Hitachi HIDIC EH-150 Instructions for use

HITACHI PROGRAMMABLE CONTROLLER
1 Axis Pulse Positioning
Control Module
EH-POS
APPLICATION MANUAL
NJI-315(x)

WARNING
To ensure that the equipment described by this manual. As well as all equipment connected
to and used with it, operate satisfactorily and safety, all applicable local and national codes
that apply to installing and operating the equipment must be followed. Since codes can vary
geographically and can change with time, it is the user’s responsibility to determine which
standard and codes apply, and to comply with them.
FAILURE TO COMPLY WITH APPLICABLE CODES AND STANDARDS CAN RESULT IN
DAMAGE TO EQUIPMENT AND/OR SERIOUS INJURY TO PERSONNEL.
INSTALL EMARGENCY POWER STOP SWITCH, WHICH OPERATES INDEPENDENTLY OF
THE PROGRAMMABLE CONTROLLER TO PROTECT THE EQUIPMENT AND/OR
PERSONNEL IN CASE OF THE CONTROLLER MALFUNCTION.
Personnel who are to install and operate the equipment should carefully study this manual
and any other referred to by it prior to installation and/or operation of the equipment. Hitachi
Industrial Equipment Systems Co., Ltd. constantly strives to improve its products, and the
equipment and the manual(s) that describe it may be different from those already in your
possession.
If you have any questions regarding the installation and operation of the equipment, or if
more information is desired, contact your local Authorized Distributor or Hitachi Industrial
Equipment Systems Co., Ltd.
IMPORTANT
THIS EQUIPMENT GENERATES, USES, AND CAN RADIATE RADIO FREQUENCY
ENERGY AND, IF NOT INSTALLED AND USED IN ACCORDANCE WITH THE
INSTRUCTION MANUAL, MAY CAUSE INTERFERENCE TO RADIO COMMUNICATIONS.
AS TEMPORARILY PERMITTED BY REGULATION, IT HAS NOT BEEN TESTED FOR
COMPLIANCE WITH THE LIMITS FOR CLASS A COMPUTING DEVICES PURSUANT TO
SUBPART J OF PART 15 OF FCC ROULES, WHICH ARE DESIGNED TO PROVIDE
PEASONABLE PROTECTION AGAINST SUCH INTERFERENCE.
OPERATION OF THIS EQUIPMENT IN A RESIDENTIAL AREA IS LIKELY TO CAUSE
INTERFERENCE IN WHICH CASE THE USER, AT HIS OWN EXPENSE, WILL BE
REQUIRED TO TAKE WHATEVER MEASURES MAY BE REQUIRED TO CORRECT THE
INTERFERENCE.

LIMITED WARRANTY AND IMITATION OF LIABILITY
Hitachi Industrial Equipment Systems Co., Ltd. (Hitachi) warrants to the original purchaser
that the programmable logic controller (PLC) manufactured by Hitachi is free from defects in
material and workmanship under normal use and service. The obligation of Hitachi under this
warranty shall be limited to the repair or exchange of any part or parts which may prove
defective under normal use and service within eighteen (18) months from the date of
manufacture or twelve (12) months from the date of installation by the original purchaser
which ever occurs first, such defect to be disclosed to the satisfaction of Hitachi after
examination by Hitachi of the allegedly defective part or parts. This warranty in expressly in
lieu of all other warranties expressed or implied including the warranties of merchantability
and fitness for use and of all other obligations or liabilities and Hitachi neither assumes, nor
authorizes any other person to assume for Hitachi, any other liability in connection with the
sale of this PLC. This warranty shall not apply to this PLC or any part hereof which has been
subject to accident, negligence, alternation, abuse, or misuse. Hitachi makes no warranty
whatsoever in respect to accessories or parts not supplied by Hitachi. The term “original
purchaser”, as used in this warranty, shall be deemed to mean that person for whom the
PLC in originally installed.
In no event, whether as a result of breach of contract, warranty, tort (including negligence) or
otherwise, shall Hitachi or its suppliers be liable for any special, consequential, incidental or
penal damages including but not limited to, loss or profit or revenues, loss of use of the
products or any associated equipment, damage to associated equipment, cost of capital,
cost of substitute products, facilities, services or replacement power, down time costs, or
claims of original purchaser’s customers for such damages.
To obtain warranty service, return the product to your distributor, or send it with a description
of the problem, proof of purchase, post paid, insured, and in a suitable package to:
Quality Assurance Dept.
Hitachi Industrial Equipment Systems Co., Ltd.
46-1 Ooaza-Tomioka Nakajo-machi
Kitakanbara-gun, Niigata-ken
959-2608 JAPAN

Copyright 2002 by Hitachi Industrial Equipment Systems Co., Ltd.
All Right Reserved – Printed in Japan
The Information and/or drawing set forth in this document and all right in and to
inventions disclosed herein and patent which might be granted thereon disclosing or
employing and the materials, methods, techniques or apparatus described herein
are the exclusive property of Hitachi Industrial Equipment Systems Co., Ltd .
No copies of the information or drawings shall be made without the prior constant of
Hitachi Industrial Equipment Systems Co., Ltd.
Hitachi Industrial Equipment Systems Co., Ltd. provides customer assistance in
varied technical areas. Since Hitachi does not possess full access to data
concerning all of the uses and applications of customer’s products, responsibility is
assumed by Hitachi neither for customer product design nor for any infringement of
patents or rights of others, which may result from Hitachi assistance.
The specifications and descriptions contained in this manual were accurate at the
time they were approved for printing. Since Hitachi Industrial Equipment Systems
Co., Ltd. Incorporated constantly strives to improve all its products, we reserve the
right to make changes to equipment and/or manual at any time without notice and
without incurring any obligation other than as noted in this manual.
Hitachi Industrial Equipment Systems Co., Ltd. assumes no responsibility for errors
that may appear in this manual.
As the product works with user program, and Hitachi Industrial Equipment Systems
Co., Ltd. cannot test all combination of user program components, it is assumed
that a bug or bugs may happen unintentionally. If it is happened: please inform the
fact to Hitachi Industrial Equipment Systems Co., Ltd. or its representative. Hitachi
will try to find the reason as much as possible and inform the countermeasure when
obtained.
Nevertheless Hitachi Industrial Equipment Systems Co., Ltd. intends to make
products with enough reliability, the product has possibility to be damaged at any
time. Therefore personnel who are to install and operate the equipment have to
prepare with the countermeasure such as power off switch can be operated
independently of the controller. Otherwise, it can result in damage to equipment
and/or serious injury to personnel.

Safety Precautions
Read this manual and related documents thoroughly before installing, operating, performing preventive maintenance or performing
inspection, and be sure to use the unit correctly. Use this product after acquiring adequate knowledge of the unit, all safety
information, and all cautionary information. Also, make sure this manual enters the possession of the chief person in charge of safety
maintenance.
Safety caution items are classified as "Danger" and "Caution" in this document.
DANGER :Cases where if handled incorrectly a dangerous circumstance may be created, resulting in
possible death or severe injury.
CAUTION :Cases where if handled incorrectly a dangerous circumstance may be created, resulting in possible
minor to medium injury to the body, or only mechanical damage.
However, depending on the circumstances, items marked with may result in major accidents.
In any case, they both contain important information, so please follow them closely.
Icons for prohibited items and required items are shown below:
: Indicates prohibited items (items that may not be performed). For example, when open flames are prohibited, is shown.
: Indicates required items (items that must be performed). For example, when grounding must be performed, is
shown.
1. About installation
CAUTION
lUse this product in an environment as described in the catalogue and this document.
If this product is used in an environment subject to high temperature, high humidity, excessive dust, corrosive gases,
vibration or shock, it may result in electric shock, fire or malfunction.
lPerform installation according to this manual.
If installation is not performed adequately, it may result in dropping, malfunction or an operational error in the unit.
lDo not allow foreign objects such as wire chips to enter the unit.
They may become the cause of fire, malfunction or failure.
CAUTION

2. About wiring
REQUIRED
lAlways perform grounding (FE terminal).
If grounding is not performed, there is a risk of electric shocks and malfunctions.
CAUTION
lConnect power supply that meets rating.
If a power supply that does not meet rating is connected, fire may be caused.
lThe wiring operation should be performed by a qualified personnel.
If wiring is performed incorrectly, it may result in fire, damage, or electric shock.
3. Precautions when using the unit
DANGER
lDo not touch the terminals while the power is on.
There is risk of electric shock.
lStructure the emergency stop circuit, interlock circuit, etc. outside the programmable controller (hereinafter referred to as
PC).
Damage to the equipment or accidents may occur due to failure of the PC.
However, do not interlock the unit to external load via relay drive power supply of the relay output module.
CAUTION
lWhen performing program change, forced output, RUN, STOP, etc., while the unit is running, be sure to verify safety.
Damage to the equipment or accidents may occur due to operation error.
lSupply power according to the power-up order.
Damage to the equipment or accidents may occur due to malfunctions.

4. About preventive maintenance
DANGER
lDo not connect the , of the battery in reverse. Also, do not charge, disassemble, heat, place in fire, or short circuit the
battery.
There is a risk of explosion or fire.
PROHIBITED
lDo not disassemble or modify the unit.
These actions may result in fire, malfunction, or malfunction.
CAUTION
lTurn off the power supply before removing or attaching module/unit.
Electric shock, malfunction or failure may result.

Table of contents
Chapter 1 Introduction 1-1 to 1-3
1.1Before Use........................................................................................................................................................1-1
1.2Accessaries.......................................................................................................................................................1-2
1.3Option................................................................................................................................................................1-3
Chapter 2 Features 2-1
Chapter3 System configuration 3-1 to 3-2
3.1Structure and Parts name............................................................................................................................3-1
3.2System configuration.....................................................................................................................................3-2
Chapter 4 Function and Performance Specifications 4-1 to 4-7
4.1 General Specifications...................................................................................................................................4-1
4.2 Functional Specifications .............................................................................................................................4-2
4.3I/O Interface Specifications...........................................................................................................................4-3
4.4Input/output Signal........................................................................................................................................4-5
4.5Output Method................................................................................................................................................4-6
4.6Name of LED...................................................................................................................................................4-7
Chapter 5 Trial Run (Simple Operation Example) 5-1 to 5-6
5.1Items of Trial Run..........................................................................................................................................5-1
5.2Procedure of Trial Run...................................................................................................................................5-1
Chapter 6 Operation Data Setting 6-1 to 6-26
6.1 Operation Data...............................................................................................................................................6-1
6.1.1 Common parameter.........................................................................................................................6-1
6.1.2 Automatic Operation Position data.............................................................................................6-13
6.2 Register configuration and operation data setting.................................................................................6-20
6.2.1 I/O Allocation.....................................................................................................................................6-20
6.2.2 I/O register configuration................................................................................................................6-20
6.2.3 Status register ( Input register ) Bit Allocation........................................................................6-21
6.2.4 Control register ( Output register ) Bit Allocation....................................................................6-22
6.3Command.........................................................................................................................................................6-23
6.3.1 Control command.............................................................................................................................6-23
6.3.2 Communication command..............................................................................................................6-25
6.3.3 Display command.............................................................................................................................6-26
Chapter 7 Data Setting and Reading 7-1 to 7-5
7.1 Communication sequence.............................................................................................................................7-1
7.1.1 Setting communication flow ( communication command ) .....................................................7-1
7.1.2 Reading communication flow ( in case of Display command ) ...............................................7-2
7.2 Communication flow to change current data............................................................................................7-3
7.3 Handshake sequence.....................................................................................................................................7-4
7.3.1 Communication command..............................................................................................................7-4
7.3.2 Display command.............................................................................................................................7-4
7.3.3 Transmission matrix.......................................................................................................................7-5
Chapter 8 Operation 8-1 to 8-17

