YOKOGAWA F3NC11-0N, F3CN12-0N User Manual

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User’s Manual

Positioning Modules (with Pulse Output)

IM 34M6H57-01E

Yokogawa Electric Corporation

IM 34M6H57-01E

2nd Edition

Applicable Product

● Range-free Multi-controller F A-M3

Model : F3NC11-0N, F3CN12-0N Name: Positioning Module with Pulse Output

The document number and document model code for this manual are giv en below: Refer to the document number in all communications; also ref er to the document n umber or

the document model code when purchasing additional copies of this manual.

Document No. : IM 34M6H57-01E Document Model Code : DOCIM

IM 34M6H57-01E 2nd Edition : July, 2001-00

Important

 About This Manual

- This Manual should be passed on to the end user.

- Bef ore using the controller , read this manual thoroughly to ha v e a clear understanding of the controller.

- This manual e xplains the functions of this product, but there is no guar antee that they will suit the particular purpose of the user.

- Under absolutely no circumstances ma y the contents of this manual be transcribed or copied, in part or in whole, without permission.

- The contents of this manual are subject to change without prior notice.

- Ev ery effort has been made to ensure accuracy in the preparation of this manual. Howev er , should any errors or omissions come to the attention of the user, please contact the nearest Yokogawa Electric representative or sales office .

 Safety Precautions when Using/Maintaining the Product

- The f ollowing saf ety symbols are used on the product as well as in this manual.

Danger. This symbol on the product indicates that the operator must follow the instructions laid out in this instruction manual to avoid the risk of personnel injuries, fatalities, or damage to the instrument. The manual describes what special care the operator must exercise to prevent electrical shock or other dangers that may result in injury or the loss of life.

Protective Ground Terminal. Before using the instrument, be sure to ground this terminal.

Function Ground Terminal. Before using the instrument, be sure to ground this terminal.

Alternating current. Indicates alternating current.

Direct current. Indicates direct current.

IM 34M6H57-01E 2nd Edition : July 2001-00

The following symbols are used only in the instruction manual.

W ARNING

Indicates a “W arning”.

Draws attention to information essential to prevent hardware damage, software damage or system failure.

CAUTION

Indicates a “Caution”

Draws attention to information essential to the understanding of operation and functions.

TIP

Indicates a “TIP”

Gives information that complements the present topic.

Introduction

■ Overview of the Manual

This user’s man ual, “P ositioning Module (with Pulse Output),” explains the specifications and provides information necessary for operation of the positioning modules, F3NC11-0N and F3NC12-0N, used with an F A-M3 controller .

Before using the modules, read this manual thoroughly to ha ve a clear understanding f or proper operation. K eep this manual on hand f or future ref erence.

■ Other Manuals

Refer to the follo wing manuals.

● For sequence CPU functions:

- Sequence CPU Modules - Functions (f or F3SP21, F3SP25 and F3SP35) (IM 34M6P12-02E)

- Sequence CPU Modules - Functions (f or F3SP28, F3SP38, F3SP53 and F3SP58) (IM 34M6P13-01E)

vii

● For sequence CPU instructions:

- Sequence CPU Modules - Instructions (IM 34M6P12-03E)

● For creating programs using ladders:

- FA-M3 Programming Tool WideField (IM 34M6Q14-01E)

- FA-M3 Programming Tool WideField - Application (IM 34M6Q14-02E)

● For the F A-M3 specifications and configurations*1, installation and wir -

ing, maintenance, and module installation limits f or the whole system:

- Hardw are Manual (IM 34M6C11-01E)

*1: Refer to the relev ant product manuals f or specifications e xcept for po wer supply modules , base modules, input/

output modules, cables and terminal units.

IM 34M6H57-01E 2nd Edition : July, 2001-00

Copyrights and Trademarks

■ Copyrights

Copyrights of the programs and online manual included in this CD-ROM belong to Yokogawa Electric Corporation.

This online manual may be printed but PDF security settings have been made to prevent alteration of its contents.

This online manual may only be printed and used for the sole purpose of operating this product. When using a printed copy of the online manual, pay attention to possible inconsistencies with the latest version of the online manual. Ensure that the edition agrees with the latest CD-ROM version.

Copying, passing, selling or distribution (including transferring over computer networks) of the contents of the online manual, in part or in whole, to any third party, is strictly prohibited. Registering or recording onto video tapes and other media is also prohibited without expressed permission of Yokogawa Electric Corporation.

■ Trademarks

viii

The trade names and company names referred to in this manual are either trademarks or registered trademarks of their respective companies.

IM 34M6H57-01E 2nd Edition : July, 2001-00

FA-M3 Positioning Modules (with Pulse Output)

IM 34M6H57-01E 2nd Edition

Applicable Product ............................................................................................... i

Important...............................................................................................................ii

Introduction.........................................................................................................vii

Copyrights and Trademarks ..............................................................................viii

1. Overview ................................................................................................. 1-1

2. Specifications ......................................................................................... 2-1

2.1 General Specifications ................................................................................... 2-1

2.2 Operating Envir onment .................................................................................. 2-2

2.3 Model and Suffix Codes.................................................................................. 2-2

2.4 Components.................................................................................................... 2-3

2.5 External Dimensions ...................................................................................... 2-4

2.6 Terminal Assignments and Connection ........................................................ 2-4

2.7 Applicable External Interface Connectors..................................................... 2-5

Toc-1

3. Function Overview.................................................................................. 3-1

3.1 Positioning Operation..................................................................................... 3-2

3.2 Change in Target Position during Positioning............................................... 3-3

3.3 Change in V elocity during P ositioning .......................................................... 3-4

3.4 Velocity Contr ol............................................................................................... 3-5

3.5 Change in V elocity during Velocity Control ................................................... 3-6

3.6 Velocity-to-P osition Contr ol Mode Switching ............................................... 3-7

3.7 Jog Stepping ................................................................................................... 3-8

3.8 Emergency-stop Input .................................................................................... 3-9

3.9 Contact Inputs............................................................................................... 3-10

3.10 Z-phase Encoder Input ................................................................................. 3-11

3.11 Origin-search Operation............................................................................... 3-12

3.12 Linear-interpolated Operation...................................................................... 3-13

3.13 On-Route Operation...................................................................................... 3-14

3.14 Arc-interpolated Operation........................................................................... 3-15

IM 34M6H57-01E 2nd Edition : July, 2001-00

Toc-2

4. Parameters.............................................................................................. 4-1

4.1 List of Parameters........................................................................................... 4-1

4.1.1 Registered parameters ..................................................................... 4-4

4.1.2 Operation Pa rameters....................................................................... 4-4

4.1.3 Common Par ameters........................................................................ 4-6

4.2 List of Required Parameters f or each Command.......................................... 4-7

4.3 Description of Parameters.............................................................................. 4-8

4.3.1 Entry parameters .............................................................................. 4-8

4.3.2 Operation Pa rameters....................................................................... 4-9

4.3.3 Common Par ameters...................................................................... 4-12

4.4 Entry Parameters Setting Example.............................................................. 4-13

5. Status ...................................................................................................... 5-1

5.1 List of Status ................................................................................................... 5-1

5.2 Description of Status ...................................................................................... 5-3

6. List of Input/Output Relays .................................................................... 6-1

6.1 Output Relays.................................................................................................. 6-1

6.2 Input Relays .................................................................................................... 6-2

7. Accessing Modules ................................................................................ 7-1

7.1 Accessing from Sequence CPU ..................................................................... 7-1

7.1.1 Reading the Module Status............................................................... 7-2

7.1.2 Setting Parameters........................................................................... 7-3

7.1.3 Error Reset ....................................................................................... 7-5

7.1.4 Jog Stepping .................................................................................... 7-7

7.1.5 Origin-Search ................................................................................... 7-9

7.1.6 Write Current Position..................................................................... 7-14

7.1.7 Position Control Mode Operation .................................................... 7-16

7.1.8 V elocity Control Mode Operation..................................................... 7-24

7.1.9 Switch Velocity to Position Control................................................... 7-30

7.1.10 Request to Decelerate and Stop ..................................................... 7-33

7.1.11 Request to Stop Immediately .......................................................... 7-35

7.1.12 On-route Operation......................................................................... 7-37

7.1.13 Arc-Interpolated Operation ............................................................. 7-41

7.1.14 Backlash Correction........................................................................ 7-44

7.2 Accessing from BASIC CPU......................................................................... 7-46

7.2.1 Reading the Module Status............................................................. 7-47

7.2.2 Set Par ameter ................................................................................ 7-48

7.2.3 Error Reset ..................................................................................... 7-49

7.2.4 Jog-Stepping .................................................................................. 7-50

7.2.5 Origin-Search ................................................................................. 7-51

7.2.6 Write Current Position..................................................................... 7-54

IM 34M6H57-01E 2nd Edition : July, 2001-00

Toc-3

7.2.7 Position-Control-Mode Operation.................................................... 7-55

7.2.8 V elocity-Control Mode Operation .................................................... 7-60

7.2.9 Switch Velocity to Position Control................................................... 7-64

7.2.10 The Request to Decelerate and Stop .............................................. 7-66

7.2.11 Request to Stop Immediately .......................................................... 7-67

7.2.12 On-route Operation......................................................................... 7-68

7.2.13 Arc-Interpolation Operation............................................................. 7-71

7.2.14 Backlash-Correction Operation....................................................... 7-73

8. List of Error Codes ................................................................................. 8-1

9. External Contact Signals........................................................................ 9-1

9.1 Pulse Output (Line Driver) .............................................................................. 9-1

9.2 Pulse Output (Open-Collector)....................................................................... 9-3

9.3 External Contact Input.................................................................................... 9-5

9.4 Emergency Stop Input .................................................................................... 9-6

9.5 Encoder Input Z-phase ................................................................................... 9-7

10. Examples of Connections to Servo Driver s......................................... 10-1

10.1 Example of Connecting with Sanyo Denki’ s P-Series Driver

(Incremental Encoder Type).......................................................................... 10-1

Appendix ....................................................................................................Appx.-1

Revision Information ............................................................................................ i

IM 34M6H57-01E 2nd Edition : July, 2001-00

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1. Overview

The Models F3NC11-0N and F3NC12-0N are advanced positioning modules (hereinafter simply referred to as “the modules” or “positioning modules”) used to control servo drivers and thereby the velocity and position of pulse-driven motors. Just one module can control different types of motors/drivers, including uniaxial (F3NC11-0N module) and biaxial (F3NC12-0N module) pulse and servo motors. When in use, the positioning modules are attached to the base module of an FA-M3 controller. According to commands from the CPU module of the FA-M3 controller, the positioning modules generate trajectories for positioning and issue position-control commands in the form of pulse trains.

■ Features

- Provided with multi-axial simultaneous control capabilities. Driven by commands from the CPU module, the modules can carry out smooth and versatile position control, such as one based on multi-axial linear interpolation, velocity control, and control for switching between the velocity- and position-control modes.

- Can quickly bring motor up to synchronous speed thanks to the shorter startup time (6 ms maximum) and operate motor in synchronization with peripheral equipment Allows the “on-the-route” operation, and provides the capability of conditional control mode selection using external triggers.

1-1

Host CPU

module

FA-M3 controller

Positioning module

Trajectory

generation

Pulse

output

Pulse

counter

Servo driver

Computing for servo position control

Pulse

counter

Velocity detector

Computing for servo speed control

Motor

Encoder

F0101.EPS

Figure 1.1 Operating Principle of Positioning Module (with Pulse Output)

CAUTION

When connecting a servo motor to the positioning module, choose a position-control servo driver. Velocity-control and torque-control servo drivers do not meet the needs of this application.

IM 34M6H57-01E 2nd Edition : July, 2001-00

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2. Specifications

2.1 General Specifications

2-1

Item

Control

Control mode

Position control

Velocity control

Acceleration/ deceleration

Origin search

External contact input

Data backup Startup time Current consumption External power supply External wiring External dimensions Weight

Note: Excluding protrusions (see the external dimension diagram f or more details).

Method Output pulse

Interpolation method

Command position in pulse count Command speed in pulse count per sec Functionality

Command speed in pulse count per sec Functionality Acceleration/ deceleration method Acceleration/ deceleration time Search method

Search speed

Open-loop control based on positioning pulse output

• RS422A-based differential output (249.75 kpps max.)

• Open-collector output (The maximum available pulse rate is limited by such factors as the load capacity. A maximum of 50 kpps is recommended.) Position control, speed control, and control for switching between position control and speed control modes Axis-by-axis independent interpolation Multiaxial linear interpolation (set from CPU module) Biaxial arc interpolation (set from CPU module)

-8,388,608 to 8,388,608 pulses

0.1 to 249,750 pulses/s

On-the-route operation Change in target position during operation Change in speed during operation

-249,750 to 249,750 pulses/s

Change in velocity during operation Trapezoidal tracking

0 to 32,767 ms each for acceleration/deceleration

User-definable by entering an origin setpoint, near-origin setpoint or limit setpoint; the Z-phase of the encoder is available for this purpose. User-definable LIMIT SWITCH, ORIGIN, NEAR-ORIGIN (external trigger), READY, and EMERGENCY STOP contacts By CPU module 6 ms max. 180 mA (5V DC) 5 V DC, 200 mA 40-pin connector (one unit)

28.9 (W) 3 100 (H) 3 83.2 (D) (mm) (Note) 100 g

F3NC11-0N F3NC12-0N

OneNumber of axes Two

Specifications

F0201.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

2.2 Operating Envir onment

No restrictions apply to CPU modules with which the positioning modules can be used.

