Panasonic FP (Sigma) User manual

FPΣ(Sigma)
Programmable Controller
k
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Other Highlights
2
Communication
Four quick and easy snap-on cassettes are available to add different
serial ports to the FPΣ(Sigma). All ports are capable of communicating
at speeds of up to 115.2Kbps.
Positioning
In addition to a host of handy Panasonic functions,
the FPΣ(Sigma) also offers circular and linear interpolation.
Circular interpolation can be used for applications that apply glue, linear
interpolation for pick & place applications, for example.
By combining the FPΣ(Sigma) with servo motors, you can perform real
2-axis motion control.
Temperature Control
With the thermocouple input units and our accurate unique PID and
IPD algorithms, temperature can be controlled more easily and
accurately than ever.
FPΣ(Sigma)
The next generation compact PLC
Highlights
State-of-the-art PLC technology in the most compact size plus the ability to communicate via all important modern media
characterize the FPΣ(Sigma). With its two 100kHz pulse outputs, four hardware counters that function at up to 50kHz for
positioning applications, a programming memory capable of storing 32,000 steps, a real-time clock, and communication interfaces
for RS232 and RS485, FPΣ(Sigma) is one of the most flexible PLCs on the market. Remarkably, it is also one of the smallest!
1-channel RS232C type.
2-channel RS232C type.
1-channel RS485 type.
1-channel RS232C + 1-channel RS485 type.
High expansion capability with up to 384 I/Os
Fastest processing time, 0.32µsec/basic command
Compact design (W 30 x H 90 x D 60mm)
Short circuit protected transistor outputs
Built-in analogue volume with two points
Backup battery
Fast PID but
it overshoots
No overshoots
but slow
FPΣ(Sigma) example
fast and no overshoot
FPΣ(Sigma)
Driver Minas A series Motor Minas A series
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FPΣ(Sigma) CPUs
Outstanding performance in a compact design
3
FPΣ(Sigma)
Relay output type
Terminal type
FPG-C24R2H
24 points
Input
16 points
Output
8 points
FPΣ(Sigma)– Transistor output type
FPΣ(Sigma)– Transistor output type with thermistor input FPΣ(Sigma)– Relay
output type with ther-
mistor input
Connector type
FPG-C32T2H
32 points
Input
16 points
Output (NPN)
16 points
Connector type
FPG-C28P2H
28 points
Input
16 points
Output (PNP)
12 points
2 Thermistor inputs
FPG-C24R2HTM
24 points
Input
16 points
Output
8 points
2 Thermistor inputs
FPG-C32T2HTM
32 points
Input
16 points
Output
16 points
2 Thermistor inputs
FPG-C28P2HTM
28 points
Input
16 points
Output
12 points
Temperature
Control
0
10
30
40
50
60
70
80
High Expansion Capability
FPΣ(Sigma) can use the expansion units of the FP0 on the right-hand side. New FPΣ(Sigma) units can be added to the left-hand
side.
Max. 4 Expansion Units
each 64 I/Os = 256 I/Os
Parallel
Expansion
BUS
Serial
Expansion
BUS
CPU
max. 32 I/Os
Max. 3 Expansion Units
each 32 I/Os = 96 I/Os
…up to 384 I/O!
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4
FPΣ(Sigma) Expansion Units – Left Side Expansion
Wide variety of expansion units
FPΣ(Sigma)
I/0 Expansion Unit
MIL Connector type
FPG-XY64D2T
64 points
Input
32 points
Output (NPN)
32 points
FPΣ(Sigma)
Memory Expansion Unit
FPG-EM1
Memory: 256k words
FPG-EM1
FPΣ(Sigma) Positioning Expansion Units
Communication Cassettes FP Memory Loader
1-axis
Transistor output
FPG-PP11
1-axis
Line driver output
FPG-PP12
2-axis
Transistor output
FPG-PP21
1-channel
RS232C type
FPG-COM1
2-channel
RS232C type
FPG-COM2
1-channel
RS485 type
FPG-COM3
2-channel
RS232C & RS485 type
FPG-COM4
2-axis
Line driver output
FPG-PP22
• Read or write
programs from or
to a PLC
• Personal
computer is not
required
• Applicable with
FP0, FPΣ(Sigma),
FP-M, FP2 and
FP2SH
AFP8670
FPΣ(Sigma)
I/0 Expansion Unit
MIL Connector type
FPG-XY64D2P
64 points
Input
32 points
Output (PNP)
32 points
FPΣ(Sigma)
S-Link Expansion Unit
S-Link Master
128 Inputs or outputs
FPG-SL
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n
FPΣ(Sigma) Expansion Units – Right Side Expansion
Wide variety of expansion units
5
Transistor output type
Digital I/O Units
Relay output type Input only type
FP0-E16RSA FP0-E8XA FP0-E16XAFP0-E8RSA
FP0-E8YRSA
8 points
Input
8 points
16 points
Input
16 points
8 points
Input
4 points
Option:
Output 8 points
Output
4 points
16 points
Input
8 points
Output
8 points
FP0-E8YPA (PNP)
FP0-E8YTA (NPN)
FP0-E16YPA (PNP)
FP0-E16YTA (NPN)
FP0-E16PA (PNP)
FP0-E16TA (NPN)
8 points
Output
8 points
16 points
Input
8 points
Output
8 points
16 points
Output
16 points
A maximum of 3 FP0 expansion units can be added to the CPU unit.
Analogue I/O Units Temperature Control Units
4 points3 points
Output
4 points
FP0-A04I
4 points
Output
4 points
FP0-A04V FP0-A80A
8 points
Input
8 points
• Input (12 bit):
± 10V, 0 – 5V,
0 – 20mA
• Output (12 bit):
± 10V, 0 – 20mA
FP0-A21A
AC Power Supply
FP0-PSA2
Input
85 to 265VAC
Terminal type
Output
24VDC/0.7A
FP0-E32RS
32 points
Input
16 points
Output
16 points
Input
2 points
Output
1 point
4 points
Input
4 points
FP0-TC4
8 points
Input
8 points
FP0-TC8
6 points
Input
6 points
FP0-RTD6
–
–
4 – 20mA
–
–
± 10V
± 10V, ± 100mV
0 – 5V, 0 – 20mA
• K, J, T, R type thermocouples
can be used
• Resolution: 0.1°C
• Accuracy: 0.8°C (R type: 3°C)
• Temperature range:
-100 to 1500°C
• Pt100, Pt1000,
Ni1000
• Temperature range:
-200 to 500°C
MEWNET-F
FP0-IOL
(MEWNET-F Slave)
PROFIBUS
FP0-DPS2
(DP Slave)
Ethernet
FPWEB
(Web-Server Unit)
Networking Units
FP0-E32PA (PNP)
FP0-E32TA (NPN)
32 points
Input
16 points
Output
16 points
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6
FPΣ(Sigma)
Optimised communication functions
With the RS485 type communication cassette...
Despite being compact you can create powerful PLC links!
More links than you imagined a compact PLC could achieve
(2,048 link relays / 256-word link data registers)
Can be used to share product type between different machines.
Can be used for interlocking between different machines.
Easy wiring between PLCs with twin-core cabling.
Masterless communication method
(when PLC linkage is achieved with link relays and link data registers)
The masterless communication method means that even if a connected device (station) goes into power off, operations to
automatically switch the master station continue. Start up is smooth and the recovery from malfunctions is also potentially faster.
If the master station is not on,
communication cannot take place.
Errors occur when devices are not
turned on in sequence.
Use of insulated RS485
Uses the insulated RS485, which is highly reliable and largely impervious to noise.
High-speed communication over long distances are enabled.
Transmission speed: Max. 115.2kbits/s Transmission distance: Max. 1.200m
Even if a station goes into a power-
off state, communications between
the other stations continue.
RS485
Link data register
Product type data
Process
machine
Link data register
Product type data
Assembly
machine
Link data register
Product type data
Inspection
machine
Previous models
Usual master-slave communication
With the FPΣ(Sigma)
Masterless communication using the FPΣ(Sigma)
Slave
station
Master
station
Slave
station
Slave
station
Slave
station
Link
station
Link
station
Link
station
Link
station


