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

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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

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

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.

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.

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

(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.

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

, 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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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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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

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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

29FG01.VSD

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

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

F030101.VSD

Time

Position

Position-reference

pulse count

Motor position

End of

positioning

Delay before target position is reached

F030102.VSD

Startup speed

Target speed

Acceleration time Deceleration time

speed

Time

F030103.VSD

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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

F030104.VSD

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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

F030201.VSD

Speed

Time

Positive-direction jog

stepping

Start

End

F030202.VSD

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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

F030203.VSD

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3.6 Automatic Origin Search

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

F030601.VSD

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zzzz If the axis is right on the origin switch (with the origin switch input on)

at origin search start

zzzz If the axis is between the origin and the negative limit switch at origin

search start

z If the axis is right on the negative limit switch at origin search start

Figure 3.8 Automatic Origin Search Behaviors (mode 0, negative direction search)

Figure 3.9 illustrates the automatic origin search behaviors initiated at different start positions where the automatic origin search mode is set to 1 (mode 1, not 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 3.9.

1. At the start of automatic origin search, if the negative direction limit switch is off (not reached), the axis moves at automatic origin search speed 1 in the negative direction. If 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 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 negative limit switch.

Positive-direction limit Negative-direction limitOrigin

Startup speed

Search speed 1

Search speed 2

Z-phase pulse

F030603.vsd

Positive-direction limit Negative-direction limitOrigin

Startup speed

Search speed 2

Z-phasse pulse

F030602.VSD

Positive-direction limit Negative-direction limitOrigin

Startup speed

Search speed 2

Z-phase pulse

F030604.VSD

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zzzz If the axis is away from the negative limit switch at origin search start

zzzz If the axis is right on the negative limit switch at origin search start

Figure 3.9 Automatic Origin Search Behaviors (mode 1, negative direction search)

Positive-direction limit Negative-direction limit

Startup speed

Search speed 2

Z-phase pulse

F030606.vsd

F030605.vsd

Positive-direction limit Negative-direction limit

Startup speed

Search speed 1

Search speed 2

Z-phase pulse

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3.7 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. The deviation pulse clear signal is connected to the input of the servo driver.

The length of the deviation pulse clear signal output is defined in a parameter.

When the Z-phase pulse count is set to 0, no deviation pulse clear signal is generated.

Figure 3.10 Deviation Pulse Clear Signal Output

Search speed 2

Z-phase pulse

Deviation pulse clear

Deviation pulse clear time

Origin input

F030701.VSD

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3.8 Linear-Interpolated Operation

To perform a linear-interpolated operation, write the target speed, target position, acceleration time, deceleration time and other necessary parameters for each axis from the CPU module, set the command code to “0”, and change the state of the Execute Command output relay from off to on for all axes simultaneously. When the positioning operation for each axis is completed, the input relay End-of-Positioning input relay for each axis turns on.

In this operation, set the same acceleration and deceleration times to all axes concerned. Set the startup speed for all axes to 0 and then calculate and set the ratio between the target speeds of the two axes so that it equals the ratio between the travels of the two axes.

Figure 3.11 Multi-axial Linear-interpolated Operation (Example of Biaxial Operation)

Time

Speed

X-axis target speed

Acceleration time

Deceleration time

X-axis travel

X-axis

Y-axis

X-axis travel

Y-axis

travel

Y-axis travel

Y-axis target speed

F030801.VSD

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3.9 Changing Speed during Operation

To change the speed of an axis currently moving in a positioning or jog stepping operation, write a new target speed and acceleration/deceleration time, set the command code to 6 (Change Speed command), and change the state of the Execute Command output relay from off to on.

The following restrictions apply to changing the speed during positioning or jog stepping.

If the Change Speed command issued during acceleration, deceleration or a change in speed is such as to prevent the axis from stopping at the target position, the command is ignored, the Execute Command ACK input relay is not set, and an alarm is raised. The alarm status is automatically cleared when the state of the Execute Command output relay is changed from on to off.

If a Change Speed command is issued during a jog stepping operation, the module waits until all acceleration and deceleration has been completed before executing the command. If a new Change Speed command is issued during the wait, the previous command is discarded and only the new command is executed.

Figure 3.12 Behavior When the Speed is Changed

Time

Speed

Start

↑↑ ↑

Request to

change speed

Request to

change speed

F030901.VSD

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3.10 Changing Target Position during Positioning

To change the target position during positioning, write a new target position, set the command code to 7 (Change Target Position command), and change the state of the Execute Command output relay from off to on. A new target position issued during positioning may require a reversal of the direction of a moving axis. In this case, the axis immediately decelerates and stops, and then accelerates in the other direction toward the new target position.

If a Change Target Position command is issued in the End-of-Positioning status, the command is executed just as the Start Positioning command.

The following restrictions apply to the change in target position during positioning.

If a Change Target Position command is issued during acceleration/deceleration or a change in speed, the execution of the command is suspended until the start of the constant-speed operation or until the axis stops. During the execution of the Change Target Position command, only the Decelerate-and-Stop and Stop Immediately commands are available. The extended status indicates whether the Change Target Position command is in execution. If an invalid command is issued when the Change Target Position command is being executed, an alarm is raised. The alarm is automatically cleared when the state of the Execute Command output relay is changed from on to off. The Change Target Position command does not allow a change in the target speed, acceleration or deceleration.

Figure 3.13 Behavior When the Target Position is Changed

Time

Speed

Start↑

↑

Request to

change target position

Time

Speed

Start↑

Request to

change target position

↑

Axis moving direction unchanged Axis moving direction reversed

F031001.VSD

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3.11 Saving Entry Parameters

When all axes are at rest, you can save entry parameters in the flash memory. Entry parameters must be set for all axes with the Set Parameter command before you can save the parameters in the flash memory. You can issue the Save Parameter command for a particular axis. When you do so, however, the entry parameters of all axes are saved in the flash memory.

To save entry parameters in the flash memory, set the command code to 9 (Save Parameter command), and change the state of the Execute Command output relay from off to on.

At power up or system reset, the content of the flash memory is automatically reloaded to the entry parameters.

To initialize the content of the flash memory to the factory defaults, set the command code to 99 (Initialize Flash Memory command), and change the state of the Execute Command output relay from off to on. At this time, the entry parameters will also be initialized to the factory defaults.

CAUTION

- If the power to the positioning module is cut off during the execution of the Save Parameter command, the content of the entry parameters being saved will be lost.

- As there is a limit to the number of times data can be written to the flash memory (100,000 times max.), you should save entry parameters to the flash memory only when required.

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4. Parameters

4.1 Parameters

Of the parameters given Tables 4.2 and 4.3, those listed with two data position numbers are 2 word data. The smaller data position number contains the low-order word, and the larger data position number contains the high-order word.

Data position numbers are three-digit numbers; the leading * symbol represents the value (axis number - 1), ranging from 0 for axis 1 to 7 for axis 8.

Each data position numbers corresponds to a word. Use only READ and WRITE instructions on a word-basis when accessing from a sequence program. Using long-word-based instructions may cause unexpected results. You should also use word-based instructions when accessing from BASIC programs.

zzzz Fixed-point data

Speed-related data whose unit is [(1/65536) pulses/ms] are fixed point data with 1-word for the integer part (16 bits) and 1-word for the fractional part (16 bits). Again, the smaller data position number contains the low-order word, and the larger data position number contains the high-order word.

Bits for the integer part of the binary data designate the values for 1, 2, 4 ... whilst bits for the fractional part designate the values for 1/2, 1/4, 1/8, etc. If the integer and the fractional parts consist of 16 bits each, the least significant bit in the fractional part represents 1/65536, which means that the data is 32-bit (long-word) with a unit of 1/65536. Negative numbers are expressed as complements of 2, like regular binary data.

Table 4.1

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

Value Sign bit 16384 O O O 2 1 1/2 1/4 O O O 1/32768 1/65536

High-order word Low-order word

– Example of fixed point data

When setting speed data of 123.45 [pulse/ms] (=123450 [pulses/s]),

123.45 x 65536 = 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.

zzzz Sample program for converting speed data

Here, we show a sample sequence program for converting speed data in [pulses/s] into setting data for the positioning module with unit [(1/65536) pulses/ms].

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

(1) Divide D0001 by 1000 (long-word division) and store the result in D0011. In this

case, since the maximum value of D0001 is 3998000 (3.998 Mpps) and it is positive, the maximum value of the result is 3998 and the high-order word (D0012) is always 0. The low-order word of the result of the division (D0011) will become 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.

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

Computation result

D00014 D00013 D00012 D00011

0 Remainder 0 High-order setting data

(2) Multiply the remainder by 65536 and divide it again by 1000. A useful tip: the

remainder is in D0013 and D0012 is always 0; thus, if we treat D0012 as a longword data (high-order word in D0012 and low-order word in D0013), its value is already the result of multiplying the remainder by 65536. Therefore, in order to multiplying the remainder by 65536 and then divide it again by 1000, we only need to divide D0012 by 1000 (long-word division). Store the result of this division into D0021.

D0012 (long word) has a maximum value of 999 × 65536; dividing by 1000 gives

65470 maximum so the high-order word (D0022) is always 0. Thus, D0021 is the low-order word (16-bit fractional part) of the data [(1/65536) pulses/ms] to be set in the positioning module and the remainder is discarded.

Computation result

D00024 D00023 D00022 D00021

0 Remainder 0 Low-order setting data

(3) Combine the contents of D0011 and D0021 into long-word data ([(1/65536)

pulses/ms]). To do this, you need to perform 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.

Computation result

D00032 D00031

High-order setting data Low-order setting data

 In the case of 123450 [pulse/s]

D00011

D00001

1000

MOV D00011 D00032

MOV D00021 D00031

D00021

D00012

1000

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 In the case of 123450 [pulse/s]

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

D00014 D00013 D00012 D00011

0 450 0 123

29491200 (=450×65536)

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

D00024 D00023 D00022 D00021

0 200 0 29491

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.