2.3 Model and Suffix Codes

2-2

Model

Code

F3NC11

F3NC12

Suffix Code

-0N

Style

Code

. . .

Option

Code

. . .

Remarks

Uniaxial, advanced model with pulse-mode output for positioncontrol commands; maximum velocity of 249.75 kpps Biaxial, advanced model with pulse-mode output for positioncontrol commands; maximum velocity of 249.75 kpps

F0203.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

2.4 Components

- F3NC11-0N module (uniaxial model)

2-3

B1S2Y

NC11-0N

RDY

POSIT

RDY indicator:

Remains lit when the internal circuitry is in normal operation.

Axis indicators:

Show the state of the axis as noted below:

"BSY" indicator: Remains lit when positioning is in progress. "1 to 4" indicators: Light up if a given error or errors occur.

External I/O connector:

Connects to external I/O devices such as servo motors and limit switches.

- F3NC12-0N module (biaxial model)

NC12-0N

RDY

1 Y 34

POSIT

RDY indicator:

Remains lit when the internal circuitry is in normal operation.

AX1- and AX2-axis indicators:

Show the states of the respective axes as noted below:

"BSY" indicator: Remains lit when positioning is in progress. "1 to 4" indicators: Light up if a given error or errors occur.

F0204_1.EPS

External I/O connector:

Connects to external I/O devices such as servo motors and limit switches.

F0204_2.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

2.5 External Dimensions

2-4

Unit: mm

83.2 (3.27)

1.3 (0.05) 2 (0.08)

28.9 (1.14)

100

(3.94)

2.6 T erminal Assignments and Connection

A×2A×1

External interface

connector

Pulse output B/line driver (-) Pulse output B/line driver (+) Pulse output A/line driver (-) Pulse output A/line driver (+) Pulse output B/open collector (-) Pulse output B/open collector (+) Pulse output A/open collector (-) Pulse output A/open collector (+) External power input/5 V DC (-) External power input/5 V DC (+) (Unused) (EMERGENCY STOP) Encoder input/Z-phase (-) Encoder input/Z-phase (+) READY CCW limit input CW limit input NEAR-ORIGIN ORIGIN 12–24V DC

Driver or external

switch

12–24V DC

F0206.EPS

F0205.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

2.7 Applicable External Interface Connectors

Connection Applicable Connector Remarks

Soldered

Crimp-on

Pressure-welded

FCN-361J040-AU connector and FCN-360C040-B connector cover (Fujitsu Limited)

FCN-363J040 housing, FCN-363J-AU contacts and FCN-360C040-B connector cover (Fujitsu Limited)

FCN-367J040-AU/F connector (Fujitsu Limited)

Purchase the desired connector kit separately when ordering the positioning module.

F0207.EPS

2-5

IM 34M6H57-01E 2nd Edition : July, 2001-00

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3. Function Overview

This chapter explains the major functions of the positioning modules. F or details on ho w to use each function, see Chapter 7. Table 3.1 summarizes the functions discussed in this chapter.

T able 3.1 Major Functions

Positioning operation Change in target position during

positioning Change in velocity during positioning

Carries out positioning in the normal position-control mode. Changes the target position while positioning is in progress.

Changes the speed of rotation while positioning is in progress.

3-1

DescriptionMajor Function

Velocity control

Change in velocity during velocity control

Velocity-to-position control mode switching

Jog stepping

Emergency-stop input

Contact input

Z-phase encoder input

Origin-search operation Linear-interpolated operation On-route operation

Arc-interpolated operation

A function that works in the velocity-control mode. This function keeps the motor rotating in the same direction.

Changes the speed of rotation while velocity control is in progress.

Switches to position control while velocity control is in progress.

Allows a motor to be rotated manually when, for example, issuing positioning commands to the module.

Brings a motor to an immediate stop using an external contact input.

Accepts such external contact signals as a limit-switch signal or an ORIGIN contact signal.

Accepts a Z-phase encoder signal used to search for the origin.

Searches for the origin using an external contact input. Carries out multiaxial, linear-interpolated operation. Carries out on-route operation (path operation) in which the

tracking path under control passes by the vicinity of a given target position.

Carries out biaxial, arc-interpolated operation.

T0301.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.1 Positioning Operation

To initiate the positioning operation:

- first write the target velocity, target position, acceleration time, deceleration time and other necessary parameters from the CPU module, and then

- change the state of the output relay defined as “Start Operation Command” from OFF to ON.

When the positioning operation is complete, the input relay defined as “End of Positioning” changes to the ON state. The trace of the acceleration/deceleration curve is trapezoidal, where the acceleration/deceleration times are set separately.

3-2

Figure 3.1 Velocities and Acceleration/Deceleration Times in Trapezoidal and Trigonometric Drives

Figure 3.2 Comparison of Theoretical and Actual Behaviors of a Motor in Position Control

Figure 3.3 Acceleration/Deceleration Times Where Starting Velocity Is Set

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.2 Change in Target P osition during P ositioning

To change the target position using the module:

- first write the parameters necessary for another positioning operation, and then

- change the state of the output rela y defined as “Request to Change Target Position” from OFF to ON while the positioning operation is in progress.

The speed of rotation can also be changed at the same time you change the target position. The module is also able to change the target position when the direction in which the motor rotates changes. (In that application, the module quickly slo ws down the motor to a complete stop and enters the positioning operation where it searches for a new target position.)

3-3

Velocity

Start command

Time

Request to change target position

Case Where Direction of Rotation

Does Not Change

Figure 3.4 Behaviors When the Target Position Is Changed

Velocity

Start command

Request to change target position

Case Where Direction of Rotation

Changes

Time

F0304.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.3 Change in V elocity during P ositioning

To change the velocity using the module, you must:

- first write the new target v elocity and other necessary parameters, and then

- change the state of the output rela y defined as “Request to Change Velocity” from OFF to ON

while the positioning operation is in progress:

Velocity

3-4

Startup

Request to change velocity

Figure 3.5 Behaviors When the Velocity Is Changed

Request to change velocity

Time

F0305.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.4 V elocity Control

To initiate the velocity-control operation:

- first write the v elocity setpoint (a value with the min us sign if rotating the motor in the negative direction), acceleration time, deceleration time and other necessary parameters from the CPU module, and then

- change the state of the output rela y defined as “Start Operation Command” from OFF to ON.

The velocity-control operation continues until the output rela y defined as “Request to Decelerate and Stop” or “Request to Stop Immediately” is turned on.

The trace of the acceleration/deceleration curve is trapezoidal, where the acceleration/ deceleration times are set separately.

3-5

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.5 Change in V elocity during V elocity Contr ol

To change the velocity using the module you must:

- first write the new target v elocity, and then

- change the state of the output rela y defined as “Request to Change Velocity” from OFF to ON

while the velocity-control operation is in progress.

The change-in-velocity operation does not allow y ou to change the velocity in such a manner that the direction in which the motor rotates changes. To change the direction, you must first decelerate and stop the motor and then initiate the velocity-control operation after setting a new target velocity.

Velocity

3-6

Startup

Request to change velocity

Figure 3.6 V elocity Contr ol and Change-in-V elocity Operation

Request to change velocity

Time

Request to decelerate and stop

F0306.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.6 Velocity-to-Position Control Mode Switching

The module switches to position control while it is in the velocity-control operation and enters the positioning operation where the position at which the switch was made is set as “0.” This action takes place while velocity-control operation is in progress and requires you to:

- first write the target velocity, target position, acceleration time, deceleration time and other necessary parameters from the CPU module, and then

- change the control mode from velocity control to position control.

The trace of the acceleration/deceleration curve is trapezoidal, where the acceleration/ deceleration times are set separately.

In addition to the normal switching (where switching takes place immediately after the given command is executed), you can set such a switching mode in which the module waits for an external trigger before it switches to position control. To switch to position control after detecting a Z-phase input signal, specify the polarity of the Z-phase, as well as the frequency of Z-phase pulse counting.

Case where no Z-phase pulse counting is specified

Velocity

3-7

Target position (travel)

Startup

Case where Z-phase pulse counting is specified (twice during the rise time)

Velocity

Target position (travel)

Startup

Request to switch to position control

Z-phase signal

Figure 3.7 Behaviors When Switching from Velocity Control to Position Control

Time

F0307.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.7 Jog Stepping

To carry out jog stepping:

- first write the target velocity, acceleration time, deceleration time and other necessary parameters from the CPU module, and then

- change the state of the output relay defined as “Positive-direction Jog Stepping” or “Negative-direction Jog Stepping” from OFF to ON.

To quit the jog-stepping operation, change the ON-state output relay to an OFF state.

Velocity

Start

Positive-direction jog stepping

3-8

End

Time

F0308.EPS

Figure 3.8 Jog-stepping Operation (Positive Direction)

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.8 Emergency-stop Input

The positioning module has one emergency-stop input common to the uniaxial and biaxial models. The input is designed f or e xclusive use as a type-b contact input. Be SURE to wire the input when using the module. If the input is left open, the module does not operate at all. You can read the state of the emergency-stop input like you read the states of other contact inputs.

3-9

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.9 Contact Inputs

The positioning module has five external contact inputs defined as “POSITIVE-DIRECTION LIMIT,” “NEGA TIVE-DIRECTION LIMIT, ” “ORIGIN,” “NEAR-ORIGIN” (e xternal trigger) and “READY,” separately for both the uniaxial and biaxial models.

You can read the state of each contact input using an application program. In addition, you can set the polarity of each contact input separately .

3-10

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.10 Z-phase Encoder Input

For the improv ed repeatability of origin searches, you can use the Z-phase encoder input. You can read the state of the encoder input like you read the states of the contact inputs. Likewise, y ou can set the polarity of the encoder input like you set the polarities of the contact inputs.

3-11

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.11 Origin-search Operation

To start an origin search:

- first write the direction of the search, the search v elocity, the type of operation when an external contact input is detected (origin-search mode), the direction of the edge for detecting the Z-phase, and other necessary parameters, and then

- change the state of the output rela y defined as “Origin Search” from OFF to ON.

If the positioning module detects a change in the state of a preset external contact input after the start of an origin-search operation, the module either stops the motor or checks the Z-phase, depending on the setting of the contact input. When checking the Z-phase , the module detects the preset Z-phase pulse count and stops the motor immediately, defining the position where the motor has stopped as the origin. F or this reason, if a servo motor is used, the position where the motor actually stops is off from where the origin was detected by as much as a distance equivalent to the offset pulse count (diff erence between the pulse counts of a momentary command position and a current motor position) given during an origin-search operation.

There is an application in which an origin search is carried out at two different speeds or a change is made to the direction of rotation while checking for an e xternal contact input during an origin search. In that case, split the origin search process into se ver al cycles while varying parameters for each cycle, and do the searches separately. This strategy enables you to customize y our origin-search operation to conduct searches using your desired search patterns.

3-12

CAUTION

An offset in the origin due to an offset pulse count becomes greater as the velocity of origin search becomes higher.

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.12 Linear-interpolated Operation

To carry out a linear-interpolated operation:

- first write the target v elocity, target position, acceleration time, deceleration time and other necessary parameters for each axis from the CPU module, and then

- change the state of the output rela y defined as “Start Operation Command” from OFF to ON for both axes sim ultaneously.

When the positioning operation for each axis is complete, the input rela y defined as “End of Positioning” for each axis changes to the ON state.

In this operation, set the same acceleration and deceleration times for both ax es that are brought into linear-interpolated operation. Calculate and set the ratio between the target velocities of the two ax es so it equals the ratio between their respectiv e trav els .

3-13

Velocity

X-axis travel

Y-axis travel

Acceleration time Deceleration time

Figure 3.9 Multiaxial Linear-interpolated Operation (Example of Biaxial Application)

X-axis speed setpoint

Y-axis speed setpoint

Time

Y-axis

Y-axis travel

X-axis travel

X-axis

F0309.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

3.13 On-Route Operation

If you initiate another positioning operation while the current positioning operation is in progress, the positioning module begins the new operation before the current operation ends. The module therefore carries out a combination of these two operations until the current operation ends. This mode of positioning operation is referred to as an on-route operation. The interval at which the two operations overlap is called the on-route interval. Using the on-route operation, you can continue your position finding toward the new target position without stopping at the target position set for the current positioning operation. It is also possible to define a mode of on-route operation where the direction of rotation may be changed.

• Normal positioning operation

X-axis velocity

3-14

Startup Startup

• On-route operation

On-route

X-axis velocity

Startup Startup Startup

• Example of on-route operation in biaxial linear-interpolated operation

Y-axis

interval

On-route interval

Time

X-axis

Figure 3.10 Normal Position-finding Operation and On-Route Operation

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3.14 Arc-interpolated Operation

The biaxial arc-interpolated operation can be implemented by converting a positioning command from the CPU module into a trigonometric function within the positioning module. To bring the positioning module into arc-interpolated operation:

- first define the center of the X-Y plane , radius, starting angle, angular tra vel and other necessary parameters from the CPU module, and then

- change the state of the output rela y defined as “Start Operation Command” from OFF to ON.

