Panasonic FP0H User Manual
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Panasonic FP0H User Manual

Panasonic FP0H User Manual

Control unit positioning/pwm output/high-speed counter
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  • Page 2 ● Do not undertake construction (such as connection and disconnection) while the power supply is on. It could lead to 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 3 FPΣ Positioning Unit User’s Manual (Note) ARCT1F365E (Note): For information on FP0H Positioning Unit, refer to the conventional FPΣ Positioning Unit Manual. The color of the main unit case is different (FP0H is black, and FPΣ is gray), however, the other specifications are the same.

  • Page 4: Table Of Contents

    Table of Contents 1. Functions of Unit and Restrictions on Combination ..1-1 Functions of Unit ................... 1-2 1.1.1 Overview of FP0H Positioning Function ..........1-2 1.1.2 Compatibility Function with FPΣ .............. 1-3 Restrictions on Combinations and Functions ......... 1-4 1.2.1...
  • Page 5 Table of Contents 3.3.1 Procedure for Turning On the Power ............3-4 3.3.2 Procedure for Turning Off the Power ............3-4 Confirming while the Power is ON ............3-5 3.4.1 Items to check after turning on the power ..........3-5 3.4.2 Checking the installation of the external safety circuit ......
  • Page 6 Table of Contents 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 JOG Operation ..................5-4 5.2.1 Settings and Operations of JOG Operation ..........5-4 5.2.2 Settings and Operations of JOG Operation (Speed Changes) ....
  • Page 7 Table of Contents 6.1.1 Startup speed ..................6-2 6.1.2 Operations When Target Speed/Startup Speed is Less Than 50 Hz ..6-2 6.1.3 Operation Patterns and Start Speed Settings ......... 6-3 Other Characteristics ................6-4 6.2.1 Backup of Positioning Memory ..............6-4 6.2.2 Activation of Each Operation ..............
  • Page 8 Table of Contents 8.2.3 Motor Does Not Rotate/Move (Output LED Flashes or is ON) ....8-8 8.2.4 Motor Does Not Rotate/Move (Output LED is OFF) ....... 8-8 8.2.5 Rotation/Movement Direction is Reversed ..........8-8 9. PWM Output Function ............9-1 PWM Output Function ................
  • Page 9 11.1 FPΣ Mode ................... 11-2 11.1.1 Overview of FPΣ Mode ................. 11-2 11.1.2 Converting Projects for FPΣ to Projects for FP0H (FPΣ Mode) .... 11-3 11.1.3 Converting Projects for FP0H (FPΣ Mode) to Projects for FP0H (FP0H Mode) ....................11-4 11.2 Differences in Positioning Instructions with FPΣ...
  • Page 10 Table of Contents 12.3.4 Axis Setting Area (Memory Area No. 2) ..........12-12 12.3.5 Positioning Table Area (Memory Area No. 3) ........12-14 viii...

  • Page 11: Functions Of Unit And Restrictions On Combination

    Functions of Unit and Restrictions on Combination...

  • Page 12: Functions Of Unit

    Functions of Unit and Restrictions on Combination 1.1 Functions of Unit 1.1.1 Overview of FP0H Positioning Function  Up to 4-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 13: Compatibility Function With Fpσ

    1.1 Functions of Unit 1.1.2 Compatibility Function with FPΣ "FP0H mode" or "FPΣ mode" can be selected to retain compatibility with FPΣ. Usable functions and performances vary according to each mode. Each mode is selected in the system register no. 3 by the tool software.

  • Page 14: Restrictions On Combinations And Functions

    (Note 1): The latest version is provided free of charge at our website http://industrial.panasonic.com/ac/e/dl_center/software/ Use the latest version. (Note 2): It is also necessary to install a setup file for using FP0H with FPWIN Pro7. For details, see the above website. 1.2.2 Restrictions on I/O Allocation •...
  • Page 15 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 positioning start CH0 Count input input CH0 Count input CH1 J-point positioning start CH1 Count input input CH0 Home input CH0, CH1 Reset input...

  • Page 16: Comparison Of Pulse Output Function

    1.3 Comparison of Pulse Output Function 1.3.1 Types of Positioning Control Modes For using the FP0H 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: Comparison Of Two Control Modes

    1.3 Comparison of Pulse Output Function 1.3.3 Comparison of Two Control Modes There are following differences between the table setting mode and FPΣ compatible instruction mode.  Comparison of Two Control modes Item Table setting mode FPΣ compatible instruction mode Four patterns (System stop, Emergency Type Emergency stop only...
  • Page 18 F384 instruction (Read), F385 Execute F1 instruction (Both Read and Write) instruction (Write) Special relays Confirmation of BUSY Input contacts X808 to X80B FP0H mode R911C to R911F state FPΣ mode R903A, R903C Confirmation of Input contacts X810 to X813...

  • Page 19: Wiring

    Wiring...

  • Page 20: Connections With Servo Motor Amplifier

    Wiring 2.1 Connections with Servo Motor Amplifier 2.1.1 Connection Example (Note): The allocation of I/O numbers on the controller side depends on channel numbers.

  • Page 21: Precautions On Connection

    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: Connection With Stepping Motor Driver

    Wiring 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  Use twisted-pair cables for the connection. ...

  • Page 23: Power On And Off, And Items To Check

    Power ON and OFF, and Items to Check...

  • Page 24: Safety Circuit Design

    Power ON and OFF, and Items to Check 3.1 Safety Circuit Design System configuration example Installation of the over limit switch  Confirmation of safety circuit Number Item Description Safety circuit based on Install the safety circuit recommended by the manufacturer of the ①...

  • Page 25: Before Turning On The Power

    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 Number Item Description Checking connections to Check to make sure the various devices have been connected as ①...

  • Page 26: Procedure For Turning On The Power

    Power ON and OFF, and Items to Check 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: Confirming While The Power Is On

    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 Number Item Description...

