Panasonic FP7 Series User manual

PROGRAMMABLE CONTROLLER
FP7 Positioning Unit
User's Manual
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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.
-All other company names and product names are trademarks or registered trademarks of
their respective owners. PLC_ORG
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Introduction
Thank you for buying a Panasonic product. Before you use the product, please carefully read
the installation instructions and the users manual, and understand their contents in detail to
use the product properly.
Types of Manual
•There are different types of users 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.
Unit name or purpose of use Manual name Manual code
FP7 Power Supply Unit FP7 CPU Unit Users Manual (Hardware) WUME-FP7CPUH
FP7 CPU Unit
Instructions for Built-in COM
Port
FP7 Extension
(Communication) Cassette
FP7 CPU Unit Users Manual
(COM Port Communication) WUME- FP7COM
Instructions for Built-in LAN Port FP7 CPU Unit Users Manual
(LAN Port Communication) WUME-FP7LAN
FP7 Digital Input/Output Unit FP7 Digital Input/Output Unit Users Manual WUME-FP7DIO
FP7 Analog Input Unit FP7 Analog Input Unit Users Manual WUME-FP7AIH
FP7 Analog Output Unit FP7 Analog Output Unit Users Manual WUME-FP7AOH
FP7 Positioning Unit FP7 Positioning Unit Users Manual WUME-FP7POSP
PHLS System PHLS System Users Manual WUME-PHLS
Programming Software
FPWIN GR7 FPWIN GR7 Introduction Guidance WUME-FPWINGR7
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Table of Contents
ii
Table of Contents
1. Functions of Unit and Restrictions on Combinations..... 1-1
1.1 Functions of Positioning Unit .................................................................1-2
1.1.1 Functions of Unit .....................................................................................1-2
1.1.2 Unit Type.................................................................................................1-3
1.2 Restrictions on Combinations of Units...................................................1-4
2. Names and Functions of Parts ......................................... 2-1
2.1 Names and Functions of Parts...............................................................2-2
2.2 Operating Status LEDs..........................................................................2-3
3. Wiring ................................................................................. 3-1
3.1 Connection over Wire-pressed Terminal Cable .....................................3-2
3.1.1 Specifications of Wire-pressed Terminal Cable......................................3-2
3.1.2 Assembly of Connector for Wire-pressed Terminal Cable......................3-3
3.2 I/O Specifications and Terminal Wiring..................................................3-4
3.2.1 I/O Specifications ....................................................................................3-4
3.3 Supply of Power to Drive Internal Circuit ...............................................3-8
3.3.1 Line Driver Output ...................................................................................3-8
3.3.2 Transistor Output.....................................................................................3-8
3.4 Connecting Pulse Instruction Signal Input .............................................3-9
3.4.1 Line Driver Output Type..........................................................................3-9
3.4.2 Transistor Output Type............................................................................3-9
3.5 Connecting Deviation Counter Clear Output Signal.............................3-10
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3.6 Connecting Servo On Output Signal ...................................................3-11
3.7 Connecting Home Input/Near Home Input Signal................................3-12
3.7.1 Connecting Home Input (Connecting Motor Driver Z-phase Output)....3-12
3.7.2 Connecting Home Input (Connecting External Switch Sensor)............3-12
3.7.3 Connecting Near Home Input Signal.....................................................3-13
3.7.4 Connecting Limit Input Signal ...............................................................3-13
3.8 Connecting Pulse Input.......................................................................3-14
3.8.1 Line Driver Type....................................................................................3-14
3.8.2 Transistor Open Collector Type............................................................3-14
3.8.3 Transistor Resistance Pull-up Type......................................................3-14
3.9 Wiring Cautions...................................................................................3-15
4. Power On/Off and Check Items.........................................4-1
4.1 Safety Circuit Design.............................................................................4-2
4.2 Before Turning On the Power................................................................4-3
4.3 Procedure for Turning On the Power.....................................................4-5
4.3.1 Procedure for Turning On the Power......................................................4-5
4.3.2 Procedure for Turning Off the Power......................................................4-6
4.4 Check with Power Turned On ...............................................................4-7
4.4.1 Check Items After Turning Power On .....................................................4-7
4.4.2 Check on External Safety Circuit ............................................................4-8
4.4.3 Check on Safety Circuit with Positioning Unit.........................................4-8
4.4.4 Operation Checks on Near Home Switch and Home Switch..................4-9
4.4.5 Checking Rotating and Moving Directions and Moving Distance .........4-10
5. Unit Allocation and Parameter Settings ...........................5-1
5.1 Unit Allocation.......................................................................................5-2
5.1.1 I/O Map Registration ...............................................................................5-2
5.1.2 Check on I/O Allocation Information........................................................5-3
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5.2 Axis Allocation for Use...........................................................................5-5
5.2.1 Settings in Configurator PM7 ..................................................................5-5
