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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iii
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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iv
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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v
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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vi
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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vii
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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viii
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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17.4.8 Error Annunciation & Clear Area.........................................................17-22
17.4.9 Warning Annunciation & Clear Area ...................................................17-25
17.4.10 Pulse Count Control Area................................................................17-28
17.4.11 Synchronous Control Monitor Area.................................................17-29
17.4.12 System Operation Setting Area.......................................................17-31
17.5 Details of Each Axis Information Area in Unit Memory ...............................17-32
17.5.1 Each Axis Information & Monitor Area................................................17-32
17.5.2 Each Axis Information & Monitor Area................................................17-33
17.6 Details of Each Axis Setting Area in Unit Memory.............................17-36
17.6.1 Configuration of Each Axis Setting Area.............................................17-36
17.6.2 Parameter Setting Area.......................................................................17-37
17.6.3 Positioning Data Setting Areas ...........................................................17-49
17.7 Unit Memory Synchronous Control Setting Area...............................17-68
17.7.1 Synchronous Control Setting Area......................................................17-68
17.7.2 Detailed Information on Synchronous Control Setting Area...............17-69
17.8 Dimensions.......................................................................................17-71
18. Sample program..............................................................18-1
18.1 Basic Configuration and Contact Allocations of Sample Programs......18-2
18.2 Sample program .................................................................................18-4
18.2.1 When Settings Done in Standard Area with Programming tool............18-4
18.2.2 When Setting Positioning Data in Extended Area by Programming.....18-7
18.2.3 When Setting Positioning Data in Standard Area by Programming......18-9
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Table of Contents
x
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1
Functions of Unit and
Restrictions on
Combinations
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Functions of Unit and
Restrictions on Combinations
1-2
1.1 Functions of Positioning Unit
1.1.1 Functions of Unit
The positioning unit can perform positioning control when it is used in combination
with a stepping motor or servomotor equipped with a driver of pulse string input
type.
Positioning control with stepping motor
Positioning Unit Stepping motor
Driver
Pulse train
Positioning control with servomotor
Servo motor
Driver
Pulse train Encoder
Positioning Unit
Transistor output (open collector) type and line driver output type available
Two types are available―a line driver output type for high-speed control and a transistor
output type for a motor equipped with a driver that connects only to open collector output (e.g.,
a stepping motor). If either type is applicable to your application, the use of the unit with line
driver output is recommended.
Setting in configuration menu
The dedicated software Configurator PM7 is available, which allows ease of creating a variety
of parameters and positioning tables required for positioning control.
Note) The Configurator PM7 will start by pressing [Set details] button in the I/O map of the
configuration menu of the FPWIN GR7.
Interpolation control
The 2-axis linear interpolation, 2-axis circular interpolation, 3-axis linear interpolation, and 3-
axis spiral interpolation control can be performed.
Synchronous control
The unit supports synchronous control using an electronic gear, electronic clutch, and
electronic cam. The unit can perform synchronous control with an actual or virtual axis as a
master axis.
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1.1 Functions of Positioning Unit
1-3
1.1.2 Unit Type
Product type
Type Product no.
2-axis transistor AFP7PP02T
2-axis line driver AFP7PP02L
4-axis transistor AFP7PP04T
4-axis line driver AFP7PP04L
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Functions of Unit and
Restrictions on Combinations
1-4
1.2 Restrictions on Combinations of Units
When the system is configured, take the other units being used into consideration and use a
power supply unit with a sufficient capacity.
Current consumption
Type Product no. Current consumption
2-axis transistor AFP7PP02T 120 mA
2-axis line driver AFP7PP02L 120 mA
4-axis transistor AFP7PP04T 120 mA
4-axis line driver AFP7PP04L 120 mA
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2
Names and Functions of
Parts
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Names and Functions of Parts
2-2
2.1 Names and Functions of Parts
2
4
3
1
3
1
4-axis type AFP7PP04T
AFP7PP04L 2-axis type AFP7PP02T AFP7PP02L
(1) Operation monitor LEDs
Displays the operating status of two axes.
(2) Operating monitor switch (AFP7PP04T and AFP7PP04L only)
Toggles between the operating status display of 1st and 2nd axes and that of the 3rd and 4th
axes.
(3) User I/F connector (1st axis and 2nd axis)
A connector for a motor driver and external interface.
(4) User I/F connector (3rd axis and 4th axis) (AFP7PP04T and AFP7PP04L only)
A connector for a motor driver and external interface.
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2.2 Operating Status LEDs
2-3
2.2 Operating Status LEDs
The LEDs display the operating status of two axes at a time. If the unit is of 4-axis type, use
the switch to toggle between the operating status display of the 1st and 2nd axes and that of
the 3rd and 4-axes. The contents of the LED display are the same in each axis.
Operation monitor LEDs
LED Description Color ON OFF Flashing
A
Pulse output
A-signal
display
(note 1)
With pulse/sign
output settings Green −(note 4) Not in operation Pulse output
With CW/CCW
output settings Green −(note 4)
Not in
operation
(forward
rotation)
In pulse
output
operation
(forward
rotation)
B
Pulse output
B-signal
display
(note 1)
With pulse/sign
output settings Green Reverse
rotation
instruction
Forward
rotation
instruction −
With CW/CCW
output settings Green −
Not in
operation
(reverse
rotation)
In pulse
output
operation
(reverse
rotation)
CL Displays counter clear signal output Green Output ON Output OFF −
D Displays near home state (note 2) Green ON OFF −
Z Displays home input state (note 2) Green ON OFF −
PA Pulse input A-signal display (note 3) Green Displays the input status of pulse input A-signal
PB Pulse input B-signal display (note 3) Green Displays the input status of pulse input B-signal
ERR Displays error Red If an error
occurs Normal operation −
ALARM Displays hardware error Red Hardware
error Normal operation −
(Note 1): The LED for the pulse output A-signal flashes at a cycle (speed) of output frequency, thus looking as if it
were continuously lit if the speed is high. So is the LED for the pulse output B-signal.
(Note 2): Near home input (D) and home input (Z) will be lit if the respective inputs are enabled.
(Note 3) The input status of pulse input signals (PA) and (PB) will be displayed.
(Note 4) The LEDs may be continuously lit with or without pulse output if the electronic clutch or electronic cam is in
operation.
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Names and Functions of Parts
2-4
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