YOKOGAWA F3YP14-0N, F3YP18-0N User Manual

User’s
Manual

IM 34M6H55-02E

Positioning Modules
(with Multi-channel Pulse Output)
Model: F3YP14-0N, F3YP18-0N

IM 34M6H55-02E

1st Edition

Yokogawa Electric Corporation

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IM 34M6H55-02E 1st Edition : Apr.1, 2002-00

Applicable Product

zzzz Range-free Multi-controller FA-M3

Model : F3YP14-0N, F3YP18-0N
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 34M6H55-02E

Document Model Code : DOCIM

Media No. IM 34M6H55-02E (CD) 1st Edition : Apr. 2002 (AR)
All Rights Reserved Copyright © 2001, Yokogawa Electric Corporation

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IM 34M6H55-02E 1st 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.

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.

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IM 34M6H55-02E 1st Edition : Apr.1, 2002-00

The following symbols are used only in the instruction manual.

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.

- 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 for this product or the system
controlled by it, the user should install them outside this product.

- If component parts or consumables are to be replaced, be sure to use parts
specified by the company.

- If you want to use this product in a system which directly affects or threatens human
lives and safety — such as nuclear power equipment, devices using radioactivity,
railway facilities, aviation facilities and medical equipment, please contact your
nearest Yokogawa Electric representative.

- 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.

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IM 34M6H55-02E 1st 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.

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IM 34M6H55-02E 1st Edition : Apr.1, 2002-00

 General Requirements for Using the FA-M3

zzzz

Avoid installing the FA-M3 in the following locations:

- Where the product will be exposed to direct sunlight, or where the operating
temperature exceeds the range 0°C to 55°C (32°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 product will be exposed to direct mechanical vibration or shock.

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

zzzz Use the correct types of wire for external wiring:

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

zzzz 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.

zzzz Securely lock connecting cables:

- Securely lock the connectors of cables, and check them thoroughly before turning
on the power.

zzzz 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).

zzzz Ground for low impedance:

- For safety reasons, connect the [FG] grounding terminal to a Japanese Industrial
Standards (JIS) Class D Ground

*1

(Japanese Industrial Standards (JIS) Class 3
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 100 ohms max.

zzzz 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.

zzzz 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).

zzzz Keep spare parts on hand:

- Stock up on maintenance parts including spare modules, in advance.

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IM 34M6H55-02E 1st Edition : Apr.1, 2002-00

zzzz 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.

zzzz Never use solvents such as paint thinner for cleaning:

- Gently clean the surfaces of the FA-M3 with a soft 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.

zzzz 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°C to
75°C).

- 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.

zzzz 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.

zzzz 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
printed-circuit board, otherwise components may be damaged and modules may fail
to work.

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IM 34M6H55-02E 1st 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 required to operate the positioning modules,
F3YP14-0N and F3YP18-0N, with an FA-M3 controller.

 Other Manuals

Refer to the following manuals.

zzzz 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)

zzzz For sequence CPU instructions:

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

zzzz For commands and responses of the PC Link function:

- Personal Computer Link Command (IM34M6P41-01E)

● For creating programs using ladders:

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

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

zzzz For the FA-M3 specifications and configurations

*1

, installation and
wiring, test run, maintenance, and module installation limits for the
whole system:

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

input/output modules, cables and terminal units.

- Hardware Manual (IM 34M6C11-01E) version 8 or later

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IM 34M6H55-02E 1st 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

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

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IM 34M6H55-02E 1st Edition : Apr.1.2002-00

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

2.3 Model and Suffix Codes .......................................................................... 2-1

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

2.5 External Dimensions ...............................................................................2-3

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

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

2.8 Attaching and Detaching Modules......................................................... 2-6

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

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

3.2 Jog Stepping ............................................................................................ 3-4

3.3 Contact Inputs.......................................................................................... 3-5

3.4 Z-phase Encoder Input............................................................................ 3-5

3.5 Origin Search ...........................................................................................3-5

3.6 Automatic Origin Search......................................................................... 3-7

3.7 Deviation Pulse Clear Signal Output ...................................................3-10

3.8 Linear-Interpolated Operation .............................................................. 3-11

3.9 Changing Speed during Operation ...................................................... 3-12

3.10 Changing Target Position during Positioning .................................... 3-13

3.11 Saving Entry Parameters ...................................................................... 3-14

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

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

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

4.1.2 Command Parameters .................................................................4-5

4.2 Required Parameters for Each Command ............................................4-6

4.3 Description of Parameters ...................................................................... 4-7

4.3.1 Entry parameters .......................................................................... 4-7

FA-M3

IM 34M6H55-02E 1st Edition

Positioning Modules (with Multi-channel Pulse Output)
Model: F3YP14-0N, F3YP18-0N

