Page 1 PROGRAMMABLE CONTROLLER FP2 Positioning Unit (Interpolation) Technical Manual WUME-FP2POSP-01 2021.10 panasonic.net/id/pidsx/global...
Page 2 It could lead to an electric shock. Copyright / Trademarks -This manual and its contents are copyrighted. Panasonic -You may not copy this manual, in whole or part, without written consent of Industrial Devices SUNX Co., Ltd.
Page 3: Table Of Contents
Table of contents Table of contents .................. i Glossary .................... viii Functions of Unit and Restrictions on Combination ....1-1 1.1 Functions of FP2 Positioning Unit ............1-2 1.1.1 Functions of Unit ..................1-2 1.1.1 Unit Types ....................1-3 1.2 Restrictions on Units Combination ............1-4 Parts and Functions ..............
Page 4 3.6.4 Connection of Over limit Input Signal ............3-12 3.7 Connection of Pulse Input............... 3-13 3.7.1 Line Driver Type ..................3-13 3.7.2 Transistor Open Collector Type ............... 3-13 3.7.3 Transistor - resistor Pull - up Type ............3-13 3.8 Precausions on Wiring ................3-14 Power On/Off and Items to Check ..........
Page 5 7.2.2 Basic Specifications ................... 7-4 7.3 Installing Configurator PM ................ 7-5 7.4 Startting Configurator PM ................. 7-6 7.5 Treating Files ................... 7-7 7.5.1 New ......................7-7 7.5.2 Reading from Files ................... 7-10 7.5.3 Saving Files ....................7-11 7.5.4 Setting File Properties ................7-12 7.6 Exiting Configurator PM .................
Page 6 7.15 Data Monitor ..................7-30 7.16 Status Display ..................7-31 7.17 Tool Operation ..................7-32 7.17.1 Tool Operation – Home Return .............. 7-33 7.17.2 Tool Operation - Positioning ..............7-34 7.17.3 Tool Operation – JOG Operation ............7-36 7.17.4 Tool Operation - Teaching ..............7-38 Automatic Operation (Position Control) ........
Page 7 8.4 Setting and Operation of Positioning Repeat Function ......8-33 Manual Operation (JOG Operation) .......... 9-1 9.1 Setting and Operation of Home Return ............ 9-2 9.2 Changing the Speed During JOG Operation ..........9-4 Manual Operation (Home Return) ..........10-1 10.1 Types of Home Return .................
Page 8 Errors and Warnings ..............15-1 15.1 Errors and Warnings ................15-2 15.1.1 About Errors and Warnings ..............15-2 15.1.2 Error and Warning Logs ................. 15-2 15.1.3 Errro and Warning Clear ................ 15-3 15.1.4 Errro and Warning Code Format ............15-3 15.1.5 Sample Program ..................
Page 9 Driver Wiring ................20-1 20.1 Wiring for Motor Driver ................. 20-2 20.1.1 Panasonic MINAS A/A4 Series .............. 20-2 20.1.2 Panasonic MINAS S Series / E Series ........... 20-3 20.1.3 Panasonic MINAS EX Series ..............20-4 20.1.4 Panasonic MINAS X（XX）Series ............20-5 20.1.5 Panasonic MINAS X (V) Series .............
Page 10: Glossary
Glossary Configurator PM Configurator PM is a setting tool for Positioning Unit (Interpolation type). Using the Configurator PM enables the settings for positioning data and various parameters, and various monitoring. As a tool operation mode to activate a motor without using ladder programs is provided in this tool, it is convenient especially to confirm the operation at the time of an initial start-up.
Page 11 J point control (JOG positioning control) This refers to control which passes through a “JOG Operation Point”, and is called “J point control” in this manual. Executing the J point control performs the speed control until a “J pont positioning start contact” turns on.
Page 12 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. This is specified on the positioning data editing screen of the Configurator PM. Line driver output This is one output format used in pulse output signal circuits, in which the push - pull output of the line driver is used.
Page 13 JOG operation This refers to an operation in which the motor is rotated only while operation commands are being input. This is used to forcibly rotate the motor using input from an external switch, for instance when to make adjustments. Depending on the circumstances, this can also be applied to unlimited feeding in some cases.
Page 14 Auxiliary output code, auxiliary output contact They are used to check the operation of a position control. The auxiliary output code is a 16-bit code that can be specified for each positioning table, and enables to monitor which positioning table is being executed. The exeuction fo the position control can be confirmed by turning an exclusive auxiliary output contact on for a constant time.
Page 15 Transfer multiple With the FP2 positioning unit, this can be specified when the pulser operation function is used. Outputting the number of pulses doubled by the number of pulser input signals, the transfer multiple is said to be “2”, and when the number of pulses is five times that of the pulser input signals, the transfer multiple is said to be “5”.
Page 17: Functions Of Unit And Restrictions On Combination
Chapter 1 Functions of Unit and Restrictions on Combination...
Page 18: Functions Of Fp2 Positioning Unit
1.1 Functions of FP2 Positioning Unit 1.1.1 Functions of Unit Positioning can be controlled through the combination of a servo motor and a stepping motor with a driver using the pulse train input method. - Positioning control using a stepping motor - Positioning control using a servo motor 2-axis and 4-axis types are available.
Page 19: Unit Types
1.1.1 Unit Types FP2 Positioning Unit (Interpolation type) Type Function Part number Product number 2-axis transistor output type 2-axis control FP2-PP2T AFP243710 4-axis transistor output type 4-axis control FP2-PP4T AFP243720 2-axis line driver output type 2-axis control FP2-PP2L...
Page 20: Restrictions On Units Combination
FP2 Positioning Unit (Interpolation type) Type Part number Product number Current consumption (from power supply) 2-axis type FP2-PP2T AFP243710 300 mA 2-axis type FP2-PP2L AFP243711 300 mA...
Page 21: Parts And Functions
Chapter 2 Parts and Functions...
Page 22: Parts And Functions
2.1 Parts and Functions Operation status display LEDs These display operation conditions for two axes. Operation status display switch (for FP2-PP4T, FP2-PP4L only) This switches operation display between for axes 1 and 2, and for axes 3 and 4. User interface connector for 1-axis/2-axis This connector is used to connect a motor driver or external interface.
Page 23: Operation Status Display Leds
2.2 Operation Status Display LEDs Information on two axes can be displayed at once on the LEDs. For a 4-axis type, display can be switched between axes 1 and 2, and axes 3 and 4 with the switch. The LEDs show the same information for each axis.
Page 25: Wiring
Chapter 3 Wiring...
Page 26: Connecting Using Connector For A Discrete-Wire
Component parts 2-axis type 4-axis type Housing(40P) 1 pc x 1 1 pc x 2 Panasonic Corp. Semi-cover(40P) 2 pcs x 1 2 pcs x 2 Contact (for AWG22 and AWG24) 5pin 8 pcs x 1 8 pcs x 2 * 1 connector set and 2 connector sets are supplied with the 2-axis type unit and 4-axis type unit, respectively.
Page 27: Assembly Of Discrete-Wire Connector
3.1.2 Assembly of Discrete-Wire Connector The wire end can be directly press-fitted without removing the wire’s insulation, saving labor. Procedure: 1. Bend the contact back from the carrier, and set it in the pressure connection tool. 2. Insert the wire without removing its insulation until it stops, and lightly grip the tool. 3.
Page 28: Input/Output Specifications And Terminal Layout
3.2 Input/Output Specifications and Terminal Layout 3.2.1 Input /Output Specifications 2 connectors are used to connect 4-axis type and 1 connector to connect 2-axis type. The signal pins for 2 axes are assigned to 2-axis type connector. AX1 and, and AX3 and 4 connectors for 4-axis type has the completely same pin assignments, so that the same pin No.
Page 29 Output terminals (common) Pin number Circuit Signal name Item Description 1/3 axis 2/4 axis Output format Open collector Deviation counter clear (+) 4.75 V DC to Operating voltage range 26.4 V DC Max. load current 10mA Deviation counter clear （-） ON Max.
Page 30 Input Terminals（common） Pin number Circuit Signal name Item Description 1/3 axis 2/4 axis 21.6V DC to Operating voltage range 26.4V DC Min. ON voltage/current 19.2V DC/5.5mA Home input: 24 V DC (+) Max. OFF voltage/current 2V DC/2mA (Z24) Input impedance Approx 3kΩ...
Page 31 Note: Please use under the specifications for pulse input A, B signal. - 2 phases input method - Direction distinction input method - Individual input method...
