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Panasonic FP7 Series User Manual
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Panasonic FP7 Series User Manual

Panasonic FP7 Series User Manual

Pulse output unit
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WUME-FP7PG-05
2024.4
industry.panasonic.com/
Programmable Controller
FP7 Pulse Output Unit
User's Manual

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Summary of Contents for Panasonic FP7 Series

  • Page 1 Programmable Controller FP7 Pulse Output Unit User's Manual WUME-FP7PG-05 2024.4 industry.panasonic.com/...
  • Page 2 (MEMO) WUME-FP7PG-05...
  • Page 3 Types of Manual ● There are different types of user’s manual for the FP7 series, as listed below. Please refer to a relevant manual for the unit and purpose of your use.
  • Page 4 Unit name or purpose of Manual name Manual code FP7 Positioning Unit FP7 Positioning Unit User’s Manual WUME-FP7POSP FP7 Serial Communication FP7 Series User’s Manual (SCU Communication) WUME-FP7COM Unit FP7 Multi-wire Link Unit FP7 Multi-wire Link Unit User’s Manual WUME-FP7MW FP7 Motion Control Unit FP7 Motion Control Unit User’s Manual...
  • Page 5 Doing so may result in electrical shock. ● If this product is used in any way that is not specified by Panasonic, its protection function may be impaired. ● This product has been developed and manufactured for industrial use only.
  • Page 6 Indicates operation procedures. WUME-FP7PG-05...
  • Page 7 Glossary E point control This refers to movement up to an "End Point" and, in this manual, this control is referred to as "E point control". This method is used for a single-speed acceleration / deceleration. P point control This refers to control which passes through a “Pass Point”, and is called "P point control" in this manual.
  • Page 8 Absolute method (absolute value control method) This is a control method in which the target position is specified as an absolute position from the home position. Increment method (relative value control method) This is a control method in which the distance from the current position to the target position is specified as a relative position.
  • Page 9 instance when to make adjustments. Depending on the circumstances, this can also be applied to unlimited feeding in some cases. Deceleration stop This is a function that interrupts the operation in progress, slows the rotation and brings it to a stop.
  • Page 10 Transfer multiple With the pulse output unit, this can be specified when the "pulser operation function" is used. Outputting the number of pulses doubled by the number of pulser input signals, the transfer multiple is said to be "2", and when the number of pulses is five times that of the pulser input signals, the transfer multiple is said to be "5".
  • Page 11 Table of Contents 1 Functions of Unit and Restrictions on Combination ......1-1 1.1 Unit Functions and How They Work ...........1-2 1.1.1 Functions of Unit ................1-2 1.1.2 Unit Type and Product Number............1-3 1.2 Unit Functioning and Operation Overview ..........1-4 1.2.1 Unit Combinations for Positioning Control ........
  • Page 12 3.9.3 Transistor-resistor Pull-up Type ............3-25 3.10 Precautions on Wiring...............3-26 4 Project Creation and Parameter Description ........4-1 4.1 Unit Allocation ..................4-2 4.1.1 Confirmation of I/O Allocation Information ........4-2 4.1.2 Registration in I/O Map ..............4-5 4.1.3 Confirming Slot Numbers and Unit Memory (UM) Numbers .... 4-6 4.2 Increment and Absolute ..............4-8 4.2.1 Increment (Relative Value Control) ..........
  • Page 13 7.1 Sample Program .................7-2 7.1.1 Increment (Relative Value Control): Plus (+) Direction ....7-2 7.1.2 Increment (Relative Value Control): Minus (-) Direction....7-5 7.1.3 Absolute (Absolute Value Control) ........... 7-8 7.2 Operation of I/O Flags Before and After P Point Control ....7-11 7.3 Operation at Over Limit Input..............7-13 7.4 Precautions On Programming.............7-14 7.4.1 Program example 1................
  • Page 14 10.8 Precautions on Programming ............10-21 11 Pulser Input Operation ...............11-1 11.1 Sample Program ................11-2 11.1.1 Pulser Input Operation (Transfer Multiple: 1 Multiple Setting)..11-2 11.1.2 Pulser Input Operation (Transfer Multiple: 5 Multiple Setting)..11-3 11.2 Operation of I/O Flags During Pulser Input Operation ......11-6 11.3 Operation at Over Limit Input ............11-7 11.4 Precautions on Programming............11-8 11.5 Types of Manual Pulse Generators that Can be Used......11-9...