  • Page 28: Checking The Installation Of The External Safety Circuit

    Power ON and OFF, and Items to Check 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: Checking The Operation Of The Near Home Switch And Home Switch

    3.4 Confirming while the Power is ON 3.4.4 Checking the Operation of the Near Home Switch and Home Switch Procedure 1 Check if the near home input is loaded as input signals on the PLC properly by operating the home input and near home input forcibly. Procedure 2 Start the home return by inputting the home return program, and check if the operation transits to the deceleration operation by the near home input.
  • Page 30 Power ON and OFF, and Items to Check...

  • Page 31: Settings Of Control Unit

    Settings of Control Unit...

  • Page 32: 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. • The pulse output table setting mode can be used only in the FP0H mode.  Allocation of I/O signals (Input)
  • Page 33 4.1 Confirming I/O Allocation  Allocation of I/O signals (Output) I/O number Signal name Axis 1 Axis 2 Axis 3 Axis 4 CW output or Pulse output CCW output or Sign output Deviation counter clear output System stop Y800 Y801 Error clear request Warning clear request Y802...

  • Page 34: When Using Pulse Output Function (Fpσ Compatible Instruction Mode)4-4

    • The following reserved areas are allocated to the home input and control active flag. • Arbitrary inputs are allocated to the near home input and pulse output stop signal (emergency stop).  Allocation of I/O signals (Input) FP0H mode I/O number Signal name Axis 1...
  • Page 35 4.1 Confirming I/O Allocation  Allocation of I/O signals (Output) FP0H mode I/O number Signal name Axis 1 Axis 2 Axis 3 Axis 4 CW output or Pulse output CCW output or Sign output Deviation counter clear output (Note 1)
  • Page 36 • By using the special data register DT90052 by the pulse output control instruction (F0), operations such as loading the near home input and stopping the pulse output forcibly can be performed. FP0H mode FPΣ mode bit no. 15 bit no. 15...

  • Page 37: When Using Pwm Output Function

    • The following reserved areas are allocated to the PWM output and control active flag. • Allocate them so that they do not overlap the I/O used for the pulse output function.  Allocation of I/O signals FP0H mode I/O number Signal name...

  • Page 38: When Using High-Speed Counter Function

    Settings of Control Unit 4.1.4 When Using High-speed Counter Function • The following reserved areas are allocated to the hardware reset input and control active flag.  Allocation of I/O signals (When using internal input) FP0H mode I/O number Signal name Single-phase input...
  • Page 39 • 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. FP0H mode FPΣ mode bit no. 15 bit no. 15...

  • Page 40: Settings In Configurator Pmx

    Settings of Control Unit 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. PROCEDURE 1.
  • Page 41 4.2 Settings in Configurator PMX 4. Confirm the change and press the [OK] button. A data table tab each is created for the groups set. KEY POINTS When interpolation control is selected, the data table of the channel • numbers of X and Y axes will be added, and [Interpolation] will be displayed on the tab.

  • Page 42: Setting Parameters

    Settings of Control Unit 4.2.2 Setting Parameters Use the Configurator PMX to allocate the most fundamental parameters for positioning control, such as the motor rotation direction, pulse output method (CW/CCW and Pulse/Sign), home input, limit input logic, and positioning control. The following procedure is explained on the condition that the Configurator PMX has already started.
  • Page 43 4.2 Settings in Configurator PMX  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. CCW direction +: Select this setting for the case that the elapsed value is increased when Sign output turns on.

  • Page 44: Creating Positioning Data Table

    Input a movement amount. 0 (pulse) amount Setting range: -1,073,741,824 to +1,073,741,823 Acceleration/deceleration L: Linear For FP0H, only L: Linear can be selected. method Acceleration time 100 (ms) Set an acceleration time. Setting range: 1 to 10,000 Deceleration time 100 (ms) Set a deceleration time.
  • Page 45 4.2 Settings in Configurator PMX  Selection of positioning operation patterns • For the E-point control, enter settings in one row. • For P-point control (speed change control), C-point control (continuance point control) and J- point control (JOG positioning control), they should be combined with E-point control of the next step as a pair and the settings should be input in two rows.

  • Page 46: Saving Positioning Parameters

    Settings of Control Unit 4.2.4 Saving Positioning Parameters  Saving positioning parameters Information on positioning parameters and positioning data tables set on Configurator PMX is saved as part of program files. PROCEDURE 1. Select “File” > “Save changes and exit” from the menu bar. A confirmation message box appears.

  • Page 47: Check On Parameter Data

    4.2 Settings in Configurator PMX 4.2.5 Check on Parameter Data • The following procedure is explained on the condition that the Configurator PMX has already started. PROCEDURE 1. Select “Debug” > “Check Parameter and Data Values” from the menu bar. A message box appears to show the check result.

  • Page 48: Writing Parameters To Unit (2)

    Settings of Control Unit 4.2.7 Writing Parameters to Unit (2) • Information on parameters that have been set can also be downloaded to the unit in the Configurator PMX. • The following procedure is explained on the condition that the Configurator PMX has already started.

  • Page 49: System Register Settings

    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. PROCEDURE 1.
  • Page 50 Addition input (X4) Addition input (X4) Reset input (X5) Subtraction input (X4) Subtraction input (X4) Reset input (X5) J-point positioning start input of pulse output CH3 (X4) [FP0H mode] Table setting mode, FPΣ compatible instruction mode Positioning control mode setting Controller [FPΣ...

  • Page 51: Reading Elapsed Values

    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 52 Settings of Control Unit 4-22...

  • Page 53: Operation Patterns

    Operation Patterns...

  • Page 54: Stop Operation

    Operation Patterns 5.1 Stop Operation 5.1.1 Type of Stop Operations  Type of stop operations Name Time chart Occurrence condition and operation  Once the system stop contact (Y800) turns on, an active operation will stop and the pulse outputs of all channels will immediately stop.

  • Page 55: Characteristics Of Stop Operations

    5.1 Stop Operation  Execution of stop operations Stop controls are executed when the following I/O signals turn on.  Allocation of I/O signals (Output) I/O number Signal name Axis 1 Axis 2 Axis 3 Axis 4 System stop Y800 Emergency stop Y830 Y831...

