Panasonic FP-XH Series User manual

Programmable controller
FP-XH Series
User's Manual
Positioning Function / PWM Output / High-speed Counter Function
Western version
WUME-FPXHPOSG-01
2020.10 panasonic.net/id/pidsx

(MEMO)
2 WUME-FPXHPOSG-01

Introduction
Thank you for purchasing a Panasonic product. Before you use the product, please carefully
read through the user’s manual, and understand it in detail to use the product properly.
Type of Manual
● This manual describes the "positioning function (table setting mode) / PWM output and high-
speed counter function" implemented in the FP-XH Control Unit.
● The following user’s manuals are available for the FP-XH series. Please refer to a relevant
manual for the unit and purpose of your use.
● The manuals can be downloaded from our Download Center:https://
industrial.panasonic.com/ac/e/dl_center/.
Unit name or purpose of
use Manual name Manual code
FP-XH Control Unit
FP-XH User‘s Manual (Basic) WUME-FPXHBASG
FP Series Programming Manual ARCT1F313E
Positioning Function /
PWM Output / High-speed
Counter Function
FP-XH User’s Manual
(Positioning / PWM Output / High-speed Counter) WUME-FPXHPOSG
Communication Functions
FP-XH User‘s Manual (COM Communication) WUME-FPXHCOMG
FP-X Extension
(Communication) Cassette
FP-X Expansion Unit
FP-X Series User’s Manual WUME-FPX
FP-X Function Cassettes
SAFETY PRECAUTIONS
● To prevent accidents or personal injuries, please be sure to comply with the following items.
● Prior to installation, operation, maintenance and inspection, please read this manual carefully for proper use.
● Before using the product, please fully understand the knowledge related to the equipment, safety
precautions and all other precautions.
● Safety precautions are divided into two levels in this manual: Warning and Caution.
Incorrect operation may lead to death or serious injury.
● Take appropriate safety measures for the external circuit of the product to ensure the security of the whole
system in case of abnormalities caused by product failure or external factors.
● Do not use this product in areas with inflammable gases.
Otherwise it may lead to an explosion.
● Do not put this product into a fire.
Otherwise it may cause damage to the battery or other electronic parts.
● Do not impact, charge or heat the lithium battery, and do not put it into a fire.
Otherwise it may lead to fire or damage.
Incorrect operation may lead to injury or material loss.
● To prevent the excessive exothermic heat or smoke generation of the product, a certain margin is required
for guaranteed characteristics and performance ratings of relative products.
● Do not disassemble or modify the product.
Otherwise it may lead to the excessive exothermic heat or smoke generation of the product.
● Do not touch terminal blocks during power-on.
WUME-FPXHPOSG-01 iii

Otherwise it may result in an electric shock.
● Create an emergency stop and interlock circuit in the external devices.
● Connect wires and connectors reliably.
Otherwise it may lead to the excessive exothermic heat or smoke generation of the product.
● Do not carry out construction (wiring, removal, etc.) during power-on.
Otherwise it may result in an electric shock.
● If the equipment is used in a manner not specified by the Panasonic, the protection provided by the
equipment may be impaired.
● This product has been developed/produced for industrial use only.
Description on Copyright and Trademarks
● The copyright of this manual is owned by Panasonic Industrial Devices SUNX Co., Ltd
● Unauthorized reproduction of this manual is strictly prohibited.
● Windows is a registered trademark of Microsoft Corporation in the U.S. and other countries.
● Ethernet is a registered trademark of Fuji Xerox Co., Ltd. and Xerox Corporation.
● Other company and product names are trademarks or registered trademarks of their respective companies.
iv WUME-FPXHPOSG-01

Table of Contents
1 Functions of Unit and Restrictions on Combination.........................1-1
1.1 Functions of Unit.................................................................................1-2
1.1.1 Overview of FP-XH Positioning Function......................................... 1-2
1.1.2 Unit type and available functions ..................................................... 1-3
1.2 Restrictions on Combinations and Functions .....................................1-5
1.2.1 Applicable Versions of Unit and Software ........................................ 1-5
1.2.2 Restrictions on the Combination of Pulse I/O Cassettes ................. 1-5
1.2.3 Restrictions on I/O Allocation........................................................... 1-5
1.2.4 Restrictions on Using Together with Communication Function........ 1-7
1.3 Comparison of Pulse Output Function................................................1-8
1.3.1 Types of Positioning Control Modes ................................................ 1-8
1.3.2 Selection of Positioning Control Mode ............................................. 1-8
1.3.3 Comparison of Two Control Modes.................................................. 1-8
2 Wiring.....................................................................................................2-1
2.1 Connections with Servo Motor Amplifier.............................................2-2
2.1.1 Connection Example........................................................................ 2-2
2.1.2 Precautions on Connection.............................................................. 2-3
2.2 Connection with Stepping Motor Driver ..............................................2-4
2.2.1 Precautions on Connection.............................................................. 2-4
3 Power ON and OFF, and Items to Check.............................................3-1
3.1 Safety Circuit Design ..........................................................................3-2
3.2 Before Turning On the Power .............................................................3-3
3.3 Procedure for Turning On the Power ..................................................3-4
3.3.1 Procedure for Turning On the Power ............................................... 3-4
3.3.2 Procedure for Turning Off the Power ............................................... 3-4
3.4 Confirming while the Power is ON ......................................................3-5
3.4.1 Items to check after turning on the power........................................ 3-5
3.4.2 Checking the Installation of the External Safety Circuit ................... 3-6
3.4.3 Checking the Safety Circuit Based on the Unit ................................ 3-6
3.4.4 Checking the Operation of the Near Home Switch and Home
Switch ............................................................................................... 3-6
3.4.5 Checking Rotating and Moving Directions and Moving Distance .... 3-7
4 Settings of Control Unit........................................................................4-1
4.1 Confirming I/O Allocation ....................................................................4-2
4.1.1 When Using Pulse Output Table Setting Mode................................ 4-2
4.1.2 When Using Pulse Output Function (FP-X Compatible Instruction
Mode)................................................................................................ 4-3
4.1.3 When Using PWM Output Function ................................................. 4-5
4.1.4 When Using High-speed Counter Function ..................................... 4-6
4.2 Settings in Configurator PMX..............................................................4-8
4.2.1 Allocating Channels to be Used....................................................... 4-8
4.2.2 Setting Parameters .......................................................................... 4-9
WUME-FPXHPOSG-01 v

4.2.3 Creating Positioning Data Table....................................................... 4-11
4.2.4 Saving Positioning Parameters........................................................ 4-13
4.2.5 Export and Import ............................................................................ 4-14
4.2.6 Check on Parameter Data ............................................................... 4-14
4.2.7 Writing Parameters to Unit (1).......................................................... 4-15
4.2.8 Writing Parameters to Unit (2).......................................................... 4-15
4.3 System Register Settings....................................................................4-17
4.3.1 Confirming and Selecting Functions to be Used.............................. 4-17
4.4 Reading Elapsed Values.....................................................................4-20
4.4.1 Elapsed Value (Current Value) Area ................................................ 4-20
4.4.2 Elapsed Value (Current Value) Area ................................................ 4-20
5 Operation Patterns................................................................................5-1
5.1 Stop Operation....................................................................................5-2
5.1.1 Type of Stop Operations .................................................................. 5-2
5.1.2 Characteristics of Stop Operations .................................................. 5-3
5.2 JOG Operation....................................................................................5-4
5.2.1 Settings and Operation of JOG Operation ....................................... 5-4
5.2.2 Settings and Operation of JOG Operation (Speed Changes).......... 5-6
5.2.3 Speed Changes in JOG Operation .................................................. 5-8
5.3 Home Return.......................................................................................5-9
5.3.1 Types of Home Return ..................................................................... 5-9
5.3.2 Operation Patterns of Home Return ................................................ 5-10
5.3.3 Settings and Operations of Home Return ........................................ 5-12
5.4 Positioning Control..............................................................................5-16
5.4.1 Types of Positioning Control ............................................................ 5-16
5.4.2 E-point Control (Single-Speed Positioning) ..................................... 5-17
5.4.3 P-point Control (Double-Speed Positioning) .................................... 5-18
5.4.4 C-point Control................................................................................. 5-20
5.4.5 J-point Control (JOG Positioning) .................................................... 5-22
5.4.6 J-point Control (JOG Positioning: Speed Changes) ........................ 5-23
5.4.7 Programming Cautions .................................................................... 5-26
5.5 Repeat Operation................................................................................5-28
5.5.1 Overview of Repeat Operation......................................................... 5-28
5.5.2 Settings and Operations of Repeat Operation ................................. 5-29
5.5.3 Stop Operation During Repeat Operation........................................ 5-31
5.6 Linear Interpolation Control.................................................................5-33
5.6.1 Overview .......................................................................................... 5-33
5.6.2 Settings and Operations of Linear Interpolation............................... 5-34
6 Operating Characteristics ....................................................................6-1
6.1 Operational Difference Between Parameters .....................................6-2
6.1.1 Startup speed................................................................................... 6-2
6.1.2 When Target Speed/Startup Speed is Less Than 50Hz .................. 6-2
6.1.3 Operation Patterns and Start Speed Settings.................................. 6-3
6.2 Other Characteristics ..........................................................................6-5
6.2.1 Backup of Positioning Memory ........................................................ 6-5
6.2.2 Activation of Each Operation ........................................................... 6-5
6.2.3 Operation When PLC Mode Changes From RUN To PROG........... 6-5
vi WUME-FPXHPOSG-01

