Panasonic FP-XH Series User Manual

Programmable controller

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WUME-FPXHPOSG-01

2020.10

panasonic.net/id/pidsx

Programmable controller

FP-XH Series

User's Manual

Positioning Function / PWM Output / High-speed Counter Function

Western version

Summary of Contents for Panasonic FP-XH Series

Page 1 Programmable controller FP-XH Series User's Manual Positioning Function / PWM Output / High-speed Counter Function Western version WUME-FPXHPOSG-01 2020.10 panasonic.net/id/pidsx...
Page 2 (MEMO) WUME-FPXHPOSG-01...
Page 3 ● This manual describes the "positioning function (table setting mode) / PWM output and high- speed counter function" implemented in the FP-XH Control Unit. ● The following user’s manuals are available for the FP-XH series. Please refer to a relevant manual for the unit and purpose of your use.
Page 4 ● Do not carry out construction (wiring, removal, etc.) during power-on. Otherwise it may result in an electric shock. ● If the equipment is used in a manner not specified by the Panasonic, the protection provided by the equipment may be impaired.
Page 5 Table of Contents 1 Functions of Unit and Restrictions on Combination ......1-1 1.1 Functions of Unit .................1-2 1.1.1 Overview of FP-XH Positioning Function ......... 1-2 1.1.2 Unit type and available functions ............. 1-3 1.2 Restrictions on Combinations and Functions ........1-5 1.2.1 Applicable Versions of Unit and Software ........
Page 6 4.2.3 Creating Positioning Data Table............4-11 4.2.4 Saving Positioning Parameters ............4-13 4.2.5 Export and Import ................4-14 4.2.6 Check on Parameter Data ............... 4-14 4.2.7 Writing Parameters to Unit (1)............4-15 4.2.8 Writing Parameters to Unit (2)............4-15 4.3 System Register Settings..............4-17 4.3.1 Confirming and Selecting Functions to be Used ......
Page 7 7 Instruction References .................7-1 7.1 Table Setting Mode Control Instruction ..........7-2 7.1.1 [F380 POSST] Positioning Table Start Instruction ......7-2 7.1.2 [F381 JOGST] JOG Operation Start Instruction ......7-3 7.1.3 [F382 ORGST] Home Return Start Instruction ........ 7-4 7.1.4 [F383 MPOST] Positioning Table Simultaneous Start Instruction ..7-5 7.1.5 [F384 PTBLR] Positioning Parameter Read Instruction....
Page 8 10.3.3 [F166 HC1S] High-speed Counter Target Value Match ON Instruction and [F167 HC1R] High-speed Counter Target Value Match OFF Instruction ..............10-14 10.3.4 Sample Program (Positioning Operation With Inverter: Single- Speed) ....................10-15 10.3.5 Sample Program (Positioning Operation With Inverter: Double- Speed) ....................
Page 9 1 Functions of Unit and Restrictions on Combination 1.1 Functions of Unit .................1-2 1.1.1 Overview of FP-XH Positioning Function ......... 1-2 1.1.2 Unit type and available functions ............. 1-3 1.2 Restrictions on Combinations and Functions ........1-5 1.2.1 Applicable Versions of Unit and Software ........1-5 1.2.2 Restrictions on the Combination of Pulse I/O Cassettes ....
Page 10 1.1 Functions of Unit 1.1 Functions of Unit 1.1.1 Overview of FP-XH Positioning Function ■ Up to 6-axis position control is available by combining with a driver of pulse string input type. ● The pulse output can be performed up to 100 kHz, and servo motors can be controller. ●...
Page 11 1.1 Functions of Unit If the compatible mode setting is set to “FP-X mode”, "Table setting mode" cannot be selected. 1.1.2 Unit type and available functions Available conditions vary by functions. ■ Comparison of functions and performances Transistor output type Relay output type Item C14T...
Page 12 1.1 Functions of Unit Transistor output type Relay output type Item C14T C30T C60T C14R C30R C60R (CH0) (Note 1) Functions, channel numbers and I/O numbers used are set in the tool software. (Note 2) I/O numbers used for each function should be allocated so that they do not overlap. (Note 3) The pulse I/O cassette can be attached to the relay output type Control Unit only.
Page 13 (Note 1) The latest version is provided free of charge at our download center (https:// industrial.panasonic.com/ac/e/dl_center/software/). Use the latest version. (Note 2) To use the FP-XH in FPWIN Pro7, it is also necessary to install a setup file. For details, see the above website.
Page 14 1.2 Restrictions on Combinations and Functions ■ Input signals of Control Unit High-speed counter function Pulse output function Count input Reset input Single-phase 2-phase CH0 J-point control positioning CH0 Count input control start input CH0 Count input CH1 J-point control positioning CH1 Count input control start input CH4 Home input...
Page 15 1.2.4 Restrictions on Using Together with Communication Function ● The FP-XH series can communicate with external devices through the maximum of five communication interfaces including the COM0 port supported as standard and COM1 to COM4 ports used by communication cassettes.
Page 16 1.3 Comparison of Pulse Output Function 1.3 Comparison of Pulse Output Function 1.3.1 Types of Positioning Control Modes For using the FP-XH pulse output function, the following two control modes are available. ■ Table setting mode ● Positioning parameters such as position command and speed command are created as data tables by tool software Configurator PMX in advance.
Page 17 1.3 Comparison of Pulse Output Function ■ Comparison of Two Control modes Item Table setting mode FP-X compatible instruction mode Four patterns (System stop, Emergency Type Emergency stop only stop, Limit stop, and Deceleration stop) Stop control Turns ON the bit 3 of the special data Turns ON the output contact allocated to Start register DT90052 using F0 instruction in a...
Page 18 (MEMO) 1-10 WUME-FPXHPOSG-01...
Page 19 2 Wiring 2.1 Connections with Servo Motor Amplifier ..........2-2 2.1.1 Connection Example ................ 2-2 2.1.2 Precautions on Connection .............. 2-3 2.2 Connection with Stepping Motor Driver ..........2-4 2.2.1 Precautions on Connection .............. 2-4 WUME-FPXHPOSG-01...
Page 20 2.1 Connections with Servo Motor Amplifier 2.1 Connections with Servo Motor Amplifier 2.1.1 Connection Example Amplifier FP-XH C30T MINAS A5 series 2kΩ PULS1 220Ω PULS2 2kΩ SIGN1 220Ω SIGN2 5.1kΩ Z phase output Home input COM＋ 4.7Ω Counter clear input 4.7Ω...
Page 21 2.1 Connections with Servo Motor Amplifier 2.1.2 Precautions on Connection ■ Connections of various signals Signal type Point ● Connect the output allocated to each channel and the command pulse input of servo amplifier. Pulse command output ● Connect a resistor (2 kΩ) for limiting currents. ●...
Page 22 2.2 Connection with Stepping Motor Driver 2.2 Connection with Stepping Motor Driver 2.2.1 Precautions on Connection ■ Connections of various signals Signal type Point ● Connect the output allocated to each channel and the command pulse input of motor driver. Pulse command output ●...