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4.1.1 Entry Parameters

At power up or system reset, the content of the flash memory is automatically reloaded to the entry parameters. To change the settings of the entry parameters, write new parameter settings from the CPU module, and execute the Set Parameter command.

Table 4.2 Entry parameters

Data Position

Number

Parameter Range of values

*01 Maximum Speed Selection 0: 499,750 [pps], 1: 3,998,000 [pps]

*02 Pulse Output Mode

0: Forward/reverse pulse output 1: Travel pulse/direction output

*03 Direction of Rotation

0: Positive data indicates forward pulse output. 1: Negative data indicates forward pulse output.

*04 Contact Input Polarity 0 to 7

*05/*06 Positive-direction Limit -2147483648 to 2147483647 [pulses]

*07/*08 Negative-direction Limit

-2147483648 to (positive-direction limit value - 1) [pulses]

*09/*10 Speed Limit

1 to 32751616 [(1/65536) pulse/ms] if maximum speed selection is 0 1 to 262012928 [(1/65536) pulse/ms] if maximum speed selection is 1

*11

Automatic Origin Search Mode

0: Use origin input 1: Do not use origin input

*12

Automatic Origin Search Direction

0: Negative direction, 1: Positive direction

*13/*14

Automatic Origin Search Speed 1

1 to speed limit value

*15/*16

Automatic Origin Search Speed 2

1 to automatic origin search speed 1

*17/*18

Automatic Origin Search Starting Speed

0 to automatic origin search speed 2

*19

Automatic Origin Search Acceleration Time

0 to 32767 [ms]

*20

Automatic Origin Search deceleration Time

0 to 32767 [ms]

*21

Automatic Origin Search Z-phase Edge Selection

0: Rising edge, 1: Falling edge

*22

Automatic Origin Search Z-phase Search Count

0 to 32767 [times]

*23/*24

Automatic Origin Search Z-phase Search Range

0 to 2147483647/automatic origin search Z-phase pulse count [pulses]

*25

Automatic Origin Search Deviation Pulse Clear Time

0 to 32767 [ms]

*26/*27

Automatic Origin Search Origin Offset Value

-2147483648 to 2147483647 [pulses]

The symbol

‘*’ designates the value of (axis number - 1). The values for axis 1 to axis 8 are 0 to 7 respectively.

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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

Parameter Range of values

*41 Command Code 0 to 9, and 99 *42 Target Position Mode 0: Absolute position, 1: Relative position

*43/*44 Target Position Negative-direction limit value to positive-direction limit

value [pulses]

*45 Acceleration/deceleration

Mode

0: Trapezoidal curve (with programmable startup speed), 1: S-shape curve

*46/*47 Target Speed 1 to speed limit [(1/65536) pulses/ms]

*48 Acceleration Time 0 to 32767 [ms] *49 Deceleration Time 0 to 32767 [ms]

*50/*51 Startup Speed 0 to target speed [(1/65536) pulses/ms]

(valid only for trapezoidal acceleration/deceleration) *52 Origin Search Mode 0 to 4095 *53 Origin Search Direction 0: Negative direction, 1: Positive direction *54 Z-phase Edge Selection 0: Rising edge, 1: Falling edge *55 Z-phase Search Count 0 to 32767 [times]

*56/*57 Z-phase Search Range 0 to 2147483647/Z-phase search count [pulses]

*58 Deviation Pulse Clear Time 0 to 32767 [ms]

The symbol

‘*’ designates the value of (axis number - 1). The values for axis 1 to axis 8 are 0 to 7 respectively.

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4.2 Required Parameters for Each Command

You must write all the required parameters before executing a command for the positioning module from the CPU module. Table 4.4 shows the required parameters for each command.

The Set Parameter command and the Save Parameter command that respectively updates and saves all the entry parameters are not shown in the table.

Table 4.4 Parameters Required for Each Command

Command

Data

Position

Number

Parameter

Start Positioning

Normal Origin Search

Positive- or Negative-

Direction Jog Stepping

Set Current Position

Change Speed

Change Target Position

Decelerate & Stop

Stop Immediately

Reset Error

Automatic Origin Search

*41 Command code ◎ ◎ – ◎ ◎ ◎ ◎ – ◎ ◎ *42 Target position mode ◎ – – – – ◎ – – – –

*43/*44 Target position ◎ – – ◎ – ◎ – – – –

*45 Acceleration/deceleration

mode

◎ – ◎ – – △ – – – –

*46/*47 Target speed ◎ ◎ ◎ – ◎ △ – – – –

*48 Acceleration time ◎ ◎ ◎ – ◎ △ – – – – *49 Deceleration time ◎ ◎ ◎ – ◎ △ – – – –

*50/*51 Starting speed ○ ◎ ○ – – △ – – – –

*52 Origin search mode – ◎ – – – – – – – – *53 Origin search direction – ◎ – – – – – – – – *54 Z–––– phase edge selection – ○ – – – – – – – – *55 Z–––– phase search count – ○ – – – – – – – –

*56/*57 Z–––– phase search range – ○ – – – – – – – –

*58 Deviation pulse clear time – ○ – – – – – – – –

The symbol

‘*’ designates the value of (axis number - 1). The values for axis 1 to axis 8 are 0 to 7 respectively.

◎ : Mandatory parameters. ○ : Parameters that are mandatory or optional depending on the values of other parameters. △ : Mandatory if the command is to be executed in the End of Positioning Status. – : Not used (have no effect on the operation of the commands if used).

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4.3 Description of Parameters

4.3.1 Entry parameters

At power up, the content of the flash memory is automatically reloaded to the entry parameters. Modify the values of the entry parameters as necessary using the Set Parameter command in an application program. If a parameter value is invalid, the Error Notification input relay is set, and an entry parameter setting error results. When this happens, all commands other than the Set Parameter command are disabled. Execute the Set Parameter command again with valid values. To save the values of the entry parameters in flash memory, use the Save Parameter command.

Table 4.5 Entry Parameters

Parameter Type

(Data Position

Number)

Description Data Range Remarks

Maximum Speed Selection (*01)

Sets the maximum speed of output pulses.

0: 499,750 [pps] 1: 3,998,000 [pps] [Default: 0]

Set to 0 for pulse motors or 1 for servomotors. If 1 is selected for pulse motors, the performance is not guaranteed. If the maximum speed of a servomotor used is not more than

499,750 pps, select 0. Pulse Output Mode (*02)

Sets the pulse output mode.

0: Forward/reverse pulse output 1: Direction/travel pulse output

[Default: 0] Direction of Rotation (*03)

Sets the relationship between positive/negative position data from the CPU module and the forward/reverse pulse output.

0: Positive value indicates

forward pulse output.

1: Negative value indicates

forward pulse output.

[Default: 0]

Position and negative data here refers to positioning parameter values set by a program from the CPU module.

Contact Input Polarity (*04)

Defines the logic of the external contact inputs.

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

[Default: 0]

An “a” contact input is an input which is true when a signal input exists, and a “b” contact input is an input which is true when no signal input exists. For example, a “b” contact limit input is detected when there is no limit signal and false when there is a limit signal.

Positive-direction Limit (*05/*06)

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

-2147483648 to 2147483647

[pulses]

[Default: 2147483647]

Negative-direction Limit (*07/*08)

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

-2147483648 to (positive-direction

limit value – 1) [pulses]

[Default: -2147483648]

If the origin search is not used, the current position at power up is used 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. During an origin search or jog stepping operation, these limit values are disregarded (no error occurs).

Speed Limit (*09/*10)

Sets the speed setting range.

1 to 32751616 [(1/65536)

pulse/ms] if maximum speed

selection is 0

1 to 262012928 [(1/65536)

pulse/ms] if maximum speed

selection is 1

[Default:

32751616 (= 499750 pps)]

If a command is given with the target speed beyond this value, an error occurs.

The symbol

‘*’ designates the value of (axis number - 1). The values for axis 1 to axis 8 are 0 to 7 respectively.

(Continued on the next page)

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Parameter Type

(Data Position

Number)

Description Data Range Remarks

Automatic Origin Search Mode (*11)

Specifies whether the origin input is used for automatic origin search.

0: Origin input is used.

1: Origin input is not used.

[Default: 0]

For details, refer to Section 3.5, “Origin Search.”

Automatic Origin Search Direction (*12)

Sets the direction of movement for speed 1 during automatic origin search.

0: Negative direction

1: Positive direction

[Default: 0]

Automatic Origin Search Speed 1 (“13/*14)

Sets the high search speed for automatic origin search.

1 to speed limit value

[Default: 655360 (10000 pps)]

Automatic Origin Search Speed 2 (“15/*16)

Sets the low search speed for automatic origin search.

1 to automatic origin search

speed 1

[Default: 65536 (1000 pps)] Automatic Origin Search Starting Speed (*17/*18)

This is the starting speed at the beginning of, and the speed just before stopping at the end of, automatic origin search.

0 to automatic origin search

speed 2

[Default: 0]

When the positioning module is used to control a pulse motor, if this speed is set to 0, the motor could resonate and get out of phase in the early stage of acceleration (or in the late stage of deceleration). Thus this speed should be set above the resonance frequency. Also, if this speed is set too high, the motor undergoes mechanical shock and could get out of phase at starting or stopping. When the positioning module is used to control a servomotor, this speed is normally set to

0. Automatic Origin Search Acceleration Time (*19)

Sets the time it takes to reach search speed 1 from the starting speed during automatic origin search.

0 to 32767 [ms] [Default: 1000]

The acceleration to search speed 2 during automatic origin search is done at the same acceleration rate as for the acceleration to search speed 1.

Automatic Origin Search Deceleration Time (*20)

Sets the time it takes to decelerate from search speed 1 to a halt during automatic origin search.

