YOKOGAWA F3YP04-0N, F3YP08-0N User Manual

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User’s Manual

Positioning Modules (with Multi-channel Pulse Output) Model: F3YP04-0N, F3YP08-0N

IM 34M6H55-01E

Yokogawa Electric Corporation

IM 34M6H55-01E

3rd Edition

Applicable Product

● Range-free Multi-controller FA-M3

Model : F3YP04-0N, F3YP08-0N Name: Positioning Module (with Multi-Channel Pulse Output)

The document number and document model code for this manual are given below:

Refer to the document number in all communications; also refer to the document number or the document model code when purchasing additional copies of this manual.

Document No. : IM 34M6H55-01E

Document Model Code : DOCIM

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

Important

 About This Manual

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

- Before using the controller, read this manual thoroughly to have a clear understanding of the controller.

- This manual explains the functions of this product, but there is no guarantee that they will suit the particular purpose of the user.

- Under absolutely no circumstances may 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.

- Every effort has been made to ensure accuracy in the preparation of this manual. However, 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 following safety symbols are used on the product as well as in this manual.

CAUTION

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. Where indicated by this symbol, 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.

The following symbols are used only in the instruction manual.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

WARNING

Indicates a “Warning”.

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

- For the protection and safe use of the product and the system controlled by it, be sure to follow the instructions and precautions on safety stated in this manual whenever 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, Yokogawa cannot guarantee the quality, performance, function or safety of the product.

- When installing protection and/or safety 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 fool-proof design and fail-safe 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 manufactured to be used in critical applications which directly affect or threaten human lives and safety — such as nuclear power equipment, devices using radioactivity, railway facilities, aviation equipment, air navigation facilities, 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

- Yokogawa Electric Corporation (hereinafter simply referred to as Yokogawa Electric) makes no warranties regarding the product except those stated in the WARRANTY that is provided separately.

- Yokogawa Electric assumes no liability to any party for any loss or damage, direct or indirect, caused by the use or any unpredictable defect of the product.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

 Software Supplied by the Company

- Yokogawa Electric makes no other warranties expressed or implied except as provided in its warranty clause for software supplied by the company.

- Use the software with one computer only. You must purchase another copy of the software for use with each additional computer.

- Copying the software for any purposes other than backup is strictly prohibited.

- Store the original media, such as floppy disks, that contain the software in a safe place.

- Reverse engineering, such as decompiling of the software, is strictly prohibited.

- No portion of the software supplied by Yokogawa Electric may be transferred, exchanged, or sublet or leased for use by any third party without prior permission by Yokogawa Electric.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

 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 operating temperature exceeds the range 0°C to 55°C (0°F to 131°F).

- Where the relative humidity is outside the range 10 to 90%, or where sudden temperature changes may occur and cause condensation.

- Where corrosive or flammable gases are present.

- Where the instrument will be exposed to direct mechanical vibration or shock.

- Where the instrument may be exposed to extreme levels of radioactivity.

● Use the correct types of wire for external wiring:

- Use copper wire with temperature ratings greater than 75°C.

● Securely tighten screws:

- Securely tighten module mounting screws and terminal screws to avoid problems such as faulty operation.

- Tighten terminal block screws with the correct tightening torque as given in this manual.

● Securely lock connecting cables:

- Securely lock the connectors of cables, and check them thoroughly before 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:

- For safety reasons, connect the [FG] grounding terminal to a Japanese Industrial Standards (JIS) Class D Ground Ground). For compliance to CE Marking, use cables such as twisted cables which can ensure low impedance even at high frequencies for grounding.

*1 Japanese Industrial Standard (JIS) class D Ground means grounding resistance of 100Ω max.

(Japanese Industrial Standards (JIS) Class 3

● 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. Segregation can be achieved by measures such as segregating by distance, installing a filter or segregating the grounding system.

● Configure for CE Marking Conformance:

- For 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 34M6H55-01E 3rd Edition : Apr 1, 2002-00

● Keep spare parts on hand:

- Stock 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 surfaces of the FA-M3 with a cloth that has been soaked in water or a neutral detergent and wringed.

- Do not use volatile solvents such as benzine or paint thinner or chemicals for cleaning, as they may cause deformity, 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 exposure to high temperatures, take special care (storage temperature should be from –20

- There is a built-in lithium battery in a CPU module and temperature control module which serves as backup power supply for programs, device information 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. Therefore, we recommend that modules with built-in batteries be stored at room temperature.

°C to 75°C).

● Always turn off the power before installing or removing modules:

- Failing to turn off the power supply when installing or removing modules, may result in damage.

● Do not touch components in the module:

- In some modules you can remove the right-side cover and install ROM 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 fail to work.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

Introduction

■ Overview of the Manual

This user’s manual, “Positioning Module with Multi-channel Pulse Output,” explains the specifications and provides information necessary for operation of the positioning modules, F3YP04-0N and F3YP08-0N, used with an FA-M3 controller.

Before using the modules, read this manual thoroughly to have a clear understanding for proper operation. Keep this manual on hand for future reference.

■ Other Manuals

Refer to the following manuals.

● For sequence CPU functions:

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

- Sequence CPU Modules - Functions (for 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 FA-M3 specifications and configurations*1, installation and wiring, maintenance, and module installation limits for the whole system:

- Hardware Manual (IM 34M6C11-01E)

*1: Refer to the relevant product manuals for specifications except for power supply modules, base modules, input/

output modules, cables and terminal units.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

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 34M6H55-01E 3rd Edition : Apr 1, 2002-00

FA-M3 Positioning Module (with Multi-channel Pulse Output)

IM 34M6H55-01E 3rd 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 Environment .................................................................................. 2-2

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

2.4 Components and Functions ........................................................................... 2-3

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

2.6 Terminal Assignments and Connections ...................................................... 2-5

2.7 Applicable External Interface Connectors..................................................... 2-6

Toc-1

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

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

3.2 Jog Stepping ................................................................................................... 3-3

3.3 Contact Inputs ................................................................................................. 3-3

3.4 Z-phase Encoder Input ................................................................................... 3-3

3.5 Origin Search .................................................................................................. 3-4

3.6 Deviation Pulse Clear Signal Output.............................................................. 3-6

3.7 Linear-Interpolated Operation ........................................................................ 3-6

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

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

4.1.1 Entry Parameters.............................................................................. 4-4

4.1.2 Command Parameters ...................................................................... 4-4

4.2 Parameters Required for Each Command ..................................................... 4-5

4.3 Descriptions of Parameters............................................................................ 4-6

4.3.1 Entry Parameters.............................................................................. 4-6

4.3.2 Command Parameters ...................................................................... 4-7

4.4 Examples of Setting Entry Parameters .......................................................... 4-9

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

Toc-2

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

5.1 List of Status ................................................................................................... 5-2

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

6. 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 the Sequence CPU ............................................................... 7-1

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

7.1.2 Set Parameter .................................................................................. 7-3

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

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

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

7.1.6 Set Current Position ........................................................................ 7-12

7.1.7 Positioning Operation ...................................................................... 7-14

7.1.8 Request to Decelerate and Stop ..................................................... 7-16

7.1.9 Request to Stop Immediately .......................................................... 7-18

7.2 Accessing from BASIC CPU......................................................................... 7-20

7.2.1 Reading the Module Status ............................................................. 7-21

7.2.2 Set Parameter ................................................................................ 7-22

7.2.3 Error Reset ..................................................................................... 7-23

7.2.4 Jog Stepping .................................................................................. 7-24

7.2.5 Origin Search ................................................................................. 7-25

7.2.6 Set Current Position ........................................................................ 7-27

7.2.7 Positioning Operation ...................................................................... 7-28

7.2.8 Request to Decelerate and Stop ..................................................... 7-29

7.2.9 Request to Stop Immediately .......................................................... 7-30

8. Errors and Troubleshooting.................................................................... 8-1

8.1 Troubleshooting Flow ..................................................................................... 8-1

8.2 Error Codes ..................................................................................................... 8-2

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

9.1 Pulse Output ................................................................................................... 9-1

9.2 External Contact Input .................................................................................... 9-2

9.3 Encoder Z-phase Input ................................................................................... 9-3

9.4 Deviation Pulse Clear Signal Output.............................................................. 9-4

10. Examples of Connections to Servo Drivers......................................... 10-1

10.1 Example of Connection to Oriental Motor Driver ........................................ 10-2

10.2 Example of Connection to YASKAWA Electric ∑II-Series Driver ................ 10-3

10.3 Example of Connection to Sanyo Denki PZ Series Driver ......................... 10-4

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

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

1. Overview

Models F3YP04-0N-and F3YP08-0N are advanced positioning modules (hereinafter referred to as the modules or positioning modules) used to control servo drivers and thereby the speed and position of pulse-driven motors. Driven by commands from the CPU module of the FA-M3 controller, the positioning module generates paths for positioning and outputs positioning command values in the form of pulse trains.

One module alone can control different types of motors/drivers. It can control up to 4 (the F3YP04-0N module) or up to 8 (the F3YP08-0N module) pulse motors or servo motors. When in use, the positioning modules are attached to the base module of an FA-M3 controller.

Features

- Compared with the original positioning module, which allows up to 2 controlled axes per slot, this module allows up to 8 controlled axes from one slot.

- With a short startup time (6 ms maximum), it can come into action quickly and operate in synchronization with peripheral equipment.

1-1

High-end CPU module

Positioning module

Path

generation

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

Pulse

Output

Counter

Servo driver

Position

controller

Counter

Speed

detector

Speed

controller

Motor

Encoder

F0101.EPS

WARNING

In order to ensure safety if the positioning module or servo driver fails or if any of the signal lines is disconnected, be SURE to take necessary safety measures in your system design. Such measures should include automatically shutting down the power to a motor if the motor runs in excess of the specified normal operating limits. An external emergency stop circuit should be built in to shut down the power to the motor and to stop it immediately if the motor operates in an unexpected manner due to machine fault or misoperation.

CAUTION

When controlling a servo motor with the positioning module, choose a position-control servo driver. Velocity-control and torque-control servo drivers do not meet this application.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

Blank Page

2. Specifications

2.1 General Specifications

2-1

Item

Number of controlled axes

Number of axes controlled simultaneously

Pulse output method

Maximum velocity

Acceleration/deceleration method

Acceleration/deceleration time

Command pulse range

Command velocity

Origin position search method

Origin position search velocity

External contact input

External contact output

Data backup

Startup time

Current consumption

External power supply

External wiring

External dimensions

Weight

Note: Not including protrusions (see the external dimension diagram for more details).

F3YP04-0N Module F3YP08-0N Module

RS422A-conformed differential output Clockwise/counterclockwise rotation pulse output for each axis

250,000 pps

Automatic-trapezoidal acceleration/deceleration User-definable for start-up speed

0 to 32767 ms (separate for acceleration/deceleration)

–134,217,728 to 134,217,727

0.1 to 250,000 pps

User-definable using a combination of external contact inputs

User-definable using a command speed range

Positive direction limit input, negative direction limit input, origin position input, Z-phase input

Deviation pulse clear signal

By CPU module

6 ms max.

300 mA 350 mA

5 V DC ±5%, 350 mA 5 V DC ±5%, 700 mA

48-pin connector (one unit) 48-pin connector (two units)

28.9 (W) × 100 (H) × 83.2 (D) (mm)

110 g 130 g

Specifications

(Note)

TC0201.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

2.2 Operating Environment

There are no restrictions on the CPU modules with which the positioning modules can be used.

