Panasonic FP0R Series User manual

Copyright © 2012. All rights reserved. Specifications are subject to change without notice. Printed in Europe. ACGM0475V2EN 1/2012
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FP0R User’s Manual Panasonic Electric Works Europe AG ACGM0475V2EN 1/2012
PROGRAMMABLE CONTROLLERS
FP0R
User’s Manual

BEFORE BEGINNING
Liability and Copyright for the Hardware
This manual and everything described in it are copyrighted. You may not copy this manual,
in whole or part, without written consent of Panasonic Electric Works Europe AG (PEWEU).
PEWEU pursues a policy of continuous improvement of the design and performance of its
products. Therefore we reserve the right to change the manual/product without notice. In no
event will PEWEU be liable for direct, special, incidental, or consequential damage resulting
from any defect in the product or its documentation, even if advised of the possibility of such
damages.
We invite your comments on this manual. Please e-mail us at:
[email protected]c.com.
Please direct support matters and technical questions to your local Panasonic
representative.
LIMITED WARRANTY
If physical defects caused by distribution are found, PEWEU will replace/repair the product
free of charge. Exceptions include:
When physical defects are due to different usage/treatment of the product other than
described in the manual.
When physical defects are due to defective equipment other than the distributed
product.
When physical defects are due to modifications/repairs by someone other than
PEWEU.
When physical defects are due to natural disasters.

Important symbols
One or more of the following symbols may be used in this documentation:
!
DANGER!
The warning triangle indicates especially important safety
instructions. If they are not adhered to, the results could be
fatal or critical injury.
CAUTION
Indicates that you should proceed with caution. Failure to do so may result in
injury or significant damage to instruments or their contents, e.g. data.

NOTE
Contains important additional information.

EXAMPLE
Contains an illustrative example of the previous text section.
1.
2.
3.
Procedure
Indicates that a step-by-step procedure follows.
REFERENCE
Indicates where you can find additional information on the subject at hand.

Scope of This Manual
The FP0R User's Manual includes:
specifications for the CPU types and expansion units of the FP0R
installation, wiring, and maintenance instructions
general programming information
troubleshooting information
an appendix with:
- technical specifications
- I/O allocation tables
- memory area tables
- system registers
- unit dimensions
REFERENCE
Please refer to the FP Series Programming Manual, or to the online help of FPWIN Pro or
FPWIN GR for information on:
system instructions
special internal relays
data registers
system variables (FPWIN Pro only)
programming examples
For documentation on a particular unit used with the FP0R, please refer to the hardware
manual for that unit.
All manuals can be downloaded from the Panasonic Web site
(http://www.panasonic-electric-works.com).

Programming Conventions
The programming examples in this manual are designed for FPWIN Pro. For FPWIN GR
examples, please refer to: FP0R User’s Manual ARCT1F475E
Most of the sample programs were written in Ladder Diagram. In FPWIN Pro, you can also
program in Structured Text, Function Block Diagram, Instruction List, and Sequential
Function Chart. For examples in other programming languages, please refer to the FPWIN
Pro Online Help and the Programming Manual.
The abbreviations used in the examples signify the following:
POU: Program Organization Unit
DUT: Data Unit Type
GVL: Global Variable List
These and other terms are explained in the FPWIN Pro Online Help and Programming
Manual.
To illustrate the use of positioning instructions, the chapter on high-speed counters and
pulse output contains numerous examples. Some of the sample programs can be opened
directly in FPWIN Pro. The FPWIN Pro projects in LD and ST code can be downloaded from
the Panasonic Web site under:
http://www.panasonic-electric-works.com/peweu/en/html/22164.php.

