Page 1 Programmable Controller FP0H Positioning Unit User's Manual WUME-FP0HPG-021 2022.12 panasonic.net/id/pidsx/global...
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Page 3: Types Of Manual
Types of Manual ● There are different types of user‘s manual for the FP0H series. Please refer to a relevant manual for the unit and purpose of your use.
Page 4: Safety Precautions
● Do not undertake construction (such as connection and disconnection) while the power supply is on. It could lead to an electric shock. ● If the equipment is used in a manner not specified by the Panasonic, the protection provided by the equipment may be impaired.
Page 5 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. ■...
Page 6 ■ Absolute method (absolute value control method) This is a control method in which the target position is specified as an absolute position from the home position. ■ Increment method (relative value control method) This is a control method in which the distance from the current position to the target position is specified as a relative position.
Page 7: Open Collector Output
■ 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 8 operation moves to the home position and its coordinate is set to be 0. Home search automatically reverses the motor rotation when over limit input (+) or over limit input (-) is input and searches the home position or the near home position to return to the home position automatically.
Page 9 ■ Feedback pulse input The internal counter can count the feedback pulse from the encoder. Various input methods (2- phase input, direction discrimination input, and individual input) are supported. ■ 2-phase input This input method counts the two pulse train signals with different phases (phase A and phase B).
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Page 11: Table Of Contents
Table of Contents 1 System Configuration................1-1 1.1 Unit Functions and How They Work ...........1-2 1.1.1 Functions of Unit ................1-2 1.1.2 Unit Type and Product Number............1-3 1.2 Unit Functioning and Operation Overview ..........1-4 1.2.1 Unit Combinations for Positioning Control ........1-4 1.2.2 Basic Operation of Positioning Unit ..........
Page 12 4.1.1 Confirmation of I/O Allocation Information ........4-2 4.1.2 Slot Number and I/O Allocation............4-4 4.1.3 Confirming Slot Numbers and Shared Memory Numbers....4-4 4.2 Increment and Absolute ..............4-7 4.2.1 Increment (Relative Value Control) ..........4-7 4.2.2 Absolute (Absolute Value Control) ........... 4-7 4.3 Selection of Acceleration / Deceleration Method ........4-9 4.3.1 Linear Acceleration / Deceleration ...........
Page 13 8 JOG Operation ..................8-1 8.1 Sample Program .................8-2 8.1.1 JOG Operation (Forward and Reverse) ........... 8-2 8.1.2 JOG Operation (Forward, Reverse and Speed Changes) ....8-4 8.2 Changing the Speed During JOG Operation ........8-7 8.3 Operation of I/O Flags Before and After JOG Operation ....8-10 8.4 Operation at Over Limit Input..............8-12 8.5 Precautions on Programming .............8-13 9 JOG Positioning Operation ..............9-1...
Page 14 11.5 Types of Manual Pulse Generators that Can be Used......11-10 12 Deceleration Stop and Forced Stop ..........12-1 12.1 Sample Program ................12-2 12.1.1 Deceleration Stop and Forced Stop ..........12-2 12.2 Operations for Deceleration Stop and Forced Stop ......12-4 12.2.1 Deceleration Stop ................12-4 12.2.2 Forced Stop ...................
Page 15 16 Specifications..................16-1 16.1 Specifications..................16-2 16.2 List of Shared Memory Areas ............16-5 16.2.1 Allocation of Shared Memory Area ..........16-5 16.2.2 Precautions on Setting Shared Memory ........16-5 16.2.3 How to Specify Control Code ............16-6 16.2.4 List of Control Codes ..............16-7 16.3 Table of I/O Flag Allocation ...............16-9 16.4 Dimensions ..................16-12 WUME-FP0HPG-021...
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Page 17: System Configuration
1 System Configuration 1.1 Unit Functions and How They Work ...........1-2 1.1.1 Functions of Unit ................1-2 1.1.2 Unit Type and Product Number............1-3 1.2 Unit Functioning and Operation Overview ..........1-4 1.2.1 Unit Combinations for Positioning Control ........1-4 1.2.2 Basic Operation of Positioning Unit ..........1-5 1.3 Restrictions on Units Combination............1-6 1.3.1 Restriction by Power Consumption ..........
Page 18: Unit Functions And How They Work
1.1 Unit Functions and How They Work 1.1 Unit Functions and How They Work 1.1.1 Functions of Unit ■ Position control is available using Stepping motor or Servo motor. ● Positioning can be controlled through the combination of a servo motor and a stepping motor with a driver using the pulse train input method.
Page 19: Unit Type And Product Number
Product name Product No. controlled 1 axis AFP0HPG01T Transistor 1 pps to 500 kpps 2 axes AFP0HPG02T FP0H Positioning Unit 1 axis AFP0HPG01L Line driver 1 pps to 4 Mpps 2 axes AFP0HPG02L (Note 1) Connection connectors are supplied with the unit. If you need more connectors, purchase AFP2801 (2 sets/pack).
Page 20: Unit Functioning And Operation Overview
1.2 Unit Functioning and Operation Overview 1.2 Unit Functioning and Operation Overview 1.2.1 Unit Combinations for Positioning Control ■ Interfaces provided with the positioning unit ● In addition to pulse command output for the motor driver, the positioning unit is equipped with home input, near home input terminals, over limit input (+), over limit input (-), positioning control start input (timing input) for JOG positioning operation, and deviation counter clear output for the servo amplifier.
Page 21: Basic Operation Of Positioning Unit
1.2 Unit Functioning and Operation Overview 1.2.2 Basic Operation of Positioning Unit ■ Sample program Symbol Description Control code: Increment Startup speed: 500 pps Target speed: 10000 pps Acceleration / deceleration time: 50 ms Position command value:100000 pulses ■ Operation flow (1) Determining the necessary data The types of data written to the positioning unit include "control code", "startup speed", "target speed", "acceleration/deceleration time", and "position command value".
Page 22: Restrictions On Units Combination
Positioning Unit 1 axis AFP0HPG01L 150 mA Line driver 2 axes AFP0HPG02L 220 mA 1.3.2 Restrictions on the unit installation position Up to four FP0H Positioning Units can be mounted on the left side of the FP0H Control Unit. WUME-FP0HPG-021...
Page 23: Names And Functions Of Parts
2 Names and Functions of Parts 2.1 Names and Functions of Parts............2-2 2.2 Operating Status LEDs ...............2-3 WUME-FP0HPG-021...
Page 24 2.1 Names and Functions of Parts 2.1 Names and Functions of Parts Name Function Operation monitor These LEDs display the operating conditions for two axes. LEDs User I/F connector This connector is used to connect a motor driver or external interface. (1st axis and 2nd axis) WUME-FP0HPG-021...
Page 25: Operating Status Leds
2.2 Operating Status LEDs 2.2 Operating Status LEDs The LEDs show the same information for each axis. ■ Operation monitor LEDs Description LED ON LED OFF LED Flashing When set to pulse / During stop Pulse output busy Pulse output A sign output method signal display Pulse output busy...