1-channel RS232C type.
2-channel RS232C type.
1-channel RS485 type.
1-channel RS232C + 1-channel RS485 type.
Four types of communication cassettes enable:
efficient connection to serial devices
transmission speeds of up to 115.2kbits/s
long transmission distance of up to 1200m
In addition, the green screw terminal is removable
for easy wiring.
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FPΣ(Sigma)
Optimised communication functions
7
Convenient station no. setting function enables flexible use, even when there are product type
changes.
Station no. switchability allows the use of unified programming and program switching.
Because even the communications parameters can be changed in the program, connection is enabled with
external devices that have different communication parameters.
Great for these applications, too...
Computer linkage with up to 99 stations enabled (max. 32 stations when using C-NET adapter).
Ability to gather data from multiple stations means greater design freedom.
Can also be connected to external devices that are equipped with RS485 interface
Enables connection to external devices, such as temperature regulators,
that are equipped with RS485 interface.
Applicable with data gathering or setting adjustment.
With the RS232C type communications cassette
Efficient connection with other control devices helps to save space!
Enables connection to devices with RS232C interface, such as a
programmable display panel, image processing device and other devices.
When used as a tool port, up to 3 external devices can be connected.
FPΣ(Sigma) Station
No. setting switch
Communication parameters changed by instructions
Commercial
adapter
Commercial
adapter
FP0
FP0
RS485
RS232C
RS232C
Computer
FP0
FP0 Commercial
adapter FPΣFPΣ
RS485
RS232C
Computer
FPΣ
RS485
RS232C
FPΣ
Temperature
regulator, etc.
Temperature
regulator, etc.
Control is possible using
commercially available
RS485 devices.
A 2-channel type communication
cassette is used.
RS232C
GT11/GT30 Example: Connection with
commercially available
temperature regulator