  • Page 15 15.3.3 What to Do When a Set Value Error Occurs ........15-7 15.3.4 If the Motor Does Not Turn (if the LED for pulse output A or B is flashing or lighted)................15-7 15.3.5 If the Motor Does Not Turn (if the LED for pulse output A or B is not lighted) ..................
  • Page 16 (MEMO) WUME-FP7PG-05...
  • Page 17 1 Functions of Unit and Restrictions on Combination 1.1 Unit Functions and How They Work ...........1-2 1.1.1 Functions of Unit ................1-2 1.1.2 Unit Type and Product Number............1-3 1.2 Unit Functioning and Operation Overview ..........1-4 1.2.1 Unit Combinations for Positioning Control ........1-4 1.2.2 Basic Operation of Pulse Output Unit ..........
  • Page 18 1.1 Unit Functions and How They Work 1.1 Unit Functions and How They Work 1.1.1 Functions of Unit ■ Position control is available using Stepping motor or Servo motor. ● Positioning can be controlled through the combination of a servo motor and a stepping motor with a driver using the pulse train input method.
  • Page 19 1.1 Unit Functions and How They Work ■ Input logic can be changed. ● Input logic can be changed for home input, near home input or over limit input, which allows flexible system configuration. 1.1.2 Unit Type and Product Number ■...
  • Page 20 1.2 Unit Functioning and Operation Overview 1.2 Unit Functioning and Operation Overview 1.2.1 Unit Combinations for Positioning Control ■ Interfaces provided with the pulse output unit In addition to pulse command output for the motor driver, the pulse output unit is equipped with home input, hear home input terminals, over limit input (+), over limit input (-), positioning control start input (timing input) for JOG positioning operation, servo ON output and deviation counter clear output for the servo amplifier.
  • Page 21 1.2 Unit Functioning and Operation Overview 1.2.2 Basic Operation of Pulse Output Unit ■ Sample program X140 MV.UL H2000000 （ ） Control code : increment MV.UL U500 Startup speed : 500 pps MV.UL U10000 Target speed :10000 pps Acceleration/ MV.UL decelerationtime : 50 ms Position command MV.SL...
  • Page 22 1.3 Restrictions on Combinations of Units 1.3 Restrictions on Combinations of Units 1.3.1 Restrictions on Consumption Current The internal current consumption of the unit is as follows. Make sure that the total current consumption is within the capacity of the power supply with consideration of all other units used in combination with this unit.
  • Page 23 2 Names and Functions of Parts 2.1 Names and Functions of Parts............2-2 2.2 Operating Status LEDs ...............2-3 WUME-FP7PG-05...
  • Page 24 2.1 Names and Functions of Parts 2.1 Names and Functions of Parts (1) Operation monitor LEDs These LEDs display the operating conditions for two axes. (2) Operation monitor selection switch (AFP7PG04T and AFP7PG04L only) This switches operation display between for axes 1 and 2, and for axes 3 and 4. (3) User I/F connector (1st axis and 2nd axis) This connector is used to connect a motor driver or external interface.
  • Page 25 2.2 Operating Status LEDs 2.2 Operating Status LEDs Information on two axes can be displayed at once on the LEDs. For a 4-axis type, display can be switched between axes 1 and 2, and axes 3 and 4 with the switch. The LEDs show the same information for each axis.
  • Page 26 (MEMO) WUME-FP7PG-05...
  • Page 27 3 Wiring 3.1 Connection Using the Discrete-wire Connector .........3-2 3.1.1 Specifications of Discrete-wire Connector ........3-2 3.1.2 Wiring the Discrete-wire Connector ..........3-3 3.2 Connection Using the Push-In Connector ..........3-6 3.2.1 About Push-In Connector..............3-6 3.2.2 Compatible Parts and Dedicated Tools ..........3-6 3.2.3 Wiring to Connector .................