2.3 Model and Suffix Codes

Model Suffix Code Style Code Option Code Remarks

F3YP04 -0N . . . . . . 4-axis, multi-channel pulse output

F3YP08 -0N . . . . . . 8-axis, multi-channel pulse output

2-2

Maximum 250,000 pps

TC0203.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

2.4 Components and Functions

● F3YYP04-0N (4-axis module)

2-3

YP04-0N

RDY

ERR

POSIT

RDY indicator:

Lit when the internal circuitry is functioning normally.

ERR indicator:

Lit if an error occurs. For details, refer to Section 8.2, “Error Codes.”

Connector for axes 1 to 4 (48P)

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

● F3YP08-0N modules (8-axis module)

YP08-0N

RDY

ERR

POSIT

RDY indicator:

Lit when the internal circuitry is functioning normally.

ERR indicator:

Lit if an error occurs. For details, refer to Section 8.2, “Error Codes.”

Connector for axes 1 to 4 (48P)

Connector for axes 5 to 8 (48P)

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

FC0204.EPS

Even though the ERR LED lights up, normal axes other than the error axis can still be operated.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

2.5 External Dimensions

2-4

Unit: mm

83.2 28.9

External Dimension Diagram for F3YP04-0N Module

1.3 2

100

FC0205.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

2.6 Terminal Assignments and Connections

2-5

RDY

ERR

YP04-0N

24b Axis 4 Z-phase – 24a Axis 2 Z-phase input –

23b Axis 4 Z-phase input + 23a Axis 2 Z-phase input +

22b Axis 4 clockwise pulse + 22a Axis 2 clockwise pulse +

21b Axis 4 clockwise pulse – 21a Axis 2 clockwise pulse –

20b Axis 4

19b Axis 4

18b Axis 4 deviation pulse clear 18a Axis 2 deviation pulse clear

17b Axis 4

16b Axis 3 Z-phase input – 16a Axis 1 Z-phase input –

15b Axis 3 Z-phase input + 15a Axis 1 Z-phase input +

14b Axis 3 clockwise pulse + 14a Axis 1 clockwise pulse +

13b Axis 3 clockwise pulse – 13a Axis 1 clockwise pulse –

12b Axis 3

11b Axis 3

10b Axis 3 deviation pulse clear 10a Axis 1 deviation pulse clear

9b Axis 3

8b External power 5Vin 8a External power 5Vin (GND)

7b Axis 4 origin input 7a Bi-axis origin input

6b Axis 4

5b Axis 4

4b Axis 3 origin input 4a Axis 1 origin input

3b Axis 3

2b Axis 3

1b Contact input common 1a Contact input common

counterclockwise pulse +

counterclockwise pulse –

deviation pulse clear (GND)

counterclockwise pulse +

counterclockwise pulse –

deviation pulse clear (GND)

positive-direction limit input

negative-direction limit input

positive-direction limit input

negative-direction limit input

20a Axis 2

19a Axis 2

17a Axis 2

12a Axis 1

11a Axis 1

9a Axis 1

6a Axis 2

5a Axis 2

3a Axis 1

2a Axis 1

POSIT

counterclockwise pulse +

counterclockwise pulse –

deviation pulse clear (GND)

counterclockwise pulse +

counterclockwise pulse –

deviation pulse clear (GND)

positive-direction limit input

negative-direction limit input

positive-direction limit input

negative-direction limit input

RDY

ERR

YP08-0N

POSIT

24b Axis 8 Z-phase input – 24a Axis 5 Z-phase input –

23b Axis 8 Z-phase input + 23a Axis 5 Z-phase input +

22b Axis 8 clockwise pulse + 22a Axis 5 clockwise pulse +

21b Axis 8 clockwise pulse – 21a Axis 5 clockwise pulse –

20b Axis 8

19b Axis 8

18b Axis 8 deviation pulse 18a Axis 6 deviation pulse clear

17b Axis 8

16b Axis 7 Z-phase input – 16a Axis 5 Z-phase input –

15b Axis 7 Z-phase input + 15a Axis 5 Z-phase input +

14b Axis 7 clockwise pulse + 14a Axis 5 clockwise pulse +

13b Axis 7 clockwise pulse – 13a Axis 5 clockwise pulse –

12b Axis 7

11b Axis 7

10b Axis 7 deviation pulse clear 10a Axis 5 deviation pulse clear

9b Axis 7

8b External power 5Vin 8a External power 5 Vin (GND)

7b Axis 8 origin input 7a Axis 6 origin input

6b Axis 8

5b Axis 8

4b Axis 7 origin input 4a Axis 5 origin input

3b Axis 7

2b Axis 7

1b Contact input common 1a Contact input common

counterclockwise pulse +

counterclockwise pulse –

deviation pulse clear (GND)

counterclockwise pulse +

counterclockwise pulse –

deviation pulse clear (GND)

positive-direction limit input

negative-direction limit input

positive-direction limit input

negative-direction limit input

20a Axis 5

19a Axis 5

17a Axis 6

12a Axis 5

11a Axis 5

9a Axis 5

6a Axis 6

5a Axis 6

3a Axis 5

2a Axis 5

counterclockwise pulse +

counterclockwise pulse –

deviation pulse clear (GND)

counterclockwise pulse +

counterclockwise pulse –

deviation pulse clear (GND)

positive-direction limit input

negative-direction limit input

positive-direction limit input

negative-direction limit input

FC0206_1.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

2-6

External power 5Vin

External power 5Vin (GND)

Clockwise pulse –

Clockwise pulse +

Counterclockwise pulse –

Counterclockwise pulse +

Deviation pulse clear

Deviation pulse clear (GND)

Z-phase input –

Z-phase input +

Origin input

Positive-direction limit input

Negative-direction limit input

Contact input common

5 V DC

–

24 V DC

FC0206_2.EPS

Contact input common and the external power supply 5Vin/GND are common to all axes (they are connected through the internal circuitry even between different connector terminals). Other signals are independent for each axis.

CAUTION

Be sure to connect the external power supply (5 V DC) with the correct polarity. The internal circuitry may be damaged if it is connected incorrectly.

For details on the external connection signals, please refer to Chapter 9, “External Connection Signals.”

2.7 Applicable External Interface Connectors

Connection Applicable Connector Remarks

Soldered FCN-361J048-AU connector

FCN-360C048-B connector cover (Fujitsu Limited)

Crimp-on FCN-363J048 housing

FCN-363J-AU contacts FCN-360C048-B connector cover (Fujitsu Limited)

Pressure-welded FCN-367J048-AU/F connector (Fujitsu Limited)

Purchase the desired connector kit separately.

TC0207.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

3. Function Overview

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

Table 3. Major Functions

Function Description Positioning operation Carries out normal positioning.

Jog stepping Allows a motor to be rotated manually, for example, during position

teaching.

Contact input Inputs external contact signals such as a limit-switch signal or an

ORIGIN input signal.

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

Origin-search operation Searches for the origin using an external contact input.

Deviation pulse clear signal Outputs a deviation pulse clear signal when an origin position search

is completed.

Linear-interpolated operation Carries out a multi-axial linear-interpolated operation.

3-1

T0301.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

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,

- Set the command code to 0,

- change the state of the output relay defined as “Execute Command” from off to on.

When the positioning operation is completed, the input relay defined as “End of Positioning” turns on. The trace of the acceleration/deceleration curve is trapezoidal, and the acceleration/deceleration times are set separately.

3-2

Velocity

Acceleration time

Velocity

Tr av e l

Target velocity

Deceleration time

Time

Tr av e l

Acceleration time

Deceleration time

Target velocity

Actual velocity reached

Time

Actual acceleration/deceration times

F0301.EPS

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

Position

Position-command pulse count

End of positioning

Delay before target position is reached

Motor position

Time

F0302.EPS

Figure 3.2 Comparison Between the Theoretical and Actual Behaviors of a Servo Motor in

Position Control

Velocity

Target velocity

Starting velocity

Time

Acceleration time Deceleration time

F0303.EPS

Figure 3.3 Acceleration/Deceleration Times Where Starting Velocity Is Set

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

3.2 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 labeled “Positive-direction jog stepping” or “Nega- tive-direction jog stepping” from off to on.

To quit the jog-stepping operation, turn the output relay off.

During jog stepping, errors in the positive-direction limit value or negative-direction limit value are not detected. (No error occurs).

Velocity

Start

Positive-direction

og stepping

Figure 3.4 Jog-stepping Operation (Positive Direction)

3-3

End

Time

F0304.EPS

3.3 Contact Inputs

The positioning module has three external contact inputs defined as “POSITIVEDIRECTION LIMIT,” “NEGATIVE-DIRECTION LIMIT,” and “ORIGIN” for each axis.

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.

3.4 Z-phase Encoder Input

For improved repeatability in origin searches, you can use Z-phase encoder input. You can read the state of the encoder input the same way you read the states of a contact input.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

3.5 Origin Search

To start an origin search:

- first write the velocity set point, the direction of the origin search, the origin search mode (operation on detecting an external contact input), Z-phase edge selection, and other necessary parameters,

- set the command code to 2,

- change the state of the output relay defined as “Execute Command” from off to on

If the positioning module detects a change in the state of a preset external contact input after the start of the origin search operation, the module either stops the motor or checks the Z-phase, depending on the setting of the origin search mode.

When checking the Z-phase, once the module detects the preset Z-phase pulse count, it immediately stops the motor. The position where the motor stops is defined as the origin (position “0”). At that point, it outputs the deviation pulse clear signal according to the time specified in the deviation pulse clear time parameter. When the Z-phase pulse count is set to 0, it does not output a deviation pulse clear signal.

There is an application where an origin search is carried out at two different speeds or a change is made to the direction of rotation while checking for an external contact input during the origin search. In such a case, split the origin search process into several cycles while varying the parameters for each cycle, and then do the search. This strategy enables you to customize your origin-search operation to follow your desired search patterns.

3-4

Please refer to the following page for information on the origin search mode.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

■ Details on Origin Search Mode

Sets the operation of each contact input when an edge is detected using bit combinations.

Four 2-bit combinations can be set for each rising/falling edge of an external contact input.

Bits 12 to 15 are fixed at 0.

If all bits are 0, it shifts to a Z-phase search after the start of the origin search.

3-5

Ignore (error and stop at the rising edge of the limit input in the direction of operation)

Shift to Z-phase

Decelerate and stop

Immediate stop

0000

Fall in origin input

Rise in origin input

Fall in positive-direction limit input

Rise in positive-direction limit input

For rise in contact input

When “ignore” is specified

NU0NU1

ND0ND1

PU0PU1

Fall in negative-direction limit input

Rise in negative-direction limit input

PD0PD1

OU0OU1

0123456789101112131415

OD0OD1

When a “Z-phase search” is specified

When the “decelerate and stop” is specified

When “stop immediately” is specified

Figure 3.5 Origin Search Operation

Stop when Z-phase is detected

F0305.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

3.6 Deviation Pulse Clear Signal Output

In an origin search using a servo driver, this outputs a deviation pulse clear signal at the end of the origin search to the servo driver. It is connected to the deviation pulse clear signal input of the servo driver.