RS232C RS232C
FPΣ
GT11/GT30
Image
processing device
Previous models
Relay stations required for linking medium-scale PLCs
With the FPΣ(Sigma)
Computer linkage with up to 99 stations
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Max. 100kHz pulse output performance is now standard.
Powerful device capable of linear interpolation and circular interpolation.
Pulse output max. 100kHz
Because command processing at speeds up to 100kHz is available, high-
speed, high-precision positioning is enabled. Along with stepping motor
control, the specs also ensure plenty of scope for controlling servomotors.
FPΣ(Sigma) Positioning
Specially designed for positioning applications
Possible to combine with pulse-train input drivers
Single unit enables two-axis control
Stepping motor
Servo motor
Motor
driver
1
Y0
Pulse output CW
Y1
Pulse output CCW
Y3
Pulse output CW
Y4
Pulse output CCW Motor
driver
2

Rapid 0.02ms start (when JOG operation controls are executed)
The time taken to execute the JOG operation, from the instant the trigger (execution condition) goes on to the time of pulse output,
is 0.02ms and 0.2ms even with trapezoidal control. Control time is reduced even for machines that quickly and repeatedly restart.
Adhesive
Motor
driver
Motor
driver
And there’s more...
Smooth acceleration/deceleration
You can choose to set either 30 or 60 steps of acceleration/
deceleration. This feature means you can achieve smoother
movement during long acceleration/ deceleration periods of
stepping motors.
The settings are there for a maximum 60
accelaration/deceleration steps.
Support for CW/CCW method
Reduce overall costs by designing systems that combine with
servomotors and small stepping motors without support for
Pulse and Sign method.
Linear interpolation and circular interpolation are built in (FPG-C32T2H and FPG-C28P2H)
Interpolation functions enable simultaneous control of two axes.
Applications that a compact PLC couldn't previously cope with are no
longer a challenge.
Linear Interpolation Circular Interpolation
CW / CCW method
Pulse / Sign method
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Programming with convenient and
easy-to-understand instructions
Uses a preset value table for starting speed, target speed,
acceleration/ deceleration time, and other factors. Easy-to-
understand programming is possible since numbers can be
specified intuitively.
Comes with dedicated instructions for each mode: trapezoidal
control, home return, JOG operation, free table operation,
linear interpolation, and circular interpolation.
Selectable home return mode
The home return method may be specified even in situations
such as when only a single sensor is being used, depending
on the design.
When the home position return is completed, a deviation
counter clear signal can also be output.
FPΣ(Sigma) Positioning
High-speed, high precision positioning
9
Home sensor
ON
XA ON
2000Hz
100Hz
0Hz
150ms
Home position return
Pulse output diagram
(when the home position proximity input is not used).
ON
OFF
300Hz
0Hz
XB (JOG command)
Y0 (Pulse)
JOG operation
Pulse output diagram
Home search automatically reverses the motor rotation when
Over limit input(+) or Over limit input (-) is input and their
searches for the home position or near home position in order
to return to it automatically.
This refers to an operation in which the motor is rotated only
while operation commands are being input. This is used to
forcibly rotate the motor using input from an external switch, for
instance when making adjustments. Depending on the
circumstances, unlimited feeding can be accomplished with the
JOG operation in some cases.
X-axis
(CH0)
Y-axis
(CH2)
5000
2000
Linear interpolation
Positioning Iocus.
Pass position P
(X 9396, Y -3420)
Target position E
(X 8660, Y -5000)
Current position S
(X 5000, Y 8660)

Center position O
(Xo,Yo)
Circular interpolation
Positioning Iocus.
Center-radial
setting methods are
also available.
A control function that automatically defines the continuum of
points in a straight line based on only two co-ordinate positions.
Allows points to be smoothly traversed by arced paths for which
the user specifies the orientation plane, the radius of curvature,
motion path profile, and direction of motion.
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10
FPΣ(Sigma) Positioning Expansion Units
Precise positioning
The FPΣ(Sigma) positioning unit can handle simultaneous startup of multiple axes, enabling
simultaneous control of linear interpolation and other elements through user programs.
Transistor output type (open collector) and line driver output type are available.
Features
Fast startup of 0.02 or 0.005ms makes cycle time reduction possible.
Feedback pulse count function makes output pulse counting from external encoders possible.
JOG positioning control supports a wide range of applications.
4 types of S-curve acceleration/ deceleration control makes smooth startup and stopping possible:
Sine curve, quadratic curve, cycloid curve and cubic curve.
Unit type and product number
Type Output type Part number
1 - axis type Transistor output type FPG-PP11
2 - axis type Transistor output type FPG-PP21
1 - axis type Line driver output type FPG-PP12
2 - axis type Line driver output type FPG-PP22
FPG-PP11 FPG-PP12 FPG-PP21 FPG-PP22
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