Page 23 3 Power ON and OFF, and Items to Check 3.1 Safety Circuit Design ................3-2 3.2 Before Turning On the Power .............3-3 3.3 Procedure for Turning On the Power ..........3-4 3.3.1 Procedure for Turning On the Power ..........3-4 3.3.2 Procedure for Turning Off the Power ..........3-4 3.4 Confirming while the Power is ON ............3-5 3.4.1 Items to check after turning on the power ........
Page 24 3.1 Safety Circuit Design 3.1 Safety Circuit Design ■ System configuration example Installation of the over limit switch ■ Confirmation of safety circuit Item Description Safety circuit based on Install the safety circuit recommended by the manufacturer of the motor external circuit being used.
Page 25 3.2 Before Turning On the Power 3.2 Before Turning On the Power ■ System configuration example ■ Items to check before turning ON the power Item Description Checking connections to the Check to make sure the various devices have been connected as various devices indicated by the design.
Page 26 3.3 Procedure for Turning On the Power 3.3 Procedure for Turning On the Power 3.3.1 Procedure for Turning On the Power When turning on the power to the system incorporating the unit, consider the nature and states of any external devices connected to the system, and take sufficient care so that turning on the power will not initiate unexpected movements.
Page 27 3.4 Confirming while the Power is ON 3.4 Confirming while the Power is ON 3.4.1 Items to check after turning on the power ■ System configuration example Check each item in the following four major steps. ■ Items to check before turning ON the power Item Description Checking the installation of...
Page 28 3.4 Confirming while the Power is ON 3.4.2 Checking the Installation of the External Safety Circuit Make a check on the safety circuit recommended by the motor manufacturer, which includes a check on the disconnection of the power supply to the motor driver with CW and CCW drive inhibition switch input from an external circuit.
Page 29 3.4 Confirming while the Power is ON Check if the home stop position shifts by repeating the JOG and home return operations. Points to check A shift may result depending on the position of near home input or home input and the return speed.
Page 30 (MEMO) WUME-FPXHPOSG-01...
Page 31 4 Settings of Control Unit 4.1 Confirming I/O Allocation ..............4-2 4.1.1 When Using Pulse Output Table Setting Mode ........ 4-2 4.1.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode)....................4-3 4.1.3 When Using PWM Output Function ..........4-5 4.1.4 When Using High-speed Counter Function ........4-6 4.2 Settings in Configurator PMX..............4-8 4.2.1 Allocating Channels to be Used ............
Page 32 4.1 Confirming I/O Allocation 4.1 Confirming I/O Allocation 4.1.1 When Using Pulse Output Table Setting Mode ● The home input signal and positioning completion signal is allocated to I/O signals. ■ Allocation of I/O signals (Input) I/O No. Signal name Axis 1 Axis 2 Axis 3...
Page 33 4.1 Confirming I/O Allocation ● When selecting the table setting mode, the control active flags (R911C to R911F) are not activated. Confirm that other instructions for the table setting mode (F380 to F383) are not activated using the above BUSY flags (X28 to X2D), and execute each instruction. ■...
Page 34 4.1 Confirming I/O Allocation ■ Allocation of I/O signals (Input) I/O No. Signal name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 (Note 1) Home input When using the transistor output Control Unit Near home input (Note 2) (Note 2) (Note 2)
Page 35 4.1 Confirming I/O Allocation (Note 2) The emergency stop will be enabled by specifying channel numbers and turning ON the bit 3 of the special data register DT90052 by the pulse output control instruction (F0). In case of the emergency stop in the FP-X compatible instruction mode, pulses stop immediately.
Page 36 4.1 Confirming I/O Allocation ■ Allocation of I/O signals I/O No. Signal name PWM output When using the transistor output Control active R911C R911D R911E R911F Control Unit flag (BUSY) PWM output Y100 Y200 When using the relay output type Control active R911C R911D...
Page 37 4.1 Confirming I/O Allocation ■ Allocation of I/O relating to high-speed counter control ● By using the special data register DT90052 by the high-speed counter control instruction (F0), operations such as the software reset of the high-speed counter and disabling / enabling the count can be performed.
Page 38 4.2 Settings in Configurator PMX 4.2 Settings in Configurator PMX 4.2.1 Allocating Channels to be Used Use the Configurator PMX to allocate used channels and applications. The following procedure is explained on the condition that the FPWIN GR7 has already started. Select Options>Positioning Table Settings from the menu bar.
Page 39 4.2 Settings in Configurator PMX When the setting is changed, a confirmation message box will be displayed. When the setting is changed, a confirmation message box appears. Confirm the change and press the [Yes] button. A data table tab each is created for the groups set. ●...
Page 40 4.2 Settings in Configurator PMX Make necessary parameter settings according to the application and press the [OK] button. The settings will be stored as part of positioning parameter data. Parameters Default Parameter name Settings (unit) Pulse output method Pulse/Sign Pulse/Sign, CW/CCW When selecting Pulse/Sign mode: CW direction +: Select this setting for the case that the elapsed value is increased when Sign output turns off.
Page 41 4.2 Settings in Configurator PMX Default Parameter name Settings (unit) 0, 1: Not repeat 2 to 254: Repeat for the specified number of times. 255: Repeat infinitely until the execution of stop control. Home position logic Normal Open Home position proximity Normal Open Select the input logic for each switch.
Page 42 4.2 Settings in Configurator PMX ■ For independent axis control Parameter Default (unit) Description name Select one from the following operation patterns. Operation E: End point pattern E: End point, P: Pass point, C: Continuance point, J: Speed point Control I: Increment Select either.
Page 43 4.2 Settings in Configurator PMX Parameter Default (unit) Description name Set either composite speed or major axis speed in accordance with the Interpolation selection of interpolation operation. 1000 (pps) speed Setting range: 1 to 100,000 Set the time from the completion of the positioning instruction in the E-point control until the positioning done flag turns ON.
Page 44 4.2 Settings in Configurator PMX Select File>Save changes and exit from the menu bar. A confirmation message box appears. Press [Yes]. The set information will be saved as part of project files. 4.2.5 Export and Import ● Basic parameters and positioning parameters set can be exported to and imported from the Configurator PMX.
Page 45 4.2 Settings in Configurator PMX Select Debug>Check Parameter and Data Values from the menu bar. A message box appears to show the check result. If there is an error in the settings for the positioning data tables, an error message will appear and the cursor will move to the corresponding error position.
Page 46 4.2 Settings in Configurator PMX Press the [Yes] button. A message confirming the download to the PLC appears. In the RUN mode, a message confirming that the mode is switched to the PROG. mode also appears. Press the [Yes] button. A message confirming the switching of the operation mode appears.
Page 47 4.3 System Register Settings 4.3 System Register Settings 4.3.1 Confirming and Selecting Functions to be Used The set condition can be confirmed by the following procedure. The following procedure is explained on the condition that the FPWIN GR7 has already started. Select Options>System register settings from the menu bar.
Page 48 4.3 System Register Settings Settings when using table setting mode (Transistor output type) Parameter Settings No. and setting item name To use the J-point control, select J-point positioning start input of CH0. Control Unit To use the J-point control, select J-point positioning start High-speed counter input settings input of CH1.
