Page 1 Programmable Controller FP7 Multi Input/Output Unit User's Manual Supported models ● AFP7MXY32DWD ● AFP7MXY32DWDH WUME-FP7MXY-06 2024.4 industry.panasonic.com/...
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Page 3 Types of Manual ● There are different types of user’s manual for the FP7 series, as listed below. Please refer to a relevant manual for the unit and purpose of your use.
Page 4 Unit name or purpose of Manual name Manual code FP7 Positioning Unit FP7 Positioning Unit User’s Manual WUME-FP7POSP FP7 Serial Communication FP7 Series User’s Manual (SCU Communication) WUME-FP7COM Unit FP7 Multi-wire Link Unit FP7 Multi-wire Link Unit User’s Manual WUME-FP7MW FP7 Motion Control Unit FP7 Motion Control Unit User’s Manual...
Page 5 Doing so may result in electrical shock. ● If this product is used in any way that is not specified by Panasonic, its protection function may be impaired. ● This product has been developed and manufactured for industrial use only.
Page 6 Indicates operation procedures. WUME-FP7MXY-06...
Page 7 Table of Contents 1 Unit Functions and Restrictions............1-1 1.1 Unit Functions and Operation .............1-2 1.1.1 Unit Functions .................. 1-2 1.1.2 Unit Type and Product Number............1-3 1.2 Restrictions on Units Combination............1-4 1.2.1 Restrictions by Power Consumption ..........1-4 1.2.2 Applicable Versions of FPWIN GR7 and Units ........ 1-4 1.2.3 Restrictions on Interrupt Function ............
Page 8 5.2.3 Application to Differential Output............5-6 5.3 Application Setting ................5-9 5.3.1 Overview ..................5-9 5.3.2 Setting Items by Use ................ 5-9 6 Interrupt Function .................6-1 6.1 Interrupt Function................6-2 6.1.1 Overview of Interrupt Function ............6-2 6.1.2 Setting of Unit Body ................. 6-2 6.1.3 Configuration Using Tool Software...........
Page 9 9.1.4 Configuration Using Tool Software........... 9-4 9.1.5 Data Update Timing (Output Frequency) ......... 9-6 9.1.6 Data Update Timing (Duty Ratio) ............. 9-7 9.2 Control Signals..................9-10 9.2.1 Enable and Start ................9-10 9.2.2 Reset....................9-10 9.3 Read/Write of PLS/PWM Counter Elapsed Value.......9-12 9.3.1 Elapsed Value When Power Turns On..........
Page 10 10.8.3 Speed Changes in JOG Operation ..........10-39 10.9 Home Return..................10-40 10.9.1 Types of Home Return ..............10-40 10.9.2 Operation Patterns of Home Return Operation......10-41 10.9.3 Settings and Operations of Home Return ........10-43 10.10 Positioning Control................10-47 10.10.1 Types of Positioning Controls ............10-47 10.10.2 E-point Control (Single Speed Positioning)........
Page 11 13.2.2 Output .................... 13-9 13.3 List of Unit Memories ................13-14 13.3.1 Role of Unit Memories ..............13-14 13.3.2 List of Unit Memories (AFP7MXY32DWD/ AFP7MXY32DWDH) .. 13-15 13.3.3 List of Unit Memories (AFP7MXY32DWDH) ........13-17 13.4 Unit Memory Detailed Information ............13-24 13.4.1 Alarm/Error/Warning ..............
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Page 13: Table Of Contents
1 Unit Functions and Restrictions 1.1 Unit Functions and Operation .............1-2 1.1.1 Unit Functions .................. 1-2 1.1.2 Unit Type and Product Number............1-3 1.2 Restrictions on Units Combination............1-4 1.2.1 Restrictions by Power Consumption ..........1-4 1.2.2 Applicable Versions of FPWIN GR7 and Units ........ 1-4 1.2.3 Restrictions on Interrupt Function ............
Page 14: Unit Functions And
Pulse output or PWM output: Max. 4 ch Positioning pulse output: Max. 4 ch (Note 1) The positioning function is available only for the FP7 Multi I/O Unit (H type). ■ Equipped with various functions One unit is equipped with the following functions.
Page 15: Unit Type And Product Number
Positioning controls can be selected the follwoing four patterns; E-point control, P-point control, C-point control and J-point control. (Note 1) The positioning function is available only for the FP7 Multi I/O Unit (H type). 1.1.2 Unit Type and Product Number ■...
Page 16: Restrictions On Units Combination
Current consumption FP7 Multi Input/Output Unit AFP7MXY32DWD 100 mA or less FP7 Multi Input/Output Unit (H type) AFP7MXY32DWDH 100 mA or less 1.2.2 Applicable Versions of FPWIN GR7 and Units For using the multi input/output unit, the following versions of FPWIN GR7 and units are required.
Page 17: Restrictions On Interrupt Function
1.2 Restrictions on Units Combination (Note 1) When an ""*"" is displayed in the INT column, it indicates that the mode setting switch on the side of the unit is set to ""Use the interrupt function"". 1.2.3 Restrictions on Interrupt Function The multi input/output unit can start an interrupt program of the CPU unit using an interrupt input or counter comparison match flag.
Page 18 1.2 Restrictions on Units Combination Termin Functions I/O no. Interrupt Counter elapsed numbe Counter Positioning input value hold mode CH0 DOG CH0 IN-B CH0 JPOS CH0 RST CH0 LMT+ CH0 MASK CH0 LMT- CH1 IN-A CH1 Z CH1 DOG CH1 IN-B CH1 JPOS CH1 RST CH1 LMT+...
Page 19 1.2 Restrictions on Units Combination Termi Functions I/O no. Comparison Pulse output PWM output Positioning numb CMP3 CMP4 CH0 CLR CMP5 CH1 CLR CMP6 CH2 CLR CMP7 CH3 CLR PLS0 A PWM0 PLS0 A PLS0 B PLS0 B PLS1 A PWM1 PLS1 A PLS1 B...
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Page 21 2 Names and functions of parts 2.1 Names and functions of parts .............2-2 2.1.1 Names and functions of parts ............2-2 2.1.2 Operation monitor LEDs ..............2-2 2.1.3 Mode setting switches..............2-3 WUME-FP7MXY-06...
Page 22 2.1 Names and functions of parts 2.1 Names and functions of parts 2.1.1 Names and functions of parts ■ Names and functions of parts Name Functions Operation monitor Indicates the operation mode, error occurrence state and input and output LEDs states.
Page 23 2.1 Names and functions of parts Content LED ON LED OFF LED Flashing (Note 1)(Note 2) X0-XF Displays the status of the input signal. Input signal monitor Y0-YF (Note 1) Displays the status of the output signal. Output signal monitor (Note 3)(Note Output polarity display Turns on when there is an output that is set to ""Sink...
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Page 25 3 Input/Output Specifications and Wiring 3.1 Input/Output Specifications ..............3-2 3.1.1 Characteristics of Input/Output Circuits ........... 3-2 3.1.2 I/O Terminal Layout Diagram ............3-2 3.1.3 Output Specifications ............... 3-5 3.2 Wiring of Input and Output ..............3-8 3.2.1 Common Precautions to Input and Output........3-8 3.2.2 Input Wiring ..................
Page 26: Input/Output Specifications
3.1 Input/Output Specifications 3.1 Input/Output Specifications 3.1.1 Characteristics of Input/Output Circuits The I/O circuits of the FP7 Multi I/O Unit incorporate the following mechanism. Make the setting of the actual inputs/outputs and the settings on the software be the same. ■...
Page 27 3.1 Input/Output Specifications ■ External connection diagram In Sink output mode or Push-pull output (negative In Source output mode or Push-pull output logic) mode (positive logic) mode (Note 1) COM0 to COM3 are independent common terminals. They are not internally connected. (Note 2) The two plus terminals (A19 and B19) on the output side are connected internally, and the two minus terminals (A20 and B20) are connected internally.
Page 28 3.1 Input/Output Specifications Specifications Item 5 - 24 V mode 12 - 24 V mode 1.0 µs or less (at 5 V DC) ON→OFF 2.0 µs or less (at 12 V DC) 3.5 µs or less (at 24 V DC) 1.0 µs (at 5 V/12 V DC) Min.
Page 29: Output Specifications
3.1 Input/Output Specifications Voltage detection circuit Internal circuit ■ Characteristics of input circuit ● The multi I/O unit has a circuit for detecting an input voltage and switching an input impedance. See the following table as a guide for input impedances when using each voltage.
Page 30 3.1 Input/Output Specifications Item Specifications Current 100 mA or less Output points per common 16 points/common (common to external power supply terminals) Surge absorber Zener diode Operating mode indicator LED display (Note 1) The output method is selected by the software. The both polarities are off at the time of startup. The output polarity must be set.
Page 31 3.1 Input/Output Specifications Setting mode Internal circuit diagram and external connection diagram Source output Push-pull Negative logic output When the operation result output Y is 1, the Pch turns off and Nch turns on, and energization to the load is performed. Push-pull Positive logic output...
Page 32: Wiring Of Input And Output
3.2 Wiring of Input and Output 3.2 Wiring of Input and Output 3.2.1 Common Precautions to Input and Output ■ Wiring position Arrange the wiring so that the input and output wiring are separated, and these wirings are separated from the power wiring, as much as possible. Do not route them through the same duct or tie them in a bundle.
Page 33: Output Wiring
3.2 Wiring of Input and Output Two-wire output type ■ Precaution when Using LED-equipped Lead Switch When an LED is connected in series to an input contact such as an LED-equipped lead switch, make sure that the voltage applied to the PLC input terminal is greater than the ON voltage. In particular, take care when connecting a number of switches in series.
Page 34 3.2 Wiring of Input and Output ■ Precautions when using capacitive loads When connecting loads with large in-rush currents, to minimize their effect, connect a protection circuit as follows. 3-10 WUME-FP7MXY-06...
Page 35: Connection Using The Discrete-Wire Connector
3.3 Connection Using the Discrete-wire Connector 3.3 Connection Using the Discrete-wire Connector No discrete-wire connector is provided with the unit. Purchase it separately. 3.3.1 Specifications of Wire-pressed Terminal Cable This is a connector allowing loose wires to be connected without removing the wire’s insulation. A pressure connection tool is required to connect the loose wires.
Page 36: Wiring The Discrete-Wire Connector
3.3 Connection Using the Discrete-wire Connector 3.3.2 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 37 3.3 Connection Using the Discrete-wire Connector When all the wires have been inserted, fit the semi-cover into place. WUME-FP7MXY-06 3-13...