  • Page 28 ⌀1.5 to ⌀1.1 AWG22 0.3 mm AWG24 0.2 mm ■ AFP2801 Discrete-wire Connector (Purchase separately) Manufacturer Composition of parts Unit type and required quantity Panasonic Housing 1pc. (AFP2801) （40P） Semi-cover 2pc. （40P） Contact 8pc. (For AWG22 and AWG24) 5 pins ■...
  • Page 29 3.1 Connection Using the Discrete-wire Connector 3.1.2 Wiring the Discrete-wire Connector ● When performing wiring work, refer to the instruction manual of the crimping tool in order to prevent faulty wiring. Bend and break the contact, and set it in the crimping tool. Insert the wire without removing its insulation until it stops, and lightly grip the crimping tool.
  • Page 30 3.1 Connection Using the Discrete-wire Connector When all the wires have been inserted, fit the semi-cover into place. WUME-FP7PG-05...
  • Page 31 3.1 Connection Using the Discrete-wire Connector ● If there is a wiring mistake or the wire is incorrectly press-fit, use the crimping tool to remove the contact. Set the pin of the crimping tool at the position indicated by an arrow. Hold the housing with fingers and pull the wire.
  • Page 32 3.2 Connection Using the Push-In Connector 3.2 Connection Using the Push-In Connector 3.2.1 About Push-In Connector 40-pole push-in type connector manufactured by Ningbo Degson Electronic Co. Ltd. that can be used with the FP7 Series. Product name Model number Remarks...
  • Page 33 3.2 Connection Using the Push-In Connector Clasps MIL connector Insert the product into the MIL connector. When inserting the product, make sure that the triangular marking is at the top. Triangular marking Insert the product until the clasps of the MIL connector close. WUME-FP7PG-05...
  • Page 34 3.2 Connection Using the Push-In Connector Wiring Follow the procedure below when wiring. Wiring precautions ● Do not damage the core when stripping off the covering material. ● Do not apply stress to the wires after wiring. ● Do not solder the core. Soldering the core may cause it to disconnect due to vibration. Strip off the covering material from the wire 10 mm Attach the pole terminal to the core part.
  • Page 35 3.2 Connection Using the Push-In Connector After inserting the wire, ensure that the wire does not protrude. Replacing Wires Follow the procedure below when replacing wires. Use the following dedicated tool or an equivalent flat-head screwdriver to remove the wire. Dedicated tool Manufacturer Model number...
  • Page 36 3.2 Connection Using the Push-In Connector Release button Dedicated tool or flat-head screwdriver Remove the wire while pressing down the button. Insert the new wire. For details on how to insert the wire, refer to "Wiring". 3-10 WUME-FP7PG-05...
  • Page 37 3.2 Connection Using the Push-In Connector ● Pressing the release button unlocks the wires on both sides of the button. After replacing the wires, ensure that the wires do not protrude. WUME-FP7PG-05 3-11...
  • Page 38 3.2 Connection Using the Push-In Connector Removing from the Unit Follow the procedure below to remove the product from the unit. Open out the clasps of the MIL connector. Clasps MIL connector Remove the product from the unit. 3-12 WUME-FP7PG-05...
  • Page 39 3.2 Connection Using the Push-In Connector WUME-FP7PG-05 3-13...
  • Page 40 3.3 Input / Output Specifications and Terminal Circuit Diagrams 3.3 Input / Output Specifications and Terminal Circuit Diagrams 3.3.1 Input / Output Specifications 4-axis type 2-axis type Connector for 1- and 2- axis Connector for 3- and 4- axis Connector for 1- and 2- axis The 4-axis type has two connectors, and the 2-axis type has one connector.
  • Page 41 3.3 Input / Output Specifications and Terminal Circuit Diagrams Pin No. Output specifications Circuit Signal name Item Description axis axis Line driver (+) Pulse output B: Line driver (-) Output terminals (common) Pin No. Output specifications Circuit Signal name Item Description axis axis...
  • Page 42 3.3 Input / Output Specifications and Terminal Circuit Diagrams Pin No. Input specifications Circuit Signal name Item Description axis axis Min. input pulse width 100 μs or more 3.5 to 5.25 V DC Operating voltage (5 V DC, Line driver range specifications) Min.