Page 49 4.3 System Register Settings Parameter Settings No. and setting item name (Y200 and Y201) Pulse output [FP-X compatible instruction mode] (Note 1) Displayed items vary according to models. (Note 2) Select "Normal input" and "Normal output" for the input and output that is not used for the pulse output function or high-speed counter function.
Page 50 4.4 Reading Elapsed Values 4.4 Reading Elapsed Values 4.4.1 Elapsed Value (Current Value) Area ● They are stored as 2-word 32-bit data in the axis information area of positioning memory. ● The elapsed value area will be reset when the power supply turns off. It will be held when switching the mode from RUN to PROG.
Page 51 4.4 Reading Elapsed Values WUME-FPXHPOSG-01 4-21...
Page 52 (MEMO) 4-22 WUME-FPXHPOSG-01...
Page 53 5 Operation Patterns 5.1 Stop Operation..................5-2 5.1.1 Type of Stop Operations ..............5-2 5.1.2 Characteristics of Stop Operations ..........5-3 5.2 JOG Operation..................5-4 5.2.1 Settings and Operation of JOG Operation ........5-4 5.2.2 Settings and Operation of JOG Operation (Speed Changes)..5-6 5.2.3 Speed Changes in JOG Operation ..........
Page 54 5.1 Stop Operation 5.1 Stop Operation 5.1.1 Type of Stop Operations ■ Type of stop operations Name Timing chart Occurrence condition and operation ● Once the system stop contact (Y20) turns on, an active operation will stop and the pulse outputs of all channels will immediately stop.
Page 55 5.1 Stop Operation I/O No. Signal name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Emergency stop (Note 1) (Y80) (Y82) (Y84) (Y86) (Y88) (Y8A) Over limit input (+) (Note 1) (Y81) (Y83) (Y85) (Y87) (Y89) (Y8B) Over limit input (-) Deceleration stop...
Page 56 5.2 JOG Operation 5.2 JOG Operation 5.2.1 Settings and Operation of JOG Operation The parameters for JOG operations are specified in the positioning parameter setting menus of Configuration PMX. Pulses are output while the JOG operation start instruction (F381 JOGST) is executed. Reverse JOG Forward JOG Table...
Page 57 5.2 JOG Operation ■ Settings Item Setting example Startup speed 1,000 Hz JOG operation 100 ms acceleration time Axis setting area JOG operation 200 ms deceleration time JOG operation target 20,000 Hz speed ■ Configurator PMX settings ■ Sample program The execution condition is set to be always executed.
Page 58 5.2 JOG Operation Conditions Direction Limit status Operation Over limit input (-): ON (Note 1) Limit stops, Error occurs. (Note 1) Create a program as below if you do not want to restart the instruction when the limit error occurs during an operation when the execution condition has been set to be always executed.
Page 59 5.2 JOG Operation ● The operation done flags (X30 to X35), which indicate the completion of operation, will turn ON when the current operation is completed, and they will be held until the next positioning control, JOG operation or home return operation starts. ■...
Page 60 5.2 JOG Operation ■ Notes on programming ● To change a speed during the JOG operation, rewrite the value of the positioning memory (axis setting area) using a user program. ● The startup contact and flag numbers vary depending on channel numbers (axis numbers). 5.2.3 Speed Changes in JOG Operation ●...
Page 61 5.3 Home Return 5.3 Home Return 5.3.1 Types of Home Return The home return is specified in the positioning parameter setting dialog box for each axis. Name Operation diagram Operation and application ● The leading edge of the first home input is set as a home position after the detection of the leading edge of the near home input.
Page 62 5.3 Home Return Name Operation diagram Operation and application ● Performs the home return based on the home coordinate values in the axis setting area of positioning memory. Home position (= Current value) Data set ● Performs the home return toward the method home coordinate on the software.
Page 63 5.3 Home Return Home return direction Limit (-) switch Near home switch Limit (+) switch The starting point is Target speed ① Home return between the near home deceleration time Home return creep speed switch and limit (+) switch. Home return creep speed The starting point is on the ②...
Page 64 5.3 Home Return ■ Home position method (Edge detection of home switch) Moves the current position to the home return direction, and stops at the position where the leading edge of the first home switch is detected. This coordinate is set as a home position. Home return direction Home switch Home return creep speed...
Page 65 5.3 Home Return ■ Operation diagram Home return target speed Home return creep speed Near home switch (DOG) Home switch Home return start contact Deviation counter clear signal BUSY flag Home return done flag ■ Operations of each contact ● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the home return operation starts, and they will turn OFF when the operation completes.
Page 66 5.3 Home Return ■ Configurator PMX settings ■ Sample program The execution condition is differential execution. For details of instructions, refer to "7 Instruction References". ■ Operation at over limit input Conditions Direction Limit status Operation (Note 2)(Note 3) Over limit input (+): ON Executable Forward Over limit input (-): ON...
Page 67 5.3 Home Return (Note 4) In accordance with situations, “Limit stops or Error occurs.” (Example) When the limit input is enabled during deceleration after near home detection, the over limit stop is performed without reverse operation. WUME-FPXHPOSG-01 5-15...
Page 68 5.4 Positioning Control 5.4 Positioning Control 5.4.1 Types of Positioning Control ■ Operation pattern Repea Interpol Name Time chart Operation and application ation ● This is a method of control which is initiated up to an end point, and is point referred to as “E-point control”.
Page 69 5.4 Positioning Control ● For the E-point control, enter settings in one row. ● For P-point, C-point and J-point controls, they should be combined with E-point control of the next step as a pair and the setting should be input in two rows. ●...
Page 70 5.4 Positioning Control ■ Operations of each contact ● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the positioning control starts, and it will turn OFF when the operation completes. ● The operation done flags (X30 to X35), which indicate the completion of operation, will turn ON when the current operation is completed, and they will be held until the next positioning control, JOG operation or home return operation starts.
Page 71 5.4 Positioning Control ● When the positioning table start instruction (F380 POSST) or positioning simultaneous start instruction (F383 MPOST) is executed, the pulse output will start and the positioning control operation will be performed. ■ Operation diagram f [Hz] Table 1 Tabl e 2 20,000Hz 10,000Hz...
Page 72 5.4 Positioning Control ■ Configurator PMX settings ■ Sample program The execution condition is differential execution. For details of instructions, refer to "7 Instruction References". 5.4.4 C-point Control ● The parameters for position control operations are specified in the positioning parameter setting menus and data tables of Configurator PMX.
Page 73 5.4 Positioning Control ■ Operations of each contact ● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the positioning control starts, and it will turn OFF when the operation completes. ● The operation done flags (X30 to X35), which indicate the completion of operation, will turn ON when the current operation is completed, and they will be held until the next positioning control, JOG operation or home return operation starts.
Page 74 5.4 Positioning Control 5.4.5 J-point Control (JOG Positioning) ● The parameters for position control operations are specified in the positioning parameter setting menus and data tables of Configurator PMX. ● When the positioning table start instruction (F380 POSST) or positioning simultaneous start instruction (F383 MPOST) is executed, the pulse output will start.
Page 75 5.4 Positioning Control Item Setting example Control method Increment mode Increment mode J-point control (Speed E-point control (End point Operation pattern control) control) Positioning 100 ms 150 ms acceleration time Positioning 200 ms 250 ms deceleration time Positioning target 20,000 Hz 15,000 Hz speed Positioning movement...