The time period to output the deviation pulse clear signal is set in a parameter.

When the Z-phase pulse count is set to 0, a deviation pulse clear signal is not output.

3.7 Linear-Interpolated Operation

To carry out a linear-interpolated operation:

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

- Set the command code to “0,”

- change the state of the output relay defined as “Execute Command” from off to on for all axes simultaneously. When the positioning operation for each axis is completed, the input relay defined as “End of Positioning” for each axis turns on.

In this operation, set the same acceleration and deceleration times to all axes concerned. Calculate and set the ratio between the target velocities of the two axes so that it equals the ratio between the travels of the two axes.

3-6

Velocity

Acceleration time

Figure 3.6 Multi-axial Linear-interpolated Operation (Example of Biaxial Application)

X-axis travel

Y-axis travel

Y-axis

X-axis target velocity

Y-axis target velocity

Y-axis travel

Time

Deceleration time

X-axis

X-axis travel

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4. Parameters

4.1 Parameters

Among the parameters listed in Tables 4.2 and 4.3, the ones with two data position numbers are 2 word data. The data item 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 three-digit numbers and the leading * symbol is the value of (axis number - 1). The values from the first axis to the eighth axis are 0 to 7 respectively.

Data position numbers each correspond to a word. The WRITE and READ instructions used to access from a sequence program must be on a word-basis. Long-word-based instructions cause unexpected results. You should also use word-based instructions when you access from BASIC programs.

In speed-related data, data whose setting units are [(1/65536) pulses/ms] are fixed point data with 1-word integers (16 bits) and 1-word fractions (16 bits). The data item with the smaller number is the low-order word, and the one with the larger number is the high-order word.

4-1

■ Fixed-point data

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

Table 4.1

Bit 31(MSB) 30 ... 17 16 15 14 ... 1 0(LSB)

Value sign bit 16384 ... 2 1 1/2 1/4 ... 1/32768 1/65536

(Example of fixed point data)

When setting 123.45 [pulse/s] (=123450 [pulses/s]),

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

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

High-order word Low-order word

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4-2

(Reference)

Example of a sequence program which converts data in [pulses/s] into data to be set for a positioning module ([(1/65536) pulses/ms])

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 250000 (250000 pps) and it is positive, the maximum value of the result is 250 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 which is 16 bits long) of the value ([(1/65536) pulses/ms]) to be set in the positioning module.

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) Multiply the remainder by 65536 and divide it again by 1000. A useful trick here is this:

the remainder is in D0013 and D0012 is 0; thus, if D0012 is treated as long-word data, its value is already the result of multiplying of the remainder by 65536. Therefore, in order to divide the result of multiplying the remainder by 65536 by 1000, it is only necessary to divide D0012 by 1000 (long-word division). Put the result of this division into D0021.

D0012 (long word) is 999*65536 at most; dividing by 1000 is 65470 at most and the high-order word (D0022) always becomes 0. Thus, D0021 is a low-order word (the fraction of 16 bits) of data [(1/65536) pulses/ms] to be set in the positioning module and the remainder is truncated.

(3) Combine the results of D0011 and D0021 into long-word data ([(1/65536) pulses/ms]).

To do this, it is only necessary to do long-word division twice and transfer the resulting high-order and low-order words to D0032 and D0031, respectively. D0011-D0014 and D0021-D0024 are work areas.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

(1) Long-word division

D0011 = D0001 ÷ 1000

FC0401_1.EPS

Computation results

D0014 D0013 D0012 D0011

Remainder

High-order of set data

(2) Long-word division

D0021 = D0012 ÷ 1000

FC0401_2.EPS

Computation results

D0024 D0023 D0022 D0021

Remainder

Low-order of set data

(3) Data transfer

4-3

TC0401_1.EPS

TC0401_2.EPS

MOV D0011 D0032

MOV D0021 D0031

FC0401_3.EPS

Computation results

D0032

High-order set data

D0031

Low-order set data

TC0401_3.EPS

In the case of 123450 [pulses/s]

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

D0014 D0013 D0012 D0011

0 450

0 123

29491200 (= 450 × 65536)

TC0401_4.EPS

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

D0014 D0013 D0012 D0011

0 200 0 29491

TC0401_5.EPS

From the results, the high-order word of the long-word data ([(1/65536) pulses/ms]) to be set in the positioning module is 123, and the low-order word is 29491.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

4.1.1 Entry 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. Be sure to set all the parameters.

When the power supply is cut off, entry parameters are cleared and it is necessary to set the parameters again.

Table 4.2 Entry parameters

4-4

Data Position

Number

01 Contact Input Polarity 0 to 7

02/*03 Positive-direction Limit Value –134217728 to 134217727 [pulses]

04/*05 Negative-direction Limit Value –134217728 to positive-direction limit value-1 [pulses]

is the value of (axis number - 1). The values from the first axis to the eighth axis are 0 to 7 respectively.

Parameter Range of values

4.1.2 Command Parameters

These are parameters to be set when executing a command. It is necessary to write all the required parameters when executing a command.

Table 4.3 Command Parameters

Data Position

Number

11 Command Code 0 to 5

12 Target Position Mode 0: absolute position; 1: relative position

13/*14 Target Position Negative-direction limit value to positive-direction

15/*16 Target Velocity 1 to 16384000 [(1/65536) pulses/ms]

17 Acceleration Time 0 to 32767 [ms]

18 Deceleration Time 0 to 32767 [ms]

19/*20 Start Up Velocity 0 to set velocity [(1/65536) pulses/ms]

21 Origin Search Mode 0 to 4095

22 Origin Search Direction 0: Negative Direction; 1: Positive Direction

23 Z-phase Edge Selection 0: OFF→ON edge; 1: ON→OFF edge

24 Z-phase Search Count 0 to 32767 [times]

25/*26 Z-phase Search Range 0 to 134217727/Z-phase search count [pulses]

27 Deviation Pulse Clear Time 0 to 32767 [ms]

is the value of (axis number - 1). The values from the first axis to the eight axis are 0 to 7 respectively.

Parameter Range of values

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limit value [pulse]

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4-5

●

4.2 Parameters Required 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 table below shows the required parameters for each command.

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

Table 4.4 Parameters Required for Each Command

Command (output relay)

Positivedirection

Jog

Data Position Number

11 Command code ●●— ●●— ●

12 Target position mode ● —— ————

13/*14 Target position ● —— ● ———

15/*16 Target velocity ●●●————

17 Acceleration time ●●●————

18 Deceleration time ●●●————

19/*20 Starting velocity ●●●————

21 Origin search mode — ● —————

22 Origin search direction — ● — ————

23 Z-phase edge selection —

24 Z-phase search count —

25/*26 Z-phase search range —

Parameter

Deviation pluse clear time

is the value of (axis number - 1). The values from the first axis to the eighth axis are 0 to 7 respectively.

● : Required parameters.

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

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

Start

Positioning

Command

—

Origin

Command

Stepping

Command

Negative-

direction

Jog

Stepping

Command

—————

Set

Current

Position

Command

Decelerate

& Step

Command

Stop

Immediately

Command

Error

Reset

Command

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4.3 Descriptions of Parameters

4.3.1 Entry Parameters

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

Table 4.5 Entry parameters

Parameter

Type

(Data Position

Number)

What the set

parameter does

Data Range Remarks

4-6

Contact input polarity (

01)

Positivedirection limit value (

02/*03)

Negativedirection limit value (

04/*05)

Defines the logic of the external contact input.

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

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

Specified for each contact input as a bit. “0” indicates an

“a” contact and “1” indicates a “b” contact.

Bit 0: Negative-direction limit

input

Bit 1: Positive-direction limit

input

Bit 2: Origin position input

–134217728 to 134217727 [pulses]

–134217728 to Positivedirection limit value-1 [pulses]

An “a” contact input is an input which is effective when a signal input exists, and a “b” contact input is an input which is effective without a signal input . For example, a “limit input of ‘b’ contact” detects the limit when there is no signal input, but does not detect the limit when a signal input exists.

If an origin search is not executed, then the position at the moment when the main switch is turned on is defined as the origin. If you start the system after setting a target position beyond this range, an error results and the motor does not start. Detection of the limit values is not performed during an origin search or jog stepping. (An error does not occur.)

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4.3.2 Command Parameters

Table 4.6 Command Parameters

Parameter

Type

(Data Position

Number)

What the set

parameter does

4-7

Data Range Remarks

Command Code (

11)

Target Position Mode (

12)

Target Position (

13/*14)

Target Velocity (

15/*16)

Acceleration Time (

17)

Deceleration Time (

18)

Starting Velocity (

19/*20)

Sets the command type for the command execution using the Execute Command Relay.

Sets the types of Target positions

Sets the target position for the positioning operation, or the current position.

Sets the operation velocity in position control, origin position search and jog stepping.

Sets the time it takes to reach the target velocity from the Starting velocity.

Sets the time from the target velocity to Decelerate and Stop.

This is the starting velocity of the operation at the start of the positioning operation and the velocity just before stopping at the end of Positioning.

0: Start Positioning command 1: Decelerate-and-Stop

command 2: Origin Search command 3: Set Parameter command 4: Set Current Position

command 5: Error Reset command

0:Absolute position, 1:Relative position

Negative-direction limit value to Positive-direction limit value [pulse]

1 to 16384000 [(1/65536) pulses/ms]

0 to 32767 [ms]

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

If the value of the target velocity specified is smaller than the Starting velocity, an error occurs.

When using a pulse motor and accelerating from the velocity [0], resonance may occur resulting in out of phase at the low velocity portion during acceleration. (The situation is the same for deceleration). Set a velocity faster than the resonance point to prevent this from happening. However, you should take note that too large a setting may cause the moter to be out of phase at startup or stop because of impact. When using a servo motor, it is normally set to [0].

Origin-search Mode (

21)

Origin-search Direction (

22)

Sets the motion of the motor for each contact input after detecting the edges of each contact input during an origin search using bit patterns.

Sets the motor rotation direction during an origin search.

0 to 4095

0: Negative -direction, 1: Positive-direction

For details, refer to Section 3.5, “Originsearch Operation.”

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Parameter

Type

(Data Position

Number)

What the set

parameter does

4-8

Data Range Remarks

Z-phase Edge Selection (

23)

Z-phase Search Count (

24)

Z-phase Search Range (

25/*26)

Deviation Pulse Clear Time (

27)

Sets the Z-phase edge direction when detecting the Z-phase during an origin search.

Sets the number of Zphase pulses to be counted during origin search fefore an origin can be established.

Error occurs if a Z-phase cannot be detected even after the search exceeds the Z-phase search range.

Sets the output time of the deviation pulse clear signal when the origin search ends because of a Z-phase detection.

0: OFF→ON edge 1: ON→OFF edge

0 to 32767 [times]

0 to 134217727/Z-phase search count [pulses]

0 to 32767 [ms]

This parameter is used to prevent continued operation when a Z-phase cannot be detected because of a Z-phase signal disconnection, etc. Usually, this is set close to the number of pulses between two Z-phase pulses.

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4.4 Examples of Setting Entry Parameters

The following examples show the minimum settings of entry parameters for controlling the motor using the positioning module. The underlined values are set.

■ The motor used

Rated rotating speed: 3000 rpm

Encoder pulse count: 1 rotation: 8192 pulses

CAUTION

You can set/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 servo driver.