0 to 32767 [ms] [Default: 1000]

The deceleration from search speed 2 during automatic origin search is done at the same deceleration rate as for the

deceleration from search speed 1. Automatic Origin Search Z-phase Edge Selection (*21)

Specifies whether to use the rising edge or the falling edge of a Z-phase pulse for Z-phase detection during an automatic origin search.

0: Rising edge 1: Falling edge [Default: 0]

Automatic Origin Search Z-phase Pulse Count (*22)

Specifies how many Zphase pulses must be detected before an origin can be found during automatic origin search.

0 to 32767 [pulses] [Default: 0]

Automatic Origin Search Z-phase Search Range (*23/*24)

An error occurs if a Zphase cannot be detected within this pulse count range during automatic origin search.

0 to 2147483647/automatic origin search Z-phase pulse count [pulses] [Default: 2147483647]

This parameter is used to prevent

continued operation when no Z-phase can

be detected because of a disconnected Z-

phase signal line, etc. This value is

usually set close to the period of the Z-

phase. Automatic Origin Search Deviation Pulse clear Time (*25)

Sets the length of time to output the deviation pulse clear signal when a Z-phase (origin) is detected in automatic origin search.

0 to 32767 [ms] [Default: 1000]

Automatic Origin Search Origin Offset (*26/*27)

Sets the desired actual origin position when automatic origin search is completed.

-2147483648 to 2147483647 [pulses] [Default: 0]

You can use this value to adjust the

position of the origin as detected in

automatic origin search if there is a

difference (offset) in position between the

detected origin and the physical origin.

The symbol

‘*’ designates the value of (axis number - 1). The values for axis 1 to axis 8 are 0 to 7 respectively.

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4.3.2 Command Parameters

Table 4.6 Command Parameters

Parameter Type

(Data Position

Number)

Description Data Range Remarks

Command Code (*41)

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

0: Start Positioning command 1: Decelerate-and-Stop command 2: Normal Origin Search

command 3: Set Parameter command 4: Set Current Position command 5: Reset Error command 6: Change Speed command 7: Change Target Position

command 8: Automatic Origin Search

command 9: Save Parameter command 99: Initialize Flash Memory

command

Target Position Mode (*42)

Sets the type of target position.

0: Absolute position 1: Relative position

In the absolute position mode, a target position is expressed as an absolute coordinate value independent of the current position of the axis. In the relative position mode, a target position is expressed as an offset from the current position of the axis (if the axis is at rest) or the last target position setting of the axis (if the target position has been

changed during operation). Target Position (*43/*44)

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

Negative-direction limit value to positive-direction limit value

[pulses] Acceleration /deceleration Mode (*45

Selects the acceleration/deceleration pattern.

0: Trapezoidal curve (with

programmable startup speed)

1: S-shape curve Target Speed (*46/*47)

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

1 to speed limit [(1/65536)

pulses/ms]

If the value of the target speed specified is smaller than the startup speed, an

error occurs. Acceleration Time (*48)

Sets the time to reach the target speed from the startup speed.

0 to 32767 [ms]

Deceleration Time (*49)

Sets the time to decelerate and stop from the target speed.

0 to 32767 [ms]

Startup Speed (*50/*51)

This is the starting speed at the beginning of the positioning operation and the speed just before stopping at the end of positioning.

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

When using a pulse-driven

motor and accelerating from

zero speed, resonance may

occur causing the motor to be

out of phase at low speeds

during acceleration. (The

situation is the same for

deceleration). Set to a speed

faster than the resonance

frequency to avoid this.

However, you should take

note that too large a setting

may cause the motor to be

out of phase at startup or

stopping due to shock. When

using a servomotor, the

startup speed is normally set

to “0.”

The symbol

‘*’ designates the value of (axis number - 1). The values for axis 1 to axis 8 are 0 to 7 respectively.

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(Continued to the next page)

Parameter Type

(Data Position

Number)

Description Data Range Remarks

Origin Search Mode (*52)

Defines, using bit patterns, the behavior of the motor when the edges of each contact input is detected during an origin search.

0 to 4095 For details, see Section 3.5,

“Origin-search Operation.”

Origin Search Direction (*53)

Sets the motor rotation direction during an origin search.

0: Negative direction 1: Positive direction

Z-phase Edge Selection (*54)

Defines the Z-phase edge direction for Z-phase detection during an origin search.

0: Rising edge 1: Falling edge

Z-phase Search Count (*55)

Sets the number of Z-phase pulses to be counted during origin search before an origin can be established.

0 to 32767 [times]

Z-phase Search Range (*56/*57)

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

0 to 2147483647/Z-phase search count [pulses]

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

the Z-phase. Deviation Pulse Clear Time (*58)

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

0 to 32767 [ms]

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4.4 Example for Setting Entry Parameters

The following example shows a minimal set of entry parameters, which must be defined for controlling a motor using the positioning module. The underlined values are to be entered.

zzzz The motor used

Rated rotating speed: 3000 rpm Encoder pulse count: 8000 pulses per rotation

CAUTION

Sometimes, you may need to set or change the command pulse/encoder pulse ratio on the servo driver side; under such circumstances, always ensure that the parameters set in the positioning module matches the setting of the servo driver. Always calculate the values of the entry parameters after confirming the setting of the servo driver.

zzzz Mechanism

Direct shaft drive using a ball screw Ball screw pitch: 5 mm/rot Operation Range: -500 mm to +1000 mm Maximum speed: 12000 mm/min [200 mm/s] Contact Inputs: Positive/Negative-direction limit input (“b” contact), origin (“a” contact)

zzzz Calculation of entry parameters

– Maximum speed selection (*01) Set to 0

as the motor used is a servomotor rated at below 499,750 pps.

– Pulse output mode (*02) Set to 0

to use forward/reverse pulse output.

– Rotating direction (*03) Set to 0

so that positive data indicates forward pulse output.

– Contact input polarity (*04) Positive-direction limit value (b), Negative-direction limit input (b), Origin (a)

$0003

– Positive-direction limit value (*05/*06) 1000 [mm] ÷ 5 [mm/rot] × 8000 [pulses/rot] = 1600000

[pulses]

– Negative-direction limit value (*07/*08)

-500 [mm] ÷ 5 [mm/rot] × 8000 [pulses/rot] =-800000

[pulses]

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– Speed limit (*09/*10) The maximum pulse output speed allowed by the motor is: 3000 [rpm] ÷ 60 [s/min] × 8000 [pulse/rot] = 400000 [pulse/s].

The maximum pulse output speed allowed by the ball screw is: 200 [mm/s] ÷ 5 [mm/rot] × 8000 [pulse/rot] = 320000 [pulse/s] Thus, the maximum pulse output speed for this system is 320000 [pulse/s].

Therefore, the speed limit setting is: 320000 [pulse/s] ÷ 1000 × 65536 = 20971520

[(1/65536) pulses/ms]

– Automatic origin search mode (*11) Set to 0

to use the origin input.

– Automatic origin search direction (*12) Set to 0

to move the axis in the negative direction to search for the origin.

– Automatic origin search speed 1 (*13/*14) Assume that the origin search speed 1 is 50 [mm/s]. 50 [mms] ÷ 5 [mm/rot] × 8000 [pulse/rot] = 80000 [pulse/s] 80000 [pulse/s] ÷ 1000 × 65536 = 5242880

[(1/65536) pulses/ms]

– Automatic origin search speed 2 (*15/*16) Suppose that the origin search speed 2 is 2 [mm/s]. 2 [mms] ÷ 5 [mm/rot] × 8000 [pulse/rot] = 3200 [pulse/s] 3200 [pulse/s] ÷ 1000 × 65536 = 209715

[(1/65536) pulses/ms]

– Automatic origin search starting speed (*17/*18) Set to 0

[(1/65536) pulses/ms] as the motor used is a servomotor.

– Automatic origin search acceleration time (*19) Set to 500

[ms].

– Automatic origin search deceleration time (*20) Set to 500

[ms].

– Automatic origin search Z-phase edge selection (*21) Set to 0

to use the rising edge.

– Automatic origin search Z-phase pulse count (*22) Set to 1

[time] so that the position where the first Z-phase pulse is detected is

considered the origin.

– Automatic origin search Z-phase search range (*23/*24) Set to 8000

[pulse] as the encoder outputs 8000 pulses per rotation.

– Automatic origin search deviation pulse clear time (*25) Set to 1000

[ms] to output the deviation pulse clear signal for 1 second.

– Automatic origin search origin offset (*26/*27) Set to 0

[pulse].

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5. Status

Status refers to data which the CPU module reads from the positioning module. You can check the state of the positioning module using the status and input relays.

CAUTION

When the CPU module reads 2-word data from the positioning module, concurrency of the high-order word and low-order word of 2-word data is not assured due to conflicts between the timing of reading from the CPU module and the data update period of the positioning module.

To ensure that the high-order word and low-order word of 2-word data are concurrent when reading from a sequence CPU, use the READ command to read the data twice consecutively and verify that the data read are the same in both instances. If the HRD command is used, data concurrency is not assured even if you confirm that the data are the same.

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

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5.1 List of Status

In Table 5.1, status listed with 2 data position numbers are 2-word data. The smaller number data position number contains the low-order word, and the larger data position number contains the high-order word.

The data position number consists of three digits; the leading ‘

*’ is the value of (axis

number-1). Replace ‘*’ with values 0 to 7 for axes 1 to 8 respectively.

Each data position number corresponds to a word. Always use the word-based READ instruction to access from a sequence program; using a long-word-based instruction may cause unexpected results.