Y-axis

Angular travel (270°)

Y-axis radius

3-15

Path for arc interpolation

Y-axis center

Starting positionTarget position

X-axis center

Figure 3.11 Arc-interpolated Operation

Zero-angle direction

Starting angle (-45° [or 315°])

X-axis radius

X-axis

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4. Parameters

4.1 List of Parameters

Among the parameters listed in Figures 4.2 through 4.6, the ones with two data position numbers are two-word data. The data with the smaller numbers are low-order words, and those with the larger numbers are high-order words. Data position numbers are specified for each word. The WRITE and READ instructions used for accessing from a sequence program must be on word-basis. Long-word based instructions cause inappropriate access. You should also use word-based instructions when you access from BASIC programs.

Data whose setting units are [(1/65536) pulses/ms], [(1/65536) degrees], or [(1/65536) degrees/ms] ( bits) and 1 decimal part-word (16 bits). The data with the smaller numbers are low-order words, and those with the larger numbers are high-order words.

Fixed-point data

The digits in the integer part of the binary data are sequentially defined as 1, 2, 4 ... , and the digits in the decimal part are defined as 1/2, 1/4, 1/8, and so forth. If both the integer part and the decimal part consist of 16 bits, the least significant bit is 1/65536, which means that it is a 32 bit (long-word) datum whose setting unit is 1/65536. Negative numbers are expressed as complements of 2 like ordinary binary data.

1 in Tables 4.2 through 4.6) are fixed point data with 1 integer part-word (16

4-1

Tabl e 4. 1

Bit

Value

31 (MSB)

Sign bit

16384

High-order word Low-order word

. . . . . .

17216115

1/2141/4

. . . . . .

1/32768

0 (LSB)

1/65536

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[Example of fixed point data]

When setting 123.45 [pulses/ms] (=123450 [pulses/sec]),

123.45x65536 = 8090419.2 [(1/65536) pulses/ms]

Thus, we should set 8090419 as a long-word data. The high-order word of this data is 123 since 8090419 / 65536 = 123. The low-order word is the remainder, i.e., 29491.

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4-2

(Reference)

An example of sequence programs which convert data in [pulses/s] into data to used for setting a positioning module

Let D0001 (long-word data) be the original data (pulses/s).

(1) Divide D0001 by 1000 (long-word division) and put the result into D0011. In this case,

since the maximum value of D0001 is 249750 (249.75 kpps) and it is positive, the maximum value of the result is 249 and thus the high-order word (D0012) is always 0. The low-order word of the result of the division (D0011) is the high-order word (the integer part which is 16 bits long) of the value [(1/65536) pulses/ms] to be calculated.

The remainder is put into D0013 (the low-order word) and D0014 (the high-order word). Since the maximum value of the remainder is 999 because the divisor is 1000, the high-order word of the remainder (D0014) is always 0.

(2) Then, multiply the remainder by 65536 and divide it again by 1000. A useful trick here

is this: the remainder in D0013 and D0012 is 0; thus, if we treat D0012 as long-word data, its value is already the result of multiplication of the remainder by 65536. (D0012 as lower-order word, D0013 as high-order word.) Therefore, in order to divide the result of multiplication of the remainder by 65536 by 1000, all we have to do is divide D0012 by 1000 (long-word division). Put the result of this division into D0021.

D0012 (long word) is 999*65536 at a maximum, and it is divided by 1000 is 65470 at maximum and high-order word (D0022) and always becomes 0. Thus D0021 is the value [(1/65536) pulse/ms] of low-order word (the decimal part of 16 bits) and the remainder will be discarded as truncation.

(3) Now, we are going to combine the operation results D0011 and D0021 calculated in

(1) and (2) above into a long word data [(1/65536) pulses/ms]. To do this, we only have to do long-word division twice and transfer the resulting high-order word and low-order word individually to the area (D0032, D0031). D0011-D0014 and D0021-D0024 are the work areas.

(1) Long-word division

D0011 D0001 / 1000

Operation results

D0014 0

D0013

Remainder

D0012 0

D0011

High-order of [(1/65536) pulses/ms]

(2) Long-word division

D0021 = D0012 / 1000

Operation results

D0024 0

D0023

Remainder

D0022 0

D0021 Low-order of [(1/65536) pulses/ms]

IM 34M6H57-01E 2nd Edition : July, 2001-00

MOV D0011 D0032

MOV D0021 D0031

Operation results

D0032 High-order of [(1/65536)] pulses/ms

in the case of 123450 [pulses/s]

D0031 Low-order of [(1/65536) pulses/ms]

(1) D0011 = 123450/1000 (long-word division)

4-3

D0014 0

D0013 450

29491200 (450*65536)

D0012 0

D0011 123

(2) D0021 = 29491200/1000 (long word division)

D0024 0

D0023 200

D0022 0

D0021 29491

The high-order word of the [1/65536) pulses/ms] data is 123, and the low-order word is

29491.

IM 34M6H57-01E 2nd Edition : July, 2001-00

4.1.1 Registered parameters

Entry parameters are usually set only once after turning the power on. You can set them by writing from the CPU module and then executing the Set Parameter command.

Table 4.2 Registered parameters

4-4

Data Position Number

Axis 1 Axis 2

030/031 230/231 Positive-direction Limit Value 0 to 8388608 [pulses]

032/033 232/233 Negative-direction Limit Value -8388608 to 0 [pulses]

034/035 234/234 Velocity Limit Value 0 to 16367616 [1/65536) pulses/ms]

036 236 Rotation Direction

037 237 Pulse Output Mode

038 238 Contact Input Polarity Specified for each point as a bit

Parameter Name Setup Range

0: CW pulse in positive direction 1: CW pulse in negative direction

0: Pulse and direction signal 1: CW pulse and CCW pulse

4.1.2 Operation Parameters

Operation parameters are referred to when starting operations like position control or velocity control. These parameters do not have initial values. It is necessary to write all the required parameters when executing a command.

(1) In Position Control Mode (excluding Arc Interpolation)

Table 4.3 Position Control Mode Operation Parameters (excluding arc interpolation)

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Data Position Number

Axis 1 Axis 2

001 to 008 001 to 008

009/010 209/210

011/012 211/212 Target velocity -16367616 to 16367616 [(1/65536) pulses/ms]

013 213 Acceleration Time 0 to 32767 [ms]

014 214 Deceleration Time 0 to 32767 [ms]

015 215 (not used)

016/017 216/217 Target Position

018 218 Interpolation Mode 0

019 219 Control Mode Switching Parameter Set by a bit pattern

(not used)

Initial velocity 0 to 16367616 [(1/65536) pulses/ms]

Parameter Name Setup Range

-8388608 to 8388608 [pulses]

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(2) In Velocity Control Mode

Table 4.4 Velocity Control Mode Operation Parameters

4-5

Data Position Number

Axis 1 Axis 2

001 to 008 201 to 208

009/010 209/210 Initial Velocity 0 to 16367616 [(1/65536) pulses/ms]

011/012 211/212 Target Velocity -16367616 to 16367616 [(1/65536) pulses/ms]

013 213 Acceleration Time 0 to 32767 [ms]

014 214 Deceleration Time 0 to 32767 [ms]

015 215 Time Interval for Velocity Change Time 0 to 32767 [ms]

016 to 018 216 to 218

019 219

(not used)

Control Mode Switching Parameter Set by a bit pattern

Parameter Name Setup Range

(3) In Position Control Mode (Arc Interpolation)

Table 4.5 Position Control Mode (Arc Interpolation) Operation Parameters

Data Position Number

Axis 1 Axis 2

001/002 201/202 Center Position -8388608 to 8388608 [pulses]

003/004 203/204 Radius 1 to 8388608 [pulses]

005/006 205/206 Starting Angle

007/008 207/208 Angular Travel

009/010 209/210 Starting Angular Velocity

011/012 211/212 Angular Velocity Setpoint

013 213 Acceleration Time 0 to 32767 [ms]

014 214 Deceleration Time 0 to 32767 [ms]

015 215 (not used)

016/017 216/217 Target Position -8388608 to 8388608 [pulses]

018 218 Interpolation Mode 1: X Axis 2: Y Axis

2: If the set range is beyond the limits specified, the module will not operate correctly.

Parameter Name Setup Range

-23592960 to 23592960 [(1/65536) degrees] (-360 to 360 [degrees])

-2123366400 to 2123366400 [(1/65536) degrees] (-90 to 90 [rotation])

0 to 23592960 [(1/65536) degrees/ms] 360 [degrees])

0 to 23592960 [(1/65536) degrees/ms] [degrees])

*1*

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2 ( up to

2 ( to 360

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4.1.3 Common Parameters

Common parameters are referred to when starting special operations like backlash correction or origin-search. These parameters do not have initial values. It is necessary to write all the required parameters when executing the commands.

Table 4.6

4-6

Data Position Number

Axis 1 Axis 2

020 220 Origin-Search Mode Set by a bit pattern

021 221 Origin-Search Direction 0: negative direction 1: positive direction

022 222 Z-phase Edge Selection 0: OFF to ON edge 1: ON to OFF edge

023 223 Z-phase Pulse Count 0 to 32767 [times]

024/025 224/225 Z-phase Search Range 0 to 8388608 [pulses]

026/027 226/227 Backlash Correction Value -8388608 to 8388608 [pulses]

028/029 228/229 Backlash Correction velocity 0 to 16367616 [(1/65536) pulses/ms]

Parameter Name Setup Range

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4-7

4.2 List of Required Parameters for each Command

To execute a command for the positioning module from the CPU module, it is necessary to write all the required parameters in advance.

The list below shows the required parameters for each command.

The Set Parameter command is not included in this list because it changes all the entry parameters.

● Mandatory parameters.

: Parameters which are required or not depending on the values of other parameters.

- : Non-required parameters (have no effect on the operation of the commands).

Table 4.7 List of Required Parameters for Each Command

Command name (output relay name)

→ velocity control)

Parameter name

→ position control)

Center position Radius Starting angle Angular travel Initial (angular velocity) Target velocity (angular velocity) Acceleration time Deceleration time Time interval for velocity change Target position Interpolation mode Control mode switching para. Origin position search mode Origin position search direction Z-phase edge selection Z-phase pulse count number Z-phase search area Backlash correction value Backlash correction speed

Start operation command

(in position control made)

Start operation command

(in velocity control mode)

Start operation command

(in arc-interpolated operation)

●

●●

●

Request to switch control mode

(position control

Request to switch control mode

(velocity control

Start origin search

Backlash correction

Request to change target pos.

Request to change velocity

(during position control operat.)

Request to change velocity

(during velocity control oper.)

Request to change velocity

during arc interpolation

Positive-direction Jog stepping

Negative-direction Jog stepping

Write current position

Request to decelerate & stop

Request to stop Immediately

Error reset

----

●

●●

●

●●●

●

●-●

●

---

●

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4.3 Description of Parameters

4.3.1 Entry parameters

When the power is switched on, all entry parameters are cleared. Please set all entry parameters using the Set Parameter command in a application program. When the parameter value set is invalid, data error results. When this happens, execute Error Reset and execute the Set Parameter command again with the valid values.

Table 4.8 Entry parameters

Parameter Type: Setting Content: Data Range: Remarks:

Positive-direction Limit Value Negativedirection Limit Value

Velocity Limit Value

Rotation Direction

Control Output Mode

Sets the operation limit position in positive/negative direction as the number of pulses from the origin.

Sets the limit of the target velocity

Sets the relation between the positive and negative signs of the position and the direction of the pulse output from the CPU module

Sets the mode of the position command pulse output.

0 to 8388608 [pulses]

-8388608 to 0 [pulses]

0 to 16367616 [(1/65536) pulse/ms] If you start the system after

0: CW pulse in the positive direction 1: CW pulse in the negative direction

0: pulse-and-direction signal 1: CW pulse and CCW pulse. In the pulse-and-direction signal mode, pulse output A is the pulse and B is the polarity signal. In the CW pulse and CCW pulse mode, pulse output A is the CCW pulse and B is the CW pulse.

If the origin search is not executed, then the position at the moment when the main switch was turned on is defined as the origin. When these limits are exceeded, an error results. If you start the system after setting a target position beyond this range, an error results and the motor does not start. The detection of the limit values in both directions is not performed during origin-search or in velocity control mode. (Error does not occur.)

setting a velocity beyond this range, an error results and the motor does not start. During an operation (e.g. arcinterpolated operation), if this value is exceeded, an error results.

The direction of the operation (positive or negative) is defined by the direction of the position set from the CPU module.

4-8

Contact Input Polarity

Defines the logic of the external contact input and the Z-phase input.

Specified for each point as a bit. "0" indicates an "a" contact "a" and "1" indicates a "b" contact.

15- -543210 x----XXXXXX

Origin Input Near-origin Input (External Trigger Input Positive-direction limit Input Negative-direction limit Input Ready Input Z-phase Encoder Input

a" contact input is an input which is effective when signal input exists, and "b" contact input is an input which is effective without signal input. For example, a "limit input of 'b' contact" detects a limit when there is no signal input, but does not detect a limit when signal input exists.

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4.3.2 Operation Parameters

Table 4.9 Operation Parameters

Parameter Type: Setting Cantact: Data Range: Remarks:

Center Position

Radius Refer to the section for arc-

Starting Angle Refer to the section for arc-

Angular Travel Refer to the section for arc-

Starting Velocity

Starting Angular Velocity

Target velocity Sets operation velocity in

Setting Angular Velocity

Acceleration Time Sets the time it takes to reach the

Deceleration Time Set the time from target velocity

Time Interval for velocity change

Target Position Set the target position for the

Interpolation Mode Be sure to set [0] for usual

Control Mode Switching parameter

Refer to the section for arcinterpolation

interpolation

interpolation This is the starting velocity of the

operation at the start of the positioning operation and the velocity just before stopping at end of positioning. When using, a pulse motor and accelerating from velocity [0], at the low velocity portion during acceleration, resonance may occur resulting in detachment. (same as in deceleration). Set a velocity faster than the resonance point to prevent this from happening. When using a servo motor, it is normally set to [0].