4-9

■ Mechanism

Direct shaft drive using ball screw

Ball screw pitch: 5 mm/rot

Operation Range: –500 mm to +1000 mm

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

Contact Input: Positive/Negative-direction limit input (“b” contact), origin (“a” contact)

■ Calculation of entry parameters

- Contact input polarity

Positive-direction limit value ( “b” contact), Negative-direction limit input ( “b” contact), Origin ( “a” contact) →

- Positive-direction limit value

1000 (mm) ÷ 5 (mm/rot) × 8192 (pulses/rot) =

- Negative-direction limit value

–500 (mm) ÷ 5 (mm/rot) × 8192 (pulses/rot) =

Negative-direction limit

$0003

1638400 (pulses)

–819200 (pulses)

Positive-direction limitOrigin Negative Positive

500 mm 1000 mm

Figure 4.1 Direct Shaft Drive Using Ball Screw

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5. Status

Statuses are the data which the CPU module reads from the positioning module. You can check the state of the positioning module using these statuses and input relays.

CAUTION

When the CPU module reads 2-word data from the positioning module, the high-order word/low-order word of 2-word data is not guaranteed to be concurrent due to a conflict between the reading timing of the CPU module and the data update period of the positioning module.

In reading from the sequence CPU, to ensure that the high-order word and low-order word of 2-word data are concurrent, use the READ command to read the data twice consecutively and verify that the data read are the same in both instances. In this situation, if the HRD command is used, data concurrency cannot be guaranteed even if you confirm that the data are the same.

In reading from the BASIC CPU, concurrency is not guaranteed because the time required to read 2-word data is longer than the data update period of the positioning module.

5-1

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

5.1 List of Status

In Table 5.1, the statuses listed with 2 data position numbers are 2-word data. The data item with the smaller number is the low-order word, and the one with the larger number is the high-order word.

5-2

The data position number consists of three digits, the leading

is the value of (axis num-

ber-1). Insert the values 0 to 7 for axes 1 to 8 respectively.

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

Use word-wise instructions also when accessing from a BASIC program.

Speed-related data, data with a setting unit [(1/65536) pulses/ms], are fixed-point data with a 1-word (16 bits) integer and a 1-word (16 bits) fraction. The data with the smaller number is the low-order word, and the one with the larger number is the high-order word. For more information on fixed-point data, refer to the description of fixed point data in Section 4.1, “Parameters.”

(Reference)

To convert data in [(1/65536) pulses/ms] units into data in [pulses/sec] units, multiply the data by 1000 in a long Operation Result word operation, ignore the lowest-order word and the highest-order word and use the second and the third words as long-word data.

(Example)

Let D0001 be long-word data in [(1/65536) pulses/ms] units. The operation is as follows.

D0011 = D0001

D0014 D0013 D0012 D0011

Resulting long word [pulses/ms] Truncated Portion

1000

FC0501.EPS

TC0501.EPS

Table 5.1 Statuses

Data Position

Number

51/*52 Target Position Status –134217728 to 134217727 [pulses]

53/*54 Current Position Status –134217728 to 134217727 [pulses]

55/*56 Current Velocity Status 0 to 16384000 [(1/65536) pulses/ms]

57 Contact Input Status States of contact inputs

58 Error Status Error information when an error occurs

59 Origin Search Status Status related to an origin search

is the value of (Axis number - 1). The values of axis1 to axis 8 are 0 to 7, respectively.

Status Range of values

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5.2 Description of Status

Table 5.2 Statuses

5-3

Data Position

Number

51/*52 Target Position Status

53/*54 Current Position

55/*56 Current Velocity

57 Contact Input Status Reads the state of the external contact input and the

58 Error Status Reads the error code when an error occurs. It is

[pulses]

Status [pulses]

Status [(1/65536) pulses/ms]

Status Data Contents

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

This represents the current position of the positioning module output. Therefore, it is not the actual motor position when the servomotor is used.

Reads the current velocity status, which is the current velocity of the output pulse of the positioning module. Therefore, it is not the actual velocity of the motor when the servomotor is used. Regardless of the direction of the motor’s rotation, the value is zero or positive.

encoder Z-phase input. The state of each contact is stored as 1 bit (0: off; 1: on). When a contact is specified as an “a” contact, it is represented by “1” if the contact is closed. When a contact is specified as a “b” contact, it is represented by “1” if the contact is opened. bit 0: negative-direction limit input bit 1: positive-direction limit input bit 2: origin input bit 3: encoder Z-phase input

meaningless if the relay labeled “Error Notification” is off. For details, refer to Section 8.2, “Error Codes.”

59 Origin Search Status Reads the status during an origin search and at the end of

is the value of (axis number - 1). The values of axis 1 to 8 are 0 to 7, respectively.

an origin search. 0: On power-up or when at normal end of the origin search 1: Stops when the input edge of “Stop immediately” or

“Decelerate and Stop” command setting is detected.

2: Stopped by a “Stop immediately” or “Decelerate and

Stop” command. 3: Stopped by an error 4: During a Z-phase search 5: Before a Z-phase search

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6. Input/Output Relays

The positioning module has 32 output relays and 32 input relays as the interface to the FA-M3 CPU module. For details on each input/output relay, refer to Chapter 7, “Accessing Modules.”

CAUTION

In the F3YP04-0N, NEVER set the output relays related to axes 5 to 8 (Y49 to Y64).

Further, input relays related to axes 5 to 8 (X17 to X32) are meaningless.

6.1 Output Relays

Table 6.1 Output Relays

6-1

Output

relay

number

Y33 Axis 1 Execute Command Y49 Axis 5 Execute Command

Y34 Axis 1 Stop Immediately Y50 Axis 5 Stop Immediately

Y35 Axis 1 Positive-direction Jog Stepping Y51 Axis 5 Positive-direction Jog Stepping

Y36 Axis 1 Negative-direction Jog Stepping Y52 Axis 5 Negative-direction Jog Stepping

Y37 Axis 2 Execute Command Y53 Axis 6 Execute Command

Y38 Axis 2 Stop Immediately Y54 Axis 6 Stop Immediately

Y39 Axis 2 Positive-direction Jog Stepping Y55 Axis 6 Positive-direction Jog Stepping

Y40 Axis 2 Negative-direction Jog Stepping Y56 Axis 6 Negative-direction Jog Stepping

Y41 Axis 3 Execute Command Y57 Axis 7 Execute Command

Y42 Axis 3 Stop Immediately Y58 Axis 7 Stop Immediately

Y43 Axis 3 Positive-direction Jog Stepping Y59 Axis 7 Positive-direction Jog Stepping

Y44 Axis 3 Negative-direction Jog Stepping Y60 Axis 7 Negative-direction Jog Stepping

Y45 Axis 4 Execute Command Y61 Axis 8 Execute Command

Y46 Axis 4 Stop Immediately Y62 Axis 8 Stop Immediately

Y47 Axis 4 Positive-direction Jog Stepping Y63 Axis 8 Positive-direction Jog Stepping

Y48 Axis 4 Negative-direction Jog Stepping Y64 Axis 8 Negative-direction Jog Stepping

(Note) Insert into the empty boxes above () the number of the FA-M3 slot where this module is installed.

Operation when ON

Output

relay

number

Operation when ON

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6.2 Input Relays

Table 6.2 Input Relays

6-2

Input relay

number

X01 Axis 1 Execute Command ACK X17 Axis 5 Execute Command ACK

X02 Axis 1 Stop Immediately ACK X18 Axis 5 Stop Immediately ACK

X03 Axis 1 Error Notification X19 Axis 5 Error Notification

X04 Axis 1 End of Positioning X20 Axis 5 End of Positioning

X05 Axis 2 Execute Command ACK X21 Axis 6 Execute Command ACK

X06 Axis 2 Stop Immediately ACK X22 Axis 6 Stop Immediately ACK

X07 Axis 2 Error Notification X23 Axis 6 Error Notification

X08 Axis 2 End of Positioning X24 Axis 6 End of Positioning

X09 Axis 3 Execute Command ACK X25 Axis 7 Execute Command ACK

X10 Axis 3 Stop Immediately ACK X26 Axis 7 Stop Immediately ACK

X11 Axis 3 Error Notification X27 Axis 7 Error Notification

X12 Axis 3 End of Positioning X28 Axis 7 End of Positioning

X13 Axis 4 Execute Command ACK X29 Axis 8 Execute Command ACK

X14 Axis 4 Stop Immediately ACK X30 Axis 8 Stop Immediately ACK

X15 Axis 4 Error Notification X31 Axis 8 Error Notification

X16 Axis 4 End of Positioning X32 Axis 8 End of Positioning

(Note) Insert into the empty boxes above () the number of the FA-M3 slot where this module is installed.

Operation when ON

Input relay

number

Operation when ON

T0602.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

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 the Sequence CPU

The following are the instructions to access from the sequence CPU with the ladder sequence program. The details for each instruction are explained in the “Sequence CPU Instruction Manual — Instructions” (IM34M6P12-03E).

■ Reading/Writing Parameters and Statuses

The instructions should be in word units. Long-word unit instructions cannot be used.

• Special Module Read Instruction (READ Instruction)

kDn1SLREAD

FC0701_1.EPS

SL: number of slot 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 units) to be read

• Special Module Write Instruction (WRITE Instruction)

kn2SLSWRITE

FC0701_2.EPS

S: device in which to store the write data

SL: number of slot 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)

kDn1SLHRD

FC0701_3.EPS

SL: number of slot where the module is installed

n1: first data position number for reading data

D: first device in which to store the read data

k: number of data (in word units) to be read

• Special Module High-Speed Write Instruction (HWR Instruction)

kn2SLSHWR

FC0701_4.EPS

S: device in which to store the write data

SL: number of slot where the module is installed

n2: first data position number for the write data

k: number of data (in word units) to be written

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.1.1 Reading the Module Status

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

Item to Note

- The status of the positioning module can be read at any time. Take care when reading the long-word data. Refer to Chapter 5, “Statuses.”

Program Example

In the example below, all of the statuses are read at the same time using a READ instruction.

● Major devices used

D0051/D0052 Read the target position status

D0053/D0054 Read the current position status

D0055/D0056 Read the current velocity status

D0057 Read the contact input status

D0058 Read the error status

D0059 Read the origin search status

D0121/D0122 Current Velocity [pulses/s]

D0131 to D0134 (Computation Work Area)

I00001 to I00016 Bit Data of Contact Input

7-2

TC070101.EPS

(0001)

(0002)

00001

(0003)

(0004)

(0005)

Module Status Reading Program

M0033

D0131 D0055

Figure 7.1 Module Status Reading Program

Status Read

D0051

Contact Input

MOV

D0057

D0132

I00001

1000

D0121

Expansion

Change Current Velocity

Pulses/s

F0701.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.1.2 Set Parameter

This sets the entry parameters.

Items to Note

- This command is accepted only if both of the following conditions are satisfied: (1) the positioning module is in the End of Positioning status and (2) no other commands are being executed. If these conditions are not satisfied, then the command will be ignored.

- An error cannot be reset with the Error Reset command if the error occurs with the Set Parameter command (error code 2uuu). Run the Set Parameter command again with proper data.

Procedure:

1) Write setting parameters and command codes on the positioning module with the WRITE command.