Page 38 3.3 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 39: Connection Using The Push-In Connector
3.4 Connection Using the Push-In Connector 3.4 Connection Using the Push-In Connector 3.4.1 About Push-In Connector 40-pole push-in type connector manufactured by Ningbo Degson Electronic Co. Ltd. that can be used with the FP7 Series. Product name Model number Remarks...
Page 40 3.4 Connection Using the Push-In Connector Clasps MIL connector Insert the product into the MIL connector. When inserting the product, make sure that the triangular marking is at the top. Triangular marking Insert the product until the clasps of the MIL connector close. 3-16 WUME-FP7MXY-06...
Page 41 3.4 Connection Using the Push-In Connector Wiring Follow the procedure below when wiring. Wiring precautions ● Do not damage the core when stripping off the covering material. ● Do not apply stress to the wires after wiring. ● Do not solder the core. Soldering the core may cause it to disconnect due to vibration. Strip off the covering material from the wire 10 mm Attach the pole terminal to the core part.
Page 42 3.4 Connection Using the Push-In Connector After inserting the wire, ensure that the wire does not protrude. Replacing Wires Follow the procedure below when replacing wires. Use the following dedicated tool or an equivalent flat-head screwdriver to remove the wire. Dedicated tool Manufacturer Model number...
Page 43 3.4 Connection Using the Push-In Connector Release button Dedicated tool or flat-head screwdriver Remove the wire while pressing down the button. Insert the new wire. For details on how to insert the wire, refer to "Wiring". WUME-FP7MXY-06 3-19...
Page 44 3.4 Connection Using the Push-In Connector ● Pressing the release button unlocks the wires on both sides of the button. After replacing the wires, ensure that the wires do not protrude. 3-20 WUME-FP7MXY-06...
Page 45 3.4 Connection Using the Push-In Connector Removing from the Unit Follow the procedure below to remove the product from the unit. Open out the clasps of the MIL connector. Clasps MIL connector Remove the product from the unit. WUME-FP7MXY-06 3-21...
Page 46 3.4 Connection Using the Push-In Connector 3-22 WUME-FP7MXY-06...
Page 47 4 Unit Allocation 4.1 Unit Allocation ..................4-2 4.1.1 Number of Occupied I/O Points for the Unit........4-2 4.1.2 Confirmation of I/O Allocation Information ........4-2 4.1.3 Registration in I/O Map ..............4-3 WUME-FP7MXY-06...
Page 48 4.1 Unit Allocation 4.1 Unit Allocation 4.1.1 Number of Occupied I/O Points for the Unit The input and output starts from the same I/O numbers in FP7 series. For the multi I/O unit, the following number of words is occupied. Product number...
Page 49 FPWIN GR7 has been started and the CPU unit has been already registered as the slot number 0 and the multi I/O unit is allocated to the slot number 1. Select Options>FP7 Configuration>I/O map in the menu bar. The "I/O Map Setting" dialog box is displayed.
Page 50 4.1 Unit Allocation The selected unit is now registered in the I/O map. The following figure shows the case that the input and output units have been registered subsequently. The multi I/O unit occupies four words each for input and output. WUME-FP7MXY-06...
Page 51 5 Multi I/O Unit Setting 5.1 Basic Setup..................5-2 5.1.1 Basic setting item ................5-3 5.2 Output Terminal Setting ..............5-4 5.2.1 Overview ..................5-4 5.2.2 Allocation of Contacts to Output Terminals ........5-5 5.2.3 Application to Differential Output............5-6 5.3 Application Setting ................5-9 5.3.1 Overview ..................
Page 52: Basic Setup
5.1 Basic Setup 5.1 Basic Setup The settings of the multi I/O unit are specified in the configuration menu of FPWIN GR7. The input voltage mode, input time constant and output polarity can be switched by the setting of the software. The default setting for the output is "Output OFF". Set this as appropriate. Select Options>Multi I/O Unit Setting in the menu bar.
Page 53: Basic Setting Item
5.1 Basic Setup 5.1.1 Basic setting item Setting item Default Settings Related page Set whether or not to announce a double word access error Double word when it occurs. error Announce "P.12-4" annunciation Announce/Not announce Set whether or not to announce a warning when it occurs. Warning Announce "P.12-7"...
Page 54: Output Terminal Setting
5.2 Output Terminal Setting 5.2 Output Terminal Setting 5.2.1 Overview On Multi Input/Output Unit, the allocation of output terminal polarities and output numbers can be switched by the setting of the software. ● Output terminal polarities can be selected from sink, source, P-type push-pull (positive logic) and N-type push-pull (negative logic).
Page 55: Allocation Of Contacts To Output Terminals
5.2 Output Terminal Setting Example 1 of using sink and source outputs Example 2 of using sink and source outputs (Note 1) When the polarities are mixed, a warning occurs and the ERR LED on the unit flashes to remind users to check the wiring.
Page 56: Application To Differential Output
5.2 Output Terminal Setting In this example, "Output terminal polarity" is set to use two kinds of push-pull outputs and the same Y contact is allocated to two output circuits. (Note 1) When the polarities are mixed, a warning occurs and the ERR LED on the unit flashes to remind users to check the wiring.
Page 57 5.2 Output Terminal Setting ■ Terminal layout diagram ■ External connection diagram External resistance Differential input device (Line driver Load current when turning input) ■ Configuration using FPWIN GR7 Select Options>Multi I/O Unit Setting in the menu bar. Select a unit. The basic setup screen of "Multi I/O Unit Setting"...
Page 58 5.2 Output Terminal Setting Check the box for ""Allocate contacts of output terminals"" and set terminal numbers allocated to each contact. Set the both terminals B11-B14 and B15-B18 to Y108-Y10B. (B11-14 is Sink and B15-18 is Source.) The terminal layout displayed on the left side of the Multi I/O Unit Setting dialog box is updated according to this setting.
Page 59: Application Setting
5.3 Application Setting 5.3 Application Setting 5.3.1 Overview Set applications according to functions to be used as necessary. The following figure shows the case that high-speed counters are allocated to the inputs (X100 to X103) of the multi I/O unit of the starting word number 10.
Page 60 5.3 Application Setting ■ High-speed counter (HSC0-HSC3 / PLSC0-PLSC3: Selectable by channel.) Setting item Settings Unused/Direction distinction/Individual input/Phase input (multiplied by 1)/Phase Function setting input (multiplied by 2)/Phase input (multiplied by 4) Elapsed value hold mode Switch on the checkbox for using this mode. Count mode Ring / Linear Counter elapsed value...
Page 61 5.3 Application Setting Setting item Settings Counter upper/lower limit -2147483648 to +2147483647 values Pulse start logic (Except OFF start / ON start PWM output) ■ Positioning (CH0-CH3: Selectable by channel) Setting item Settings Function setting (Note 1) Unused/Use/Use (Use J point terminal) Counter elapsed value -2147483648 to +2147483647 Counter upper/lower limit...
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Page 63 6 Interrupt Function 6.1 Interrupt Function................6-2 6.1.1 Overview of Interrupt Function ............6-2 6.1.2 Setting of Unit Body ................. 6-2 6.1.3 Configuration Using Tool Software........... 6-2 6.1.4 Overview of Interrupt Program ............6-4 6.1.5 Precautions for Use ................. 6-5 6.2 Execution Example of Interrupt Function ..........6-6 6.2.1 External Interrupt Input ..............
Page 64: Interrupt Function
6.1 Interrupt Function 6.1 Interrupt Function 6.1.1 Overview of Interrupt Function ● The multi input/output unit can start an interrupt program of the CPU unit using an interrupt input signal or counter comparison match flag. ● If the activation condition is met, the interrupt program of a corresponding program number will be activated.
Page 65 6.1 Interrupt Function Select Options>Multi I/O Unit Setting in the menu bar. The ""Multi I/O Unit Setting"" dialog box is displayed. Select a unit to be used. From the function select tree, select ""Interrupt"", and double-click an interrupt number to which the interrupt input is allocated.
Page 66: Overview Of Interrupt Program
6.1 Interrupt Function 6.1.4 Overview of Interrupt Program Use the following instructions to execute the activation of an interrupt program. ■ Instructions used for interrupt program activation Described area Instruction Functions Allows the interrupt process for the CPU. Prohibits the interrupt process for the CPU. IMASK Allows or prohibits the interrupt process of each unit.
Page 67: Precautions For Use
6.1 Interrupt Function ■ Corresponding interrupt program numbers Interrupt Designation of the first operand of IMASK and ICLR Multi I/O unit interrupt No. program No. instructions IMASK instruction INTPG 10 INT0 (Input X8 or EQ0) INTPG 11 INT1 (Input X9 or EQ1) INTPG 12 INT2 (Input XA or EQ2) INTPG 13...
Page 68: Execution Example Of Interrupt Function
6.2 Execution Example of Interrupt Function 6.2 Execution Example of Interrupt Function 6.2.1 External Interrupt Input ■ Overview ● The following figure shows the example that the output (Y160) from the 32-point output unit is output at a high speed by the processing of an interrupt program when inputting the external input (INT0) of the multi I/O unit (X108) in the state that the interlock input (X140) is input to the 32-point input unit.
Page 69: Comparison Match Interrupt
6.2 Execution Example of Interrupt Function In the case of interrupt processing The signal is output with a slight delay. ■ Program example ● Describe the interrupt enable instruction before the ED instruction, and describe a program to be executed by the interrupt processing after the ED instruction. ●...
Page 70 6.2 Execution Example of Interrupt Function sequence program until IRET is executed, and the output (Y160) of the 32-point output unit is output at a high speed. (For the interrupt occurred at the same time as comparison output) ● The interrupt (INT0) occurs at the same time as the comparison output. The interrupt program from INT0 of a sequence program until IRET is executed, and the output (Y160) of the 32-point output unit is output at a high speed.