  • Page 43 3.3 Input / Output Specifications and Terminal Circuit Diagrams Pin No. Input specifications Circuit Signal name Item Description axis axis (Max. 1 MHz each phase) ● The pulse input A and B signals should be used within the following specifications. When using the pulse input A and B signals for 2-phase input method When using the pulse input A and B signals for direction discrimination input method...
  • Page 44 3.4 Supplying Power for Internal Circuit Drive 3.4 Supplying Power for Internal Circuit Drive 3.4.1 Line Driver Output Type Unit Motor driver Pulse command Pulse command output input A1, A2, A10, A11 Pulse command B1, B2, B10, B11 DC/DC converter +5V DC +24V DC External power supply...
  • Page 45 3.5 Connection of Pulse Command Output Signal 3.5 Connection of Pulse Command Output Signal The pulse output unit is equipped with two output types to match two types of motor driver interfaces. Connect to either one of them depending on the interface of the motor driver to be used,.
  • Page 46 3.5 Connection of Pulse Command Output Signal ● A value of 15 mA per signal should be used as a guide. If this is exceeded, resistance should be added. ● The symbol below indicates a twisted-pair wiring. We recommend using twisted-pair cables as the wiring between the output of the pulse output unit and the motor driver.
  • Page 47 3.6 Connection of Servo ON Output 3.6 Connection of Servo ON Output ● This is an example showing the connection of the servo ON to the servo amplifier. ● An external power supply (+5 V DC to +24 V DC) must be provided for the connection. If 15 mA is exceeded Connection Unit...
  • Page 48 3.7 Connection of Deviation Counter Clear Output Signal 3.7 Connection of Deviation Counter Clear Output Signal ● This is an example showing the connection of the counter clear input to the servo amplifier. ● An external power supply (+5 V DC to +24 V DC) must be provided for the connection. ●...
  • Page 49 3.8 Connection of Home Input and Near Home Input Signals 3.8 Connection of Home Input and Near Home Input Signals 3.8.1 Connection of Home Input (When connecting to motor driver Z phase output) Connection Unit Home input A3,A12 24V DC (+) Motor driver 3.9kΩ...
  • Page 50 3.8 Connection of Home Input and Near Home Input Signals (Note 1) Terminal numbers B4 and B13 are common for the Near home input, Over limit input (+), Over limit input (-) and Positioning control start input. 3.8.4 Connection of Over Limit Input Signal (Note 1) Terminal numbers B4 and B13 are common for the Near home input, Over limit input (+), Over limit input (-) and Positioning control start input.
  • Page 51 3.9 Connections of Pulse Input 3.9 Connections of Pulse Input 3.9.1 Line Driver Type Encoder, pulser Connection Unit Pulse input A(+) A8,A17 A phase Pulse input A(-) B8,B17 Pulse input B (+) A9,A18 B phase B9,B18 Pulse input B (-) 3.9.2 Transistor Open Collector Type Connection Unit...
  • Page 52 3.10 Precautions on Wiring 3.10 Precautions on Wiring Connector the wire in less than or the following length between the pulse output unit and the motor driver, and the pulse inputs, using twisted-pair cables. ■ Signals applicable ● Transistor output ●...
  • Page 53 4 Project Creation and Parameter Description 4.1 Unit Allocation ..................4-2 4.1.1 Confirmation of I/O Allocation Information ........4-2 4.1.2 Registration in I/O Map ..............4-5 4.1.3 Confirming Slot Numbers and Unit Memory (UM) Numbers .... 4-6 4.2 Increment and Absolute ..............4-8 4.2.1 Increment (Relative Value Control) ..........
  • Page 54 4.1 Unit Allocation 4.1 Unit Allocation 4.1.1 Confirmation of I/O Allocation Information Input and output relays are allocated. ■ Input flag (Note 1) I/O flag number Flag Name Description axis axis axis axis (Note 2) During pulse output BUSY ON during pulse output. Turns ON when pulse output ends.
  • Page 55 4.1 Unit Allocation Example) When the starting word number for the unit is "10", the pulse output busy flag for the first axis is X100. (Note 2) This turns ON during pulse output in various operations such as E point control, P point control, home return, JOG operation and JOG positioning operation, and remains ON until the operation is completed.