  • Page 56: Jog Operation

    Operation Patterns 5.2 JOG Operation 5.2.1 Settings and Operations 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. ...
  • Page 57 5.2 JOG Operation  Settings Item Setting example Startup speed 1,000 Hz JOG operation acceleration time 100 ms Axis setting area JOG operation deceleration time 200 ms JOG operation target speed 20,000 Hz  Configurator PMX settings  Sample program The execution condition is set to be always executed.

  • Page 58: Settings And Operations Of Jog Operation (Speed Changes)

    Operation Patterns 5.2.2 Settings and Operations of JOG Operation (Speed Changes) It is possible to change a target speed during the JOG operation. The target speed is changed by rewriting the positioning memory using a user program.  Operation diagram f [Hz] 20,000Hz 10,000Hz...

  • Page 59: Speed Changes In Jog Operation

    5.2 JOG Operation  Settings Item Setting example Startup speed 1,000 Hz JOG operation acceleration time 100 ms Axis setting area JOG operation deceleration time 200 ms JOG operation target speed 20,000 Hz → 10,000 Hz  Configurator PMX settings ...

  • Page 60: Home Return

    Operation Patterns 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 61 5.3 Home Return Name Operation diagram Operation and application  Moves the current position to the home return direction, and stops at the position where the leading edge of the home input is detected. This coordinate is set as the starting point.

  • Page 62: Operation Patterns Of Home Return

    Operation Patterns 5.3.2 Operation Patterns of Home Return The operations vary according to selected home return methods and the difference in current positions.  DOG method 1 (Edge detection of near home switch + Home switch, based on front end) The leading edge of the first home switch is set as a home position after the detection of the leading edge of the near home switch.
  • Page 63 5.3 Home Return  DOG method 2 (Edge detection of near home switch) The leading edge of the near home switch is detected and it is set as a home position.  DOG method 3 (Edge detection of near home switch + Home switch, based on back end) The leading edge of the first home switch in the home return direction is set as a home position after the detection of the trailing edge (back end) of the near home switch.
  • Page 64 Operation Patterns  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. ...

  • Page 65: Settings And Operations Of Home Return

    5.3 Home Return 5.3.3 Settings and Operations of Home Return • The parameters for home return operations are specified in the positioning parameter setting menus of Configuration PMX. • When the home return start instruction (F382 ORGST) is executed, the pulse output will start and the home return operation will be performed.
  • Page 66 Operation Patterns  Settings Item Setting example Home return setting code DOG method 1 Home return direction Limit (-) direction Home return acceleration time (ms) 100 ms Axis setting area Home return deceleration time (ms) 100 ms Home return target speed 10000 pps Home return creep speed 1000 pps...

  • Page 67: Positioning Control

    5.4 Positioning Control 5.4 Positioning Control 5.4.1 Types of Positioning Control  Operation pattern Interpo- Name Time chart Operation and application Repeat lation  This is a method of control f[Hz] which is initiated up to an end point, and is referred to as “E- E-point point control”.
  • Page 68 Operation Patterns  Selection of positioning operation modes Positioning operation modes are selected on Configurator PMX. • 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 69: E-Point Control (First Speed Positioning)

    5.4 Positioning Control 5.4.2 E-point Control (First Speed Positioning) • The parameters for position control operations are specified in the positioning parameter setting menus and data tables of Configuration PMX. • 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.
  • Page 70 Operation Patterns  Settings Item Setting example Axis setting area Startup speed 1,000 Hz Table number Table 1 Control code Increment mode Operation pattern E-point control (End point control) Positioning acceleration time 100 ms Table area Positioning deceleration time 200 ms Positioning target speed 20,000 Hz Positioning movement amount...

  • Page 71: P-Point Control (Second Speed Positioning)

    5.4 Positioning Control 5.4.3 P-point Control (Second Speed Positioning) • The parameters for position control operations are specified in the positioning parameter setting menus and data tables of Configuration PMX. • 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.
  • Page 72 Operation Patterns  Settings Item Setting example Axis setting area Startup speed 1,000 Hz Table number Table 1 Table 2 Control code Increment mode Increment mode P-point control (Pass point E-point control (End point Operation pattern control) control) Positioning acceleration time 100 ms 150 ms Table area...

  • Page 73: C-Point Control

    5.4 Positioning Control 5.4.4 C-point Control • The parameters for position control operations are specified in the positioning parameter setting menus and data tables of Configuration PMX. • 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.
  • Page 74 Operation Patterns  Settings Item Setting example Axis setting area Startup speed 1,000 Hz Table number Table 1 Table 2 Control code Increment mode Increment mode C-point control E-point control Operation pattern (Continuance point control) (End point control) Positioning acceleration time 100 ms 150 ms Table area...

  • Page 75: J-Point Control (Jog Positioning Control)

    5.4 Positioning Control 5.4.5 J-point Control (JOG Positioning Control) • The parameters for position control operations are specified in the positioning parameter setting menus and data tables of Configuration PMX. • When the positioning table start instruction (F380 POSST) or positioning simultaneous start instruction (F383 MPOST) is executed, the pulse output will start.
  • Page 76 Operation Patterns  Settings Item Setting example Startup speed 1,000 Hz Axis setting area J-point change speed 10,000 Hz Table number Table 1 Table 2 Control code Increment mode Increment mode J-point control E-point control Operation pattern (Speed control) (End point control) Positioning acceleration time 100 ms 150 ms...

  • Page 77: J-Point Control (Jog Positioning: Speed Changes)

    5.4 Positioning Control 5.4.6 J-point Control (JOG Positioning: Speed Changes) • In the J-point control, the speed can be changed while controlling the speed after the start. • After starting the J-point control, the unit operates at the speed specified in the positioning parameters of Configurator PMX.
  • Page 78 Operation Patterns  Settings Item Setting example Startup speed 1,000 Hz Axis setting area J-point change speed 10,000 Hz Table number Table 1 Table 2 Control code Increment mode Increment mode J-point control E-point control Operation pattern (Speed control) (End point control) Positioning acceleration time 100 ms 150 ms...
  • Page 79 5.4 Positioning Control  Behaviors when the speed change contact turns ON while the positioning unit is accelerating or decelerating the speed • 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 80: Programming Cautions

    Operation Patterns 5.4.7 Programming cautions  Programming cautions • The last table should be set to E: End point. • If any value such as a movement amount, acceleration time, deceleration time or target speed is out of the specified range, a positioning error will occur when the position control starts.