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Page 72 6.2 Execution Example of Interrupt Function ■ Time chart (For the interrupt occurred when comparison values match) Comparison output (1) The count value is reset when the reset signal turns on. setting value The comparison output turns on when the elapsed value is smaller than (b) Counter elapsed value the setting value.
Page 73 6.2 Execution Example of Interrupt Function ■ Time chart (For the interrupt occurred when comparison values match) Comparison output (1) The count value is reset when the reset signal turns on. setting value The comparison output turns on when the elapsed value is smaller than (b) Counter elapsed value the setting value.
Page 74 6.2 Execution Example of Interrupt Function (Note 1) The input (X140) corresponds to (S2: IN0) in the program, and the output (X160) corresponds to (S3: OT0). (Note 2) For the unit which uses direct input (IN) and direct output (OT), set ""Exclude this unit from I/O refresh""...
Page 75 7 Counter Function 7.1 Counter Function ................7-2 7.1.1 Overview of Counter Function ............7-2 7.1.2 Configuration Using Tool Software........... 7-3 7.1.3 Linear Counter and Ring Counter ............ 7-4 7.1.4 Selection of Count Methods ............. 7-6 7.2 Control Signals..................7-9 7.2.1 Reset and Mask ................7-9 7.3 Read/Write of Elapsed Value ..............7-10 7.3.1 Elapsed Value When Power Turns On..........
Page 76: Counter Function
7.1 Counter Function 7.1 Counter Function 7.1.1 Overview of Counter Function ● The count function is used to count the number of input pulses and reflect it to the elapsed value. The freqeuncies of input pulses can also be measured. ●...
Page 77: Configuration Using Tool Software
7.1 Counter Function (Note 2) This applies when the input pulse duty is 50%. ● Besides the purpose which counts input pulses from external devices, pulses generated by them can be counted internally when using the pulse output/PWM output function. For details of the counter for the pulse output/PWM output, also refer to ""9 Pulse Output/PWM Output Function"".
Page 78: Linear Counter And Ring Counter
7.1 Counter Function Press the [[OK]] button. The selected condition will be registered in the ""Multi I/O Unit Setting"" dialog box. The following figure shows an example when ""High-speed counter (Phase input)"" is allocated to the inputs (X100-X103) of the multi I/O unit. The output for control is automatically allocated to the outputs (Y110-Y111) of the unit's internal I/O.
Page 79 7.1 Counter Function ■ Operational difference between the counter types Comparison Linear counter Ring counter item Operation image If the count value exceeds the upper limit, the count value will be the lower limit If the count value exceeds the upper limit, automatically and the count operation will Operation when the upper limit will be held.
Page 80: Selection Of Count Methods
7.1 Counter Function ■ Ring counter operation ● If the lower limit is counted down, the count value will be rolled over, and counting down will continue from the upper limit. ● If the upper limit is counted up, the count value will be rolled over, and counting up will continue from the lower limit.
Page 81 7.1 Counter Function ■ Count method Metho Connection Count For the direction distinction input, the count signal is connected to the input A signal. The count direction is controlled by the level of the direction Directi signal of the input B signal. distinct When the input B signal is off, the counter is incremented when the input...
Page 82 7.1 Counter Function ■ Count operation of individual input Multi- Time chart plica- Addition Subtraction tion factor multiple multiple ■ Count operation of phase input Multi- Time chart plica- Addition Subtraction tion factor multiple multiple multiple WUME-FP7MXY-06...
Page 83: Control Signals
7.2 Control Signals 7.2 Control Signals 7.2.1 Reset and Mask ● The reset and mask operations can be performed with the counter for external inputs. ● The both operations can be performed by the inputs from external input terminals or user programs.
Page 84: Read/Write Of Elapsed Value
7.3 Read/Write of Elapsed Value 7.3 Read/Write of Elapsed Value 7.3.1 Elapsed Value When Power Turns On ● The default for the elapsed value when the power turns on is ""0"". ● The count value when the power turns on can be set to any value as necessary. It can be set to an arbitrary value in the configuration menu of the tool software or user programs.
Page 85 7.3 Read/Write of Elapsed Value Example) Program to change the elapsed value of the counter CH0 for external inputs to a preset value. ■ Unit memory (UM) allocation Signal name Counter preset UM00118-UM00119 UM0011A-UM0011B UM0011C-UM0011D UM0011E-UM0011F value WUME-FP7MXY-06 7-11...
Page 86: Elapsed Value Hold Function
7.4 Elapsed Value Hold Function 7.4 Elapsed Value Hold Function 7.4.1 Overview ● The elapsed value hold function is a function which holds the elapsed value of the counter at the time of the trigger input signal from an external device. ●...
Page 87: Operation
7.4 Elapsed Value Hold Function 7.4.2 Operation The following time chart shows when the ""elapsed value hold function"" is set for the high- speed counter CH0 and is enabled when the input logic of a trigger signal is (ON > OFF). ■...
Page 88: Input Frequency Measurement Function
7.5 Input Frequency Measurement Function 7.5 Input Frequency Measurement Function 7.5.1 Overview ● The measurement function is to measure the changes in the count values of the high-speed counter for external outputs and to output them as frequencies. ● Measuring results are stored in unit memories (UM). They can be read by user programs if necessary.
Page 89 8 Comparison Output Function 8.1 Comparison Output Function ..............8-2 8.1.1 Overview of Comparison Output Function ........8-2 8.1.2 Comparison Output and Comparison Match Signal......8-3 8.1.3 Configuration Using Tool Software........... 8-3 8.2 Execution Example of Comparison Output Function ......8-6 8.2.1 Comparison Output of Counter for External Input......8-6 WUME-FP7MXY-06...
Page 90: Comparison Output Function
8.1 Comparison Output Function 8.1 Comparison Output Function 8.1.1 Overview of Comparison Output Function ● The comparison output function is used for comparing the ""Counter elapsed value by external input"" or ""Pulse output counter elapsed value of pulse output/PWM output"" to an arbitrary ""Comparison output setting value""...
Page 91: Comparison Output And Comparison Match Signal
8.1 Comparison Output Function ● When selecting ""Compare"" in the comparison output setting, ""Comparison output setting value"" and ""Counter elapsed value"" are compared whether the counter function is used or not. Note that the output turns on when the comparison output condition is met. Such as when both ""Counter initial value""...
Page 92 8.1 Comparison Output Function Select a counter to be compared from the pull-down box. Select High-speed counter (CH0-CH3) or PLS output (PLS0-PLS3). Input the comparison condition and comparison value. Select either ""ON when elapsed value is smaller than setting value"" or ""ON when elapsed value is larger than or equal to setting value""...
Page 93 8.1 Comparison Output Function The set values will be effective when they are downloaded with programs or other configuration information as a project. ● Precautions when using FPWIN GR7 for configuration On the unit ver.1.0x, internal contacts cannot be set as the comparison output destination. When selecting internal contacts as the comparison output destination on the tool software, the registration of the comparison function is set not to be used.
Page 94: Execution Example Of Comparison Output Function
8.2 Execution Example of Comparison Output Function 8.2 Execution Example of Comparison Output Function 8.2.1 Comparison Output of Counter for External Input ■ Overview This function is used for comparing the elapsed value of the high-speed counter CH0 for external inputs to ""Comparison output setting value"" specified in advance, and turning on the comparison output (CMP0: output number Y100) when the comparison condition is met.
Page 95 8.2 Execution Example of Comparison Output Function ■ Time chart ● The comparison output (CMP0: output number Y100) turns on when the elapsed value reaches the comparison output setting value and meets the condition which satisfies the comparison condition ""ON when elapsed value is larger than or equal to setting value"". ●...
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Page 97 9 Pulse Output/PWM Output Function 9.1 Pulse Output / PWM Output Function..........9-2 9.1.1 Overview of Pulse Output / PWM Output Function ......9-2 9.1.2 Pulse Output Function Settings ............9-2 9.1.3 Pulse Start Logic ................9-3 9.1.4 Configuration Using Tool Software........... 9-4 9.1.5 Data Update Timing (Output Frequency) .........
Page 98: Pulse Output/Pwm Output Function
9.1 Pulse Output / PWM Output Function 9.1 Pulse Output / PWM Output Function 9.1.1 Overview of Pulse Output / PWM Output Function ● The pulse output can be performed up to 500 kHz using the pulse output function, and it can be applied to a simple position control.
Page 99: Pulse Start Logic
9.1 Pulse Output / PWM Output Function ■ Types of pulse output function settings Setting Description This mode is used to perform the pulse output for PLS A and the direction output for PLS B using two outputs. PLS output - Direction distinction By turning the direction output signal (Y128-12B) on/off using the user program, the output of the terminal allocated to PLS B (Y109/Y10B/Y10D/Y10F) turns on/off.
Page 100: Configuration Using Tool Software
9.1 Pulse Output / PWM Output Function 9.1.4 Configuration Using Tool Software The setting of the pulse output/PWM output function is specified in the configuration menu of FPWIN GR7. ■ Setting method The following procedure describes the process when the multi I/O unit has been already allocated in the I/O map.
Page 101 9.1 Pulse Output / PWM Output Function The following figure shows the example of allocating ""Pulse output (Direction distinction)"" to the outputs (Y108-Y109) of the multi I/O unit. The control inputs for monitoring are allocated to the inputs of the unit internal I/O (X118-X119), and the control output is allocated to the outputs (Y118/Y11C/Y128/Y12C) automatically.
Page 102: Data Update Timing (Output Frequency)
