power System configuration example 1. Checking connections to the various devices Check to make sure the various devices have been connected as indicated by the design. 2. Checking the installation of the external safety circuit Check to make sure the safety circuit (wiring and installation of Over limit switch) based on an external circuit has been installed securely.
  • Page 57 5. Checking the CPU mode selection switch Set the CPU in the PROG. mode. Setting it in the RUN mode can cause inadvertent operation. When the power to the PLC is turned ON, internal data in the shared memory will IMPORTANT be cleared (set to zero).

  • Page 58: Procedure For Turning On The Power

    Procedure for Turning ON the Power When turning ON the power to the system incorporating the positioning unit, the nature and statuses of any external devices connected to the system should be taken into consideration, and sufficient care should be taken that turning ON the power does not initiate unexpected movements or operations.
  • Page 59 Procedure for Turning OFF the Power Procedure: 1. Check to make sure the rotation of the motor has stopped, and then turn OFF the power supply for the motor driver. 2. Turn OFF the power supply for the PLC. 3. Turn OFF the power supplies for input and output devices connected to the PLC (including the power supply for the line driver output or open collector output).

  • Page 60: Confirming While The Power Is On

    Confirming while the Power is ON Items to check when the power is ON System configuration example Checking should be carried out in the four general stages described below. Checking the External Safety Circuit Check the safety circuit recommended by the motor manufacturer to confirm the power supply cutoff of the motor driver, etc.
  • Page 61 Checking the Safety Circuit based on Positioning Unit Procedure: 1. Using forced operation of Over limit switch for the external safety circuit of the positioning unit, check to see if the Over limit input is being properly taken into the positioning unit. 2.
  • Page 62 Checking the Rotation and Travel Directions, and the Travel Distance Procedure: 1. Check to see if the directions of rotation and travel are correct using the JOG operation or the automatic acceleration/deceleration. Points to check The direction of rotation is determined by the driver wiring, the settings of the DIP switch underneath the unit, and the data set in the program.
  • Page 63 Checking the Operation of the Near Home Switch and Home Switch Procedure: 1. Using forced operation of the home input and near home input, check to make sure the operation display LEDs on the positioning unit light. At the same time, using programming tools, monitor the X_6 and X_7 flag and check LEDs light.

  • Page 65: Automatic Acceleration/Deceleration Control (E Point Control: Single - Speed Acceleration/ Deceleration)

    Automatic Acceleration/Deceleration Control (E Point Control: Single - Speed Acceleration/ Deceleration) Sample Program Increment (Relative Value Control): Plus (+) Direction For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction.
  • Page 66 Pulse output diagram Operations of the various flag The pulse output busy flag (X0) goes ON when E point control is initiated, and goes OFF when pulse output is completed. The pulse output done flag (X1) goes ON when pulse output is completed, and is maintained until the next E point control, P point control, JOG operation, home return, or pulser input enabled status is initiated.
  • Page 67 Program Precautions concerning the program The same shared memory areas to which the various control parameters are  written are used for acceleration/deceleration control, JOG operation, home return, and other types of control. These should not be overwritten by other conditions.
  • Page 68 Increment (Relative Value Control): Minus ( - ) Direction For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction. It is assumed the mode setting switch at the bottom of positioning unit is set to set side.
  • Page 69 Operations of the various flag The pulse output busy flag (X0) goes ON when E point control is initiated, and goes OFF when pulse output is completed. The pulse output done flag (X1) goes ON when pulse output is completed, and is maintained until the next E point control, P point control, JOG operation, JOG positioning operation, home return, or pulser input enabled status is initiated.
  • Page 70 Precautions concerning the program The same shared memory areas to which the various control parameters are  written are used for acceleration/deceleration control, JOG operation,home returns, and other types of control. These should not be overwritten by other conditions. If the values for the startup speed, the target speed, the acceleration/deceleration ...
  • Page 71 Absolute (Absolute Value Control) For this control, the “Absolute” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction. It is assumed the mode setting switch at the bottom of positioning unit is set to set side.
  • Page 72 Operations of the various flag The pulse output busy flag (X0) goes ON when E point control is initiated, and goes OFF when pulse output is completed. The pulse output done flag (X1) goes ON when pulse output is completed, and is maintained until the next E point control, P point control, JOG operation, JOG positioning operation,home return, or pulser input enabled status is initiated.
  • Page 73 Precautions concerning the program The same shared memory areas to which the various control parameters are  written are used for acceleration/deceleration control, JOG operation, JOG positioning operation, home returns, and other types of control. These should not be overwritten by other conditions. If the values for the startup speed, the target speed, the acceleration/deceleration ...