Always use word instructions when accessing from a BASIC program.

zzzz Fixed-decimal point data

Speed-related data with unit [(1/65536) pulses/ms] is fixed-point data with 1 word (16 bits) for the integer part and 1 word (16 bits) for the fractional part. The smaller data position number contains the low-order word, and the larger data position number contains the high-order word. For more information on fixed-point data, see the description of fixed point data in Section 4.1, “Parameters.”

zzzz Speed data conversion program

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

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

Calculation result

D00014 D00013 D00012 D00011

Resulting long word [pulses/ms] Truncated Portion

Table 5.1 Status

Data Position

Number

Status Description

*81/*82 Target Position Status -2147483648 to 2147483647 [pulses]

*83/*84 Current Position Status -2147483648 to 2147483647 [pulses]

*85/*86 Current Speed Status 0 to Speed Limit [(1/65536) pulses/ms]

*87 Contact Input Status States of contact inputs

*88 Error Status Error information when an error occurs.

*89 Alarm Status Alarm information when an alarm is raised.

*90 Origin Search Status Status related to an origin search

*91 Extended Status

Operation status such as accelerating, decelerating, and changing speed

*92/*93

Number of Flash Memory Write Operations

Value starts from 0 [time]

The symbol

‘*’ designates the value of (axis number - 1). The values for axis 1 to axis 8 are 0 to 7 respectively.

D00011

D00001

1000

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5.2 Description of Statuses

Table 5.2 Status

Data Position Number

Status Description

*81/*82 Target Position

Status [pulses]

Reads the operation target position during a positioning operation. The operation target position is determined from the Target Position Mode and Target Position, set at the beginning of the positioning. The Operation Target Position always contains absolute position data, regardless of whether the Target Position Mode is absolute or relative.

*83/*84 Current Position

Status [pulses]

This represents the current position of a motor as output pulse counts of the positioning module. It is thus not the actual motor position when a servomotor is used.

*85/*86 Current Speed

Status [(1/65536) pulses/ms]

Reads the current speed of a motor as output pulse counts of the positioning module. It is thus not the actual speed of the motor when a servomotor is used. Regardless of the direction of the motor’s rotation, the value is zero or positive.

*87 Contact Input Status Reads the state of the external contact inputs and the encoder Z-phase input.

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

*88 Error Status Reads the error code when an error occurs. It has no meaning if the Error

Notification input relay is off. For details, refer to Section 8.2, “Error Codes.”

*89 Alarm Status Reads the alarm code when an alarm occurs. A value of ‘0’ indicates no alarm.

There is no separate alarm notification input relay. For details, refer to Section

8.3, “Alarm Codes.”

*90 Origin Search Status Reads the status during or at the end of an origin search.

0: On power-up or at normal end of the origin search 1: Stopped upon detection of an input edge of “Stop immediately” or “Decelerate

and Stop”. 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

*91 Extended Status Reads the state of an axis during positioning or jog stepping as bit data. When

an axis is in a particular stage of motion, the corresponding bit is ‘1’. bit 0: Accelerating (at the time of operation start) bit 1: Moving at constant speed bit 2: Decelerating (during a Decelerate & Stop operation) bit 3: Accelerating or decelerating (during a Change Speed operation) bit 4: During a Change Target Position operation

*92/*93 Number of Flash

Memory Write Operations

Reads the total number of flash memory write operations that has been performed. As there is a limit to the number of times data can be saved in the flash memory (100,000 times maximum), save the entry parameters to the flash memory only when required. The performance of the flash memory is not assured after 100,000 writes

The symbol

‘*’ designates the value of (axis number - 1). The values for axis 1 to axis 8 are 0 to 7 respectively.

Blank Page

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6. Input/Output Relays

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

CAUTION

For the F3YP14-0N, NEVER set the output relays for axes 5 to 8. Input relays for axes 5 to 8 have no meaning.

6.1 Output Relays

Table 6.1 lists the output relays available in this positioning module.

Table 6.1 Output Relays

Output relay

number

Operation when ON

Output relay

number

Operation when ON

YVVV33 Axis 1, Execute Command YVVV49 Axis 1, Positive-direction Jog Stepping YVVV34 Axis 2, Execute Command YVVV50 Axis 2, Positive-direction Jog Stepping YVVV35 Axis 3, Execute Command YVVV51 Axis 3, Positive-direction Jog Stepping YVVV36 Axis 4, Execute Command YVVV52 Axis 4, Positive-direction Jog Stepping YVVV37 Axis 5, Execute Command YVVV53 Axis 5, Positive-direction Jog Stepping YVVV38 Axis 6, Execute Command YVVV54 Axis 6, Positive-direction Jog Stepping YVVV39 Axis 7, Execute Command YVVV55 Axis 7, Positive-direction Jog Stepping YVVV40 Axis 8, Execute Command YVVV56 Axis 8, Positive-direction Jog Stepping YVVV41 Axis 1, Stop Immediately YVVV57 Axis 1, Negative-direction Jog Stepping YVVV42 Axis 2, Stop Immediately YVVV58 Axis 2, Negative-direction Jog Stepping YVVV43 Axis 3, Stop Immediately YVVV59 Axis 3, Negative-direction Jog Stepping YVVV44 Axis 4, Stop Immediately YVVV60 Axis 4, Negative-direction Jog Stepping YVVV45 Axis 5, Stop Immediately YVVV61 Axis 5, Negative-direction Jog Stepping YVVV46 Axis 6, Stop Immediately YVVV62 Axis 6, Negative-direction Jog Stepping YVVV47 Axis 7, Stop Immediately YVVV63 Axis 7, Negative-direction Jog Stepping YVVV48 Axis 8, Stop Immediately YVVV64 Axis 8, Negative-direction Jog Stepping

Note: Replace “VVV” with the number of the FA-M3 slot where the positioning module is installed.

zzzz Execute Command Relay (YV

VVVVVVVVV33 to YVVVVVVVVVVVV40)

Turning on one of these relays causes the axis concerned to start operating according to the current command code stored in the command parameter. When the operation defined by the command code has been successfully executed, the Execute Command ACK relay (XVVV01 to XVVV08) turns on. Turning off the Execute Command relay turns off the Execute Command ACK relay (XVVV01 to XVVV08).

zzzz Stop Immediately Relay (YV

VVVVVVVVV41 to YVVVVVVVVVVVV48)

Turning on one of these relays causes the axis concerned to stop immediately without going through deceleration. When the Stop Immediately operation has been successfully executed, the Stop Immediately ACK relay (XVVV09 to XVVV16) turns on. Turning off the Stop Immediately relay turns off the Stop Immediately ACK relay (XVVV09 to XVVV16).

zzzz Positive-direction Jog Stepping Relay (YV

VVVVVVVVV49 to YVVVVVVVVVVVV56)

The axis moves in the positive direction as long as this relay stays on.

zzzz Negative-direction Jog Stepping Relay (YV

VVVVVVVVV57 to YVVVVVVVVVVVV64)

The axis moves in the negative direction as long as this relay stays on.

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6.2 Input Relays

Table 6.2 lists the input relays available in this positioning module.

An interrupt signal can be sent to the CPU module by changing the state of an input relay from off to on.

Table 6.2 Input Relays

Input relay

number

Operation when ON

Input relay

number

Operation when ON

XVVV01 Axis 1, Execute Command ACK XVVV17 Axis 1, Error Notification XVVV02 Axis 2, Execute Command ACK XVVV18 Axis 2, Error Notification XVVV03 Axis 3, Execute Command ACK XVVV19 Axis 3, Error Notification XVVV04 Axis 4, Execute Command ACK XVVV20 Axis 4, Error Notification XVVV05 Axis 5, Execute Command ACK XVVV21 Axis 5, Error Notification XVVV06 Axis 6, Execute Command ACK XVVV22 Axis 6, Error Notification XVVV07 Axis 7, Execute Command ACK XVVV23 Axis 7, Error Notification XVVV08 Axis 8, Execute Command ACK XVVV24 Axis 8, Error Notification XVVV09 Axis 1, Stop Immediately ACK XVVV25 Axis 1, End of Positioning XVVV10 Axis 2, Stop Immediately ACK XVVV26 Axis 2, End of Positioning XVVV11 Axis 3, Stop Immediately ACK XVVV27 Axis 3, End of Positioning XVVV12 Axis 4, Stop Immediately ACK XVVV28 Axis 4, End of Positioning XVVV13 Axis 5, Stop Immediately ACK XVVV29 Axis 5, End of Positioning XVVV14 Axis 6, Stop Immediately ACK XVVV30 Axis 6, End of Positioning XVVV15 Axis 7, Stop Immediately ACK XVVV31 Axis 7, End of Positioning XVVV16 Axis 8, Stop Immediately ACK XVVV32 Axis 8, End of Positioning

Note: Replace “VVV” with the number of the FA-M3 slot where the positioning module is installed.

zzzz Execute Command ACK Relay (XV

VVVVVVVVV01 to XVVVVVVVVVVVV08)

This relay turns on if the Execute Command relay (YVVV33 to YVVV40) is turned on and a command has been successfully executed. It does not turn on if the command has not been successfully executed (due to an error, etc.). It turns off when the Execute Command relay (YVVV33 to YVVV40) is turned off.

zzzz Stop Immediately ACK Relay (XV

VVVVVVVVV09 to XVVVVVVVVVVVV16)

This relay turns on if the Stop Immediately relay (YVVV41 to YVVV48) is turned on and the stop immediately operation has been successfully executed. It does not turn on if the operation has not been successfully executed (due to an error, etc.). It turns off when the Stop Immediately relay (YVVV41 to YVVV48) is turned off.

zzzz Error Notification Relay (XV

VVVVVVVVV17 to XVVVVVVVVVVVV24)

When an error occurs on a particular axis, the Error Notification relay for that axis turns on. To identify an error, check the error code stored in the Error Status. Executing the Reset Error command resets the error condition and turns off the Error Notification relay. If an error occurs in a Set Parameter command (error code 2 VVV), re-execute the Set Parameter command with valid parameters; the Reset Error command is not effective for such errors.

zzzz End of Positioning Relay (XV

VVVVVVVVV25 to XVVVVVVVVVVVV32)

This relay is on when the axis is in the End of Positioning status (i.e., when the axis is at rest). It is off during a positioning or jog stepping operation (i.e., when the motor is in motion).