Page 32: Supplying Power For Internal Circuit Drive
3.3 Supplying Power for Internal Circuit Drive Always make sure an external +24V DC power supply is connected to the pins for external input power supply (pin No. A20 and B20). The applied 24V DC passes through an internal DC/DC converter and is converted to 5 V DC voltage. It is then supplied to the various internal circuits as a power supply for internal circuit drive of the pulse command output pin.
Page 33: Connection Of Pulse Command Output Signal
3.4 Connection of Pulse Command Output Signal Two types of output types are available for the FP2 positioning unit due to two types of the interfaces of motor driver. Select and connect one or the other, depending on the interface of the motor driver being used.
Page 34: Connection Of Deviation Counter Clear Output Signal (For Servo Motor)
3.5 Connection of Deviation Counter Clear Output Signal (for servo motor) This is an example showing connection of the counter clear input to the servo motor driver. An external power supply (+5 V DC to +24 V DC) must be provided for the connection. Note: Always use twisted - pair cables for wiring.
Page 35: Connection Of Home Input/Near Home Input Signals
3.6 Connection of Home Input/Near Home Input Signals This is the home signal input connection for the home return. It should be connected to the Z phase output (Line driver output or Transistor output) of the motor driver, or to an external switch and sensor. Note: We recommend using twisted - pair cables as the wiring between the positioning unit output and the motor driver, or twisting the cables used.
Page 36: Connection Of Near Home Input Signal
3.6.3 Connection of Near Home Input Signal Note) No. B4 and B13 are common for the Near home input, Over limit input(+),Over limit input(-) and Positioning control start input (Timing input). 3.6.4 Connection of Over limit Input Signal Note) No. B4 and B13 are common for the Near home input, Over limit input(+),Over limit input(-) and Positioning control start input (Timing input).
Page 37: Connection Of Pulse Input
3.7 Connection of Pulse Input The signal output style may differ depending on Pulser or Encoder. Connect in accordance with the output style. Line driver type, Transistor open collector type and Transistor-resistance pull-up type are available for the output styles. The same pulse input terminal is used for Pulser input operation and Feedback pulse count, so it is used for either.
Page 38: Precausions On Wiring
3.8 Precausions on Wiring Connect the wire in less than or the following length between the Transistor output type and the motor driver , and between the Line driver output type and the motor driver. <Signals applicable> - Transistor output - Line driver output - Deviation counter clear output Output type...
Page 39: Power On/Off And Items To Check
Chapter 4 Power On/Off and Items to Check...
Page 40: Safety Circuit Design
4.1 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 Over limit input(+) and Over limit input (-) of the Positioning unit. Safety circuit based on external circuit Install the safety circuit recommended by the manufacturer of the motor being used.
Page 41: Before Turning On The Power
4.2 Before Turning ON the Power Items to check before turning ON the power System configuration example Checking connections to the various devices Check to make sure the various devices have been connected as indicated by the design. 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 42: Procedure For Turning On The Power
4.3 Procedure for Turning ON the Power When turning ON the power to the system incorporating the positioning unit, the nature and statuses of any external devices connected to the system should be taken into consideration, and sufficient care should be taken that turning ON the power does not initiate unexpected movements or operations. 4.3.1 Procedure for Turning ON the Power Procedure: 1.
Page 43: Procedure For Turning Off The Power
4.3.2 Procedure for Turning OFF the Power Procedure: 1. Check to make sure the rotation of the motor has stopped, and then turn OFF the power supply for the motor driver. 2. Turn OFF the power supply for the PLC. 3.
Page 45: Preparation For Operation
Chapter 5 Preparation For Operation...
Page 46: Confirming While The Power Is On
5.1 Confirming while the Power is ON Items to check when the power is ON System configuration example Checking should be carried out in the four general stages described below.
Page 47: Pulse Output Mode And Switch Logic Settings
5.2 Pulse Output Mode and Switch Logic Settings The direction which an elapsed value increases is called CW and the direction which it decreases is called CCW on the positioning unit. Therefore, the limit input in the CW direction is Limit (+) valid, and the input in the CCW direction is Limit (–) valid.
Page 48: Setting The Pulse Input Mode
5.3 Setting the Pulse Input Mode The positioning unit supports the pulse input for every axis, and various input devices can be connected. The followings are input targets. It is necessary to specify which input is selected. Input target Description Pulser - Set for using the manual pulser.
Page 49: Restrictions On Pulse Input Setting
5.3.1 Restrictions on Pulse Input Setting The positioning unit supports various input mode and input purposes, however, the combinations of the settings are limited. Pulse input purpose Feedback High-speed Pulser pulser counter Forward Rotation direction Reverse 2-phase input Direction Input mode discrimination input Individual input Available only...
Page 50: Checking The Safety Circuit
5.4 Checking the Safety Circuit 5.4.1 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 turnning ON the CW/CCW driving inhibition switch of an external circuit.
Page 51: Operation Check
5.5 Operation Check 5.5.1 Checking the Operation of the Near Home Switch and Home Switch Procedure 1 Using forced operation of the home input and near home input, check to make sure the operation display LEDs on the positioning unit light. At the same time, using programming tools, monitor the X_6 and X_7 flag (When X_6 is ON, the home input is properly done.
Page 52: Procedure 5: Checking Rotating And Moving Directions And Moving Distance
5.5.2 Procedure 5: Checking Rotating and Moving Directions and Moving Distance Procedure 1 Check whether the rotating and moving direction of the motor and the moving distance is correct or not. The operations can be easily confirmed using the tool operation function of the Configurator PM without programs.
Page 54: Procedure 6: Settings Of Parameters And Positioning Data
5.6 Procedure 6: Settings of Parameters and Positioning Data Procedure 1 Set the parameters and positioning data in accordance with the actual operation. Points to check The parameters and positioning data is stored in the shared memory of the positioning unit. Although there are two methods to store the data in the shared memory, it is recommended to set the parameters that are not changed so often using the Configurator PM.
Page 55: I/O Allocation
Chapter 6 I/O Allocation...
Page 56: Occupied I/O Area
6.1 Occupied I/O Area The input (X)/output (Y) should be allocated to use the Positioning Unit (Interpolation type) as well as other I/O units. 256 points (128-point input/128-point output) are occupied for any axis types. Type Number of occupied points (allocated using a tool software) 2-axis type Input: 128 points 4-axis type...
Page 57: Allocation Of Each Contact
6.2 Allocation of Each Contact Followings are occupied I/O when FP2 Positioning unit (Interpolation type) is installed in the slot 0. Contact Target Name Descriptions allocation axis Positioning Indicates that the initial preparation within the positioning unit was All axes preparation ready completed, and announce the system started running.
Page 58 Contact Target Name Descriptions allocation axis 1 axis Turns on when the operation command for the corresponding axis completed and the position error became in the specified completion width. 2 axis For P point control and C point control of the automatic operation, turns on Operation done when the operation for all the tables completed.
Page 59 Contact Target Name Descriptions allocation axis Limit + Monitor contact of the limit + and – for the corresponding axis. 1 axis Limit - During the positioning operation, JOG operation or pulser operation, Limit + performs the deceleration stop when the limit input that is an extension of 2 axis Limit - the operating direction turned on.
Page 60 Contact Target Name Descriptions allocation axis Contact for requesting the system stop. When it turns on, all axes will stop All axes System stop at the deceleration time 0. Turn on this signal when each positioning data (standard area) in the shared memory was changed.
Page 61 Contact Target Name Descriptions allocation axis Y100 JOG forward 1 axis Requests the JOG operation for the corresponding axis. Y101 JOG reverse The settings for acceleration time, etc are specified by Configurator PM or Y102 JOG forward 2 axis the JOG operation settings in the shared memory. Y103 JOG reverse (The operation is the level type.)
Page 62 Contact Target Name Descriptions allocation axis Y130 Y131 Y132 Y133 Y134 Y135 Y136 Y137 Y138 1 axis Requests to start the next positioning operation during the JOG positioning Y139 2 axis J point positioning operation. start Y13A 3 axis (The operation is the edge type.) Y13B 4 axis Y13C...
Page 63: Setting Tool Configurator Pm
Chapter 7 Setting Tool Configurator PM...
Page 64: Connection With Computer
7.1 Connection With Computer Install the Configurator PM on a computer as well as a programming tool. For the FP2, connect to the tool port of the FP2 CPU unit.
Page 65: Functions Of Configurator Pm
7.2 Functions of Configurator PM 7.2.1 Overview The Configurator PM is the Windows-compliant setting software. Using the Configurator PM enables to make the settings for the FP2 positioning unit (Interpolation type) and FP2/FP positioning unit RTEX. The positioning operations can be set by the input method similar to Microsoft Excel. Copy &...