  • Page 74: Flow Of E Point Control Operation

    Flow of E Point Control Operation E point control: Single - speed acceleration/deceleration When the E point control startup relay (EST) is turned ON, acceleration/ deceleration control is carried out automatically at a single speed, in accordance with the specified data table. You may select S acceleration/deceleration. When the 4 - axis type positioning unit is mounted in slot 0 Operation example When the flag for E point control is turned ON, acceleration/deceleration is carried...
  • Page 75 Target speed  Acceleration/deceleration time  Position command value  Operation steps Step 1: Preparatory stage The data required for operation is transferred to the shared memory in advance. Step 2: Executing the operations Operation begins when the flag Y40 for E point control is turned ON. The control code determines whether S acceleration/deceleration or linear acceleration/deceleration is used.

  • Page 76: Operation Of The Input And Output Before And After E Point Control

    Operation of the Input and Output Before and After E Point Control E point control start flag(Y_0) 1. E point control is initiated based on the parameters written to the positioning unit. 2. E point control is not initiated during the time that the pulse output busy flag (X_0) is ON.(It is already initiated.) 3.

  • Page 77: Automatic Acceleration/Deceleration Control (P Point Control: Multi - Stage Acceleration/Deceleration)

    Automatic Acceleration/Deceleration Control (P Point Control: Multi - Stage Acceleration/ Deceleration) Sample Program Increment (Relative Value Control): Plus (+) Direction For this control, the “Increment” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction.
  • Page 78 Pulse output diagram Shared memory settings Control Set values in sample program example Range of acceptable parameter settings 1st speed 2nd speed 3rd speed setting content H0: Increment, Linear Increment method, The same as The same as acceleration/deceleration Control code Linear acceleration/ left left...
  • Page 79 Program...
  • Page 80 Increment (Relative Value Control): Minus ( - ) Direction For this control, the “ncrement” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction. It is assumed the mode setting switch at the bottom of positioning unit is set to set side.
  • Page 81 Shared memory settings Set values in sample program example Control parameter Range of acceptable setting content settings 1st speed speed speed H0: Increment, Linear Increment The same as The same acceleration/deceleration Control code method, Linear left as left H2: Increment, S-pattern acceleration/ acceleration/deceleration deceleration...
  • Page 82 Program...
  • Page 83 Absolute (Absolute Value Control) For this control, the “Absolute” method of travel amount setting is used, and the direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction. It is assumed the mode setting switch at the bottom of positioning unit is set to set side.
  • Page 84 Shared memory settings Set values in sample program Control example Range of acceptable parameter setting settings content 1st speed 3rd speed speed H1: Absolute, Linear Increment The same as The same as acceleration/deceleration Control code method, Linear left left H3: Absolute, S-pattern acceleration/ acceleration/deceleration deceleration...

  • Page 85: Flow Of P Point Control Operation

    Flow of P Point Control Operation P point control: Multi - stage acceleration/deceleration When the flag for initiating P point control (Y_1) is turned ON, acceleration/  deceleration control is carried out repeatedly, in accordance with the specified data table, and then the operation stops. Multiple accelerations/decelerations can be specified between starting and ...
  • Page 86 X0 is a Pulse output busy (BUSY) flag that indicates that operation is in progress, while X1 is a Pulse output done (EDP) flag that indicates that operation has been completed. After operation has been completed, the EDP flag remains ON until the next operation request is issued.
  • Page 87 Operation steps Step 1: Preparatory stage The data required for section I of the operation is transferred to the shared memory in advance. Shared memory Step 2: Executing the operation of Section I Operation begins when the flag Y41 for P point control start is turned ON. (At this point, XA goes ON.
  • Page 88 Step 3: Executing the operation of Section II When the operation of section I is completed, operation shifts to section II. (At this point, XA goes ON. When XA goes ON, the data for the operation of section III is transferred to the shared memory. XA goes OFF after the data has been transferred.) Step 4: Executing the operation of Section III When the operation of section II is completed, operation shifts to section III.