Table of Contents
5
Table of Contents
1. Safety Measures ...................................................................13
1.1 Safety Measures......................................................................................14
2. Overview ...............................................................................17
2.1 Features...................................................................................................18
2.2 Unit Types................................................................................................20
2.2.1 CPU..........................................................................................................20
2.2.2 FP0/FP0R I/O Expansion Units................................................................21
2.2.3 FP0 Intelligent Units.................................................................................22
2.2.4 FP Series Link Units.................................................................................23
2.2.5 Power Supply Unit....................................................................................23
2.2.6 Accessories..............................................................................................23
2.3 Restrictions on Unit Combinations...........................................................24
2.4 Programming Tools .................................................................................25
2.5 FP0 Program Compatibility......................................................................26
3. CPU Types ............................................................................29
3.1 Parts and Functions CPU........................................................................30
3.2 Input Specifications, CPU........................................................................33
3.3 Output Specifications, CPU.....................................................................35
3.4 Terminal Layout.......................................................................................38
3.4.1 C10 CPU..................................................................................................38
3.4.2 C14 CPU..................................................................................................39

Table of Contents
6
3.4.3 C16 CPU ..................................................................................................40
3.4.4 C32 CPU ..................................................................................................41
3.5 Backup and Clock/Calendar Functions....................................................42
3.5.1 Backup Function.......................................................................................43
3.5.2 Clock/Calendar Function..........................................................................44
3.5.2.1 Memory Area for Clock/Calendar Function.....................................44
3.5.2.2 Settings for Clock/Calendar Function..............................................45
3.5.2.3 Sample Program for Fixed Schedule and Automatic Start .............46
3.5.2.4 Sample Program for 30-Second Compensation.............................46
4. Expansion ............................................................................. 49
4.1 Expansion Method....................................................................................50
4.2 Parts and Functions Expansion Units ......................................................51
4.3 Expansion Input Specifications ................................................................53
4.4 Expansion Output Specifications..............................................................54
4.5 Terminal Layout........................................................................................57
5. I/O Allocation ........................................................................ 61
5.1 General.....................................................................................................62
5.2 CPU..........................................................................................................63
5.3 FP0/FP0R Expansion Units......................................................................64
6. Installation and Wiring......................................................... 67
6.1 Installation................................................................................................68
6.1.1 Installation Environment and Space.........................................................68
6.1.2 Using DIN Rails........................................................................................70
6.1.3 Using Optional Mounting Plates...............................................................71

Table of Contents
7
6.1.3.1 Slim Type Mounting Plate...............................................................71
6.1.3.2 Flat Type Mounting Plate................................................................72
6.2 Connecting FP0/FP0R Expansion Units..................................................75
6.3 Safety Instructions for Wiring...................................................................76
6.4 Wiring the Power Supply .........................................................................78
6.4.1 Grounding.................................................................................................79
6.5 Input and Output Wiring...........................................................................81
6.5.1 Input Wiring..............................................................................................81
6.5.2 Output Wiring ...........................................................................................84
6.5.2.1 Protective Circuit for Inductive Loads .............................................84
6.5.2.2 Protective Circuit for Capacitive Loads...........................................86
6.6 Wiring the MIL Connector........................................................................87
6.7 Wiring the Terminal Block........................................................................89
6.8 Wiring the COM Port................................................................................91
6.8.1 Transmission Cables................................................................................94
7. Communication ....................................................................95
7.1 Communication Modes............................................................................96
7.1.1 Terminology in FPWIN Pro and FPWIN GR............................................96
7.1.2 MEWTOCOL-COM Master/Slave ............................................................96
7.1.3 Program Controlled Communication........................................................97
7.1.4 PLC Link...................................................................................................98
7.1.5 Modbus RTU Master/Slave......................................................................99
7.2 Ports: Names and Principle Applications...............................................100
7.2.1 TOOL Port..............................................................................................100
7.2.2 COM Port ...............................................................................................101
7.2.3 USB Port ................................................................................................102
7.2.3.1 Installing the USB Driver...............................................................103
7.2.3.2 Communication with the Programming Tool.................................105
7.2.3.3 Reinstalling the USB Driver ..........................................................106

