Panasonic AFP7MC16EC User manual

Safety Precautions
Observe the following notices to ensure personal safety or to prevent accidents.
To ensure that you use this product correctly, read this User’s Manual thoroughly before use.
Make sure that you fully understand the product and information on safety.
This manual uses two safety flags to indicate different levels of danger.
WARNING
If critical situations that could lead to user’s death or serious injury is assumed by
mishandling of the product.
-Always take precautions to ensure the overall safety of your system, so that the whole
system remains safe in the event of failure of this product or other external factor.
-Do not use this product in areas with inflammable gas. It could lead to an explosion.
-Exposing this product to excessive heat or open flames could cause damage to the lithium
battery or other electronic parts.
CAUTION
If critical situations that could lead to user’s injury or only property damage is
assumed by mishandling of the product.
-To prevent excessive exothermic heat or smoke generation, use this product at the values
less than the maximum of the characteristics and performance that are assured in these
specifications.
-Do not dismantle or remodel the product. It could cause excessive exothermic heat or smoke
generation.
-Do not touch the terminal while turning on electricity. It could lead to an electric shock.
-Use the external devices to function the emergency stop and interlock circuit.
-Connect the wires or connectors securely.
The loose connection could cause excessive exothermic heat or smoke generation.
-Do not allow foreign matters such as liquid, flammable materials, metals to go into the inside
of the product. It could cause excessive exothermic heat or smoke generation.
-Do not undertake construction (such as connection and disconnection) while the power
supply is on. It could lead to an electric shock.
Copyright / Trademarks
-This manual and its contents are copyrighted.
-You may not copy this manual, in whole or part, without written consent of Panasonic
Industrial Devices SUNX Co., Ltd.
-Windows is a registered trademark of Microsoft Corporation in the United States and other
countries.
-EtherCATis registered trademark and patented technology, licensed by Beckhoff
Automation Gmbh, Germany.
-All other company names and product names are trademarks or registered trademarks of
their respective owners.
PLC_EC

i
Introduction
Thank you for buying a Panasonic product. Before you use the product, please carefully read
the installation instructions and the user's manual, and understand their contents in detail to
use the product properly.
Types of Manual
•There are different types of user's manual for the FP7 series, as listed below. Please refer to
a relevant manual for the unit and purpose of your use.
•The manuals can be downloaded on our website:
http://industrial.panasonic.com/ac/e/dl_center/manual/
Unit name or purpose of use
Manual name
Manual code
FP7 Power Supply Unit FP7 CPU Unit User's Manual (Hardware) WUME-FP7CPUH
FP7 CPU Unit
FP7 CPU Unit Command Reference Manual WUME-FP7CPUPGR
FP7 CPU Unit User's Manual
(Logging Trace Function) WUME-FP7CPULOG
FP7 CPU Unit User's Manual
(Security Function) WUME-FP7CPUSEC
Instructions for Built-in LAN
Port
FP7 CPU Unit Users Manual
(LAN Port Communication) WUME-FP7LAN
FP7 CPU Unit User's Manual
(Ethernet Add-ons) WUME-FP7CPUETEX
FP7 CPU Unit User's Manual
(EtherNet IP communication) See our web site.
FP7 Web Server Function Manual See our web site.
Instructions for Built-in COM
Port FP7 series User's Manual
(SCU communication) WUME-FP7COM
FP7 Extension Cassette (Communication)
(RS-232C/RS-485 type)
FP7 Extension Cassette (Communication)
(Ethernet type)
FP7 series User's Manual
(Communication cassette Ethernet type) WUME-FP7CCET
FP7 Extension (Function) Cassette
Analog Cassette FP7 Analog Cassette User's Manual WUME-FP7FCA
FP7 Digital Input/Output Unit FP7 Digital Input/Output Unit User's Manual WUME-FP7DIO
FP7 Analog Input Unit FP7 Analog Input Unit User's Manual WUME-FP7AIH
FP7 Analog Output Unit FP7 Analog Output Unit User's Manual WUME-FP7AOH