Page 76 5.4 Positioning Control ■ Operation diagram J-point speed f [Hz] change Ta ble 2 Ta ble 1 20,000Hz 15,000Hz 10,000Hz 100000 pulses 1,000Hz t [ms] 100ms 150 ms 250ms Approx. 50 ms 50ms Instruction start condition Busy signal Operation done signal J-point speed change contact J-point positioning...
Page 77 5.4 Positioning Control Item Setting example J-point control (Speed E-point control (End point Operation pattern control) control) Positioning 100 ms 150 ms acceleration time Positioning 200 ms 250 ms deceleration time Positioning target 20,000 Hz 15,000 Hz speed Positioning movement 100,000 pulse amount Dwell time...
Page 78 5.4 Positioning Control ■ Behaviors when the speed change contact turns ON during acceleration or deceleration ● A speed change is possible during J-point control, but impossible during acceleration or deceleration. ● A speed change will be made after the unit goes to constant speed when the speed change signal turns ON during acceleration or deceleration.
Page 79 5.4 Positioning Control Conditions Direction Limit status Operation Over limit input (-): ON Not executable, Error occurs. Over limit input (+): ON Not executable, Error occurs. Reverse Over limit input (-): ON Not executable, Error occurs. Over limit input (+): ON Limit stops, Error occurs.
Page 80 5.5 Repeat Operation 5.5 Repeat Operation 5.5.1 Overview of Repeat Operation ● The repeat count is specified for executing the repeat control in Configurator PMX. ● When the position control start instruction F380 is executed, the unit repeats the operation set in the positioning table.
Page 81 5.5 Repeat Operation ■ Configurator PMX setting items Parameter name Unit Default Settings 0 or 1 Not repeat an operation. Repeat an operation for a specified Positioning repeat count times 2 to 254 number of times. Repeat an operation infinitely. ■...
Page 82 5.5 Repeat Operation ■ Operation diagram ■ Operations of each contact ● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the position control starts, and they will turn OFF when the set repeat operation completes. ●...
Page 83 5.5 Repeat Operation ■ Configurator PMX settings ■ Sample program The execution condition is differential execution. For details of instructions, refer to "7 Instruction References". 5.5.3 Stop Operation During Repeat Operation ● When setting the repeat function, the operation at the time of deceleration stop varies as follows.
Page 84 5.5 Repeat Operation ■ Operation at the time of deceleration stop (Repeating P-point control, C-point control) When the unit detects a deceleration stop, it stops the operation after repeating the positioning control N+1 times. However, the unit will stop the control when reaching the set repeat count. ●...
Page 85 5.6 Linear Interpolation Control 5.6 Linear Interpolation Control 5.6.1 Overview The interpolation control is available under the following conditions. ■ Combinations of interpolation control Interpolation axis 1 Interpolation axis 2 Interpolation axis 3 Model X-axis Y-axis X-axis Y-axis X-axis Y-axis C14T Transistor output type C30T...
Page 86 5.6 Linear Interpolation Control 5.6.2 Settings and Operations of Linear Interpolation The example below is a case of E-point control with the unit installed in slot 1. The X axis is set to the 1st axis and the Y axis is set to the 2nd axis. The movement amount setting is the increment method, and the unit is set to pulse.
Page 87 5.6 Linear Interpolation Control Item Setting example Positioning repeat count Pulse output control Set in accordance with system configuration. code Axis setting area Startup speed 1,000 Hz Operation pattern E: End point Interpolation operation 0: Linear (composite speed) Control method I: Incremental X-axis movement 10,000 pulse...
Page 88 (MEMO) 5-36 WUME-FPXHPOSG-01...
Page 89 6 Operating Characteristics 6.1 Operational Difference Between Parameters ........6-2 6.1.1 Startup speed................... 6-2 6.1.2 When Target Speed/Startup Speed is Less Than 50Hz ....6-2 6.1.3 Operation Patterns and Start Speed Settings ........6-3 6.2 Other Characteristics ................6-5 6.2.1 Backup of Positioning Memory ............6-5 6.2.2 Activation of Each Operation ............
Page 90 6.1 Operational Difference Between Parameters 6.1 Operational Difference Between Parameters 6.1.1 Startup speed ● The startup speed is the parameter for setting the initial speed when starting each operation and the speed when finishing each operation. ● The startup speed is common to each control of the JOG operation, home return, E-point control, P-point control, C-point control and J-point control operations.
Page 91 6.1 Operational Difference Between Parameters 6.1.3 Operation Patterns and Start Speed Settings Operation Startup speed setting pattern Startup speed operation Target speed Startup speed Target speed Home return Creep speed Startup speed E-point control Target speed Startup speed P-point target speed P-point control E-point target speed...
Page 92 6.1 Operational Difference Between Parameters Operation Startup speed setting pattern Startup speed J-point target speed J-point change speed J-point control E-point target speed WUME-FPXHPOSG-01...
Page 93 6.2 Other Characteristics 6.2 Other Characteristics 6.2.1 Backup of Positioning Memory ● The positioning parameters and positioning table data set in the unit will be also held in the memories of the control unit when the control unit is powered off. They will be also held when the mode is switched from RUN to PROG.
Page 94 (MEMO) WUME-FPXHPOSG-01...
Page 95 7 Instruction References 7.1 Table Setting Mode Control Instruction ..........7-2 7.1.1 [F380 POSST] Positioning Table Start Instruction ......7-2 7.1.2 [F381 JOGST] JOG Operation Start Instruction ......7-3 7.1.3 [F382 ORGST] Home Return Start Instruction ........ 7-4 7.1.4 [F383 MPOST] Positioning Table Simultaneous Start Instruction ..7-5 7.1.5 [F384 PTBLR] Positioning Parameter Read Instruction....
Page 96 7.1 Table Setting Mode Control Instruction 7.1 Table Setting Mode Control Instruction 7.1.1 [F380 POSST] Positioning Table Start Instruction Starts the positioning operation according to the data specified in the positioning memory (positioning table area). This instruction is used to start the E-point control, P-point control, C- point control, J-point control or linear interpolation control.
Page 97 7.1 Table Setting Mode Control Instruction ● A self-diagnostic error (positioning operation error) occurs when the set value or the value of the positioning memory (axis setting area) is abnormal. ● When the channel to be started has been already operating, the positioning control does not start and it terminates.
Page 98 7.1 Table Setting Mode Control Instruction ● The target speed can be changed by rewriting the positioning parameter area with a user program. The change is executed after it becomes a constant speed. ■ Precautions during programming ● If an operand is an out-of-range value, an operation error occurs. ●...
Page 99 7.1 Table Setting Mode Control Instruction ■ Memory area type that can be specified Constant Index Operand modifier ● ● ● ● ● ● ● ● ● ● ● ● ■ Outline of operation ● Starts the home return operation according to the home return parameters specified in the positioning memory (axis setting area).
Page 100 7.1 Table Setting Mode Control Instruction ■ Operand Operand Settings The starting area of the data register storing the data table numbers (unsigned 16-bit integer) to be started simultaneously ■ Memory area type that can be specified Constant Index Operand modifier ●...