Position Control and Velocity Control mode. For arc interpolation, refer to the section on arc-interpolation.

target velocity from the starting Velocity at operation startup

to Decelerate and Stop.

Set the acceleration (deceleration) time from the preset speed to the new velocity during execution of the Change Velocity command in Velocity Control mode.

positioning operation. For arcinterpolation, refer to the section on arc-interpolation.

positioning operation in position control mode, For arc interpolation, refer to the section on arc-interpolation.

This is referred during execution of Switch Control Mode command. It sets the mode or conditions for switching.

-8388608 to 8388608 [pulses]

1 to 8388608 [pulses]

-23592960 to 23592960 [(1/65536) degrees] (-360 to 360 [degrees])

-2123366400 to 2123366400 [(1/65536) degrees] (-90 to 90 [rotation])

0 to 16367616 [(1/65536) pulses/ms]

0 to 23592960 [(1/65536) degrees/ms] (up to 360 [degrees])*1

0to 16367616 [(1/65536) pulses/ms] (in position control mode)

-16367616 to 16367616 [(1/65536) pulses/ms] (in velocity control mode)

0 to 23592960 [(1/65536) degrees/ms] (to 360 [degrees])*1

0 to 32767 [ms] In target point change and

0 to 32767 [ms]

-8388708 to 8388608 [pulses]

0: normal operation 1: Arc Interpolation X axis 2: Arc Interpolation Y axis

Specified by bit pattern 15 down to 10

x-xx

• Waiting for external contract input (during Velocity Control to Position Control Switching)

• waiting for Z-phase encoder input (during Velocity Control to Position Control switching)

When using this parameter, parameter values that are too large may cause deregulation at startup or stop because of impact. Therefore, take care. Setting starting velocity is also possible in arcinterpolation. However, when reversing the operation direction in this case, each axis decelerates/accelerates slowly to velocity [0], so it is less effective at preventing deregulation of the pulse motor.

If the value of the target velocity (angular velocity) specified is smaller than the starting velocity (angular velocity), the operation is performed with target velocity [0]. Normally, set a value larger than the starting velocity (angular velocity).

velocity change, it has different meaning. Refer to the explanations of each command for details

Set [0] for switching to velocity control mode and either [$8000], [$8001], [$8002], or [$8003] for switching to positioning control depending on the conditions for switching.

4-9

• 0: Position Control to Velocity Control switching 1: Velocity Control to Position Control switching

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■ About Arc Interpolation

At positioning startup, when you specify the Arc Interpolation X Axis or the Arc Interpolation Y Axis in "Interpolation Mode", arc-interpolated positioning is performed. The positioning module generates the following command position and operates in the following way.

Note:

The X axis and Y axis which perform the arc interpolation are not related to axis 1 and axis 2 of the positioning module. It is not necessary that the X axis and Y axis are in the same positioning module.

The trajectory of the arc interpolation is generated by:

X axis Center Position + Radius × COS (Starting Angle + Angular Velocity Set point × Time)

Y axis Center Position + Radius × SIN (Starting Angle + Angular Velocity Set point × Time)

When (Angular velocity Setpoint × time) is equal to Angular Travel, the operation ends. If Acceleration Time and Deceleration Time are both 0, the actual path is the same as the one defined by the above formulas. Otherwise, as Angular Velocity increases / decreases with time, the term (Angular Speed Setpoint the basic idea is the same. In the case of arc interpolation, Acceleration Time is the time interval in which the angular velocity changes from 0 to Angular Velocity Setpoint when starting, Deceleration Time is the time interval in which the angular velocity changes from Angular Velocity Setpoint to 0 when stopping.

4-10

time) is not the same as that in the formulas. But

The arc interpolation operation is realized by setting the parameters to X axis and Y axis independently , and then starting them simultaneously. So, it is necessary to specify the same value on both axes for Starting Angle, Angular Travel, Angular Velocity Setpoint, Acceleration Time and Deceleration Time.

Here “Angle” is defined in the X-Y plane with the positive part of the X axis as 0 degree , and to increase in the counterclockwise direction. For example, the positive part of the Y axis is 90 degrees, and the negative part of the X axis is 180 degrees.

In the following, we will explain the case for X axis. For Y axis, change COS to SIN.

When the system starts, in the positioning module, the starting position of the arc interpolation operation can be computed using the above formulae with Time set as 0, that is,

Center Position + Radius

This position must coincide with the current position of the axis when starting the system. (Set the parameters so that the above condition is satisfied.) If not, the positioning module outputs the difference pulses at once when starting the system. If the velocity of the output pulses exceeds the velocity limit value, an error occurs.

The position where the arc interpolation operation ends is calculated with the following formula:

Center Position + Radius

Thus, this position must coincide with Target Position. (Set the parameters so that the above condition is satisfied.) If not, the positioning module outputs the difference pulses at once when the arc-interpolation operation ends. If the Velocity of the output pulses exceeds the velocity limit value, an error occurs.

COS (Starting Angle).

COS (Starting Angle + Angular Travel)

Note: When starting the operation, the difference pulses at the end of the operation are all output within 2 ms.

IM 34M6H57-01E 2nd Edition : July, 2001-00

Y-axis

Angular travel (270°)

Y-axis radius

Y-axis center

X-axis center position

Figure 4.1 Arc-Interpolated Operation

4-11

Path for arc interpolation

Zero-angle direction

Starting angle (-45° [315°])

Starting positionTarget position

X-axis radius

X-axis

F0401.EPS

CAUTION

The X axis and Y axis move independently also when performing arc interpolation. So when an error occurs at one axis, the other axis continues moving. If it is necessary to stop the other axis, stop the motor by applying the immediate stop command to the moving axis after detecting the error with an application program (and checking the input relay labeled

“Error Notification”).

IM 34M6H57-01E 2nd Edition : July, 2001-00

4.3.3 Common Parameters

Table 4.10 Common Parameters

Parameter Type Data Range Setting Contents Remarks

Origin-search Mode Sets the motion of the motor for each

contact input after detecting the edges of each contact input during originsearch using bit patterns. For details, refer to "3.11, "Origin-search Operation."

Origin-search Direction

Sets the motor rotation direction during origin-search.

Z-phase Edge Selection Sets the polarity of the Z-phase input

when detecting Z-phase during originsearch or during speed to position control switching.

Z-phase Pulse Count Sets which nth Z-phase is effective

when detecting Z-phase during originsearch or during speed to position control switching.

Z-phase Search Range Error occurs if the Z-phase cannot be

detected after operating the number of pulses which was set by this parameter when detecting Z-phase during origin-search or during speed to position control switch.

Backlash Correction Value

This is used to correct the backlash between the motor shaft and the

Backlash Correction

moving parts (looseness of gears, etc.).

Set using bit pattern of the data.

0: negative direction 1: positive direction

0: OFF to ON edge 1: ON to OFF edge

0 to 32767 [times]

0 to 8388608 [pulses] This parameter is used to

prevent continued operation of the motor when Z-phase cannot be detected because of Z-phase signal disconnection, etc. Usually, this is set close to the period of the Z-phase.

-8388608 to 8388608 [pulses]

0 to 16367616 [(1/65536) pulses/ms]

When executing backlash correction, outputs the backlash correction value pulse at the backlash correction without changing the current position status. In this case, there is no acceleration and deceleration. Refer to Figure 4.2, "Execution Example of Backlash Correction."

4-12

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Velocity

Backlash correction

Execution

Startup

Backlash correction velocity

Backlash correction Value

Figure 4.2 Backlash Correction Execution Example

Startup

Time

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IM 34M6H57-01E 2nd Edition : July, 2001-00

4.4 Entry Parameters Setting Example

The following example shows the minimum setting of the entry parameters for controlling the motor using the positioning module. The underlined values are set.

■ The motor used

Rated number of revolutions: 3000 rpm

Encoder pulse count: 8192 pulses/rotation

CAUTION

You can set and change the ratio of the command pulses and encoder pulses on the servo driver side. In these cases, the parameters set in the positioning module must match the setting of the servo driver. So calculate the values of the entry parameters after confirming the setting of the servomotor.

■ Mechanism

4-13

Direct shaft drive using ball screws

Ball screw pitch: 5 mm/rot

Operation Range: -500 mm to +1000 mm (operates in the positive direction with the positive velocity command voltage)

Maximum speed: 6000 mm/min (100 mm/s)

Contact Input: Positive-direction limit (“b” contact), negative-direction limit (“b” contact), origin (“a” contact), ready signal (“a”) contact. Others are not used.

■ Calculation of the entry parameters

- Positive-direction Limit Value

1000 [mm] 4 5 [mm/rot] 3 8192 [pulses/rot] =

- Negative-direction Limit Value

-500 [mm] 4 5 [mm/rot] 3 8192 [pulses/rot] =

- Speed Limit Value

100 [mm/sec] 4 5 [mm/rot] 3 8192 [pulses/rot] = 163840 [pulses/s]

163840 [pulses/s] 4 1000 3 65536 =

- Rotation Direction

1638400 [pulses]

-819200 [pulses]

10737418 [(1/65536) pulses/ms]

CW pulse and positive-direction operation,

- Control Output Mode

CW pulse / CCW pulse method,

- Contact Input Polarity

$000C

Positive-direction limit (“b”), negative-direction limit (“b”), origin (“a”), ready (“a”), encoder Z-phase (“a”). Others are not used and set to “a” contact temporarily.

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5. Status

The status is the data where the CPU module is called up from the positioning module. The positioning module is checked by this data and input rela ys .

5.1 List of Status

Status listed with 2 data position numbers are two-word data. The data with the smaller number is the low-order word, and the one with the larger number is the high-order word.

Data position numbers are specified for each word. The READ instruction used f or accessing from a sequence program must be on a word basis. Long-word based instructions cause inappropriate access.

You should also use word-based instructions when you access from BASIC programs.

5-1

Data whose setting unit is [(1/65536) pulses/ms] (

1 in Table 5.1) are fixed-point data with 1

word integer part (16 bits) and 1 word decimal part (16 bits). The data with the smaller number is the low-order word, and the one with the larger number is the high-order word.

For fixed-point data, ref er to “List of P arameters .”

Reference: To convert data in [(1/65536) pulses/ms] into one in [pulses/ms], multiply it by 1000 in long-

word operation and use the second and the third words as long-word data, ignoring the lowest-order and highest-order words.

(Example) Let D0001 a long-word data in [(1/65536) pulses/ms]. The operation is as f ollows:

D0011 = D0001 Operation Result: D0014

T able 5.1 List of Status

D0013 D0012 Long-word data [pulses/sec]

1000

D0011 Truncated Portion

Data Position Number

Axis 1 Axis 2 039 239 Error Status See error codes when an error occurs. 040 240 Contact Input Status State of contact input 041/042 241/242 Current Position Status [pulses] 043/044 243/244 Current Velocity Status [(1/65536) pulses/ms] 045/046 245/246 Target Position Status [pulses]

047 247

048 248 Extended Status

Parameter Name Set Range

Remaining Deceleration Time

Remaining time until the system reaches the target position during positioning operation [ms]

Operation information including accelerating/decelerating/ overlapping/waiting for trigger/control mode, etc.

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5-2

CAUTION

If two-word data are read from the CPU module, the timing differential betw een the CPU module’s readout timing and the positioning module’s data update period may cause the loss of simultaneity between high- and low-order words in two-word data.

If the two-word data are read from the sequence CPU, read those data twice using a READ instruction to make the read data coincide, thus assuring the simultaneity of the high- and low-order words in two-word data. For this purpose, if an HRD instruction is used, you cannot attain data simultaneity.

If the data are read from a BASIC CPU, there will be a dela y in reading two-word data in comparison with the data update period of the positioning module, so data simultaneity cannot be assured.

IM 34M6H57-01E 2nd Edition : July, 2001-00

5.2 Description of Status

● Error Status

Reads an error code when an error occurs. It is meaningless when the rela y defined as “Error Notification” is OFF. F or details , refer to the list of error codes .

● Contact Input Status

Reads the state of the external contact input, the emergency stop input and the Z-phase encoder input. The state of each contact is stored as 1 bit (0: OFF, 1: ON). When a contact is specified as “a” contact, it is represented by “1” if the contact is open. When a contact is specified as “b” contact, it is represented by “1” if the contact is closed. (Emergency stop input is fixed as a “b” contact input.)

15~ ~ 6 5 4 3 2 1 0

------------------x x x x x x x

5-3

- Origin input

- Near-origin input (external trigger input)

- Positive direction input

- Negative direction input

- Ready input

- Encoder Z-phase input

- Emergency stop input

● Current P osition Status (Command P osition) [pulses]

Reads the current position. This is the current position of the output pulse of the positioning module, so in the case of a servo motor , it is not the actual position of the motor .

● Current V elocity Status (Command P osition) [(1/65536) pulses/ms]

Reads the current velocity. This is the current v elocity of the output pulse of the positioning module, so in the case of a servo motor, it is not the actual speed of the motor. Its value is always z ero or positive regardless of the rotation direction of the motor .