  • Page 81: Repeat Operation

    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 82 Operation Patterns  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.  Configurator PMX settings KEY POINTS •...

  • Page 83: Settings And Operations Of Repeat Operation

    5.5 Repeat Operation 5.5.2 Settings and Operations of Repeat Operation • The parameter for the repeat count is specified in the positioning parameter setting menus of Configuration PMX. • When the positioning table start instruction (F380 POSST) or positioning simultaneous start instruction (F383 MPOST) is executed, the pulse output will start.
  • Page 84 Operation Patterns  Settings Item Setting example Axis setting Turn on the single axis setting for an appropriate axis. Common area Positioning repeat count Pulse output control code Set in accordance with system configuration. Axis setting area Startup speed 1,000 Hz Table number Table 1 Table 2...

  • Page 85: Stop Operation During Repeat Operation

    5.5 Repeat Operation 5.5.3 Stop Operation During Repeat Operation • When setting the repeat function, the operation at the time of deceleration stop varies as follows.  Operation at the time of deceleration stop (Repeating E-point control) When the unit detects a deceleration stop, the unit will come to a stop after repeating positioning control N+2 times.

  • Page 86: Linear Interpolation Control

    Operation Patterns 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 X-axis Y-axis X-axis Y-axis  Conditions of interpolation control Condition under which interpolation control is executable Item Available Not available...

  • Page 87: Settings And Operations Of Linear Interpolation

    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 88 Operation Patterns  Settings Item Setting example Axis setting Turn on the single axis setting for an appropriate axis. Common area Positioning repeat count Pulse output control code Set in accordance with system configuration. Axis setting area Startup speed 1,000Hz Operation pattern E: End point Interpolation operation...

  • Page 89: Operating Characteristics

    Operating Characteristics...

  • Page 90: Operational Difference Between Parameters

    Operating Characteristics 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: Operation Patterns And Start Speed Settings

    6.1 Operational Difference Between Parameters 6.1.3 Operation Patterns and Start Speed Settings Operation Startup speed setting pattern ① Startup speed operation ② Target speed ① Startup speed ② Target speed Home return ③ Creep speed ① Startup speed E-point control ②...

  • Page 92: Other Characteristics

    Operating 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 93: Instruction References

    Instruction References...

  • Page 94: F380 Posst] Positioning Table Start Instruction

    Instruction References 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 95: F381 Jogst] Jog Operation Start Instruction

    7.1 Table Setting Mode Control Instruction 7.1.2 [F381 JOGST] JOG operation start instruction Starts the JOG operation according to the parameters specified in the positioning memory (axis setting area).  Instruction format F381 JOGST  Operand Operand Settings Setting range Channel number to start the JOG operation (Unsigned 16-bit 0 to 3 integer)

  • Page 96: F382 Orgst] Home Return Start Instruction

    Instruction References 7.1.3 [F382 ORGST] Home return start instruction Starts the home return operation according to the parameters specified in the positioning memory (axis setting area).  Instruction format F382 ORGST （ ）  Operand Operand Settings Setting range Channel number to start the home return (Unsigned 16-bit integer) 0 to 3 ...

  • Page 97: F383 Mpost] Positioning Table Simultaneous Start Instruction

    7.1 Table Setting Mode Control Instruction 7.1.4 [F383 MPOST] Positioning table simultaneous start instruction Starts the positioning tables for multiple axes specified on Configurator PMX. The tables of the E point control, P point control and C point control can be started. ...

  • Page 98: F384 Ptblr] Positioning Parameter Read Instruction

    Instruction References 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.  Instruction format F384 PTBLR  Operand Operand Settings Specification of channel numbers and positioning memory area (Higher 8 bits) channel no.: H0 to H3 H00 (Common area), H01 (Axis information area), H02 (Axis...

  • Page 99: F385 Ptblw] Positioning Parameter Write Instruction

    7.1 Table Setting Mode Control Instruction 7.1.6 [F385 PTBLW] Positioning parameter write instruction This instruction is used to write positioning parameters and positioning table data with user programs.  Instruction format F385 PTBLW  Operand Operand Settings Specification of channel numbers and positioning memory area (Higher 8 bits) channel no.: H0 to H3 (Not save in FROM), H80 to H83 (Save in FROM) H00 (Common area), H01 (Axis information area), H02 (Axis...

  • Page 100: Fpσ Compatible Instruction Mode Control Instruction

    Instruction References 7.2 FPΣ 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 F171 SPDH （ ）  Operand Operand Settings Starting number of the area in which data tables are registered Target channel for pulse output ...
  • Page 101 7.2 FP Compatible Instruction Mode Control Instruction  Operation mode Incremental <Relative value control> Outputs the pulses set with the target value. PLS+SIGN PLS+SIGN Selection CW/CCW Forward OFF Forward ON Elapsed value Target value Reverse ON Reverse OFF Pulse output when Pulse output when Pulse output When plus...
  • Page 102 Instruction References Operand Settings Description Specify the control code by setting the H constant. 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 S, S+1 Control code 1: 60 steps Duty (on width)
  • Page 103 7.2 FP Compatible Instruction Mode Control Instruction  Example of program F1 DMV H1100 F1 DMV K1000 F1 DMV K7000 F1 DMV K300 F1 DMV K100000 F1 DMV DT10 F171 SPDH （ ） 7kHz No. of output pulses 100,000 1kHz 300ms 300ms ⊿f...
  • Page 104 • This instruction cannot be executed when a control flag corresponding to each channel is on. • For the FP0H mode, select "Pulse output" for the channel setting corresponding to the system register no. 402.