Page 101 7.1 Table Setting Mode Control Instruction Name Description When the pulse output (table operation) has not been set in the system register 7.1.5 [F384 PTBLR] Positioning Parameter Read Instruction Reads the positioning parameter data stored in the positioning memory of the unit to the operation memory area.
Page 102 7.1 Table Setting Mode Control Instruction ■ Precautions during programming ● If an operand is an out-of-range value, an operation error occurs. ■ Flag operations Name Description When the [S1] value is outside the set range R9007 When the [S2] value exceeds the positioning area specified by [S1] R9008 When the no.
Page 103 7.1 Table Setting Mode Control Instruction Constant Index Operand modifier ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ● ●...
Page 104 7.2 FP-X Compatible Instruction Mode Control Instruction 7.2 FP-X Compatible Instruction Mode Control Instruction 7.2.1 [F171 (SPDH)] Pulse Output (Trapezoidal Control) This instruction outputs pulses from a specified pulse output channel according to specified parameters. ■ Instruction format ■ Operand Operand Settings Starting number of the area in which data tables are registered...
Page 105 7.2 FP-X Compatible Instruction Mode Control Instruction Selection PLS+SIGN PLS+SIGN Target value CW / CCW Forward OFF Forward ON Elapsed value Reverse ON Reverse OFF Pulse output when Pulse output when Pulse output from direction output is direction output is Positive value Addition Pulse output when...
Page 106 7.2 FP-X Compatible Instruction Mode Control Instruction Control code ① Initial speed Fmin(Hz) ② Maximum speed Fmax(Hz) Acceleration/ ③ deceleration time t(ms) Target value ④ (No. of pulses) S+10 ⑤ S+11 Operand Settings Description Specify the control code by setting the H constant. 0: Fixed Acceleration/deceleration time setting 0: Normal...
Page 107 7.2 FP-X Compatible Instruction Mode Control Instruction Operand Settings Description When the initial speed is set to low speed, an operation error occurs if a value exceeding K22000 is specified for the maximum speed. Acceleration / deceleration time (ms) With 30 steps: K30 to K32760 (Specify in 30 ms increments.) Acceleration / With 60 steps: K60 to K32760...
Page 108 7.2 FP-X Compatible Instruction Mode Control Instruction ● With 30 steps: ∆f = (7000 - 1000) / 30 steps = 200 (Hz) ∆t = 300 ms / 30 steps =10 ms ● With 60 steps: ∆f = (7000 - 1000) / 60 steps = 100 (Hz) ∆t = 300 ms / 60 steps = 5 ms ■...
Page 109 7.2 FP-X Compatible Instruction Mode Control Instruction REFERENCE 11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode) 7.2.2 [F171 (SPDH)] Pulse Output (Home Return) This instruction outputs pulses from a specified pulse output channel according to specified parameters. ■ Instruction format ■...
Page 110 7.2 FP-X Compatible Instruction Mode Control Instruction data register DT90052 to OFF→ON→OFF by the near home input. The value in the elapsed value area during the home return operation differs from the current value. Home return mode I (Home return by near home input and home input) When the near home input is enabled, deceleration will be performed, and the pulse output will stop after the home input.
Page 111 7.2 FP-X Compatible Instruction Mode Control Instruction Operand Settings Description 0: Fixed Acceleration/deceleration time setting 0: Normal 1: Acceleration/deceleration time priority Output setting 0: Pulse output 1: Calculate only Acceleration/deceleration steps 0: 30 steps 1: 60 steps Duty (on width) 0: Duty 1/2 (50%) 1: Duty 1/4 (25%) Frequency range...
Page 112 7.2 FP-X Compatible Instruction Mode Control Instruction ■ Example of program ■ Regarding the specification of acceleration / deceleration time For specifying acceleration / deceleration time, No. of steps and initial speed, set the value to be calculated by the formula below. Specify acceleration / deceleration time in 30 ms increments with 30 steps, and in 60 ms increments with 60 steps.
Page 113 7.2 FP-X Compatible Instruction Mode Control Instruction ■ Precautions during programming ● When the control code (low byte) is H20 to H27 (home return mode I), the home input is enabled even after the near home input, the completion of deceleration, or in the middle of deceleration.
Page 114 7.2 FP-X Compatible Instruction Mode Control Instruction ■ Memory area type that can be specified Constant Index Operand modifier ● ● ● ● ■ Outline of operation ● Outputs pulses from a specified channel when a corresponding control active flag is OFF and the execution condition is ON.
Page 115 7.2 FP-X Compatible Instruction Mode Control Instruction Operand Settings Description The setting range of the settable change speed varies according to the setting of the initial speed as shown in the table below. Range Initial speed Change speed K1 to K49 K1 to K22000 speed (1 to 49 Hz)
Page 116 7.2 FP-X Compatible Instruction Mode Control Instruction REFERENCE 11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode) 7.2.4 [F174 (SP0H)] Pulse Output (Selectable Data Table Control Operation) This instruction outputs pulses from a specified pulse output channel according to a specified data table.
Page 117 7.2 FP-X Compatible Instruction Mode Control Instruction ■ Data table settings ① Control code ② Frequency 1 Target value 1 ③ (Pulse number) Frequency 2 Target value 2 (Pulse number) S+2n Frequency n S+2(n+1) Target value n (Pulse number) S+2(n+2) ④...
Page 118 7.2 FP-X Compatible Instruction Mode Control Instruction Operand Settings Description Range Initial speed Maximum speed High- K50 to K100000 Initial speed to K100000 (to 100 speed kHz) (50 Hz to 100 kHz) When the frequency 1 (initial speed) is the low speed range and the frequency n is not in the range between 1 Hz to 22 kHz, the pulse output stops.
Page 119 7.2 FP-X Compatible Instruction Mode Control Instruction (Note 1) When the execution condition R10 of F174 (SP0H) instruction turns ON, the control active flag will turn ON. When the elapsed value reaches 10000 and the pulse output stops, the control active flag will turn OFF.
Page 120 7.2 FP-X Compatible Instruction Mode Control Instruction ● When the frequency after the second step is 0 or outside of the settable range, the pulse output stops. ● When the table pointer exceeds the area of data registers DT during the pulse output, the pulse output control will be canceled and the control active flag will turn OFF.
Page 121 7.2 FP-X Compatible Instruction Mode Control Instruction ● For setting the frequency to 40 kHz or more, specify the duty of 1/4 (25%). ■ Data table settings ① Control code Composite speed Initial speed Fmin(Hz) ② Composite speed Setting area Maximum speed Fmax(Hz) Specify by user programs.
Page 122 7.2 FP-X Compatible Instruction Mode Control Instruction Operand Settings Description Composite speed Composite speed (Initial speed, maximum speed) (Hz) <K constant> Initial speed 1.5 Hz to 100 kHz [K1 to K100000] Fmin (Hz) (However, for 1.5 Hz, the angle is 0 degree or 90 degrees only. Also, for specifying 1.5 Hz, specify K1.) ●...