7 Instruction References .........................................................................7-1
7.1 Table Setting Mode Control Instruction ...............................................7-2
7.1.1 [F380 POSST] Positioning Table Start Instruction ........................... 7-2
7.1.2 [F381 JOGST] JOG Operation Start Instruction .............................. 7-3
7.1.3 [F382 ORGST] Home Return Start Instruction ................................ 7-4
7.1.4 [F383 MPOST] Positioning Table Simultaneous Start Instruction.... 7-5
7.1.5 [F384 PTBLR] Positioning Parameter Read Instruction................... 7-7
7.1.6 [F385 PTBLW] Positioning Parameter Write Instruction .................. 7-8
7.2 FP-X Compatible Instruction Mode Control Instruction.......................7-10
7.2.1 [F171 (SPDH)] Pulse Output (Trapezoidal Control) ......................... 7-10
7.2.2 [F171 (SPDH)] Pulse Output (Home Return)................................... 7-15
7.2.3 [F172 (PLSH)] Pulse Output (JOG operation) ................................. 7-19
7.2.4 [F174 (SP0H)] Pulse Output (Selectable Data Table Control
Operation)......................................................................................... 7-22
7.2.5 [F175 (SPSH)] Pulse Output (Linear Interpolation).......................... 7-26
8 Troubleshooting....................................................................................8-1
8.1 Self-diagnosis Function.......................................................................8-2
8.1.1 Operation Monitor LEDs of Control Unit .......................................... 8-2
8.1.2 Operation Mode When an Error Occurs .......................................... 8-2
8.2 What to Do If an Error Occurs.............................................................8-4
8.2.1 ERR / ALM LED Flashes ................................................................. 8-4
8.2.2 What to Do When Positioning Error Occurs..................................... 8-5
8.2.3 Motor Does Not Rotate/Move (Output LED Flashes or is ON) ........ 8-7
8.2.4 Motor Does Not Rotate/Move (Output LED is OFF) ........................ 8-7
8.2.5 Rotation/Movement Direction is Reversed....................................... 8-8
9 PWM output function............................................................................9-1
9.1 PWM output function...........................................................................9-2
9.1.1 Overview of PWM Output Function.................................................. 9-2
9.1.2 System Register Settings................................................................. 9-2
9.1.3 [F173 PWMH] PWM Output Instruction (Frequency Specification) . 9-4
9.1.4 [F173 PWMH] PWM Output Instruction (Control Code
Specification) .................................................................................... 9-5
10 High-speed Counter Function ...........................................................10-1
10.1 Overview of High-speed Counter Function.......................................10-2
10.1.1 Overview of High-speed Counter Function .................................... 10-2
10.1.2 Counting Range and Elapsed Value (Current Value) Area ............ 10-2
10.1.3 Areas Used For High-speed Counter Function.............................. 10-3
10.1.4 Input Mode Type ............................................................................ 10-4
10.1.5 Minimum Input Pulse Width ........................................................... 10-5
10.2 System Register Settings..................................................................10-7
10.2.1 System Register Settings (Transistor Output Type)....................... 10-7
10.2.2 System Register Settings (Relay Output Type) ............................. 10-8
10.3 High-speed Counter Instruction ........................................................10-11
10.3.1 [F0 MV] High-speed Counter Control Instruction ........................... 10-11
10.3.2 [F1 DMV] Elapsed Value Write / Read Instruction ......................... 10-12
WUME-FPXHPOSG-01 vii