  • Page 105: F171(Spdh)] Pulse Output (Home Return)

    7.2 FP Compatible Instruction Mode Control Instruction 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 F171 SPDH （ ）  Operand Operand Settings Starting number of the area in which data tables are registered Target channel for pulse output ...
  • Page 106 Instruction References  Explanation of operation mode Home return The pulses are continuously output until the home input (X2 or X5) is enabled. To shift to deceleration operation when detecting the near home, turn the corresponding bit of special 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.
  • Page 107 7.2 FP Compatible Instruction Mode Control Instruction Operand Settings Description Specify the control code by setting the H constant. 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)
  • Page 108 Instruction References Operand Settings Description Set the output time of the deviation counter clear signal. Deviation counter 0.5 ms to 100 ms [K0 to K100] Setting value + error (0.5 ms or clear signal output ④ S+8, S+9 less) time When this signal is not used or the time is set to less than 0.5 ms, tr(ms) specify K0.
  • Page 109 • This instruction cannot be executed when a control flag corresponding to each channel is on. • For the FP0H mode, select "Pulse output" for the channel setting corresponding to the system register no. 402.

  • Page 110: F172(Pslh)] Pulse Output (Jog Operation)

    Instruction References 7.2.3 [F172(PSLH)] Pulse Output (JOG Operation) Outputs the pulse of a specified parameter from a specified channel.  Instruction format F172 PLSH （ ）  Operand Operand Settings Starting number of the area in which data tables are registered Target channel for pulse output ...
  • Page 111 7.2 FP Compatible Instruction Mode Control Instruction  Data table settings ① ① Control code Control code ② ② Frequency Frequency ③ Target value Operand Settings Description Specify the control code by setting the H constant. 0: Fixed Acceleration/deceleration steps 0: Mode with no target value 1: Target value match stop mode Duty (on width)
  • Page 112 • When describing the same channel in both the normal program and the interrupt program, be sure to program not to execute them simultaneously. • For the FP0H mode, select "Pulse output" for the channel setting corresponding to the system register no. 402.

  • Page 113: [F174(Sp0H)] Pulse Output (Selectable Data Table Control Operation)7-21

    7.2 FP Compatible Instruction Mode Control Instruction 7.2.4 [F174(SP0H)] Pulse Output (Selectable Data Table Control Operation) Outputs pulses from a specified pulse output channel according to a specified data table.  Instruction format F174 SP0H （ ）  Operand Operand Settings Starting number of the area in which data tables are registered Target channel for pulse output...
  • Page 114 Instruction References  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 7-22...
  • Page 115 7.2 FP Compatible Instruction Mode Control Instruction Operand Settings Description Specify the control code by setting the H constant. 0: Fixed Duty (on width) 0: Duty 1/2 (50%) 1: Duty 1/4 (25%) Frequency range Not used ① Control code Operation mode 0: Specify Incremental movement amount (pulse no.).
  • Page 116 Instruction References  Example of program [Operation] (1) Starts the pulse output at 1000 Hz from the specified channel ch0 when the execution condition R10 of F174 (SP0H) instruction turns ON. (2) Switches the frequency to 2500 Hz when 1000 pulses are counted at 1000 Hz. (3) Switches the frequency to 5000 Hz when 3000 pulses are counted at 2500 Hz.
  • Page 117 7.2 FP Compatible Instruction Mode Control Instruction [Settings and program] Set the frequency range to 191 Hz to 100 kHz and duty 1/4 (25%), and the operation mode to Incremental and the output method to CW. F1 DMV H1200 DT100 F1 DMV K1000 DT102...
  • Page 118 F174(SP0H) instruction has turned ON. • This instruction cannot be executed when a control flag corresponding to each channel is • For the FP0H mode, select "Pulse output" for the channel setting corresponding to the system register no. 402. • For the FPΣ mode, select "Do not use high-speed counter" for the channel setting corresponding to the system register nos.

  • Page 119: F175(Spsh)] Pulse Output (Linear Interpolation)

    （ ）  Operand Operand Settings Starting number of the area in which data tables are registered FP0H mode: 0 or 2, FPΣ mode: 0 (Fixed)  Memory area type that can be specified Constant Index Operand modifier  Outline of operation •...
  • Page 120 Instruction References  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. Acceleration/deceleration time ③ T(ms) X-axis Target value (Movement amount) ④ Y-axis S+10 Target value (Movement amount) X-axis Component speed S+12...
  • Page 121 7.2 FP Compatible Instruction Mode Control Instruction Setting area Operand Settings Description Specify the control code by setting the H constant. 0: Fixed Duty (on width) 0: Duty 1/2 (50%) 1: Duty 1/4 (25%) ① Control code 0: Fixed Operation mode and output method 00: Incremental CW/CCW 02: Incremental PLS+SIGN (forward off/reverse on) 03: Incremental PLS+SIGN (forward on/reverse off)
  • Page 122 Instruction References Operation result storage area Operand Settings Description X-axis Component speed The component speed (initial speed and maximum speed of S+12 Initial speed Fxmin each axis) is stored as 2 words in real type. (Composite speed) × (X-axis movement amount) X-axis Component speed S+14 X-axis component speed =...
  • Page 123 • When describing the same channel in both the normal program and the interrupt program, be sure to program not to execute them simultaneously. • For the FP0H mode, select "Pulse output" for the channel setting corresponding to the system register no. 402.
  • Page 124 Instruction References 7-32...

  • Page 125: Troubleshooting

    Troubleshooting...

  • Page 126: Self-Diagnostic Function

    Troubleshooting 8.1 Self-diagnostic 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 status indicator LEDs on the control unit vary, as shown in the table above.

  • Page 127: Operation Mode When An Error Occurs

    8.1 Self-diagnostic Function 8.1.2 Operation Mode When an Error Occurs • Normally, when an error occurs, the operation stops. • For some errors, the user may select whether operation is to be continued or stopped by setting the system registers. ...

  • Page 128: What To Do If An Error Occurs

    Troubleshooting 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.  Solution PROCEDURE 1. Check the error code using the programming tool. If a PLC error occurs during programming or debugging, the "Status Display"...
  • Page 129 8.2 What to Do If an Error Occurs 4. Press the [Yes] button. The positioning error log will be cleared. 5. Press the [Close] button. It returns to the "Status Display" dialog box. 6. Press the [Clear errors] button. The display of the self-diagnostic error message will be cleared. 7.