9.1 Pulse Output / PWM Output Function 9.1.5 Data Update Timing (Output Frequency) The following three modes are provided for the both pulse output and PWM output as the timing of changing the data of output frequencies. ■ Updating data when PLS start signal rises In this mode, the data update is performed with the data when a PLS start signal turns on.
Page 103: Data Update Timing (Duty Ratio)
9.1 Pulse Output / PWM Output Function ■ Updating data when unit memory (UM) is rewritten This mode updates using data as of when the unit memory (UM) was written. The frequency value changed at this timing will be reflected when the outputting pulse falls next time. Mark Procedure Description...
Page 104 9.1 Pulse Output / PWM Output Function ■ Updating data when PLS start signal rises In this mode, the data update is performed with the data when a PLS start signal turns on. The frequency value changed at this timing will be reflected when the outputting pulse falls next time.
Page 105 9.1 Pulse Output / PWM Output Function Mark Procedure Description Data update It indicates the timing at which the data of the unit memory (UM) where PWM output timing duty ratio is stored is reflected. Output update It indicates the timing at which the changed PWM output duty ratio is reflected as an timing actual output.
Page 106: Control Signals
9.2 Control Signals 9.2 Control Signals 9.2.1 Enable and Start The pulse output/PWM output function is controlled by user programs. ■ Functions of each signal Signal name Description ● Enables or disables the pulse output/PWM output function. PLSx EN Enable ●...
Page 107 9.2 Control Signals (Note 2) The ""PLS/PWM counter elapsed value"" area of the channel to which the positioning function has been set with the H type cannot be reset by the above operation. WUME-FP7MXY-06 9-11...
Page 108: Read/Write Of Pls/Pwm Counter Elapsed Value
9.3 Read/Write of PLS/PWM Counter Elapsed Value 9.3 Read/Write of PLS/PWM Counter Elapsed Value 9.3.1 Elapsed Value When Power Turns On ● The default for the elapsed value when the power turns on is ""0"". ● The count value when the power turns on can be set to any value as necessary. It can be set to an arbitrary value in the configuration menu of the tool software or user programs.
Page 109: Execution Example Of Pulse Output / Pwm Output Function
9.4 Execution Example of Pulse Output / PWM Output Function 9.4 Execution Example of Pulse Output / PWM Output Function 9.4.1 Setting Example of Pulse Output ■ Overview The pulse output is performed in the direction distinction mode. It is controlled by the switch input (X140/X141/X142) connected to the 32-point input unit.
Page 110: Setting Example Of Pulse Output (Frequency Change)
9.4 Execution Example of Pulse Output / PWM Output Function If the rising edge of the start signal is detected when the enable signal is on, pulses will be output. The forward rotation pulse is output. One pulse is omitted when the direction is switched. The reverse rotation pulse is output.
Page 111 9.4 Execution Example of Pulse Output / PWM Output Function ■ Configuration ● Set the pulse output to the outputs (Y108-Y109). ● Select "PLS output - Direction distinction" in the "Pulse Output Advanced" dialog box, and input a frequency. ● Select "When start signal rises or when data is updated" for the data update timing. ■...
Page 112: Setting Example Of Pulse Output (Comparison Match Stop)
9.4 Execution Example of Pulse Output / PWM Output Function Speed change input If the rising edge of the start signal is detected when the enable signal is on, pulses will be output. The forward rotation pulse is output. The output frequency is changed while the speed change input is on. One pulse is omitted when the direction is switched.
Page 113 9.4 Execution Example of Pulse Output / PWM Output Function enable input (X140) is on, the pulse output will start. When the value of the pulse output counter reaches the comparison output setting value, the pulse will stop. ■ Configuration ●...
Page 114: Setting Example Of Pwm Output
9.4 Execution Example of Pulse Output / PWM Output Function If the rising edge of the start signal is detected when the enable signal is on, pulses will be output. The pulse is output. When the comparison output turns on, the pulse output will stop. Also, when the enable signal turns off, the pulse output will turn off.
Page 115 9.4 Execution Example of Pulse Output / PWM Output Function ■ Configuration ● Set the PWM output to the output (Y108). ● Select "PWM output" in the "Pulse Output Advanced" dialog box, and input the frequency and duty. ● To change the frequency or duty ratio during the output, from data update timing, select "When start signal rises or when data is updated"...
Page 116 9.4 Execution Example of Pulse Output / PWM Output Function ■ Sample program The external inputs (X140, X141) are allocated to the enable (Y118) and start (Y11C) signals of PWM output respectively. 9-20 WUME-FP7MXY-06...
Page 117 10 Positioning Function (H type) 10.1 Positioning Function................10-3 10.1.1 Overview of Positioning Function........... 10-3 10.1.2 Control Mode ................. 10-4 10.2 Wiring....................10-6 10.2.1 Connection Diagram with Servo Motor Amplifier ......10-6 10.2.2 Connections with Servo Motor Amplifier ........10-9 10.2.3 Connection with Stepping Motor Driver ......... 10-9 10.3 Initial Operation Check..............10-11 10.3.1 Safety Circuit Design ..............
Page 118 10 Positioning Function (H type) 10.10 Positioning Control................10-47 10.10.1 Types of Positioning Controls ............10-47 10.10.2 E-point Control (Single Speed Positioning)........10-48 10.10.3 P-point Control (Double Speed Positioning) ........ 10-50 10.10.4 C-point control................10-52 10.10.5 J-point Control (JOG Positioning) ..........10-54 10.10.6 J-point Control (JOG Positioning: Speed Changes) ....
Page 119: Positioning Function (H Type)
10.1 Positioning Function 10.1 Positioning Function 10.1.1 Overview of Positioning Function The positioning control can be performed when the unit is used in combination with a stepping motor or servo motor equipped with a driver of pulse string input type. ●...
Page 120: Control Mode
10.1 Positioning Function ■ Outline of specifications Item Specifications Remarks No. of output Max. 4 channels (The total of positioning, pulse output and channels PWM output) Occupied I/O (Note 1) Per unit X0 to XF, Y4 to YF numbers Home input, Near home input, Limit + input, Limit - input, J- Control input Per channel point control positioning start input...
Page 121 10.1 Positioning Function Item Description Related page executed by turning on an allocated output (Y38-Y3B) using user programs. There are four modes, system stop, emergency stop, limit stop and deceleration stop. Each control is executed by turning on an allocated output (Y44-Y4F) using user programs.
Page 122: Wiring
10.2 Wiring 10.2 Wiring 10.2.1 Connection Diagram with Servo Motor Amplifier ■ Connection example using sink output (Note 1) The allocation of I/O numbers on the controller side depends on the unit settings. 10-6 WUME-FP7MXY-06...
Page 123 10.2 Wiring ■ Connection example using push-pull negative logic output (Note 1) The allocation of I/O numbers on the controller side depends on the unit settings. WUME-FP7MXY-06 10-7...
Page 124 10.2 Wiring ■ Connection example using differential output (Note 1) The allocation of I/O numbers on the controller side depends on the unit settings. ● For details on the differential output setting method, refer to "5.2.3 Application to Differential Output". 10-8 WUME-FP7MXY-06...
Page 125: Connections With Servo Motor Amplifier
10.2 Wiring 10.2.2 Connections with Servo Motor Amplifier ■ Connections of each signal and precautions Signal type Point ● Connect the output allocated to each channel and the command pulse input of servo amplifier. Pulse command output ● Connect a resistor (2 kΩ) for limiting currents. ●...
Page 126 10.2 Wiring ● Use twisted-pair cables for the connection between the unit and motor driver. ● Connect each signal to the terminal numbers allocated in the "Positioning" I/O terminal allocation screen in "Multi I/O Unit Setting" for FPWIN GR7. ● Terminal numbers and I/O numbers allocated to each signal vary according to the settings. Each setting is configured in the "Multi I/O Unit Setting"...
Page 127: Initial Operation Check
10.3 Initial Operation Check 10.3 Initial Operation Check 10.3.1 Safety Circuit Design ■ System configuration example Installation of the over limit switch ■ Items to check the safety circuit Item Description Safety circuit based on Install the safety circuit recommended by the manufacturer of the motor external circuit being used.
Page 128: Before Turning On The Power
10.3 Initial Operation Check 10.3.2 Before Turning On the Power ■ System configuration example ■ Items to check before turning on the power Item Description Checking connections to the Check to make sure the various devices have been connected as various devices indicated by the design.
Page 129: Power-On And Power-Off Sequences
10.3 Initial Operation Check 10.3.3 Power-on and Power-off Sequences ■ Power-on sequence When turning on the power to the system incorporating the unit, consider the nature and states of any external devices connected to the system, and take sufficient care so that turning on the power will not initiate unexpected movements.
Page 130 10.3 Initial Operation Check ■ Items to check after turning on the power Item Description Checking the installation of Check to make sure the safety circuit (wiring and installation of over the external safety circuit limit switch) based on an external circuit has been installed securely. Checking the safety circuit Check the connection between the unit and over limit switches.
Page 131: Setting Of Positioning Function
10.4 Setting of Positioning Function 10.4 Setting of Positioning Function 10.4.1 I/O Allocation of Positioning Function ■ Input (External terminals) I/O number Axis 1 Axis 2 Axis 3 Axis 4 Signal name Application Termi I/O no. Termi I/O no. Termi I/O no.
Page 132: Configuration Using Tool Software
10.4 Setting of Positioning Function I/O number Axis 1 Axis 2 Axis 3 Axis 4 Signal Application name Termin I/O no. Termin I/O no. Termin I/O no. Termin I/O no. numbe numbe numbe numbe PLS B Pulse output CCW or Sign output ■...