2) Set the Execute Command output relay.

3) Reset the Execute Command output relay after confirming that the Execute Command ACK input relay is set. If there is an entry parameter setting error, the Execute Command ACK input relay is not set, but the Error Notification input relay is set. In this case, reset the Execute Command output relay, and then go back and repeat from step 1.

7-3

4) Check that the Execute Command ACK is reset.

Program Example:

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

● Major devices used

D0001 Contact Input Polarity

D0002/D0003 Positive-direction Limit Value

D0004/D0005 Negative-direction Limit Value

Y00433 Execute Command (Output Relay)

X00433 Execute Command ACK (Input Relay)

I00099 Command Execution Prohibit Condition (set elsewhere)

I00101 Request to Execute Command

I00102 Request to Execute Command (Rising Edge)

I00103 Waiting for Command ACK

I00104 Executing Command

I00105 Forced Reset of Set Parameter

TC070102.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7-4

(0001)

(0002)

00001

(0003)

00003

(0004)

(0005)

(0006)

(0007)

(0008)

00015

(0009)

(0010)

00024

Parameter Setting Program

I00101

I00102 I00099

I00103 Y00433 X00401

I00105

I00104 I00103 X00401

Figure 7.2 Parameter Setting Program

DIFU

WRITE D0001 4 1 5

WRITE 43111

SET

RST

I00102

Y00433

I00103

I00104

Y00433

I00103

I00104

F0702.EPS

I00101

I00102

I00103

I00104

Y00433

X00401

F0703.EPS

Figure 7.3 Parameter Setting Program Time Chart

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.1.3 Error Reset

This resets the error status of the positioning module.

Item to Note:

- The positioning module ignores any commands other than the Error Reset command and Set Parameter command in an error status (i.e. the status where the Error Notification input relay is set). So be sure to execute the Error Reset command in an error status. However, if an error occurs because of an entry parameter setting error (error code 2) in the Set Parameter command, the error cannot be reset using the Error Reset command. Refer to Section 7.1.2, “Parameter.”

Procedures:

1) Write the command code on the positioning module with the WRITE instruction.

2) Set the Execute Command output relay.

3) Check that the Error Notification relay is reset. Then reset the Execute Command output relay.

7-5

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 remains until the completion of Error Reset.

● Major devices used

X00433 Execute Command (Output Relay)

Y00401 Execute Command ACK (Input Relay)

X00403 Error Notification (Input Relay)

I00111 Request to Reset Error (Manually Operated Signal)

I00112 Request to Reset Error (Rising Edge)

I00113 Request to Reset Error (Falling Edge)

D0201 Error Code Storage Device

TC070103.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7-6

(0001)

(0002)

00001

(0003)

(0004)

00006

(0005)

(0006)

(0007)

(0008)

(0009)

(0010)

(0011)

00022

Error Reset Program

I00111

I00112 X00403

I00114

Y00433 X00401

DIFU

DIFD I00113

READ 58 D0201 1

WRITE 45

RST

SET

RST

I00112

Y00434

Y00435

Y00436

Y00433

I00114

Y00433

(0012)

I00113

Figure 7.4 Error Reset Program

I00111

I00112

I00113

Y00433

X00401

X00403

Figure 7.5 Error Reset Program Time Chart

F0705.EPS

RST

I00114

F0704.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.1.4 Jog Stepping

When the Positive- (Negative-) direction Jog Stepping output relay is on, the motor rotates in the positive (negative) direction.

Items to Note:

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

- During jog stepping the Stop Immediately command is valid, while the Decelerateand-Stop command is ignored. Terminate jog stepping first when decelerate and stop is desired.

- During log stepping, even if the module is operating beyond the range of the “Positive(Negative-) direction limit value,” no error occurs.

Procedures:

1) Write the required parameters of the Jog Stepping command on the positioning module with the WRITE instruction and other commands.

7-7

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

3) When the Positive-direction (Negative-direction) Jog Stepping output relay is reset, the motor will decelerate and stop according to the parameters set when the jog stepping started. After that, the End-of-positioning input relay is set.

Program Example:

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

● Major devices used

D0215/D0216 Target Velocity

D0217 Acceleration Time

D0218 Deceleration Time

D0219/D0220 Start Up Velocity

Y00435 Positive-direction Jog Stepping (Output Relay)

X00403 Error Notification (Input Relay)

X00404 End of Positioning (Input Rely)

I00099 Command Execution Prohibit Condition (set elsewhere)

I00121 Positive Direction Jog Stepping Request

I00122 Positive Direction Jog Stepping Request (Rising Edge)

I00123 Positive Direction Jog Stepping Request (Falling Edge)

I00124 Executing Positive-direction Jog Stepping

TC070104.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7-8

(0001)

(0002)

00001

(0003)

(0004)

00006

(0005)

(0006)

(0007)

00014

(0008)

(0009)

(0010)

Jog Stepping Program

I00121

I00122 I00099

I00124 I00123 Y00435

Y00435 X00404

X00403

Figure 7.6 Jog Stepping Program

DIFU

DIFD I00123

WRITE 4D0215 15 6

SET

RST

I00122

Y00435

I00124

Y00435

I00124

Y00435

I00124

F0706.EPS

Motor Speed

I00121

I00122

I00123

I00124

Y00435

X00404

F0707.EPS

Figure 7.7 Jog Stepping Program Time Chart

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.1.5 Using Origin Search

This executes an origin search. There are three external contact inputs related to an origin search. The origin search mode specifies the action when each rising and falling edge of these three inputs (six in total) are detected during the origin-search using bit patterns. (2 bits for each edge, so 12 bits in total.)

In the example below, the condition of the search is as follows. The direction of the origin search is negative. (1) Stops immediately when the rising edge of the negative-direction limit is detected. (2) Decelerates and stops when the rising edge of the origin input is detected. (3) Shifts to a Z-phase search when the falling edge of the origin search is detected. In this case, the origin search mode is set as follows (“0C09” in sexadecimal). (For the origin search mode, refer to Section 3.5, “Origin Search.”)

0000 000000100111

7-9

Negative direction Limit input

Figure 7.8 Example of Origin Search Operation

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) it is

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

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

Negative direction

(1) (3) (2)

Origin input

Positive direction

F0708.EPS

not in an error state, (2) it is in the End-of-Positioning status, and (3) no other command is being executed. Otherwise, it is ignored.

search is stopped. Change the parameters and begin the origin search again after it ends if you want to continue the search in another direction or at a different speed.

- The limit input of the origin-search direction is set to be ignored but it is detected.

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

detected (causing an error regardless of the setting).

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

phase search range.

- If you want to change the setup values according to the status of the external contact input at the beginning of the origin search, read the state with the Contact Input Status and then execute the origin search.

- After shifting to a Z-phase search, even if the external contact input that sets the Stop Immediately and Decelerate and Stop operation is detected, the Z-search operation will continue. (This is different from an origin search in the F3NC11-0N and F3NC120N modules)

- During the origin search, even if the operation goes beyond the range defined by the Positive- (Negative-) direction limit values, an error does not occur.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

Procedures:

1) Write parameters and command codes required by the Origin-Search command on the positioning module with the WRITE instruction and other commands.

2) When the output relay defined as “Execute Command” is set, the “Execute Command ACK” input relay is set and operation starts. Operation continues until the specified external contact input is detected. If there is an error in the parameter, the ErrorNotification Input Relay will be set but not the Execute Command ACK Input Relay.

3) When Z-phase pulses are detected for the specified number of times after shifting to a Z-phase search (if this number is specified as ‘’0," then without shifting to a Z-phase), the current position is specified as “Position 0” and the operation stops immediately. After outputting the deviation pulse clear signal for a preset duration, the End of Positioning Input relay is set.

4) By referring to the origin search status, the cause of the end of an origin search can be determined. When the origin search status is “0,” the origin search has ended due to the detection of a Z-phase. For details on the origin search status, refer to Section 5.2, “Description of Statuses.”

Program Example:

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

7-10

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

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

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

● Major devices used

D0311 Command Code

D0312 to D0314 (unnecessary area)

D0315/D0316 Target Velocity

D0317 Acceleration Time

D0318 Deceleration Time

D0319/D0320 Start Up Velocity

D0321 Origin-search Mode

D0322 Origin-search Direction

D0323 Z-phase Edge Selection

D0324 Z-phase Search Count

D0325/D0326 Z-phase Search Range

D0327 Deviation Pulse Clear Time

D0359 Origin-Search Status

Y00433 Execute Command (Output Relay)

X00401 Execute Command ACK (Input Relay)

X00403 Error Notification (Input Relay)

X00404 End of Positioning (Input Relay)

I00099 Command Execution Prohibit Condition (set elsewhere)

I00131 Request to Search Origin

I00132 Request to Search Origin, Differentiate Up

I00133 Waiting for Command ACK

I00134 Executing Origin Search

TC070105.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7-11

(0001)

(0002)

00001

(0003)

00003

(0004)

(0005)

(0006)

(0007)

00013

(0008)

(0009)

00022

(0010)

Origin-search Program

I00131

I00132 I00099

I00133 Y00433 X00401

X00403

I00134 I00133 X00401 X00404

Figure 7.9 Origin-search Program

DIFU

WRITE D0311 4 11 17

SET Y00433

SET

RST

READ 4 59 D0359 1

I00132

I00133

I00134

Y00433

I00133

I00134

F0709.EPS

Motor Speed

Motor stops immediately at this position.

I00131

I00132

I00133

I00134

Y00433

X00401

X00404

Figure 7.10 Origin-search Program Time Chart

F0710.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.1.6 Set Current Position

This changes the current position of the axis during the End of Positioning.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) it is not in an error state, (2) it is in the End-of-Positioning status (3) no other commands are 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.

- When the motor is operating, you cannot set the current position. This command is ignored.

Procedures:

1) Write the new position and command code in the Positioning module using the WRITE instruction.

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

7-12

3) Reset the relay defined as “Execute Command” after confirming that the input relay defined as “Execute Command ACK” is set. If there is a parameter error, the input relay defined as “Error Notification” is set but the Execute Command ACK will not be set.

Program Example:

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

● Major devices used

D0411 Command code

D0412 (unnecessary area)

D0413/D0414 Target Position (new current position)

Y00433 Execute Command (Output relay)

X00401 Execute Command ACK (Input relay)

X00403 Error Notification (Input relay)

I00099 Command Execution Prohibit Condition (set elsewhere)

I00141 Request to Write Current Position

I00142 Request to Write Current Position (Differentiate Up)

I00143 Waiting for Command ACK

I00144 Executing Command

TC070106.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7-13

(0001)

(0002)

Current Position Setting Program

I00141

00001

(0003)

I00142 I00099

00003

(0004)

(0005)

(0006)

(0007)

I00143 Y00433 X00401

00013

(0008)

(0009)

I00144 I00143 X00401

X00403

00022

Figure 7.11 Current Position Setting Program

I00141

DIFU

I00142

WRITE D0411 4 11 4

SET Y00433

SET

RST

I00143

I00144

Y00433

I00143

I00144

F0711.EPS

I00142

I00143

I00144

Y00433

X00401

F0712.EPS

Figure 7.12 Current Position Setting Program Time Chart

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.1.7 Positioning Operation

This executes a positioning operation towards a preset target position.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) it is not in an error state, (2) it is in the End -of -Positioning status, (3) no other commands are being executed, If conditions are not satisfied, it is ignored.

