RS Automation RS OEMax NX70 Position User manual

Catalog Number(s): NX70-POSIx,
NX-POSIx
NX70/700 Position
User Manual

Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Because of this difference, and also because of
the wide variety of uses for solid state equipment, all persons responsible for
applying this equipment must satisfy themselves that each intended application
of this equipment is acceptable.
In no event will RS Automation Co., Ltd. be responsible or liable for indirect
or consequential damages resulting from the use or application of this
equipment.
The examples and diagrams in this manual are included solely for illustrative
purposes. Because of the many variables and requirements associated with any
particular installation, RS Automation Co., Ltd. cannot assume responsibility
or liability for actual use based on the examples and diagrams.
No patent liability is assumed by RS Automation Co., Ltd. with respect to use
of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without
written permission of RS Automation Co., Ltd. is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of
safety considerations.
Trademarks not belonging to RS Automation Co., Ltd are property of their respective companies.
WARNING
Identifies information about practices or circumstances that can
cause an explosion in a hazardous environment, which may lead to
personal injury or death, property damage, or economic loss.
IMPORTANT
Identifies information that is critical for successful application and
understanding of the product.
ATTENTION
Identifies information about practices or circumstances that can
lead to personal injury or death, property damage, or economic loss.
Attentions help you identify a hazard, avoid a hazard, and recognize
the consequence
WARNING
Labels may be located on or inside the equipment, for example, a
drive or motor, to alert people that dangerous voltage may be
present.
BURN HAZARD
Labels may be located on or inside the equipment, for example, a
drive or motor, to alert people that surfaces may be at dangerous
temperatures.

3
Contents
1. Positioning Unit Specifications................................. 7
Performance Specifications......................................................................... 7
Buffer Memory ............................................................................................. 9
I/O points List.............................................................................................. 12
2. Functions of Unit and Restrictions on Combination15
Functions of NX700 Positioning Unit ....................................................... 15
Unit Functioning and Operation Overview .............................................. 18
Restrictions on Units Combination........................................................... 21
3. Parts and Specifications ......................................... 23
Parts and Specifications ............................................................................ 23
Input /Output Specifications and Output terminal Layout...................... 27
Supplying Power for Internal Circuit Drive .............................................. 30
Connection of Pulse Command Output Signal........................................ 31
Connection of Deviation Counter Clear Output Signal (for servo motor) .
33
Connection of Home Input/Near Home Input Signals............................. 34
Connection of Pulse Input ......................................................................... 36
Precausions on Wiring............................................................................... 37
4. Confirming the Unit Settings and Design Contents 39
Operation mode setting switch................................................................. 39
Confirming the Slot Number and I/O Number Allocations..................... 43
Increment and Absolute ............................................................................ 48
Selection of Acceleration / Deceleration Method .................................... 50
Internal Absolute Counter ......................................................................... 52
5. Power ON and OFF, and Booting the System .......... 55
Safety Circuit Design.................................................................................. 55
Before Turning ON the Power................................................................... 56
Procedure for Turning ON the Power....................................................... 58
Confirming while the Power is ON ........................................................... 60
6. Automatic Acceleration/Deceleration Control
(E Point Control: Single - Speed Acceleration/ Deceler-
ation)........................................................................ 65
Sample Program ........................................................................................ 65
Flow of E Point Control Operation ............................................................ 74
Operation of the Input and Output Before and After E Point Control.... 76