Page 66: Basic Specifications
7.2.2 Basic Specifications Operating environment Applicable OS Windows® 7 Windows® 8 Windows® 8.1 Windows® 10 (32-bit version/64-bit version) Required HDD capacity 30MB or more Application specifications No. of characters of data comment 100 bytes/table No. of histories of search/replace strings 20 each...
Page 67: Installing Configurator Pm
7.3 Installing Configurator PM Procedure for installing Configurator PM in a personal computer The Configurator PM is installed in a personal computer using the procedure outlined below. Please be aware that the Configurator PM cannot be installed unless you log in at the Administrator level when booting the system 1.
Page 68: Startting Configurator Pm
7.4 Startting Configurator PM Click the [Start] button on Windows®, and click [Program], [Panasonic-ID SUNX Control] and [Setting software] in the order. And then click [Configurator PM]. The following dialog is shown. [New] Create a new setting data for the positioning unit.
Page 69: Treating Files
7.5 Treating Files 7.5.1 New Create a new file. 1. Select [File]  [New] in the menu bar, or click [New file] icon in the toolbar. The [Select axes] dialog is shown. 2. Select a unit type to be used. 3.
Page 70 4. The [Interpolation group settings] dialog is shown. Set the grouping that the interpolation operation is executed for the selected axes in the above setting. Independent The area of the axes to be used as independent axes without performing the interpolation operation. Interpolation group The area of the groupings of the axes to perform the interpolation operation.
Page 71 5. Drag the axis icon at the top of the window with the mouse and drop it in any area of the groups (A to D) at the bottom of the window to determine the axes of the interpolation groups. 6.
Page 72: Reading From Files
7.5.2 Reading from Files Read the parameter settings or data settings from files. 1. Select [File]  [Open] in the menu bar, or click [Open] icon in the toolbar. The following dialog is shown. 2. Select the drive where the file is saved in the [Location of File] box. 3.
Page 73: Saving Files
7.5.3 Saving Files Save the parameter settings or data settings in files. The contents saved in files are axis information, parameter settings, data settings and data comments. 1. The following methods are available to save files. (The operation procedures and the behaviors of this software differ depending on the case of overwrite save and the one saves as a new file.) Saving a file by overwriting an existing file.
Page 74: Setting File Properties
7.5.4 Setting File Properties Set the property of a file (creator and comment). 1. Select [File] => [File property] in the menu bar to specify the file property. The following dialog is shown. 2. Input the creator and comment, and click [OK]. Up to 10 one-byte characters (5 two-byte characters) for the creator and 40 one-byte characters (20 two- byte characters) for the comment can be input.
Page 75: Connection To Positioning Unit
7.7 Connection to Positioning Unit 7.7.1 Selecting Slot Number When accessing the positioning unit in the Configurator PM, specify the slot number that the positioning unit is installed in advance. Select [Online]  [Select slot] in the menu bar. The following dialog is shown. The positioning unit is installed on the CPU unit with the motherboard.
Page 76: Communication Settings
7.7.2 Communication Settings Set the condition to communicate with the PLC that the positioning unit has been installed. Select [Option]  [Communication settings] in the menu bar. The following dialog is shown. Name Setting value Default Port number Select a COM port to be used. COM1 Baud rate 1200 to 115200 bps...
Page 77: Parameter Settings
7.8 Parameter Settings Set the initial operation for the positioning unit. 1. Select [Set axis]  [Parameter settings] in the menu bar, or click the [Parameter setting] icon in the toolbar. 2. The parameter setting dialog is shown. Set the parameters. Setting items Parameter name Description...
Page 78 Parameter name Description Software limit (Positioning control) Enable/disable the software limit in the positioning control. Software limit (Home return) Enable/disable the software limit in the home return. Software limit (JOG operation) Enable/disable the software limit in the JOG operation. Upper limit of software limit The upper limit value of the software limit.
Page 79: Changing Axis Information
Update the parameter settings with the specified contents. Cancel Close this dialog without updating the parameter settings. Copy axis Specify the axes of the source and destination to copy the parameter setting between the axes.The following dialog is shown by clicking the [Copy axis] button.
Page 80: Setting Positioning Data
7.10 Setting Positioning Data Set the various data to perform the positioning operation. They are set on the data setting screen. This is an example for the interpolation group of 1 axis and 2 axis. Positioning data editing screen Setting items Parameter Name Description Operation pattern...
Page 81 Parameter Name Description Y-axis movement Input the movement amount of Y axis. The movement amount depends on amount the unit system specified in the parameter settings. Y-axis auxiliary point It is used when the circular (spiral) interpolation is selected, and ignored when the linear interpolation is selected.
Page 82: How To Edit Positioning Data
7.11 How to Edit Positioning Data 7.11.1 Inputting Positioning Data The cursor on the positioning data editing screen can be moved by clicking, double-clicking with the mouse and with the arrow, Enter and Tab keys. Move the cursor to the data item. Using the arrow key enables to move the cursor to the adjacent cell in the direction of the arrow.
Page 83: Copying Positioining Data
7.11.2 Copying Positioining Data The data contents can be stored in the clipboard by setting the preference field of the cells on the positioning data editing screen. The data stored in the clipboard are pasted in Microsoft Excel as well as the data editing screen of this software.
Page 84: Searching Character Strings
7.11.4 Searching Character Strings 1. Select [Edit data]  [Find] in the menu bar, or click the [Find] icon in the toolbar. The following dialog is shown. 2. Input the character string to search in the [Character string to find] box, and select the target line (setting item).
Page 85: Selecting Lines
7.11.6 Selecting Lines The cells in a line or multiple lines can be selected before the operations such as copy or paste are done. Click the [Table No.] header on the upper-left corner of the positioning data editing screen with the mouse to select the all the cells in one line.
Page 86: Customizing Software
7.12 Customizing Software Changing Column Width Widen the column width to enable all the characters to be shown during data editing, or narrow it when the resolution of the PC you use is small. As the column width is saved when this software quits, the same width will be recreated at the next time of the start-up.
Page 87 - Setting Font Select [Option]  [Font] in the menu bar. The following dialog is shown. 7-25...
Page 88: Checking Settings
7.13 Checking Settings 7.13.1 Checking Parameters and Data Values Collectively check the parameter setting first and then the positioning data if the values are within the range. If an error is found in the parameter setting, the parameter setting dialog is automatically indicated and the position where the error exists is focused.
Page 89: Transferring Setting Data
7.14 Transferring Setting Data 7.14.1 Uploading Setting Data from Positioning Unit Read the parameters and positioning data of the positioning unit. 1. Make the connection between a PC and PLC, and configure the settings. Then, select [File]  [Upload from Unit] in the menu bar, or click the [Upload from Unit] icon in the toolbar. 2.
Page 90: Downloading Setting Data To Positioning Unit
7.14.2 Downloading Setting Data to Positioning Unit Transfer the setting parameters and positioning data to the positioning unit. 1. Make the connection between a PC and PLC, and configure the settings. Then, select [File]  [Download to Unit] in the menu bar, or click the [Download to Unit] icon in the toolbar. The dialog is shown as below.
Page 91: Writing Settings To From
3. Once the download completes, the following dialog is shown. Clicking [Yes] indicates the following dialog and save the setting data in the FROM (Flash Memory) within the positioning unit. The saved setting data is automatically read when the power supply of the PLC turns on.
Page 92: Data Monitor
7.15 Data Monitor The internal data of the positioning unit can be monitored. Make the connection between a PC and PLC, and configure the settings. Then, select [Online]  [Data Monitor] in the menu bar. The following dialog is shown. Axis [Group] The axis No.
Page 93: Status Display
7.16 Status Display The states of the motors of each axis can be monitored. Make the connection between a PC and PLC. Then, select [Online]  [Status Display] in the menu bar. The following dialog is shown. Model The model name of positioning unit Axis [Group] The axis number and group names to be monitored.
Page 94: Tool Operation
7.17 Tool Operation As the positioning unit can activate without a ladder program in the tool operation, the operation can be checked quickly. Select [Online]  [Tool operation] in the menu bar, and click the [Tool operation] icon in the toolbar.
Page 95: Tool Operation - Home Return
7.17.1 Tool Operation – Home Return After the power supply of the positioning unit turned on, the zero (home) of the machine position (coordinate) does not always agree with the zero of the coordinate value in the positioning unit. Therefore, coordinate the home of the machine position with the home of the positioning unit. This setting is called Home return.