- If an invalid value is set for a parameter, a parameter error results and the motor does not move.

Procedures:

1) Write the required parameters and command codes in the positioning module using the WRITE instruction.

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

3) The Execute Command ACK will be set and the motor starts operating. After confirming that the Execute Command ACK input relay is set, reset the Execute Command relay. (If there is a parameter error, the Execute Command ACK input relay is not set and the Error Notification input relay is set.).

7-14

4) The End of Positioning input relay is set when the output pulse count reaches the target position. In general, when using servomotors, there is some time lag between the stopping of the pulse output and the stopping of the motor after reaching the target position. Take note of this time lag.

Program Example:

This is a sample program of a positioning operation. All required parameters are set in advance in the data register.

● Major devices used

D0511 Command Code

D0512 Target Position Mode

D0513/D0514 Target Position

D0515/D0516 Target Velocity

D0517 Acceleration Time

D0518 Deceleration Time

D0519/D0520 Start Up Velocity

Y00433 Execute Command (Output Relay)

X00401 Execute Command ACK (Input Relay)

X00403 Error Notification

X00404 End-of-positioning (Input Relay)

I00099 Command Execution Prohibit Condition (set elsewhere)

I00151 Request to Start Positioning Operation Command

I00152 Request to Start Positioning Operation Command (Differentiate Up)

I00153 Waiting for Command ACK

I00154 Executing Positioning Operation

TC070107.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7-15

(0001)

(0002)

00001

(0003)

00003

(0004)

(0005)

(0006)

(0007)

00013

(0008)

(0009)

00022

Positioning Operation Program

I00151

I00152 I00099

I00153 Y00433 X00401

X00403

I00154 I00153 X00401 X00404

Figure 7.13 Positioning Operation Program

Motor Speed

DIFU

WRITE D0511 4 11 10

SET Y00433

SET

RST

I00152

I00153

I00154

Y00433

I00153

I00154

F0713.EPS

I00151

I00152

I00153

I00154

Y00433

X00401

X00404

F0714.EPS

Figure 7.14 Positioning Operation Program Time Chart

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.1.8 Request to Decelerate and Stop

Decelerates and stops the operating motor during the positioning operation, origin search, etc. The slope of deceleration during Decelerate and Stop is determined from the setup values at startup.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) it is not in an error state, (2) it is not during jog stepping, and (3) no other command is being executed (not waiting for Command ACK). Otherwise, it is ignored.

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

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

Procedures:

1) Write the command code on the positioning module with the WRITE instruction.

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

7-16

3) Reset the output relay defined as “Execute Command” after confirming that the output relay defined as “Execute Command ACK” is set. The motor starts decelerating when the Execute Command ACK is set.

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

Program Example:

This is a sample program for a request to decelerate and stop. All required parameters are set in advance in the data register.

● Major devices used

Y00433 Execute Command (Output Relay)

X00401 Execute Command ACK (Input Relay)

X00404 End of Positioning (Input Relay)

I00099 Command Execution Prohibit Condition (set elsewhere)

I00161 Request to Decelerate and Stop

I00162 Request to Decelerate and Stop (Rising Edge)

I00163 Waiting for Command ACK

I00164 Waiting for Decelerate and Stop

TC070108.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7-17

(0001)

(0002)

Request to Decelerate and Stop Program

I00161

00001

(0003)

00003

I00162 I00099

WRITE 1 4 11 1

(0004)

(0005)

(0006)

(0007)

I00163 Y00433 X00401

00013

(0008)

(0009)

I00163 X00401 X00404

I00164

00020

Figure 7.15 Request to Decelerate and Stop Program

Motor Speed

DIFU

I00162

SET Y00433

SET

RST

I00163

I00164

Y00433

I00163

I00164

F0715.EPS

I00161

I00162

I00163

I00164

Y00433

X00401

X00404

F0716.EPS

Figure 7.16 Request to Decelerate and Stop Program Time Chart

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.1.9 Request to Stop Immediately

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

Items to Note:

- This command is accepted only if the system is not in an error state. Otherwise, it is ignored.

- Be careful when stopping a motor operating at a high speed. The machine may experience a sudden impact because of the immediate stop.

- The Stop Immediately command is also accepted in the End-of-Positioning status. (The corresponding ACK is set.)

Procedures:

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

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

7-18

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

Program Example:

This is an example of a request to stop immediately.

● Devices used

Y00434 Request to Stop Immediately (Output Relay)

X00402 Stop Immediately ACK (Input Relay)

X00404 End of Positioning (Input Relay)

I00171 Request to Stop Immediately

I00172 Request to Stop Immediately (Rising Edge)

I00173 Waiting for Command ACK

I00174 Executing Command

TC070109.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7-19

(0001)

(0002)

00001

(0003)

00003

(0004)

(0005)

(0006)

00010

(0007)

(0008)

00017

Request to Stop Immediately Program

I00171

I00172

I00173 Y00434 X00402

I00174 I00173 X00402 X00404

Figure 7.17 Request to Stop Immediately Program

Motor Speed

I00171

DIFU

SET Y00434

SET I00173

SET

RST

I00172

I00174

Y00434

I00173

I00174

F0717.EPS

I00172

I00173

I00174

Y00434

X00402

X00404

F0718.EPS

Figure 7.18 Request to Stop Immediately Program Time Chart

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.2 Accessing from BASIC CPU

The following are the commands to access from the BASIC CPU.

For details of each command, refer to “Basic CPU Modules and YM-BASIC/FA Programming Language” (IM 34M6Q22-01E).

Function Statement Format Explanation

Module Use Declaration

Reading Parameters and Status

Writing Parameters OUTPUT SL,n NOFORMAT;I

Reading Input Relay *1STATUS SL,n;P

Writing Output Relay *2CONTROL SL,n;P,M

1: For input relays, data position number 101 is for axes 1 to 4 (X01 to X16), and 102 is for axes 5 to 8

(X17 to X32).

2: For output relays, data position number 101 is for axes 1 to 4 (Y33 to Y48), and 102 is for axes 5 to 8

(Y49 to Y64).

ASSIGN YP08=SL SL: Slot number

Enter SL,n NOFORMAT;I SL: Slot mumber n: Data position number I: Integer/integer array variable

name to store read data

SL: Slot number n: Data position number I: Integer/integer array variable

name to store writing data

SL: Slot number n: Data position number (101/102) P: Integer variable to store the

read data

SL: Slot number n: Data position number (101/102) P: Output data M: Mask pattern

7-20

Declares use of a module or CPU module.

Reads the parameter and status of the data position number (n) of the module installed in the slot (SL), and stores them in the variable (I).

Overwrites a parameter at the data position number (n) of the module installed in the slot (SL) with the value stored in the variable (I).

Reads the input relay of the module that is installed in the slot (SL), and stores it in the variable (P).

Overwrites the output relay of the module that is installed in the slot (SL) with the value stored in the variable (P). The mask pattern (M) allows overwriting to only the specified output relays.

TC0702.EPS

■ How To Handle 2-Word Data

It is necessary to convert data from long-word to 2-word integer data when parameters are written on the positioning module. It is also necessary to convert data to long-word data after reading the data as two integer variables when 2-word data are read from the positioning module.

LDAT : Long-word integer variable (before conversion)

IDD, IDU: Integer variable to store the data (after conversion)(lower/upper)

100 IDD = VAL (“$” + RIGHT$ (LHEX$ (LDAT),4))

110 IDU = VAL (“$” + LEFT$ (LHEX$ (LDAT), 4 ))

ISD, ISU: Integer variable to store the 2-word data read. (lower/upper)

LST : Long-word integer variable (after conversion)

100 LST = VAL ($HEX$ (ISU) + HEX$ (ISD))

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.2.1 Reading the Module Status

Explains how to read the status of the positioning module.

Items to Note:

- The status of the positioning module can be read at any time. Use the ENTER instruction to read.

- A 2-word data status, such as the current position or current speed, can be read by separating them into two integer variables.

- It is necessary to pay attention when reading long-word data. Refer to Chapter 5, “Statuses.”

Program Example

This example uses the ENTER instruction to read all the statuses.

Finally, 2-word data are converted into long-word data and the speed data are converted to [pulses/s].

100 ENTER SL, 51 NOFORMAT; I051

110 ENTER SL, 52 NOFORMAT; I052

120 ENTER SL, 53 NOFORMAT; I053

130 ENTER SL, 54 NOFORMAT; I054

140 ENTER SL, 55 NOFORMAT; I055

150 ENTER SL, 56 NOFORMAT; I056

160 ENTER SL, 57 NOFORMAT; I057

170 ENTER SL, 58 NOFORMAT; I058

180 ENTER SL, 59 NOFORMAT; I059

190 L051=VAL (“$”+HEX$(I052)+HEX$ (I051))

200 L053=VAL (“$”+HEX$(I054)+HEX$ (I053))

210 L055=VAL (“$”+HEX$(I056)+HEX$ (I055))

220 D055PPS=L055/65.536

7-21

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.2.2 Set Parameter

This sets the entry parameters.

Items to Note:

- This command is accepted only if both of the following conditions are satisfied: (1) it is in the End of Positioning status and (2) no other commands are being executed. If these conditions are not satisfied, then the command will be ignored.

- Errors cannot be reset with the 2Error Reset command if the error occurs with the Set Parameter command (error code 2 ). Run the Set Parameter command again with proper data.

Procedures:

1) Write parameters and command codes on the positioning module with the OUTPUT instruction.

2) Set the Execute Command output relay.

3) Reset the Execute Command output relay after confirming that the Execute Command ACK input relay is set. If there is any error in the entry parameters, the Execute Command ACK is not set, but the Error Notification input relay is set. In this case, reset the Execute Command output relay, and then go back and repeat from step 1.

7-22

4) Check that the Execute Command ACK input relay is reset.

Program Example:

In this example, parameters are set in advance in integer variables (I01 to I05, I11).

100 OUTPUT SL, 1 NOFORMAT ; I01

110 OUTPUT SL, 2 NOFORMAT ; I02 .

. .

140 OUTPUT SL, 5 NOFORMAT ; I05

150 OUTPUT SL, 11 NOFORMAT ; I11

200 CONTROL SL, 101 ; $ 0001, $ 0001

210 LOOP1@

220 STATUS SL, 101 ; P

230 IF BIT (P, 0) = 0 THEN LOOP1@

240 CONTROL SL, 101 ; $0000, $0001

250 LOOP2@

260 STATUS SL, 101 ; P

270 IF BIT (P, 0) = 1 THEN LOOP2@

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.2.3 Error Reset

This resets the error status of the positioning module.

Item to Note:

- The positioning module ignores any commands other than the Error Reset command and Set Parameter command in an error status (i.e. the status where the Error Notification input relay is set). So be sure to execute the Error Reset command in an error status. However, if an error occurs because of a parameter error in the Entry Set Parameter command (error code 2 ), the error cannot be reset using the Error Reset command. (Refer to Section 7.2.2, “Set Parameter.”)

Procedures:

1) Write the command code with the OUTPUT instruction on the positioning module.

2) Set the Execute Command output relay.

3) Check that the Error Notification relay is reset. Then reset the Execute Command output relay.