  • Page 130: What To Do When Positioning Error Occurs

    Troubleshooting 8.2.2 What to Do When Positioning Error Occurs The following are the solutions when the self-diagnostic error (error code 44: positioning error) occurs.  Positioning error code Error Operation when an error Error name Description code occurs and solution The input on the plus side of the limit turned The operation stops in the limit Limit + signal detection...
  • Page 131 8.2 What to Do If an Error Occurs Error Operation when an error Error name Description code occurs and solution Table setting error The combination of tables is incorrect. The set value of the operation pattern is Operation pattern error incorrect.

  • Page 132: Motor Does Not Rotate/Move (Output Led Flashes Or Is On)

    Troubleshooting 8.2.3 Motor Does Not Rotate/Move (Output LED Flashes or is ON)  Solution 1: For servo motor Check to make sure the servo on input is set to “ON”.  Solution 2 Check to make sure the power supplies for the servo amplifier and motor driver are ON. ...

  • Page 133: Pwm Output Function

    PWM Output Function...

  • Page 134: Pwm Output Function

    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 FP0H mode Channel no. Output no. Control flag R911C R911D...

  • Page 135: System Register Settings

    9.1 PWM Output Function 9.1.2 System Register Settings 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. PROCEDURE 1. Select “Option” > “System register settings” from the menu bar. The "PLC Configuration "...

  • Page 136: F173 Pwmh] Pwm Output Instruction (Frequency Specification)

    For the output frequencies K70001 to K100000, Setting range: K0 to K1000 (0% to 100%) Channel nos. used for PWM output: FP0H mode: 0 (CH0: Y0), 1 (CH1: Y3), 2 (CH2: Y8), 3 (CH3: YB) FPΣ mode: 0 (CH0: Y0), 2 (CH2: Y3) ...
  • Page 137 9.1 PWM Output Function  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). FP0H PWM F0 MV （ ） K10000:10KHz K500:50.0% F1 DMV...

  • Page 138: F173 Pwmh] Pwm Output Instruction (Control Code Specification)

    For the control codes K28 to K30, Setting range: K0 to K1000 (0% to 100%) Channel nos. used for PWM output: FP0H mode: 0 (CH0: Y0), 1 (CH1: Y3), 2 (CH2: Y8), 3 (CH3: YB) FPΣ mode: 0 (CH0: Y0), 2 (CH2: Y3) ...
  • Page 139 9.1 PWM Output Function  Control code Frequency Frequency Cycle Cycle (ms) Resolution Resolution (Hz) (Hz) (ms) 666.67 2000.0 0.50 500.00 3000.0 0.33 250.00 6000.0 0.17 166.67 12500.0 0.08 125.00 15000.0 0.067 10.0 100.00 20000.0 0.050 1000 20.0 50.00 25000.0 0.040 50.0 20.00...
  • Page 140 PWM Output Function...

  • Page 141: High-Speed Counter Function

    High-speed Counter Function...

  • Page 142: Overview Of High-Speed Counter Function

    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 at high speed such as a sensor and encoder. • Exclusive instructions (F166 and F167) are provided for turning on or off arbitrary outputs (Y0 to Y1F) in the interrupt processing when the elapsed value matches the target value.

  • Page 143: Areas Used For High-Speed Counter Function

    10.1 Overview of High-speed Counter Function 10.1.3 Areas Used For High-speed Counter Function The usable combinations vary according to the unit type.  List of used areas FP0H mode Input no. Elapsed value Channel no. Control flag Target value area...

  • Page 144: Input Mode Type

    High-speed Counter Function 10.1.4 Input Mode Type  Input Modes and Count Operations Mode Range Addition input Subtraction input 2-phase input Individual input Direction distinction input 10-4...

  • Page 145: Minimum Input Pulse Width

    10.1 Overview of High-speed Counter Function 10.1.5 Minimum Input Pulse Width For the period T, the following minimum input pulse width is required.  Min. input pulse width Single-phase input 2-phase input 10-5...

  • Page 146: System Register Settings

    High-speed Counter Function 10.2 System Register Settings 10.2.1 System Register Settings 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. PROCEDURE 1.
  • Page 147 10.2 System Register Settings  System register relating to high-speed counter output Classification No. and setting item Settings Not set X0 as High-speed counter 2-phase input (X0, X1) 2-phase input (X0, X1) Reset input (X2) Addition input (X0) Addition input (X0) Reset input (X2) Subtraction input (X0) Subtraction input (X0) Reset input (X2) Individual input (X0, X1)

  • Page 148: High-Speed Counter Instruction

    High-speed Counter Function 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 F0 MV DT90052 （ ） DT90052 F0 MV ...
  • Page 149 10.3 High-speed Counter Instruction  Allocation of control codes • The following bits are allocated according to the specified channel and functions. FP0H mode FPΣ mode bit no. 15 4 3 2 1 0 bit no. 15 0 0 0 0 0 0 0 0...

  • Page 150: F1 Dmv] Elapsed Value Write / Read Instruction

    High-speed Counter Function 10.3.2 [F1 DMV] Elapsed Value Write / Read Instruction Writes and reads the elapsed value of the high-speed counter.  Instruction format F1 DMV K3000 DT90300 （ ） F1 DMV DT90300 DT100 （ ）  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...
  • Page 151 10.3 High-speed Counter Instruction MEMO 10-11...

  • Page 152: F166 Hc1S] High-Speed Counter Target Value Match On Instruction

    High-speed Counter Function 10.3.3 [F166 HC1S] High-speed Counter Target Value Match ON Instruction [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 153 10.3 High-speed Counter Instruction  Example of program The following example shows the program for setting the output Y0 when the elapsed value of the high-speed counter CH0 matches K10000. F166 HC1S K10000 （ ）  Precautions during programming • The high-speed counter control flag turns on until the value matches the target value after the execution condition of the instruction has turned on.

  • Page 154: Sample Program (Positioning Operation With Inverter: First Speed)

    High-speed Counter Function 10.3.4 Sample Program (Positioning Operation With Inverter: First Speed) Counts the feedback signals from the encoder with the high-speed counter. The operation of the inverter stops when the count value reaches 5000.  Wiring example  Operation chart ...
  • Page 155 10.3 High-speed Counter Instruction  Sample program For FP0H mode R100 R9110 R102 （ ） R100 R100 R101 （ ） R101 DT90300 F1 DMV K5000 F167 HC1R R101 < > R102 R9110 R100 （ ） R102 TMX 0 ① Positioning operation is running.