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IM 34M6H55-02E 1st Edition : Apr.1.2002-00

4.3.2 Command Parameters .................................................................4-9

4.4 Example for Setting Entry Parameters ................................................4-11

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

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

5.2 Description of Statuses........................................................................... 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 Sequence CPU ............................................................7-1

7.1.1 Reading Module Statuses ............................................................7-2

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

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

7.1.4 Jog Stepping................................................................................. 7-9

7.1.5 Origin Search.............................................................................. 7-12

7.1.6 Automatic Origin Search ............................................................ 7-16

7.1.7 Set Current Position ...................................................................7-19

7.1.8 Positioning Operation ................................................................. 7-21

7.1.9 Request to Decelerate and Stop ................................................ 7-24

7.1.10 Request to Stop Immediately .....................................................7-26

7.1.11 Changing Speed during Operation .............................................7-28

7.1.12 Changing Target Position during Positioning ............................. 7-31

7.1.13 Saving Entry Parameters .......................................................... 7-34

7.2 Accessing from a BASIC CPU .............................................................. 7-36

7.2.1 Reading Module Statuses ..........................................................7-37

7.2.2 Set Parameter ............................................................................7-38

7.2.3 Reset Error ................................................................................. 7-39

7.2.4 Jog Stepping............................................................................... 7-40

7.2.5 Origin Search.............................................................................. 7-41

7.2.6 Automatic Origin Search ............................................................ 7-44

7.2.7 Set Current Position ...................................................................7-46

7.2.8 Positioning Operation ................................................................. 7-47

7.2.9 Request to Decelerate and Stop ................................................ 7-49

7.2.10 Request to Stop Immediately .....................................................7-50

7.2.11 Changing Speed during Operation .............................................7-51

7.2.12 Changing Target Position during Positioning ............................. 7-53

7.2.13 Saving Entry Parameters ...........................................................7-55

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

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

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

8.3 Alarm Codes............................................................................................. 8-4

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IM 34M6H55-02E 1st Edition : Apr.1.2002-00

9. External Interface 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 Drivers ........................................ 10-1

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

10.2 Example of Connection to YASUKAWA Electric SII-Series Driver ....10-3

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

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

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IM 34M6H55-02E 1st Edition : Apr 1, 2002-00

1. Overview

Models F3YP14-0N-and F3YP18-0N 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.

A single module can control different types of motors/drivers. It can control up to 4
(the F3YP14-0N module) or up to 8 (the F3YP18-0N module) pulse-driven motors or
servomotors. When in use, the positioning modules are attached to the base module of
an FA-M3 controller.

TTTT Features

- Compared to the earlier positioning module, which allows up to 2 controlled axes
per slot, this module allows up to 8 controlled axes per slot.

- With a short startup time (0.1 ms maximum), it can come into action quickly and
operate in synchronization with peripheral equipment.

- It can output speed reference pulses as fast as 3.998 Mpps for servomotors, or

499.75 kpps for pulse-driven motors.

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

WARNING

An external emergency stop circuit should be built in, according to the motor
manufacturer’s recommendations, for turning off the power supply and stopping the
motor immediately if it operates in an unexpected manner due to machine fault or
misoperation.

CAUTION

- When controlling a servomotor with the positioning module, choose a position­control servo driver. Speed-control or torque-control servo drivers cannot be used
with the positioning module.

- The maximum pulse output rate is 499.75 kpps for pulse-driven motors. If the
Maximum Speed Selection parameter is set to 3.998 Mpps for pulse-driven motors,
the motor performance cannot be guaranteed.