7-23

Program Example:

In this example, all output relays of the positioning module are reset at the time of the Error Reset operation. The error code retains its value even after the Error Reset. Parameters are set in advance in integer variables (I11).

100 STATUS SL, 101 ; P

110 IF BIT (P, 2) = 0 THEN EXIT@

120 ENTER SL, 58 NOFORMAT ; ERCODE

130 OUTPUT SL, 11 NOFORMAT; I11

140 CONTROL SL, 101 ; $0001, $000F

150 LOOP1@

160 STATUS SL, 101 ; P

170 IF BIT (P, 2) = 1 THEN LOOP1 @

180 CONTROL SL, 101 ; $0000, $000F

190 EXIT1@

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.2.4 Jog Stepping

When the Positive- (Negative-) direction Jog Stepping output relay is on, the motor rotates in the positive (negative) direction.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) it is not in an error state, (2) it is in the End-of-positioning status, and (3) no other command is being executed. 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 decelerate and stop is desired.

- During jog stepping, even if the motor is operating beyond the range defined by the “Positive- (Negative-) direction limit value,” it does not cause an error.

Procedures:

1) Write the required parameters of the Jog Stepping command with the OUTPUT instruction on the positioning module.

7-24

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

3) When the Positive-direction (Negative-direction) Jog Stepping output relay is reset, the motor will be decelerated and stopped according to the parameters set at the start of the jog stepping. Then the End-of-Positioning input relay is set.

Program Example:

This is a program example for Start Jog Stepping (JOGST@) and End-of Jog Stepping (JOGEND@) only for the positive direction. Required parameters are set in advance in integer variables (I15 to I20).

100 JOGST @

110 OUTPUT SL,15 NOFORMAT ; I15

120 OUTPUT SL,16 NOFORMAT ; I16 .

. .

160 OUTPUT SL,20 NOFORMAT ; I20

170 CONTROL SL, 101 ; $0004, $0004 .

. .

300 JOGEND@

310 CONTROL SL, 101 ; $0000, $0004

320 LOOP1@

330 STATUS SL, 101 ; P

340 IF BIT (P, 3) =0 THEN LOOP1@

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.2.5 Origin Search

This executes an origin search. There are three external contact inputs related to an origin search. The origin-search mode specifies the action when each rising and falling edge of these three inputs (six in total) are detected during the origin search using bit patterns (2 bits for each edge, so 12 bits in total).

In the example below, the condition of the search is as follows. The direction of the origin search 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. (3) Shift to a Z-phase search when the falling edge of the origin search is detected. In this case, the origin search mode is set as follows:

0000 000000100111

(“0C09” in hexadecimal)

(For origin search mode, refer to Section 3.5, “Origin Search.”

7-25

TC070205.EPS

Negative direction limit input

Figure 7.19 Example of Origin-search Operation

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) it

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

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

Negative direction

(1) (3) (2)

Origin input

Positive direction

F0719.EPS

is not in an error state, (2) it is in the End-of-Positioning status and (3) no other command is being executed. Otherwise, it is ignored.

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

- The limit input of the origin-search direction is set to be 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 an error regardless of the setting).

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

Z-phase search range.

- After shifting to the Z-phase search, even though a Stop Immediately or Decelerateand-Stop external contact input is detected, the Z-search operation will continue. (This is different from the origin search in the F3NC11-0N and F3NC12-0N Modules.)

- During the origin search, even if the motor is operating beyond the range defined by the “Positive (Negative) direction limit values,” it does not cause an error.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

Procedures:

1) Write parameters and the command codes required by the Origin search command on the positioning module with the OUTPUT instruction.

2) When the output relay defined as “Execute Command” is set, the “Execute Command ACK” input relay is set and operation starts. Operation continues until the specified external contact input is detected. When there is an error in the parameter, the ErrorNotification Input Relay will be set but not the Execute Command ACK Input Relay.

3) When Z-phase pulses are detected the specified number of times after shifting to the Z-phase search (if this number is specified as ‘’0," then without shifting to the Z- phase), the current position is specified as “Position 0” and the operation stops immediately. After outputting the deviation pulse clear signal for a preset duration, the End of Positioning Input relay is set.

4) By referring to the Origin Search Status, the cause of the End of Origin Search can be determined. When the Origin Search Status is “0,” the Origin Search has ended due to the detection of the Z-phase. For details on the Origin Search Status, refer to Section

5.2, “Description of Statuses.”

Program Example:

This program starts the origin search using the Request to Start Origin Search and ends it using the specified external contact input. If any error is detected during the search, the search mode is automatically reset. Required parameters are set in integer variables (I11, I15 to I27) beforehand.

7-26

100 OUTPUT SL,15 NOFORMAT; I15

110 OUTPUT SL,16 NOFORMAT; I16

220 OUTPUT SL,27 NOFORMAT; I27

230 OUTPUT SL,11 NOFORMAT; I11

240 CONTROL SL, 101 ; $0001, $0001

250 LOOP1@

260 STATUS SL, 101 ; P

270 IF BIT (P, 0) =0 THEN LOOP1@

280 CONTROL SL, 101; $0000, $0001

290 LOOP2@

300 STATUS SL, 101 ; P

310 IF BIT (P, 3) =0 THEN LOOP2@

320 ENTER SL, 59 NOFORMAT; ORGST

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.2.6 Set Current Position

This changes the current position of the axis in the End of Positioning status.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) it is not in an error state, (2) it is in the End-of-Positioning status and (3) no other commands are 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.

- When the motor is operating, you cannot set the current position. This command is ignored.

Procedures:

1) Write the new position and command codes in the positioning module using the OUTPUT instruction.

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

7-27

3) Reset the relay defined as “Execute Command” after confirming that the output relay defined as “Execute Command ACK” is set. If there is a parameter error, the input relay labeled “Error Notification” is set but the Execute Command ACK will not be set.

Program Example:

This is an example to write the current position. All required parameters are set in advance in integer variables (I11, I13 to I14)

100 OUTPUT SL, 13 NOFORMAT ; I13

110 OUTPUT SL, 14 NOFORMAT ; I14

120 OUTPUT SL, 11 NOFORMAT ; I11

130 CONTROL SL, 101 ; $0001, $0001

140 LOOP1@

150 STATUS SL, 101 ; P

160 IF BIT (P, 0) = 0 THEN LOOP1@

170 CONTROL SL, 101; $0000, $0001

180 LOOP2@

190 STATUS SL, 101; P

200 IF BIT (P, 0) =1 THEN LOOP2@

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.2.7 Positioning Operation

This executes a positioning operation towards a preset target position.

Items to Note:

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

- If an invalid value is set for a parameter, a parameter error results and the motor does not move.

Procedures:

1) Write the required parameters and command codes in the positioning module using the OUTPUT instruction.

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

7-28

Program Example:

This is a program example to perform a positioning operation. All required parameters are set in advance in integer variables (I11 to I20).

100 OUTPUT SL, 12 NOFORMAT ; I12

110 OUTPUT SL, 13 NOFORMAT ; I13

180 OUTPUT SL, 20 NOFORMAT ; I20

190 OUTPUT SL, 11 NOFORMAT ; I11

200 CONTROL SL, 101 ; $0001, $0001

210 LOOP1@

220 STATUS SL, 101 ; P

230 IF BIT (P, 0) = 0 THEN LOOP1@

240 CONTROL SL, 101 ; $0000, $0001

250 LOOP2@

260 STATUS SL, 101 ; P

270 IF BIT (P, 0) = 1 THEN LOOP2@

280 LOOP3@

290 STATUS SL, 101 ; P

300 IF BIT (P, 3) = 0 THEN LOOP3@

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.2.8 Request to Decelerate and Stop

Decelerates and stops the operating motor during the positioning operation, origin search, etc. The slope of deceleration during the decelerate-and-stop is determined from the setting at startup.

Items to Note:

- This command is accepted only if all of the following conditions are satisfied: (1) it is not in an error state, (2) it is not during jog stepping and (3) no other commands are being exeucted. Otherwise, it is ignored

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

- Accepts the Decelerate and Stop command even in the End-of-Positioning status. (The corresponding ACK is set.)

Procedures:

1) Write the command codes with the OUTPUT instruction on the positioning module.

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

7-29

3) Reset the output relay defined as “Execute Command” after confirming that the input relay defined as “Execute Command ACK” is set. The motor starts decelerating when the Decelerate and Stop ACK is set.

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

Program Example:

This is a program example for a request to decelerate and stop. All necessary parameters are set beforehand in integer variables (I11)

100 OUTPUT SL, 11 NOFORMAT; I11

110 CONTROL SL,101 ; $0001,$0001

120 LOOP1@

130 STATUS SL,101 ; P

140 IF BIT(P,0)=0 THEN LOOP1@

150 CONTROL SL,101 ; $0000,$0001

160 LOOP2@

170 STATUS SL,101 ; P

180 IF BIT(P,0)=1 THEN LOOP2@

190 LOOP3@

200 STATUS SL,101 ; P

210 IF BIT(P,3)=0 THEN LOOP3@

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

7.2.9 Request to Stop Immediately

Stops the operating motor immediately without deceleration during the manual positioning operation, origin search, etc.

Items to Note:

- This command is accepted only if the system is not in an error state. Otherwise, it is ignored.

- Be careful when stopping a motor operating at a high speed. A sudden impact might be impacted to the system because of the immediate stop in such cases.

- The Stop Immediately command is also accepted in the End-of-Positioning status. (The corresponding ACK is set.)

Procedures:

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

2) Reset the output relay defined as “Request to Stop Immediately” after confirming that the input relay defined as “Stop Immediately ACK” is set. Stops immediately when Stop Immediately ACK is set.

7-30

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

Program Example:

This is an example for a request to stop immediately.

100 CONTROL SL,101 ; $0002,$0002

110 LOOP1@

120 STATUS SL,101 ; P

130 IF BIT(P,1)=0 THEN LOOP1@

140 CONTROL SL,101 ; $0000,$0002

150 LOOP2@

160 STATUS SL,101 ; P

170 IF BIT(P,1)=1 THEN LOOP2@

180 LOOP3@

190 STATUS SL,101 ; P

200 IF BIT(P,3)=0 THEN LOOP3@

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

8. Errors and Troubleshooting

This is an explanation of troubleshooting on the positioning module. However, it assumes that power is supplied to the FA-M3 and the module is installed correctly.

8.1 Troubleshooting Flow

Error

8-1

Replace the module after checking

the extenal connections (especially

the external power supply 5 V) (refer to Section 2.6, “Terminal

Assignments and Connections”).

RDY LED

ON?

Does positive -

(negative-) direction jog

stepping result in forward

(reverse) pulse

output?

Reading of contact

input is normal?

For Jog Stepping, set the high-order word for the target velocity of data position number value of (axis number-1)) to 10, and set all the remaining parameters to 0. Disconnect the external wiring except the external power supply 5 V and keep the Jog Stepping relay on.

You can check the contact input status (data position number

57) for the state of the contact input.

16 (* is the

Application Program Operating normally?

ERR LED ON?

End

Check the error code. Remove

the cause of the error (refer to

Section 8.2, “Error Codes”).

Check the wiring and driver settings

(refer to Section 2.6, “Terminal

Assignments and Connections”).