Page 96: Tool Operation - Positioning
2. Execute the home return. Click [Start] for the axis to execute the home return. 3. Click [Close] to close the dialog. Note: This dialog cannot be closed during the home return operation. 7.17.2 Tool Operation - Positioning The test run is possible like actual positioning operations. Specifying the starting table number enables to check if the positioning/interpolation from the starting table operates properly.
Page 97 Axis [Group] The axis numbers and group names to be monitored. The group name and the master/slave axis type fot the synchronous Synchronous group operation. Synchronous mode The operation mode for the synchronous operation. Monitor the synchronous/asynchronous condition in the synchronous Synchronous operation.
Page 98: Tool Operation - Jog Operation
7.17.3 Tool Operation – JOG Operation Each axis can be operated manually using the tool operation. 1. Click [JOG operation] in the tool operation dialog. The following dialog is shown. 7-36...
Page 99 Axis [Group] The axis numbers and group names to be monitored. The group name and the master/slave axis type for the synchronous Synchronous group operation. Synchronous mode The operation mode for the synchronous operation. Monitor the synchronous/asynchronous condition in the synchronous Synchronous operation.
Page 100: Tool Operation - Teaching
7.17.4 Tool Operation - Teaching Activate each axis manually by the tool operation, and register the positioning addresses where the axes stopped as the point data. Note: To perform the teaching operation, the equivalent axes should be in the state that the servo is locked (servo ON).
Page 101 Axis [Group] The axis numbers and group names to be monitored. Synchronous The group name and the master/slave axis type for the synchronous operation. group Synchronous The operation mode for the synchronous operation. mode Monitor the synchronous/asynchronous condition in the synchronous operation. Synchronous For the synchronous operation in the operation mode A, clicking [Synchronous condition...
Page 102 7-40...
Page 103: Automatic Operation (Position Control)
Chapter 8 Automatic Operation (Position Control)
Page 104: Basic Operation
8.1 Basic Operation Type of perations The automatic operation is an operation mode to be perform a position control. For the position control, there are a single axis control and an interpolation control that starts and stops multiple axes simultaneously. For the operations of the position control, there are the E point control that uses the positioning data of 1 table, the P point control and C point control that use multiple tables for the single axis control or interpolation control.
Page 105: Setting And Operation Of E Point Control
8.1.1 Setting and Operation of E Point Control The example below is the case of a single axis control for the 1st axis with the positioning unit installed in the slot 0. The movement amount setting is the increment method, and the unit is set to pulse. Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM.
Page 106 Operations of each contact The BUSY flag (X18) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag (X20) indicating the state that an operation completed turns on when the position control completed, and it will be held until any operation among the position control, JOG operation, home return and pulser operation starts.
Page 107: Setting And Operation Of P Point Control
8.1.2 Setting and Operation of P Point Control The example below is the case of a single axis control for the 1st axis with the positioning unit installed in the slot 0. The movement amount setting is the increment method, and the unit is set to pulse. Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM.
Page 108 Operations of each contact The BUSY flag (X18) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag (X20) indicating the state that an operation completed turns on when the position control completed, and it will be held until any operation among the position control, JOG operation, home return and pulser operation starts.
Page 109: Setting And Operation Of C Point Control
8.1.3 Setting and Operation of C Point Control The example below is the case of a single axis control for the 1st axis with the positioning unit installed in the slot 0. The movement amount setting is the increment method, and the unit is set to pulse. Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM.
Page 110 Operations of each contact The BUSY flag (X18) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag (X20) indicating the state that an operation completed turns on when the position control completed, and it will be held until any operation among the position control, JOG operation, home return and pulser operation starts.
Page 111: Setting And Operation Of J Point Control
8.1.4 Setting and Operation of J Point Control The J point control is performed at the target speed from the beginning of the operation until the J point positioning start contact turns on, and once the contact turns on, the next position control will be started. The J point control can be used only for a single axis control.
Page 112 Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM. The unit is set to pulse. Setting example Item Allowable range Table 1 Table 2 Table 3 Operation J: Speed P: Pass E: End C: Continuance point E: End point P: Pass point pattern...
Page 113 Operations of each contact The BUSY flag (X18) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag (X20) indicating the state that an operation completed turns on when the position control completed, and it will be held until any operation among the position control, JOG operation, home return and pulser operation starts.
Page 114: Interpolation Control
8.2 Interpolation Control Type of perations For the interpolation control, there are 2-axis linear interpolation control, 2-axis circular interpolation control, 3-axis linear interpolation control, and 3-axis spiral interpolation control. The following methods are available to specify the operation of each interpolation control. Select any of them as usage. The axes in the relation of an interpolation are called X axis and Y axis for the 2-axis interpolation, and are called X axis, Y axis and Z axis for the 3-axis interpolation.
Page 115 8-13...
Page 116 When the X axis and Y axis is the moving axes, each axis in the above diagram is replaced. 8-14...
Page 117: Setting And Operation Of Two-Axis Linear Interpolation
8.2.1 Setting and Operation of Two-Axis Linear Interpolation The example below is the case of the E point control with the positioning unit installed in the slot 0. The X axis is set to the 1st axis and the Y axis is set to the 2nd axis. The movement amount setting is the increment method, and the unit is set to pulse.
Page 118 Operations of each contact The BUSY flag for the axis 1 and 2 (X18, X19) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag for the axis 1 and 2 (X20, X21) indicating the state that an operation completed turns on when the position control completed, and it will be held until any operation among the position control, JOG operation, home return and pulser operation starts.
Page 119: Setting And Operation Of Two-Axis Circular Interpolation
8.2.2 Setting and Operation of Two-Axis Circular Interpolation The example below is the case of the E point control with the positioning unit installed in the slot 0. The X axis is set to the 1st axis and the Y axis is set to the 2nd axis. The movement amount setting is the increment method, and the unit is set to pulse.
Page 120 Operations of each contact The BUSY flag for the axis 1 and 2 (X18, X19) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag for the axis 1 and 2 (X20, X21) indicating the state that an operation completed turns on when the position control completed, and it will be held until any operation among the position control, JOG operation, home return and pulser operation starts.
Page 121: Setting And Operation Of Three-Axis Linear Interpolation
8.2.3 Setting and Operation of Three-Axis Linear Interpolation The example below is the case of the E point control with the positioning unit installed in the slot 0. The X axis is set to the 1st axis and the Y axis is set to the 2nd axis. The movement amount setting is the increment method, and the unit is set to pulse.
Page 122 Operation diagram Operations of each contact The BUSY flag for the axes 1, 2 and 3 (X18, X19, X1A) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag for the axes 1, 2 and 3 (X20, X21, X22) indicating the state that an operation completed turns on when the position control completed, and it will be held until any operation among the position control, JOG operation, home return and pulser operation starts.
Page 123 Sample program Precautions on programming To start the interpolation control, turn on the positioning start contact of the axis with the smallest number in the same group. The values of the X-axis auxiliary point and Y-axis auxiliary point are invalide for the linear interpolation. When setting the long axis speed, the composite speed is faster than the long axis speed.
Page 124: Setting And Operation Of Three-Axis Linear Interpolation
8.2.4 Setting and Operation of Three-Axis Linear Interpolation The example below is the case of the E point control with the positioning unit installed in the slot 0. The X axis is set to the 1st axis, the Y axis is set to the 2nd axis and the Z axis is set to the 3rd axis. The movement amount setting is the increment method, and the unit is set to pulse.
Page 125 Operation diagram Operations of each contact The BUSY flag for the axes 1, 2 and 3 (X18, X19, X1A) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag for the axes 1, 2 and 3 (X20, X21, X22) indicating the state that an operation completed turns on when the position control completed, and it will be held until any operation among the position control, JOG operation, home return and pulser operation starts.
Page 126 Sample program Precautions on programming For X-Y plane, in case of the center point specification, the X-axis auxiliary point is the center point of X axis, and the Y-axis auxiliary point is the center point of Y axis. In case of the pass point, each pass point is set as the pass point of X axis and Y axis.
Page 127: Synchronous Operation
8.3 Synchronous Operation 8.3.1 Overview of Synchronous Operation The synchronous operation is a function to set an axis to be the standard (master axis) and an axis to be synchronized (slave axis), and make the operations the master and slave axes identical (synchrononous).
Page 128: Home Return In Synchronous Operation
8.3.2 Home Return in Synchronous Operation The usable home return methods vary according to the synchronous mode to be used in the synchronous operation. A: Available N/A: Not available    Home return Synchronous mode A Synchronous mode B method ...
Page 129 Reference: <Chapter 10 Manual Operation (Home Return)> 8-27...