Types of Manual
ii
Unit name or purpose of use Manual name Manual code
FP7 Thermocouple Multi-analog
Input Unit FP7 Thermocouple Multi-analog Input Unit
FP7 RTD Input Unit
User's Manual WUME-FP7TCRTD
FP7 RTD Input Unit
FP7 Multi Input/Output Unit FP7 Multi Input/Output Unit User's Manual WUME-FP7MXY
FP7 High-speed counter unit FP7 High-speed Counter Unit User's Manual WUME-FP7HSC
FP7 Pulse Output Unit FP7 Pulse Output Unit User's Manual WUME-FP7PG
FP7 Positioning Unit FP7 Positioning Unit User's Manual WUME-FP7POSP
FP7 Serial Communication Unit FP7 series User's Manual
(SCU communication) WUME-FP7COM
PHLS System PHLS System User's Manual WUME-PHLS
Programming Software
FPWIN GR7 FPWIN GR7 Introduction Guidance WUME-FPWINGR7

Items Requiring Particular Attention
iii
Items Requiring Particular Attention
When using FP7 MC Unit in combination with Servo Amplifier A6B/A5B, please note the
followings.
Wiring of Power Supply
To avoid influence of noise, keep the power supply systems of servo amplifier and PLC
separate.
Connection of Over Limit Input
•In the system using FP7 MC Unit and Servo Amplifier A6B/A5B, limit switches are connected
to the general-purpose inputs (SI-MON3 and SI-MON4) of Servo Amplifier A6B/A5B to
enable the control by a high-order PLC (FP7 MC Unit).
•The POT/NOT input of the servo amplifier A6B/A5B cannot be used as the limit input of a
high-order PLC (FP7 MC Unit).
•For using the general-purpose inputs of the servo amplifier A6B/A5B (SI-MON3 and SI-
MON4) as the limit input of a high-order PLC (FP7 MC Unit), parameters of the servo
amplifier A6B/A5B and FP7 MC need to be changed. For details, refer to "4.5 Connection of
Limit and Near Home Switches".
Operation when home return operation is performed
For the home return methods which are based on the home position (Z phase) (i.e. DOG
method 1, DOG method 3, Limit method 1, Z phase method and Stop-on-contact method 2),
the home return operation after shifting to the creep speed is controlled by the servo amplifier
A6B/A5B. During this operation, the high-order PLC (FP7 MC Unit) cannot control the
operation. Please design and evaluate the system to avoid any danger even after shifting to
the creep speed.

Glossary
iv
Glossary
To make explanations simple, abbreviations are used for the following terms.
Abbreviation
Name
Description
FP7 MC Unit FP7 Motion Control Unit The product name of the unit described in this manual.
CMI Control Motion
Integrator The software for setting parameters of FP7 MC Unit.
As for the following terms, they are expressed differently in software, manuals and
specification concerning FP7 MC Unit and Servo Amplifiers A6B/A5B.
FP7 MC Unit
A6B/A5B
Description
Station address Station alias This shows the unit numbers allocated to slaves on
EtherCAT network. The left two terms have the same
meaning.
- General-purpose
monitor input Five inputs of symbols SI-MON1 to SI-MON5 are allocated on the A6B/A5B side.
General-purpose input -
On the FP7 MC Unit side, eight signals of A6B/A5B are
treated as "general-purpose input" and can be monitored
through the unit memory.
NOT, POT, HOME, SI-MON1 to SI-MON5
For using it in combination with FP7 MC Unit, SI-MON3 and
SI-MON4 are used as limit inputs. NOT and POT are not
used.
- General-purpose output On the A6B/A5B side, one output of symbol EX-OUT1 is
allocated.
General-purpose
output -
On the FP7 MC Unit side, one signal to A6B/A5B is treated
as "general-purpose output" and can be written through the
unit memory.
EX-OUT1

Table of Contents
v
Table of Contents
1. Unit Functions and Restrictions........................................1-1
1.1 Functions of Motion Control Unit ............................................................1-2
1.1.1 Functions of Unit.....................................................................................1-2
1.1.2 List of Models..........................................................................................1-3
1.2 Restrictions.............................................................................................1-4
1.2.1 Supported Functions...............................................................................1-4
1.2.2 Restrictions by Power Consumption in FP7 System...............................1-5
1.2.3 Applicable Versions of FPWIN GR7 and FP7 Units................................1-5
1.3 System Configuration .............................................................................1-6
1.3.1 Example of System Configuration...........................................................1-6
1.3.2 Type of Software.....................................................................................1-7
1.4 Mechanism of Processing.......................................................................1-8
1.4.1 Schematic View.......................................................................................1-8
1.4.2 Operation When Power Supply Turns On...............................................1-9
1.4.3 Start/Stop by User Programs..................................................................1-9
2. Names and Functions of Parts...........................................2-1
2.1 Names and Functions of Parts ...............................................................2-2
2.1.1 Names and Functions of Parts................................................................2-2
2.1.2 Operation Monitor LEDs..........................................................................2-3
2.1.3 ESM (State Transition Diagram).............................................................2-4
3. Installation and Wiring........................................................3-1
3.1 Setting of Node Address (ID)..................................................................3-2

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vi
3.1.1 Type of Setting Method...........................................................................3-2
3.1.2 Settings of Servo Amplifier MINAS A6B/A5B..........................................3-2
3.1.3 Setting by Software CMI..........................................................................3-4
3.1.4 Node Address Setting and State Confirmation.......................................3-7
3.2 Connection of Network......................................................................... 3-11
3.2.1 Wiring ....................................................................................................3-11
3.2.2 Precautions on Wiring...........................................................................3-11
3.3 Connection of Servo Amplifier.............................................................. 3-13
3.3.1 Connection of Input Signals..................................................................3-13
4. Basic Procedure..................................................................4-1
4.1 Section Details ....................................................................................... 4-2
4.2 Registration in I/O Map........................................................................... 4-3
4.2.1 Creation of I/O Map.................................................................................4-3
4.2.2 Download of I/O Map...............................................................................4-4
4.2.3 Storage of I/O map..................................................................................4-4
4.2.4 Confirmation of I/O Allocation .................................................................4-4
4.2.5 Confirmation of Slot Numbers.................................................................4-5
4.3 Setting of Used Axes.............................................................................. 4-6
4.3.1 Registration of Used Axes.......................................................................4-6
4.4 Setting of Network Configuration.......................................................... 4-10
4.4.1 Registration of Slaves (Offline) .............................................................4-10
4.4.2 Registration of Slaves (Online) .............................................................4-12
4.4.3 Setting of Station Addresses and Axis Numbers..................................4-14
4.4.4 Download to FP7 MC Unit.....................................................................4-17
4.4.5 Restarting Power Supplies and Checking Communication State.........4-19
4.5 Connection of Limit and Near Home Switches..................................... 4-21
4.5.1 Connection of Input Signals..................................................................4-21
4.5.2 Pin Assignment Setting of Servo Amplifier............................................4-22
4.5.3 Checking Servo Amplifier Input State ...................................................4-24
4.5.4 Settings of FP7 MC Unit........................................................................4-25

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vii
4.5.5 Download to FP7 MC Unit.....................................................................4-26
4.5.6 Checking Input State.............................................................................4-26
4.6 Saving and Managing Files ..................................................................4-27
4.6.1 File Type................................................................................................4-27
4.6.2 Saving as CMI Files..............................................................................4-27
4.6.3 Export to CSV Files...............................................................................4-28
5. Settings of FP7 MC Unit Using CMI Tool..........................5-1
5.1 FP7 MC Unit Common Settings..............................................................5-2
5.1.1 FP7 MC Unit Common Settings Dialog Box ...........................................5-2
5.1.2 FP7 MC Unit Common Settings Parameters..........................................5-3
5.2 Axis Parameter Settings.........................................................................5-6
5.2.1 Setting by CMI.........................................................................................5-6
5.2.2 Axis Parameters (Basic Setup)...............................................................5-7
5.2.3 Axis Parameters (Options)......................................................................5-8
5.2.4 Axis Parameters (Operation).................................................................5-10
5.3 Positioning Table Setting......................................................................5-13
5.3.1 Construction of Positioning Tables........................................................5-13
5.3.2 Operation Patterns and Tables.............................................................5-16
5.4 Synchronous Parameter and Cam Pattern Settings.............................5-17
5.4.1 Synchronous Parameter Settings .........................................................5-17
5.4.2 Cam Pattern Setting..............................................................................5-18
5.5 Confirmation of Setting Contents..........................................................5-19
5.5.1 Check on Parameter Data.....................................................................5-19
5.5.2 Comparison of Parameter Information..................................................5-20
5.6 Transfer of Parameters.........................................................................5-21
5.6.1 Writing Parameters to Unit....................................................................5-21

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viii
6. Data Transfer to MC Unit and Test Operation ..................6-1
6.1 Before Turning On the Power................................................................. 6-2
6.2 Power-on and Power-off Sequences...................................................... 6-3
6.2.1 Procedure for Turning On the Power......................................................6-3
6.2.2 Procedure for Turning Off the Power......................................................6-3
6.3 Checking While the Power is ON........................................................... 6-4
6.3.1 Items to Check When the Power is ON...................................................6-4
6.3.2 Checking Network Communication State................................................6-5
6.3.3 Checking the Safety Circuit by the PLC Unit...........................................6-6
6.3.4 Checking the Operation of Near Home Input..........................................6-7
6.3.5 Checking Rotating and Moving Directions and Moving Distance ...........6-7
6.4 Monitor Function of CMI......................................................................... 6-8
6.4.1 Status Monitor .........................................................................................6-8
6.4.2 Data Monitor..........................................................................................6-10
6.5 Tool Operation Function of CMI........................................................... 6-12
6.5.1 Tool Operation Function........................................................................6-12
6.5.2 Serve ON/OFF with Tool Operation Function.......................................6-14
6.5.3 JOG Operation with Tool Operation Function.......................................6-16
6.5.4 Home Return by Tool Operation Function............................................6-18
6.5.5 Positioning by Tool Operation Function................................................6-20
6.5.6 Teaching by Tool Operation Function...................................................6-23
7. Creation of User Programs ................................................7-1
7.1 How to Create User Programs............................................................... 7-2
7.1.1 Basic Configuration of Program ..............................................................7-2
7.2 Overview of Programs............................................................................ 7-4
7.2.1 Reading Data From Input Control Area...................................................7-4
7.2.2 Servo ON/OFF Control Program.............................................................7-5
7.2.3 Start Enabled Program............................................................................7-6
7.2.4 Each Control Programs...........................................................................7-6

Table of Contents
ix
7.2.5 Writing Data to Output Control Area.......................................................7-7
7.3 Precautions on Programming.................................................................7-8
7.3.1 Turning Off Power Supply Clears Contents in Unit Memories................7-8
7.3.2 Operation Cannot be Switched Once One Operation Has Started.........7-8
7.3.3 Operation When PLC Mode Changes from RUN to PROG....................7-8
8. Automatic Operation (Position Control)............................8-1
8.1 Basic Operation......................................................................................8-2
8.1.1 Patterns of Position Control ....................................................................8-2
8.1.2 Setting and Operation of E-point Control................................................8-4
8.1.3 Setting and Operation of P-point Control................................................8-6
8.1.4 Setting and Operation of C-point Control................................................8-8
8.1.5 Setting and Operation of J-point Control...............................................8-10
8.2 Interpolation Control .............................................................................8-12
8.2.1 Type of Interpolation Control (2-Axis Interpolation) ..............................8-12
8.2.2 Setting and Operation of 2-Axis Linear Interpolation............................8-14
8.2.3 Setting and Operation of 2-Axis Circular Interpolation..........................8-16
8.2.4 Type of Interpolation Control (3-axis Interpolation)...............................8-18
8.2.5 Setting and Operation of 3-Axis Linear Interpolation............................8-20
8.2.6 Setting and Operation of 3-Axis Spiral Interpolation.............................8-22
8.3 Repeat Function ...................................................................................8-24
8.3.1 Overview of Repeat Operation..............................................................8-24
8.3.2 Stop Operation During Repeat Operation.............................................8-25
8.3.3 Setting and Operation of Repeat...........................................................8-26
8.4 Target Speed Change Function............................................................8-28
8.4.1 Description of Functions........................................................................8-28
8.4.2 Setting Procedures and Operations (Speed Direct Specification Method)8-29
8.4.3 Setting Procedures and Operations (Ratio Specification Method) .......8-33
8.4.4 Sample Program (Target Speed Change)............................................8-34
8.5 Movement Amount Change Function...................................................8-35
8.5.1 Description of Functions........................................................................8-35

Table of Contents
x
8.5.2 Setting Procedures and Operations......................................................8-36
8.5.3 Sample Program ...................................................................................8-40
8.6 Dwell Time............................................................................................ 8-41
8.7 Auxiliary Output Code and Auxiliary Output Contact............................ 8-42
8.8 Sample Programs................................................................................. 8-44
8.8.1 Sample Programs (E-point, P-point and C-point Controls)...................8-44
8.8.2 Precautions on Programming................................................................8-46
8.9 Reconstruction of Positioning Data by User Programs........................ 8-47
8.9.1 Reconstruction of Positioning Data.......................................................8-47
8.9.2 Procedure of Rewriting Positioning Data..............................................8-48
8.9.3 Sample Program (Rewriting Positioning Tables)..................................8-54
8.10 Use of Extended Positioning Table...................................................... 8-56
8.10.1 Use of Extended Positioning Table.......................................................8-56
8.10.2 Sample Program (Extended Table).......................................................8-61
9. Automatic Operation (Synchronous Control) ..................9-1
9.1 Synchronous Control.............................................................................. 9-2
9.1.1 Overview of Synchronous Control...........................................................9-2
9.2 Settings for Master and Slave Axes....................................................... 9-4
9.2.1 Selection of Master Axis and Settings.....................................................9-4
9.2.2 Selection of Slave Axes and Settings .....................................................9-5
9.2.3 Unit Type and Number of Axes...............................................................9-5
9.2.4 Setting by CMI.........................................................................................9-6
9.3 Start and Cancel of Synchronous Control.............................................. 9-7
9.3.1 Start and Cancel of Synchronous Control...............................................9-7
9.3.2 Precautions When Canceling or Starting Synchronous Control .............9-9
9.4 Electronic Gear Function...................................................................... 9-14
9.4.1 Overview of Electronic Gear Function...................................................9-14
9.4.2 Types and Contents of Setting Parameters..........................................9-15
9.4.3 Gear Ratio Changes while in Operation................................................9-16

Table of Contents
xi
9.5 Electronic Clutch Function....................................................................9-18
9.5.1 What is Electronic Clutch Function?.....................................................9-18
9.5.2 Types and Contents of Setting Parameters..........................................9-19
9.5.3 Trigger Types for Electronic Clutch.......................................................9-21
9.5.4 Connection Method of Electronic Clutch...............................................9-23
9.5.5 Phase Specification Clutch OFF Function............................................9-25
9.6 Electronic Cam Function.......................................................................9-27
9.6.1 Overview of Electronic Cam Function...................................................9-27
9.6.2 Types and Contents of Setting Parameters..........................................9-29
9.6.3 Cam Pattern Setting Method.................................................................9-30
9.6.4 Editing Cam Patterns by User Programs..............................................9-37
9.6.5 Advance Angle Correction Function .....................................................9-53
10. Manual Operation (JOG Operation) ...............................10-1
10.1 Settings and Operations of JOG Operation..........................................10-2
10.2 Changing Speed During JOG Operation..............................................10-4
10.3 Setting and Operation of JOG Inching Operation.................................10-8
10.4 Sample Programs...............................................................................10-10
10.4.1 Sample Program (JOG Operation) .....................................................10-10
10.4.2 Precautions on Programming..............................................................10-12
11. Manual Operation (Home Return) ..................................11-1
11.1 Types of Home Return..........................................................................11-2
11.2 Operation of Home Return..................................................................11-10
11.3 Sample Programs...............................................................................11-12
11.3.1 Sample Program (Home Return) ........................................................11-12
11.3.2 Precautions on Programming..............................................................11-14

Table of Contents
xii
12. Stop Functions .................................................................12-1
12.1 Type of Stop Functions ........................................................................ 12-2
12.1.1 Type of Stop Functions .........................................................................12-2
12.1.2 Characteristics of Pause Function ........................................................12-4
12.1.3 Stop Operation During Interpolation Control.........................................12-6
12.1.4 Stop Operation During Synchronous Control........................................12-6
12.2 Settings Related to Stop Function........................................................ 12-7
12.2.1 MC Common Settings...........................................................................12-7
12.2.2 Axis Parameter......................................................................................12-8
12.3 Operation During Stop.......................................................................... 12-9
13. Supplementary Functions ...............................................13-1
13.1 Software Limit....................................................................................... 13-2
13.2 Current Value Update........................................................................... 13-3
13.3 Home Coordinates ............................................................................... 13-5
13.4 Movement Amount Automatic Check................................................... 13-7
13.5 Completion Width................................................................................. 13-9
13.6 Monitor Value Judgement .................................................................. 13-10
13.6.1 Torque Judgement..............................................................................13-11
13.6.2 Actual Speed Judgement....................................................................13-13
13.7 Torque Limit ....................................................................................... 13-16
13.7.1 Restrictions on Torque Limit................................................................13-17
13.8 EtherCAT Communication Setting ..................................................... 13-18
13.8.1 EtherCAT Configurator........................................................................13-18
13.8.2 Device Editor.......................................................................................13-19
13.8.3 Overview of PDO Mapping..................................................................13-20
13.8.4 Change of PDO Mapping....................................................................13-22
13.9 SDO/PDO Communication................................................................. 13-25