4
7. Automatic Acceleration/Deceleration Control
(P Point Control: Multi - Stage Acceleration/
Deceleration) ........................................................... 77
Sample Program ........................................................................................ 77
Flow of P Point Control Operation ............................................................ 85
Operation of the Input and Output Flag Before and After P
Point Control.............................................................................................. 89
Precautions When Creating P Point Control Programs........................... 91
8. JOG Operation......................................................... 93
Sample Program ........................................................................................ 93
Sequence Flow for JOG Operation........................................................... 99
Changing the Speed During JOG Operation ......................................... 102
Teaching Following JOG Operation ....................................................... 105
Action of the I/O Flag Before and After JOG Operation........................ 108
9. Home Return.......................................................... 111
Sample Program ...................................................................................... 111
Flow of Operation Following a Home Return ........................................ 118
Action of the I/O Flag Before and After a Home Return Operation...... 123
Checking the Home and Near Home Input Logic .................................. 126
Practical Use for a Home Return............................................................. 127
Home Return............................................................................................. 130
10. Pulser (MPG) Input Operation................................ 133
Sample Program ...................................................................................... 133
Sequence Flow for Pulser input operation............................................. 139
Action of the I/O Flag During Pulser Input Operation ........................... 143
Types of Manual Pulse Generators That Can be Used ......................... 144
11. Deceleration Stop and Forced Stop ...................... 145
Sample Program ...................................................................................... 145
Operations for a Deceleration Stop and Forced Stop ........................... 149
I/O Flag Operation Before and After a Stop ........................................... 151
Precautions Concerning Stopping Operations ...................................... 152
12. Precautions Concerning the operation and
Programs ............................................................... 153
Precautions Relating to Basic Operations of the Unit ........................... 153
Precautions Concerning Practical Usage Methods ............................... 157
13. Operation if an Error Occurs ................................. 159
Positioning Unit Operation if an Error Occurs ....................................... 159
Errors Which Occur in the Positioning Unit Itself.................................. 161
Resolving Problems ................................................................................. 163

5
14. Dimensions and Driver Wiring............................... 171
Motor Drive Connection Diagram........................................................... 171
Wiring for Motor Driver ........................................................................... 174
NX700 PLC External Dimensions ............................................................ 179
15. Sample Program .................................................... 181
Sample Program ...................................................................................... 181
Glossary....................................................................... 191

6

7
1
Positioning Unit Specifications
Performance Specifications
General Specifications
Item Specification
Ambient
temperature
Operating
temperature 0 to 55°C
Storage temperature -25 to 70°C
Ambient
humidity
Operating humidity 30 to 85% RH (no dewing)
Storage humidity 30 to 85% RH (no dewing)
Voltage resistance
Between external connector pins and GND: AC 500V
for 1 minute
(exception: F.E connectors). F.E connectors use
shielded wires.
Insulation resistance
Between external connector pins and GND: 100M

or higher (DC 500V). (exception: F.E connectors). F.E
connectors use shielded wires.
Vibration resistance 10 to 55Hz 1 sweep/min, Amplitude: 0.75mm (10
minutes for each X, Y or Z axis)
Shock resistance 98 m/s
2
or better, 4 times for each 3 direction
(X, Y, Z)
Noise resistance 1500 Vp-p Pulse width: 50ns, 1
 s (Using noise
simulator method)
Operating environment The operating environment shall not contain
corrosive gas or large amounts of dust

8
Performance Specification
*1. As you can see in the figure below, E point control and P point control indicate Acceleration/
Deceleration controls respectively.
*2. If you select Linear Acceleration/Deceleration operation, you can modify Target Speed during
operation.
*3. Supply power from Positioning module's external connector.
Item Axis 4 Unit
(NX-POSI4)
Axis 3 Unit
(NX-POSI3)
Axis 2
Unit
(NX-POSI2)
Axis 1 Unit
(NX-POSI1)
Number of occupied I/O points 128 points (Input 64 points,
Output 64 points)
64 points (Input 32 points,
Output 32 points)
Slots Basic Motherboard (optional Motherboard) and slots in
remote I/O stations
Number of Control Axes Independent
Axis 4
Independent
Axis 3
Independent
Axis 2
Independent
Axis 1
Position
Instruction
Instruction Units Instruction pulses (incremental and absolute) with program
Instruction Range Signed 32 bits (-2,147,483,648 to+2,147,483,647 pulse)
Speed
Instruction
Instruction Range
. Line Drive : 1pulse/s to 1 Mpulse/s
. Open Collector : 1pulse/s to 200 Kpulse/s
(unit: 1pps)
Acceleration/
Deceleration
method
Linear Acceleration/Deceleration, S-pattern acceleration/
deceleration
Acceleration/
Deceleration Time 0 to 32,767ms
Home
Return
Home Return
speed Speed setting (changing return speed and search speed)
Input Connector Zero Point Inputs and Near-zero Point Inputs
Operation Modes
 E POINT control (Linear or S-pattern Acceleration/
Deceleration)
*1
 P POINT control (Linear or S-pattern Acceleration/
Deceleration)
*1
 Home Return function (Linear or S-pattern
Acceleration/Deceleration)
 JOG operation function (Linear or S-pattern
Acceleration/Deceleration)
*1
 Pulse Generator Input function (multiplication factors: x
1, x 2, x 5, x 10, x 50, x 100, x 500, x 1000)
Starting time 0.1 ms or shorter
Output mode Pulse/ Sign modes, CW/ CCW modes (using DIP Switch)
Other functions Deviation Counter Clear signal Output points
External power supply *3 24V DC (21.6 to 26.4VDC)

9
Buffer Memory
Buffer Memory Address
(Hexadecimal number)
Name Content
Setting necessary / not necessary
(
○ necessary x not necessary)
Axis
1
Axis
2
Axis
3
Axis
4
E point
control
P point
control
JOG
operati
on
Home
Positio
n
Pulse
Opera
tion
100h 110h 120h 130h
Control
Code
Acceleration/Deceleration
method(Linear, S-pattern)
control
method(Incremental,
Absolute) Home Return
and logic Pulse
○○○○○
101h 11h 121h 131h
102h 112h 122h 132h Starting
speed
fs[pps]
Starting speed setting
setting range
0to+1,000,000[pps]
○
○
Only
first
stage
○○
x
103h 113h 123h 133h
104h 114h 124h 134h Target
Speed
ft[pps]
Target Speed setting
setting range
1to+1,000,000[pps]
○○○○○
105h 115h 125h 135h
106h 116h 126h 136h Acceleration
/
Deceleration
Time
Ac[pulse]
Acceleration/Deceleration
Time setting range 0 to
+32,767[ms]
○○○○
x
107h 117h 127h 137h
108h 118h 128h 138h Position
Instruction
value
Pt[pulse]
Position Instruction value
setting signed 32bit -
2,147,483,648to
○○
xxx
109h 119h 129h 139h
10Ah 11Ah 12Ah 13Ah Elapsed
pulse
Pe[pulse]
Elapsed pulse count
(Absolute) signed 32bit -
2,147,483,648to
+2,417,483,647[Pulse]

10Bh 11Bh 12Bh 13Bh
10Ch 11Ch 12Ch 13Ch Number of
comparing
pulses
Pc[pulse]
Comparing Pulse setting
signed 32bit -
2,147,483,648 to
+2,417,483,647[Pulse]

10Dh 11Dh 12Dh 13Dh
1. Buffer Memory area is commonly used for E point control, P point
control, JOG operation, home return, pulse generator, or input
operation, so care should be taken not to overwrite the memory
area with other simultaneously.
2. For the first speed of E POINT control and P POINT control, JOG
operation, and home return, target speed should be greater than
starting speed.
3. Symbol will be read or input as necessary.
CAUTIONS

10
Control Codes
E-point control / P-point control
JOG operation
Home Return
Control
Code
Control method
Acceleration/Deceleration
H0 Incremental and Linear
H1 Absolute and Linear
Control
Codel
Control method
Acceleration/Deceleration
H2 Incremental and S-pattern
H3 Absolute and S-pattern
Control
Code
Acceleration/Deceleration
method
H0 Linear Acceleration/Deceleration
Control
Codel
Acceleration/
Deceleration method
H2 S-pattern Acceleration/
Deceleration
Control
Code
Acceleration/
Deceleration
method
Home
Return
Direction
Zero Point
Input logic
Near-zero
Point Input
logic
H0 Linear -
direction
Valid, if
power is
not
connected
Valid, if
power is
connecte
d
H2 S-PATTERN -
direction
Valid, if
power is
not
connected
Valid, if
power is
connecte
d
H4 Linear +
direction
Valid, if
power is
not
connected
Valid, if
power is
connecte
d
H6 S-PATTERN +
direction
Valid, if
power is
not
connected
Valid, if
power is
connecte
d
H10 Linear -
direction
Valid, if
power is
connected
Valid, if
power is
connecte
d
H12 S-PATTERN -
direction
Valid, if
power is
connected
Valid, if
power is
connecte
d
H14 Linear +
direction
Valid, if
power is
connected
Valid, if
power is
connecte
d
H16 S-PATTERN +
di i
Valid, if
power is
Valid, if
power is
Control
Code
Acceleration/
Deceleration
method
Home
Return
Direction
Zero Point
Input logic
Near-zero
Point Input
logic
H20 Linear -direction
Valid, if
power is
not
connected
Valid, if
power is not
connected
H22 S-PATTERN -direction
Valid, if
power is
not
connected
Valid, if
power is not
connected
H24 Linear +
direction
Valid, if
power is
not
connected
Valid, if
power is not
connected
H26 S-PATTERN +
direction
Valid, if
power is
not
connected
Valid, if
power is not
connected
H30 Linear -direction
Valid, if
power is
connected
Valid, if
power is not
connected
H32 S-PATTERN -direction
Valid, if
power is
connected
Valid, if
power is not
connected
H34 Linear +
direction
Valid, if
power is
connected
Valid, if
power is not
connected
H36 S-PATTERN +
direction
Valid, if
power is
connected
Valid, if
power is not
connected

11
Pulse Generator Input operation
<Control Code details>
Control Control method
Acceleration/Deceleration
H0 1 times
H100 2 times
H200 5 times
H300 10 times
Control Control method
Acceleration/Deceleration
H400 50 times
H500 100 times
H600 500 times
H700 1000 times
Control codes are entered into buffer memory as shown below.
Since the control method, acceleration/deceleration method, home
return method, and pulse multiplication factor settings are entered in
the same area, you have to be careful not to overwrite the area with
other functions simultaneously.
IMPORTANT
For detailed explanations on Input logic, please refer to chapter 9.
IMPORTANT

12
I/O points List
Points Name Description
I/O Point No.
(NX-POSI1, NX-
POSI2)
I/O Point No.
(NX-POSI3, NX-POSI4)
1 axis 2 axis 1 axis 2 axis 3 axis 4 axis
X  0 Pulse Output BUSY Turned ON during Pulse Output
(Note 1) X0 X10 X0 X10 X20 X30
X
 1Pulse Output
End EDP Turned ON when Pulse Output is completed. (Note 2) X1 X11 X1 X11 X21 X31
X
 2Acceleration
Zone ACC Turned ON in Acceleration Zone X2 X12 X2 X12 X22 X32
X
 3Constant
Speed Zone CON Turned ON in Constant Speed Zone X3 X13 X3 X13 X23 X33
X
 4Deceleration
Zone DEC Turned ON in Deceleration Zone X4 X14 X4 X14 X24 X34
X
 5Rotation
Direction DIR
Monitors motor rotation direction.
(ON if elapsed pulse increases)
X5 X15 X5 X15 X25 X35
X
 6Zero Point
Input ZSG Turned ON if Zero Point Input is valid. X6 X16 X6 X16 X26 X36
X
 7Near-zero
Point Input DOG Turned ON if Near-zero Point Input is valid. X7 X17 X7 X17 X27 X37
X
 8
Home return
Completion
ORGE Turned ON when Home return is
completed. X8 X18 X8 X18 X28 X38
X
 9Comparison
Result CLEP
ON if Built-in counter's elapsed
value  Number of Comparing
Pulses.
X9 X19 X9 X19 X29 X39
X
 A
Setting change
Checking
CEN Checks if settings are changed
during P point control(Note 3) XA X1A XA X1A X2A X3A
X
 B - XB X1B XB X1B X2B X3B
X
 C - XC X1C XC X1C X2C X3C
X
 D - XD X1D XD X1D X2D X3D
X
 E Setting Error SERR Turned ON if setting error
occurs. XE X1E XE X1E X2E X3E
X
 F - XF X1F XF X1F X2F X3F
Y
 0E Point Control
Start EST If turned ON using user program, E point control starts Y20 Y30 Y40 Y50 Y60 Y70
Y
 1P Point Control
Start PST If turned ON using user program, P point control starts Y21 Y31 Y41 Y51 Y61 Y71
Y
 2Home return
Start ORGS If turned ON using user program, Home return starts Y22 Y32 Y42 Y52 Y62 Y72
Y
 3JOG Forward
Rotation JGF
If turned ON using user
program, JOG Forward Rotation
starts
Y23 Y33 Y43 Y53 Y63 Y73
Y
 4JOG Reverse
Rotation JGR If turned ON using user program JOG reverse operation starts Y24 Y34 Y44 Y54 Y64 Y74
Y
 5 Forced Stop EMR
If turned ON using user
program, stops all current
operations and performs forced
stop
Y25 Y35 Y45 Y55 Y65 Y75
Y
 6Deceleration
Stop DCL
If turned ON using user program
stops all current operations and
performs forced stop.
Y26 Y36 Y46 Y56 Y66 Y76

13
Y  7
Pulse
Generator
Input Allow
PEN
If turned ON using user program
Pulse Generator Inputs are
allowed (valid only when it is
ON)
Y27 Y37 Y47 Y57 Y67 Y77
Y
 8 - Y28 Y38 Y48 Y58 Y68 Y78
Y
 9 - Y29 Y39 Y49 Y59 Y69 Y79
Y
 A - Y2A Y3A Y4A Y5A Y6A Y7A
Y
 B - Y2B Y3B Y4B Y5B Y6B Y7B
Y
 C - Y2C Y3C Y4C Y5C Y6C Y7C
Y
 D - Y2D Y3D Y4D Y5D Y6D Y7D
Y
 E - Y2E Y3E Y4E Y5E Y6E Y7E
Y
 F Error Clear ECLR
Errors are removed if turned ON
from user program when a
Setting Error occurs.
Y2F Y3F Y4F Y5F Y6F Y7F
1. Turned ON while pulses are being outputted at each operation of E
point control, P point control, Home Return, and JOG operation, and
also turned ON when each operation is completed.
2. Turned ON when each operation in E POINT control, P POINT
control, JOG operation, or Pulse Generator Input is completed. Also
it is turned ON in Deceleration Stop or Forced Stop Completion.
Also it is turned OFF when all the operations in E POINT control, P
POINT control, JOG operation, Home Return, and Pulse Generator
Input operation are started.
3. Turned ON when P POINT control or E POINT control is started. Also
it will be turned OFF if application instruction F151(P151) is
executed so that some data is entered in the Positioning Unit's
buffer memory.
4. The above each I/O point number is the one that is used at unit no.0.
The actual number will be varied depending on the unit's mounting
position.
IMPORTANT

14

15
2
Functions of Unit and Restrictions on
Combination
Functions of NX700 Positioning Unit
Functions of Unit
Positioning can be controlled through the combination of a servo motor and a
stepping motor with a driver using the pulse train input method.
Positioning Control(Servo Motor)
Servo Drive
Pulse Train
Servo Motor
Positioning Unit
Encoder
Positioning Control(Stepping Motor)
Pulse Train
Positioning Unit
Stepping Drive
Stepping Motor

16
NX700 PLC has four Positioning Units
Transistor output type (Open collector) and Line driver output type are available.
The unit has 2 types; one is the Line driver output type, can handle the high-speed
control, and another is the Transistor output type, can handle the driver can be
connected with only the open collector such as a stepping motor. When either can
be used, we recommend the Line driver output type.

17
Automatic acceleration and deceleration can be controlled simply by providing the
startup speed, target speed, acceleration/deceleration time, and position instruction
values, as data.
The linear acceleration/deceleration and “S” acceleration/deceleration can be
selected simply by setting parameters, enabling to cope with the control needs
smooth acceleration and deceleration. Sin curve, Secondary curve, Cycloid curve,
Third curve are available for “S” acceleration/deceleration.
Unit type
Unit type and Product number
Products Functions Product No. Note
Axis 1 Type For Axis 1 control NX-POSI1 One 20-pin connector hood (3M) is
included in the box
Axis 2 Type For Axis 2 control NX-POSI2 Two 20-pin connector hoods (3M) are
included in the box
Axis 3 Type For Axis 3 control NX-POSI3 Three 20-pin connector hoods (3M) are
included in the box
Axis 4 Type For Axis 4 control NX-POSI4 Four 20-pin connector hoods (3M) are
included in the box

18
Unit Functioning and Operation Overview
Unit Combinations for Positioning Control
Interfaces provided with the positioning unit
In addition to pulse instruction output for the motor driver, the positioning unit is
equipped with home input, near home input terminals, over limit input (+), over
limit input (-), positioning control start input (timing input) for JOG positioning
operation, and deviation counter clear output for the servo driver.
Use input unit and output unit for PLC safety circuit and control
signal interfaces.
In addition to the positioning unit, an input unit and output unit are used in
combination for connections between the driver and external output such as servo
ON signals.
Number of output pulses counted by internal high - speed
counter.
The number of pulses output is counted as an absolute value by an internal high .
speed counter, which counts them as the “elapsed value”.
Counting range: - 2,147,483,648 to +2,147,483,647 (signed 32 - bit)
CW limit
Near-zero point Input
Zero points
CCW limit
Limit over inputs
Zero Point Input, Near-zero Point Input
Control output signals such
as servo-ON, alarm reset etc.
[Deviation Counter Clear Output]
[Pulse instruction Output]
Control signals such as alarm, positioning completion etc.
Power Unit CPU Unit Input Unit Output Unit Positioning Unit
If the elapsed value exceeds the maximum (minimum) value, the value returns
automatically to the minimum (maximum) value and continues from that point.
The motor does not stop if this occurs, and no error occurs.
IMPORTANT

19
Basic Operation of NX700 Positioning Unit
Control proceeds by turning ON and OFF the shared memory and input/output flag.
1. Determining the necessary data.
The types of data written to the positioning unit include control codes, the
startup speed, the target speed, the acceleration/deceleration time, and the
position instruction value. The types and number of required data varies
depending on the objective. Programming is set up so that these data values
may be written to any desired data register.
2. Transferring to the shared memory.
The data stored in the data registers is sent to the positioning unit by means of
the F151 or P151 instruction, where it waits for further instructions. The
memory area which receives that transferred data is called the “shared
memory” of the positioning unit. This area is used for various types of control,
including E point control, P point control, JOG operation, JOG positioning
operation, home return (home search), and pulser input operation, and a
separate shared memory area is provided for each of the axes.

20
3. Initiating control operations.
In order to execute the data waiting in the positioning unit, the startup flag of
the various operation modes are turned ON. The abovementioned-
programming example shows this process for Y40. Y40 is the number of the
flags that starts up the E point control of the first axis when the unit is installed
in slot 0. Separate flags are provided for each of the axes, for E point control, P
point control, home return, JOG operation, JOG positioning operation and
other types of control.