Table of Contents
8
7.3 Communication Specifications...............................................................107
7.4 Communication Parameters...................................................................110
7.4.1 Setting System Registers in PROG Mode .............................................110
7.4.2 Changing Communication Mode in RUN Mode.....................................112
7.5 MEWTOCOL-COM.................................................................................113
7.5.1 Operation Outline for MEWTOCOL-COM Slave....................................115
7.5.2 Command and Response Format..........................................................116
7.5.3 Commands.............................................................................................118
7.5.4 Setting Communication Parameters ......................................................119
7.5.4.1 FP0 Compatibility Mode................................................................119
7.5.5 1:1 Slave Communication ......................................................................120
7.5.5.1 1:1 Communication with a Computer............................................121
7.5.5.2 1:1 Communication with GT Series Programmable Displays.......122
7.5.6 1:N Slave Communication......................................................................123
7.5.7 Sample Program for Master Communication.........................................124
7.6 Program Controlled Communication......................................................126
7.6.1 Setting Communication Parameters ......................................................127
7.6.1.1 FP0 Compatibility Mode................................................................128
7.6.2 Sending data to external devices...........................................................129
7.6.3 Receiving data from external devices....................................................133
7.6.4 Data format.............................................................................................137
7.6.5 Flag Operation........................................................................................138
7.6.5.1 Start Code: No-STX; End Code: CR.............................................139
7.6.5.2 Start Code: STX; End Code: ETX.................................................141
7.6.6 1:1 Communication ................................................................................143
7.6.6.1 1:1 Communication with Micro-Imagechecker..............................143
7.6.7 1:N Communication................................................................................149
7.6.8 Programming in FP0 Compatibility Mode...............................................150
7.7 PLC Link.................................................................................................151
7.7.1 Setting Communication Parameters ......................................................152
7.7.2 Link Area Allocation................................................................................154
7.7.2.1 Example for PLC link 0..................................................................155
7.7.2.2 Example for PLC link 1..................................................................156

Table of Contents
9
7.7.2.3 Partial Use of Link Areas...............................................................157
7.7.2.4 Precautions for Allocating Link Areas...........................................159
7.7.3 Setting the Highest Station Number for a PLC Link...............................160
7.7.4 PLC Link 0 and 1 Allocation Setting.......................................................160
7.7.5 Monitoring...............................................................................................161
7.7.6 PLC Link Response Time ......................................................................163
7.7.6.1 Reducing Transmission Cycle Times............................................165
7.7.6.2 Error Detection Time for Transmission Assurance Relays...........166
7.8 Modbus RTU Communication................................................................ 168
7.8.1 Setting Communication Parameters ......................................................171
7.8.2 Sample Program for Master Communication.........................................171
8. High-Speed Counter and Pulse Output ............................173
8.1 Overview................................................................................................174
8.2 Function Specifications and Restrictions...............................................176
8.2.1 High-Speed Counter Function................................................................176
8.2.2 Pulse Output Function............................................................................177
8.2.3 PWM Output Function............................................................................179
8.2.4 Maximum Counting Speed and Output Frequency................................179
8.3 High-Speed Counter Function...............................................................183
8.3.1 Count Input Modes.................................................................................183
8.3.2 Minimum Input Pulse Width ...................................................................184
8.3.3 I/O Allocation..........................................................................................185
8.3.4 Instructions and System Variables.........................................................186
8.3.4.1 Writing the High-Speed Counter Control Code.............................187
8.3.4.2 Writing and Reading the Elapsed Value for the High-Speed
Counter .........................................................................................190
8.3.4.3 F166_HighSpeedCounter_Set, Target Value Match ON..............190
8.3.4.4 F167_HighSpeedCounter_Reset, Target Value Match OFF........191
8.3.4.5 F178_HighSpeedCounter_Measure, Input Pulse Measurement..192
8.3.5 Sample Programs ..................................................................................192
8.3.5.1 Positioning Operations with a Single-Speed Inverter ...................193

Table of Contents
10
8.3.5.2 Positioning Operations with a Double-Speed Inverter..................194
8.4 Pulse Output Function............................................................................196
8.4.1 Pulse Output Methods and Position Control Modes..............................196
8.4.2 I/O Allocation..........................................................................................199
8.4.3 Instructions and System Variables.........................................................200
8.4.3.1 Writing the Pulse Output Control Code.........................................202
8.4.3.2 Writing and Reading the Elapsed Value of the Pulse Output.......206
8.4.3.3 F166_PulseOutput_Set, Target Value Match ON.........................207
8.4.3.4 F167_PulseOutput_Reset, Target Value Match OFF...................208
8.4.3.5 F171_PulseOutput_Trapezoidal, Trapezoidal Control..................209
8.4.3.6 F171_PulseOutput_Jog_Positioning, JOG Operation and
Positioning....................................................................................................210
8.4.3.7 F172_PulseOutput_Jog, JOG Operation......................................212
8.4.3.8 F174_PulseOutput_DataTable, Data Table Control.....................213
8.4.3.9 F175_PulseOutput_Linear, Linear Interpolation...........................214
8.4.3.10 F177_PulseOutput_Home, Home Return.....................................215
8.5 PWM Output Function............................................................................216
8.5.1 PWM Output Function............................................................................216
9. Security Functions............................................................. 219
9.1 Security Function Types.........................................................................220
9.2 Security Settings in FPWIN Pro .............................................................221
9.2.1 Upload Protection...................................................................................221
9.2.2 PLC Protection (Password Protection)...................................................222
9.3 FP Memory Loader.................................................................................223
9.3.1 Upload Protection...................................................................................223
9.3.2 Download Protection..............................................................................224
10. Other Functions................................................................. 227
10.1 F-ROM Backup (P13_EPWT) ................................................................228