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xiii
13.9.1 SDO Communication ..........................................................................13-25
13.9.2 PDO Communication ..........................................................................13-37
13.10ESI Manager.......................................................................................13-39
13.11Connection with Slave SL-VGU1-EC..................................................13-40
13.11.1 Registration of Slaves .....................................................................13-40
13.11.2 Confirmation of Unit Memory Numbers...........................................13-41
13.12Connection with Slave Encoder Input Device.....................................13-42
13.12.1 Operation of Encoder Input Device.................................................13-42
13.12.2 Configuration...................................................................................13-43
13.12.3 Monitor Operation............................................................................13-45
13.13EC Packet Monitor Function...............................................................13-46
13.13.1 Overview of Function.......................................................................13-46
13.13.2 Stored Files.....................................................................................13-46
13.13.3 Handling of SD Memory Card.........................................................13-47
13.13.4 How to Set.......................................................................................13-48
13.13.5 How to Execute...............................................................................13-49
14. CMTimeChart Monitor ......................................................14-1
14.1 Overview of Function............................................................................14-2
14.2 Registration of Devices.........................................................................14-4
14.3 Trigger Condition Setting......................................................................14-6
14.3.1 Setting Procedure of Trigger Conditions...............................................14-6
14.3.2 Trigger Condition Setting (Sampling)....................................................14-8
14.3.3 Trigger Condition Setting (Trigger Mode/Trigger Position)...................14-9
14.3.4 Trigger Condition Setting (Trigger Condition).....................................14-10
14.4 Download to Setting Data to the Unit..................................................14-12
14.5 Start and Stop of Logging Operation..................................................14-13
14.5.1 Procedures of Start and Stop by "CMTimeChart"...............................14-13
14.5.2 Start/Stop by User Programs..............................................................14-15
14.5.3 Logging Operation Diagram................................................................14-17

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14.6 Upload of Logging Data (Time Chart) ................................................ 14-20
14.6.1 Procedure of Uploading Logging Data................................................14-20
14.6.2 Settings for Time Chart Display Area..................................................14-22
14.7 Storage of CMTimeChart Data........................................................... 14-25
14.8 Storage in SD Memory Card.............................................................. 14-26
14.8.1 Storing Logging Data...........................................................................14-26
14.8.2 Setting When Using SD Memory Cards..............................................14-27
15. Troubleshooting...............................................................15-1
15.1 Errors and Warnings ............................................................................ 15-2
15.1.1 Errors and Warnings .............................................................................15-2
15.1.2 Checking and Clearing by CMI .............................................................15-2
15.1.3 Clearing Errors/Warnings Using User Programs ..................................15-3
15.1.4 Error and Warning Logs........................................................................15-4
15.2 Error Recovery Process....................................................................... 15-5
15.2.1 Overview................................................................................................15-5
15.3 Error Code Table.................................................................................. 15-6
15.3.1 AMP Errors (From 00FF 0000H)...........................................................15-6
15.3.2 System Errors (From 00F0 1000H).....................................................15-13
15.3.3 AMP Communication Errors (From 00F0 2000H)...............................15-14
15.3.4 Axis Operation Errors (From 00F0 3000H).........................................15-15
15.3.5 Setting Value Errors (From 00F0 4000H) ...........................................15-18
15.3.6 Synchronous Parameter Setting Errors (From 00F0 5000H)..............15-22
15.4 Warning Code Table .......................................................................... 15-26
15.4.1 AMP Warnings (From 00A0 0000H) ...................................................15-26
15.4.2 Unit Warnings (From 00B0 0000H).....................................................15-28
16. Specifications...................................................................16-1
16.1 Specifications....................................................................................... 16-2