Page 133 10.4 Setting of Positioning Function Select Options>Multi I/O Unit Setting in the menu bar. The ""Select Multi I/O Unit"" dialog box is displayed. Go to "Step 2" Select ""H-type Multi I/O Unit"", and press the [[OK]] button. The ""Multi I/O Unit Setting"" dialog box is displayed. From the function selection tree, click ""Positioning"", and double-click an input number (or output number) to which the positioning function is allocated.
Page 134 10.4 Setting of Positioning Function Select a function setting and press the [[OK]] button. The input and output of the positioning function will be allocated. A maximum of four channels can be allocated. Allocated channel numbers are fixed. Function setting Content Not used The positioning function is not allocated.
Page 135 10.4 Setting of Positioning Function Set "Counter elapsed value" and "Counter upper and lower limit values" as necessary. Press the [[OK]] button. In the following example, the positioning function for two channels (CH0 and CH1) are allocated to the Multi I/O Unit (H type). The control inputs of CH0 are allocated to the inputs (X100-X103) of the internal I/O and the control inputs of CH1 are allocated to the inputs (X104-X107) automatically.
Page 136: Positioning Table Settings (Configurator Pmx)
10.5 Positioning Table Settings (Configurator PMX) 10.5 Positioning Table Settings (Configurator PMX) 10.5.1 Used Channel Setting The following procedure describes the process when the Multi I/O Unit (H type) has been already allocated in the I/O map and the positioning function has been allocated in the ""Multi I/O Unit Setting""...
Page 137 10.5 Positioning Table Settings (Configurator PMX) Select Channel setting>Used channel setting from the menu bar. The ""Used channel setting"" dialog box is displayed. Select the control method for the used axes, and press the [[OK]] button. In the initial condition, the allocated channel numbers are selected for single control. To select interpolation control, check the box of "Interpolation".
Page 138: Parameter Settings
10.5 Positioning Table Settings (Configurator PMX) ● When interpolation control is selected, the data table is changed to the channel numbers for the X and Y axes, and ["Interpolation"] is displayed on the tab. 10.5.2 Parameter Settings Use the Configurator PMX to allocate the most fundamental parameters for positioning control, such as the motor rotation direction, pulse output method (CW/CCW and Pulse/Sign), home input, limit input logic, and positioning control.
Page 139 10.5 Positioning Table Settings (Configurator PMX) Parameter name Default (Unit) Settings Specify the table number to be started when a positioning start signal is input. Starting table number Setting value: 1 to 20 Specify the table number to be started when a positioning simultaneous start signal is input.
Page 140: Creating Positioning Data Table
10.5 Positioning Table Settings (Configurator PMX) Make necessary parameter settings according to the application and press the [[OK]] button. The settings will be stored as part of positioning parameter data. 10.5.3 Creating Positioning Data Table ● The positioning data tables are divided into sheets for each axis, and 20 tables ranging no. 1 to no.
Page 141 10.5 Positioning Table Settings (Configurator PMX) Parameter Default (Unit) Content name I: Increment The position moves relatively from the current position by a specified amount. A: Absolute The position moves to an absolue coordinate determined by home return operation. X-axis Input a movement amount.
Page 142 10.5 Positioning Table Settings (Configurator PMX) Parameter Default (Unit) Content name X-axis Input a movement amount of the channel specified for X axis. movement 0 (pulse) Setting range: -8,388,608 to +8,388,607 amount Y-axis Input a movement amount of the channel specified for Y axis. movement 0 (pulse) Setting range: -8,388,608 to +8,388,607...
Page 143: Saving Positioning Parameters
10.5 Positioning Table Settings (Configurator PMX) ● The unit executes the control under the conditions set in the table by turning on the positioning start contact corrensponding to a desired channel number (axis number) and table number. Specify the first data table number for each control in the program. ●...
Page 144: Export And Import
10.5 Positioning Table Settings (Configurator PMX) 10.5.5 Export and Import ● Basic parameters and positioning parameters set can be exported to and imported from the Configurator PMX. ● Information on positioning parameters and positioning tables saved by using the export function can be reused between projects.
Page 145: Writing Parameters To Unit
10.5 Positioning Table Settings (Configurator PMX) 10.5.7 Writing Parameters to Unit ● Set parameter information is transferred to the CPU unit. ● The following procedure is explained on the condition that the Configurator PMX has already started. Select File>Save changes and exit from the menu bar of Configurator PMX. When ""Do you want to save the setting?""...
Page 146: Read/Write Of Elapsed Value
10.6 Read/Write of Elapsed Value 10.6 Read/Write of Elapsed Value 10.6.1 Elapsed Value (Current Value) Area ● They are stored as 2-word 32-bit data in the axis information area of unit memories. ● The elapsed value area will be reset when the power supply turns off. It will be held when switching the mode from RUN to PROG.
Page 147: Stop Control
10.7 Stop Control 10.7 Stop Control 10.7.1 Type of stop operations ■ Type of stop operations Name Time chart Occurrence condition and operation ● Once the system stop contact (Y44) turns on, an active operation will stop and the pulse outputs of all channels will System immediately stop.
Page 148: Characteristics Of Stop Operations
10.7 Stop Control ■ Allocation of I/O numbers (External inputs) I/O number Axis 1 Axis 2 Axis 3 Axis 4 Signal name Application Extern Interna Extern Interna Extern Interna Extern Interna l input l input l input l input conne conne conne conne...
Page 149 10.7 Stop Control ■ Dwell time setting The dwell time setting is invalid in the stop operations regardless of patterns. ■ Flag processing ● In the case of system stop, the busy signal turns off and the operation done signal turns on. ●...
Page 150: Jog Operation
10.8 JOG operation 10.8 JOG operation 10.8.1 Setting and Operation of JOG Operation An operation in which the motor is rotated only while operation commands are being input is called JOG operation. This is used to forcibly rotate the motor using input from an external switch, for instance when to make adjustments.
Page 151 10.8 JOG operation ■ Cautions on Programming ● The startup contact and flag numbers vary depending on channel numbers (axis numbers). The parameters for JOG operations are specified in the "Positioning Parameter Setting" menu of Configurator PMX. ■ Settings Item Value Startup Speed 1,000 Hz...
Page 152: Setting And Operation Of Jog Operation (Speed Changes)
10.8 JOG operation ■ Operation at limit input Condition Direction Limit status Operation Over limit input (+): ON Not executable, Error occurs. Forward Over limit input (-): ON Executable At startup Over limit input (+): ON Executable Reverse Over limit input (-): ON Not executable, Error occurs.
Page 153 10.8 JOG operation ■ Operation diagram f [Hz] 20,000Hz 10,000Hz 1,000Hz t [ms] 100ms Approx.100ms Approx.100ms Instruction start condition Busy signal Operation done signal JOG operation target speed 20,000 10,000 Rewriting the target speed ■ Operations of each contact ● The BUSY flags (X30-X33), which indicate that the motor is running, will turn on when the JOG operation starts, and they will turn off when the operation completes.
Page 154 10.8 JOG operation Item Setting example JOG operation 20,000 Hz -> 10,000 Hz target speed ■ Configurator PMX settings ■ Allocation of I/O signals I/O number Signal name Application Axis 1 Axis 2 Axis 3 Axis 4 JOG+ JOG operation start (Forward) JOG- JOG operation start...
Page 155: Speed Changes In Jog Operation
10.8 JOG operation 10.8.3 Speed Changes in JOG Operation ● The value of ""JOG operation target speed"" in the axis setting area is constantly monitored while the operation is being executed. When the target speed is changed, it will be changed with the same acceleration.
Page 156: Home Return
10.9 Home Return 10.9 Home Return 10.9.1 Types of Home Return The home return is specified in the positioning parameter setting dialog box for each axis. Name Operation diagram Operation and application ● The leading edge of the first home input is set as a home position after the detection of the leading edge of the near home input.
Page 157: Operation Patterns Of Home Return Operation
10.9 Home Return Name Operation diagram Operation and application ● Performs the home return based on the home coordinate values in the axis setting area of positioning memory. Home position (= Current value) Data set ● Performs the home return toward the method home coordinate on the software.
Page 158 10.9 Home Return Home return direction Limit (-) switch Near home switch Limit (+) switch The starting point is Target speed ① Home return between the near home deceleration time Home return creep speed switch and limit (+) switch. Home return creep speed The starting point is on the ②...
Page 159: Settings And Operations Of Home Return
10.9 Home Return ■ Home position method (Edge detection of home switch) Moves the current position to the home return direction, and stops at the position where the leading edge of the first home switch is detected. This coordinate is set as a home position. Home return direction Home switch Home return creep speed...
Page 160 10.9 Home Return ■ Operation diagram Home return target speed Home return creep speed Near home switch (DOG) Home switch Home return start contact Deviation counter clear signal BUSY flag Home return done flag ■ Operations of each contact ● The BUSY flags (X30-X33), which indicate that the motor is running, will turn on when the home return operation starts, and they will turn off when the operation completes.
Page 161 10.9 Home Return ■ Configurator PMX settings ■ Allocation of I/O signals I/O number Signal name Application Axis 1 Axis 2 Axis 3 Axis 4 BUSY Control flag HOME Home return start ■ Sample program The execution condition is differential execution. ■...
Page 162 10.9 Home Return Condition Direction Limit status Operation Over limit input (-): ON Automatic reverse (Note 4) operation (Note 1) Only when an edge signal is detected, the limit stop is performed. (Note 2) In the case of home position method, it cannot be executed. (Note 3) In the case of data set method, it cannot be executed.