  • Page 89: Operation Of The Input And Output Flag Before And After P Point Control

    Operation of the Input and Output Flag Before and After P Point Control P point control start flag (Y_1) 1. P point control is initiated based on the parameters written to the positioning unit. 2. Control is not initiated during the time that the pulse output busy flag (X_0) is ON.
  • Page 90 Pulse output busy flag(X_O) 1. This goes ON with the next scan after P point control has been initiated, and goes OFF when the pulse output is completed. 2. Operation cannot be shifted to any other operation while this signal is ON. (except for a forced stop and a deceleration and stop) 3.

  • Page 91: Precautions When Creating P Point Control Programs

    Precautions When Creating P Point Control Programs Precautions Concerning the Set Value Change Confirmation Flag X_A The set value change confirmation flag is turned ON and OFF at the timing noted below, so an interlock should be applied to prevent the shared memory or other data from being overwritten at the same timing.
  • Page 92 If the P point control program is booted Because an interlock is in effect, while the E point control program has the E point control program cannot been booted and is running, the flag XA be booted if the P point control changes, resulting in affecting the P point program has already been booted.

  • Page 93: Jog Operation

    JOG Operation Sample Program JOG Operation (Forward and Reverse) This is the basic program for forward and reverse rotation using the external switch. The direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction. Pulses are output as long as the startup flag is ON in the manual mode.
  • Page 94 Pulse output diagram Shared memory settings Control parameter setting Set values in sample Range of content program example acceptable settings H0: Increment, Linear acceleration/deceleration Control code Linear H2: Increment, S-pattern acceleration/deceleration acceleration/deceleration Startup speed (pps) K500 K0 to K1,000,000 K1 to K1,000,000 Target speed (pps) K10000 Set a value larger than the...
  • Page 95 Program Precautions concerning the program The same shared memory areas to which the various control parameters are  written are used for acceleration/deceleration control, JOG positioning operation, home return, and other types of control. These should not be overwritten by other conditions. If the values for the startup speed, the target speed, or the acceleration/ ...
  • Page 96 JOG Operation (Forward, Reverse and Speed Changes) This is the basic program for forward and reverse rotation using the external switch. The direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction. It is assumed the mode setting switch at the bottom of the positioning unit is set to set side.
  • Page 97 Pulse output diagram Shared memory settings Set values in sample program example Control parameter Range of acceptable setting content settings Low . speed High . speed settings settings H0: Increment, Linear acceleration/deceleration Control code Linear acceleration/deceleration H2: Increment, S-pattern acceleration/deceleration Startup speed(pps) K500 K0 to K1,000,000...
  • Page 98 Program Precautions concerning the program The same shared memory areas to which the various control parameters are  written are used for acceleration/deceleration control, JOG positioning operation, home return, and other types of control. These should not be overwritten by other conditions. If the values for the startup speed, the target speed, or the acceleration/ ...

  • Page 99: Sequence Flow For Jog Operation

    Sequence Flow for JOG Operation JOG operation When a 4 - axis type positioning unit is mounted in slot 0 Operation example When the flag for forward rotation (Y43) (JGF) is turned ON, forward rotation begins and acceleration is initiated based on the settings. When the flag is turned OFF, deceleration takes place based on the settings, and the operation stops.
  • Page 100 Data necessary for settings The following data must be written to the specified addresses of the shared memory. Operation is determined by the following four types of data. Control code  Startup speed  Target speed  Acceleration/deceleration time  Operation steps Step 1: Preparatory stage The data for operation is transferred to the shared memory ahead of time.
  • Page 101 Reverse The start flag Y44 for reverse rotation is turned ON. The control codes determine whether S acceleration/deceleration or linear acceleration/deceleration is used. When the start flag is turned ON, acceleration takes places from the startup speed to the target speed for the acceleration/deceleration time. When the flag is turned OFF, deceleration takes place until the startup speed is reached, and operation then stops.

  • Page 102: Changing The Speed During Jog Operation

    Changing the Speed During JOG Operation Specifying a speed change during JOG operation To change the speed during JOG operation, the program should be set up so that only the “Target speed” parameter in the shared memory is overwritten after JOG operation has begun.
  • Page 103 Sample Program Acceleration/deceleration time when the speed is changed If the JOG speed is changed during JOG operation, it is not possible to specify  the acceleration/deceleration time when the speed changes. The acceleration/deceleration time is determined by the “Rate of acceleration”, ...
  • Page 104 Acceleration/Deceleration settings When you change Jog speed during JOG operation, set it to Linear  Acceleration/Deceleration When you set it to S Acceleration/Deceleration, JOG operation continues with  the initial speed.