  • Page 56 4.1 Unit Allocation (Note 1) I/O flag number Flag Name Description axis axis axis axis Requests to lock the servo of a (Note corresponding servo amplifier. Servo ON request (Operation is Edge In PROG. mode, the servo does type) not become free automatically. To make the servo free, turn ON the servo OFF request signal.
  • Page 57 4.1 Unit Allocation stop is turned ON, if other request signal is turned ON, the request is ignored and operation is not started. Be sure to turn OFF the forced stop or decelerated stop before making an operation request. (2) Error clear When the forced stop (Y5) or decelerated stop (Y6) is turned ON, the error clear cannot be executed.
  • Page 58 4.1 Unit Allocation ● The starting word number displayed on the right side of the allocated unit in the I/O map dialog box becomes the reference value for I/O numbers. • When the starting word number is "10", the I/O numbers to be allocated to the pulse output unit are X100 to X10F and Y100 to Y10F.
  • Page 59 4.1 Unit Allocation Unit memory (UM) No. Parameter name 1st axis 2nd axis 3rd axis 4th axis Position UM00108-UM00109 UM00118-UM00119 UM00128-UM00129 UM00138-UM00139 command value Absolute counter UM0010A-UM0010B UM0011A-UM0011B UM0012A-UM0012B UM0013A-UM0013B (elapsed value) Number of comparison UM0010C-UM0010D UM0011C-UM0011D UM0012C-UM0012D UM0013C-UM0013D pulses Feedback UM0010E-UM0010F UM0011E-UM0011F...
  • Page 60 4.2 Increment and Absolute 4.2 Increment and Absolute 4.2.1 Increment (Relative Value Control) The relative position from the current position is specified as the position command value, using the number of pulses. Example ● For traveling from the current position to a position "+5000" pulses away, "+5000" is set as the position command value.
  • Page 61 4.2 Increment and Absolute ● For traveling 2000 pulses in a negative direction from the current position that is 20000 pulses away from the home position, set "+18000 pulses" is set as the position command value. WUME-FP7PG-05...
  • Page 62 4.3 Selection of Acceleration / Deceleration Method 4.3 Selection of Acceleration / Deceleration Method There are the following two acceleration / deceleration methods: “Linear acceleration / deceleration” and “S acceleration / deceleration” 4.3.1 Linear Acceleration / Deceleration ● With linear acceleration / deceleration, acceleration and deceleration between the startup speed and the target speed are carried out in a straight line.
  • Page 63 4.3 Selection of Acceleration / Deceleration Method WUME-FP7PG-05 4-11...
  • Page 64 4.4 Servo ON Output 4.4 Servo ON Output 4.4.1 Controlling Servo ON Output ● The pulse output unit is equipped with the servo ON output terminals (terminal No. B5 / B14) connected to the servo amplifier. ● The servo ON signals are controlled by output contacts allocated to the pulse output unit. ●...
  • Page 65 4.5 Internal Absolute Counter 4.5 Internal Absolute Counter 4.5.1 Functions of Internal Absolute Counter ● The pulse output unit is equipped with a function that counts the number of pulses output. ● The counted value of each axis is stored in the unit memory (UM) as the elapsed value indicating the absolute position from the home position.
  • Page 66 4.5 Internal Absolute Counter ■ Allocation of unit memories (UM) Unit memory (UM) No. Parameter 1st axis 2nd axis 3rd axis 4th axis Absolute counter UM0010A to UM0011A to UM0012A to UM0013A to (elapsed value) UM0010B UM0011B UM0012B UM0013B ■ Program example Read the elapsed value of axis 1 from the pulse output unit installed in the slot 1, and copy it to the data registers DT100 to DT101.
  • Page 67 5 Power ON and OFF, and Items to Check 5.1 Safety Circuit Design ................5-2 5.2 Before Turning On the Power .............5-3 5.3 Procedure for Turning On the Power ..........5-4 5.3.1 Procedure for Turning On the Power ..........5-4 5.3.2 Procedure for Turning Off the Power ..........5-4 5.4 Confirming while the Power is ON ............5-6 5.4.1 Items to check when the power is ON ..........