Page 130: Synchronous Operation Difference Behavior Check Function
8.3.3 Synchronous Operation Difference Behavior Check Function The difference behavior check function is used to check if the master and slave axes perform the synchronous operation properly, and detect the feedback pulse value between the master and slave axes exceeds the threshold by comparing the feedback pulse value. The operations when the difference between the moving amounts of master and slave axes exceeds the specified difference value can be selected from the followings.
Page 131: Operation Of Master And Slave Axes
8.3.5 Operation of Master and Slave Axes Operation of master and slave axes Various positioning parameters should be set to perform operations on the positioning unit. The parameters to be applied vary in the synchronous operation as follows. Parameter name Operation during synchronous operation Unit setting Operates by the setting of each axis.
Page 132: Setting And Operation Of Synchronous Operation
8.3.6 Setting and Operation of Synchronous Operation The example below is the case of the synchronous operation for 2 axes with the positioning unit installed in the slot 0. The movement amount setting is the increment method, and the unit is set to pulse. Setting The parameters necessary for the setting of the positioining data and parameters are specified by the Configurator PM.
Page 133 Operation diagram Operations of each contact The BUSY flag (X18, X19) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag (X20, X21) indicating the state that an operation completed turns on when the position control completed, and it will be held until any operation among the position control, JOG operation, home return and pulser operation starts.
Page 134 Sample program Precautions on programming If any value such as a movement amount, acceleration time, deceleration time or target speed is out of the specified range, a setting value error will occur when the position control starts. The number of the startup contact and flag varies depending on the number of axes and the installation position.
Page 135: Setting And Operation Of Positioning Repeat Function
8.4 Setting and Operation of Positioning Repeat Function The positioning repeat function is a function to execute the positioning control repeatedly for the specified times. The repeat count is specified in the positioning repeat count area for each axis. It can be specified in the range of 2 to 254 times.
Page 136 - When executing multiple positioning table consecutively Once the positioning unit detects the deceleration stop, it will stop the positioning control after repeating for N+1 times. The example below is the case of a single axis control with the positioning unit installed in the slot 0. The movement amount setting is the increment method, and the unit is set to pulse.
Page 137 Operation diagram Operations of each contact The BUSY flag (X18) indicating the state that a motor is running turns on when the position control started, and it turns off when the operation completed. The operation done flag (X20) indicating the state that an operation completed turns on when the position control completed, and it will be held until any operation among the position control, JOG operation, home return and pulser operation starts.
Page 138 Operation at limit input Condition Direction Limit status Operation Limit input(+):ON Not executable, Error occurs. Forward Limit input (-):ON Not executable, Error occurs. When J point control is executed Limit input(+):ON Not executable, Error occurs. Reverse Limit input (-):ON Not executable, Error occurs. Forward Limit input(+):ON Deceleration stop, Error occurs.
Page 139: Manual Operation (Jog Operation)
Chapter 9 Manual Operation (JOG Operation)
Page 140: Setting And Operation Of Home Return
9.1 Setting and Operation of Home Return The example below is the case of the positioning unit installed in the slot 0. The unit is set to pulse. Setting The parameters necessary for the setting of the JOG operation are specified by the Configurator PM. The unit is set to pulse.
Page 141 Sample program Precautions on programming The number of the startup contact and flag varies depending on the number of axes and the installation position. The specified slot number varies depending on the installation position of the unit. Operation at limit input Condition Direction Limit status...
Page 142: Changing The Speed During Jog Operation
9.2 Changing the Speed During JOG Operation The target speed can be changed during the JOG operation. Setting The parameters necessary for the setting of the JOG operation are specified by the Configurator PM. The unit is set to pulse. Item Setting example Allowable range...
Page 143 Sample program Precautions on programming As the acceleration time and deceleration time will be retrieved when the speed is changed during the JOG operation, the acceleration/deceleration speed can be changed. The number of the startup contact and flag varies depending on the number of axes and the installation position.
Page 145: Manual Operation (Home Return)
Chapter 10 Manual Operation (Home Return)
Page 146: Types Of Home Return
10.1 Types of Home Return The home return is a function to move to the preset reference position and to set its coordinate to 0. The following home return methods are available for the positioning unit. DOG method 1 (Edge detection of near home switch + Home switch based on front-end) Detects the rising edge of the near home switch, and the rising edge of the first home switch becomes the starting point.
Page 147 DOG method 3 (Edge detection of near home switch + Home switch based on back-end) Detects the trailing edge of the near home switch, and the first rising edge f the home switch in the home return direction becomes the starting point. Limit method 1 (Edge detection of limit switch + Home switch based on front-end) Reverses after detecting the rising edge of the limit switch in the opposite direction of the home return.
Page 148 Limit method 2 (Edge detection of limit switch) Detects the rising edge of the limit switch in the home return direction and stops. That point becomes the starting point. Home method (Edge detection of home switch) Moves toward the home return direction from the current value, stops after detecting the rising edge of the first home switch.
Page 149: Setting And Operation Of Home Return
10.2 Setting and Operation of Home Return The example below is the case of the positioning unit installed in the slot 0. The unit is set to pulse. Setting The parameters necessary for the setting of the home return are specified by the Configurator PM. The unit is set to pulse.
Page 150 Operations of each contact The BUSY flag (X18) indicating the state that a motor is running turns on when the home return started, and it turns off when the operation completed. The deviation counter clear signal turns on during the deviation counter clear signal ON time on completion of the home return operation.
Page 151: Manual Operation (Pulser Operation)
Chapter 11 Manual Operation (Pulser Operation)
Page 152: Setting And Operation Of Pulser Operation
11.1 Setting and Operation of Pulser Operation Types of pulse operation The pulser operation is a function to output pulses in the manual operation using the pulser connected to the positioning unit. The following operation methods can be used. Operation method Operation Standard operation Obtains the number of pulses of the pulser in increment of 1 ms, and operates.
Page 153 Setting The parameters necessary for the setting of the pulser operation are specified by the Configurator PM. The unit is set to pulse. Item Setting example Allowable range Operation setting code 0: Pulser 1 0: Pulser 1, 1: Pulser 2, 2: Pulser 3 Pulser operation ratio numerator 1 to 32,767 Pulser operation ratio denominator...
Page 154 Precautions on programming The movement amount per an 1-pulse signal from the pulser can be changed by setting the ratio numerator and ratio denominator for the input signal of the pulser. The number of the startup contact and flag varies depending on the number of axes and the installation position.
Page 155: Stop Functions
Chapter 12 Stop Functions...
Page 156: Settings And Operations Of Stop Functions
12.1 Settings and Operations of Stop Functions Following stop functions are available during operations. Each deceleration time can be set individually. Set the deceleration time according to each occurrence condition of the stop operation. Name Occurrence condition Axis stopped Operation Deceleration when the deceleration Stops in deceleration time of the control...
Page 157: Setting And Operation Of Pause Function
12.2 Setting and Operation of Pause Function The pause function is a function to temporarily stop the control in operation. The pause function is used switching between the deceleration stop function. Using the pause function enables to perform the deceleration stop in the deceleration time of the control being operated by turning on the deceleration stop request contact.
Page 158 12-4...
Page 159: Supplementary Functions
Chapter 13 Supplementary Functions...
Page 160: Dwell Time
13.1 Dwell Time The time taken until the next operation after the completion of an executed positioning table in the automatic operation is called dwell time. The operations of the dwell time vary according to control methods slightly. Followings are the operations in each control method.
Page 161: Software Limit
13.2 Software Limit The system is designed to mechanically set the limit (+) and limit (-) to restrict the moving range of a motor. Separately from the mechanical limits (+) and (-), the software limit is a function to add the limits for the absolute coordinate managed within the positioning unit.
Page 162: Auxiliary Output Code And Auxiliary Output Contact
13.3 Auxiliary Output Code and Auxiliary Output Contact The auxiliary output contact is a function to inform about which table’s operation is performing when the automatic operation (E point control, C point control, P point control, J point control) is executed. The auxiliary output contact and the auxiliary output code can be used by setting the parameter “auxiliary output mode”...
Page 163: Home Change
13.4 Home Change The current value update is a function to change the current value managed in the positioning unit to an arbitrary value. Data must be written into the shared memory from the PLC in order to carry out the current value update. Followings are the details of the shared memory to carry out the current value update.
Page 164: Coordinate Origin
13.5 Coordinate Origin The positioning unit sets the coordinate managed to 0 by the home return process. Coordinate origin is a function to set the coordinate after the home return process to an arbitrary value. Procedure of coordinate origin process 1.