Page 163: Positioning Control
10.10 Positioning Control 10.10 Positioning Control 10.10.1 Types of Positioning Controls ■ Operation pattern Inter- Repea Name Time chart Operation and application pola- tion ● This is a method of control which is initiated up to an end point, and is point referred to as “E-point control".
Page 164: E-Point Control (Single Speed Positioning)
10.10 Positioning Control ● For the E-point control, input settings in one row. ● For P-point, C-point and J-point controls, they should be combined with E-point control of the next step as a pair and the setting should be input in two rows. ●...
Page 165 10.10 Positioning Control ■ Operation diagram f [Hz] Ta ble 1 20,000Hz 100,000 pulses 1,000Hz t [ms] 100ms 200ms 50ms Instruction start condition Busy signal Operation done signal ■ Operations of each contact ● The BUSY flags (X30-X33), which indicate that the motor is running, will turn on when the position control starts, and they will turn off when the operation completes.
Page 166: P-Point Control (Double Speed Positioning)
10.10 Positioning Control ■ Configurator PMX settings ■ Allocation of I/O signals I/O number Signal name Application Axis 1 Axis 2 Axis 3 Axis 4 BUSY Control flag Positioning table start MPOS Positioning simultaneous start ■ Sample program The execution condition is differential execution. 10.10.3 P-point Control (Double Speed Positioning) ●...
Page 167 10.10 Positioning Control ■ Operation diagram f [Hz] Table 1 Tabl e 2 20,000Hz 10,000Hz 50,000 pulses 100,000 pulses 1,000Hz t [ms] 100ms 250ms 250ms 50ms Instruction start condition Busy signal Operation done signal ■ Operations of each contact ● The BUSY flags (X30-X33), which indicate that the motor is running, will turn on when the position control starts, and they will turn off when the operation completes.
Page 168: C-Point Control
10.10 Positioning Control ■ Configurator PMX settings ■ Allocation of I/O signals I/O number Signal name Application Axis 1 Axis 2 Axis 3 Axis 4 BUSY Control flag Positioning table start MPOS Positioning simultaneous start ■ Sample program The execution condition is differential execution. 10.10.4 C-point control ●...
Page 169 10.10 Positioning Control ■ Operation diagram f [Hz] Ta ble 1 Ta ble 2 20,000Hz 10,000Hz 100,000 50,000 pulses pulses 1,000Hz t [ms] 100ms 200ms 150ms 250ms 30ms 50ms Instruction start condition Busy signal Operation done signal ■ Operations of each contact ●...
Page 170: J-Point Control (Jog Positioning)
10.10 Positioning Control ■ Configurator PMX settings ■ Allocation of I/O signals I/O number Signal name Application Axis 1 Axis 2 Axis 3 Axis 4 BUSY Control flag Positioning table start MPOS Positioning simultaneous start ■ Sample program The execution condition is differential execution. 10.10.5 J-point Control (JOG Positioning) ●...
Page 171 10.10 Positioning Control ■ Operation diagram f [Hz] Ta ble 1 Ta ble 2 20,000Hz 15,000Hz 100000 pulses 1,000Hz T [ms] 250ms 100ms Approx. 250ms Instruction start condition Busy signal Operation done signal J-point positioning start contact ■ Operations of each contact ●...
Page 172 10.10 Positioning Control Item Setting example Positioning 200 ms 250 ms deceleration time Positioning target 20,000 Hz 15,000 Hz speed Dwell time 30 ms 5 ms ■ Configurator PMX settings ■ Allocation of I/O signals I/O number Signal name Application Axis 1 Axis 2 Axis 3...
Page 173: J-Point Control (Jog Positioning: Speed Changes)
10.10 Positioning Control 10.10.6 J-point Control (JOG Positioning: Speed Changes) ● In the J-point control, the speed can be changed while controlling the speed after the start. ● After starting the J-point control, the unit operates at the speed specified in the positioning parameters of Configurator PMX.
Page 174 10.10 Positioning Control (J-point table target speed - Startup speed) / (J-point table acceleration time or J-point table deceleration time) ■ Settings The parameters for position control operations are specified in the "Positioning Parameter Setting" menu and data table of Configurator PMX. Item Setting example Startup Speed...
Page 175 10.10 Positioning Control ■ Allocation of I/O signals I/O number Signal name Application Axis 1 Axis 2 Axis 3 Axis 4 BUSY Control flag Positioning table start MPOS Positioning simultaneous start JPOS SP J point control speed ― ― change ■...
Page 176: Programming Cautions
10.10 Positioning Control ● Specify parameters for the start of operation in the positioning data table. The parameters for changing speeds are specified in the Channel setting>Parameter settings menu. For details about parameter settings, refer to ""10.5.2 Parameter Settings"". ● J-point control can be used for single-axis control only. It is not available for interpolation control.
Page 177: Repeat Operation
10.11 Repeat Operation 10.11 Repeat Operation 10.11.1 Overview of Repeat Operation ● When the positioning table start contact is on, the unit repeats the operation set in the positioning table. ■ Conditions of repeat control Item Repeat control is available Repeat control is unavailable E-point control, P-point control + E-point JOG operation, J-point control, Interpolation...
Page 178: Settings And Operations Of Repeat Operation
10.11 Repeat Operation Parameter name Unit Default Settings 2 to 254 Repeat an operation for a specified number of times. Repeat an operation infinitely. ■ Configurator PMX settings ● When selecting ""255: Repeat infinitely"" in the positioning repeat count parameter, program this to stop the operation using the deceleration stop function.
Page 179 10.11 Repeat Operation ■ Operation diagram ■ Operations of each contact ● The BUSY flags (X30-X33), which indicate that the motor is running, will turn on when the position control starts, and they will turn off when the set repeat operation completes. ●...
Page 180: Stop Operation During Repeat Operation
10.11 Repeat Operation ■ Configurator PMX settings ■ Allocation of I/O signals I/O number Signal name Application Axis 1 Axis 2 Axis 3 Axis 4 BUSY Control flag Positioning table start MPOS Positioning simultaneous start ■ Sample program The execution condition is differential execution. 10.11.3 Stop Operation During Repeat Operation ●...
Page 181 10.11 Repeat Operation ■ Operation at the time of deceleration stop (Repeating E-point control) When the unit detects a deceleration stop, the unit will come to a stop after repeating positioning control N+2 times. However, the unit will stop the control when reaching the set repeat count.
Page 182: Linear Interpolation Control
10.12 Linear Interpolation Control 10.12 Linear Interpolation Control 10.12.1 Overview The interpolation control is available under the following conditions. ■ Combinations of interpolation control Interpolation axis 1 Interpolation axis 2 X-axis Y-axis X-axis Y-axis ■ Conditions of interpolation control Condition under which interpolation control is executable Item Executable Not executable...
Page 183 10.12 Linear Interpolation Control Y axis 5000 pulses X axis 10000 pulses ■ Operation diagram f [pps] Composite speed 10000 t [ms] Start Condition BUSY flag of axis 1 BUSY flag of axis 2 Operation done flag of axis 1 Operation done flag of axis 2 ■...
Page 184 10.12 Linear Interpolation Control Item Setting example Interpolation operation 0: Linear (Composite speed) Control method I: Increment X-axis movement 10000 pulses amount Y-axis movement 5000 pulses amount Acceleration/ L: Linear deceleration type Acceleration time (ms) 100 ms Deceleration time (ms) 100 ms Interpolation speed 10000 pps Dwell time...
Page 185: Operational Difference Between Speed Parameters
10.13 Operational Difference Between Speed Parameters 10.13 Operational Difference Between Speed Parameters 10.13.1 Startup speed ● The startup speed is the parameter for setting the initial speed when starting each operation and the speed when finishing each operation. ● The startup speed is common to each control of the JOG operation, home return, E-point control, P-point control, C-point control and J-point control operations.
Page 186 10.13 Operational Difference Between Speed Parameters Operation Startup speed setting pattern Startup speed Target speed Home return Creep speed Startup speed E-point control Target speed Startup speed P-point target speed P-point control E-point target speed Startup speed C-point target speed C-point control E-point target speed...
Page 187: Other Characteristics
● When the power is turned on again, data is preset in the parameters saved in the non- volatile memory within FP7 CPU Unit. ● The contents of unit memories will be held when changing the RUN mode to PROG. mode.
Page 188 (MEMO) 10-72 WUME-FP7MXY-06...
Page 189 11 Other Functions 11.1 Creating of Ladder Programs Using Templates ........11-2 11.1.1 Overview of Template Input Function ..........11-2 11.1.2 Creating Reading/Writing Program ..........11-3 WUME-FP7MXY-06 11-1...
Page 190 11.1 Creating of Ladder Programs Using Templates 11.1 Creating of Ladder Programs Using Templates 11.1.1 Overview of Template Input Function In FPWIN GR7, it is possible to select unit memory numbers using templates and easily create ladder programs. ■ Appearance of Template input screen Select Unit Select an arbitrary unit from connected units.
Page 191 11.1 Creating of Ladder Programs Using Templates 11.1.2 Creating Reading/Writing Program The following procedure describes the process when the multi I/O unit has been already allocated in the I/O map. In the menu bar, select Edit>Template input The "template input" screen will open. Move the cursor to a desired insertion position and select a desired unit memory.
Page 192 11.1 Creating of Ladder Programs Using Templates Click the "[Read]" button. Once a program is created, specify an arbitrary operand. 11-4 WUME-FP7MXY-06...
Page 193 11.1 Creating of Ladder Programs Using Templates ● Using the template input for changing operands The template input can also be used for changing the operands of created programs or for inputting commands manually. Move the cursor to a position you want to change and select the unit memory, and then click the "[Operand]"...
Page 194 (MEMO) 11-6 WUME-FP7MXY-06...
Page 195 12 Troubleshooting 12.1 Confirming Errors Using Self-diagnostic Function ......12-2 12.1.1 Checking the LED Display of Unit ..........12-2 12.1.2 Operation Mode When an Error Occurs ........12-2 12.2 Troubleshooting ................12-4 12.2.1 ERR LED Turns ON on the Unit............. 12-4 12.2.2 What to Do When Positioning Error Occurs........12-5 12.2.3 ERR LED is Flashing on the Unit ...........