FC0801.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

8.2 Error Codes

When an error occurs in any axis in the positioning module, the Error LED at the front of the module lights up to indicate that an error has occurred. The Error Notification input relay related to the axis in error is set. The error code status is also set. When the Error LED lights up, the axes other than the one in error can still operate. The errors detectable in the positioning module are listed in the table on the following pages. If an error occurs, check the error code and remove the cause of the error, and reset the error.

8-2

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

Table 8.1 Error Codes

8-3

Error

Code

11 Positive-direction limit

12 Negative-direction limit

41 Origin-search error Z-phase is not detected within the Z-phase

2001 Contact input polarity

2002 Positive-direction limit

2004 Negative-direction limit

1011 Command code setting

1012 Target position mode

1013 Target position setting

1015 Target velocity error Target velocity (1 to 16384000) is outside the

1017 Acceleration time setting

1018 Deceleration time set

1019 Startup speed setting

1021 Origin search mode

1022 Origin search direction

1023 Z-phase edge selection

1024 Z-phase search count

1025 Z-phase search range

1027 Deviation pulse clear time

Type of Error Cause of Error Rectification

An attempt was made to output a positive-

error

setting error

value setting error

error

setting error

error

setting error

direction pulse when the Positive-direction Limit input was on. Or the Positive-direction Limit input is turned on during the output of a positive-direction pulse.

An attempt was made to output a negativedirection pulse when the Negative-direction Limit input was on. Or the Negative-direction Limit input is turned on during the output of a negative-direction pulse.

search range (data position number after starting Z-phase search.

The contact input polarity (0 to 7) is outside the setting range.

Positive-direction limit value is outside the setting range. (–134217728 to 134217727)

Negative-direction Limit Value is outside the setting range. (–134217728 to Positive-direction Limit Value -1)

Command code (0 to 5) is outside the setting range.

Target position mode (0 to 1) is outside the setting range.

Target position (Negative-direction Limit Value to Positive-direction Limit Value) is outside the setting range.

setting range.

Acceleration time (0 to 32767) is outside the setting range.

Deceleration time (0 to 32767) is outside the setting range.

Startup speed (0 to target velocity) is outside the setting range.

Origin search mode (0 to 4095) is outside the setting range.

Origin search direction (0 to 1) is outside the setting range.

Z-phase edge selection (0 to 1) is outside the setting range.

Z-phase search count (0 to 32767) is outside the setting range.

Z-phase search range (0 to 134217727/Z-phase search count) is outside the setting range.

Deviation Pulse Clear Time (0 to 32767) is outside the setting range.

25/ *26)

Check the Limit Input contact input polarity setting (data position position and the operation direction of the limit switch. For the limit input status, you can refer to the contact input status (data position number

Set the Z-phase search range larger than the Z-phase output period value. It the error still occurs, check the Z-phase input. For the Z-phase input, you can refer to the contact input status (data position number

Set the value within the setting range.

01). Or, verify the

57).

T0801.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

Blank Page

9. External Contact Signals

Use a shielded cable for conforming equipment incorporating the positioning module to CE Marking. Remove part of the cable insulation to expose the shield, ground and secure the shield with an FG clamp.

Remove part of the

insulation and

Shielded

cable

Screw the clamp to the metal plate of the panel enclosure to ground it.

secure with an

FG clamp.

F3YP0-0N

F0901.EPS

9-1

9.1 Pulse Output

Outputs the position command pulse as a deviation signal conforming to RS422A standards. An external power supply (for the F3YP04-0N, 5 V DC ±5%, 350 mA; for the F3YP08-0N, 5 V DC ±5%, 700 mA) is required for position command pulse output.

Table 9.1 Signal Specifications

Item Specifications

Insulation method Photocoupler-isolated

Electrical specification Deviation signal conforming to RS422A standard

Maximum speed 250,000 pps

Table 9.2 Signal Polarity

Signal Off (Pulse Output Stopped) On

‘+’ signal Differential + (high level) Differential – (low level)

‘–’ signal Differential – (low level) Differential + (high level)

14a

13a

T0901.EPS

T0902.EPS

CW pulse

12a

CCW pulse

11a

5 V DC

Figure 9.1 Connection of the pulse outputs (line driver)

F0902.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

CAUTION

- Make sure that the polarity of the ‘+’ signal and ‘–’ signal during signal Off matches the specification of the target driver. If connected with the wrong polarity, the driver might not operate at all.

- Be very sure to check the polarity of the external power supply (5V DC). If connected with the wrong polarity, the internal circuitry of the positioning module might be damaged.

9.2 External Contact Input

These are 24 VDC inputs with a common terminal. The polarity of the common may be either positive or negative. It is insulated from the internal circuitry by a photocoupler.

Table 9.3 Signal Specifications

Item Specifications

Insulation method Photocoupler-isolated

Input impedance Approx. 7.4 kΩ

Rated input voltage (operating voltage range) 24 V DC (20.4 to 26.4 V DC)

Rated input current 3.1 mA

On voltage/current (for “a”-contact) 19.2 V DC or more/2.4 mA or more

Off voltage/current (for “a”-contact) 5.8 V DC or less /0.9 mA or less

Common method Shared common

Response Time 5 ms max.

9-2

T0903.EPS

24 V DC

Figure 9.2 Connection of the External Contact Inputs

F0903.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

9.3 Encoder Z-phase Input

This is the encoder Z-phase input. It is used only during an origin search. A differential signal according to RS422A standards can also be connected here.

Table 9.4 Signal Specifications

Item Specifications

Insulation method Photocoupler-isolated

Input impedance 240 Ω

Rated input voltage (operating voltage range) 5 V DC (4.25 to 5.5 V DC)

Rated input current 15.3 mA (at 5 V DC)

On input voltage/current (“a” contact) 3.5 V DC or more/9 mA or more

Off input voltage/current (“a” contact”) 1.5 V DC or less/2 mA or less

Common method No internal common connection

Response time 2 ms

15a

9-3

T0904.EPS

16a

F0904.EPS

Figure 9.3 Connection of the Encoder Z-phase Input

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

9.4 Deviation Pulse Clear Signal Output

When using a servo motor/driver, this signal output is used to clear the deviation pulse count of the servo driver when the orign search ends. It is insulated from the internal circuitry by a photocoupler.

Table 9.5 Signal Specifications

Item Specifications

Insulation Method Photocoupler-isolated

Rated load voltage 24 V DC

Maximum load current 100 mA/points

Off leakage current 0.1 mA max.

Ob residual voltage 1.5 V DC max.

Common method No internal common connection

10a

9-4

T0905.EPS

F0905.EPS

Figure 9.4 Deviation Pulse Clear Signal Output

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

10. Examples of Connections to Servo Drivers

This chapter presents examples of connections of the module to motor/drivers. Note that the figures indicate canonical connections. Other signals may also have to be connected for other purposes.

CAUTION

- Make sure that the polarity of the ‘+’ and ‘-’ signals during signal off matches the specification of the target driver. If connected with the wrong polarity, the driver may not operate.

- Always check the polarity of the external power supply (5 V DC). If connected with the wrong polarity, the internal circuitry of the positioning module may be damaged.

- To connect signal lines, use shielded cables and connect the shield to the FG terminal of the driver.

- Use a shielded cable for conforming equipment incorporating the position module to CE Marking. Remove part of the cable insulation to expose the shield, ground and secure the shield with an FG clamp.

10-1

Shielded

cable

Screw the clamp to the metal plate of the panel enclosure to ground it.

Remove part of the

insulation and

secure with an

FG clamp.

F3YP0-0N

F1001.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

10-2

10.1 Example of Connection to Oriental Motor Driver

Positioning module

Clockwise Pulse –

Clockwise Pulse +

Counterclockwise Pulse –

Counterclockwise Pulse +

Deviation Pulse Clear

Deviation Clear (GND)

External Power Supply 5Vin

External Power Supply 5Vin (GND)

Encoder Z-phase Input –

Encoder Z-phase Input +

Origin Input

Positive-direction Limit Input

Negative-direction Limit Input

13a

14a

11a

12a

10a

16a

15a

5 V DC

Origin Switch

Positive-direction Limit Switch

Negative-direction Limit Switch

Oriental Motor Driver

CW Pulse +

CW Pulse –

CCW Pulse +

CCW Pulse –

Contact Input Common

24 V DC

F1002.EPS

Figure10.1 Example of Connection to Oriental Motor Driver

CAUTION

Be very sure to check the polarity of the external power supply (5 V DC). If connected with the wrong polarity, the internal circuitry might be damaged.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

10.2 Example of Connection to YASKAWA Electric

∑II-Series Driver

10-3

Positioning module

Clockwise Pulse –

Clockwise Pulse +

Counterclockwise Pulse –

Counterclockwise Pulse +

Deviation Pulse Clear

Deviation Clear (GND)

External Power Supply 5Vin (GND)

External Power Supply 5Vin

Encoder Z-phase Input –

Encoder Z-phase Input +

Origin Input

Positive-direction Limit Input

Negative-direction Limit Input

13a

14a

11a

12a

10a

18a

15a

5 V DC

Origin Switch

Positive-direction Limit Switch

Negative-direction Limit Switch

YASKAWA Electric Servo Pack SGDN

CW Pulse

CCW Pulse

CLR

PCO

Contact Input Common

24 V DC

Figure 10.2 Example of Connection to YASKAWA Electric ∑II Series Driver

CAUTION

Be very sure to check the polarity of the external power supply (5 V DC). If connected with the wrong polarity, the internal circuitry might be damaged.

F1003.EPS

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

10.3 Example of Connection to Sanyo Denki PZ Series Driver

10-4

Positioning module

Clockwise Pulse –

Clockwise Pulse +

Counterclockwise Pulse –

Counterclockwise Pulse +

Encoder Z-phase Input –

Encoder Z-phase Input +

External Power Supply 5Vin (GND)

External Power Supply 5Vin

Deviation Pulse Clear

Deviation Clear (GND)

Origin Input

Positive-direction Limit Input

Negative-direction Limit Input

13a

14a

11a

12a

16a

15a

10a

5 V DC

Origin Switch

Positive-direction Limit Switch

Negative-direction Limit Switch

Sanyo Denki PZ Series Driver

Clockwise Pulse +

Clockwise Pulse –

Counterclockwise Pulse +

Counterclockwise Pulse –

C–

C+

Deviation Clear +

Deviation Clear –

Contact Input Common

24 V DC

F1004.EPS

Figure 10.3 Example of Connection to Sanyo Denki PZ Series Driver

CAUTION

Be very sure to check the polarity of the external power supply (5 V DC). If connected with the wrong polarity, the internal circuitry might be damaged.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

Revision Information

Document Name : Positioning Modules (with Multi-channel Pulse Output)

Document No. : IM 34M6H55-01E

Edition Date Revised Item

1st Feb, 1999 New publication

2nd July, 2001 Addition of explanations on support of CE Marking; Correction of typographical errors

3rd Apr, 2002 Cover, Appricable product, correction of typographical errors

Written by Product Marketing Department, IT Controller Center

Yokogawa Electric Corporation

Published by Yokogawa Electric Corporation

2-9-32 Nakacho, Musashino-shi, Tokyo 180-8750, JAPAN

Printed by Yokogawa Graphic Arts Co., Ltd.

IM 34M6H55-01E 3rd Edition : Apr 1, 2002-00

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YOKOGAWA F3YP04-0N, F3YP08-0N User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual