Panasonic FP0H Series User manual

SAFETY PRECAUTIONS
To prevent accidents or personal injuries, please be sure to comply with the following items.
Prior to installation, operation, maintenance and check, please read this manual carefully for proper use.
Before using, 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.
WARNING
Incorrect operation may lead to death or serious injury.
●Take appropriate safety measures to the external circuit of the product to ensure the security of
the whole system in case of abnormalities caused by product failure or external.
●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 could 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.
CAUTION
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 decompose or transform it.
Otherwise it will lead to the excessive exothermic heat or smoke generation of the product.
●Do not touch terminal blocks during power-on.
Otherwise it may result in an electric shock.
●Set 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 undertake construction (such as connection and disconnection) while the power supply is on.
It could lead to an electric shock.
●If the equipment is used in a manner not specified by the Panasonic, the protection provided by the
equipment may be impaired.
●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.
●EtherNet/IP is a registered trademark of ODVA (Open DeviceNet Vendor Association).
●SDHC and SD logos are trademarks of LLC.
●Other company and product names are trademarks or registered trademarks of their respective companies.
PLC_BAT_ET_FP0H

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.
Types of Manual
•This manual describes the "positioning function (table setting mode) / PWM output and high-
speed counter function" implemented in FP0H Control Unit.
•There are different types of user’s manual for the FP0H series. 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
FP0H Control Unit FP0H User’s Manual (Basic) WUME-FP0H-BAS
FP series Programming Manual ARCT1F313E
Positioning
Function/PWM
Output/High-speed
Counter Function
FP0H User’s Manual
(Positioning/PWM Output/High-speed Counter) WUME-FP0HPOS
Serial Communication
Function FP0H User’s Manual (COM Communication) WUME-FP0HCOM
Ethernet Communication
Function FP0H User’s Manual (Ethernet Communication) WUME-FP0HET
EtherNet/IP
Communication Function FP0H User’s Manual (EtherNet/IP) WUME-FP0HEIP
Logging/Trace Function FP0H User’s Manual (Logging/Trace Function) WUME-FP0HLOG
FP0H Extension
(Communication) Cassette FP0H User’s Manual (COM Communication) WUME-FP0HCOM
FP0H Positioning Unit FPΣPositioning Unit User’s Manual (Note) ARCT1F365E
(Note): For information on FP0H Positioning Unit, refer to the conventional FPΣPositioning Unit Manual. The color of
the main unit case is different (FP0H is black, and FPΣis gray), however, the other specifications are the
same.
.

Table of Contents
ii
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 FP0H Positioning Function..................................................1-2
1.1.2 Compatibility Function with FPΣ..............................................................1-3
1.2 Restrictions on Combinations and Functions .........................................1-4
1.2.1 Applicable Versions of Unit and Software ...............................................1-4
1.2.2 Restrictions on I/O Allocation ..................................................................1-4
1.3 Comparison of Pulse Output Function ...................................................1-6
1.3.1 Types of Positioning Control Modes .......................................................1-6
1.3.2 Selection of Positioning Control Mode ....................................................1-6
1.3.3 Comparison of Two Control Modes.........................................................1-7
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

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iii
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....3-7
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 (FPΣCompatible Instruction Mode)4-4
4.1.3 When Using PWM Output Function ........................................................4-7
4.1.4 When Using High-speed Counter Function ............................................4-8
4.2 Settings in Configurator PMX .............................................................. 4-10
4.2.1 Allocating Channels to be Used ............................................................4-10
4.2.2 Setting Parameters................................................................................4-12
4.2.3 Creating Positioning Data Table ...........................................................4-14
4.2.4 Saving Positioning Parameters .............................................................4-16
4.2.5 Check on Parameter Data.....................................................................4-17
4.2.6 Writing Parameters to Unit (1)...............................................................4-17
4.2.7 Writing Parameters to Unit (2)...............................................................4-18
4.3 System Register Settings .................................................................... 4-19
4.3.1 Confirming and Selecting Functions to be Used...................................4-19
4.4 Reading Elapsed Values..................................................................... 4-21
4.4.1 Elapsed Value (Current Value) Area.....................................................4-21
4.4.2 Reading Elapsed Value (Current Value) Area ......................................4-21

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iv
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 Operations of JOG Operation ............................................5-4
5.2.2 Settings and Operations of JOG Operation (Speed Changes) ...............5-6
5.2.3 Speed Changes in JOG Operation .........................................................5-7
5.3 Home Return .........................................................................................5-8
5.3.1 Types of Home Return ............................................................................5-8
5.3.2 Operation Patterns of Home Return......................................................5-10
5.3.3 Settings and Operations of Home Return .............................................5-13
5.4 Positioning Control ..............................................................................5-15
5.4.1 Types of Positioning Control .................................................................5-15
5.4.2 E-point Control (First Speed Positioning)..............................................5-17
5.4.3 P-point Control (Second Speed Positioning).........................................5-19
5.4.4C-point Control ......................................................................................5-21
5.4.5 J-point Control (JOG Positioning Control).............................................5-23
5.4.6 J-point Control (JOG Positioning: Speed Changes) .............................5-25
5.4.7 Programming cautions ..........................................................................5-28
5.5 Repeat Operation ................................................................................5-29
5.5.1 Overview of Repeat Operation ..............................................................5-29
5.5.2 Settings and Operations of Repeat Operation ......................................5-31
5.5.3 Stop Operation During Repeat Operation .............................................5-33
5.6 Linear interpolation control ..................................................................5-34
5.6.1 Overview................................................................................................5-34
5.6.2 Settings and Operations of Linear Interpolation....................................5-35
6. Operating Characteristics ................................................. 6-1
6.1 Operational Difference Between Parameters.........................................6-2

Table of Contents
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6.1.1 Startup speed ..........................................................................................6-2
6.1.2 Operations When Target Speed/Startup Speed is Less Than 50 Hz .....6-2
6.1.3 Operation Patterns and Start Speed Settings.........................................6-3
6.2 Other Characteristics ............................................................................ 6-4
6.2.1 Backup of Positioning Memory................................................................6-4
6.2.2 Activation of Each Operation...................................................................6-4
6.2.3 Operation When PLC Mode Changes From RUN To PROG. ................6-4
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............................7-6
7.1.6 [F385 PTBLW] Positioning parameter write instruction ..........................7-7
7.2 FPΣCompatible Instruction Mode Control Instruction ........................... 7-8
7.2.1 [F171(SPDH)] Pulse Output (Trapezoidal Control).................................7-8
7.2.2 [F171(SPDH)] Pulse Output (Home Return).........................................7-13
7.2.3 [F172(PSLH)] Pulse Output (JOG Operation).......................................7-18
7.2.4 [F174(SP0H)] Pulse Output (Selectable Data Table Control Operation)7-21
7.2.5 [F175(SPSH)] Pulse Output (Linear Interpolation)................................7-27
8. Troubleshooting................................................................. 8-1
8.1 Self-diagnostic Function........................................................................ 8-2
8.1.1 Operation Monitor LEDs of Control Unit .................................................8-2
8.1.2 Operation Mode When an Error Occurs..................................................8-3
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............................................8-6

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8.2.3 Motor Does Not Rotate/Move (Output LED Flashes or is ON) ...............8-8
8.2.4 Motor Does Not Rotate/Move (Output LED is OFF) ...............................8-8
8.2.5 Rotation/Movement Direction is Reversed..............................................8-8
9. PWM Output Function ....................................................... 9-1
9.1 PWM Output Function ...........................................................................9-2
9.1.1 Overview of PWM Output Function.........................................................9-2
9.1.2 System Register Settings ........................................................................9-3
9.1.3 [F173 PWMH] PWM Output Instruction (Frequency Specification) ........9-4
9.1.4 [F173 PWMH] PWM Output Instruction (Control Code Specification) ....9-6
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 ....................................................................10-6
10.2.1 System Register Settings ......................................................................10-6
10.3 High-speed Counter Instruction ...........................................................10-8
10.3.1 [F0 MV] High-speed Counter Control Instruction ..................................10-8
10.3.2 [F1 DMV] Elapsed Value Write / Read Instruction ..............................10-10
10.3.3 [F166 HC1S] High-speed Counter Target Value Match ON Instruction
[F167 HC1R] High-speed Counter Target Value Match OFF Instruction10-12
10.3.4 Sample Program (Positioning Operation With Inverter: First Speed) .10-14
10.3.5 Sample Program (Positioning Operation With Inverter: Second Speed)10-16
10.4 High-speed Counter Cam Control Instruction ....................................10-18
10.4.1 [F165 CAM0] High-speed Counter Cam Control Instruction...............10-18
10.4.2 Sample Program (Upper Limit Control, Reset, Addition) ....................10-22
10.4.3 Sample Program (Upper Limit Control, Instruction Clear, Addition) ...10-24

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10.4.4 Sample Program (Upper Limit Control, Subtraction) ..........................10-26
10.5 Interrupt Program Activation.............................................................. 10-28
10.5.1 Overview of Function ..........................................................................10-28
10.5.2 Interrupt Activation When F165 (CAM0) is Executed .........................10-29
11. FPΣMode ......................................................................... 11-1
11.1 FPΣMode ........................................................................................... 11-2
11.1.1 Overview of FPΣMode .........................................................................11-2
11.1.2 Converting Projects for FPΣto Projects for FP0H (FPΣMode) ............11-3
11.1.3 Converting Projects for FP0H (FPΣMode) to Projects for FP0H (FP0H
Mode) ....................................................................................................11-4
11.2 Differences in Positioning Instructions with FPΣ.................................. 11-5
11.2.1 High-speed Counter/Pulse Output Control Instruction F0(MV).............11-5
11.2.2 High-speed Counter Instructions F165 (CAM0), F166 (HC1S), F167
(HC1R) ..................................................................................................11-6
11.2.3 Pulse/PWM Output Control Instructions................................................11-7
12. Specifications .................................................................. 12-1
12.1 Specifications...................................................................................... 12-2
12.1.1 General Specifications ..........................................................................12-2
12.1.2 Performance Specifications ..................................................................12-2
12.2 Allocation of Memory Areas ................................................................ 12-4
12.2.1 When Using Pulse Output Table Setting Mode ....................................12-4
12.2.2 When Using Pulse Output Function (FPΣCompatible Instruction Mode)12-5
12.2.3 When Using PWM Output Function ......................................................12-6
12.2.4 When Using High-speed Counter Function ..........................................12-7
12.3 Positioning Memory ............................................................................ 12-8
12.3.1 Configuration of Memory Map...............................................................12-8
12.3.2 Common area (Memory Area No. 0)...................................................12-10
12.3.3 Axis Information Area (Memory Area No. 1) .......................................12-11

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12.3.4 Axis Setting Area (Memory Area No. 2) ..............................................12-12
12.3.5 Positioning Table Area (Memory Area No. 3) .....................................12-14