10.3.3 [F166 HC1S] High-speed Counter Target Value Match ON
Instruction and [F167 HC1R] High-speed Counter Target Value
Match OFF Instruction ...................................................................... 10-14
10.3.4 Sample Program (Positioning Operation With Inverter: Single-
Speed) .............................................................................................. 10-15
10.3.5 Sample Program (Positioning Operation With Inverter: Double-
Speed) .............................................................................................. 10-17
10.4 High-speed Counter Cam Control Instruction...................................10-20
10.4.1 [F165 CAM0] High-speed Counter Cam Control Instruction.......... 10-20
10.4.2 Sample Program (Upper Limit Control, Reset, Addition) ............... 10-24
10.4.3 Sample Program (Upper Limit Control, Instruction Clear,
Addition)............................................................................................ 10-26
10.4.4 Sample Program (Upper Limit Control, Subtraction) ..................... 10-28
10.5 Interrupt Program Activation .............................................................10-31
10.5.1 Overview of Function ..................................................................... 10-31
10.5.2 Interrupt Activation When F165 (CAM0) is Executed .................... 10-32
11 Specifications......................................................................................11-1
11.1 Specifications ....................................................................................11-2
11.1.1 General Specifications ................................................................... 11-2
11.1.2 Performance Specifications............................................................ 11-2
11.2 Allocation of Memory Areas ..............................................................11-5
11.2.1 When Using Pulse Output Table Setting Mode .............................. 11-5
11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction
Mode)................................................................................................ 11-7
11.2.3 When Using PWM Output Function ............................................... 11-8
11.2.4 When Using High-speed Counter Function.................................... 11-9
11.3 Positioning Memory...........................................................................11-12
11.3.1 Configuration of Memory Map ........................................................ 11-12
11.3.2 Common Area (Memory Area No. 0).............................................. 11-13
11.3.3 Axis Information Area (Memory Area No. 1) .................................. 11-14
11.3.4 Axis Setting Area (Memory Area No. 2) ......................................... 11-15
11.3.5 Positioning Table Area (Memory Area No. 3) ................................. 11-17
viii WUME-FPXHPOSG-01

1 Functions of Unit and
Restrictions on Combination
1.1 Functions of Unit.................................................................................1-2
1.1.1 Overview of FP-XH Positioning Function......................................... 1-2
1.1.2 Unit type and available functions ..................................................... 1-3
1.2 Restrictions on Combinations and Functions .....................................1-5
1.2.1 Applicable Versions of Unit and Software ........................................ 1-5
1.2.2 Restrictions on the Combination of Pulse I/O Cassettes ................. 1-5
1.2.3 Restrictions on I/O Allocation........................................................... 1-5
1.2.4 Restrictions on Using Together with Communication Function........ 1-7
1.3 Comparison of Pulse Output Function................................................1-8
1.3.1 Types of Positioning Control Modes ................................................ 1-8
1.3.2 Selection of Positioning Control Mode ............................................. 1-8
1.3.3 Comparison of Two Control Modes.................................................. 1-8
WUME-FPXHPOSG-01 1-1

1.1 Functions of Unit
1.1.1 Overview of FP-XH Positioning Function
■Up to 6-axis position control is available by combining with a driver of pulse
string input type.
● The pulse output can be performed up to 100 kHz, and servo motors can be controller.
● It is also available for a stepping motor connected by open collector output.
■Programs can be simplified by adopting the table setting mode.
● The dedicated software "Configurator PMX" is available, which allows ease of setting a
variety of parameters and positioning tables required for positioning control. "Configurator
PMX" is started from the "Options" menu of tool software "FPWIN GR7".
● In user programs, positioning control is executed only by specifying axis numbers (channel
numbers) and table numbers, and executing instructions.
■Four kinds of position control patterns (Table setting mode)
● Four patterns, which are E-point control (single-speed automatic trapezoidal acceleration /
deceleration), P-point control (double-speed automatic trapezoidal acceleration /
deceleration), C-point control (continuance point control) and J-point control (from speed
control to position control), can be selected. They are created as tables on "Configurator
PMX".
■Five kinds of home return operations are supported. (Table setting mode)
● Five kinds of home return methods including home search are available. The most
appropriate home return method can be selected in accordance with the system such as
home input, near home input and the type of driver.
■FP-X compatible mode also available
● There is a mode where the same instructions (F171 to F175, F0, and F1) as those for the
conventional FP-X series.
1.1 Functions of Unit
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