  • Page 105: Teaching Following Jog Operation

    Teaching Following JOG Operation Example of Teaching Settings, and Sample Program Example of teaching operation following JOG operation The current position can be determined by reading the counter value stored in  the shared memory of the unit after JOG operation has taken place. The value read at this time is the data for the absolute value.
  • Page 106 Pulse output diagram...
  • Page 107 Sample Program...

  • Page 108: Action Of The I/O Flag Before And After Jog Operation

    Action of the I/O Flag Before and After JOG Operation Forward JOG flag (Y_3)/Reverse JOG flag (Y_4) 1. JOG operation is initiated based on the parameters written to the positioning unit. 2. The operation is not initiated during the time that the pulse output busy flag (X_0) is ON.(it has already been initiated).
  • Page 109 Pulse output done flag (X_1) 1. This goes ON when the pulse output is completed, and is maintained until the next E point control, P point control, JOG operation, JOG positioning operation, home return, or pulser input enabled status is initiated. 2.

  • Page 111: Home Return

    Home Return Sample Program Search to home in the Minus Direction Search to the home position is carried out in the minus direction. The direction in which the elapsed value increases as the motor rotates is set as the plus (+) direction. It is assumed the mode setting switch at the bottom of the positioning unit is set to set side.
  • Page 112 Pulse output diagram Shared memory settings Control parameter Set values in sample program Range of acceptable setting content example settings Acceleration/deceleration method: The specified values vary Linear acceleration/deceleration depending on the method of Direction of home return: acceleration/deceleration, the Control code - direction of elapsed value home return direction, the home Home input logic: Input valid when the...
  • Page 113 Program Precautions concerning the program The same shared memory areas to which the various control parameters are  written are used for acceleration/deceleration control, JOG operation, JOG positioning operation, home return, and other types of control. These should not be overwritten by other conditions. If the values for the startup speed, the target speed, or the acceleration/ ...
  • Page 114 Control Code Assignments Controls Controls Contr Accelerati Zero Accelerati Zero Contro Home Near-zero Home Near-zero Point Point l Code Return Point Return Point Code Decelerati Input Decelerati Input direction logic direction logic on method logic on method logic No power Power No power No power...
  • Page 115 Pulse output diagram Shared memory settings Control parameter Set values in sample program Range of acceptable setting content example settings Acceleration/deceleration method: The specified values vary Linear acceleration/deceleration depending on the method of Direction of home return: acceleration/deceleration, the Control code - direction of elapsed value home return direction, the home Home input logic: Input valid when the...
  • Page 116 Program Precautions concerning the program The same shared memory areas to which the various control parameters are writ  ten are used for acceleration/deceleration control, JOG operation, JOG positioning operation, home return and other types of control. These should not be overwritten by other conditions.
  • Page 117 Control Code Assignments Controls Controls Contr Accelerati Zero Accelerati Zero Contro Home Near-zero Home Near-zero Point Point l Code Return Point Return Point Code Decelerati Input Decelerati Input direction logic direction logic on method logic on method logic No power Power No power No power...

  • Page 118: Flow Of Operation Following A Home Return

    Flow of Operation Following a Home Return Home return When a 4 - axis type positioning unit is mounted in slot 0 Operation example When the startup flag is turned ON, acceleration is carried out based on the settings, until the targetspeed is reached. If near home input exists at that point, the speed slows to the startup speed, and then, if home input exists at that point as well, the movement stops.
  • Page 119 Operation steps Step 1: Preparatory stage The data for operation is transferred to the shared memory ahead of time. Step 2: Executing the operations The startup flag Y42 is turned ON. The control code determines whether S acceleration/deceleration or linear acceleration/deceleration is used.
  • Page 120 Step 3: Near home input If there is near home input, the speed slows to the startup speed. Step 4: Home input After decelerating to the startup speed value, the movement unit stops if there is home input.
  • Page 121 Operation If the Home Input is the Z Phase of the Servo Driver When near home input is input, the speed slows, and when the startup speed has been reached, the positioning unit recognizes the first input Z phase signal as the home input signal, and stops.
  • Page 122 Operation If the Home Input is Through an External Switch When near home input is input, the speed slows. When the startup speed has been reached, the home input signal is input and stops. When a 4 - axis type positioning unit is mounted in slot 0 Home input signals input during deceleration are not viewed as home input IMPORTANT signals.

  • Page 123: Action Of The I/O Flag Before And After A Home Return Operation

    Action of the I/O Flag Before and After a Home Return Operation Return Operation...
  • Page 124 Home return start flag(Y_2) 1. Home return is initiated based on the parameters written to the positioning unit. 2. The flag is not initiated during the time that the pulse output busy flag (X_0) is ON.(It has already been initiated). 3.
  • Page 125 Pulse output done flag (X_1) 1. The pulse output done flag does not go ON when a home return is completed. 2. Before a home return is started, this goes from ON to OFF when E point control, P point control, JOG operation, JOG positioning operation or pulser input operation is completed.

  • Page 126: Checking The Home And Near Home Input Logic

    Checking the Home and Near Home Input Logic When “Input Valid When Power is Supplied” is Specified In cases like that below, when power is supplied to the input circuit of the unit, the “Power supplied” control code for the program is selected from the control code table.(Refer to Chapter 1) When to specify “Input valid when power is supplied”: If the input switch contact is the “a”...

  • Page 127: Practical Use For A Home Return

    Practical Use for a Home Return When One Switch is Used as the Home Input Example of usage method • Connection Only the home input switch is installed and connected. (No near home input switch is connected.) • Input logic settings The control code in the shared memory should be set as indicated below.
  • Page 128 Reference (Key Points): Practical application of input logic. The near home input is set to “Input exists  when power is not supplied”, and is not connected. There is no near home switch.  There is only home input switch. ...
  • Page 129 • Operation When a home return begins, the motor rotates in the direction of the home return. When the near home input switch is turned ON, the speed slows down to the startup speed. The motor rotates the further and the near home input will be OFF. At this point, the home input should already be ON, as a result of the input logic, and the motor stops.

  • Page 130: Home Return

    Home Return Home Return by home position search When you control the motor over its home position, if Home Return direction is not limited to one direction, you can use Limit Over Inputs and the user program to perform home return in both directions as shown in the figure below. When Near-zero Point Input is in Home Return direction Slow down at Near-zero Point and stop at zero-point input position.
  • Page 131 3. If Near-zero point inputs are detected, operation direction is reversed, and motor stops at zero-point. Sample Program...

  • Page 133: Pulser (Mpg) Input Operation

    Pulser (MPG) Input Operation Sample Program Pulser input operation (Transfer multiple: 1 multiple setting) The rotation direction of the motor in which the elapsed value increases is set as the plus direction, and “pulse/sign” is set as the pulse outpt mode. It is assumed the mode setting switch at the bottom of the positioning unit is set to set side.
  • Page 134 Pulse output diagram Shared memory settings Control parameter Set values in sample Range of acceptable setting content program example settings H0 : x 1multiple H100 : x 2 multiple H200 : x 5 multiple H300 : x 10 multiple Control code Multiplication ratio:x1 multiple H400 : x 50 multiple H500 : x 100 multiple...
  • Page 135 Program Precautions concerning the program • The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, JOG operation, JOG positioning operation, home return, and other types of control. These should not be overwritten by other conditions. •...
  • Page 136 Pulser input operation (Transfer multiple: 5 multiple setting) The rotation direction of the motor in which the elapsed value increases is set as the plus direction, and “pulse/sign” is set as the pulse output mode. It is assumed the mode setting switch at the bottom of the positioning unit is set to set side. The normal setting system Pulse output diagram...
  • Page 137 Shared memory settings Control parameter Set values in sample Range of acceptable setting content program example settings H0 : x 1multiple H100 : x 2 multiple H200 : x 5 multiple H300 : x 10 multiple Control code Multiplication ratio:x5 multiple H400 : x 50 multiple H500 : x 100 multiple H600 : x 500 multiple...
  • Page 138 Precautions concerning the program • The same shared memory areas to which the various control parameters are written are used for acceleration/deceleration control, JOG operation, JOG positioning operation, home return, and other types of control. These should not be overwritten by other conditions. •...

  • Page 139: Sequence Flow For Pulser Input Operation

    Sequence Flow for Pulser input operation Pulser input operation • A manual pulse generator (pulser) can be connected, and the motor can be controlled in the manual mode. Pulser signals can be input while the pulser input enabled flag (PEN) is ON. •...
  • Page 140 When Y47 is turned ON in the above program, the motor for the first axis waits for pulser input. If the pulser is rotated in this state, the motor rotates also. The pulse output busy flag X0 remains OFF, and its status does not change. The pulse output done flag X1 goes OFF when Y47 goes ON.
  • Page 141 Operation steps Step 1: Preparatory stage The data required for operation is transferred to the shared memory in advance. Shared memory Step 2: Executing the operations The input enabled flag Y47 is turned ON. This sets the system in standby mode for input from the pulser. Forward rotation The pulser rotates in the forward direction.
  • Page 142 Reference: Value of the internal absolute counter during pulser input operation The internal absolute counter counts the number of pulses output. Consequently, in the instant that pulses are being input, the number of pulses input from the pulser does not equal to the value counted by the counter. When the input signal from the pulser is ignored IMPORTANT If the specified multiplication is high and the target speed is low, the next pulser...

  • Page 143: Action Of The I/O Flag During Pulser Input Operation

    Action of the I/O Flag During Pulser Input Operation Pulser input enabled flag (Y_7) 1. This is in pulser input operation status, based on the parameters written to the positioning unit. 2. This does not shift to enabled status while the pulse output busy flag X_0 is ON.

  • Page 144: Types Of Manual Pulse Generators That Can Be Used

    Types of Manual Pulse Generators That Can be Used A pulse generators should be used for which the number of output pulses is “25P/R” (25 pulses per cycle). With the “100P/R” (100 pulses per cycle) type, four pulses are output per click, and operation may not be accurate in some cases.

  • Page 145: Deceleration Stop And Forced Stop

    Deceleration Stop and Forced Stop Sample Program In - progress Stopping, Emergency Stopping, Overrun...
  • Page 146 Program Precautions concerning the program • The number of the stop input flag varies depending on the number of axes that the unit has, and the position in which it is mounted. • If a deceleration stop or forced stop is triggered, the start flag for the various operations must be turned OFF before operation can be restarted.
  • Page 147 Pulse output diagram Deceleration stop operation (In - progress stop)
  • Page 148 Forced stop operation (Emergency stop, Overrun)

  • Page 149: Operations For A Deceleration Stop And Forced Stop

    Operations for a Deceleration Stop and Forced Stop Deceleration Stop If the deceleration stop flag is turned ON during operation, the operation is interrupted, and the speed slows. When the startup speed is reached, pulse output stops. This operation is common to E point ontrol, P point control, home return, JOG operation.
  • Page 150 Forced Stop If the forced stop flag goes ON during operation, pulse output stops immediately. This operation is common to E point control, P point control, home return, JOG operation, and pulser input operation.

  • Page 151: I/O Flag Operation Before And After A Stop

    I/O Flag Operation Before and After a Stop Deceleration stop flag (Y_6) 1. When the deceleration stop flag goes ON, the operation in progress is interrupted, and deceleration begins. 2. After deceleration has begun and the speed has slowed to the startup speed, pulse output stops.

  • Page 152: Precautions Concerning Stopping Operations

    Pulse output done flag (X_1) 1. When the deceleration stop flag goes ON, this flag goes ON when pulse output is completed. 2. When the forced stop flag goes ON, this flag goes ON after 1 scan from when the flag has gone ON. 3.

  • Page 153: Precautions Concerning The Operation And Programs

    Precautions Concerning the operation and Programs Precautions Relating to Basic Operations of the Unit Values of Shared Memory are Cleared When Power is Turned The data in the shared memory of the positioning unit is not backed up if a power failure occurs.
  • Page 154 If a home return is carried out when the power supply is ON, write the control codes to the memory before the home return start flag is turned ON. If the control codes are not written to the memory, problems may occur such as a discrepancy between the direction of the home return and the input logic, causing the unit to operate in unexpected ways.
  • Page 155 Operation When the CPU Switches from RUN to PROG. Mode For safety reasons, if the CPU mode switches to the PROG. mode during E point control, P point control, JOG operation, or a home return, any positioning unit operations in progress at that point are interrupted, and the speed decelerates. Example: If the CPU switches from RUN to PROG.
  • Page 156 Operation Cannot be Switched Once One Operation Has Started If the startup flag for one of the five basic operations of the positioning unit (E point control, P point control, home return, JOG operation, and pulser operation) goes ON and operation is initiated, it is not possible to switch to another operation, even if the flag for that operation goes ON.

  • Page 157: Precautions Concerning Practical Usage Methods

    Precautions Concerning Practical Usage Methods Setting the Acceleration/Deceleration to Zero To initiate the target speed immediately without accelerating or decelerating (acceleration/deceleration Zero operation = automatic startup operation), the startup speed and acceleration/deceleration time should both be set to 0 (zero). This produces pulse output at the target speed, with an acceleration/deceleration time of 0 (zero).

  • Page 159: Operation If An Error Occurs

    Operation if an Error Occurs Positioning Unit Operation if an Error Occurs If the Positioning Unit ERR LED Lights When starting (stopped) If a set value error occurs when the positioning unit is started (stopped), the various operations will not begin. This applies to E point control, P point control, home return, JOG operation, and pulser operation, none of which will be initiated.
  • Page 160 If the CPU ERROR LED Lights The positioning unit interrupts any operation currently in progress, and enters the “deceleration stop” status. Reference: Operation is continued, however, if “Operation” has been specified in the system register settings for operation when an error of some kind occurs. ->...

  • Page 161: Errors Which Occur In The Positioning Unit Itself

    Errors Which Occur in the Positioning Unit Itself The positioning unit itself has a function which warns the user of an error if any of the parameters for the “Startup speed”, “Target speed”, and “Acceleration/ deceleration time” settings are not appropriate.
  • Page 162 Cases in which errors occur, and their contents At setting change during At startup setting operation Item Negative Out of Negative Out of number range number range startup speed Error Error E point target speed Error Error Error No applicable condition control Acceleration/ Error...

  • Page 163: Resolving Problems

    Resolving Problems If the Positioning Unit ERR LED Lights Conditions There is a set value error in the positioning data. Procedure 1 Using programming tools, check to see if the values in the data registers being used as the positioning parameter data tables are within the allowable setting range. Range for positioning data setting Allowable setting Program...
  • Page 164 Each operation starting point is valid after errors are released. IMPORTANT If you clear the Error Clear Signal with the program, you can clear errors even when another axis is being used in operation. Clearing an error by Error clear signal 1 (specify in the program) This is to clear an error in the program using the switch connected in advance.
  • Page 165 If the Motor Does Not Turn or Operate (if the LED for pulse output A or B is flashing or lighted) Solution 1: For the servomotor Check to make sure the servo on input is set to “ON”. Solution 2 Check to make sure the power supply for the driver is ON.
  • Page 166 Rotation/Movement Direction is Reversed Example of reversed rotation/movement direction: Solution 1 Make sure the wiring between the positioning unit and the driver has been correctly connected. Point to check: Make sure the CW/CCW output or the Pulse/Sign output has been connected to the pertinent input on the driver side.
  • Page 167 The Stopping Position is OFF for a Home Return Conditions When a home return is carried out, there is a possibility that the speed cannot be slowed sufficiently. If deceleration cannot be continued down to the startup speed, the unit will not stop even if there is home input.
  • Page 168 Speed Does not Slow for a Home Return Conditions There is a possibility that the near home input has not been read correctly. Solution 1 Forcibly turn the near home input switch ON and OFF from an external source, and check to see if the near home input display LED “D”...
  • Page 169 Movement Doesn’t Stop at Home Position (after decelerating for home return) Conditions There is a possibility that the home input has not been read correctly. Point to check The home return makes home input subsequent to deceleration valid, so if the home signal is input during deceleration, that input will end up being ignored.

  • Page 171: Dimensions And Driver Wiring

    Dimensions and Driver Wiring Motor Drive Connection Diagram Rockwell Automation Korea CSDJ plus series (Line Drive connection) For the Drive side CW Start Limit Input and CCW Start Limit Input and Servo Alarm Output connections, please refer to the Motor manufacturer's circuit recommendations.
  • Page 172 Rockwell Automation Korea CSD3 Series (Line Drive Connection) For the Drive side CW Start Limit Input and CCW Start Limit Input and Servo Alarm Output connections, please refer to the Motor manufacturer's circuit recommendations.
  • Page 173 Mitsubishi Electronics MR-J2-[] A[1] Series (Line Drive Connection) For the Drive side CW Start Limit Input and CCW Start Limit Input and Servo Alarm Output connections, please refer to the Motor manufacturer's circuit recommendations.

  • Page 174: Wiring For Motor Driver

    Wiring for Motor Driver Matsushita Electric Industrial Co., Ltd. MINAS A Series (Line drive connection) *When connecting the CW drive disabled and CCW drive disabled input, and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
  • Page 175 Matsushita Electric Industrial Co., Ltd. MINAS EX Series (Line drive connection) *When connecting the CW drive disabled and CCW drive disabled input, and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
  • Page 176 Matsushita Electric Industrial Co., Ltd. MINAS X(XX)Series (Line drive connection) *When connecting the CW drive disabled and CCW drive disabled input, and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
  • Page 177 Matsushita Electric Industrial Co., Ltd. MINAS X (V) Series (Line drive connection) *When connecting the CW drive disabled and CCW drive disabled input, and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
  • Page 178 Oriental Motor Co., Ltd. UPK-W Series (Open collector output, stepping drive connection)

  • Page 179: Nx700 Plc External Dimensions

    NX700 PLC External Dimensions 1. System Dimensions (mm) Motherboard Installation Diagram (mm)
  • Page 180 2. CPU, I/O, Analog Unit Dimensions (mm) 3. Special Unit Dimensions(mm)

  • Page 181: Sample Program

    Sample Program Sample Program Positioning Program for 1 Axis Unit configuration An overview of a sample program This sample program uses the absolute method. 1. When input X80 is ON, the table moves to the absolute position 10000. [Positioning (1)] 2.
  • Page 182 The example above is I/O with Positioning Unit Axis 3 or Axis 4 If you use CAUTIONS Positioning Unit Axis 1 or Axis 2, you have to use different I/O numbers. Please refer to chapter 4. I/O Allocation I/O No. Description I/O No.
  • Page 183 Program...
  • Page 184 Positioning for 2 Axes (Linear Interpolation Program) Unit configuration The example above is I/O with Positioning Unit Axis 3 or Axis 4 Caution If you use Positioning Unit Axis 1 or Axis 2, you have to use different I/O numbers. Please refer to chapter 4.
  • Page 185 Items to be set for the program Linear X axis Y axis Data component component component Target position (absolute) (X, Y) Current position (absolute) (x, y) Movement distance Lx=X-x Ly=Y-y startup speed target speed Acceleration/deceleration time Ac* Acx=Ac Acy=Ac For items marked with an asterisk (*), the user may specify any desired value. Other items are handled through operation in the sample program.
  • Page 186 Allocation of data registers Data Calculation Item Description formula startup speed User target speed Setting Acceleration/deceleration time area Target position of X axis Target position of Y axis DT10 Current position of X axis DT12 Current position of Y axis DT14 ABS(DT6 DT10)
  • Page 187 Program...
  • Page 189 Glossary E point control This is a method of control which is initiated up to an end point, and in this manual is referred to as “E point control”. This method is used for a single - speed acceleration/deceleration. P point control This refers to control which passes through a “Pass Point”, and is called “P point control”...
  • Page 190 Pulse/Sign output method (1-pulse output method) This is a method in which control is carried out using one pulse to specify the speed and ON/OFF signals to specify the direction of rotation. With the FP2 positioning unit, this is specified using the control codes of the shared memory according to the driver specifications.

  • Page 191: Glossary

    Open collector output This is one output format used in pulse output signal circuits, enabling to make connections in accordance with the voltage of the power supply being used by connecting an external resistance. This is used when connecting a driver that does not have line driver input, such as a stepping motor.
  • Page 192 Twisted pair cable This refers to a cable constructed of two wires, which suppresses the effects of noise. Because current of the same size is flowing in the reverse direction (the current in the same size flows in the opposite direction between the two, noise is blanked out, which reduces the effects of the noise.
  • Page 193 Feedback pulse input This counts the feedback pulse from the encoder. 2-phase input, direction distinction input and individual input can be handled. 2-phase input method This counts the signal of 2 pulses in the different phase (A phase, B phase). when A phase preceeds B phase, the motor is rotated clockwise(count increment) and when B phase preceeds A phase, the motor is rotated counter-clockwise (count decrement).
  • Page 194 Publication NX700-UM007A-PositionA-EN - December 2010...
  • Page 196 Copyright © 2010 RS Automation Co., Ltd. All rights reserved.

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