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7. Accessing Modules

The sample program shown in this chapter assumes that the positioning module is installed in slot 4 (slot #004) of the main unit; it also assumes that when only one axis is used, it is axis 1.

CAUTION

On the F3YP14-0N module, NEVER set the output relays for axes 5 to 8; moreover, Input relays for axes 5 to 8 have no meaning.

7.1 Accessing from Sequence CPU

The following instructions can be used for accessing the module from a sequence CPU using a ladder sequence program. For more information on each instruction, see “Sequence CPU Modules — Instructions” (IM34M6P12-03E).

zzzz Reading/Writing Parameters and Status

Use these instructions on a word basis. Long word instructions cannot be used.

- Specific Module Read Instruction (READ Instruction)

READ SL n1 D k

SL: number of slot where the module is installed n1: data position number for the first word of data to be read D: first device for storing the read data k: number of words of data to be read

- Specific Module Write Instruction (WRITE Instruction)

WRITE S SL n2 k

S: first device storing the write data SL: number of slot where the module is installed n2: first data position number for writing k: number of words of data to be written

- Specific Module High-Speed Read Instruction (HRD Instruction)

HRD SL n1 D k

SL: number of slot where the module is installed n1: data position number for the first word of data to be read D: first device for storing the read data k: number of words of data to be read

- Specific Module High-Speed Write Instruction (HWR Instruction)

HWR S SL n2 k

S: first device for storing the write data SL: number of slot where the module is installed n2: first data position number for writing k: number of words of data to be written

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7.1.1 Reading Module Statuses

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

zzzz Note:

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

zzzz Sample Program:

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

Major devices used

D00081/D00082 Read target position status D00083/D00084 Read current position status D00085/D00086 Read current speed status D00087 Read contact input status D00088 Read error status D00089 Read alarm status D00090 Read origin search status D00091 Read extended status D00092/D00093 Read the number of flash memory write

operations D00121/D00122 Current speed [pulses/s] D00131 to D00134 (work area) I00001 to I00016 Bit data for contact inputs I00017 to I00032 Origin search status bit data I00033 to I00048 Extension status bit data

Figure 7.1 Program for Reading the Module Status

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7.1.2 Set Parameter

The Set Parameter command sets the entry parameters.

zzzz Conditions for Command Execution:

- The axis is in the End-of-Positioning status.

- No other command is being executed.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored (the Command

Execution ACK relay is not set). If the command is issued when the axis is not in the End-of-Positioning status, an alarm code is set in the alarm status. Resetting the Execute Command output relay resets the alarm status. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- An error arising from a Set Parameter command (error code 2VVV) cannot be

reset with the Reset Error command. Run the Set Parameter command again with proper data.

zzzz Procedure:

1. Write the parameter values and command code to the positioning module with the

WRITE instruction or any other appropriate instruction (set the command code to 3).

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 error, the Error Notification input relay will be set but the Execute Command ACK input relay will not be set. In this case, reset the Execute Command output relay and return to step 1.

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

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zzzz Sample Program:

In this example, parameters are preset in the data registers. All entry parameters are written at one go with the WRITE instruction.

Major devices used

D00001 Maximum speed selection D00002 Pulse output mode D00003 Direction of rotation D00004 Contact input polarity D00005/D00006 Positive direction limit D00007/D00008 Negative direction limit D00009/D00010 Speed limit D00011 Automatic origin search mode D00012 Automatic origin search direction D00013/D00014 Automatic origin search speed 1 D00015/D00016 Automatic origin search speed 2 D00017/D00018 Automatic origin search starting speed D00019 Automatic origin search acceleration time D00020 Automatic origin search deceleration time D00021 Automatic origin search Z-phase edge selection D00022 Automatic origin search Z-phase search count D00023/D00024 Automatic origin search Z-phase search range D00025 Automatic origin search deviation pulse clear time D00026/D00027 Automatic origin search origin offset value Y00433 Execute Command output relay X00401 Execute Command ACK input relay I00099 Command execution prohibit condition (to be set elsewhere) I00101 Request to execute command I00102 Request to execute command (rising edge) I00103 Waiting for Command ACK I00104 Command executing I00105 Forced reset of the Set Parameter operation

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Figure 7.2 Set Parameter Program

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Figure 7.3 Time Chart for the Set Parameter Program

I00101

I00102

I00103

I00104

Y00433

X00401

F070103.VSD

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7.1.3 Reset Error

The Reset Error command resets the error status of the positioning module.

zzzz Conditions for Command Execution:

- The axis is in error (other than an entry parameter error).

- No other command is being executed.

zzzz Note:

- The positioning module ignores all commands other than the Reset Error command

and Set Parameter command in an error status (i.e. when the Error Notification input relay is on). Therefore, always execute the Reset Error command when in an error status. If the Reset Error command is issued when the axis is not in an error status, or if any command other than the Reset Error command or Set Parameter command is issued when the axis is in an error status, an alarm code is written to the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.” An entry parameter error (error code 2VVV) of a Set Parameter command cannot be reset using the Reset Error command. For more information, see Section 7.1.2, “Set Parameter.”

zzzz Procedure:

1. Write the command code to the positioning module with the WRITE instruction or

any other appropriate instruction (set the command code to 5).

2. Set the Execute Command output relay.

3. Check that the Error Notification input relay is reset. Then reset the Execute

Command output relay.

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

zzzz Sample Program:

This example assumes that the Reset Error operation is done manually. All output relays of the positioning module are reset during the Reset Error operation. The error code retains its value after the Reset Error command has been completed.

Major devices used

D00188 Error code storage device Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00417 Error Notification input relay I00111 Request to Reset Error (manual signal) I00112 Request to Reset Error (rising edge) I00113 Request to Reset Error (falling edge) I00114 Command executing

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Figure 7.4 Reset Error Program

Figure 7.5 Time Chart for the Reset Error Program

I00111

I00112

I00113

I00114

Y00433

X00401

X00417

F070105.VSD

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7.1.4 Jog Stepping

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

zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is in the End-of-Positioning status.

- No other command is being executed.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored. If the command is

issued when the axis is in an error state or not in the End-of-Positioning status, an alarm code is written to the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- During jog stepping, the Stop Immediately command is valid, but the Decelerate-

and-Stop command is ignored (the Execute Command ACK input relay is not turned on). If the Decelerate-and-Stop command is issued during jog stepping, an alarm code is written to the alarm status. Terminate jog stepping before executing the Decelerate-and-Stop command.

- During jog stepping, no error occurs even if the axis exceeds the range defined by

the positive direction limit value and negative direction limit value.

zzzz Procedure:

1. Write the required parameters of the Jog Stepping command to the positioning module with the WRITE instruction or any other appropriate instruction.

2. Set the Positive-direction (Negative-direction) Jog Stepping output relay to move the axis according to the parameters. The End-of-Positioning input relay is reset.

3. Reset the Positive-direction (Negative-direction) Jog Stepping output relay to decelerate and stop the axis according to the parameters. The End-of-positioning input relay is reset.

zzzz Sample Program:

In this example, jog stepping starts with a 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 case for positive-direction. Required parameters are preset in the data registers.

Major devices used

D00245 Acceleration/deceleration mode D00246/D00247 Target speed D00248 Acceleration time D00249 Deceleration time D00250/D00251 Startup speed D00289 Alarm code storage device Y00449 Positive-direction Jog Stepping output relay X00417 Error Notification input relay X00425 End-of-Positioning input relay I00099 Command execution prohibit condition (to be 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

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Figure 7.6 Jog Stepping Program

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Figure 7.7 Time Chart for the Jog Stepping Program

I00121

I00122

I00123

I00124

Y00449

X00425

Motor speed

F070107.VSD

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7.1.5 Origin Search

There are two ways to perform origin search operation: normal and automatic. In the normal origin search operation, 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.

This section describes the normal origin search operation. For information on the automatic origin search operation, see Section 7.1.6, “Automatic Origin Search.”

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

In the example below, the search moves in the negative direction with the following behavior: (1) Stops immediately when a rising edge of the negative-direction limit is detected. (2) Decelerates and stops when a rising edge of the origin input is detected. (3) Shifts to a Z-phase search when a falling edge of the origin search is detected. In this case, the origin search mode is set as follows:

0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1

(“0C09” in hexadecimal)

For details on the origin search mode, see Section 3.5, “Origin Search.”

Figure 7.8 Example of Origin Search Operation

zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is in the End-of-Positioning status.

- No other command is being executed.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored and the Command Execution ACK relay is not set. If the command is issued when the axis is in an error state or not in the End-of-Positioning status, an alarm code is set in the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- The origin search ends when a specified external contact input is detected and the axis is stopped. Change the parameters and begin the origin search again if you want to continue the search in another direction or at a different speed.

- In the following cases, an error occurs and the origin search is aborted:

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

detected.

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

detected. This causes an error regardless of the setting.

- After shifting to Z-phase search, no Z-phase pulse is detected within the origin

search Z-phase search range.

- If you wish to change the setup values according to the status of an external contact input at the beginning of the origin search, read the state in the Contact Input Status before executing the origin search.

Negative-

direction

limit input

Origin input

(2)(3)(1)

Negative

direction

Positive

direction

F070108.VSD

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- After shifting to a Z-phase search, even if the external contact input that activates the Stop Immediately or Decelerate and Stop operation is detected, the Z-search operation will continue. (This behavior is different from the origin search in the F3NC11-0N and F3NC12-0N modules)

- During the origin search, no error occurs even if the axis exceeds the range defined by the positive and negative direction limit values.

zzzz Procedure:

1． Write the parameters and command code required for the normal origin search

operation to the positioning module with the WRITE or any other appropriate instruction (set the command code to 2).