5.3 Parameter Settings................................................................................5-7
5.3.1 Parameter Settings in Configurator PM7 ................................................5-7
5.3.2 Parameter Setting Items..........................................................................5-8
5.4 Synchronous Parameter/Cam Pattern Settings ...................................5-10
5.4.1 Synchronous Parameter Settings .........................................................5-10
5.4.2 Cam Pattern Settings............................................................................5-11
5.5 Creating Positioning Data Table..........................................................5-12
5.5.1 Construction of Positioning Data Table.................................................5-12
5.5.2 Table No. Positioning Start....................................................................5-13
5.5.3 Operation Patterns and Tables .............................................................5-14
5.6 Saving Parameters..............................................................................5-15
5.6.1 Save/Load Configuration.......................................................................5-15
5.6.2 Export and Import..................................................................................5-15
6. Transfer to Unit and Commissioning............................... 6-1
6.1 Check on Setting Contents....................................................................6-2
6.1.1 Check on Parameter Data.......................................................................6-2
6.1.2 Comparison of Parameter Information....................................................6-2
6.2 Transfer of Parameters..........................................................................6-4
6.2.1 Writing Parameters to Unit......................................................................6-4
6.3 Monitoring on Configurator PM7............................................................6-5
6.3.1 Status Monitor .........................................................................................6-5
6.3.2 Data Monitor............................................................................................6-5
6.4 Tool Operation.......................................................................................6-7
6.4.1 Tool Operation Function..........................................................................6-7
6.4.2 JOG Operation with Tool Operation Function.........................................6-9
6.4.3 Tool Operation - Home Return..............................................................6-11
6.4.4 Tool Operation - Positioning..................................................................6-13
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6.4.5 Tool Operation - Teaching ....................................................................6-15
7. Automatic Operation (Positioning Control)......................7-1
7.1 Basic Operation ....................................................................................7-2
7.1.1 Positioning Control Patterns....................................................................7-2
7.1.2 Setting and Operation of E-Point Control................................................7-4
7.1.3 Setting and Operation of P-Point Control................................................7-5
7.1.4 Setting and Operation of P-Point Control................................................7-6
7.1.5 Setting and Operation of J-point Control.................................................7-7
7.1.6 Sample Program (E-Point, P-Point, and C-Point Control) ......................7-9
7.1.7 Sample Program (J-point Control) ..........................................................7-9
7.1.8 Programming Precautions.....................................................................7-10
7.2 Interpolation Control............................................................................7-11
7.2.1 Types of Interpolation Control...............................................................7-11
7.2.2 Setting and Operation of 2-Axis Linear Interpolation............................7-14
7.2.3 Setting and Operation of 2-Axis Circular Interpolation..........................7-16
7.2.4 Setting and Operation of 3-Axis Linear Interpolation............................7-19
7.2.5 Setting and Operation of Three-Axis Linear Interpolation.....................7-21
7.2.6 Sample Program (Interpolation Control) ...............................................7-23
7.3 Setting and Operation of Positioning Repeat Function........................7-24
8. Automatic Operation (Synchronous Control) ..................8-1
8.1 Synchronous Control.............................................................................8-2
8.1.1 Outline of Synchronous Control..............................................................8-2
8.2 Settings for Master and Slave Axes ......................................................8-3
8.2.1 Selection of Master Axis and Settings ....................................................8-3
8.2.2 Selection of Slave Axes and Settings .....................................................8-4
8.2.3 Enabling/Disabling Synchronous Control................................................8-5
8.3 Electronic Gear Function.......................................................................8-7
8.3.1 Outline of Electronic Gear Function........................................................8-7
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8.3.2 Types and Contents of Setting Parameters............................................8-8
8.3.3 Gear Ratio Changes while in Operation..................................................8-9
8.4 Electronic Clutch Function...................................................................8-11
8.4.1 Electronic Clutch Function.....................................................................8-11
8.4.2 Types and Contents of Setting Parameters..........................................8-12
8.4.3 Trigger Types for Electronic Clutch.......................................................8-13
8.4.4 Engagement Methods of Electronic Clutch...........................................8-14
8.5 Electronic Cam Function......................................................................8-15
8.5.1 Outline of Electronic Cam Function.......................................................8-15
8.5.2 Types and Contents of Setting Parameters..........................................8-16