Page 26 2.2 Operating Status LEDs (Note 2) The near home input (D) and home input (Z) LEDs light when the respective input becomes valid. The input valid logic is specified using the control code of the shared memory. In the manual, "Z" is described as "ZSG".
Page 27: Wiring
3 Wiring 3.1 Connection Using the Discrete-wire Connector ........3-2 3.1.1 Specifications of the Discrete-wire Connector ......... 3-2 3.1.2 Wiring the Discrete-wire Connector ..........3-3 3.2 Input / Output Specifications and Terminal Circuit Diagrams....3-6 3.2.1 Input / Output Specifications ............3-6 3.3 Supplying Power for Internal Circuit Drive ..........3-10 3.3.1 Line Driver Output Type ..............
Page 28: Connection Using The Discrete-Wire Connector
This is a connector that allows loose wires to be connected without removing the wire’s insulation. Use a special tool for wire connection. Discrete-wire connector (40P) ■ AFP2801 Discrete-wire Connector (Purchase separately) Manufacturer Composition of parts Quantity (2 sets) Panasonic Housing 1 pc. (AFP2801) (40P) Semi-cover 2 pcs.
Page 29: Wiring The Discrete-Wire Connector
3.1 Connection Using the Discrete-wire Connector 3.1.2 Wiring the Discrete-wire Connector ● When performing wiring work, refer to the instruction manual of the crimping tool in order to prevent faulty wiring. Bend and break the contact, and set it in the crimping tool. Insert the wire without removing its insulation until it stops, and lightly grip the crimping tool.
Page 30 3.1 Connection Using the Discrete-wire Connector When all the wires have been inserted, fit the semi-cover into place. WUME-FP0HPG-021...
Page 31 3.1 Connection Using the Discrete-wire Connector ● If there is a wiring mistake or the wire is incorrectly press-fit, use the crimping tool to remove the contact. Set the pin of the crimping tool at the position indicated by an arrow. Hold the housing with fingers and pull the wire.
Page 32: Input / Output Specifications And Terminal Circuit Diagrams
3.2 Input / Output Specifications and Terminal Circuit Diagrams 3.2 Input / Output Specifications and Terminal Circuit Diagrams 3.2.1 Input / Output Specifications The 1-axis type uses the connector pins only for one axis. The signal pins for two axes are assigned to one connector.
Page 33 3.2 Input / Output Specifications and Terminal Circuit Diagrams ■ Output terminals (Line driver output type) Pin No. Circuit Signal name Item Description 1 axis 2 axis Pulse output A: Line driver (+) Pulse output A: Line driver Line driver (-) output Output type cific...
Page 34 3.2 Input / Output Specifications and Terminal Circuit Diagrams ■ Input terminals (common) Pin No. Circuit Signal name Item Description Axis 1 Axis 2 Operating 21.6 to 26.4 V DC voltage range Min. ON 19.2 V DC / 5.5 mA voltage / current Home input Max.
Page 35 3.2 Input / Output Specifications and Terminal Circuit Diagrams Pin No. Circuit Signal name Item Description Axis 1 Axis 2 Positioning Minimum input control start 500 μs or more input (Timing pulse width input) Operating 3.5 to 5.25 V DC Pulse voltage (5 V DC, Line driver...
Page 36: Supplying Power For Internal Circuit Drive
3.3 Supplying Power for Internal Circuit Drive 3.3 Supplying Power for Internal Circuit Drive Check to make sure the 24 V DC voltage is supplied to the external power supply terminals (Terminal numbers A20, B20). The applied 24 V DC voltage is converted to 5 V DC voltage through the built-in DC/DC converter and supplied to each internal circuit as the power supply for driving the internal circuit for the pulse command output terminal.
Page 37: Connection Of Pulse Command Output Signal
3.4 Connection of Pulse Command Output Signal 3.4 Connection of Pulse Command Output Signal The positioning unit is equipped with two output types to match two types of motor driver interfaces. Connect to either one of them depending on the interface of the motor driver to be used,.
Page 38: Connection Of Deviation Counter Clear Output Signal
3.5 Connection of Deviation Counter Clear Output Signal 3.5 Connection of Deviation Counter Clear Output Signal ● This is an example showing the connection of the counter clear input to the servo amplifier. ● An external power supply (+5 V DC to +24 V DC) must be provided for the connection. ●...
Page 39: Connection Of Home Input And Near Home Input Signals
3.6 Connection of Home Input and Near Home Input Signals 3.6 Connection of Home Input and Near Home Input Signals 3.6.1 Connection of Home Input (When connecting to motor driver Z phase output) 3.6.2 Connection of Home Input (When connecting to an external switch / sensor) 3.6.3 Connection of Near Home Input Signal (Note 1)
Page 40: Connection Of Over Limit Input Signal
3.6 Connection of Home Input and Near Home Input Signals 3.6.4 Connection of Over Limit Input Signal (Note 1) Terminal numbers B4 and B13 are common for the Near home input, Over limit input (+), Over limit input (-) and Positioning control start input. 3.6.5 Connection of Positioning Control Start Input (Timing Input) (Note 1) Terminal numbers B4 and B13 are common for the Near home input, Over limit input (+), Over limit...
Page 41: Connections Of Pulse Input
3.7 Connections of Pulse Input 3.7 Connections of Pulse Input Connect the pulse input to match the output format because the signal output format varies depending on the pulser or encoder. There are the following three output formats: line driver type, transistor open collector type, and transistor-resistor pull-up type.
Page 42: Precautions On Wiring
3.8 Precautions on Wiring 3.8 Precautions on Wiring Connect the wire within the following length between the positioning unit and the motor driver and the pulse inputs, using twisted-pair cables. ■ Signals applicable ● Transistor output ● Line driver output ●...
Page 43: Confirming The Unit Settings And Design Contents
4 Confirming the Unit Settings and Design Contents 4.1 Unit Allocation ..................4-2 4.1.1 Confirmation of I/O Allocation Information ........4-2 4.1.2 Slot Number and I/O Allocation............4-4 4.1.3 Confirming Slot Numbers and Shared Memory Numbers....4-4 4.2 Increment and Absolute ..............4-7 4.2.1 Increment (Relative Value Control) ..........
Page 44: Unit Allocation
4.1 Unit Allocation 4.1 Unit Allocation 4.1.1 Confirmation of I/O Allocation Information Input and output relays are allocated. ■ Input flag (Note 1) I/O flag number 1-axis Flag Name Description 2-axis type type 1st axis 1st axis 2nd axis Pulse output busy BUSY (Note 2) X100 X100...
Page 45 4.1 Unit Allocation (Note 1) The I/O numbers actually allocated are the numbers based on the starting word number allocated to the unit. Example) When the slot number for the unit is "0", the pulse output busy flag for the first axis is X100. (Note 2) This turns ON during pulse output in various operations such as E point control, P point control, home return, JOG operation and JOG positioning operation, and remains ON until the operation is...