Page 123 7.2 FP-X Compatible Instruction Mode Control Instruction Settin Operand Description Maxim speed Fmax Y-axis compo nent S+16 speed Initial speed Fymin Y-axis compo nent speed S+18 Maxim speed Fmax (Hz) X-axis The frequency ranges are automatically selected by the system for the components of each axis Frequ S+20...
Page 124 7.2 FP-X Compatible Instruction Mode Control Instruction ■ Supplement to pulse output operation When outputting pulses with the PLS+SIGN (direction output) method, pulses will be output approx. 300 μs later after the output of direction signal (SIGN). (The characteristics of a motor driver are considered.) ■...
Page 125 8 Troubleshooting 8.1 Self-diagnosis Function...............8-2 8.1.1 Operation Monitor LEDs of Control Unit .......... 8-2 8.1.2 Operation Mode When an Error Occurs .......... 8-2 8.2 What to Do If an Error Occurs.............8-4 8.2.1 ERR / ALM LED Flashes ..............8-4 8.2.2 What to Do When Positioning Error Occurs........8-5 8.2.3 Motor Does Not Rotate/Move (Output LED Flashes or is ON) ..
Page 126 8.1 Self-diagnosis Function 8.1 Self-diagnosis Function 8.1.1 Operation Monitor LEDs of Control Unit ● The Control Unit has a self-diagnostic function which identifies errors and stops operation if necessary. ● When an error occurs, the status of the operation monitor LEDs on the Control Unit vary, as shown in the table below.
Page 127 8.1 Self-diagnosis Function ● When the checkbox of the system register no. 25 "Stop operation when positioning operation error occurs" is unchecked, only the operation of the axis in which the positioning error occurs stops and the operations of other axes continue. WUME-FPXHPOSG-01...
Page 128 8.2 What to Do If an Error Occurs 8.2 What to Do If an Error Occurs 8.2.1 ERR / ALM LED Flashes ■ Situation A syntax error or self-diagnostic error has occurred. The following shows the procedure when a positioning error has occurred. ■...
Page 129 8.2 What to Do If an Error Occurs It returns to the "Status Display" dialog box. Press the [Clear errors] button. The display of the self-diagnostic error message will be cleared. Correct the positioning parameters or positioning tables according to the positioning error code confirmed in step 2.
Page 130 8.2 What to Do If an Error Occurs Operation when an error Error occurs and Error name Description code solution Correct the setting of the parameter. Axis setting error The axis setting is incorrect. Limit stop deceleration The set value of the limit stop deceleration time error time is out of the range.
Page 131 8.2 What to Do If an Error Occurs ■ Error code 41: Occurrence condition of table setting error ● The last table of the positioning setting tables is not the E point. (e.g. The P point, C point and J point are set continuously.) ●...
Page 132 8.2 What to Do If an Error Occurs 8.2.5 Rotation/Movement Direction is Reversed ■ (Reverse direction) (Intended direction) ■ Solution 1 Check to make sure the servo amplifier and motor driver are connected to the unit correctly. Point to check Check to make sure the CW/CCW output or the Pulse/Sign output is connected to the pertinent input of the servo amplifier and motor driver.
Page 133 9 PWM output function 9.1 PWM output function................9-2 9.1.1 Overview of PWM Output Function..........9-2 9.1.2 System Register Settings..............9-2 9.1.3 [F173 PWMH] PWM Output Instruction (Frequency Specification) . 9-4 9.1.4 [F173 PWMH] PWM Output Instruction (Control Code Specification) ..................9-5 WUME-FPXHPOSG-01...
Page 134 9.1 PWM output function 9.1 PWM output function 9.1.1 Overview of PWM Output Function The pulse output of an arbitrary duty ratio can be performed. ■ Comparison of functions and performances Transistor output type Relay output type Channel no. Control active Control active Output no.
Page 135 9.1 PWM output function Change the settings for the channels used for the PWM output. Press the [OK] button. The screen returns to the ladder edit screen. The settings will be downloaded to the PLC together with programs and comments. System register relating to PWM output Classification No.
Page 136 9.1 PWM output function 9.1.3 [F173 PWMH] PWM Output Instruction (Frequency Specification) The PWM output is performed according to the set parameters. ■ Instruction format ■ Operand Operand Settings Starting address of the memory area storing the parameters of the PWM output. Specify the control code HFF.
Page 137 9.1 PWM output function ● When rewriting during RUN is performed during the operation, the PWM output stops while a program is being rewritten. ■ Example of program The following sample shows the program for performing the PWM output with 10 kHz and the duty ratio of 50% from CH0 (Y0).
Page 138 9.1 PWM output function Operand Settings Duty ratio (Resolution of 1000 or 100) For the control codes K0 to K27, Setting range: K0 to K1000 (0.0% to 100.0%) For the control codes K28 to K30, Setting range: K0 to K1000 (0% to 100%) Channel nos.
Page 139 9.1 PWM output function Frequency Frequency Resolutio Cycle (ms) Resolution Cycle (ms) (Hz) (Hz) 500.0 2.00 70000.0 0.0143 700.0 1.48 80000.0 0.0125 1000.0 1.00 90000.0 0.0111 1300.0 0.77 100000.0 0.010 1600.0 0.625 ■ Example of program The following sample shows the program for performing the PWM output with 1 kHz and the duty ratio of 50% from CH0 (Y0).
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Page 141 10 High-speed Counter Function 10.1 Overview of High-speed Counter Function ........10-2 10.1.1 Overview of High-speed Counter Function ........10-2 10.1.2 Counting Range and Elapsed Value (Current Value) Area .... 10-2 10.1.3 Areas Used For High-speed Counter Function ......10-3 10.1.4 Input Mode Type ................10-4 10.1.5 Minimum Input Pulse Width ............
Page 142 10.1 Overview of High-speed Counter Function 10.1 Overview of High-speed Counter Function 10.1.1 Overview of High-speed Counter Function ● This function allows the counting of input signals from external devices such as a sensor and encoder at high speed . ●...
Page 143 10.1 Overview of High-speed Counter Function ■ Counting range of elapsed value (current value) area Section Range High-speed counter K–2,147,483,648 to K2,147,483,647 control 10.1.3 Areas Used For High-speed Counter Function The usable combinations vary according to the unit type. ■ List of used areas Transistor output Relay output type...
Page 144 10.1 Overview of High-speed Counter Function Transistor output Relay output type type Control Elapsed Channel Target value active value Input no. Input no. area Installation flag area Single- 2-phase Single- 2-phase position phase phase DT90328 DT90330 Control Unit R9117 input DT90329 DT90331 Cassette...
Page 145 10.1 Overview of High-speed Counter Function Mode Range 2-phase input Individual input Direction distinction input (Note 1) In the case of the input on the relay output type Control Unit, there is no combination of the individual input and the direction distinction input. 10.1.5 Minimum Input Pulse Width For the period T, the following minimum input pulse width is required.
Page 146 10.1 Overview of High-speed Counter Function ■ Min. input pulse width Single-phase input 2-phase input 10-6 WUME-FPXHPOSG-01...
Page 147 10.2 System Register Settings 10.2 System Register Settings 10.2.1 System Register Settings (Transistor Output Type) Functions to be used are allocated in the "System register settings" dialog box. The following procedure is explained on the condition that the FPWIN GR7 has already started. Select Options>System register settings from the menu bar.