Page 196: Confirming Errors Using Self-Diagnostic Function
12.1 Confirming Errors Using Self-diagnostic Function 12.1.1 Checking the LED Display of Unit FP7 Multi I/O Unit has a self-diagnostic function which identifies errors and stops operation if necessary. The types of the self-diagnostic function are alarms, errors and warnings. When an error occurs, check the ERR.LED state and error type, and monitor the unit memory in which...
Page 197 12.1 Confirming Errors Using Self-diagnostic Function ● If a ""Unit alarm"" occurs, the default setting is for the CPU to stop operation. ● ""Error code (80): Unit alarm occurrence"" is displayed as a self-diagnostic error in the status display of the tool software. ■...
Page 198: Troubleshooting
Solution destination There is a possibility Unit alarm that an error Reboot the unit. If the alarm still occurs, UM00064 occurred in the main consult your Panasonic representative. (H type only) unit. ■ Error code Code Name Situation Code storage...
Page 199: What To Do When Positioning Error Occurs
12.2 Troubleshooting Code Name Situation Code storage Solution destination Positioning The setting error for Refer to "12.2.2 What to Do When UM00066 Error positioning occurs. Positioning Error Occurs". A table number is out of the range at the time of Unit processing positioning table UM00066...
Page 200 12.2 Troubleshooting Error Error name Content Operation when an error code occurs and solution Correct the setting of the Limit signal error Both inputs on the plus and minus sides of parameter. the limit turned on. Axis setting error The axis setting is incorrect. Limit stop deceleration The set value of the limit stop deceleration time error...
Page 201: Err Led Is Flashing On The Unit
12.2 Troubleshooting (Note 1) The error occurs only when the condition of the limit stop is satisfied. ■ Error code 41: Occurrence condition of table setting error ● The last table of the positioning setting tables is not the E point. (e.g. The P point, C point and J point are set continuously.) ●...
Page 202 12.2 Troubleshooting Code Name Situation Solution A value exceeding the settable range frequency Review the set value. (over 100,001) is set. setting error ■ Cancel of warning annunciation setting To disable warning announcement, set "Warning annunciation" to ""Not announce"" in the ""Multi I/O Unit Setting""...
Page 203 13 Specifications 13.1 Specifications..................13-2 13.1.1 General Specifications ..............13-2 13.1.2 Function Specifications (AFP7MXY32DWD/AFP7MXY32DWDH) 13-3 13.1.3 Positioning Function Specifications (AFP7MXY32DWDH) .... 13-4 13.2 Allocation of I/O Numbers ..............13-6 13.2.1 Input ....................13-6 13.2.2 Output .................... 13-9 13.3 List of Unit Memories ................13-14 13.3.1 Role of Unit Memories ..............
Page 204: Specifications
13.1 Specifications 13.1 Specifications 13.1.1 General Specifications Item Specifications Operating ambient 0°C to +55°C temperature Storage ambient -40°C to +70°C temperature Operating ambient 10 to 95% RH (at 25°C with no condensing) humidity Storage ambient 10 to 95% RH (at 25°C with no condensing) humidity Breakdown Between input terminal and output terminals...
Page 205: Function Specifications (Afp7Mxy32Dwd/Afp7Mxy32Dwdh)
13.1 Specifications 13.1.2 Function Specifications (AFP7MXY32DWD/AFP7MXY32DWDH) Item Specifications No. of external Input: 16 points, Output: 16 points inputs/outputs No. of occupied AFP7MXY32DWD: 64 points respectively for I/O (4 words) inputs/outputs AFP7MXY32DWDH: 96 points respectively for I/O (6 words) Input time constant 0/0.5 μs/1 μs/1.5 μs/2 μs/4 μs/8 μs/16 μs/32 μs/64 μs/96 μs/128 μs/256 μs/2 ms/ setting (Note 1)
Page 206: Positioning Function Specifications (Afp7Mxy32Dwdh)
13.1 Specifications (Note 1) The input mode, input time constant, and output polarity can be set by the tool software or user programs. The settable units and ranges may be different. (Note 2) For details of the usable combinations for each of the functions such as interrupt, counter, comparison output, pulse output, and PWM output, refer to ""Unit type and available functions""...
Page 207 13.1 Specifications Item Specifications Speed reference range Pulse: 1 to 500,000 Hz Acceleration/ Linear acceleration/deceleration deceleration type Acceleration time 1 to 10,000 ms (Settable by 1 ms) Deceleration time 1 to 10,000 ms (Settable by 1 ms) Return method DOG methods (3 types), Home position method, Data set method Deceleration stop Performs deceleration stop in the deceleration time of a running operation for each axis.
Page 208: Allocation Of I/O Numbers
13.2 Allocation of I/O Numbers 13.2 Allocation of I/O Numbers 13.2.1 Input ■ External terminals Functions Termin Counter I/O no. Interrupt Com- Pulse Positioning Counter elapsed number input parison output output (H type) value hold CH0 IN-A CH0 Z CH0 DOG CH0 IN-B CH0 JPOS CH0 RST...
Page 209 13.2 Allocation of I/O Numbers Signal name Description CHx MASK This is the mask signal for the counter. Counting is disabled when this signal is on. CHx TRG This is the trigger signal that is used when using the elapsed value hold function for count values.
Page 210 13.2 Allocation of I/O Numbers Functions Termin Counter I/O no. Interru Com- Pulse Positioning Counter elapsed value number pt input parison output output (H type) hold X28-X2F CH0 BUSY CH1 BUSY CH2 BUSY CH3 BUSY CH0 FIN CH1 FIN CH2 FIN CH3 FIN CH0 HFIN CH1 HFIN...
Page 211: Output
13.2 Allocation of I/O Numbers Signal name Description CHx BUSY This is the contact for monitoring the busy flag for positioning. CHx FIN This is the contact for monitoring the operation done flag for positioning. CHx HFIN This is the contact for monitoring the home return done flag for positioning. 13.2.2 Output ■...
Page 212 13.2 Allocation of I/O Numbers Signal name Description CMPx This is the comparison match signal. PLSx A This is the A phase (or CW/pulse) output signal for pulse output PLSx B This is the B phase (or CCW/direction) output signal for pulse output PWMx This is the PWM output signal for pulse output.
Page 213 13.2 Allocation of I/O Numbers Functions Termin Counter I/O no. Interru Com- Pulse Positioning (H Counter elapsed value number pt input parison output output type) hold mode CH1 UDF CLR CH2 UDF CH3 UDF CH0 OVF CLR CH1 OVF CLR CH2 OVF CH3 OVF PLS0 DIR...
Page 214 13.2 Allocation of I/O Numbers Functions Termin Counter I/O no. Interru Com- Pulse Positioning (H Counter elapsed value number pt input parison output output type) hold mode CH2 JOG CH3 JOG SYS STP Y45- CH0 EMG STP CH1 EMG STP CH2 EMG STP CH3 EMG STP CH0 DEC STP...
Page 215 13.2 Allocation of I/O Numbers Signal name Description CHx SOFT MASK This is the mask signal for the counter. Counting is disabled when this signal is CHx LATCH EN This is the enable signal for the elpased value hold function. CHx TRG LOG This switches the trigger input logic when using the elapsed value hold function.
Page 216: List Of Unit Memories
13.3 List of Unit Memories 13.3 List of Unit Memories 13.3.1 Role of Unit Memories Unit memories are arithmetic memories to access the monitor area and configuration information area of the unit. ■ Accessing unit memories The symbols described in the unit memory list below indicate the following content. Unit It indicates the unit in the case of the access (read, write) using user programs.
Page 217: List Of Unit Memories (Afp7Mxy32Dwd/ Afp7Mxy32Dwdh)
13.3 List of Unit Memories ● Be sure not to execute reading or writing in the reserved areas for the system. ● An error will occur if the access by one word (read, write) is executed to an area to which only the access by two words is allowed.
Page 218 13.3 List of Unit Memories Unit memory number Access Item Content (Hex.) unit Counter elapsed value UM 00116-UM 00117 (Note 1) Counter hold value UM 00118-UM 00119 UM 0011A-UM 0011B Counter preset value UM 0011C-UM 0011D UM 0011E-UM 0011F UM 00120-UM 00121 UM 00122-UM 00123 Counter lower limit value UM 00124-UM 00125...
Page 219: List Of Unit Memories (Afp7Mxy32Dwdh)
13.3 List of Unit Memories Unit memory number Access Item Content (Hex.) unit UM 0015F PLS/PWM flag (CH2/CH3) UM 00160-UM 00161 UM 00162-UM 00163 PLS/PWM frequency UM 00164-UM 00165 UM 00166-UM 00167 UM 00168-UM 00169 UM 0016A-UM 0016B PWM duty UM 0016C-UM 0016D UM 0016E-UM 0016F UM 00170-UM 00171...
Page 220 13.3 List of Unit Memories Unit memory number Access Content (Hex.) unit UM 00207 Positioning error code UM 00208 (Reserved for system) UM 00209 UM 0020A Starting table number UM 0020B UM 0020C UM 0020D-UM 0020F (Reserved for system) UM 00210 UM 00211 Simultaneous starting table number UM 00212...
Page 221 13.3 List of Unit Memories Unit memory number Access Content (Hex.) unit UM 0026F Deviation counter clear time UM 00270-UM 00271 Coordinate origin UM 00272 JOG acceleration time UM 00273 JOG deceleration time UM 00274-UM 00275 JOG operation target speed UM 00276-UM 00277 J point change target speed UM 00278...
Page 222 13.3 List of Unit Memories Unit memory number Access Content (Hex.) unit UM 002AF JOG deceleration time UM 002B0-UM 002B1 JOG operation target speed UM 002B2-UM 002B3 J point change target speed UM 002B4 Emergency stop deceleration time UM 002B5 Limit stop deceleration time UM 002B6-UM 002BD (Reserved for system)
Page 223 13.3 List of Unit Memories Unit memory number Access Content (Hex.) unit UM 00368-UM 00371 Table no. 7 UM 00372-UM 0037B Table no. 8 UM 0037C-UM 00385 Table no. 9 UM 00386-UM 0038F Table no. 10 UM 00390-UM 00399 Table no. 11 UM 0039A-UM 003A3 Table no.
Page 224 13.3 List of Unit Memories Unit memory number Access Content (Hex.) unit UM 004BC-UM 004C5 Table no. 16 UM 004C6-UM 004CF Table no. 17 UM 004D0-UM 004D9 Table no. 18 UM 004DA-UM 004E3 Table no. 19 UM 004E4-UM 004ED Table no. 20 UM 004EE-UM 0051F (Reserved for system) UM 00520...
Page 225 13.3 List of Unit Memories Unit memory number Access Content (Hex.) unit UM 0051D Positioning deceleration time UM 0051E-UM 0051F Positioning target speed UM 00520-UM 00521 Positioning movement amount UM 00522 Dwell time UM 00523 (Reserved for system) UM 00624-UM 0062D Table no.
Page 226: Unit Memory Detailed Information