2． Set the Execute Command output relay. The Execute Command ACK input relay

will be set, and the automatic origin search starts. Operation continues until the specified external contact input is detected. If there is an invalid parameter, the Error Notification 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," the module skips the Z-phase search), the current position is specified as “Position 0” and the axis stops immediately. After outputting the deviation pulse clear signal for a preset duration, the End of Positioning input relay is set.

4． Confirm the status of the origin search by checking the origin search status. If the

origin search status is “0,” the origin search has ended following a successful Zphase search. For details on the origin search status, see Section 5.2, “Description of Statuses”.

zzzz Sample Program:

This program starts the origin search using the Request to Search Origin input and stops the search using a designated external contact input. If any error is detected during the search, the search status is automatically reset. The program also uses some area for non-required parameters because all the parameters are written at once. All required parameters are preset in the data registers.

Major devices used

D00341 Command code D00342 to D00345 Area for non-required parameters D00346/D00347 Target speed D00348 Acceleration time D00349 Deceleration time D00350/D00351 Startup speed D00352 Origin search mode D00353 Origin search direction D00354 Z-phase edge selection D00355 Z-phase search count D00356/D00357 Z-phase search range D00358 Deviation pulse clear time D00389 Alarm code storage device D00390 Origin search status Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00417 Error Notification input relay X00425 End of Positioning input relay I00099 Command execution prohibit condition (to be set elsewhere) I00131 Request to search origin I00132 Request to search origin (rising edge) I00133 Origin search operating I00134 Origin search executing

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Figure 7.9 Origin Search Program

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Figure 7.10 Time Chart for the Origin Search Program

I00131

I00132

I00133

I00134

Y00433

X00401

Motor speed

X00425

Stop immediately at origin

F070110.VSD

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7.1.6 Automatic Origin Search

There are two ways to perform origin search: normal and automatic. In normal origin search, the search behavior is arbitrarily defined by an application program. The automatic origin search operation uses entry parameters to define the origin search behavior. This section describes the automatic origin search operation. For details on the normal origin search operation, see Section 7.1.5, “Origin Search.”

Before initiating an automatic origin search, you must first set the automatic origin search mode and other relevant entry parameters. For details on the automatic origin search operation, see Section 3.6, “Automatic Origin Search.”

zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is in the End-of-Positioning status.

- No other command is being executed.

zzzz Note:

- In the following cases, an error occurs and the origin search is aborted:

- The limit switch for the direction opposite to the automatic origin search direction

is detected when the axis is moving in that direction at automatic origin search speed 2.

- After shifting into Z-phase detection operation, no Z-phase pulse is detected

within the automatic origin search Z-phase search range.

- During automatic origin search, no error occurs even if the axis exceeds the range defined by the positive and negative direction limit values.

zzzz Procedure:

1．Set the command code in the positioning module to 8 using a WRITE instruction or

any other appropriate instruction.

2． Set the Execute Command output relay. The Execute Command ACK input relay

will be set, and the automatic origin search starts. If there is an error in the parameters, the Error Notification input relay is set but the Execute Command ACK input relay is not set.

3． After shifting to Z-phase search, the axis stops when Z-phase pulses are detected

for the specified number of times (no shifting to a Z-phase search if the Z-phase pulse count is set to 0), and that position becomes 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 specified period, and then the End of Positioning input relay is set.

4． Confirm the status of the origin search by checking the origin search status. If the

origin search status is “0,” the automatic origin search has ended following a successful Z-phase search. For details on the origin search status, see Section 5.2, “Description of Statuses”.

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zzzz Sample Program:

This program starts the automatic origin search operation using the Request to Start Automatic Origin Search and stops the operation using Z-phase detected. The program stops the operation if it detects an error during operation.

Major devices used

D00489 Alarm code storage device D00490 Origin search status Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00417 Error Notification input relay X00425 End of Positioning input relay I00099 Command execution prohibit condition (set elsewhere) I00136 Request to start automatic origin search I00137 Request to start automatic origin search (rising edge) I00138 Automatic origin search operating I00139 Automatic origin search executing

Figure 7.11 Automatic Origin Search Program

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Figure 7.12 Time Chart for the Automatic Origin Search Program

I00136

I00137

I00138

I00139

Y00433

X00401

Motor speed

X00425

Stop immediately at origin

F070112.VSD

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7.1.7 Set Current Position

The Set Current Position command changes the current position of an axis in the End of Positioning status.

zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is in the End-of-Positioning status.

- No other command is being executed.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored and the Command Execution ACK relay is not set. If the command is issued when the axis is in an error state or not in the End-of-Positioning status, an alarm code is written to the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- The new position must fall between the positive-direction limit and the negativedirection limit. An error occurs if a request is made to change the current position beyond the limits of the range.

zzzz Procedure:

1． Set the Target Position parameter in the positioning module to the new target

position value and set the command code to 4 using a WRITE instruction or any appropriate 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 an entry parameter error, the Error Notification input relay will be set but the Execute Command ACK input relay will not be set.

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

zzzz Sample Program:

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

Major devices used

D00541 Command code D00542 Area for non-required parameters D00543/D00544 Target position (new current position) D00589 Alarm code storage device Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00417 Error Notification input relay X00425 End of Positioning input relay I00099 Command execution prohibit condition (to be set elsewhere) I00141 Request to write current position I00142 Request to write current position (rising edge) I00143 Waiting for Execute Command ACK I00144 Command executing

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Figure 7.13 Set Current Position Program

Figure 7.14 Time Chart for the Set Current Position Program

I00141

I00142

I00143

I00144

Y00433

X00401

F070114.VSD

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7.1.8 Positioning Operation

This command executes a positioning operation towards a preset target position.

zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is in the End-of-Positioning status.

- No other command is being executed.

zzzz Note:

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

zzzz Procedure:

1． Write the required parameters and command code to the positioning module using

the WRITE instruction or any other appropriate instruction (set the command code to 0).

2． Set the Execute Command output relay.

3． The Execute Command ACK will be set and the axis starts positioning. Reset the

Execute Command output relay after confirming that the Execute Command ACK input relay is set. If there is an entry parameter error, the Error Notification input relay will be set, but the Execute Command ACK input relay will not be set.

4． The End of Positioning input relay is set when the output pulse count reaches the

target position. In general, when using servomotors, take note that there is some time lag between the stopping of the pulse output and the stopping of the axis after reaching the target position.

zzzz Sample Program

This is a sample program for a positioning operation. All required parameters are preset in the data registers.

Major devices used

D00641 Command code D00642 Target position mode D00643/D00644 Target position D00645 Acceleration/deceleration mode D00646/D00647 Target speed D00648 Acceleration time D00649 Deceleration time D00650/D00651 Startup speed D00689 Alarm code storage device Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00417 Error Notification input relay X00425 End of Positioning input relay I00099 Command execution prohibit condition (to be set elsewhere) I00151 Request to start positioning I00152 Request to start positioning (rising edge) I00153 Waiting for Execute Command ACK I00154 Executing positioning operation

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Figure 7.15 Positioning Operation Program

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Figure 7.16 Time Chart for the Positioning Operation Program

I00151

I00152

I00153

I00154

Y00433

X00401

Motor speed

X00425

F070116.VSD

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7.1.9 Request to Decelerate and Stop

This Request to Decelerate and Stop command decelerates and stops a moving motor during a positioning operation, origin search, etc. The rate of deceleration is determined from the preset values at startup.

zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is not in jog stepping mode.

- No other command is being executed.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored and the Command Execution ACK relay is not set. If the command is issued when the axis is in an error state or in jog stepping mode, an alarm code is set in the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- You cannot execute the Decelerate and Stop command during jog stepping; you must first terminate jog stepping.

- The Decelerate and Stop command is also accepted in the end-of-positioning status. (The Execute Command ACK is set.)

zzzz Procedure:

1． Set the command code in the positioning module to 1 using a WRITE instruction or

any other appropriate 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. The axis starts decelerating when the Execute Command ACK is set.

4．The End of Positioning input relay is set when the axis stops.

zzzz Sample Program:

This sample program performs a request to decelerate and stop. All required parameters are preset in the data registers.

Major devices used

D00789 Alarm code storage device Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00425 End of Positioning input relay I00099 Command execution prohibit condition (to be set elsewhere) I00161 Request to decelerate and stop I00162 Request to decelerate and stop (rising edge) I00163 Waiting for Execute Command ACK I00164 Waiting for decelerate and stop

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Figure 7.17 Request to Decelerate and Stop Program

Figure 7.18 Time Chart for the Request to Decelerate and Stop Program

I00161

I00162

I00163

I00164

Y00433

X00401

Motor Speed

X00425

F070118.VSD

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7.1.10 Request to Stop Immediately

The Request to Stop Immediately command stops a moving motor immediately without any deceleration during a positioning operation, origin search, etc.

zzzz Conditions for the Command:

- The axis is not in an error state.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored and the Stop Immediately ACK relay is not set. If the command is issued when the axis is in an error state, an alarm code is set in the alarm status. The alarm code is automatically cleared when the Stop Immediately output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- Take care when stopping a motor operating at high speed as the sudden stop may result in a shock to the system.

- The Stop Immediately command is also accepted in the end-of-positioning status. (The Execute Command ACK is set.)

zzzz Procedure:

1． Set the Stop Immediately output relay.

2． Reset the Stop Immediately output relay after confirming that the Stop Immediately

ACK input relay is set. The axis stops immediately when the Stop Immediately ACK input relay is set.

3． The End of Positioning input relay is set when the axis stops.

zzzz Sample Program:

This sample program performs a request to stop immediately.