Page 148 10.2 System Register Settings Classification No. and setting item Settings Select either Addition input (X1) or Subtraction input (X1). Select either Addition input (X2), Subtraction input (X2), 2-phase input (X2, X3), Individual input (X2, X3), or Direction distinction input (X2, X3).
Page 149 10.2 System Register Settings Press the [OK] button. The screen returns to the ladder edit screen. The settings will be downloaded to the PLC together with programs and comments. System register relating to high-speed counter output Classification No. and setting item Settings Select either Addition input (X100), Subtraction input (X100), 2-phase input (X100, X101), Individual input...
Page 150 10.2 System Register Settings Classification No. and setting item Settings Select either Addition input (X4), Subtraction input (X4), or 2-phase input (X4, X5). Select either Addition input (X5) or Subtraction input (X5). Select either Addition input (X6), Subtraction input (X6), or 2-phase input (X6, X7). Select either Addition input (X7) or Subtraction input (X7).
Page 151 10.3 High-speed Counter Instruction 10.3 High-speed Counter Instruction 10.3.1 [F0 MV] High-speed Counter Control Instruction Performs the controls such as the software reset, disabling the count and clearing the high- speed counter instruction. ■ Instruction format ■ Operand Operand Settings Area storing the control code of the high-speed counter or constant data ■...
Page 152 10.3 High-speed Counter Instruction in the high-speed counter setting of the system register is switched between enable and disable. ■ Allocation of control codes ● The following bits are allocated according to the specified channel and functions ● When controlling the above functions using external inputs, arbitrary inputs can be allocated. ■...
Page 153 10.3 High-speed Counter Instruction ■ Instruction format ■ Operand Operand Settings When setting: Area storing the elapsed value (32-bit) set in the high-speed counter or constant data K−2,147,483,648 to K2,147,483,647 When reading: Area reading the elapsed value of the high-speed counter ■...
Page 154 10.3 High-speed Counter Instruction 10.3.3 [F166 HC1S] High-speed Counter Target Value Match ON Instruction and [F167 HC1R] High-speed Counter Target Value Match OFF Instruction Turns ON or OFF the specified output when the elapsed value of the high-speed counter matches the target value set by the operand. ■...
Page 155 10.3 High-speed Counter Instruction ■ Precautions during programming ● The high-speed counter control active flag turns ON until the value matches the target value after the execution condition of the instruction has turned ON. During this processing, the high-speed counter instruction F165 (CAM0) / F166 (HC1S) / F167 (HC1R) cannot be executed for the high-speed counter of the same channel.
Page 156 10.3 High-speed Counter Instruction ■ Wiring example ■ Operation chart ■ I/O allocation table I/O No. Description I/O No. Description Encoder input R100 Positioning operation is running Operation start signal R101 Positioning operation starts Inverter operation signal R102 Positioning done pulse R9110 High-speed counter CH0 control active flag 10-16...
Page 157 10.3 High-speed Counter Instruction ■ Sample program Positioning operation is running Positioning operation starts Resets the elapsed value of the high-speed counter CH0. Target value match OFF instruction: Y0 turns OFF when the elapsed value of the high-speed counter reaches 5000 pulses. Sets the inverter operation signal Y0.
Page 158 10.3 High-speed Counter Instruction ■ Wiring example ■ Operation chart ■ I/O allocation table I/O No. Description I/O No. Description Encoder input R100 Positioning operation is running Operation start signal R101 Arrival at deceleration point Inverter operation signal R102 Positioning operation starts Inverter high-speed signal R103 Positioning done pulse...
Page 159 10.3 High-speed Counter Instruction ■ Sample program Positioning operation is running Positioning operation starts Resets the elapsed value of the high-speed counter CH0. Target value match OFF instruction: Y0 turns OFF when the elapsed value of the high-speed counter reaches 5000 pulses. Sets Y0 (inverter operation signal).
Page 160 10.4 High-speed Counter Cam Control Instruction 10.4 High-speed Counter Cam Control Instruction 10.4.1 [F165 CAM0] High-speed Counter Cam Control Instruction Performs the cam output up to a maximum of 32 points (ON / OFF) according to the elapsed value of the high-speed counter. ■...
Page 161 10.4 High-speed Counter Cam Control Instruction Target value 1 12000 0 ON set value 1000 Target value 2 OFF set value 9000 1000 to 4999 Elapsed R100:ON value 7000 to 8999 R101:ON Target value 2 Target value 1 ON set value OFF set value 7000 5000...
Page 162 10.4 High-speed Counter Cam Control Instruction Operand Settings Description Specify the starting word number of the device set for the cam Starting word no. of S+4, S+5 output device (Note 2) output. (Note 2) S+6, S+7 No. of target values Settable range: K1 to K32 Target value 1: ON set S+8, S+9...
Page 163 10.4 High-speed Counter Cam Control Instruction When the elapsed value reaches the target value 1, R0 turns ON or OFF. When the elapsed value reaches the target value 16, RF turns ON or OFF. When the elapsed value reaches the target value 18, R11 turns ON or OFF. ■...
Page 164 10.4 High-speed Counter Cam Control Instruction ● When controlling the output device using the main program, set each target value so that "minimum moving time between each target value" is larger than "1 scan time". ● When controlling the output device using an interrupt program, set each target value so that "minimum moving time between each target value"...
Page 165 10.4 High-speed Counter Cam Control Instruction Code Value Description Upper limit When the elapsed value exceeds the upper limit, it returns to 0. Target value 2: OFF The cam output is performed according to the target values. set value In this example, the ON set value is smaller than the OFF set value for each Target value 2: ON set target value.
Page 166 10.4 High-speed Counter Cam Control Instruction Code Description Specification of the number of target values K2 Target value 1: ON set value K1000 Target value 1: OFF set value K5000 Target value 2: ON set value K7000 Target value 2: ON set value K9000 Upper limit + K11000 (10) Presets 0 as the elapsed value.
Page 167 10.4 High-speed Counter Cam Control Instruction Code Value Description Target value 1: OFF set value When subtracted: When the elapsed value falls below the OFF set value, the cam output turns ON, and when it falls below the ON set value, it turns OFF. Target value 1: ON set value When the execution condition turns ON from OFF, the instruction is executed...
Page 168 10.4 High-speed Counter Cam Control Instruction Code Description Target value 2: ON set value K7000 Target value 2: ON set value K9000 Upper limit + K11000 (10) Presets 0 as the elapsed value. (11) Executes the F165 (CAM0) instruction and starts the cam control. (12) Clears the executed F165 (CAM0) instruction by turning the DT90052 (bit 3) OFF →...
Page 169 10.4 High-speed Counter Cam Control Instruction Code Value Description Target value 3: ON set value Target value 2: ON set value Target value 1: ON set value When the execution condition turns ON from OFF, the instruction is executed Execution condition and the cam control starts.
Page 170 10.4 High-speed Counter Cam Control Instruction Code Description Target value 2: OFF set value K9000 Target value 3: ON set value K5000 (10) Target value 3: OFF set value K11000 (11) Upper limit value K15000 (12) Presets 13000 as the elapsed value. (13) Executes the F165 (CAM0) instruction and starts the cam control.