● Target Position Status [pulses]

Reads the operation target position during a positioning operation. The target position set at the start of the positioning is stored as the operation target position.

● Remaining Deceleration Time [ms]

Reads the time interval between the start of deceleration to stop at the target position and end-of-positioning during positioning operation. Its v alue is “0” when the system is not moving, and “-1” during acceleration or at a constant speed.

CAUTION

This status shows the time until the system stops at the target position. Theref ore, it cannot read the remaining deceleration time when decelerating in a Decelerate-and-Stop command in velocity-control mode or during positioning operation. This status is used to chec k the timing to start an on-route operation, etc.

IM 34M6H57-01E 2nd Edition : July, 2001-00

● Extended Status

Reads the data expressing the operation states of the axes in bits . Each bit is set to “1”.

15~ ~7 6 5 4 3 2 1 0 x x x 0 0 0 0 0 x x x x x x x x

- Accelerating

- Moving at constant velocity

- Decelerating

- Accelerating in the latter operation in the on-route interval

- Constant velocity in the latter operation in the on-route interval

- Decelerating in the latter operation in the on-route interval

- Decelerating during target position change with direction Change

- Accelerating/decelerating during velocity change

- Origin detected during origin search (Rev. 4 or later)

- Waiting for control-mode switching (waiting for velocity to position)

- In velocity-control mode

5-4

CAUTION

In some cases, the positioning module restricts the ex ecution of commands depending on its state. (Ref er to the e xplanation of each command.) Then it is necessary to get the detailed status of the positioning module with an application program. F or that purpose, use this extended status. Usually, the data is separated into bits after reading.

IM 34M6H57-01E 2nd Edition : July, 2001-00

6. List of Input/Output Relays

The positioning module has 32 input and output relays as the interface to the FA-M3 CPU module. For details on the input/output relays, refer to “Module Access Method.”

CAUTION

In the F3NC11-0N module, absolutely do not set the output relays related to axis 2 (Y ingless in this case.

6.1 Output Relays

Table 6.1 Positioning Operation Control Output Relay

49 to Y 64). The input relays for axis 2 (X 17 to X 32) are mean-

6-1

Output Relay Number

Axis 1 Axis 2

Y 33 Y 49 Start Operation Command

Y 34 Y 50 Switch Control Mode

Y 35 Y 51 Request to Decelerate and Stop

Y 36 Y 52 Request to Stop Immediately

Y 37 Y 53 Start Origin Search

Y 38 Y 54 Backlash Correction

Y 39 Y 55 Request to Change Target Position

Y 40 Y 56 Request to Change Velocity

Y 41 Y 57 Reserved

Y 42 Y 58 Positive-direction Jog-Stepping

Y 43 Y 59 Negative-direction Jog-Stepping

Y 44 Y 60 Write Current Position

Y 45 Y 61 Error Reset

Y 46 Y 62 Reserved

X 47 Y 63 Reserved

X 48 Y 64 Set Parameters

Note: Insert the FA-M3 slot number where this module is installed in .

Operation when ON

T0601.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

6.2 Input Relays

Table 6.2 Positioning Operation Control Input Relay

6-2

Output Relay Number

Axis 1 Axis 2

X 01 X 17 Start Operation Command ACK

X 02 X 18 Switch Control Mode ACK

X 03 X 19 Decelerate and Stop ACK

X 04 X 20 Stop Immediately ACK

X 05 X 21 End of Origin Search

X 06 X 22 Backlash Correction ACK

X 07 X 23 During Positive-direction Operation

X 08 X 24 During Negative-direction operation

X 09 X 25 Change Target Position ACK

X 10 X 26 Change Speed ACK

X 11 X 27 Write Current Position ACK

X 12 X 28 Error Notification

X 13 X 29 Reserved

X 14 X 30 Reserved

X 15 X 31 End-of-positioning

X 16 X 32 Set Parameters ACK

Note: Insert the FA-M3 slot number where this module is installed in .

Operation when ON

T0602.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7. Accessing Modules

In the program examples shown in this chapter, the positioning module is installed in the 4th slot (slot #004) of the main unit; when only one axis is used in these examples, it will be axis 1.

7.1 Accessing from Sequence CPU

The following are the instructions to access from the sequence CPU with the ladder sequence program. For details on each instruction, see the “Sequence CPU Instruction Manual - - - Instructions” (publication number IM 34M6P12-03E).

Reading/Writing Parameters and Status

The instructions should be of the word unit. The long-word instructions cannot be used.

- Special Module Read instruction (READ instruction)

READ SL n1 D k

SL: Slot number where the module is installed

7-1

n1: First data position number for reading data

D: First device to store the read data

k: Number of data (in word unit) to be read

- Special Module Write instruction (WRITE instruction)

WRITE S SL n2 k

S: Device to store the write data

SL: Slot number where the module is installed

n2: First data position number for the write data

k: Number of data (in word unit) to be written

- Special Module High-Speed Read instruction (HRD instruction)

HRD SL n1 D k

SL: Slot number where the module is installed

n1: First data position number for reading data

D: First device to store the read data

k: Number of data (in word unit) to be read

- Special Module High-Speed Write instruction (HWR instruction)

HWR S SL n2 k

S: Device to store the write data

SL: Slot number where the module is installed

n2: First data position number for the write data

k: Number of data (in word unit) to be written

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.1 Reading the Module Status

This section explains how to read the status of the positioning module.

Items to Note:

- There is no special item to note here. The status of the positioning module can be read at any time.

Program Example:

In this example below, all of the status is read at once with the READ command.

- List of major devices used

D0039 Error Status Read

D0040 Contact Input Status Read

D0041/D0042 Current Position Status Read

D0043/D0044 Current Velocity Status Read

D0045/D0046 Target Position Status Read

D0047 Remaining Decelerating Time Read

D0048 Extended Status Read

D0121/D0122 Current Velocity [pulses/second]

D0131 to D0134 (Operating Work Area)

I00001 to 100016 Bit Data of Contact Input

I00017 to 100032 Bit Data of Extended Status

7-2

F0701T.EPS

(0001)

(0002)

00001

(0003)

(0004)

(0005)

(0006)

Module status reading program

M0033

Figure 7.1 Module Status Reading Program

Status

10D0039394READ

I00001D0040MOV

I00017D0048MOV

1000D0043=D0131

D0121D0132MOV

expand contact input

expand extended input

charge current speed

pulses/sec

F0701.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.2 Setting Parameter s

This sets the entry parameters.

Items to Note:

- This command is accepted only if all the following conditions are satisfied: (1) not in error status, (2) in End-of-P ositioning status, and (3) not e x ecuting other commands. If these conditions are not satisfied, then the command will be ignored.

- When an error occurs with the Parameter-Setting command, run the Error Reset command, and then the Parameter-Setting command again with proper data.

Procedures:

1) Write parameters on the positioning module with the WRITE instruction.

2) Set the Parameter-Setting output relay.

3) Reset Parameter-Setting output relay after confirming that Parameter Setting A CK input relay is set. (If there is an y error in the parameters, the P arameter Setting A CK input relay is not set, but Error Notification input rela y is set.)

4) Check that Parameter Setting ACK is reset.

7-3

Program Example:

In this example, parameters are set in the data register in adv ance. All entry parameters are written at once with the WRITE instruction.

- List of major devices used

D0001/D0002 Positive Direction Limit Value D0003/D0004 Negative Direction Limit Value D0005/D0006 Velocity Limit Value D0007 Rotation Direction D0008 Pulse Output Mode D0009 Contact Input Polarity Y00448 Parameter Setting (Output Relay) X00416 Parameter Setting ACK (Input Relay) I00099 Command Execution Prohibit Condition (set in another part) I00101 Request to Execute command I00102 Request to Execute command (Differentiate Up) I00103 Waiting for ACK I00104 Executing Command I00105 Forced Release of Parameter Setting

F0702T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-4

(0010)

(0011)

00012

(0009)

00014

(0010)

(0011)

(0012)

(0013)

00024

(0014)

(0015)

00031

Parameter Setting Program

I00101

I00102 I00099

I00103 Y00448 X00416

I00105

I00104 I00103 X00416

Figure 7.2 Parameter Setting Program

I00102DIFU

D0001WRITE 9304

Y00448SET

I00103SET

I00104SET

Y00448RST

I00103RST

I00104RST

F0702.EPS

Figure 7.3 Parameter-Setting Program Time Chart

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.3 Error Reset

This resets the error status of the positioning module.

Items to Note:

The positioning module ignores any commands other than the Error-Reset command in error status (i.e. status where the Error-Notification input relay is set). So be sure to execute the Error-Reset command in error status.

Procedures:

1) Set the Error-Reset output relay.

2) Check that the Error-Notification relay is reset. Then reset the Error-Reset output relay.

Program example:

This example assumes that the Error-Reset operation is done manually. All output relays of the positioning module are reset at the time of the Error-Reset operation. The error code is preserved until the completion of Error Reset.

7-5

- List of major devices used

X00412 Error Notification (Input Relay)

Y00445 Error Reset (Output Relay)

I00111 Request to Reset Error (Manually Operated Signal)

I00112 Request to Reset Error (Differentiate Up)

I00113 Request to Reset Error (Differentiate Down)

D0201 Error Code Storage Device

(0016)

(0017)

00035

(0018)

(0019)

00040

(0020)

(0021)

(0022)

00048

Error Reset Program

I00111

I00112 X00412

I00113

4READ

MOV

F0704T.EPS

I00112DIFU

I00113DIFD

1D0201

Y004330

Y00445SET

Y00445RST

Figure 7.4 Error Reset Program

F0704.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

Figure 7.5 Error Reset Program Time Chart

7-6

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.4 Jog Stepping

When the Positive (Negative)-direction Jog-Stepping output relay is ON, the motor will be rotated in the positive or negative direction.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) not in error status, (2) in End-of-Positioning status, (3) in position control mode, and (4) not executing other command. Otherwise, it is ignored.

- During jog stepping, you can stop the motor with the Stop Immediately command, but not with the Decelerate-and-Stop command. Terminate jog stepping first when the “decelerate and stop” is desired.

Procedures:

1) Write required parameters of the Jog-Stepping command on the positioning module.

2) When the Positive-direction (Negative-direction) Jog-Stepping output relay is set, the motor rotates according to the parameters, the Operating-in Positive-direction (Negative-direction) input relay is set, and the End-of-Positioning input relay is reset.

7-7

3) Reset the Positive-direction (Negative-direction) Jog Stepping output relay. The motor will be decelerated and stopped according to the parameters set at the start of the jogstepping. Then the End-of-Positioning input relay is set.

Program Example:

In this example, the jog stepping starts with the Request for Jog Stepping, and ends with the release of the request. Jog stepping mode is reset automatically if any error occurs during jog stepping. This example shows only the positive-direction case. Required parameters are set in advance in the data registers.

- List of major devices used

D0201/D0202 Starting Speed

D0203/D0204 Setpoint Speed

D0205 Acceleration Time

D0206 Deceleration Time

Y00442 Positive-direction Jog Stepping (Output Relay)

X00415 End-of-positioning (Input Relay)

X00412 Error Notification (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00121 Jog Stepping Request

I00122 Jog Stepping Request (Differentiate Up)

I00123 Jog Stepping Request (Differentiate Down)

I00124 Executing Positive-direction Jog Stepping

F0706T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-8

(0023)

(0024)

00050

(0025)

(0026)

00055

(0027)

(0028)

(0029)

00063

(0030)

(0031)

Jog Stepping Program

I00121

I00122 I00099

I00124 I00123 Y00442

Y00442 X00415

X00412

Figure 7.6 Jog Stepping Program

I00122DIFU

I00123DIFD

D201WRITE

SET69Y00442

I00124SET

Y00442RST

I00124RST

F0706.EPS

Figure 7.7 Jog Stepping Program Time Chart

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.5 Origin-Search

This executes origin-search. There are four external contact inputs related to origin-search. The origin-search mode specifies the action when each rising and falling edge of these four inputs (eight in total) are detected during the origin-search using bit patterns. (2 bits for each edge, so 16 bits in total.)

As in the example below, the condition of the search includes: The direction of the originsearch is negative, (1) Stop immediately when the rising edge of the Negative-Direction Limit is detected, (2) Decelerate and stop when the rising edge of the Origin input is detected, and (3) Shift to Z phase search when the falling edge of the Origin-Search is detected. The Origin Search mode is set in the following way:

15 ~ ~0

1100000000001001 (=$C009)

(1) (3) (2)

(1)

Negative direction

7-9

Z-phase detected, end origin search

(3) (2)

Positive direction

Limit input

Origin input

F0708.EPS

Figure 7.8 Example of Origin-search Operation

IM 34M6H57-01E 2nd Edition : July, 2001-00

[Origin-search Mode in detail:]

The mode is set in bits according to the list below. There are four ways of setting using two bits for the rising and falling edges of one external contact input.