Higher-level

CPU module

Motor

Encoder

Positioning module Servo driver

Counter

Position

controller

Speed

controller

Pulse

outpu t

Path

generation

Counter

Speed

detector

F010101.VSD

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IM 34M6H55-02E 1st Edition : Apr 1, 2002-00

2 Specifications

2.1 General Specifications

Specifications

Item

F3YP14-0N F3YP18-0N

Number of controlled axes 4 8
Number of axes controlled
simultaneously

4 8

Pulse output method

RS-422A compliant differential output
Either forward/reverse pulse output or direction/travel pulse output
selectable for each axis

Interpolation

PTP movement

Multi-axis linear interpolation (by CPU module programming)
Command
pulse range

-2,147,483,648 to 2,147,483,647 pulses

Command
speed

0.1 to 3,998,000 pps (for servomotor)

0.1 to 499,750 pps (for pulse-driven motor)

Position
control

Positioning
functions

Absolute/relative positioning command

Target position change during movement

Speed change during movement

Acceleration/deceleration
system

Automatic trapezoidal acceleration/deceleration (starting speed

programmable)

Automatic S-shape acceleration/deceleration (starting speed fixed)

Acceleration/deceleration time

0 to 32,767 ms (programmable for acceleration and deceleration

separately)

Origin position search method

User-definable using a combination of external contact inputs

Normal and automatic origin search operations available

Origin position search speed User-definable within the command speed range

External contact input

Positive and negative limit inputs, home position input, encoder Z-

phase input

External contact output Deviation pulse clear signal
Data backup Using flash memory or CPU module

Startup time*

0.09 ms for one axis

0.25 ms for four axes

0.09 ms for one axis

0.25 ms for four axes

0.5 ms for eight axes
Current consumption 320 mA 380 mA
External power supply 5 V DC, 350 mA 5 V DC, 700 mA
External wiring One 48-pin connector Two 48-pin connectors
External dimensions 28.9 (W) × 100 (H) × 83.2 (D) mm**
Weight 125 g 145 g

* Up to 1 ms delay may be added if another axis is in motion.
** Not including protrusions (see the external dimension diagram for more details).

2.2 Operating Environment

The positioning modules can be used with all models of CPU modules.

2.3 Model and Suffix Codes

Model Suffix

Code

Style
Code

Option

Code

Description

F3YP14 -0N ……… ………

4-axis, multi-channel pulse output
3,998,000 pps max. (for servomotor)
or 499,750 pps max. (for pulse-driven motor)

F3YP18 -0N ……… ………

8-axis, multi-channel pulse output
3,998,000 pps max. (for servomotor)
or 499,750 pps max. (for pulse-driven motor)

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IM 34M6H55-02E 1st Edition : Apr 1, 2002-00

2.4 Components and Functions

RDY indicator:

Lit w hen t he int ern al circuitry is
functioning normally

ERR indicator:

Connector for axes 1 to 4 (48P)

Lit when an error occurs.
For details, refer to Section 8.2,
"Error Codes."

RDY

ERR

POSIT

Connec ts to ext ernal I/O devic es
such as servo motors and limit switches

zF3YP14-0N (4-axis module)

YP14-0N

RDY indicator:

Lit when the internal circuitry is
functioning normally.

ERR indicator:

Connector for axes 1 to 4 (48P)

RDY

ERR

POSIT

zF3YP18-0N (8-axis module)

YP18-0N

F020401.VSD

Lit when an error occurs.
For details, refer to Section 8.2, "Error
Codes."

Connector for axes 5 to 8 (48P)

Connects to external I/O devices such
as servo motor s and limit sw itc hes .

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IM 34M6H55-02E 1st Edition : Apr 1, 2002-00

2.5 External Dimensions

* Diagram shown above is for the F3YP14-0N module

83.2 28.9
2

1.3

100

F020501.VSD

Unit: mm

2-4

IM 34M6H55-02E 1st Edition : Apr 1, 2002-00

2.6 Terminal Assignments and Connections

24b Axis 4 Z-phase input (-) 24a Axis 2 Z-phase input (-) 24b Axis 8 Z-phase input (-) 24a Axis 6 Z-phase input (-)

23b Axis 4 Z-phase input (+) 23a Axis 2 Z-phase input (+) 23b Axis 8 Z-phase input (+) 23a Axis 6 Z-phase input (+)

22b Axis 4 pulse output A (+) 22a Axis 2 pulse output A (+) 22b Axis 8 pulse output A (+) 22a Axis 6 pulse output A (+)

21b Axis 4 pulse output A (-) 21a Axis 2 pulse output A (-) 21b Axis 8 pulse output A (-) 21a Axis 6 pulse output A (-)