Page 171 10.5 Interrupt Program Activation 10.5 Interrupt Program Activation 10.5.1 Overview of Function When the elapsed value reaches the target value while the high-speed counter instruction F165 (CAM0) / F166 (HC1S) / F167 (HC1R) is being executed, the interrupt program can be activated.
Page 172 10.5 Interrupt Program Activation 10.5.2 Interrupt Activation When F165 (CAM0) is Executed For the cam control instruction F165 (CAM0), the start condition varies according to the magnitude of the ON set value and OFF set value. Also, the interrupt program is activated with each target value of up to 32 points.
Page 173 11 Specifications 11.1 Specifications ..................11-2 11.1.1 General Specifications ..............11-2 11.1.2 Performance Specifications............11-2 11.2 Allocation of Memory Areas ..............11-5 11.2.1 When Using Pulse Output Table Setting Mode ......11-5 11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode)....................11-7 11.2.3 When Using PWM Output Function ..........
Page 174 11.1 Specifications 11.1 Specifications 11.1.1 General Specifications For details of the general specifications, refer to FP-XH User’s Manual (Basic). 11.1.2 Performance Specifications ■ High-speed counter / Pulse output / PWM output specifications Specifications Item Relay type Transistor type Single-phase 8 channels or 2-phase 4 channels High-speed single-phase (4 Single-phase 8 channels or 2-phase...
Page 175 11.1 Specifications Specifications Item Relay type Transistor type 70001 to 100 kHz (Resolution of 100) (Note 1) For details of combinations, refer to "1.2 Restrictions on Combinations and Functions". ■ Pulse output function specifications Specifications Item Table setting mode FP-X compatible instruction mode C14T: maximum 3 axes, C30T : Max.
Page 176 11.1 Specifications Specifications Item Table setting mode FP-X compatible instruction mode Speed command range Pulse: 1　to 100,000 Hz Acceleration / deceleration Linear acceleration / deceleration method DOG method x 1, Home return method x 1 Acceleration time 1 to 10,000 ms (Settable by 1 ms) Selected by F171 instruction Deceleration time 1 to 10,000 ms (Settable by 1 ms)
Page 177 11.2 Allocation of Memory Areas 11.2 Allocation of Memory Areas 11.2.1 When Using Pulse Output Table Setting Mode ■ Control unit (transistor output type) Input / output contact number used Memory area used Deviation counter Over Near point Elapse limit Channel no.
Page 178 11.2 Allocation of Memory Areas (Note 4) The elapsed values are stored in the axis information area of the positioning memory. They can be read by user programs using the F384 instruction. ■ Control unit (relay output type) Input / output contact number used Memory area used Deviati Near...
Page 179 11.2 Allocation of Memory Areas 11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode) ■ Control Unit (transistor output type) Input / output contact number used Memory area used Deviation counter poin clear output BUSY posi Near Elapsed limit tioni Target home...
Page 180 11.2 Allocation of Memory Areas (Note 3) In the FP-X compatible instruction mode, the stop function using the over limit input and the home return function using the limit input are available. (Note 4) In the FP-X compatible instruction mode, the J-point control function is not available. (Note 5) Only F1 (DMV) instruction can perform the reading and writing of elapsed value area.
Page 181 11.2 Allocation of Memory Areas ■ Control Unit (relay output type) Channel no. Output no. Control active flag Output frequency (duty) Y100 R911C 1.0 Hz to 70 kHz: Resolution of 1000 (0.0% to 100.0%) 70001 Hz to 100 kHz: Resolution of 100 (0% to 100%) Y200 R911D ■...
Page 182 11.2 Allocation of Memory Areas Performance Memory area used specifications Hardware Count Minimu Channel no. reset Control Elapsed Target Maximum Input m input active value value input counting pulse speed flag area area width DT90324 DT90326 100 μs R9116 DT90325 DT90327 (Note 1) X6 can be used either as the count input for CH6 or the reset input for CH0.
Page 183 11.2 Allocation of Memory Areas Performance Memory area used Specifications Count Minimum Channel no. Control Elapsed Maximum Input Target value input active value counting pulse area speed flag area width DT90316 DT90318 R9114 DT90317 DT90319 DT90324 DT90326 R9116 DT90325 DT90327 (Note 1) Only F1 (DMV) instruction can perform the reading and writing of elapsed value area.
Page 184 11.3 Positioning Memory 11.3 Positioning Memory 11.3.1 Configuration of Memory Map The positioning memory consists of four areas. ■ Whole memory map Area Absolute address No. of words and configuration Name (Decimal) Common 0000 to 0029 30 words area 0030 to 0039 For CH0 0040 to 0049 For CH1...
Page 185 11.3 Positioning Memory ■ Reading from positioning memory ● It is possible to read the areas which are shown with "Available" in the "R" column in the following table using the F384 (PTBLR) instruction in user programs during RUN. The operand of the instruction is specified using the combination of the channel number, area number and offset address.
Page 186 11.3 Positioning Memory Address Name Default Description Positioning repeat count 0003 ● ● Set value Operation (CH2) 255 or more Repeat an operation infinitely. Positioning repeat count 0004 ● ● (CH3) Positioning repeat count 0005 ● ● (CH4) Positioning repeat count 0006 ●...
Page 187 11.3 Positioning Memory 11.3.4 Axis Setting Area (Memory Area No. 2) ●: Available, -: Not available Offset Name Default Description address Stores the settings of pulse output, home position, near home position, and limit signal of each channel. Monitor in binary format.
Page 188 11.3 Positioning Memory Offset Name Default Description address Stores the settings of the deceleration time for the home Home return return of each channel in decimal. It indicates the time from 0006 K100 ● ● deceleration the home return target speed to the startup speed. time Setting range: 1-10,000 (ms) Stores the settings of the target speed for the home return...
Page 189 11.3 Positioning Memory (Note 1) The emergency stop deceleration time and limit stop deceleration time indicates the deceleration time in the section from 100 kHz to 0 Hz. When the speed during the operation is less than 100 kHz, the actual deceleration time is shorter than the set time.
Page 190 11.3 Positioning Memory Offset Name Default Description address -8,388,608 to +8,388,607 Dwell Stores the setting of dwell time. 0008 ● ● time Setting range: 0 to 32,767ms Reserved for 0009 system (Note 1) The offset addresses in the above table are for the table no. 0. They vary according to the table numbers as described on the next page.
Page 191 Record of Changes Manual numbers can be found at the bottom of the manual cover. Date Manual No. Record of Changes Oct. 2020 WUME-FPXHPOSG-01 1st Edition WUME-FPXHPOSG-01...
Page 192 [Scope of warranty] In the event that Panasonic Industrial Devices SUNX confirms any failures or defects of the Products by reasons solely attributable to Panasonic Industrial Devices SUNX during the warranty period, Panasonic Industrial Devices SUNX shall supply the replacements of the Products, parts or replace and/or repair the defective portion by free of charge at the location where the Products were purchased or delivered to your premises as soon as possible.
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Page 194 Panasonic Industrial Devices SUNX Co., Ltd. 2020 October, 2020 WUME-FPXHPOSG-01...

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