15~ ~0

xxxxxxxxxxxxxxxx |||||||||||||||| ||||||||||||||00--||||||||||||||01--||||||||||||||10--||||||||||||||11--||||||||||||00----||||||||||||01----||||||||||||10----||||||||||||11----||||||||||00------||||||||||01------||||||||||10------||||||||||11------||||||||00--------||||||||01--------||||||||10--------||||||||11--------||||||00----------||||||01----------||||||10----------||||||11----------||||00------------||||01------------||||10------------||||11------------||00--------------||01--------------||10--------------||11--------------00----------------01----------------10----------------11-----------------

Fall in origin input, ignore Fall in origin input, Z-phase search Fall in origin input, decelerate and stop Fall in origin input, stop immediately Rise in origin input, ignore Rise in origin input, Z-phase search Rise in origin input, decelerate and stop Rise in origin input, stop immediately Fall in near-origin input (external trigger input), Ignore Fall in near-origin input (external trigger input), Z-phase search Fall in near-origin input (external trigger input), decelerate and stop Fall in near-origin input (external trigger input), stop immediately Rise in near-origin input (external trigger input), ignore Rise in near-origin input (external trigger input), Z-phase search Rise in near-origin input (external trigger input), decelerate and stop Rise in near-origin input (external trigger input), stop immediately Fall in positive-direction limit input, ignore Fall in positive-direction limit input, Z-phase search Fall in positive-direction limit input, decelerate and stop Fall in positive-direction limit input, stop immediately Rise in positive-direction limit input, ignore (Error during positive-direction operation) Rise in positive-direction limit input, Z-phase search Rise in positive-direction limit input, decelerate and stop Rise in positive-direction limit input, stop immediately Fall in negative-direction limit input, ignore Fall in negative-direction limit input, Z-phase search Fall in negative-direction limit input, stop immediately Fall in negative-direction limit input, stop immediately Rise in negative-direction limit input, ignore (Error during negative-direction operation) Rise in negative-direction limit input, Z-phase search Rise in negative-direction limit input, decelerate and stop Rise in negative-direction limit input, stop immediately

7-10

F0708B.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) not in

- The origin-search ends when a specified external contact input is detected and the

- In the following cases, an error occurs and the search is automatically stopped:

- If you want to change the setup values according to the status of the external contact

- Even after shifting to the Z-phase search, if an external contact input with Decelerate-

7-11

error status, (2) in End-of-Positioning status, (3) in position control mode, and (4) not executing other command. Otherwise, it is ignored.

search stopped. Change the parameters and re-execute the origin-search after it ends if you want to continue the search in another direction or with a different velocity.

- The limit input of the origin-search direction is set as ignored but the limit input is

detected.

- After shifting to the Z-phase search, the limit input of the origin-search direction is

detected (causes errors regardless of the setting).

- After shifting to the Z-phase search, Z-phase cannot be detected within the Z-

phase search range.

input at the beginning of the origin search, read the state with the Contact Input Status and then execute the origin-search.

and-Stop / Stop Immediately setup is detected, the origin-search is stopped following the setup. (This is different from the origin-search operation of F3NC5

Procedures:

- In versions earlier than Rev. 3, even during the origin-search operation, when the operation is performed beyond the “Positive-Direction Limit Value” and the “Negative- Direction Limit Value,” an error occurs and the search is stopped. When performing origin-search, adjust these parameter values to avoid errors.

1) Write parameters required by the Origin-Search command on the positioning module.

2) The motor rotates following the parameters when the output relay defined as “Start Origin-search” is set. The motor continues to rotate until a specified external contact input is detected.

3) When the Z-pulse is detected for the specified number of times after shifting to Zphase search (if the Z-phase Pulse Count Number is specified as ‘’0", then without shifting to Z-phase), the current position is considered as “Position 0” and the operation is stopped immediately. The input relays defined as “End of Positioning” and “End- of-Origin Search” are set. The End-of-Origin Search is reset if the Start-Origin Search is reset. However, if the Start-Origin Search is reset before the End-of-Origin Search is set, then the End-of-Origin Search is not set. (The input relay labeled “End of Originsearch” is set when there is no shift to Z-phase search and the operation is stopped due to the Stop Immediately or Decelerate-and-Stop setting, or when the operation is stopped with the Decelerate-and-Stop command. If the operation is stopped with the Immediate Stop command, the input relay labeled “End of Origin search” is not set.) (For reference: For F3NC5 the Immediate-Stop command, the input relay defined as “End-of-Origin search” is not set.)

, if you stop with the Decelerate-and-Stop command or

- Bit 13 of the Extended Status (End-of-Origin-Search during the origin-search operation) is set only when the operation is stopped after shifting to Z-phase search and detecting the Z-phase (if the Z-phase count is specified as ‘’0", then without shifting to Z-phase). This bit is reset when the origin-search starts. It is “0” when the power is turned on. (This function is available in versions later than Rev. 4.)

IM 34M6H57-01E 2nd Edition : July, 2001-00

Program example:

This program starts the origin search using the Request-to-Start Origin Search and stops it using the specified external contact input.

If any error is detected during the search, the search mode is automatically reset.

The following program also occupies area for non-required parameters because all the parameters are written at once.

All required parameters are set in advance in the data register.

- List of major devices used

D0301/D0302 Initial Velocity

D0303/D0304 Target Velocity

D0305 Acceleration Time

D0306 Deceleration Time

D0307~D0311 (unnecessary area)

D0312 Origin-search Mode

D0313 Origin-search Direction

D0314 Z-phase Edge Selection

D0315 Z-phase Pulse Count

D0316/D0317 Z-phase Search Range

Y00437 Start Origin-search (Output Relay)

X00405 End of Origin-search (Input Relay)

X00412 Error Notification (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00131 Request for Origin-search

I00132 Request for Origin-search (Differentiate Up)

I00133 Origin-search Operation

I00134 Executing Origin-search

7-12

F0709T.EPS

(0032)

(0034)

00074

(0035)

00076

(0036)

(0037)

(0038)

(0039)

00086

(0040)

(0041)

00095

Origin-search Program

I00131

I00132 I00099

I00133 Y00437 X00405

X00412

I00134 I00133 X00405

Figure 7.9 Origin-search Program

D0301WRITE 4

IM 34M6H57-01E 2nd Edition : July, 2001-00

SET

I00132DIFU

179

Y00437SET

I00133

I 00134SET

Y00437RST

I00133RST

I00134RST

F0709.EPS

Figure 7.10 Origin-search Program Time Chart

7-13

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.6 Write Current Position

This changes the current position of the axis during End-of-Positioning in position control mode.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) there is no error; (2) it is in End-of-Positioning mode; and (3) no other commands are not being executed. Otherwise, it is ignored.

- The change position should fall in the range from the positive-direction limit to the negative-direction limit. An error occurs when requesting to change beyond the limits of the range.

- It is impossible to write the current position during the positioning operation or in speed control mode. In these cases, the command is ignored.

Procedures:

1) Write the desired position after the change in the Target Position parameter.

2) Set the output relay defined as “Request to Write Current Position.”

7-14

3) Reset the relay defined as “Request to Write Current Position” after confirming that the input relay defined as “Current Position Write ACK” is set. If there is a parameter error, the input relay defined as “Error Notification” is set and the Current Position Write ACK is not set.

Program Example:

This is an example to write the current position. All required parameters are set in advance in the data register.

- List of major devices used

D0401/D0402 Target Position (Current Position to change)

Y00444 Request to Write Current Position (Output Relay)

X00411 Current Position Write ACK (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00141 Request to Write Current Position

I00142 Request to Write Current Position (Differentiate Up)

I00143 Waiting for ACK

I00144 Executing Command

F0711T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-15

(0042)

(0043)

00099

(0044)

00101

(0045)

(0046)

(0047)

(0048)

00111

(0049)

(0050)

00120

Current Position Writing Program

I00141

I00142 I00099

I00143 Y00444 X00411

X00412

I00144 I00143 X00411

Figure 7.11 Current Position Writing Program

D0401WRITE 4

SET

I00142DIFU

216

Y00444SET

I00143

I00144SET

Y00444RST

I00143RST

I00144RST

F0711.EPS

Figure 7.12 Current Position Writing Program Time Chart

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.7 Position Control Mode Operation

(1) Start Operation command (Positioning Operation)

When the start-operation command is executed during End-of-Positioning, the normal positioning operation starts. When it is executed during positioning operation, it executes two overlapping positioning operations (called on-route operation) start. The latter case will be explained in the section on on-route operation.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) there is no error; (2) no other commands are being executed; (3) it is not during an origin search; and (4) no jog stepping is occurring. Otherwise, it is ignored. Further, in normal positioning, there are 2 additional conditions: (5) it is in the End-of-Positioning status, (6) it is in the position control mode. (If (5) and (6) are not satisfied, an error occurs.)

- If an invalid value is set in an operation parameter, an error occurs and the motor does not move.

7-16

Procedure:

1) Write the required parameters in the positioning module.

2) Set the output relay defined as “Request to Start Operation.”

3) After confirming that the Start-Operation Command ACK input relay is set, reset the Start-Operation relay. The motor starts according to timing when the Start-Operation ACK is set. (If there is a parameter error, Start-Operation ACK input relay is not set and Error-Notification input relay is set.)

4) The End-of-Positioning input relay of the positioning module is set when the pulse output by the positioning module reaches the target position. In general cases using a servomotor, there is some time lag between the stopping of the pulse output and the stopping of the motor after reaching the target position. Be careful about this time lag.

IM 34M6H57-01E 2nd Edition : July, 2001-00

Program Example:

This is an example of a simple-positioning operation. All required parameters are set in advance in the data register.

- List of major devices used

D0501/D0502 Initial Velocity

D0503/D0504 Target Velocity

D0505 Acceleration Time

D0506 Deceleration Time

D0507 (unnecessary area)

D0508/D0509 Target Position

D0510 Interpolation Mode

Y00433 Start-Operation command (Output Relay)

X00401 Start-Operation command ACK (Input Relay)

X00415 End of Positioning (Input Relay)

I00099 Command-Execution-Prohibit Condition (set in another part)

I00201 Request-to-Start Operation Command

I00202 Request-to-Start Operation Command (Differentiate Up)

I00203 Waiting for Command ACK

I00204 Positioning In Progress

7-17

F0713T.EPS

(0051)

(0052)

00124

(0053)

00126

(0054)

(0055)

(0056)

(0057)

00136

(0058)

(0059)

00145

Positioning Operation Program

I00201

I00202 I00099

I00203 Y00433 X00401

X00412

I00204 I00203 X00415

D0501WRITE 4

SET

I00202DIFU

109

Y00433SET

I00203

I00204SET

Y00433RST

I00203RST

I00204RST

Figure 7.13 Positioning Operation Program

F0713.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

Figure 7.14 Positioning Operation Program Time Chart

7-18

IM 34M6H57-01E 2nd Edition : July, 2001-00

(2) Change Target Position

When the target position is changed during positioning operation, immediately. a positioning operation at the new target position starts. You can change the target velocity when changing the target position. In this case, the acceleration/deceleration between the velocities before and after the change is expressed by the slope calculated from the new target velocity and the acceleration time/deceleration time.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) there is no error; (2) no other commands are being executed; (3) there is no interval in the on-route operation; (4) it is not during arc-interpolated operation; (5) it is not during an origin search; (6) no jog-stepping is occurring; and (7) it is in position-control mode. Otherwise, it is ignored. If an invalid value is set in an operation parameter, an error occurs and the motor stops immediately.

Procedure:

1) Write the required parameters in the positioning module.

2) Set the output relay defined as “Request to Change Target-Position.”

7-19

3) Reset the relay defined as “Request to Change Target-Position” after confirming that the input relay defined as “Target-Position Change ACK” is set. The motor starts the Change Target-Position operation when the Change Target-Position ACK relay is set. (If there is a parameter error, the input relay defined as “Target-Position Change ACK” is not set and the input relay defined as “Error Notification” is set.)

Program Example:

This is an example to change the target position during a positioning operation.

The following program occupies area for non-required parameters because all the parameters are written at once.

All required parameters are set in advance in the data register.

- List of major devices used

D0601/D0602 Initial Velocity

D0603/D0604 Target Velocity

D0605 Acceleration Time

D0606 Deceleration Time

D0607 (unnecessary area)

D0608/D0609 Target Position

Y00439 Request to Change Target Position (Output Relay)

X00409 Target-Position Change ACK (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00211 Request to Start Target-Position Change

I00212 Request to Start Target-Position Change (Differentiate Up)

I00213 Waiting for Command ACK

I00214 Executing Command

F0715T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-20

(0060)

(0062)

00149

(0063)

00151

(0064)

(0065)

(0066)

(0067)

00161

(0068)

(0069)

00170

Change Target-Position Program

I00211

I00212DIFU

I00212 I00099

D0601WRITE 4

Y00439SET

SET99I00213

I00214SET

I00213 Y00439 X00409

Y00439RST

X00412

I00213RST

I00214 I00213 X00409

I00214RST

Figure 7.15 Change Target-Position Program

Figure 7.16 Change Target-Position Program Time Chart

F0715.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

Application Function:

- Change Target Position with a change in operating direction

If the new position has already been passed at the time of executing Change Target Position, Decelerate-and-Stop is performed immediately and the positioning operation with the new target position starts. (If the new position has not yet been passed at the time of executing Change Target Position, but will be passed even if the deceleration is started immediately, the same steps occur).

When Change Target-Position with Change Operation-Direction is executed, do not execute another Change Target-Position command or Change Velocity command in the first deceleration operation. Otherwise, the operation cannot be guaranteed. You can confirm the status by reading the extended status.

- Change Target Position during End of Positioning

You can execute the Change Target Position command during End of Positioning (when motor is not moving). In this case, the operation is the same as the normal positioning operation.