Page 165: Monitoring Pulse Input Values
13.6.1 Monitoring Pulse Input Values The pulse input values can be monitored from programs on the positioning unit. The following areas are used for monitoring the pulse input values. [Axis information & monitor area] 1st axis Offset Bank Name Descriptions address Stores the pulse input value according to the pulse input purpose 036H...
Page 166: Function Of Feedback Pulse
13.6.3 Function of Feedback Pulse The function using the feedback pulse from an encoder can be used by setting the pulse input purpose to “Feedback pulse” on the positioning unit. Moving amount automatic check function It is a function to check whether an operating axis is activating in accordance with the command value. The difference (deviation) between the current value (absolute) managed within the unit and the feedback pulse value to be input is compared to the preset threshold.
Page 167 2nd axis Offset Bank Name Descriptions address Moving amount automatic check 008H correction numerator Refer to the description of 1st axis. Moving amount automatic check 009H correction denominator Moving amount automatic check 00AH Refer to the description of 1st axis. operation 018H Moving amount automatic check value...
Page 168 Monitoring the moving amount automatic check function The value (deviation) that is calculated by the moving amount automatic check function can be checked with a program. The following areas are used for monitoring the deviation. [Axis information & monitor area] 1st axis Offset Bank...
Page 169: Function Of High-Speed Counter
Changing pulse input values The pulse input value that has been input can be changed to an arbitrary value when setting the pulse input purpose to the feedback pulse. The following area is used for changing the pulse input value. [Pulse count control area] Offset Bank...
Page 170: Startup Speed
Changing pulse input values The pulse input value that has been input can be changed to an arbitrary value when setting the pulse input purpose to the high-speed counter. The following area is used for changing the pulse input value. [Pulse count control area] Offset Bank...
Page 171: Precautions During Programming
Chapter 14 Precautions During Programming...
Page 172: Precautions During Programming
14.1 Precautions During Programming 14.1.1 Turning Off Power Supply Clears Contents in Shared Memory The data in the shared memory of the positioning unit is cleared when the power supply of the PLC turns off. So, if you want to perform the positioning control with the current settings of the shared memory the next time the power supply turns on, the positioning data should be written in the FROM (flash memory) within the positioning unit.
Page 173: How To Use Standard Area And Extended Area Of Positioning Data
14.1.3 How to Use Standard Area and Extended Area of Positioning Data When executing the automatic operation (position control) with the positioning unit RTEX, specify the number of the positioning table that has been specified in advance, and start the position control. After the start-up, the motor is automatically controlled according to the settings of the table.
Page 174: Operation When The Mode Of Plc Changed To Prog. From Run
14.1.4 Operation When the Mode of PLC Changed to PROG. from RUN Any start-up contact of the automatic operation (position control), manual operations (JOG operation, home return, pulser operation) turns on, and the operation will continue even if the PLC changes to the PROG.
Page 175: Errors And Warnings
Chapter 15 Errors and Warnings...
Page 176: Errors And Warnings
15.1 Errors and Warnings 15.1.1 About Errors and Warnings When any operational unconformity occurs in the positioningn unit, errors or warnings will occur. When errors or warnings occur, the following operations will be performed. Occurs in any abnormal conditions. When a motor is operating, the operation stops. Errors The motor stopped due to the occurrence of error will not activate until the error clear is executed.
Page 177: Errro And Warning Clear
15.1.3 Errro and Warning Clear When an error/warning occurred, it can be cleared at the each axis that the error occurred. Note that all the contents of the error log will be initialized, once the error/warning clear is executed. The error/warning clear can be executed on the data monotor screen of the Configurator PM, but errors/warnings can be cleared by the error clear request flag or warning clear request flag allocated in the I/O area.
Page 178: Change In Error Recovery Process (Ver.1.13 Or Later)
15.2 Change in Error Recovery Process (Ver.1.13 or later) 15.2.1 Overview of Operational Change The method to recover from error occurrence varies according to the states when errors occur. Status when an Description Error type error occurred -After an error occurred, the operating axes stop. Recoverable state -After an error occurred, the Positioning Unit can recover All error types...
Page 179: List Of System Codes
15.3 List of System Codes 15.3.1 System Errors (From 1000H) These are the errors that occur due to any failure within the positioning unit. The system errors are defined as the fatal errors for the system. Except for some items, the power supply must be turned off and on again to recover from the errors.
Page 180: Axis Operation Errors (From 3000H)
15.3.2 Axis Operation Errors (From 3000H) These are the errors occurred while various operations are being executed. A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code Limit + signal The input on the plus side of the Move the motor into the range of 3010H Each axis...
Page 181 Error Error name Description Object Clear Countermeasures code - The home return process was executed with setting the Simultaneous mode A: synchronous operation to “Enabled” Set the simultaneous operation to “Disabled” when performing the when using the synchronous mode Synchronous home return.
Page 182: Setting Value Errors (From 0X4000)
15.3.3 Setting Value Errors (From 0x4000) These are the errors in the various setting values specified using the Configurator PM or ladder programs. A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code Check the following items in the settings of the axis group and independent axis.
Page 183 A: Available N/A: Not available Error Error name Description Object Clear Countermeasures code The operation setting for the Synchronous operation 4031H synchronous operation difference Each axis method setting error check function is incorrect. Check the setting value. If the error occurred The pulser input mode is repeatedly with the correct incorrect.
Page 184 Error Error name Description Object Clear Countermeasures code A value other than the Absolute/Incremental 4301H absolute/increment is set for the Each axis setting error move method. The setting value of the dwell time 4302H Dwell time error Each axis is out of the range. The specified table number is 0, Positioning starting 4303H...
Page 185: List Of Warning Codes)
15.4 List of Warning Codes) Warning codes are from 0xA000 to differentiate from the error codes. 15.4.1 Unit Warnings (From B000H) These are the warning codes to be given when the warnings occurred in the positioning unit. A: Available N/A: Not available Error Error name Description...
Page 186 15-12...
Page 187: Troubleshooting
Chapter 16 Troubleshooting...
Page 188: Troubleshooting
16.1 Troubleshooting 16.1.1 If the Motor Does Not Turn or Operate (if the LED for pulse output A or B is flashing or lighted) Solution 1: For the servomotor Check to make sure the servo on input is set to ”ON”. Solution 2 Check to make sure the power supply for the driver is ON.
Page 189: Rotation/Movement Direction Is Reversed
16.1.3 Rotation/Movement Direction is Reversed Example of reversed rotation/movement direction: Solution 1 Make sure the wiring between the positioning unit and the driver has been correctly connected. Point to check: Make sure the CW/CCW output or the Pulse/Sign output has been connected to the pertinent input on the driver side.
Page 190 16-4...
Page 191: Specifications
Chapter 17 Specifications...
Page 192: Table Of Specificationa
17.1 Table of Specificationa 17.1.1 General Specifications Item Description  Ambient operating temperature 0 to +55  Ambient storage temperature -20 to +70  Ambient operating humidity 30 to 85 % RH (at25 C non-condensing)  Ambient storage humidity 30 to 85 % RH (at25 C non-condensing) 1500 V AC, 1 minute Breakdown voltage...
Page 193: Performance Specifications
17.1.2 Performance Specifications Description Item 2-axis type 4-axis type Product number AFP243710 AFP243711 AFP243720 AFP243721 Part number FP2-PP2T FP2-PP2L FP2-PP4T FP2-PP4L Output type Transistor Line driver Transistor Line driver Number of axes controlled 2 axes 4 axes 2-axis linear interpolation...
Page 194 Description Item 2-axis type 4-axis type Product number AFP243710 AFP243711 AFP243720 AFP243721 Part number FP2-PP2T FP2-PP2L FP2-PP4T FP2-PP4L Output type Transistor Line driver Transistor Line driver Pulse:1 to 32,767,000 pps m: 1 to 32,767,000 m/s Speed command range inch: 0.001 to 32,767.000 inch/s degree: 0.001 to 32,767.000 rev/s...
Page 195: Allocation Of Each Contact
17.2 Allocation of Each Contact Followings are occupied I/O when FP2 Positioning unit (Interpolation type) is installed in the slot 0. Contact Target Name Descriptions allocation axis Positioning Indicates that the initial preparation within the positioning unit was All axes preparation ready completed, and announce the system started running.
Page 196 Contact Target Name Descriptions allocation axis 1 axis Turns on when the operation command for the corresponding axis completed and the position error became in the specified completion width. 2 axis For P point control and C point control of the automatic operation, turns on Operation done when the operation for all the tables completed.
Page 197 Contact Target Name Descriptions allocation axis Limit + Monitor contact of the limit + and – for the corresponding axis. 1 axis Limit - During the positioning operation, JOG operation or pulser operation, Limit + performs the deceleration stop when the limit input that is an extension of 2 axis Limit - the operating direction turned on.