20b Axis 4 pulse output B (+) 20a Axis 2 pulse output B (+) 20b Axis 8 pulse output B (+) 20a Axis 6 pulse output B (+)

19b Axis 4 pulse output B (-) 19a Axis 2 pulse output B (-) 19b Axis 8 pulse output B (-) 19a Axis 6 pulse output B (-)

18b Axis 4 deviation pulse clear 18a Axis 2 deviation pulse clear 18b Axis 8 deviation pulse clear 18a Axis 6 deviation pulse clear

17b Axis 4 deviation pulse clear

(GND)

17a Axis 2 deviation pulse clear

(GND)

17b Axis 8 deviation pulse clear

(GND)

17a Axis 6 deviation pulse clear

(GND)

16b Axis 3 Z-phase input (-) 16a Axis 1 Z-phase input (-) 16b Axis 7 Z-phase input (-) 16a Axis 5 Z-phase input (-)

15b Axis 3 Z-phase input (+) 15a Axis 1 Z-phase input (+) 15b Axis 7 Z-phase input (+) 15a Axis 5 Z-phase input (+)

14b Axis 3 pulse output A (+) 14a Axis 1 pulse output A (+) 14b Axis 7 pulse output A (+) 14a Axis 5 pulse output A (+)

13b Axis 3 pulse output A (-) 13a Axis 1 pulse output A (-) 13b Axis 7 pulse output A (-) 13a Axis 5 pulse output A (-)

12b Axis 3 pulse output B (+) 12a Axis 1 pulse output B (+) 12b Axis 7 pulse output B (+) 12a Axis 5 pulse output B (+)

11b Axis 3 pulse output B (-) 11a Axis 1 pulse output B (-) 11b Axis 7 pulse output B (-) 11a Axis 5 pulse output B (-)

10b Axis 3 deviation pulse clear 10a Axis 1 deviation pulse clear 10b Axis 7 deviation pulse clear 10a Axis 5 deviation pulse clear

9b Axis 3 deviation pulse clear

(GND)

9a Axis 1 deviation pulse clear

(GND)

9b Axis 7 deviation pulse clear

(GND)

9a Axis 5 deviation pulse clear

(GND)

8b External power 5 Vin 8a External power 5 Vin

(GND)

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

7b Axis 4 origin input 7a Axis 2 origin input 7b Axis 8 origin input 7a Axis 6 origin input

6b Axis 4 positive limit input 6a Axis 2 positive limit input 6b Axis 8 positive limit input 6a Axis 6 positive limit input

5b Axis 4 negative limit input 5a Axis 2 negative limit input 5b Axis 8 negative limit input 5a Axis 6 negative limit input

4b Axis 3 home position input 4a Axis 1 home position input 4b Axis 7 home position input 4a Axis 5 home position input

3b Axis 3 positive limit input 3a Axis 1 positive limit input 3b Axis 7 positive limit input 3a Axis 5 positive limit input

2b Axis 3 negative limit input 2a Axis 1 negative limit input 2b Axis 7 negative limit input 2a Axis 5 negative limit input

1b Contact input common 1a Contact input common 1b Contact input common 1a Contact input common

Pulse output A: Forward pulse output (in forward/reverse mode), or travel pulse output (in travel pulse/direction mode)

Pulse output B: Reverse pulse output (in forward/reverse mode), or direction output (in travel pulse/direction mode)

RDY

ERR

POSIT

YP14-0N

RDY

ERR

POSIT

YP18-0N

F020601.VSD

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IM 34M6H55-02E 1st Edition : Apr 1, 2002-00

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

CAUTION

Always connect the external power supply (5 V DC) with the correct polarity. The internal
circuitry may be damaged otherwise.

For details on the external connection signals, please refer to Chapter 9, “External
Interface 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 (Fujitsu Limited)

Purchase the
desired connector kit
separately.

External power 5Vin

External power 5Vin (GND)

Forward pulse -

Forward pulse +

Reverse pulse -

Reverse 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

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IM 34M6H55-02E 1st Edition : Apr 1, 2002-00

2.8 Attaching and Detaching Modules

TTTT Attaching/Detaching Modules

Figure 2.1 shows how to attach the module to the base module. First, hook the anchor
slot at the bottom of the module to be attached onto the anchor pin on the bottom of the
base module. Push the top of the module towards the base module until the yellow
button clicks into place.