8.5.3 Cam Pattern Setting Method.................................................................8-17
9. Manual Operation (JOG Operation)................................. 9-1
9.1 Setting and Operation of JOG Operation...............................................9-2
9.2 Changing the Speed During JOG Operation..........................................9-4
10. Manual Operation (Home Return) ................................. 10-1
10.1 Pattern of Home Return.......................................................................10-2
10.2 Setting and Operation of Home Return................................................10-5
11. Manual Operation (Pulser Operation)........................... 11-1
11.1 Setting and Operation of Pulser Operation ..........................................11-2
12. Stop functions................................................................. 12-1
12.1 Settings and Operations of Stop Functions..........................................12-2
12.2 Settings and Operations of Pause Functions.......................................12-3
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13. Supplementary Functions...............................................13-1
13.1 Dwell Time..........................................................................................13-2
13.2 Software Limit.....................................................................................13-3
13.3 Auxiliary Output Code and Auxiliary Output Contact ...........................13-4
13.4 Current Value Update .........................................................................13-6
13.5 Coordinate Origin................................................................................13-8
13.6 Pulse Input..........................................................................................13-9
13.6.1 Pulse Input Types..................................................................................13-9
13.6.2 Monitoring Pulse Input Values ............................................................13-10
13.6.3 Pulser Input Function ..........................................................................13-11
13.6.4 Feedback Pulse Function....................................................................13-11
13.6.5 High-speed Counter Function.............................................................13-15
13.7 Startup speed ...................................................................................13-17
14. Programming Cautions...................................................14-1
14.1 Programming Cautions .......................................................................14-2
14.1.1 Turning Off Power Supply Clears Contents of Unit Memory.................14-2
14.1.2 Not Going to Other Operation from Current Operation.........................14-2
14.1.3 Operation with the PLC Set to PROG. Mode from RUN Mode.............14-2
14.1.4 Types of Positioning Data Setting Areas ..............................................14-3
15. Errors and Warnings.......................................................15-1
15.1 About Errors and Warnings.................................................................15-2
15.1.1 Errors and Warnings .............................................................................15-2
15.1.2 Check and Clearing with Configurator PM7..........................................15-2
15.1.3 Check and Clearing with User Program................................................15-3
15.1.4 Error and Warning Logs........................................................................15-4
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15.2 Changes in Recovery from Errors........................................................15-5
15.2.1 Outline...................................................................................................15-5
15.3 Error Code Table.................................................................................15-6
15.3.1 System Error (from 1000H)...................................................................15-6
15.3.2 Axis operation error (from 3000H).........................................................15-7
15.3.3 Set Value Error (from 4000H) ...............................................................15-9
15.4 List of Warning Codes.......................................................................15-14
15.4.1 Unit Warning (from B000H).................................................................15-14
16. Troubleshooting.............................................................. 16-1
16.1 What to Do If an Error Occurs..............................................................16-2
16.1.1 Motor is not Rotating or Operating (Pulse Output A and B LEDs are
Flashing or Lit).......................................................................................16-2
16.1.2 Motor is not Rotating or Operating (Pulse Output A and B LEDs off)...16-2
16.1.3 Reversed Rotation or Movement Direction...........................................16-3
17. Specifications.................................................................. 17-1
17.1 Specifications......................................................................................17-2
17.1.1 General Specifications ..........................................................................17-2
17.1.2 Performance Specifications...................................................................17-3
17.2 I/O Number Allocation .........................................................................17-6
17.3 Entire Configuration of Memory Unit Area .........................................17-15
17.4 Details of Common Area in Unit Memory...........................................17-16
17.4.1 Common Area Configuration...............................................................17-16
17.4.2 Setting Parameter Control Area..........................................................17-17
17.4.3 Operating Speed Factor Area .............................................................17-17
17.4.4 Axis Group Setting Area......................................................................17-17
17.4.5 Current Value Update Data Area........................................................17-19
17.4.6 Positioning Control Starting Table Number Setting Area....................17-20
17.4.7 Positioning Control Area......................................................................17-21
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