7-21

IM 34M6H57-01E 2nd Edition : July, 2001-00

(3) Change Velocity

If the “Change Velocity” is executed during positioning operation, velocity changes are made immediately. The slope corresponding to the acceleration/deceleration between the velocities before and after the change and the deceleration when stopping at the target position is the slope calculated from the parameters at the start of the positioning operation.

Items to Note:

- If an invalid value is set in an operation parameter, an error occurs and the motor stops immediately.

Procedures:

1) Write the required parameters in the positioning module.

2) Set the output relay defined as “Request to Change Velocity.”

7-22

3) Reset the relay defined as “Request to Change Velocity” after confirming that the input relay defined as “Change velocity ACK” is set. The motor starts the change velocity operation when Change velocity ACK is set. (If there is a parameter error, the input relay defined as “Change Input ACK” is not set and the input relay defined as “Error Notification” is set.)

Program Example:

This is an example to change velocity during a positioning operation. All required parameters are set in advance in the data register.

- List of major devices used

D0701/D0702 Target velocity

Y00440 Request to Change velocity (Output Relay)

X00410 Change velocity ACK (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00221 Request to Start Change velocity

I00222 Request to Start Change velocity (Differentiate Up)

I00223 Waiting for Command ACK

I00224 Executing Command

F0717T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-23

(0070)

(0071)

00174

(0072)

00176

(0073)

(0074)

(0075)

(0076)

00186

(0077)

(0078)

00195

Change Velocity (during Positioning Operation) Program

I00221

I00222 I00099

D0701WRITE 4

I00223 Y00440 X00410

X00412

I00224 I00223 X00410

Figure 7.17 Change Velocity (during Positioning Operation) Program

SET

I00222DIFU

211

Y00440SET

I00223

I00224SET

Y00440RST

I00223RST

I00224RST

F0717.EPS

Figure 7.18 Change Velocity (during Positioning Operation) Program Time Chart

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.8 Velocity Control Mode Operation

The positive- and negative-direction limit values are ignored in velocity control mode.

(1) Switch Position to Velocity Control mode

The positioning module is in position control mode when power is turned on. To perform speed control operation, it is necessary to switch the Position to Velocity Control mode.

Items to Note:

- When switching position control to velocity control, no parameters, other than the Switch Control Mode parameter is referred to. The control is switched to velocity control while maintaining the same velocity.

Procedures:

7-24

1) Write “0” (switch to speed control) as the value of the Switch Control Mode parameter in the positioning module.

2) Set the output relay defined as “Request to Switch Control Mode.”

3) Reset the relay defined as “Request to Switch Control Mode” after confirming that the input relay defined as “Switch Control Mode ACK” is set. The motor is switched to velocity control mode while maintaining the same velocity.

Program Example:

This is an example of switching position control to velocity control.

- List of major devices used

Y00438 Request to Switch Control Mode (Output Relay)

X00406 Switch Control Mode ACK (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00301 Request to Switch Control Mode

I00302 Request to Switch Control Mode (Differentiate Up)

I00303 Waiting for Command ACK

I00304 Executing Command

F0719T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-25

(0079)

(0080)

00199

(0081)

00201

(0082)

(0083)

(0084)

(0085)

00211

(0086)

(0087)

00220

Position to Velocity Control Switching Program

I00301

I00302 I00099

I00303 Y00434 X00402

X00412

I00304 I00303 X00402

Figure 7.19 Position to Velocity Control Switching Program

0WRITE 4

SET

I00302DIFU

119

Y00434SET

I00303

I00304SET

Y00434RST

I00303RST

I00304RST

F0719.EPS

Figure 7.20 Position to Velocity Control Switching Program Time Chart

IM 34M6H57-01E 2nd Edition : July, 2001-00

(2) Start Operation Command (for velocity Control)

Velocity control starts when you execute the Start-Operation command in velocity control mode. This command starts the operation only. To stop a motor in velocity control operation, the Decelerate-and-Stop command or the Stop-Immediately command must be executed.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) there is no error; (2) no other command is being executed; (3) it is not during an origin search; and (4) no jog stepping is occurring. Otherwise, it is ignored. When starting during velocity control, the additional required conditions are (5) it is in the End-ofPositioning state; (6) it is in the velocity-control mode. (If items (5) and (6) above are not satisfied, an error occurs)

- If an invalid value is set in an operation parameter, an error occurs and the motor stops immediately.

- In the velocity control mode, you must write a positive or negative value as the target velocity for the positive or negative direction operation.

Procedures:

7-26

1) Write required parameters on the positioning module

2) Set the output relay defined as “Start Operation Command.”

3) Reset the relay defined as “Start Operation Command” after confirming that the input relay defined as “Start Operation Command ACK” is set. The motor starts the opera- tion when Start Operation Command ACK is set. (If there is a parameter error, the input relay defined as “Start Operation Command ACK” is not set and the input relay defined as “Error Notification” is set.)

Program Example:

This is an example of starting with the velocity control operation. All required parameters are set in advance in the data register.

- List of major devices used

D0801/D0802 Initial Velocity

D0803/D0804 Target Velocity

D0805 Acceleration Time

D0806 Deceleration Time

Y00433 Start-Operation Command (Output Relay)

X00401 Start-Operation Command ACK (Input Relay)

X00415 End of Positioning (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00311 Request to Start Operation

I00312 Request to Start Control Mode (Differentiate Up)

I00313 Waiting-for-Command ACK

I00314 Executing Command

F0721T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-27

(0088)

(0089)

00224

(0091)

00226

(0092)

(0093)

(0094)

(0095)

00236

(0096)

(0097)

00245

Velocity-Control starting program

I00311

I00312 I00099

I00313 Y00433 X00401

X00412

I00314 I00313 X00401

Figure 7.21 Velocity-Control starting program

I00312DIFU

D0801WRITE 4

Y00433SET

SET69I00313

I00314SET

Y00433RST

I00313RST

I00314RST

F0721.EPS

Figure 7.22 Velocity-Control Program Time Chart

IM 34M6H57-01E 2nd Edition : July, 2001-00

(3) Change Velocity

When the Change-Velocity command is executed in velocity control mode, a change in velocity is then made. The acceleration or deceleration from a change in velocity is performed according to the time interval for velocity change.

When stopping a motor with a Decelerate-and-Stop command after changing velocity, the system follows the deceleration mode / deceleration time set at the execution of the Change-velocity command.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) there is no error; (2) no other command is being executed; (3) there is no interval in the onroute operation; (4) it is not during an origin-search; and (5) no jog stepping is occurring. Otherwise, it is ignored. In the position control mode, the operation will be different.

- If an invalid value is set in an operation parameter, an error occurs and the motor stops immediately.

- In velocity-control mode, you must write a positive (negative) value as the target velocity for the positive- or negative-direction operation.

7-28

- You cannot change the operating direction with the Change-Velocity command. (You cannot change to a negative velocity setpoint during a positive-direction operation, nor change to a positive velocity setpoint during a negative-direction operation.) To change the operating direction in velocity control mode, you must stop the motor with the Decelerate-and-Stop command and then restart the motor in the opposite direction.

Procedure:

1) Write the required parameters on the positioning module

2) Set the output relay defined as “Request to Change Velocity.”

3) Reset the relay defined as “Request to Change Velocity “ after confirming that the input relay defined as “Change-Velocity ACK” is set. The motor starts the operation when the Change-Velocity ACK is set. (If there is a parameter error, the input relay defined as “Change-Velocity ACK” is not set and the input relay defined as “Error Notification” is set.)

Program Example:

This is an example of changing the velocity. All required parameters are set in advance in the data register.

The following program also occupies area for non-required parameters because all the parameters are written at once.

IM 34M6H57-01E 2nd Edition : July, 2001-00

- List of major devices used

D0901/D0902 Target Velocity

D0903 to D0904 (unnecessary area)

D0905 Time Interval for Velocity Change

Y00440 Request to Velocity (Output Relay)

X00410 Change-Velocity ACK (Input Relay)

I00321 Request to Change Velocity

I00322 Request to Change Velocity (Differentiate Up)

I00323 Waiting-for-Command ACK

I00324 Executing Command

7-29

F0723T.EPS

(0098)

(0099)

00249

(0100)

00251

(0101)

(0102)

(0103)

(0104)

00261

(0105)

(0106)

00270

Velocity-Change(during velocity Control) Program

I00321

I00322 I00099

D0901WRITE 4

I00323 Y00440 X00410

X00412

I00324 I00323 X00410

Figure 7.23 Velocity-Change(during velocity Control) Program

SET

I00322DIFU

511

Y00440SET

I00323

I00324SET

Y00440RST

I00323RST

I00324RST

F0723.EPS

Figure 7.24 Velocity-Change (during Velocity Control) Program Time Chart

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.9 Switch Velocity to Position Control

Switches to position control in velocity control mode. Positioning operation starts from scratch where the velocity to position control is switched, according the preset parameters.

When changing velocity with mode change, the acceleration / deceleration between the velocities before and after the change is expressed by the slope calculated from the new target velocity and the acceleration time/deceleration time.

When stopping after completing the positioning operation, the deceleration time is that set at the switch-control mode execution.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) there is no error; (2) no other command is being executed; (3) there is no interval in the onroute operation; (4) it is not during an arc-interpolated operation; (5) it is not during an origin search; and (6) no jog-stepping is occurring. Otherwise, it is ignored. When executed in position-control mode, the input relay defined as “Switch Control-Mode ACK” is set, but the state of the positioning module is not changed.

- If an invalid value is set in an operation parameter, an error occurs and the motor stops immediately.

7-30

- When switching velocity to position control, the positioning is performed with the target velocity and target position effective at the time of the switch. Therefore, when you execute switch control while stopping in Velocity Control-Mode at a target position other than “0”, the positioning operation starts.

Procedure:

1) Write the required parameters on the positioning module.

2) Set the output relay defined as “Request to Switch Control Mode.”

3) Reset the relay defined as “Request to Switch Control-Mode” after confirming that the input relay defined as “Switch Control-Mode ACK” is set. When “Switch Control-Mode ACK” is set, the mode is switched to position control mode and the positioning operation starts. (If there is a parameter error, the input relay defined as “Switch ControlMode ACK” is not set and the input defined as defined as “Error Notification” is set.)

Program Example:

This is an example of switching velocity to position-control. All required parameters are set in advance in the data register.

The following program also occupies area for non-required parameters because all the parameters are written at once.

IM 34M6H57-01E 2nd Edition : July, 2001-00

- List of major devices used

D1001/D1002 Initial Velocity

D1003/D1004 Target Velocity

D1005 Acceleration Time

D1006 Deceleration Time

D1007 (unnecessary area)

D1008/D1009 Target Position

Y00438 Request to Switch Control Mode (Output Relay)

X00406 Switch control-Mode ACK (Input Relay)

X00415 End-of-positioning (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00331 Request to Switch Control Mode

I00332 Request to Switch Control Mode (Differentiate Up)

I00333 Waiting-for-Command ACK

I00334 Executing Command

7-31

F0725T.EPS

(0107)

(0108)

00274

(0157)

00276

(0110)

(0111)

(0112)

(0113)

(0114)

00288

(0115)

(0116)

00297

Velocity to Position-Control Switching Program

I00331

I00332 I00099

I00333 Y00438 X00406

X00412

I00334 I00333 X00406

Figure 7.25 Velocity to Position-Control Switching Program

I00332DIFU

D1001WRITE 4

$8000WRITE 4 119

Y00438SET

SET99I00333

I00334SET

Y00438RST

I00333RST

I00334RST

F0725.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

Figure 7.26 Velocity to Position Control Switching Program Time Chart

7-32

Application Function:

- External trigger input wait and Z-phase wait functions

If you set “$8001” as the value of the Switch Control-Mode parameter, the mode is not changed to velocity control until the external trigger input is “ON”. This function is used, for example, to execute switch control mode after the arrival of an external synchronizing signal. Likewise, if you set “$8002”, the mode is switched to position control after the Z-phase specified by Z-Phase Edge Selection common parameter is detected as many times as specified by the Z-phase Pulse Count. If you set “$8003”, the mode is switched after detecting “ON” of the external trigger input followed by a Z-phase detection.

- Switching velocity to position control with operation direction change

If the operation direction in speed control is different from the direction of the target position after switching, Decelerate-and-Stop is performed immediately and the positioning operation with the new target position starts. (If the operation direction does not change, but the new target position will be passed if the deceleration is started immediately, the same step occurs.)

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.10 Request to Decelerate and Stop

Decelerates and stops the operating motor during the positioning operation, velocity-control operation, etc. The slope of deceleration during decelerate-and-stop is determined from the setup values at the start. (When a command that sets the deceleration time is again executed, then the setup values at that moment are used for the above purpose.)

Items to Note:

- If it is necessary to stop in the on-route interval, execute the Stop-Immediately command.

- You cannot execute the Decelerate-and-Stop command during the jog-stepping operation. Terminate jog-stepping, if necessary.

- The positioning module also accepts the Decelerate-and-Stop command during the end-of-positioning. (The corresponding ACK is set.)

- Do not execute the start of a new positioning operation or the Change Target-Position command when decelerating in the Decelerate-and-Stop command. Otherwise, the operation cannot be guaranteed.

7-33

Procedure:

1) Set the output relay defined as “Request to Decelerate and Stop.”

2) Reset the relay defined as “Request to Decelerate and Stop” after confirming that the input relay defined as “Decelerate-and-Stop ACK” is set. The motor starts decelerating when Decelerate-and-Stop ACK is set.

