YOKOGAWA F3NC11-0N, F3CN12-0N User Manual
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
i
Media No. IM 34M6H57-01E (CD) 2nd Edition : July, 2001 (YK)
All Right Reserved Copyright © 1999, Yokogawa Electric Corporation
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
ii
- 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.
SEE ALSO
Indicates a SEE ALSO reference.
Identifies a source to which to refer.
iii
- F or the protection and saf e use of the product and the system controlled by it, be sure
to follow the instructions and precautions on safety stated in this man ual whenev er
handling the product. Take special note that if you handle the product in a manner
other than prescribed in these instructions, the protection feature of the product may
be damaged or impaired. In such cases , Y okoga w a cannot guarantee the quality,
performance, function and safety of the product.
- When installing protection and/or saf ety circuits such as thunderbolt protection devices and equipment for the product and control system as well as designing or
installing separate protection and/or safety circuits for f ool-proof design and f ail-saf e
design of processes and lines using the product and the system controlled by it, the
user should implement it using devices and equipment, additional to this product.
- If component parts or consumable are to be replaced, be sure to use parts specified
by the company.
- This product is not designed or man ufactured to be used in critical applications which
directly affect or threaten human lives and saf ety — such as nuclear po wer equipment,
devices using radioactivity, railway facilities, a viation equipment, air navigation f acilities, aviation facilities or medical equipment. If so used, it is the user’s responsibility to
include in the system additional equipment and devices that ensure personnel safety.
- Do not attempt to modify the product.
Exemption from Responsibility
- Yokogaw a Electric Corporation (hereinafter simply referred to as Yokogawa Electric)
makes no warranties regarding the product e xcept those stated in the W ARRANTY
that is provided separately.
- Yokogaw a Electric assumes no liability to any party for any loss or damage, direct or
indirect, caused by the user or any unpredictable def ect of the product.
IM 34M6H57-01E 2nd Edition : July, 2001-00
Software Supplied by the Company
- Yokogaw a Electric makes no other warranties e xpressed or implied e xcept as provided in its warranty clause for software supplied b y the company.
- Use the softw are with one computer only. You must purchase another copy of the
software for use with each additional computer .
- Cop ying the software f or an y purposes other than backup is strictly prohibited.
- Store the original media, such as floppy disks , that contain the software in a saf e
place.
- Re verse engineering, such as decompiling of the softw are, is strictly prohibited.
- No portion of the software supplied by Y ok ogaw a Electric may be transf erred, e xchanged, or sublet or leased for use b y any third party without prior permission by
Yokogawa Electric.
iv
IM 34M6H57-01E 2nd Edition : July 2001-00
General Requirements for Using the FA-M3
● Avoid installing the FA-M3 in the following locations:
- Where the instrument will be exposed to direct sunlight, or where the oper ating temperature exceeds the range 0°C to 55°C (0°F to 131°F).
- Where the relativ e humidity is outside the range 10 to 90%, or where sudden temperature changes may occur and cause condensation.
- Where corrosiv e or flammab le gases are present.
- Where the instrument will be exposed to direct mechanical vibr ation or shock.
- Where the instrument ma y be exposed to e xtreme le vels of r adioactivity.
● Use the correct types of wire for external wiring:
- Use copper wire with temperature r atings greater than 75°C.
● Securely tighten screws:
- Securely tighten module mounting scre ws and terminal screws to av oid problems
such as faulty eration.
v
- Tighten terminal bloc k screws with the correct tightening torque as giv en in this
manual.
● Securely lock connecting cables:
- Securely loc k the connectors of cables , and check them thoroughly bef ore turning on
the power.
● Interlock with emergency-stop circuitry using external relays:
- Equipment incorporating the FA-M3 must be furnished with emergency-stop circuitry
that uses external relays. This circuitry should be set up to interlock correctly with
controller status (stop/run).
● Ground for low impedance:
- F or saf ety reasons, connect the [FG] g rounding terminal to a Japanese Industrial
Standards (JIS) Class 3 Ground. F or compliance to CE Marking, use cables such as
twisted cables which can ensure low impedance ev en at high frequencies f or grounding.
● Configure and route cables with noise control considerations:
- Perform installation and wiring that segregates system parts that may likely become
noise sources and system parts that are susceptible to noise. Seg regation can be
achieved b y measures such as segregating by distance , installing a filter or segregating the grounding system.
● Configure for CE Marking Conformance:
- F or compliance to CE Marking, perform installation and cable routing according
to the description on compliance to CE Marking in the “Hardware Manual”
(IM34M6C11-01E).
IM 34M6H57-01E 2nd Edition : July, 2001-00
● Keep spare parts on hand:
- Stoc k up on maintenance parts including spare modules, in advance.
● Discharge static electricity before operating the system:
- Because static charge can accumulate in dry conditions, first touch grounded metal to
discharge any static electricity before touching the system.
● Never use solvents such as paint thinner for cleaning:
- Gently clean the surf aces of the FA-M3 with a cloth that has been soaked in water or a
neutral detergent and wringed.
- Do not use v olatile solv ents such as benzine or paint thinner or chemicals for cleaning,
as they may cause def ormity, discoloration, or malfunctioning.
● Avoid storing the FA-M3 in places with high temperature or humidity:
- Since the CPU module has a built-in battery, avoid storage in places with high
temperature or humidity .
- Since the service life of the battery is drastically reduced by e xposure to high
temperatures, take special care (storage temperature should be from –20
- There is a b uilt-in lithium battery in a CPU module and temperature control module
which serves as backup power supply for prog rams, de vice inf ormation and
configuration information. The service life of this battery is more than 10 years in
standby mode at room temperature. Take note that the service life of the battery may
be shortened when installed or stored at locations of extreme low or high
temperatures. Theref ore, w e recommend that modules with built-in batteries be stored
at room temperature.
°C to 75°C).
vi
● Always turn off the power before installing or removing modules:
- F ailing to turn off the power supply when installing or remo ving modules, ma y result in
damage.
● Do not touch components in the module:
- In some modules y ou can remov e the right-side cover and install R OM packs or
change switch settings. While doing this, do not touch any components on the printedcircuit board, otherwise components may be damaged and modules may f ail to work.
IM 34M6H57-01E 2nd Edition : July 2001-00
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
CONTENTS
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
Blank Page
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
Blank Page
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
-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
34
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)
A
X
B
S
1
2
NC12-0N
RDY
1
Y
34
A
X
2
B
S
Y
1
2
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
BA
20
20
19
19
18
18
17
17
16
16
15
15
14
14
13
13
12
12
11
11
10
10
9
9
8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
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
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
Blank Page
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
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Startup
Request to
change velocity
Figure 3.5 Behaviors When the Velocity Is Changed
Request to
change velocity
Time
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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.
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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
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Startup
Request to
change velocity
Figure 3.6 V elocity Contr ol and Change-in-V elocity Operation
Request to
change velocity
Request to
change velocity
Time
Request to
decelerate and stop
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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
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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
Time
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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
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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.
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IM 34M6H57-01E 2nd Edition : July, 2001-00
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