Table of Contents
11
10.2 Sampling Trace......................................................................................229
10.3 Input Time Constants.............................................................................230
11. Troubleshooting ................................................................231
11.1 LED Display for Status Condition ..........................................................232
11.2 Operation on Error.................................................................................233
11.3 ERROR/ALARM LED is Flashing..........................................................234
11.4 ERROR/ALARM LED is ON ..................................................................235
11.5 All LEDs are OFF...................................................................................236
11.6 Diagnosing Output Malfunction..............................................................237
11.7 Password Protection Error Message..................................................... 238
11.8 PROG Mode does not Change to RUN.................................................239
12. Appendix ............................................................................241
12.1 Specifications.........................................................................................242
12.1.1 General Specifications...........................................................................242
12.1.2 Performance Specifications ...................................................................243
12.1.3 Communication Specifications...............................................................245
12.1.4 Current Consumption.............................................................................247
12.1.5 I/O Allocation..........................................................................................248
12.2 Dimensions............................................................................................250
12.2.1 C10/C14 CPU (Terminal Block).............................................................250
12.2.2 C16 CPU (MIL Connector).....................................................................251
12.2.3 C32 CPU (MIL Connector).....................................................................253
12.2.4 Power Supply Unit..................................................................................254
12.2.5 I/O Link Unit............................................................................................254
12.2.6 Using DIN Rails......................................................................................255

Table of Contents
12
12.3 Relays and Memory Areas for FP0R......................................................256
12.4 System Registers...................................................................................258
12.4.1 Precautions When Setting System Registers ........................................258
12.4.2 Types of System Registers ....................................................................258
12.4.3 Checking and Changing System Registers............................................259
12.4.4 Table of System Registers.....................................................................259
12.5 Error Codes............................................................................................266
12.5.1 Error Codes E1 to E8.............................................................................266
12.5.2 Self-Diagnostic Error Codes...................................................................267
12.5.3 MEWTOCOL-COM Error Codes............................................................267
12.6 MEWTOCOL-COM Communication Commands ...................................269
12.7 Data types..............................................................................................270
12.7.1 Elementary data types............................................................................270
12.7.2 Generic data types.................................................................................270
12.8 Hexadecimal/Binary/BCD.......................................................................272
12.9 ASCII Codes...........................................................................................273
13. Index ................................................................................... 275

Chapter 1
Safety Measures

Safety Measures
14
1.1 Safety Measures
Operating environment
After installing the unit, make sure to use it within the range of the general specifications:
Ambient temperature: 0°C–+55°C
Ambient humidity: 10%–95% RH (at 25°C non-condensing)
Pollution level: 2
Do not use the unit in the following environments:
- Direct sunlight
- Sudden temperature changes causing condensation
- Inflammable or corrosive gases
- Excessive airborne dust, metal particles or salts
- Benzine, paint thinner, alcohol or other organic solvents or strong alkaline
solutions such as ammonia or caustic soda
- Direct vibration, shock or direct drop of water
- Influence from power transmission lines, high voltage equipment, power cables,
power equipment, radio transmitters, or any other equipment that would generate
high switching surges. Maintain at least 100mm of space between these devices
and the unit.
Static electricity
Before touching the unit or equipment, always touch some grounded metal to
discharge any static electricity you may have generated (especially in dry locations).
The discharge of static electricity can damage parts and equipment.
Protection of power supply
Use a twisted power supply wire.
Isolate the wiring systems to the CPU, input/output devices, and mechanical power
apparatus.
An insulated power supply with an internal protective circuit should be used
(FP0-PSA2 or FP-PS24-050). The power supply for the CPU is a non-insulated circuit,
so if an incorrect voltage is directly applied, the internal circuit may be damaged or
destroyed.
If using a power supply device without an internal protective circuit, always make sure
power is supplied to the unit through a protective element such as a fuse.
Be sure to supply power to a CPU and an expansion unit from the same power supply,
and turn the power on and off simultaneously for both.
Power supply sequence
Make sure the power supply of the CPU turns off before the power supply for input