3) The input relay defined as “End of Positioning” is set when the motor stops.

Program Example:

This is an example of Request to Decelerate and Stop.

- Major devices used:

Y00435 Request to Decelerate and Stop (Output Relay)

X00403 Decelerate-and-Stop ACK (Input Relay)

X00415 End of Positioning (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00401 Request to Decelerate and Stop

I00402 Request to Decelerate and Stop (Differentiate Up)

I00403 Waiting-for-Command ACK

I00404 Waiting to Decelerate and Stop

F0727T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-34

(0117)

(0119)

00301

(0120)

00303

(0123)

(0124)

(0125)

00311

(0126)

(0127)

00320

Request to Decelerate and Stop Program

I00401

I00402 I00099

I00403 Y00435 X00403

X00412

I00404 I00403 X00415

Figure 7.27 Request to Decelerate and Stop Program

I00402DIFU

Y00435SET

I00403SET

I00404SET

Y00435RST

I00403RST

I00404RST

F0727.EPS

Figure 7.28 Request to Decelerate and Stop Program Time Chart

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.11 Request to Stop Immediately

Stops the motor immediately without deceleration during positioning operation, velocity control operation, etc.

Items to Note

- This command is accepted only when there is no error. Otherwise, it is ignored.

- Be careful when operating with a high speed. The system may experience a big impact because of the immediate stop in such cases.

- The positioning module also accepts Stop-Immediately command during end-ofpositioning. (The corresponding ACK is set.)

Procedure:

1) Set the output relay defined as “Request to Stop Immediately.”

2) Reset the relay defined as “Request to Stop Immediately” after confirming that the input relay defined as “Stop-Immediately ACK” is set. The motor stops immediately when Stop-Immediately ACK is set.

7-35

3) The input relay defined as “End of Positioning” is set when the motor stops.

Program Example:

This is an example of request to stop immediately.

- Major devices used:

Y00436 Request to Stop Immediately (Output Relay)

X00404 Stop-Immediately ACK (Input Relay)

X00415 End of Positioning (Input Relay)

I00411 Request to Stop Immediately

I00412 Request to Stop Immediately (Differentiate Up)

I00413 Waiting-for-Command ACK

I00414 Executing Command

F0729T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-36

(0126)

(0127)

00324

(0128)

00326

(0129)

(0130)

(0131)

00333

(0132)

(0133)

00342

Immediate-stop-request

I00411

I00412

I00413 Y00436 X00404

I00414 I00413 X00404

Figure 7.29 Request to Stop Immediately Program

I00412DIFU

Y00436SET

I00413SET

I00414SET

Y00436RST

I00413RST

I00414RST

F0729.EPS

Figure 7.30 Request to Stop Immediately Program Time Chart

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.12 On-route Operation

If a new positioning operation begins during the previous positioning operation (before endof-positioning), this starts an on-route operation. An on-route operation is used with a linear interpolated operation. The system does not stop at each target position, but passes near the target positions (route points) and operates continuously. The start of the positioning operation for the target positions (route points) after the first one is done while checking the status of the remaining deceleration time.

Remaining deceleration time status

This status reads the deceleration time for stopping at the target position during the execution of the positioning operation. Its value is “0” during end-of-positioning, and “-1” during acceleration or while operating at the target velocity.

During the on-route operation, start the next positioning after checking that the above value is not larger than the preset values for each axis. This assures that the positioning for the next target position is started before reaching the intermediate target positions (route points). (This time lag is set in ms.)

Item to Note:

- For on-route operations, do not set data that will cause a positioning operation to finish earlier with a later startup. Otherwise, the operation cannot be guaranteed.

7-37

Procedure:

1) Write the operation parameters of each axis which are necessary to move to the first target position on the positioning module.

2) For each axis, set the output relay defined as “Start-Operation Command” simulta- neously (in the same scan).

3) Reset the relay defined as “Start-Operation Command” of each axis after confirming that the input relays defined as “Start-Operation Command ACK” of all axes are set. (If there is a parameter error, the input relay defined as “Start-Operation Command ACK” is not set and the input relay defined as “Error Notification” is set.)

4) Write the operation parameters of each axis which is necessary to move to the next target position on the positioning module after confirming that the input relay defined as “Start-Operation Command ACK” is set.

5) For each axis, set the output relay defined as “Start-Operation Command” simulta- neously after confirming that the remaining deceleration time is not longer than the specified value for all axes.

6) Reset the relay defined as “Start-Operation Command” of each axis after confirming that the input relays defined as “Start-Operation Command ACK” of all axes are set. The relay defined as “Start-Operation Command ACK” is not reset until after the positioning that began first finishes. (“Start-Operation command ACK” remains set during the on-route operation.)

7) Repeat steps 4 through 6 above until the final target position is reached.

8) The relay defined as “End of Positioning” is set when the final target position is reached.

IM 34M6H57-01E 2nd Edition : July, 2001-00

Program Example:

This is an example of an on-route operation with two axes and two target positions. This is also applicable to cases with more than two target positions by changing the values in the final interval decision part. All required parameters are set in advance in the data register.

In this program, when an error occurs at one axis, the internal relays for executing Stop Immediately of the other axes, etc. are set. (This is not included in the time chart.)

- List of major devices used:

D1201~ Axis 1 Operation Parameters storage area

D1301~ Axis 2 Operation Parameters storage area

D1299 Axis 1 Remaining Deceleration Time Value Read

D1399 Axis 2 Remaining Deceleration Time Value Read

V01 Operation Parameters storage area Pointer

time time set point of on-route interval

Y00433 Axis 1 Start-Operation Command (Output Relay)

Y00449 Axis 2 Start-Operation Command (Output Relay)

X00401 Axis 1 Start-Operation Command ACK (Input Relay)

X00417 Axis 2 Start-Operation Command ACK (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00098 On-route Operation Stop-Condition (set in another part)

I00601 Request to Start

I00602 Request to Start (Differentiate Up)

I00603 Waiting for Start Enable (Remaining Deceleration Time Wait)

I00604 Start Timing

I00605 Waiting for Start-Operation Command ACK

I00606 Waiting for Start-Operation Command ACK Reset

I00607 Parameter Write Timing (for interval 2 or later)

I00608 Continuing On-route Operation

I00609 End of Start for Final Interval

I00698 Request for Error Handling (for axis 1)

I00699 Request for Error Handling (for axis 2)

7-38

F0731T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

(0134)

7-39

(0135)

(0136)

00346

(0137)

00348

(0138)

00350

(0139)

(0140)

(0141)

00360

(0142)

(0143)

(0144)

(0145)

00374

(0146)

(0147)

00379

(0148)

(0149)

(0150)

00392

(0151)

(0152)

(0153)

00400

(0154)

(0155)

(0156)

(0157)

00417

(0158)

(0159)

00425

(0160)

(0161)

(0162)

(0163)

00438

One-route operation program

I00601

I00602

I00607

I00602

I00607 I00608

I00603

I00604 I00098

I00605 Y00433

I00606 I00605

X00412 I00608

X00428 I00609

I00609 X00415

I00099

X00412

I00609

X00401

X00431

Y00449

X00428

X00417

Figure 7.31 On-route Operation Program

10>V01

0>=D1299

0>=D1399

X00417

I00602DIFU

NOV

V01=V01

I00609SET

I00608RST

V01

D1201WRITE

V01

4READ

4D1301WRITE

I00603SET

I00608SET

2474READ

time<D1299

time<D1399

I00603RST

I00604DIFU

Y00433SET

Y00449SET

I00605SET

Y00433RST

Y00449RST

I00605RST

I00606SET

I00606RST

I00607DIFU

I00698SET

I00699SET

I00608RST

I00609RST

Update operation parameter

V010

End on-route operation

10+

Write one-axis startup

1094

parameter

Write two-axis startup

10209

parameter

Read one-axis decelerating

1D129947

remainning time

Read two-axis decelerating

1D1399

remainning time

Starting one-axis

Starting two-axis

Waiting for end of on-route interval

Error processing (one-acis)

Error processing (two-acis)

End of both-axis positing

F0731.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-40

Figure 7.32 On-route Operation Program Time Chart

Application Function:

You can check the states of accelerating, decelerating and moving with constant velocity, during on-route operation, etc. of each axis by reading the extended status.

IM 34M6H57-01E 2nd Edition : July, 2001-00

7.1.13 Arc-Interpolated Operation

Performs the biaxial arc-interpolated operation. For details on the algorithm for calculating the parameters for an arc-interpolated operation, refer to the section on “Parameters.”

Items to Note:

- When performing an arc interpolation, the X axis and Y axis move independently. Therefore, if an error occurs at one axis, the other axis continues moving. If it is necessary to stop the other axis, stop the motor by applying the Stop-Immediately command to the moving axis after detecting the error with an application program (and checking the input relay defined as “Error Notification”).

- If the velocity (the actual velocity, not the angular velocity) of each axis exceeds the velocity limit value, an error occurs and the system stops immediately. In this case, the other axis continues its operation.

Procedure:

1) Write the operation parameters of the two axes of the arc-interpolated operation on the positioning module.

7-41

2) Set the output relays defined as “Start Operation Command” for both axes simultaneously (in the same scan).

3) Reset the relay defined as “Start-Operation Command” of both axes after confirming that the input relays defined as “Start-Operation Command ACK” of both axes are set. The arc-interpolated operation starts when the Start-Operation Command ACK is set.

Program Example:

This is an example of arc-interpolated operation with two axes. All required parameters are set in advance in the data register.

In this program, if an error occurs at one axis, the internal relays of the other axis for executing Stop Immediately, etc. are set. (This is not included in the time chart.)

- Major devices used:

D1401~D1418 X Axis Operation Parameters

D1501~D1518 Y Axis Operation Parameters

Y00433 X X Axis Start-Operation Command (Output Relay)

Y00449 Y Y Axis Start-Operation Command (Output Relay)

X00401 X X Axis Start-Operation Command ACK (Input Relay)

X00417 Y Y Axis Start-Operation Command ACK (Input Relay)

I00099 Command Execution Prohibit Condition (set in another part)

I00701 Request to Start Arc Interpolation

I00702 Request to Start Arc Interpolation (Differentiate Up)

I00703 Waiting-for-Command ACK

I00704 During Arc-interpolated operation

I00708 Request for Error-Handling (for X axis)

I00709 Request for Error-Handling (for Y axis)

F0733T.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

(0164)

(0166)

00442

(0167)

00444

(0168)

(0169)

(0170)

(0171)

(0172)

(0173)

00458

(0174)

(0175)

(0176)

(0177)

00475

(0178)

(0179)

(0180)

00484

Arc-Interpolation Program

I00701

I00702

I00703 Y00433

X00412 I00704

X00428

I00704

I00099

X00401 X00449 X00417

X00412 X00428

I00703

X00415 X00431

Figure 7.33 Arc-Interpolation Program

7-42

I00702DIFU

D1401WRITE

4D1501WRITE

1814

18201

I00703SET

I00704SET

Y00433SET

Y00449SET

I00433RST

Y00449RST

I00703RST

I00704SET

Error processing (X axis)

I00708SET

Error processing (Y axis)

I00709SET

I00704RST

F0733.EPS

IM 34M6H57-01E 2nd Edition : July, 2001-00

7-43

Figure 7.34 Arc-Interpolation Program Time Chart

IM 34M6H57-01E 2nd Edition : July, 2001-00

YOKOGAWA F3NC11-0N, F3CN12-0N User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Applicable Product

Important

Introduction

Copyrights and Trademarks

CONTENTS

1. Overview

2. Specifications

2.1 General Specifications

2.2 Operating Envir onment

2.3 Model and Suffix Codes

2.4 Components

2.5 External Dimensions

2.6 T erminal Assignments and Connection

2.7 Applicable External Interface Connectors

3. Function Overview

3.1 Positioning Operation

3.2 Change in Target P osition during P ositioning

3.3 Change in V elocity during P ositioning

3.4 V elocity Control

3.5 Change in V elocity during V elocity Contr ol

3.6 Velocity-to-Position Control Mode Switching

3.8 Emergency-stop Input

3.9 Contact Inputs

3.10 Z-phase Encoder Input

3.11 Origin-search Operation

3.12 Linear-interpolated Operation

3.13 On-Route Operation

3.14 Arc-interpolated Operation

4. Parameters

4.1 List of Parameters

4.1.1 Registered parameters

4.1.2 Operation Parameters

4.1.3 Common Parameters

4.2 List of Required Parameters for each Command

4.3 Description of Parameters

4.3.1 Entry parameters

4.3.2 Operation Parameters

4.3.3 Common Parameters

4.4 Entry Parameters Setting Example

5. Status

5.1 List of Status

5.2 Description of Status

6. List of Input/Output Relays

6.1 Output Relays

6.2 Input Relays

7. Accessing Modules

7.1 Accessing from Sequence CPU

7.1.1 Reading the Module Status

7.1.2 Setting Parameter s

7.1.3 Error Reset

7.1.4 Jog Stepping

7.1.5 Origin-Search

7.1.6 Write Current Position

7.1.7 Position Control Mode Operation

7.1.8 Velocity Control Mode Operation

7.1.9 Switch Velocity to Position Control

7.1.10 Request to Decelerate and Stop

7.1.11 Request to Stop Immediately

7.1.12 On-route Operation

7.1.13 Arc-Interpolated Operation