Page 46: Slot Number And I/O Allocation
4.1 Unit Allocation (Note 1) I/O flag number 1-axis Flag Name Description 2-axis type type 1st axis 1st axis 2nd axis Turns ON when JOG positioning JOG positioning is started. (can be used to confirm Y109 Y109 Y119 if JOG positioning operation is start ON.) Reserved for...
Page 47 4.1 Unit Allocation ■ Confirming slot numbers Slots are numbered from the unit installed next to the control unit beginning with 1. ■ Allocation of shared memory The parameter setting area and the elapsed value area are allocated to each axis of the shared memory.
Page 48 4.1 Unit Allocation Shared memory number Parameter name 1st axis 2nd axis Feedback counter H10E-H10F H11E-H11F ● For information on the allocation of the shared memory, refer to "16.2 List of Shared Memory Areas". WUME-FP0HPG-021...
Page 49: Increment And Absolute
4.2 Increment and Absolute 4.2 Increment and Absolute 4.2.1 Increment (Relative Value Control) The relative position from the current position is specified as the position command value, using the number of pulses. ■ Example ● For traveling from the current position to a position "+5000" pulses away, "+5000" pulses is set as the position command value.
Page 50 4.2 Increment and Absolute ● For traveling 2000 pulses in a negative direction from the current position that is 20000 pulses away from the home position, set "+18000 pulses" is set as the position command value. WUME-FP0HPG-021...
Page 51: Selection Of Acceleration / Deceleration Method
4.3 Selection of Acceleration / Deceleration Method 4.3 Selection of Acceleration / Deceleration Method There are the following two acceleration / deceleration methods: “Linear acceleration / deceleration” and “S acceleration / deceleration” 4.3.1 Linear Acceleration / Deceleration ● With linear acceleration / deceleration, acceleration and deceleration between the startup speed and the target speed are carried out in a straight line.
Page 52 4.3 Selection of Acceleration / Deceleration Method 4-10 WUME-FP0HPG-021...
Page 53: Internal Absolute Counter
4.4 Internal Absolute Counter 4.4 Internal Absolute Counter 4.4.1 Functions of Internal Absolute Counter ● 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 as the elapsed value indicating the absolute position from the home position.
Page 54: Writing Elapsed Value
4.4 Internal Absolute Counter ■ Allocation of shared memory Shared memory number Parameter 1st axis 2nd axis Absolute counter (elapsed value) H10A-H10B H11A-H11B ■ Program example Read the elapsed value of the 1st axis from the positioning unit installed in the slot 0, and copy it to the data registers DT100 to DT101.
Page 55: Power On And Off, And Items To Check
5 Power ON and OFF, and Items to Check 5.1 Safety Circuit Design ................5-2 5.2 Before Turning On the Power .............5-3 5.3 Procedure for Turning On the Power ..........5-4 5.3.1 Procedure for Turning On the Power ..........5-4 5.3.2 Procedure for Turning Off the Power ..........5-4 5.4 Confirming while the Power is ON ............5-6 5.4.1 Items to check when the power is ON ..........
Page 56: Safety Circuit Design
5.1 Safety Circuit Design 5.1 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. ● Connect them to the over limit input (+) and over limit input (-) of the positioning unit. ■...
Page 57: Before Turning On The Power
5.2 Before Turning On the Power 5.2 Before Turning On the Power (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 58: Procedure For Turning On The Power
5.3 Procedure for Turning On the Power 5.3 Procedure for Turning On the Power 5.3.1 Procedure for Turning On the Power When turning on the power to the system incorporating the pulse output 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 5.3 Procedure for Turning On the Power WUME-FP0HPG-021...
Page 60: Confirming While The Power Is On
5.4 Confirming while the Power is ON 5.4 Confirming while the Power is ON 5.4.1 Items to check when the power is ON ■ System configuration example Checking should be carried out in the four general stages described below. 5.4.2 Checking the External Safety Circuit Check the safety circuit recommended by the motor manufacturer to confirm the power supply cutoff of the motor driver and other functions by turning ON the CW / CCW driving inhibition switch of an external circuit.
Page 61: Checking The Operation Of The Near Home Switch And Home Switch
5.4 Confirming while the Power is ON Whether or not the over limit input is taken can be confirmed by the input flag. In addition, the over limit input valid logics can be changed using the shared memory storing the control code.
Page 62: Checking Rotating And Moving Directions And Moving Distance
5.4 Confirming while the Power is ON 5.4.5 Checking Rotating and Moving Directions and Moving Distance Execute the JOG operation to confirm the rotating direction and moving direction of the motor. Points to check The rotating direction is determined according to the installation of the ball screw or the "CW / CCW direction setting"...
Page 63: Automatic Acceleration / Deceleration Control (E Point Control: Single-Speed Acceleration / Deceleration)
6 Automatic Acceleration / Deceleration Control (E Point Control: Single-Speed Acceleration / Deceleration) 6.1 Sample Program .................6-2 6.1.1 Increment (Relative Value Control): Plus (+) Direction ....6-2 6.1.2 Increment (Relative Value Control): Minus (-) Direction....6-4 6.1.3 Absolute (Absolute Value Control) ........... 6-6 6.2 Operation of I/O Flags Before and After E Point Control ....6-8 6.3 Over Limit Input...................6-9 6.4 Precautions on Programming .............6-10...
Page 64: Sample Program
6.1 Sample Program 6.1 Sample Program 6.1.1 Increment (Relative Value Control): Plus (+) Direction For this control, the "Increment" method is used, and a positive value is specified for the position command value. ■ Pulse output diagram ■ Operation of each flag I/O No.
Page 65 6.1 Sample Program (Note 1) The I/O numbers in the above table are those for the unit slot number "0".The I/O numbers actually allocated are the numbers based on the starting word number allocated to the unit.. ■ Shared memory settings Parameter Set values in sample program Settable range...
Page 66: Increment (Relative Value Control): Minus (-) Direction
6.1 Sample Program 6.1.2 Increment (Relative Value Control): Minus (-) Direction For this control, the "Increment" method is used, and a negative value is specified for the position command value. ■ Pulse output diagram ■ Operation of each flag I/O No. Signal name Operation Starts the E point control based on the parameter written into the pulse...
Page 67 6.1 Sample Program ■ Shared memory settings Parameter Set values in sample program Settable range example (Note 1) Control code Refer to "16.2.4 List of Control Codes". (Pulse / Sign, Increment) Startup speed [pps] K500 K0 to K4,000,000 K1 to K4,000,000 Target speed [pps] K10000 *Set a value larger than the startup speed.
Page 68: Absolute (Absolute Value Control)
6.1 Sample Program 6.1.3 Absolute (Absolute Value Control) For this control, the "Absolute" method is used, and the absolute value from the home position is specified for the position command value. Moves to "25000" position regardless of where the current position is located. ■...
Page 69 6.1 Sample Program ■ Shared memory settings Parameter Set values in sample program Settable range example (Note 1) Control code Refer to "16.2.4 List of Control Codes". (Pulse / Sign, Absolute) Startup speed [pps] K500 K0 to K4,000,000 K1 to K4,000,000 Target speed [pps] K10000 *Set a value larger than the startup speed.
Page 70: Operation Of I/O Flags Before And After E Point Control
6.2 Operation of I/O Flags Before and After E Point Control 6.2 Operation of I/O Flags Before and After E Point Control ■ Time chart ■ Operation of each I/O flag I/O No. Signal Operation name E point ● E point control is initiated based on the parameter written to the positioning unit. control Y100 ●...
Page 71: Over Limit Input
6.3 Over Limit Input 6.3 Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input(+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.
Page 72: Precautions On Programming
6.4 Precautions on Programming 6.4 Precautions on Programming ■ Common precautions to each operation ● 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.
Page 73: Point Control: Multi-Stage Acceleration / Deceleration
7 P Point Control: Multi-Stage Acceleration / Deceleration 7.1 Sample Program .................7-2 7.1.1 Increment (Relative Value Control): Plus (+) Direction ....7-2 7.1.2 Increment (Relative Value Control): Minus (-) Direction....7-5 7.1.3 Absolute (Absolute Value Control) ........... 7-8 7.2 Operation of I/O Flags Before and After P Point Control ....7-12 7.3 Operation at Over Limit Input..............7-14 7.4 Precautions On Programming.............7-15 WUME-FP0HPG-021...
Page 74: Sample Program
7.1 Sample Program 7.1 Sample Program 7.1.1 Increment (Relative Value Control): Plus (+) Direction For this control, the "Increment" method is used, and a positive value is specified for the position command value. The position command value and target speed value are overwritten using the set value change flag (XA).
Page 75 7.1 Sample Program ■ Shared memory settings Set values in sample program example Parameter Settable range 1st speed 2nd speed 3rd speed (Note 1) Refer to "16.2.4 List of Control Control code Codes". (Pulse / Sign, Increment) Startup speed [pps] K500 K0 to K4,000,000 K1 to K4,000,000...
Page 76 7.1 Sample Program ■ Program Code Description Control code Startup speed Target speed Acceleration / deceleration time Position command value Start condition Pulse output busy flag: OFF WUME-FP0HPG-021...
Page 77: Increment (Relative Value Control): Minus (-) Direction
7.1 Sample Program Code Description Shift register reset Shift condition Writing to shared memory P point control start 7.1.2 Increment (Relative Value Control): Minus (-) Direction For this control, the "Increment" method is used, and a negative value is specified for the position command value.
Page 78 7.1 Sample Program ■ Shared memory settings Set values in sample program example Parameter Settable range 1st speed 2nd speed 3rd speed (Note 1) Refer to "16.2.4 List of Control Control code Codes". (Pulse / Sign, Increment) Startup speed [pps] K500 K0 to K4,000,000 K1 to K4,000,000...
Page 79 7.1 Sample Program ■ Program Code Description Control code Startup speed Target speed Acceleration / deceleration time Position command value Start condition Pulse output busy flag: OFF WUME-FP0HPG-021...
Page 80: Absolute (Absolute Value Control)
7.1 Sample Program Code Description Shift register reset Shift condition Writing to shared memory P point control start 7.1.3 Absolute (Absolute Value Control) For this control, the "Absolute" method is used, and the absolute value from the home position is specified for the position command value. The target speed value is overwritten using the set value change flag (XA).
Page 81 7.1 Sample Program ■ Shared memory settings Set values in sample program example Parameter Settable range 1st speed 2nd speed 3rd speed (Note 1) Refer to "16.2.4 List of Control Control code Codes". (Pulse / Sign, Absolute) Startup speed [pps] K500 K0 to K4,000,000 K1 to K4,000,000...
Page 82 7.1 Sample Program ■ Program Code Description Control code Startup speed Target speed Acceleration / deceleration time 7-10 WUME-FP0HPG-021...
Page 83 7.1 Sample Program Code Description Position command value Start condition Pulse output busy flag: OFF Elapsed value reset Shift register reset Shift condition Writing to shared memory P point control start WUME-FP0HPG-021 7-11...
Page 84: Operation Of I/O Flags Before And After P Point Control
7.2 Operation of I/O Flags Before and After P Point Control 7.2 Operation of I/O Flags Before and After P Point Control ■ Time chart ■ Operation of each I/O flag I/O No. Signal Operation name P point ● P point control is initiated based on the parameter written to the positioning unit. control Y101 ●...
Page 85 7.2 Operation of I/O Flags Before and After P Point Control I/O No. Signal Operation name ● This flag is shared among E point control, P point control, JOG operation, JOG positioning operation and pulser input operation. (Note 1) The I/O numbers in the above table are those for the unit slot number "0". The I/O numbers actually allocated are the numbers based on the starting word number allocated to the unit.
Page 86: Operation At Over Limit Input
7.3 Operation at Over Limit Input 7.3 Operation at Over Limit Input ■ Operation at Over Limit Input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.
Page 87: Precautions On Programming
7.4 Precautions On Programming 7.4 Precautions On Programming ■ Common precautions to each operation ● 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.
Page 88 7.4 Precautions On Programming ■ Program example 2 Because an interlock is in effect, the E point control program cannot be booted if the P point control program has already been booted. This prevents E point control from affecting P point control.
Page 89 7.4 Precautions On Programming WUME-FP0HPG-021 7-17...
Page 90 (MEMO) 7-18 WUME-FP0HPG-021...
Page 91: Jog Operation
8 JOG Operation 8.1 Sample Program .................8-2 8.1.1 JOG Operation (Forward and Reverse) ........... 8-2 8.1.2 JOG Operation (Forward, Reverse and Speed Changes) ....8-4 8.2 Changing the Speed During JOG Operation ........8-7 8.3 Operation of I/O Flags Before and After JOG Operation ....8-10 8.4 Operation at Over Limit Input..............8-12 8.5 Precautions on Programming .............8-13 WUME-FP0HPG-021...
Page 92: Sample Program
8.1 Sample Program 8.1 Sample Program 8.1.1 JOG Operation (Forward and Reverse) Forward and reverse rotations are performed using the external switch. Reverse JOG Forward JOG ■ Pulse output diagram ■ Shared memory settings Parameter Set values in sample program Settable range example (Note 1)
Page 93 8.1 Sample Program Parameter Set values in sample program Settable range example Acceleration / deceleration time K100 K0 to K32,767 [ms] (Note 1) If the over limit error occurs, set H0 to change the limit input valid logic. ■ Program Code Description Control code...
Page 94: Jog Operation (Forward, Reverse And Speed Changes)
8.1 Sample Program 8.1.2 JOG Operation (Forward, Reverse and Speed Changes) Forward and reverse rotations are performed using the external switch. Also, the speed is changed using the external switch. ■ Pulse output diagram WUME-FP0HPG-021...
Page 95 8.1 Sample Program ■ Shared memory settings Set values in sample program example Parameter Settable range Low-speed High-speed settings settings (Note 1) Control code Refer to "16.2.4 List of Control Codes". (Pulse / Sign) Startup speed [pps] K500 K0 to K4,000,000 K1 to K4,000,000 Target speed [pps] K5000...
Page 96 8.1 Sample Program Code Description Control code Startup speed (c)-1 Target speed <Low speed> (c)-2 Target speed <High speed> Acceleration / deceleration time Start condition Writing to shared memory JOG forward operation start JOG reverse operation start WUME-FP0HPG-021...
Page 97: Changing The Speed During Jog Operation
8.2 Changing the Speed During JOG Operation 8.2 Changing the Speed During JOG Operation ● Forward and reverse rotations are performed using the external switch. Also, the speed is changed using the external switch. ● To change the speed during JOG operation, only the "Target speed" parameter in the shared memory is overwritten after JOG operation has begun.
Page 98 8.2 Changing the Speed During JOG Operation ■ Sample program Symbol Description Control code Startup speed (c)-1 Target speed <Low speed> (c)-2 Target speed <High speed> Acceleration / deceleration time up to the initial speed JOG start Writing to shared memory JOG forward operation start JOG reverse operation start WUME-FP0HPG-021...
Page 99 8.2 Changing the Speed During JOG Operation ■ 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. ●...
Page 100: Operation Of I/O Flags Before And After Jog Operation
8.3 Operation of I/O Flags Before and After JOG Operation 8.3 Operation of I/O Flags Before and After JOG Operation ■ Time chart ■ Operation of each I/O flag I/O No. Signal Operation name Forward Y103 JOG start ● JOG operation is initiated based on the parameter written to the positioning unit. flag ●...
Page 101 8.3 Operation of I/O Flags Before and After JOG Operation I/O No. Signal Operation name ● This flag is shared among E point control, P point control, JOG operation, JOG positioning operation and home return (except for a pulser input operation). ●...
Page 102: Operation At Over Limit Input
8.4 Operation at Over Limit Input 8.4 Operation at Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.
Page 103: Precautions On Programming
8.5 Precautions on Programming 8.5 Precautions on Programming ■ Common precautions to each operation ● 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.
Page 104 (MEMO) 8-14 WUME-FP0HPG-021...
Page 105: Jog Positioning Operation
9 JOG Positioning Operation 9.1 Sample Program .................9-2 9.1.1 Increment (Relative Value Control): Plus (+) Direction ....9-2 9.1.2 Increment (Relative Value Control): Minus (-) Direction....9-4 9.2 Operation of I/O Flags During JOG Positioning Operation ....9-7 9.3 Operation at Over Limit Input..............9-8 9.4 Precautions On Programming.............9-9 WUME-FP0HPG-021...
Page 106: Sample Program
9.1 Sample Program 9.1 Sample Program 9.1.1 Increment (Relative Value Control): Plus (+) Direction ● JOG positioning operation is initiated using the input signal from the external switch as a trigger to perform position control. ● For this control, the "Increment" method is used, and a positive value is specified for the position command value.
Page 107 9.1 Sample Program I/O No. Signal name Operation Pulse output busy Turns on during JOG positioning operation, and turns off when pulse output X100 flag is completed. Turns on when pulse output is completed, and is maintained until the next E Pulse output done X101 point control, P point control, JOG operation, JOG positioning operation,...
Page 108: Increment (Relative Value Control): Minus (-) Direction
9.1 Sample Program Code Description Position command value Start condition Writing to shared memory JOG positioning operation start for the 1st axis 9.1.2 Increment (Relative Value Control): Minus (-) Direction ● JOG positioning operation is initiated using the input signal from the external switch as a trigger to perform position control.
Page 109 9.1 Sample Program ■ Pulse output diagram ■ Operations of each flag I/O No. Signal name Operation JOG positioning JOG positioning operation is initiated based on the parameter written to the Y108 unit. operation start flag Pulse output busy Turns on during JOG positioning operation, and turns off when pulse output X100 flag is completed.
Page 110 9.1 Sample Program (Note 2) It becomes a set value error in the absolute method. ■ Program Code Description Control code Startup speed Target speed Acceleration / deceleration time Position command value Start condition Writing to shared memory JOG positioning operation start for the 1st axis WUME-FP0HPG-021...
Page 111: Operation Of I/O Flags During Jog Positioning Operation
9.2 Operation of I/O Flags During JOG Positioning Operation 9.2 Operation of I/O Flags During JOG Positioning Operation ■ Time chart ■ Operation of each I/O flag I/O No. Signal Operation name positioning ● JOG positioning operation is initiated based on the parameter written to the unit. Y108 operation ●...
Page 112: Operation At Over Limit Input
9.3 Operation at Over Limit Input 9.3 Operation at Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.
Page 113: Precautions On Programming
9.4 Precautions On Programming 9.4 Precautions On Programming ■ Common precautions to each operation ● 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.
Page 114 (MEMO) 9-10 WUME-FP0HPG-021...
Page 115: Home Return
10 Home Return 10.1 Sample Program ................10-2 10.1.1 Search to Home in Minus Direction ..........10-2 10.1.2 Search to Home in Plus Direction ..........10-4 10.2 Types of Home Return ..............10-7 10.2.1 Home Search Valid Mode .............. 10-7 10.2.2 Home Search Invalid Mode............10-9 10.3 Flow of Home Return Operation ............10-11 10.3.1 When the Home Input is the Z Phase of Servo Amplifier....
Page 116: Sample Program
10.1 Sample Program 10.1 Sample Program 10.1.1 Search to Home in Minus Direction ● The home return direction is specified with the control code to perform home return. ● The input logic of near home input and home input , and the home return direction are specified with the control codes.
Page 117 10.1 Sample Program ■ Pulse output diagram ■ Program WUME-FP0HPG-021 10-3...
Page 118: Search To Home In Plus Direction
10.1 Sample Program Code Description Control code Startup speed Target speed Acceleration / deceleration time Home return condition Writing to shared memory Home return start 10.1.2 Search to Home in Plus Direction ● The home return direction is specified with the control code to perform home return. ●...
Page 119 10.1 Sample Program Parameter Set values in sample program Settable range example K1 to K4,000,000 Target speed [pps] K10000 *Set a value larger than the startup speed. Acceleration / deceleration time K100 K0 to K32,767 [ms] (Note 1) If the over limit error occurs, set H54 to change the limit input valid logic. ■...
Page 120 10.1 Sample Program ■ Program Code Description Control code Startup speed Target speed Acceleration / deceleration time Home return condition Writing to shared memory Home return start 10-6 WUME-FP0HPG-021...
Page 121: Types Of Home Return
10.2 Types of Home Return 10.2 Types of Home Return 10.2.1 Home Search Valid Mode ■ What is Home search valid mode ● When the home position is in between where the table travels or when the direction of the home return could be in the both directions, the home return in the both directions can be performed using the over limit switch (+) or over limit switch (-).
Page 122 10.2 Types of Home Return (2) When the over limit switch (-) is detected, the table reverses the direction. When the near home input is once turned ON and the OFF, the table slows down and turns around. (3) When the near home is detected again, the speed slows down from the target speed to the startup speed and the table stops at the home position.