8.1 Homing Operation..........................................................................................................................................8-1
8.1.1 Desirable Homing.............................................................................................................................8-2
8.1.2 Low Speed Homing...........................................................................................................................8-2
8.1.3 High Seed Homing1 ( Off edge ).....................................................................................................8-4
8.1.4 High Seed Homing2 ( Marker stop ).............................................................................................8-7
8.1.5 Home position of Absolute Encoder..............................................................................................8-9
8.2 Manual Operation..........................................................................................................................................8-10
8.2.1 Manual Operation1 ( Control Mode by External Input ).........................................................8-10
8.2.2 Manual Operation2 ( Command Control Mode )......................................................................8-11
8.3Automatic Operation.....................................................................................................................................8-13
8.3.1 Automatic Operation1 ( One Step Operation )..........................................................................8-14
8.3.2 Automatic Operation2 ( Single cycle Operation )......................................................................8-16
8.3.3 Automatic Operation3 ( Continuous Cycle Operation )...........................................................8-17
Chapter 9 Positioning Module Installation 9-1 to 9-6
9.1 Loading the Positioning module..................................................................................................................9-1
9.2Wiring to the Power supply module............................................................................................................9-2
9.3Wiring to the Positioning module...............................................................................................................9-2
9.3.1 Output wiring....................................................................................................................................9-2
9.3.2 Caution of Input / output wiring....................................................................................................9-3
9.4Example of wiring with a Servo Amplifier................................................................................................9-4
9.4.1 Example of wiring with Hitachi AD series (increment)...........................................................9-4
9.4.2 Example of wiring with Hitachi AD series (absolute)..............................................................9-5
9.4.3 Example of wiring with YasukawaΣII series (absolute)........................................................9-6
Chapter 10 Error code list 10-1 to 10-3
Chapter 11 Trouble shooting 11-1 to 11-4
11.1 Error indication of LED.................................................................................................................................11-1
11.1.1 Trouble shooting procedure for WDTE LED on. ( Module abnormal )...................................11-2
11.1.2 Trouble shooting procedure for O.R lamp on ( Overrun error )................................................11-3
11.2 Error indication of LED.................................................................................................................................11-4
11.3Error display atPositoner ( Option )..........................................................................................................11-4
11.4Error display on EH-CPU.............................................................................................................................11-4
11.5Abnormal operation of Motor......................................................................................................................11-4
Chapter 12 Comparison with POSIT-2H 12-1 to 12-2
12.1 Comparison with POSIT-2H........................................................................................................................12-1
12.2 Command Comparison with POSIT-2H....................................................................................................12-2
Chapter 13 Programming example 13-1 to 13-11
13.1 Caution on programming..............................................................................................................................13-1
13.2 Communication program..............................................................................................................................13-1
13.3Operation program.........................................................................................................................................13-5
13.4Data readout program...................................................................................................................................13-6
13.5Example of simple program and operation...............................................................................................13-7
13.5.1 Configuration.....................................................................................................................................13-7
13.5.2 Explanation of Execution...............................................................................................................13-7
13.5.3 Program..............................................................................................................................................13-8
13.5.4 Operation example...........................................................................................................................13-11
Chapter 14 ChapterPositioner ( option ) Operation 14-1 to 14-14
14.1 Structure and operation keys.......................................................................................................................14-1

14.2 Installtion of Positioner................................................................................................................................14-2
14.3Function............................................................................................................................................................14-3
14.3.1 Mode selection...................................................................................................................................14-4
14.3.2 Monitor mode....................................................................................................................................14-5
14.3.3 Set mode.............................................................................................................................................14-6
14.3.4 Run mode............................................................................................................................................14-10
Chapter 15 Appendix 15-1 to 15-6
15.1Data Setting Sheet ( Common Parameter ).............................................................................................15-1
15.2Data Setting Sheet ( Automatic Operation Positional data )..............................................................15-2
15.3Cable for I/O connector（Option）..............................................................................................................15-3
15.4For using on the side of EH-IOCP...............................................................................................................15-4
Glossary............................................................................................................................................................15-5