Safety Measures
15
and output. If the power supply for input and output is turned off first, the CPU will
detect the input fluctuations and may begin an unexpected operation.
Before turning on the power
When turning on the power for the first time, be sure to take the precautions given below.
During installation, check that there are no scraps of wiring, particularly conductive
fragments, adhering to the unit.
Verify that the power supply wiring, I/O wiring, and power supply voltage are all
correct.
Sufficiently tighten the installation and terminal screws.
Set the mode selector to PROG mode.
Before entering a program
Be sure to clear any existing program before entering a new program.
1.
2.
3.
Procedure
1. Online Online Mode
2. Online Clear Program and Reset System Register
3. Choose [OK] in the confirmation dialog box
Request concerning program storage
To prevent the accidental loss of programs, the user should consider the following measures:
Backing up programs: To avoid accidentally losing programs, destroying files, or
overwriting the contents of a file, documents should be printed out and then saved.
Specifying the password carefully: The password setting is designed to avoid
programs being accidentally overwritten. If the password is forgotten, however, it will
be impossible to overwrite the program even if you want to. Also, if a password is
forcibly bypassed, the program is deleted. Therefore, please note the password in a
safe location.

Chapter 2
Overview

Overview
18
2.1 Features
The FP0R is an ultra compact PLC (programmable logic controller) with high-speed
processing capabilities and a large memory capacity. The controller uses the comprehensive
FP instruction set and is programmed with FPWIN Pro or FPWIN GR. With FPWIN Pro,
programming according to IEC 61131-3 is possible.
USB 2.0 TOOL port (see page 102)
The TOOL port supports USB2.0 full speed and enables ultra high-speed communication with
programming tools. Since large programs with up to 32k steps can now be downloaded in as
fast as 5s, the USB port enables more efficient program development.
Separate large-capacity comment memory
The unit's comment memory area is separate from the program area, and can store I/O
comments for 100 000 points. Program management and maintenance is easy. Thanks to the
separate comment area, programs can now be developed without concern for comment
memory capacity.
Positioning control using high-speed counter and pulse output (see page 176)
A high-speed counter and a pulse output function are provided as standard features.
1Target speed change
Target speed change
1
1JOG operation
2Total movement amount [pulses]
JOG operation
12
3
3Position control trigger input
1
Trigger for decelerated stop
Decelerated stop
1
2
2
Total movement amount [pulses]

Overview
19
1Acceleration time
Individual setting for
acceleration/deceleration time
12
2Deceleration time
Additional unit with battery free backup function (F32 type) (see page 43)
The F32 type offers a battery-free automatic backup function for all operation memories
(internal relays, data registers, timers/counters). Maintainability has been significantly
improved, as there is no need to change a battery.
Full range of communication functions (see page 95)
PLC Link (supports MEWNET-W0)
MEWTOCOL-COM Master/Slave
MODBUS RTU Master/Slave
Program controlled communication via TOOL or COM port
Extended online editing functions
Additional functions now ensure that programs can be corrected without stopping the system.
The online edit mode is no longer limited to 512 steps. Instead, entire programs can be
downloaded to the program memory during RUN mode. Project information is written to the
comment memory. Please refer to the FPWIN Pro online help for detailed information.
Enhanced security (see page 219)
The FP0R supports 8-digit passwords (alphanumeric), and offers an upload protection
function as well as security functions for the FP Memory Loader.
FP0 compatibility (see page 26)
The FP0 compatibility mode enables programs that have been used on an existing FP0 to be
activated on the FP0R with no further modifications. Also, since both units have an identical
shape and terminal layout, there is no need to check the installation space or change the
wiring.