  • Page 156: Sample Program (Positioning Operation With Inverter: Second Speed)10-16

    High-speed Counter Function 10.3.5 Sample Program (Positioning Operation With Inverter: Second Speed) Counts the feedback signals from the encoder with the high-speed counter. Switches the inverter operation to low speed operation when the count value reaches 4500. The operation of the inverter stops when the count value reaches 5000. ...
  • Page 157 10.3 High-speed Counter Instruction  Sample program For FP0H mode R100 R9110 R103 （ ） R100 R100 R101 （ ） R101 F1 DMV DT90300 F167 HC1R K5000 R101 < > < > R100 K4500 DT90300 F61 DCMP R100 R900C R102 R102 <...

  • Page 158: High-Speed Counter Cam Control Instruction

    High-speed Counter Function 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.  Instruction format F165 CAM0 DT100 （...
  • Page 159 10.4 High-speed Counter Cam Control Instruction  Upper limit control With the F165 (CAM0) instruction, the control with a specified upper limit can be performed. The settings for enabling/disabling the upper limit control and the upper limit are specified in the data table.
  • Page 160 High-speed Counter Function  Specification of output device: [S+2] to [S+5] • When the number of target values is set to 1-16, one word is used. When the number of target values is set to 17-32, two words are used. •...
  • Page 161 10.4 High-speed Counter Cam Control Instruction  Precautions during programming • This instruction cannot be used when the high-speed counter function is not used. Allocate arbitrary channels and contacts in the system register "high-speed counter setting". • The high-speed counter control flag corresponding to the specified channel turns on until the execution of the high-speed counter control instruction F0 (MV) is cleared after the execution condition of the F165 (CAM0) instruction has turned on.

  • Page 162: Sample Program (Upper Limit Control, Reset, Addition)

    High-speed Counter Function 10.4.2 Sample Program (Upper Limit Control, Reset, Addition) The following shows the program for performing two cam outputs (R100, R101) according to the elapsed value of the high-speed counter CH0. When the elapsed value reaches the target value (ON set value), the cam output turns on, and when it reaches the target value (OFF set value), it turns off.

  • Page 163: Sample Program (Upper Limit Control, Instruction Clear, Addition)

    10.4 High-speed Counter Cam Control Instruction  Sample program For FP0H mode R9013 ① F1 DMV DT100 ② F1 DMV DT102 ③ F1 DMV DT104 ④ F1 DMV DT106 ⑤ F1 DMV K1000 DT108 ⑥ F1 DMV K5000 DT110 ⑦...
  • Page 164 High-speed Counter Function 10.4.3 Sample Program (Upper Limit Control, Instruction Clear, Addition) The following shows the program for performing two cam outputs (R100, R101) according to the elapsed value of the high-speed counter CH0. In the case of addition, when the elapsed value reaches the target value (ON set value), the cam output turns on, and when it reaches the target value (OFF set value), it turns off.

  • Page 165: Sample Program (Upper Limit Control, Subtraction)

    10.4 High-speed Counter Cam Control Instruction  Sample program For FP0H mode R9013 ① F1 DMV DT100 ② F1 DMV DT102 ③ F1 DMV DT104 ④ F1 DMV DT106 ⑤ F1 DMV K1000 DT108 ⑥ F1 DMV K5000 DT110 ⑦...
  • Page 166 High-speed Counter Function 10.4.4 Sample Program (Upper Limit Control, Subtraction) The following shows the program for performing three cam outputs (R100-R102) according to the elapsed value of the high-speed counter CH0. In the case of subtraction, when the elapsed value falls below the target value (OFF set value), the cam output turns off, and when it falls below the target value (ON set value, the cam output turns on.
  • Page 167 10.4 High-speed Counter Cam Control Instruction  Sample program For FP0H mode R9013 ① F1 DMV DT100 ② F1 DMV DT102 ③ F1 DMV DT104 ④ F1 DMV DT106 ⑤ F1 DMV K1000 DT108 ⑥ F1 DMV K7000 DT110 ⑦...

  • Page 168: Interrupt Program Activation

    • Allow the execution of a corresponding interrupt program number by the ICTL instruction in the main program. • Execute the F165 (CAM0)/F166 (HC1S)/F167 (HC1R) instruction. When the elapsed value of the high-speed counter reaches the target value, the interrupt program is activated. For FP0H mode ICTL instruction INT0 program ICTL...

  • Page 169: Interrupt Activation When F165 (Cam0) Is Executed

    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 171: Fpσ Mode

    FPΣ Mode...

  • Page 172: Overview Of Fpσ Mode

    (Note 1): Program capacities and data register capacities can be changed by the setting of the system register no. 0. (Note 2): In the FP0H mode, the automatic backup areas for internal relays and data registers vary according to the settings of system register nos.

  • Page 173: Converting Projects For Fpσ To Projects For Fp0H (Fpσ Mode)

    (Note 1): For details of the high-speed counter/pulse output functions, refer to "FP0H User's Manual (Positioning/PWM Output/High-speed Counter)". 11.1.2 Converting Projects for FPΣ to Projects for FP0H (FPΣ Mode) Projects for the conventional model FPΣ can be converted to projects for FP0H (FPΣ) by "Convert PLC Type"...

  • Page 174: Converting Projects For Fp0H (Fpσ Mode) To Projects For Fp0H (Fp0H Mode)

    11.1.3 Converting Projects for FP0H (FPΣ Mode) to Projects for FP0H (FP0H Mode) Projects for FP0H (FPΣ mode) can be converted to projects for FP0H (FP0H mode) by setting the system register no. 3. The following procedure is explained on the condition that a project for FP0H (FPΣ...

  • Page 175: Differences In Positioning Instructions With Fpσ

    DT90192 DT90382 DT90193 DT90193 DT90383  Allocation of control codes Conventional model FPΣ and FP0H series (FPΣ mode) High-speed counter/Pulse output control bit no. 15 4 3 2 1 0 Channel specification H0 to H3: CH0 to CH3 Near home input...