Figure 2.1 Attaching/Detaching Modules

CAUTION

Always switch off the power before attaching or detaching a module.

CAUTION

Do not bend the connector pins on the rear of the module by force during the above
operation. If the module is pushed with improper force, the connector pins may bend
causing an error.

TTTT Detaching Modules

To remove the module from the base module, reverse the above operation:

Press the yellow button on the top of the module to unlock it, and tilt the module away
from the base module. Then lift the module off the anchor pin at the base.

Base module

This module

Anchor pin

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TTTT Attaching Module in Intense Vibration Environments

If the module is used in intense vibration environments, fasten the module with a screw
as described in the table below by screwing it into the threaded hole at the top of the
module with a Phillips screwdriver.

Screws to be used

M4 binder screws, 12-15 mm long

(or 14-15 mm long for screws with washer)

29FG02.VSD

Figure 2.2 Fastening the Module with a Screw

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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 3.1 Major Functions

Function Description

Positioning operation Performs 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 during an origin search.
Normal origin search
operation

Searches for the origin using external contact inputs according to

commands issued from a program.
Automatic origin search
operation

Automatically searches for the origin using external contact inputs

according to the values stored in the entry parameters.

Deviation pulse clear signal

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

completed.
Linear-interpolated operation Performs a multi-axial linear-interpolated operation.
Change in speed during
operation

Changes the speed during a positioning operation.

Change in target position
during operation

Changes the target position during a positioning operation.

Saving of entry parameters Saves the entry parameters in the flash memory.

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3.1 Positioning Operation

To initiate a positioning operation, write the target position, target speed, acceleration
time, and deceleration time from the CPU module, set the command code to 0, and
change the state of the Execute Command output relay from off to on. When the
positioning operation is completed, the End of Positioning input relay turns on. The
acceleration/deceleration curve is trapezoidal or of S-shape. The acceleration time and
deceleration time can be set independently.

Figure 3.1 Speed and Acceleration/deceleration Time for Trapezoidal/trigonometric Curves

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

Position Control

Figure 3.3 Acceleration/Deceleration Times when a Startup Speed Is Given

Time

Speed

Target speed

Acceleration time

Deceleration time

Travel

Target speed

Time

Speed

Acceleration

time

Deceleration time

Travel

Actual speed reached

Actual acceleration/

deceleration time

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Time

Position

Position-reference

pulse count

Motor position

End of

positioning

Delay before target
position is reached

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Startup speed

Target speed

Acceleration time Deceleration time

speed

Time

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Figure 3.4 Acceleration/Deceleration Times when Using S-shape Acceleration/Deceleration

Target
speed

Acceleration time Deceleration time

Speed

Time

Target speed

Acceleration time Deceleration time

Speed

Time

Actual acceleration/

deceleration time

Actual speed reached

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3.2 Jog Stepping

To perform jog stepping, first write the target velocity, acceleration time, deceleration
time and other required parameters from the CPU module, and then change the state of
the Positive-direction Jog Stepping output relay or Negative-direction Jog Stepping
output relay from off to on. To stop job stepping, turn off the corresponding output relay.

During jog stepping, any error in the positive-direction or negative-direction limit value
will not be detected (no error occurs). If the operation range of the positioning module is
exceeded, however, a pulse overflow error occurs.

The acceleration/deceleration curve can be either trapezoidal or of S-shape, and the
acceleration and deceleration times can be set independently.

Figure 3.5 Jog-stepping Operation (Positive Direction, Trapezoidal Acceleration/deceleration)

Figure 3.6 Jog-stepping Operation (Positive Direction, S-shape Acceleration/deceleration)

Speed

Time

Positive-direction

jog stepping

Start

End

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Speed

Time

Positive-direction jog

stepping

Start

End

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3.3 Contact Inputs

The positioning module has three external contact inputs defined as “Positive-direction
limit,” “Negative-direction limit,” and “Origin” for each axis. You can read the state of
each contact input using an application program.

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 a Z-phase encoder input.
You can read the state of the encoder input in the same way you read the state of a
contact input.

3.5 Origin Search

There are two ways to perform origin search: normal and automatic. In normal origin
search, the origin search behavior is arbitrarily defined by an application program; the
automatic origin search operation uses entry parameters to define the origin search
behavior. In either type of operation, only trapezoidal acceleration or deceleration is
available. This section describes the normal origin search operation only.