Table of Contents
xv
16.1.1 General Specifications..........................................................................16-2
16.1.2 EtherCAT Communication Specifications.............................................16-3
16.1.3 Performance Specifications ..................................................................16-4
16.2 I/O Allocation ........................................................................................16-8
16.3 Whole Configuration of Unit Memories...............................................16-10
16.4 Unit Memories (Input and Output Control Areas) ...............................16-13
16.4.1 Configuration of Input Control Area ....................................................16-13
16.4.2 List of Input Control Area Functions....................................................16-14
16.4.3 Configuration of Output Control Area..................................................16-26
16.4.4 List of Output Control Area Functions.................................................16-27
16.5 Unit Memories (Common Area)..........................................................16-35
16.5.1 Configuration of Common Area...........................................................16-35
16.5.2 Setting Parameter Control Area..........................................................16-36
16.5.3 Operation Speed Rate Area................................................................16-36
16.5.4 Axis Group Setting Area......................................................................16-37
16.5.5 Current Value Update Data Area........................................................16-38
16.5.6 Torque Limit Area................................................................................16-40
16.5.7 Actual Speed Monitor Area.................................................................16-41
16.5.8 Positioning Control Starting Table Number Setting Area....................16-41
16.5.9 Positioning Control Area .....................................................................16-42
16.5.10 Error Annunciation and Clear Area.................................................16-43
16.5.11 Warning Annunciation and Clear Area............................................16-45
16.5.12 Synchronous Control Monitor Area.................................................16-47
16.5.13 System Operation Setting Area.......................................................16-48
16.5.14 Time Chart Function Operation Setting/Annunciation Area............16-49
16.5.15 ESM Switch Control Area................................................................16-51
16.6 Unit Memories (Each Axis Information Area)......................................16-52
16.6.1 Configuration of Each Axis Information Area......................................16-52
16.6.2 Each Axis Information & Monitor Area................................................16-53
16.7 Unit Memories (Each Axis Setting Area) ............................................16-56
16.7.1 Configuration of Each Axis Setting Area.............................................16-56
16.7.2 Configuration of Parameter Setting Area............................................16-57

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xvi
16.7.3 Parameter Setting Area.......................................................................16-58
16.7.4 Configuration of Positioning Data Setting Area...................................16-66
16.8 Unit Memories (Synchronous Control Setting Area) .......................... 16-75
16.8.1 Configuration of Synchronous Control Setting Area...........................16-75
16.8.2 Synchronous Control Setting Area......................................................16-76
16.8.3 Electronic Gear Setting Area...............................................................16-77
16.8.4 Clutch Setting Area .............................................................................16-78
16.8.5 Electronic Cam Setting Area...............................................................16-80
16.9 Unit Memories (Positioning Operation Change Setting Area)............ 16-82
16.9.1 Configuration of Positioning Operation Change Setting Area.............16-82
16.9.2 Positioning Speed/Movement Amount Change Parameter ................16-83
16.10Unit Memories (Cam Pattern Editing Area)........................................ 16-84
16.10.1 Configuration of Cam Pattern Editing Area.....................................16-84
16.10.2 Cam Pattern Setting Area ...............................................................16-85
16.10.3 Cam Pattern Editing Execution Area...............................................16-92
16.11Unit Memories (SDO/PDO Communication Area).............................. 16-94
16.11.1 Configuration of SDO/PDO Communication Area...........................16-94
16.11.2 SDO Communication Area..............................................................16-95
16.11.3 PDO Communication Area [RxPDO (Master -> Slave Devices)]..16-100
16.11.4 PDO Communication Area [TxPDO (Master <- Slave Devices)] ..16-101
16.12Reference "ASCII Codes" ................................................................ 16-103
16.13Dimensions....................................................................................... 16-104

1
Unit Functions and
Restrictions

Unit Functions and Restrictions
1-2
1.1 Functions of Motion Control Unit
1.1.1 Functions of Unit
A6B/A5B
FP7 MC
EtherCAT
USB
Control FPWIN GR7
Control Motion Integrator
USB
PANATERM
A6B/A5B A6B/A5B
Controlling Servo Motor MINAS A6B/A5B series through EtherCAT
FP7 Motion Control Unit (hereafter FP7 MC Unit) adopts EtherCAT communication and
controls servo motors. It achieves wiring saving by network connection and high-speed control.
(Note): EtherCATis a registered trademark of Beckhoff Automation Gmbh in Germany and a technology protected
by a patent.
Setting using dedicated software "Control Motion Integrator"
Dedicated software "Control Motion Integrator" (sold separately) is provided for easily
configuring the setting of EtherCAT communication and parameters of position control.