Major devices used

D00889 Alarm code storing device Y00441 Stop Immediately output relay X00409 Stop Immediately ACK input relay X00425 End of Positioning input relay I00171 Request to stop immediately I00172 Request to stop immediately (rising edge) I00173 Waiting for Stop Immediately ACK I00174 Command executing

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Figure 7.19 Request to Stop Immediately Program

Figure 7.20 Time Chart for the Request to Stop Immediately Program

I00171

I00172

I00173

I00174

Y00433

X00401

Motor Speed

X00425

F070120.VSD

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7.1.11 Changing Speed during Operation

When the Change Speed command is issued during a positioning operation, the axis immediately starts to accelerate (or decelerate) to the new speed at a rate determined by the new speed and the acceleration (or deceleration) time. When the axis subsequently decelerates and stops from the new target speed to complete the positioning operation, or when the Decelerate-and-Stop command is issued, the deceleration rate is determined by the new speed and the deceleration time.

zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is not in the End-of-Positioning status.

- The axis is not executing an origin search operation.

- The axis is not accelerating in a positioning operation.

- The axis is not decelerating in a positioning operation or in a jog stepping operation.

- The axis is not changing its target speed in a positioning operation.

- The axis can stop at the target position even after changing to the new speed.

- The axis is not changing its target position.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored and the Command Execution ACK relay is not set.

If the command is issued but not all the conditions are satisfied, an alarm code is set in the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- If the Change Speed command is issued during a jog stepping operation, the module waits until all acceleration and deceleration has been completed before executing the command. If a new Change Speed command is issued during the wait, the previous command is discarded and only the new command is executed.

- If a command parameter is invalid, an error occurs and the axis stops immediately.

zzzz Procedure:

1． Write the required parameters and command code to the positioning module with

the WRITE instruction or any other appropriate instruction (set the command code to 6).

2． Set the Execute Command output relay.

3． The Execute Command ACK input relay is set, and the Change Speed operation

starts. Reset the Execute Command output relay after confirming that the Execute Command ACK input relay is set. If there is an invalid parameter, the Error Notification input relay will be set, but the Execute Command ACK input relay will not be set.

4． Confirm that the Execute Command ACK input relay is reset.

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zzzz Sample Program

This program changes speed during operation. All required parameters are preset in the data registers.

Major devices used

D00941 Command code D00942 to D00945 Area for non-required parameters D00946/D00947 Target speed D00948 Acceleration time D00949 Deceleration time D00989 Alarm code storage device Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00417 Error Notification input relay I00099 Command execution prohibit condition (to be set elsewhere) I00181 Request to change speed I00182 Request to change speed (rising edge) I00183 Waiting for Execute Command ACK I00184 Command executing

Figure 7.21 Request to Change Speed Program

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Figure 7.22 Time Program for the Request to Change Target Speed Program

I00181

I00182

I00183

I00184

Y00433

X00401

F070122.VSD

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7.1.12 Changing Target Position during Positioning

When the Change Target Position command is issued during a positioning operation, the module updates the target position and performs positioning to reach the new target position. Changing the target speed, acceleration or deceleration is not allowed during the execution of the change target position command.

zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is not in a jog stepping operation.

- The axis is not in an origin search operation.

- The axis is not in a change target position operation.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored and the Command Execution ACK relay is not set. If the command is issued but not all the conditions are satisfied, an alarm code is written to the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- If the Change Target Position command is issued in the End-of-Positioning status, the command is executed the same way as a Start Positioning command.

- If the Change Target Position command is issued during acceleration, deceleration or speed change, the execution of the command is suspended until the axis speed becomes constant or the axis stops.

- When the Change Target Position command is being executed, no command other than the Decelerate-and-Stop command and Stop Immediately command are available.

- If a command parameter is invalid, an error occurs and the axis stops immediately.

zzzz Procedure:

1． Write the command parameters to the positioning module with the WRITE

instruction or any other appropriate instruction (set the command code to 7).

2．Set the Execute Command output relay.

3．The Execute Command ACK input relay is set, and the Change Target Position

operation begins. Reset the Execute Command output relay after confirming that the Execute Command ACK input relay is set. If there is an invalid parameter, the Error Notification input relay will be set, but the Execute Command ACK input relay will not be set.

4．Confirm that the Execute Command ACK input relay is reset.

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zzzz Sample Program:

This program changes the target position during a positioning operation. All required parameters are preset in the data registers.

Major devices used

D01041 Command code D01042 Target position mode D01043/D01044 Target position D01089 Alarm code storage device Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00417 Error Notification input relay I00099 Command execution prohibit condition (to be set elsewhere) I00191 Request to change target position I00192 Request to change target position (rising edge) I00193 Waiting for Execute Command ACK I00194 Command executing

Figure 7.23 Request to Change Target Position Program

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Figure 7.24 Time Chart for the Request to Change Target Position Program

I00191

I00192

I00193

I00194

Y00433

X00401

F070124.VSD

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7.1.13 Saving Entry Parameters

When all axes are at rest, you can save all entry parameters to the flash memory. You can issue the Save Parameter command for any axis but the entry parameters of all axes are saved to the flash memory, regardless.

zzzz Conditions for Command Execution:

- No axis is in an error state.

- All axes are in the End-of-Positioning state.

- No other command is being executed for any axis.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored and the Command Execution ACK relay is not set. If the command is issued but not all the conditions are satisfied, an alarm code is set in the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- As there is limit to the number of times data can be written to the flash memory (100,000 times max.), you should save the entry parameters to the flash memory only when required.

zzzz Procedure:

1．Set the command code to 9 (Save Parameter command) by writing to the

positioning module using a WRITE instruction or any other appropriate instruction.

2．Set the Execute Command output relay.

3．The Execute Command ACK input relay is set, and the entry parameters are saved

to the flash memory. Reset the Execute Command output relay after confirming that the Execute Command ACK input relay is set.

4．Confirm that the Execute Command ACK input relay is reset.

zzzz Sample Program:

This program saves the entry parameters to the flash memory. All required parameters are preset in the data registers.

Major devices used

D01189 Alarm code storage device Y00433 Execute Command output relay X00401 Execute Command ACK input relay I00099 Command execution prohibit condition (to be set elsewhere) I00201 Request to save entry parameters I00202 Request to save entry parameters (rising edge) I00203 Waiting for Execute Command ACK I00204 Command executing

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Figure 7.25 Request to Save Entry Parameters Program

Figure 7.26 Time Chart for the Request to Save Entry Parameters Program

I00201

I00202

I00203

I00204

Y00433

X00401

F070126.VSD

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7.2 Accessing from a BASIC CPU

You can use the following the commands to access the module from a BASIC CPU. For details of each command, see “Basic CPU Modules and YM-BASIC/FA Programming Language” (IM 34M6Q22-01E).

Function Statement Format Explanation

Module use declaration

ASSIGN YP18 = SL

SL: Slot number

Declares use of a module or CPU module.

Reading parameters and status

ENTER SL, n NOFORMAT; I

SL: Slot number

n : Data position number

I : Name of the integer/integer array

variable for storing the read data

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

Writing parameters

OUTPUT SL, n NOFORMAT; I

SL: Slot number

: Data position number

: Name of the Integer/integer array

variable for storing the write data

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).

Reading input relays

STATUS SL, n; P

: Slot number

: Data position number (101or 102)

: Name of the Integer variable for

storing the read data

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

Writing output relays

CONTROL SL, n; P, M

: Slot number

: Data position number (101 or 102)

: Output data

: Mask pattern

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

*1: For input relays, data position number 101 is for axes 1 to 4 (XVVV01 to XVVV16), and 102 is for axes 5 to 8

(XVVV17 to XVVV32).

*2: For output relays, data position number 101 is for axes 1 to 4 (YVVV33 to YVVV48), and 102 is for axes 5 to 8

(YVVV49 to YVVV64).

zzzz How To Handle 2-Word Data

You must convert long-word data to 2-word integer data before writing parameters to the positioning module. When reading 2-word data from the positioning module, you must convert the data to long-word data after reading the data as two integer variables.

LDAT : Long-word integer variable before conversion

IDD, IDU: Integer variable for storing the data after conversion

(low-order/high-order)

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

110 IDU=VAL(“$”+LEFT$(LHEX$(LDAT),4))

ISD, ISU: Integer variable containing the 2 words read

(low-order/high-order)

LST : Long-word integer variable after conversion

100 LST=VAL(“$”+HEX$(ISU)+HEX$(ISD))

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7.2.1 Reading Module Statuses

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

zzzz Note:

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

- 2-word data status, such as the current position or current speed status, must be read as two separate integer variables. Take care when reading long-word data. See Chapter 5, “Status”.

zzzz Sample Program:

This sample program uses the ENTER instruction to read all the statuses.

It then converts 2-word data into long-word data and converts the speed data to [pulses/s].

100 ENTER SL,81 NOFORMAT;I081

110 ENTER SL,82 NOFORMAT;I082

120 ENTER SL,83 NOFORMAT;I083

130 ENTER SL,84 NOFORMAT;I084

140 ENTER SL,85 NOFORMAT;I085

150 ENTER SL,86 NOFORMAT;I086

160 ENTER SL,87 NOFORMAT;I087

170 ENTER SL,88 NOFORMAT;I088

180 ENTER SL,89 NOFORMAT;I089

190 ENTER SL,90 NOFORMAT;I090

200 ENTER SL,91 NOFORMAT;I091

210 ENTER SL,92 NOFORMAT;I092

220 ENTER SL,93 NOFORMAT;I093

230 L081=VAL("$"+HEX$(I082)+HEX$(I081))

240 L083=VAL("$"+HEX$(I084)+HEX$(I083))

250 L085=VAL("$"+HEX$(I086)+HEX$(I085))

260 L092=VAL("$"+HEX$(I093)+HEX$(I092))

270 D085PPS=L085/65.536

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7.2.2 Set Parameter

The Set Parameter command sets the entry parameters.

zzzz Conditions for Command Execution:

- The axis is in the End-of-Positioning status.