  • Page 68 5.1 Safety Circuit Design 5.1 Safety Circuit Design Example of a safety circuit: Installation of the over limit switch Pulse output unit Motor driver Over limit Over limit CW driving CCW driving switich switich inhibition inhibition switch switch Driver upper and lower limit input External safety circuit Input to positioning unit...
  • Page 69 5.2 Before Turning On the Power 5.2 Before Turning On the Power Pulse output unit Power supply for PLC Power supply for input/output device Power supply for motor driver Motor driver Motor Over limit Over limit CCW driver CW driving switch switch inhibition switch...
  • Page 70 5.3 Procedure for Turning On the Power 5.3 Procedure for Turning On the Power 5.3.1 Procedure for Turning On the Power When turning on the power to the system incorporating the pulse output unit, the nature and statuses of any external devices connected to the system should be taken into consideration, and sufficient care should be taken that turning on the power does not initiate unexpected movements or operations.
  • Page 71 5.3 Procedure for Turning On the Power Turn off the power supply for the PLC. Turn off the power supplies for the input and output devices connected to the PLC. (Including the power supply for the line driver output or open collector output) Pulse output unit Power suppy for motor driver Power supply for PLC...
  • Page 72 5.4 Confirming while the Power is ON 5.4 Confirming while the Power is ON 5.4.1 Items to check when the power is ON ■ System configuration example Checking should be carried out in the four general stages described below. Pulse output unit Motor CCW driving Over limit switch...
  • Page 73 5.4 Confirming while the Power is ON Whether or not the over limit input is taken can be confirmed by the input flag. In addition, the over limit input valid logics can be changed using the unit memory (UM) storing the control code.
  • Page 74 5.4 Confirming while the Power is ON 5.4.5 Checking Rotating and Moving Directions and Moving Distance Execute the JOG operation to confirm the rotating direction and moving direction of the motor. Points to check The rotating direction is determined according to the installation of the ball screw or the "CW / CCW direction setting"...
  • Page 75 6 E Point Control: Single- Speed Acceleration / Deceleration 6.1 Sample Program .................6-2 6.1.1 Increment (Relative Value Control): Plus (+) Direction ....6-2 6.1.2 Increment (Relative Value Control): Minus (-) Direction....6-3 6.1.3 Absolute (Absolute Value Control) ........... 6-5 6.2 Operation of I/O Flags Before and After E Point Control ....6-8 6.3 Over Limit Input...................6-9 6.4 Precautions on Programming .............6-10 WUME-FP7PG-05...
  • Page 76 6.1 Sample Program 6.1 Sample Program 6.1.1 Increment (Relative Value Control): Plus (+) Direction For this control, the "Increment" method is used, and a positive value is specified for the position command value. ■ Pulse output diagram ■ Operation of each flag I/O No.
  • Page 77 6.1 Sample Program ■ Unit memory settings Set values in sample program Parameter Settable range example (Note 1) H200 0000 Control code Refer to "16.2.4 List of Control Codes". (CW / CCW, Increment) Startup speed [pps] U500 U0 to U4,000,000 U1 to U4,000,000 Target speed [pps] U10000...
  • Page 78 6.1 Sample Program ■ Pulse output diagram ■ Operation of each flag I/O No. Signal name Operation Starts the E point control based on the parameter written into the Y100 E point control start flag pulse output unit. Turns on when E point control is initiated, and turns off when pulse X100 Pulse output busy flag output is completed.
  • Page 79 6.1 Sample Program (Note 1) If the limit error occurs, set H200 0080 to change the limit input valid logic. ■ Program X140 R140 （ ） Starting condition R140 MV.UL H2000000 Control code MV.UL U500 Startup speed MV.UL U10000 Target speed MV.UL U100 Acceleration/deceleration time...
  • Page 80 6.1 Sample Program ■ Pulse output diagram ■ Operation of each flag I/O No. Signal name Operation Starts the E point control based on the parameter written into the Y100 E point control start flag pulse output unit. Turns on when E point control is initiated, and turns off when pulse X100 Pulse output busy flag output is completed.