Page 198 Contact Target Name Descriptions allocation axis Contact for requesting the system stop. When it turns on, all axes will stop All axes System stop at the deceleration time 0. Turn on this signal when each positioning data (standard area) in the shared memory was changed.
Page 199 Contact Target Name Descriptions allocation axis Y100 JOG forward 1 axis Requests the JOG operation for the corresponding axis. Y101 JOG reverse The settings for acceleration time, etc are specified by Configurator PM or Y102 JOG forward 2 axis the JOG operation settings in the shared memory. Y103 JOG reverse (The operation is the level type.)
Page 200 Contact Target Name Descriptions allocation axis Y130 Y131 Y132 Y133 Y134 Y135 Y136 Y137 Y138 1 axis Requests to start the next positioning operation during the JOG positioning Y139 2 axis J point positioning operation. start Y13A 3 axis (The operation is the edge type.) Y13B 4 axis Y13C...
Page 201: Configuration Of Shared Memory Areas
17.3 Configuration of Shared Memory Areas The positioning unit manages all the setting values of parameters and positioning data in the shared memory. Therefore, all the setting values can be specified by ladder programs as well as Configurator Followings are the details of the shared memory. Area name Shared memory bank Individual name of each area...
Page 202: Details Of Common Area In Shared Memory
17.4 Details of Common Area in Shared Memory 17.4.1 Configuration of Common Area The shared memory is composed of banks. The common area is allocated in the bank 00H in the shared memory, and is used for the common settings of each axis. 17-12...
Page 203: Setting Parameter Control Area
17.4.2 Setting Parameter Control Area This is the area to write the setting values of the positioning parameters and positioning data in the shared memory into FROM(Flash memory), or to execute the recalculation of the positioning data. The number of writing to FROM in the positioning unit is announced to the CPU through this area, and writing the positioning parameters and positioning data in the shared memory to FROM is requested.
Page 204: Setting Parameter Control Area
17.4.4 Setting Parameter Control Area The interpolation groups for each axis are set in this area. For the axis connected to network, set the bit of the corresponding axis to 1 in any setting as below. Offset Bank Name Descriptions address Group A axis Set either independent or interpolation for each axis in this area.
Page 205: Synchronous Group Setting Area
17.4.5 Synchronous Group Setting Area For the synchronous operation, one slave axis is set for a master axis, and a maximum of 2 groups can be specified for the gourp of synchronous operation. Offset Bank Name Descriptions address Synchronous Set the operation mode of synchronous operation. group 1 0B7H Synchronous...
Page 206: Current Value Update Data Area
17.4.6 Current Value Update Data Area For changing the current values for each axis that are managed by the positioning unit, store the changed coordinate in this area and turn on the current value update request flag. Offset Bank Name Descriptions address Only when the corresponding bits to each axis changes to 1 from 0, the...
Page 207: Positioning Control Starting Table Number Setting Area
17.4.7 Positioning Control Starting Table Number Setting Area It is used to specify the table number of each axis to start the positioning control. The setting ranges are 1 to 600 in the standard area, and 10001 to 10025 in the extended area. Offset Default Setting...
Page 208: Error Annunciation & Clear Area
17.4.9 Error Annunciation & Clear Area When an error occurs (that leads to the stop), the error and the number of occurrences for each axis will be stored in this area. Once the error clear is executed, the error and number of occurrences will be cleared, and then the error will be judged again.
Page 209 Offset Bank Name Descriptions address Error code 140H annunciation buffer 4 Announces the code when an error occurred. 141H of axis 2 Error code 142H annunciation buffer 5 Announces the code when an error occurred. 143H of axis 2 Error code 144H annunciation buffer 6 Announces the code when an error occurred.
Page 210: Warning Annunciation & Clear Area
17.4.10 Warning Annunciation & Clear Area When a warning occurs (that does not lead to the stop), the warning and the number of occurrences for each axis will be stored in this area. Once the warning clear is executed, the warning and number of occurrences will be cleared, and then the warning will be judged again.
Page 211 Offset Bank Name Descriptions address Warning code 1D8H annunciation buffer 4 Announces the code when a warning occurred. 1D9H of axis 2 Warning code 1DAH annunciation buffer 5 Announces the code when a warning occurred. 1DBH of axis 2 Warning code 1DCH annunciation buffer 6 Announces the code when a warning occurred.
Page 212: Pulse Count Control Area
17.4.11 Pulse Count Control Area It is used to change the input pulse when setting the pulse input to the high-speed pulse. Offset Bank Name Descriptions address When the corresponding bit to each axis turns to 0, the count of pulse input will start.
Page 213: Synchronous Operation Control/Monitor Area
17.4.12 Synchronous Operation Control/Monitor Area It is used to set to enable/disable the synchronous operaion, and to check the current synchronous settings. Offset Bank Name Descriptions address Synchronous Set to enable/disable the synchronous operation. group 1 When using the synchronous mode B, this setting is ignored, and always 2B0H Operation performs the synchronous operation.
Page 214: System Operation Setting Area
17.4.13 System Operation Setting Area It is used to change the operation of positioning unit. Offset Bank Name Descriptions address Specify the operation when setting the deceleration stop request signal to “Active” (from OFF to ON). 0: Deceleration stop When performing the repeat operation, stops after reaching E point that is targeted for the repeat operation.
Page 215: Details Of Each Axis Information Area In Shared Memory
17.5 Details of Each Axis Information Area in Shared Memory 17.5.1 Configuration of Each Axis Information Area The shared memory is composed of banks. The each axis information area is allocated in the bank 01H in the shared memory. Also the information on the axes 1 to 4 is allowcated for each address in this area. Note: Firstly confirm that the link establishment annunciation flag (X0) is on when reading the axis information area using the ladder program.
Page 216: Each Axis Information & Monitor Area
17.5.2 Each Axis Information & Monitor Area These are the areas for the information of each axis and monitoring operation states. Axis information of axis 1 Offset Defaul Setting Bank Name Descriptions Unit address t value range Stores the information of I/O connected to each axis. External terminal 031H input monitor of...
Page 217 Axis information of axis 2 Offset Bank Name Descriptions address 071H External terminal input monitor of axis 2 Refer to the descriptions of axis 1. 074H Position deviation of axis 2 Refer to the descriptions of axis 1. 076H Pulse input value of axis 2 Refer to the descriptions of axis 1.
Page 218: Details Of Each Axis Setting Area In Shared Memory
17.6 Details of Each Axis Setting Area in Shared Memory 17.6.1 Configuration of Each Axis Setting Area The shared memory is composed of banks. The each axis setting area is allocated in the banks 02H to 29H in the shared memory. The each axis setting area is used to store positioning parameters and positioning data, and the setting values are allocated to every address from the axes 1 to 4.
Page 219: Parameter Setting Area
17.6.2 Parameter Setting Area Positioning parameters of each axis Data in the following foramts are stored from the starting address of positioning parameters of each axis. Offset Default Setting Name Descriptions Unit address value range Sets the unit system of movement amounts of the positioning control for each axis. The same unit system should be set for all interpolation axes.
Page 220 Offset Default Setting Name Descriptions Unit address value range Set the pulse input signal. Set according to the application to be used as the pulse input. Pulse input 007H mode Default: 20H Moving amount Set the correction value for the pulse input to be performed when executing the automatic check moving amount automatic check.
Page 221 Offset Default Setting Name Descriptions Unit address value range Sets the software limit to be enabled or disabled for each control. Software limit 00BH enabled/ disabled setting Sets the upper limit value of the software limit for absolute coordinates. 00CH Upper limit of software limit 00DH...
Page 222 Offset Default Setting Name Descriptions Unit address value range Sets the lower limit value of the software limit for absolute coordinates. 00EH Lower limit of software limit 00FH 010H 011H Sets the auxiliary output function of the auxiliary output contact and code to be enalbed or disabled.
Page 223 Offset Default Setting Name Descriptions Unit address value range Set the threshold for executing the moving amount automatic check function. Moving amount 018H automatic check Setting range: 0 to 65536 value Default: 10000 (pulse) 019H Set the interval for executing the moving amount automatic check function. Moving amount 01AH automatic check...
Page 224 Offset Default Setting Name Descriptions Unit address value range Set the pattern of the home return. Home return 020H setting code Set the operating direction of the home return. Home return 021H direction Set the acceleration/deceleration time when performing the home return. Home return At the beginning of the home return, accelerates for the specified acceleration 022H...
