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

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

F0306.EPS

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

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

T0401.EPS

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

+ 59 hidden pages