13.4 Unit Memory Detailed Information 13.4 Unit Memory Detailed Information 13.4.1 Alarm/Error/Warning ■ Error alarm setting Unit memory Name Setting range and description No. (Hex) Set whether or not to announce abnormality when a double word UM 00062 Error alarm setting access error or warning occurs.
Page 227: Input Setting
13.4 Unit Memory Detailed Information 13.4.2 Input setting ■ Input setting Unit memory No. Name Default Setting range and description (Hex) Input voltage/ Input time UM00100 H 2222 constant setting (X0-X7) Set values indicating input voltage and input time constant. Input voltage/ Input time UM00101...
Page 228 13.4 Unit Memory Detailed Information Setting value Input voltage Input time constant effective pulse width 16 µs 2 ms 4 ms Precautions when making settings with programs ● Input voltage should be set in increments of four external input terminals (four groups). ●...
Page 229: Output Setting
13.4 Unit Memory Detailed Information Setting value Valid/Invalid Input time constant effective pulse width 8 ms H8-HF Invalid Precautions when making settings with programs ● When the setting value is that in the range of H8 to HF, the setting is invalid. ●...
Page 230 13.4 Unit Memory Detailed Information (Note 1) Do not use this setting. (Note 2) The default value when the power is on has been set to ""Not used"". Precautions when making settings with programs ● Output polarity should be set in increments of four external input terminals (four groups). ●...
Page 231: Interrupt Setting Area
13.4 Unit Memory Detailed Information (Note 2) The default value when the power is on has been set to ""Not used"". 13.4.4 Interrupt Setting Area ■ Interrupt setting Unit memory Name Default Setting range and description No. (Hex) Interrupt setting UM00108 H FFFF (INT0-INT3)
Page 232: Counter Mode Setting Area
13.4 Unit Memory Detailed Information (Note 2) Always execute the interrupt clear instruction after setting, when selecting this setting. (Note 3) Do not use this setting. (Note 4) The default value when the power is on has been set to ""Not used"". (Note 5) INT0 to INT7 correspond to CMP0 to CMP7 respectively.
Page 233: Counter Monitor Setting Area
13.4 Unit Memory Detailed Information Setting value (Input mode) Setting value Functions Multiplication function (Note 1) H0 (Default) Direction distinction None Individual input 1 multiple Phase input 2 multiple 4 multiple H5 to HF Not used (Note 1) It shows the default value on the unit side. Setting value (Function) Setting value Count mode...
Page 234 13.4 Unit Memory Detailed Information Unit memory Name Default Setting range and description No. (Hex) Hold value (CH1) Signed 32-bit integer UM 00118 Counter preset value (CH0) UM 00119 Input the preset value when the counter is UM 0011A Counter preset reset.
Page 235: Comparison Output Setting Area
13.4 Unit Memory Detailed Information 13.4.7 Comparison Output Setting Area Unit memory Name Default Setting range and description No. (Hex) Comparison counter UM 00140 HFFFF allocation Specify conditions to turn on the comparison (CMP0-CMP3) outputs CMP0 to CMP7 when using the comparison function.
Page 236 13.4 Unit Memory Detailed Information Set by writing the values below to the 4 bits allocated to each comparison output number. When allocating them using the tool software, it is not necessary to write them. Setting value (UM00141/UM00140) Setting value Functions Comparison output setting Counter channel to be compared...
Page 237: Pulse Output / Pwm Output Setting Area
13.4 Unit Memory Detailed Information Setting value Functions Comparison output Output destination setting HF (Default) Disabled Disabled (Note 1) If it conflicts with the deviation counter clear when setting the positioning function for the positioning unit (H type), the external terminal cannot be selected as the output destination. (Note 2) For the unit Ver.1.0x, ""Internal I/O only""...
Page 238: Pulse Output/Pwm Output Monitor Setting Area
13.4 Unit Memory Detailed Information Setting value Functions Function Data update timing Output mode When PWMx start signal rises or data is updated Direction distinction When PLSx start signal rises Individual Direction distinction When PLSx start signal rises or comparison output is executed Individual Direction distinction...
Page 239 13.4 Unit Memory Detailed Information Allocation of unit memories: Pulse/PWM status flag UM number UM0015F UM0015E Bit no. b15-b8 b7-b0 b15-b8 b7-b0 PLS3 PLS2 PLS1 PLS0 Setting channel PWM3 PWM2 PWM1 PWM0 Monitor value Initial value (Hex) Monitor values （UM0015F / UM0015E） Settings Value Bit no.
Page 240 13.4 Unit Memory Detailed Information Unit memory Name Default Setting range and description No. (Hex) UM 0016A PWM output duty (CH1) UM 0016B UM 0016C PWM output duty Unsigned 32-bit integer (CH2) UM 0016D UM 0016E PWM output duty (CH3) UM 0016F PLS/PWM output UM 00170...
Page 241 13.5 Unit Memory Detailed Information (H type) 13.5 Unit Memory Detailed Information (H type) 13.5.1 Common Area A: Available, -: Not available Unit memory Name Default Content No. (Hex) Stores used channels (axes) and usage methods. Monitor using binary display. bit no.
Page 242 13.5 Unit Memory Detailed Information (H type) Unit memory Name Default Content No. (Hex) Starting table number UM 0020C (CH3) UM 0020D Reserved for system ― ― ― ― -UM 0020F Simultaneous starting UM 00210 table number (CH0) Specify the table number to be started when a positioning simultaneous start signal is input.
Page 243 13.5 Unit Memory Detailed Information (H type) Unit memory Name Default Content No. (Hex) Elapsed value UM 0022A (Current value Same as CH0. -UM 0022B coordinate) (CH1) UM 0022C Reserved for system ― ― ― ― -UM 00231 Active or execution UM 00232 Same as CH0.
Page 244 13.5 Unit Memory Detailed Information (H type) Unit memory Name Default Content No. (Hex) bit no. Item Settings Home position 0: Normal Open (A logic contact) 1: Normal Close (B Near home contact) input logic Limit (+) logic Limit (-) logic 6-15 Disable the setting...
Page 245 13.5 Unit Memory Detailed Information (H type) Unit memory Name Default Content No. (Hex) ON time setting range: 1 to 100 (ms) In the case of 0, no deviation counter clear signal is output. In the case of 100 or more, the ON time is set to 100 Stores the elapsed values (current value) after the home return.
Page 246: Positioning Table Area
13.5 Unit Memory Detailed Information (H type) Unit memory number (Hex.) Name UM00265 UM00283 UM002A1 UM002BF Startup Speed -UM00266 -UM00284 -UM002A2 -UM002C0 Home return method UM00267 UM00285 UM002A3 UM002C1 Home return direction UM00268 UM00286 UM002A4 UM002C2 Home return acceleration time UM00269 UM00287 UM002A5...
Page 247 13.5 Unit Memory Detailed Information (H type) Unit memory Name Default Content No. (Hex) operation, the setting for the axis with the smallest number in an axis group is effective. Stores the settings of the acceleration time for the positioning operation. It indicates the acceleration time from Positioning the startup speed to the target speed.
Page 248 13.5 Unit Memory Detailed Information (H type) Unit memory number (Hex.) Table Name UM00330 UM0042A UM00524 UM0061E Positioning target speed -UM00331 -UM0042B -UM00525 -UM0061F UM00332 UM0042C UM00526 UM00620 Positioning movement amount -UM00333 -UM0042D -UM00527 -UM00621 Dwell time UM00334 UM0042E UM00528 UM00622 Reserved for system UM00335...
Page 249 13.5 Unit Memory Detailed Information (H type) Unit memory number (Hex.) Table Name Reserved for system UM00353 UM0044D UM00547 UM00641 Control code UM00354 UM0044E UM00548 UM00642 Control pattern UM00355 UM0044F UM00549 UM00643 Positioning UM00356 UM00450 UM0054A UM00644 acceleration time Positioning UM00357 UM00451 UM0054B...
Page 250 13.5 Unit Memory Detailed Information (H type) Unit memory number (Hex.) Table Name Positioning UM00375 UM0046F UM00569 UM00663 deceleration time UM00376 UM00470 UM0056A UM00664 Positioning target speed -UM00377 -UM00471 -UM0056B -UM00665 UM00378 UM00472 UM0056C UM00666 Positioning movement amount -UM00379 -UM00473 -UM0056D -UM00667 Dwell time...
Page 251 13.5 Unit Memory Detailed Information (H type) Unit memory number (Hex.) Table Name UM00396 UM00490 UM0058A UM00684 Positioning movement amount -UM00397 -UM00491 -UM0058B -UM00685 Dwell time UM00398 UM00492 UM0058C UM00686 Reserved for system UM00399 UM00493 UM0058D UM00687 Control code UM0039A UM00494 UM0058E UM00688...
Page 252 13.5 Unit Memory Detailed Information (H type) Unit memory number (Hex.) Table Name Control code UM003B8 UM004B2 UM005AC UM006A6 Control pattern UM003B9 UM004B3 UM005AD UM006A7 Positioning UM003BA UM004B4 UM005AE UM006A8 acceleration time Positioning UM003BB UM004B5 UM005AF UM006A9 deceleration time UM003BC UM004B6 UM005B0 UM006AA...
Page 253 13.5 Unit Memory Detailed Information (H type) Unit memory number (Hex.) Table Name Positioning UM003D9 UM004D3 UM005CD UM006C7 deceleration time UM003DA UM004D4 UM005CE UM006C8 Positioning target speed -UM003DB -UM004D5 -UM005CF -UM006C9 UM003DC UM004D6 UM005D0 UM006CA Positioning movement amount -UM003DD -UM004D7 -UM005D1 -UM006CB Dwell time...
Page 254: Dimensions
13.6 Dimensions 13.6 Dimensions (Unit: mm) 13-52 WUME-FP7MXY-06...
Page 255 Record of changes Manual numbers can be found at the bottom of the manual cover. Date Manual No. Record of Changes Apr. 2016 WUME-FP7MXY-01 1st Edition Apr. 2016 Error correction ● Corrected terminal layout diagram and external connection diagram (Section 3.1.2) ●...
Page 256 [Scope of warranty] In the event that Panasonic Industry Co., Ltd. confirms any failures or defects of the Products by reasons solely attributable to Panasonic Industry Co., Ltd. during the warranty period, Panasonic Industry Co., Ltd. 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 257 (MEMO) WUME-FP7MXY-06...
Page 258 Panasonic Industry Co., Ltd. 1006, Oaza Kadoma, Kadoma-shi, Osaka 571-8506, Japan https://industry.panasonic.com/ Please visit our website for inquiries and about our sales network. © Panasonic Industry Co., Ltd. 2016-2024 April, 2024 WUME-FP7MXY-06...

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Afp7mxy32dwd Afp7mxy32dwdh

Panasonic FP7 User Manual

1 Unit Functions and Restrictions

3 Input/Output Specifications and Wiring

5 Multi I\/O Unit Setting

Basic Setup

Output Terminal Setting

Application Setting

6 Interrupt Function

7 Counter Function

8 Comparison Output Function

9 Pulse Output/Pwm Output Function

10 Positioning Function (H Type)

12 Troubleshooting

13 Specifications

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