  • Page 176: High-Speed Counter Instructions F165 (Cam0), F166 (Hc1S), F167

    For the FPΣ mode, the following contents are common to FPΣ. - Operations when instructions are executed - Allocation of memory areas  Operations when instructions are executed In the FP0H mode, operations vary according to the system register no. 402 "Pulse/PWM output settings". FP0H series Conventional model Instruction FPΣ...

  • Page 177: Pulse/Pwm Output Control Instructions

    For the FPΣ mode, the following contents are common to FPΣ. However, the designation of PWM control codes is different. - Operations when instructions are executed - Allocation of memory areas  Operations when instructions are executed Conventional FP0H series Item model Instruction FP0H mode FPΣ mode FPΣ...
  • Page 178 FP Mode  Allocation of memory areas Conventional model FPΣ series and FP0H series (FPΣ mode) Deviation Correction CW or CCW or Channel counter Home Elapsed Target Control speed area pulse sign clear input value area value area flag of initial...
  • Page 179 11.2 Differences in Positioning Instructions with FP  Operation of PWM output instruction (F173 PWMH) Conventional mode FP0H series Item FPΣ series (FP0H mode/FPΣ mode) Frequency 1.5 Hz to 41.7 kHz 1 Hz to 100 kHz Duty ratio 0 to 99.9%...
  • Page 180 FP Mode 11-10...

  • Page 181: Specifications

    Specifications...

  • Page 182: General Specifications

    Specifications 12.1 Specifications 12.1.1 General Specifications For details of the general specifications, refer to FP0H User’s Manual (Basic). 12.1.2 Performance Specifications  High-speed counter/Pulse output/PWM output specifications Specifications Item FP0H mode FPΣ mode Max. 4 channels (CH0 to CH3) Max. 4 channels (CH0 to CH3)
  • Page 183 12.1 Specifications  Pulse output function specifications Specifications Item FPΣ compatible Table setting mode instruction mode Compatible mode FP0H mode FP0H mode FPΣ mode Number of axes controlled Max. 4 axes Max. 4 axes Max. 2 axes Position setting mode...

  • Page 184: Allocation Of Memory Areas

    Specifications 12.2 Allocation of Memory Areas 12.2.1 When Using Pulse Output Table Setting Mode  Control unit Memory area Input/output contact number used used Devia- Near Over Channel no. CW or CCW or tion Home J-point Elapsed home limit Busy Pulse Sign counter...

  • Page 185: When Using Pulse Output Function (Fpσ Compatible Instruction Mode)12-5

    12.2 Allocation of Memory Areas 12.2.2 When Using Pulse Output Function (FPΣ Compatible Instruction Mode)  Control unit FP0H mode Input/output contact number used Memory area used Max. Devia- Correction Related Near Elapsed output CW or tion Home Target speed Channel no.

  • Page 186: When Using Pwm Output Function

    Specifications 12.2.3 When Using PWM Output Function  Control unit FP0H mode Channel no. Output no. Control flag Output frequency (Duty) R911C R911D 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%)

  • Page 187: When Using High-Speed Counter Function

    12.2 Allocation of Memory Areas 12.2.4 When Using High-speed Counter Function  Control unit FP0H mode Performance Memory area used Specifications Hard- Related Count ware Min. Channel no. instruct- Elapsed Max. input reset Control Target input tions value counting input...

  • Page 188: Positioning Memory

    Specifications 12.3 Positioning Memory 12.3.1 Configuration of Memory Map The positioning memory consists of four areas.  Whole memory map Area Absolute No. of words and configuration (Decimal) Name Common 0000-0029 30 words area 0030-0039 For CH0 0040-0049 For CH1 Axis 10 words for each channel information...
  • Page 189 12.3 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 an area number and offset address.

  • Page 190: Common Area (Memory Area No. 0)

    Specifications 12.3.2 Common area (Memory Area No. 0) ●: Available, -: Not available Address Name Default Description Stores used channels (axes) and usage methods. Monitor using binary display. bit no. Settings Not use CH0 (0) / Use CH0 (1) Not use CH1 (0) / Use CH1 (1) Not use CH2 (0) / Use CH2 (1) Not use CH3 (0) / Use CH3 (1) 0000...

  • Page 191: Axis Information Area (Memory Area No. 1)

    12.3 Positioning Memory 12.3.3 Axis Information Area (Memory Area No. 1) ●: Available, -: Not available Offset Name Default Description address Stores the monitor values of the positioning table numbers during the execution or on the Active or execution 0000 ...
  • Page 192 Specifications 12.3.4 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. Item Settings Pulse output...
  • Page 193 12.3 Positioning Memory Offset Name Default Description address Stores the settings of the target speed for the home return of 0007 Home return each channel in decimal. K1000   -0008 target speed Setting range: 1 to 100,000 Stores the settings of the creep speed for the home return of 0009 Home return each channel in decimal.
  • Page 194 Specifications 12.3.5 Positioning Table Area (Memory Area No. 3) ●: Available, -: Not available Offset Name Default Description address Stores the settings of the position specification method for the positioning operation. bit no. Item Settings 0000 Control code   0: Increment mode Control method 1: Absolute mode...
  • Page 195 12.3 Positioning Memory  Offset addresses Positioning Positioning Positioning Positioning Table Control Control Dwell acceleration deceleration target movement code pattern time time time speed amount 14-15 16-17 24-25 26-27 34-35 36-37 44-45 46-47 54-55 56-57 64-65 66-67 74-75 76-77 84-85 86-87 94-95 96-97...
  • Page 196 Specifications 12-16...
  • Page 197 Record of changes Manual No. Date Record of Changes WUME-FP0HPOS-01 Oct. 2017 1st Edition WUME-FP0HPOS-02 Feb. 2018 2nd Edition Version upgrade of the unit firmware (Ver.1.1) Added the descriptions of supported functions. - FPΣ mode Added the specifications of FPΣ compatible instruction. - F171(SPDH) / F171(SPDH) / F172(PLSH) / F174(SP0H) Error correction...

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