- No other command is being executed.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored and the Command Execution ACK relay is not set. If the command is issued when the axis is not in the End-of-Positioning status, an alarm code is set in the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- An error arising from a Set Parameter command (error code 2VVV) cannot be reset with the Reset Error command. Run the Set Parameter command again with proper data.

zzzz Procedure:

1． Write the parameter values and command code to 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. Note that if there is an entry parameter error, the Execute Command ACK input relay will not be set, but the Error Notification input relay will be set. In this case, reset the Execute Command output relay, and return to step 1.

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

zzzz Sample Program:

In this example, parameters are preset in integer variables (I01 to I25, and I41).

100 OUTPUT SL,1 NOFORMAT;I01

110 OUTPUT SL,2 NOFORMAT;I02

340 OUTPUT SL,25 NOFORMAT;I25

350 OUTPUT SL,41 NOFORMAT;I41

400 CONTROL SL,101;$0001,$0001

410 LOOP1@

420 STATUS SL,101;P

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

440 CONTROL SL,101;$0000,$0001

450 LOOP2@

460 STATUS SL,101;P

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

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7.2.3 Reset Error

The Reset Error command resets the error status of the positioning module.

zzzz Conditions for Command Execution:

- The axis is in error (other than an entry parameter error)

- No other command is being executed.

zzzz Note:

- The positioning module ignores all commands other than the Reset Error command and Set Parameter command in an error status (i.e. when the Error Notification input relay is set). Therefore, always execute the Reset Error command in an error status. If the Reset Error command is issued when the axis is not in an error status, or any command other than the Reset Error command or Set Parameter command is issued when the axis is in an error status, an alarm code is set in the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.” An entry parameter error (error code 2VVV) arising from a Set Parameter command cannot be reset using the Reset Error command. See Section 7.1.2, “Set Parameter.”

zzzz Procedure:

1． Write the command code to the positioning module with the OUTPUT instruction.

2． Set the Execute Command output relay.

3． Check that the Error Notification input relay is reset and reset the Execute

Command output relay.

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

zzzz Sample Program:

In this example, all output relays of the positioning module are reset during the Reset Error operation. The error code retains its value even after the Reset Error operation. Parameters are preset in an integer variable (I41).

100 STATUS SL,102;P

110 IF BIT(P,0)=0 THEN EXIT1@

120 ENTER SL,88 NOFORMAT;IERCODE

130 OUTPUT SL,41 NOFORMAT;I41

140 CONTROL SL,101;$0001,$0101

150 CONTROL SL,102;$0000,$0101

160 LOOP1@

170 STATUS SL,102;P

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

190 CONTROL SL,101;$0000,$0001

200 EXIT1@

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7.2.4 Jog Stepping

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

zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is in the End-of-Positioning status.

- No other command is being executed.

zzzz Note:

- If any of the conditions is not satisfied, the command is ignored. If the command is issued when the axis is in an error state or not in the End-of-Positioning status, an alarm code is set in the alarm status. The alarm code is automatically cleared when the Execute Command output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”

- During jog stepping, the Stop Immediately command is valid but the Decelerateand-Stop command is ignored (the Execute Command ACK input relay is not set). If the Decelerate-and-Stop command is issued during jog stepping, an alarm code is set in the alarm status. Terminate jog stepping before executing the Decelerate-andStop command.

- During jog stepping, no error occurs even if the axis exceeds the range defined by the positive direct limit value and the negative direction limit value.

zzzz Procedure:

1． Write the required parameters of the Jog Stepping command to the positioning

module with the OUTPUT instruction.

2． When the Positive-direction (Negative-direction) Jog Stepping output relay is set,

the axis moves 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 axis will decelerate and stop according to the parameters. After that, the End-ofpositioning input relay is set.

zzzz Sample Program:

This sample program shows the operation of Start Jog Stepping (JOGST@) and End Jog Stepping (JOGEND@) in the positive direction. Required parameters are preset in integer variables (I45 to I51).

100 JOGST@

110 OUTPUT SL,45 NOFORMAT;I45

120 OUTPUT SL,46 NOFORMAT;I46

170 OUTPUT SL,51 NOFORMAT;I51

180 CONTROL SL,102;$0001,$0001

300 JOGEND@

310 CONTROL SL,102;$0000,$0001

320 LOOP1@

330 STATUS SL,102;P

340 IF BIT(P,8)=0 THEN LOOP1@

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7.2.5 Origin Search

This section describes the normal origin search operation. For details on the automatic origin search operation, see Section 7.1.6, “Using Automatic Origin Search.”

There are three external contact inputs related to the normal origin search. The origin search mode uses bit patterns (2 bits for each edge, 12 bits in total) to specify the desired behavior when each rising and falling edge of these three inputs (six in total) is detected during the origin search.

In the example below, the origin search proceeds in the negative direction with the following behavior: (1) Stops immediately when a rising edge of the negative-direction limit is detected. (2) Decelerates and stops when a rising edge of the origin input is detected. (3) Shifts to a Z-phase search when a falling edge of the origin search is detected. In this case, the origin search mode is set as follows:

0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1

(“0C09” in hexadecimal)

For the origin search mode, see Section 3.5, “Origin Search.”

Figure 7.27 Example of Origin Search Operation

Negative-

direction

limit input

Origin input

(2)(3)(1)

Negative direction

Positive

direction

F070127.VSD

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zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is in the End-of-Positioning status.

- No other command is being executed.

zzzz Note:

- The origin search ends when a specified external contact input is detected and the axis is stopped. Change the parameters and begin the origin search again if you wish to continue the search in another direction or at a different speed.

- In the following cases, an error occurs and the origin search is aborted:

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

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

detected (this always causes an error regardless of the setting).

- After shifting to Z-phase search, no Z-phase pulse is detected within the origin

search Z-phase search range.

- If you wish to change the setup values according to the state of the external contact input at the beginning of the origin search, read the state with the Contact Input Status before executing the origin search.

- After shifting to Z-phase search, even if the external contact input that sets the Stop Immediately or Decelerate and Stop operation is detected, the Z-search operation will continue. (This is different from an origin search in the F3NC11-0N and F3NC12-0N modules)

- During the origin search, even if the axis exceeds the range defined by the positive and negative direction limit values, no error occurs.

zzzz Procedure:

1． Write the entry and command parameters required for the origin search operation to

the positioning module with the OUTPUT instruction (set the command code to 2).

2． Set the Execute Command output relay. The Execute Command ACK input relay

will be set and the automatic origin search begins. Operation continues until the specified external contact input is detected. If there is an invalid parameter, the Error Notification 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 Z-phase search (if this number is specified as ‘’0," the module skips the Z-phase search), the current position is specified as “Position 0” and the axis stops immediately. After outputting the deviation pulse clear signal for a preset duration, the End of Positioning input relay is set.

4． Confirm the state of origin search by checking the origin search status. If the origin

search status is “0,” the origin search has ended following a successful Z-phase search. For details on the origin search status, see Section 5.2, “Description of Statuses”.

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zzzz Sample Program:

This program starts the origin search using the Request to Search Origin input and stops the search using a designated external contact input. If any error is detected during the search, the search mode is automatically reset. All required parameters are preset in integer variables (I41, and I46 to I58).

100 OUTPUT SL,46 NOFORMAT;I46

110 OUTPUT SL,47 NOFORMAT;I47

220 OUTPUT SL,58 NOFORMAT;I58

230 OUTPUT SL,41 NOFORMAT;I41

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,102;P

310 IF BIT(P,8)=0 THEN LOOP2@

320 ENTER SL,90 NOFORMAT;IORGST

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7.2.6 Automatic Origin Search

This section describes the automatic origin search operation. For the normal origin search operation, refer to Section 7.2.5, “Origin Search.”

Before initiating the automatic origin search, you must first set the automatic origin search mode and other relevant entry parameters. For details on automatic origin search behavior, see Section 3.6, “Automatic Origin Search.”

zzzz Conditions for Command Execution:

- The axis is not in an error state.

- The axis is in the End-of-Positioning status.

- No other command is being executed.

zzzz Note:

- In the following cases, an error occurs and the origin search is aborted:

- The limit switch for the direction opposite the automatic origin search direction is

detected when the axis is moving in that direction at automatic origin search speed 2.

- After shifting into Z-phase detection, no Z-phase pulse is detected within the

automatic origin search Z-phase search range.

- During the automatic origin search, no error occurs even if the axis exceeds the range defined by the positive and negative direction limit values.

zzzz Procedure:

1. Set the command code to 8 by writing to the positioning module using an OUTPUT instruction.

2. Set the Execute Command output relay. The Execute Command ACK input relay will be set, and the automatic origin search begins. The operation continues until the automatic origin search completes and the axis stops moving. If there is an invalid parameter, the Error Notification input relay will be set but the Execute Command ACK input relay will not be set.

3. After shifting to Z-phase search, the axis stops when Z-phase pulses are detected for the specified number of times (if the Z-phase pulse count is set to 0, the module skips the Z-phase search) and that position becomes 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 specified period and the End of Positioning input relay is set.

4. Confirm the state of the origin search by checking the origin search status. If the origin search status is “0,” the automatic origin search has ended following a successful Z-phase search. For details on the origin search status, see Section 5.2, “Description of Statuses.”

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zzzz Sample Program:

This program starts the automatic origin search operation using the Request to Start Automatic Origin Search, performs Z-phase detection and stops the operation. The program also stops the operation if it detects an error during the operation. All required parameters are preset in an integer variable (I41).

100 OUTPUT SL,41 NOFORMAT;I41

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,102;P

180 IF BIT(P,8)=0 THEN LOOP2@

190 ENTER SL,90 NOFORMAT;IORGST

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

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