Page 225 Offset Default Setting Name Descriptions Unit address value range Sets the acceleration/deceleraion time when performing the JOG operaiton. JOG operation At the beginning of the JOG operation, accelerates for the specified acceleration 02AH acceleraiton time, decelerates for specified deceleraiton time when the starting contact of the time JOG operation turns off, and stops.
Page 226 Offset Default Setting Name Descriptions Unit address value range Sets the multiplier for the input pulse string in the pulser operation. (Number of command pulses) = (Pulse strings of input from pulser) x (Numerator of ratio of pulser operation) / (Denominator of ratio of pulser operation). Pulser operation 039H ratio numerator...
Page 227 Offset Default Setting Name Descriptions Unit address value range The maximum speed when selecting the speed limit for the pulser operation method. When the speed calculated by multiplying (pulser operation numerator / pulser 048H operation denominator) by the pulser input is ver the specified maximum speed, the operation is performed at the maximum speed.
Page 228: Positioning Data Setting Areas
17.6.3 Positioning Data Setting Areas They are the areas for setting positioning data. The positioning data for 4 axes can be set individually. The positioning data is stored in the table format of 625 points per axis. When executing the automatic operation (position control) with the positioning unit, specify the number of the positioning table that has been specified in advance, and start the position control.
Page 229 Positioning tables Data in the following formats is stored from the starting address of positioning tables of each axis. Offset Name Descriptions address Sets the position setting mode and acceleration/deceleration pattern for the positioning operation. 000H Control code Sets the independent and interpolation patterns for the positioning operation. The relation of the inerpolation depends on the settings in the axis group setting area in the common area of the shared memroy.
Page 230 Offset Name Descriptions address The area to set the movement amount for the positioning operation. The interpretation is chagned for the increment movement amount or absolute coordiate by the control code setting. 008H Positioning movement amount 009H The area to set the auxiliary points (center poijnt, pass point coordinates) in case of the circular interpolation or spiral interpolation control.
Page 231 Starting address of each positioning table Axis 1 Axis 2 Axis 3 Axis 4 Bank No. Address Descriptions 050H Starting address of table 1 060H Starting address of table 2 070H Starting address of table 3 080H Starting address of table 4 090H Starting address of table 5 0A0H...
Page 232 Axis 1 Axis 2 Axis 3 Axis 4 Bank No. Address Descriptions 000H Starting address of table 60 010H Starting address of table 61 020H Starting address of table 62 030H Starting address of table 63 040H Starting address of table 64 050H Starting address of table 65 060H...
Page 233 Axis 1 Axis 2 Axis 3 Axis 4 Bank No. Address Descriptions 000H Starting address of table 124 010H Starting address of table 125 020H Starting address of table 126 030H Starting address of table 127 040H Starting address of table 128 050H Starting address of table 129 060H...
Page 234 Axis 1 Axis 2 Axis 3 Axis 4 Bank No. Address Descriptions 000H Starting address of table 188 010H Starting address of table 189 020H Starting address of table 190 030H Starting address of table 191 040H Starting address of table 192 050H Starting address of table 193 060H...
Page 235 Axis 1 Axis 2 Axis 3 Axis 4 Bank No. Address Descriptions 000H Starting address of table 252 010H Starting address of table 253 020H Starting address of table 254 030H Starting address of table 255 040H Starting address of table 256 050H Starting address of table 257 060H...
Page 236 Axis 1 Axis 2 Axis 3 Axis 4 Bank No. Address Descriptions 000H Starting address of table 316 010H Starting address of table 317 020H Starting address of table 318 030H Starting address of table 319 040H Starting address of table 320 050H Starting address of table 321 060H...
Page 237 Axis 1 Axis 2 Axis 3 Axis 4 Bank No. Address Descriptions 000H Starting address of table 380 010H Starting address of table 381 020H Starting address of table 382 030H Starting address of table 383 040H Starting address of table 384 050H Starting address of table 385 060H...
Page 238 Axis 1 Axis 2 Axis 3 Axis 4 Bank No. Address Descriptions 000H Starting address of table 444 010H Starting address of table 445 020H Starting address of table 446 030H Starting address of table 447 040H Starting address of table 448 050H Starting address of table 449 060H...
Page 239 Axis 1 Axis 2 Axis 3 Axis 4 Bank No. Address Descriptions 000H Starting address of table 508 010H Starting address of table 509 020H Starting address of table 510 030H Starting address of table 511 040H Starting address of table 512 050H Starting address of table 513 060H...
Page 240 Axis 1 Axis 2 Axis 3 Axis 4 Bank No. Address Descriptions 000H Starting address of table 572 010H Starting address of table 573 020H Starting address of table 574 030H Starting address of table 575 040H Starting address of table 576 050H Starting address of table 577 060H...
Page 241: Dimensions
Chapter 18 Dimensions...
Page 242: Fp2 Positioning Unit (Interpolation Type)
18.1 FP2 Positioning Unit (Interpolation Type) 2-axis type (Unit: mm) 4-axis type (Unit: mm) 18-2...
Page 243: Sample Programs
Chapter 19 Sample Programs...
Page 244: Basic Configuration And Contact Allocations Of Sample Programs
19.1 Basic Configuration and Contact Allocations of Sample Programs In the sample programs, the internal relays are used for the start-up contacts of each operation. If necessary, reconnect them to the input contacts that switches, etc are connected. Basic Configuration The positioning unit is installed in the slot 0.
Page 245 Number Descriptions Unit preparation ready Tool operation for all axes Recalculation done flag Busy flag for axis 1 Busy flag for axis 2 Error occurrence annunciation for axis 1 Error occurrence annunciation for axis 2 Request recalculation Positioning start for axis 1 Home return for axis 1 Home return for axis 2 Y100...
Page 246: Sample Programs
19.2 Sample Programs There are 3 patterns for setting positioning data. 1. When the positioning data has been already set in the standard area with the Configurator PM. 2. When setting the positioning data in the extended area with the program. 3.
Page 247 19-5...
Page 248: When Setting Positioning Data In Extended Area Using Program
19.2.1 When Setting Positioning Data in Extended Area Using Program Write positioning data in the extended area using the program. Recalculating the positioning data is not necessary as the extended area is used. Replace the part of the positioning start program in the sample program Positioning start program 19-6...
Page 249: When Setting Positioning Data In Standard Area Using Program
19.2.2 When Setting Positioning Data in Standard Area Using Program Write positioning data in the standard area using the program. Recalculating the positioning data is necessary after setting the positioining data. Replace the part of the positioning start program in the sample program Positioning start program 19-7...
Page 250 19-8...
Page 251: Driver Wiring
Chapter 20 Driver Wiring...
Page 252: Wiring For Motor Driver
20.1 Wiring for Motor Driver 20.1.1 Panasonic MINAS A/A4 Series * When connecting the CW drive disabled and CCW drive disabled input, the servo ready output, and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
Page 253: Panasonic Minas S Series / E Series
20.1.2 Panasonic MINAS S Series / E Series * When connecting the CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
Page 254: Panasonic Minas Ex Series
20.1.3 Panasonic MINAS EX Series * When connecting the CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used. Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis.
Page 255: Panasonic Minas X（Xx）Series
20.1.4 Panasonic MINAS X（XX）Series * When connecting the CW drive disabled and CCW drive disabled input, the servo ready output, and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
Page 256: Panasonic Minas X (V) Series
20.1.5 Panasonic MINAS X (V) Series * When connecting the CW drive disabled and CCW drive disabled input, the servo ready output, and the servo alarm output on the motor driver side, the circuits recommended by the various motor manufacturers should be used.
Page 257: Combination With Minas Motor
20.1.6 Combination with MINAS Motor When using FP2 Positioning Unit with MINAS Motor, an easy-connectable “Motor driver I/F terminal” is recommended. Reference: < Motor driver I/F terminal catalog > Unit type and available MINAS motor Connection cable used MINAS Motor driver MINAS MINAS with a...
Page 258: Oriental Motor Upk-W Series
20.1.7 Oriental Motor UPK-W Series Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis. 20-8...
Page 259 Record of changes Manual No. Date Description of changes ARCT1F448E AUG.2008 First edition ARCT1F448E-1 NOV.2008 Second edition - Change in Corporate name ARCT1F448E-2 JUL.2009 Third edition ARCT1F448E-3 AUG.2011 Fourth edition - Change in Corporate name - Fixed Errors ARCT1F448E-4 JUL.2013 Fifth edition - Change in Corporate name WUME-FP2POSP-01...
Page 260 [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 262 Please contact ..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. 2021 October, 2021 WUME-FP2POSP-01...

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