To start an origin search, write the speed set point, the direction of the origin search, the
origin search mode (operation upon detecting external contact inputs), Z-phase edge
selection and other required parameters, set the command code to 2 and change the
state of the Execute Command output relay from off to on. When 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 performs Z-phase
detection, depending on the value of the origin search mode.

In Z-phase detection, when 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 for a period
specified in the deviation pulse clear time parameter. If the Z-phase pulse count is set to
0, it does not output the deviation pulse clear signal.

To perform an origin search at two different speeds or to change the operation direction
according to the state of an external contact input detected during an origin search, split
the origin search process into different phases, varying the parameters for each phase.
This strategy allows you to customize your origin-search operation to a desired search
pattern.

See the next page for information on the origin search mode.

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zzzz Details on Origin Search Mode

The origin search mode defines the operation when an edge is detected in each contact
input using bit combinations.

One out of four 2-bit combinations can be selected for each rising/falling edge of an
external contact input.

Bits 12 to 15 are fixed to 0.

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

0 0
0 1
1 0

Ignore (Stop with error at the rising edge of the limit input in the direction of operation)

Shift to Z-phase search

Decelerate and stop

Stop immediately

1 1

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0 0 0 0 NU1 NU0 ND1 ND0 PU1 PU0 PD1 PD0 OU1 OU0 OD1 OD0

Fall in origin input ←－－－－－－－－－－－－－－－－－－－－

OD1 OD0

Rise in origin input ←－－－－－－－－－－－－－－－

OU1 OU0

Fall in positive-direction limit input ←－－－－－－

PD1 PD0

Rise in positive-direction limit input ←－

PU1 PU0

ND1 ND0

－→Fall in negative-direction limit input

NU1 NU0

－－－－－→Rise in negative-direction limit input

Figure 3.7 Origin Search Operation

For a rise in contact input

When "ignore" is specified

When "shift to Z-phase

search" is specified

When "decelerate and stop"

is specified

When "stop im mediately"

is specified

Stop when z-phase
is detected

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3.6 Automatic Origin Search

There are two ways to perform origin search: normal and automatic. In normal origin
search, the origin search behavior is arbitrarily defined by an application program; the
automatic origin search operation uses entry parameters to define the origin search
behavior. In either type of operation, only trapezoidal acceleration or deceleration is
available. This section describes the automatic origin search operation only.

Before initiating the automatic origin search, you must first set the automatic origin
search mode and other entry parameters for automatic origin search. To initiate the
automatic origin search, set the command code to 8 (Automatic Origin Search
command), and change the state of the Execute Command output relay from off to on.
A series of origin search movements will be automatically carried out up to Z-phase
detection according to the entry parameter settings. In Z-phase detection, when the
number of Z-phase pulses as defined in the Automatic Origin Search Z-phase Pulse
Count parameter is detected, the axis stops immediately. The stop position is defined as
the origin (the value of the origin is defined in the Automatic Origin Search Origin Offset
parameter). The deviation pulse clear signal is then output for a period specified in the
Automatic Origin Search Deviation Pulse Clear Time parameter. The automatic origin
search has two modes: mode 0 and mode 1. Mode 0 uses the origin switch input, whilst
mode 1 does not use the origin switch input but uses the positive/negative direction limit
switch input instead.

Figure 3.8 illustrates the automatic origin search behaviors initiated at different start
positions where the automatic origin search mode is set to 0 (mode 0, using the origin
switch), and the automatic origin search direction is set to 0 (negative direction). If the
automatic origin search direction is set to 1 (positive direction), exchange the positive
direction limit and the negative direction limit as shown in Figure 3.8.

1. At the start of automatic origin search, if the origin switch or the negative direction
limit switch is off (not reached), the axis moves at automatic origin search speed 1
in the negative direction. If the origin switch or the negative direction limit switch is
on (reached) at the start of automatic origin search, automatic origin search starts
with step 3 below.

2. The axis decelerates and stops at the rising edge of the origin or negative direction
limit switch.

3. The axis then restarts in the positive direction at automatic origin search speed 2.

4. The axis shifts into the Z-phase detection operation at the falling edge of the origin
switch.

zzzz If the axis is on the positive direction side of the origin switch at origin

search start

Positive-direction limit

Nagative-direction limitOrigin

Startup speed

Search speed 1

Search speed 2

Z-phase pulse

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