Page 123: Home Search Invalid Mode
10.2 Types of Home Return (2) When the near home is detected again, the speed slows down from the target speed to the startup speed and the table stops at the home position. ● The above operation is also applicable when the speed does not reach the target one before the table comes to the near home position.
Page 124 10.2 Types of Home Return ● The table does not reverse the direction but stops by detecting the over limit switch (+) or (-). Setting the control code (the lower 6th bit) of the shared memory to 0 disables a home position search.
Page 125: Flow Of Home Return Operation
10.3 Flow of Home Return Operation 10.3 Flow of Home Return Operation 10.3.1 When the Home Input is the Z Phase of Servo Amplifier When near home input is input, the speed slows, and when the startup speed has been reached, the pulse output unit recognizes the first input Z phase signal as the home input signal, and stops.
Page 126: When The Home Input Is Through An External Switch
10.3 Flow of Home Return Operation 10.3.2 When 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. ●...
Page 127: Operation Of I/O Flags Before And After Home Return Operation
10.4 Operation of I/O Flags Before and After Home Return Operation 10.4 Operation of I/O Flags Before and After Home Return Operation ■ Time chart ■ Operation of each I/O flag I/O No. Signal name Operation ● Home return is initiated based on the parameter written to the positioning unit. Home return Y102 ●...
Page 128 10.4 Operation of I/O Flags Before and After Home Return Operation I/O No. Signal name Operation ● The table stops when the home switch input becomes valid after the near home switch input connected to the positioning unit became valid. X106 Home input ●...
Page 129: Home And Near Home Input Logic
10.5 Home and Near Home Input Logic 10.5 Home and Near Home Input Logic 10.5.1 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"...
Page 130 10.5 Home and Near Home Input Logic Current stops flowing when the home or near home position is detected. 10-16 WUME-FP0HPG-021...
Page 131: Practical Use For Home Return
10.6 Practical Use for Home Return 10.6 Practical Use for Home Return 10.6.1 When One Switch is Used as the Home Input ■ Connection The home input switch is 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 132: When One Switch On And Off Are Assigned To Near Home Input And Home Input
10.6 Practical Use for Home Return ● Home return is executed at the startup speed. ● When the home input is connected to the Z phase output of the motor driver, one switch cannot be used as the home input. ●...
Page 133 10.6 Practical Use for Home Return ■ Input logic setting (When the switch of a normally open contact is used) The control code in the shared memory　should be set as indicated below. ● Home input logic: Input valid when the power is not ON ●...
Page 134: Over Limit Input
10.7 Over Limit Input 10.7 Over Limit Input Operations depend on the status of over limit input (+) and over limit input (-) as follows. ■ Operation at over limit input (Home search is valid) Condition Direction Limit status Operation Over limit input (+): ON Executable Forward...
Page 135 10.7 Over Limit Input 4) The control codes are to specify the reverse direction of the rotation for the pulse output (forward or reverse) in the program. WUME-FP0HPG-021 10-21...
Page 136: Precautions On Programming
10.8 Precautions on Programming 10.8 Precautions on Programming ■ Common precautions to each operation ● 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.
Page 137: Pulse Input Operation
11 Pulse Input Operation 11.1 Sample Program ................11-2 11.1.1 Pulser Input Operation (Transfer Multiple: 1 Multiple Setting)..11-2 11.1.2 Pulser Input Operation (Transfer Multiple: 5 Multiple Setting)..11-4 11.2 Operation of I/O Flags During Pulser Input Operation ......11-7 11.3 Operation at Over Limit Input ............11-8 11.4 Precautions on Programming............11-9 11.5 Types of Manual Pulse Generators that Can be Used......11-10 WUME-FP0HPG-021...
Page 138: Sample Program
11.1 Sample Program 11.1 Sample Program 11.1.1 Pulser Input Operation (Transfer Multiple: 1 Multiple Setting) Pulses are output according to the input from the pulser. The input mode, pulse input transfer multiple and pulse output transfer multiple are specified using the control code. 11-2 WUME-FP0HPG-021...
Page 139 11.1 Sample Program ■ Pulse output diagram ■ Shared memory settings Parameter Set values in sample program example Settable range (Note 1) Refer to "16.2.4 List of Control Control code Codes". Transfer multiple: x1 Target speed [pps] K1000 K1 to K4,000,000 (Note 1) If the over limit error occurs, set H0 to change the limit input valid logic.
Page 140: Pulser Input Operation (Transfer Multiple: 5 Multiple Setting)
11.1 Sample Program ■ Program Code Description Control code Target speed Start condition Writing to shared memory Pulser input enabled 11.1.2 Pulser Input Operation (Transfer Multiple: 5 Multiple Setting) Pulses are output according to the input from the pulser. The input mode, pulse input transfer multiple and pulse output transfer multiple are specified using the control code.
Page 141 11.1 Sample Program ■ Pulse output diagram ■ Shared memory settings Parameter Set values in sample program example Settable range (Note 1) H280 Control code Refer to "16.2.4 List of Control Codes". Transfer multiple: x5 Target speed [pps] K5000 K1 to K4,000,000 (Note 1) If the over limit error occurs, set H200 to change the limit input valid logic.
Page 142 11.1 Sample Program ■ Program Code Description Control code Target speed Start condition Writing to shared memory Pulser input enabled 11-6 WUME-FP0HPG-021...
Page 143: Operation Of I/O Flags During Pulser Input Operation
11.2 Operation of I/O Flags During Pulser Input Operation 11.2 Operation of I/O Flags During Pulser Input Operation ■ Time chart ■ Operation of each I/O flag I/O No. Signal name Operation ● Pulser input operation status is initiated based on the parameter written to the positioning unit.
Page 144: Operation At Over Limit Input
11.3 Operation at Over Limit Input 11.3 Operation at Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.
Page 145: Precautions On Programming
11.4 Precautions on Programming 11.4 Precautions on Programming ■ Common precautions to each operation ● 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.
Page 146: Types Of Manual Pulse Generators That Can Be Used
11.5 Types of Manual Pulse Generators that Can be Used 11.5 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"...
Page 147: Deceleration Stop And Forced Stop
12 Deceleration Stop and Forced Stop 12.1 Sample Program ................12-2 12.1.1 Deceleration Stop and Forced Stop ..........12-2 12.2 Operations for Deceleration Stop and Forced Stop ......12-4 12.2.1 Deceleration Stop ................12-4 12.2.2 Forced Stop ................... 12-4 12.3 Operation of I/O Flags Before and After Stop ........12-6 12.4 Precautions on Stop Operations ............12-7 WUME-FP0HPG-021 12-1...
Page 148: Sample Program
12.1 Sample Program 12.1 Sample Program 12.1.1 Deceleration Stop and Forced Stop The deceleration stop flag or forced stop flag allocated to the positioning unit is turned ON. ■ Pulse output diagram: Deceleration stop operation (In-progress stop) ■ Pulse output diagram: Forced stop operation (Emergency stop) 12-2 WUME-FP0HPG-021...
Page 149 12.1 Sample Program ■ Program Code Description E-point control positioning operation program example In-progress stop Emergency stop WUME-FP0HPG-021 12-3...
Page 150: Operations For Deceleration Stop And Forced Stop
12.2 Operations for Deceleration Stop and Forced Stop 12.2 Operations for Deceleration Stop and Forced Stop 12.2.1 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 control, P point control, home return, JOG operation and JOG positioning operation.
Page 151 12.2 Operations for Deceleration Stop and Forced Stop WUME-FP0HPG-021 12-5...
Page 152: Operation Of I/O Flags Before And After Stop
12.3 Operation of I/O Flags Before and After Stop 12.3 Operation of I/O Flags Before and After Stop ■ Time chart ■ Operation of each I/O flag I/O No. Signal Operation name ● When the deceleration stop flag goes ON, the operation in progress is interrupted, and deceleration begins.
Page 153: Precautions On Stop Operations
12.4 Precautions on Stop Operations 12.4 Precautions on Stop Operations ■ Precautions on programming (Deceleration stop and Forced stop) ● The number of the stop input flag varies depending on the number of axes and the installation position. ■ Restarting after deceleration stop or forced stop ●...
Page 154 (MEMO) 12-8 WUME-FP0HPG-021...
Page 155: Feedback Counter
13 Feedback Counter 13.1 Sample Program ................13-2 13.1.1 Step Out Detection by Comparing Feedback Value with Elapsed Value ....................13-2 13.2 Feedback Counter Function..............13-5 13.2.1 Feedback Counter Function............13-5 13.2.2 Operation of Feedback Counter............. 13-5 13.2.3 Feedback Counter Settings ............13-6 13.2.4 Input Method of Feedback Counter ..........
Page 156: Sample Program
13.1 Sample Program 13.1 Sample Program 13.1.1 Step Out Detection by Comparing Feedback Value with Elapsed Value ● The following example program compares the count of the output pulses with the count of the feedback pulses at the E point control and makes the deceleration stop if the count is out of the allowable range.
Page 157 13.1 Sample Program ■ Pulse output diagram WUME-FP0HPG-021 13-3...
Page 158: Example Of Program
13.1 Sample Program ■ Example of program Code Description Control code Startup speed Target speed Acceleration / deceleration time Position command value Start condition Writing to shared memory Reading count value of output pulses Reading count value of feedback pulses. Setting the allowable difference between the output pulses and the feedback pulses Detecting the step out when the allowable range is exceeded Starting the deceleration stop when step out is detected...
Page 159: Feedback Counter Function
13.2 Feedback Counter Function 13.2 Feedback Counter Function 13.2.1 Feedback Counter Function ■ Overview of feedback counter function ● The positioning unit has a function to count pulse signals from an external input such as encoder at high speed. ● This function is applied for step out detection by comparing feedback values with elapsed values.
Page 160: Feedback Counter Settings
13.2 Feedback Counter Function 13.2.3 Feedback Counter Settings ● The mode can be changed by rewriting the control code in the user program. ● When counting the 2-phase input such as the input from the encoder, set the pulse input transfer multiple to "4 multiple setting"...
Page 161: Input Method Of Feedback Counter
13.2 Feedback Counter Function 13.2.4 Input Method of Feedback Counter ● Select from the following three types according to input devices to be connected. ● The count operation varies depending on the settings of multiplication factor as shown below. ■ Count method Method Connection...
Page 162 13.2 Feedback Counter Function Multiple Time chart Addition Subtraction multiple ■ Count operation of individual input Multiple Time chart Addition Subtraction multiple multiple ■ Count operation of direction discrimination input Multiple Time chart Addition Subtraction multiple multiple 13-8 WUME-FP0HPG-021...
Page 163: Precautions Concerning Unit Operation And Programs
14 Precautions Concerning Unit Operation and Programs 14.1 Precautions Relating to Basic Operations of the Unit .......14-2 14.1.1 Values in Shared Memory are Cleared When Power is Turned OFF....................14-2 14.1.2 Operation When the Control Unit Switches from RUN to PROG. Mode ....................
Page 164: Precautions Relating To Basic Operations Of The Unit
14.1 Precautions Relating to Basic Operations of the Unit 14.1 Precautions Relating to Basic Operations of the Unit 14.1.1 Values in Shared Memory are Cleared When Power is Turned OFF ● The data in the shared memory of the positioning unit is not backed up if a power failure occurs.
Page 165: Mode
14.1 Precautions Relating to Basic Operations of the Unit 14.1.2 Operation When the Control Unit 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, JOG positioning operation or home return, any positioning unit operations in progress at that point are interrupted, and the speed decelerates.
Page 166 14.1 Precautions Relating to Basic Operations of the Unit Reference: If the flag for a deceleration stop or forced stop goes ON, the six basic operations noted above (E point control, P point control, Home return, Pulser input operation, JOG operation, JOG positioning operation) stop immediately.
Page 167: Precautions Concerning Practical Usage Methods
14.2 Precautions Concerning Practical Usage Methods 14.2 Precautions Concerning Practical Usage Methods 14.2.1 Setting Acceleration / Deceleration to Zero ● To initiate the target speed without accelerating or decelerating (acceleration / deceleration Zero operation = automatic startup operation), the startup speed and acceleration / deceleration time should be set to 0 (zero).
Page 168 (MEMO) 14-6 WUME-FP0HPG-021...
Page 169: Troubleshooting
15 Troubleshooting 15.1 Positioning Unit Operation If an Error Occurs........15-2 15.1.1 If the Positioning Unit ERR LED Lights .......... 15-2 15.1.2 If the ERR/ALM LED Lights on the Control Unit ......15-2 15.2 Errors Which Occur in Positioning Unit..........15-4 15.3 What to Do If an Error Occurs............15-7 15.3.1 If the Positioning Unit ERR LED Lights ..........
Page 170: Positioning Unit Operation If An Error Occurs
15.1 Positioning Unit Operation If an Error Occurs 15.1 Positioning Unit Operation If an Error Occurs 15.1.1 If the Positioning Unit ERR LED Lights ■ When starting (stopped) ● If a set value error or an over limit error occurs when the positioning unit is started (stopped), the various operations will not begin.
Page 171 15.1 Positioning Unit Operation If an Error Occurs Note that operation continues if the operation mode for when various errors occur is set to “Operation” side. WUME-FP0HPG-021 15-3...
Page 172: Errors Which Occur In Positioning Unit
15.2 Errors Which Occur in Positioning Unit 15.2 Errors Which Occur in Positioning Unit ● There are an over limit error and a set value error which occur in the positioning unit. ● When an over limit input becomes enabled, the pulse output unit warns the user of an over limit error.
Page 173 15.2 Errors Which Occur in Positioning Unit ■ Cases in which a set value error occurs, and their contents At setting change during At startup setting operation Operation pattern Negativ Negative Out of Out of number range range number Startup speed Error (Note 1) Error...
Page 174 15.2 Errors Which Occur in Positioning Unit At setting change during At startup setting operation Operation pattern Negativ Negative Out of Out of number range range number Position command value Error Error Error (Absolute) Startup speed (Note 1) Target speed Error Error Error...
Page 175: What To Do If An Error Occurs
15.3 What to Do If an Error Occurs 15.3 What to Do If an Error Occurs 15.3.1 If the Positioning Unit ERR LED Lights ■ Situation An over limit error or a set value error occurs. ■ Solution Using the tool software, check the contents of an error by monitoring the input flags allocated to the positioning unit.
Page 176: What To Do When A Set Value Error Occurs
15.3 What to Do If an Error Occurs 15.3.3 What to Do When a Set Value Error Occurs ■ Solution Using the programming tool, check to see if the values in the data registers being used as the parameter data tables are within the allowable setting range. Parameter Allowable setting range Program specification...
Page 177: If The Motor Does Not Turn (If The Led For Pulse Output A Or B Is Not Lit)
15.3 What to Do If an Error Occurs ● Check to make sure the 24 V DC voltage is supplied to the external power supply terminals (Terminal numbers A20, B20). ■ Solution 4 Check to make sure the settings for the pulse output method (CW / CCW method or Pulse / Sign method) are appropriate for the driver.
Page 178: The Stopping Position Is Off For A Home Return
15.3 What to Do If an Error Occurs ■ Solution 3 If the settings for the position command data have been designed with the plus (+) and minus (-) directions reversed, change the direction of rotation using the control code. ●...
Page 179: Speed Does Not Slow For A Home Return
15.3 What to Do If an Error Occurs If the home input is connected to the Z phase of the servo amplifier, there may be cases in which the near home input position is close to the home input. ■ Solution 2 Correct the program and set the home return speed to a slower speed.
Page 180: Movement Does Not Stop At Home Position (After Decelerating For Home Return)
15.3 What to Do If an Error Occurs ● When the control code is the initial value, the near home input is valid when power is supplied. When the near home input is not connected, the unit processes as the near home input is invalid.
Page 181: Specifications
16 Specifications 16.1 Specifications..................16-2 16.2 List of Shared Memory Areas ............16-5 16.2.1 Allocation of Shared Memory Area ..........16-5 16.2.2 Precautions on Setting Shared Memory ........16-5 16.2.3 How to Specify Control Code ............16-6 16.2.4 List of Control Codes ..............16-7 16.3 Table of I/O Flag Allocation ...............16-9 16.4 Dimensions ..................16-12 WUME-FP0HPG-021...
Page 182: Specifications
16.1 Specifications 16.1 Specifications ■ General specifications Item Description Operating ambient 0℃ to +55℃ temperature Storage ambient temperature -20℃ to +70℃ Operating ambient humidity 30 to 85%RH (at 25℃ non-condensing) Storage ambient humidity 30 to 85%RH (at 25℃ non-condensing) Breakdown voltage Between various pins of external connector and function earth terminal 500 V AC for 1 minute Insulation resistance...
Page 183 16.1 Specifications Item Description "S" Acceleration / Can be selected from Sin curve, Secondary curve, Cycloid curve and deceleration Third curve. Acceleration / 0 to 32,767 ms (can be set in 1 ms.) deceleration time Home return speed Speed setting possible (changes return speed and search speed) Home return Input signal Home input, Near home input, Over limit input (+), Over limit input (-)
Page 184 (Note 4) It indicates the current consumption of the power to be supplied to the unit inside through the bus from the FP0H control unit. (Note 5) It indicates the current consumption (when using 24 V DC) of the power to be supplied from the connector terminal of the unit.
Page 185: List Of Shared Memory Areas
16.2 List of Shared Memory Areas 16.2 List of Shared Memory Areas 16.2.1 Allocation of Shared Memory Area ■ Setting/Monitor area Shared memory No. Setting item (Hex) Parameter name Pulse Setting range and unit point point opera positi 1st axis 2nd axis tion oning...
Page 186: How To Specify Control Code
16.2 List of Shared Memory Areas ● For the first speed with E point control and P point control, and for JOG operation, JOG positioning operation and home return, the value set for the target speed should be larger than that set for the startup speed. ●...
Page 187: List Of Control Codes
16.2 List of Shared Memory Areas 16.2.4 List of Control Codes ■ Shared memory address H101, H111 (Higher word) (Note 1) When counting the 2-phase input such as the input from the encoder, set the pulse input transfer multiple to "4 multiple setting (x4)" or "2 multiple setting (x2)" to prevent counting error. (Note 2) In the pulse output divided mode, the value set for the startup speed or the target speed can be divided by the optional value to output.
Page 188 16.2 List of Shared Memory Areas count per second be a broken number. Example: Target speed is 300 pps and divided mode is 16: 18.75 pps is output. ■ Shared memory address H100, H110 (Lower word) 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Pulse output method, home return, input logic 0 (Default) Absolute...
Page 189: Table Of I/O Flag Allocation
16.3 Table of I/O Flag Allocation 16.3 Table of I/O Flag Allocation ■ Input flag (Note 1) I/O flag number 1-axis Flag Name Description 2-axis type type 1st axis 1st axis 2nd axis (Note 2) Pulse output busy BUSY X100 X100 X110 ON during pulse output.
Page 190 16.3 Table of I/O Flag Allocation (Note 2) This turns ON during pulse output in various operations such as E point control, P point control, home return, JOG operation and JOG positioning operation, and remains ON until the operation is completed.
Page 191: Table Of I/O Flag Allocation
16.3 Table of I/O Flag Allocation (Note 1) I/O flag number 1-axis Flag Name Description 2-axis type type 1st axis 1st axis 2nd axis Reserved for system to Y_E If an error occurs, the error is Error clear ECLR canceled when this is turned ON Y10F Y10F Y11F...
Page 192: Dimensions
16.4 Dimensions 16.4 Dimensions 1-axis type 2-axis type Unit: mm 16-12 WUME-FP0HPG-021...
Page 193: Record Of Changes
Record of Changes The number of each manual is recorded at the bottom of the cover page. Date Manual No. Record of changes May 2018 WUME-FP0HPG-01 1st Edition May 2021 WUME-FP0HPG-02 2nd Edition Changed the manual format. WUME-FP0HPG-021...
Page 194 [Scope of warranty] In the event that Panasonic Industrial Devices SUNX confirms any failures or defects of the Products by reasons solely attributable to Panasonic Industrial Devices SUNX during the warranty period, Panasonic Industrial Devices SUNX shall supply the replacements of the Products, parts or replace and/or repair the defective portion by free of charge at the location where the Products were purchased or delivered to your premises as soon as possible.
Page 195 (MEMO) WUME-FP0HPG-021...
Page 196 Panasonic Industry Co., Ltd. Panasonic Industrial Devices SUNX Co., Ltd. https://panasonic.net/id/pidsx/global Please visit our website for inquiries and about our sales network. Panasonic Industrial Devices SUNX Co., Ltd. 2022 December, 2022 WUME-FP0HPG-021...

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