  • Page 81 6.1 Sample Program (Note 1) If the limit error occurs, set H200 0081 to change the limit input valid logic. ■ Program X140 R140 （ ） Starting condition R140 MV.UL H2000001 Control code MV.UL U500 Startup speed MV.UL U10000 Target speed MV.UL U100 Acceleration/deceleration time...
  • Page 82 6.2 Operation of I/O Flags Before and After E Point Control 6.2 Operation of I/O Flags Before and After E Point Control ■ Time chart ■ Operation of each I/O flag I/O No. Signal Operation name E point ● E point control is initiated based on the parameter written to the pulse output unit. control Y100 ●...
  • Page 83 6.3 Over Limit Input 6.3 Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input(+) and over limit input(-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.
  • Page 84 6.4 Precautions on Programming 6.4 Precautions on Programming ■ Common precautions to each operation ● The same unit memory (UM) areas to which the various control parameters are written are used for acceleration / deceleration control, JOG operation, JOG positioning operation, home return, and other types of control.
  • Page 85 7 P Point Control: Multi-Stage Acceleration / Deceleration 7.1 Sample Program .................7-2 7.1.1 Increment (Relative Value Control): Plus (+) Direction ....7-2 7.1.2 Increment (Relative Value Control): Minus (-) Direction....7-5 7.1.3 Absolute (Absolute Value Control) ........... 7-8 7.2 Operation of I/O Flags Before and After P Point Control ....7-11 7.3 Operation at Over Limit Input..............7-13 7.4 Precautions On Programming.............7-14 7.4.1 Program example 1................
  • Page 86 7.1 Sample Program 7.1 Sample Program 7.1.1 Increment (Relative Value Control): Plus (+) Direction ● For this control, the "Increment" method is used, and a positive value is specified for the position command value. ● The target speed value is overwritten using the set value change flag (XA). ■...
  • Page 87 7.1 Sample Program ■ Unit memory settings Set values in sample program example Parameter Settable range 1st speed 2nd speed 3rd speed (Note 1) H200 0000 Refer to "16.2.4 List of Control Control code Codes". (CW / CCW, Increment) Startup speed [pps] U500 U0 to U4,000,000 U1 to U4,000,000...
  • Page 88 7.1 Sample Program ■ Program X141 X100 R141 Starting condition （ ） Pulse output busy flag : OFF R141 MV.US Shift register preset X10A SHL.US Shift condition （ ） MV.UL H2000000 （ ） Control code MV.UL U500 Startup speed MV.UL U5000 Target speed MV.UL...
  • Page 89 7.1 Sample Program 7.1.2 Increment (Relative Value Control): Minus (-) Direction ● For this control, the "Increment" method is used, and a negative value is specified for the position command value. ● The target speed value is overwritten using the set value change flag (XA). ■...
  • Page 90 7.1 Sample Program Set values in sample program example Parameter Settable range 1st speed 2nd speed 3rd speed Startup speed [pps] U500 U0 to U4,000,000 U1 to U4,000,000 * The target speed for the first speed Target speed [pps] U5000 U20000 U500 should be set to a value larger than...
  • Page 91 7.1 Sample Program ■ Program X141 X100 R141 Starting condition （ ） Pulse output busy flag : OFF R141 MV.US Shift register preset X10A SHL.US Shift condition （ ） MV.UL H2000000 （ ） Control code MV.UL U500 Startup speed MV.UL U5000 Target speed MV.UL...
  • Page 92 7.1 Sample Program 7.1.3 Absolute (Absolute Value Control) ● For this control, the "Absolute" method is used, and the absolute value from the home position is specified for the position command value. ● The target speed value is overwritten using the set value change flag (XA). ■...
  • Page 93 7.1 Sample Program ■ Unit memory settings Set values in sample program example Parameter Settable range 1st speed 2nd speed 3rd speed (Note 1) H200 0001 Refer to "16.2.4 List of Control Control code Codes". (CW / CCW, Absolute) Startup speed [pps] U500 U0 to U4,000,000 U1 to U4,000,000...
  • Page 94 7.1 Sample Program ■ Program X141 X100 R141 Starting condition （ ） Pulse output busy flag : OFF R141 MV.US Shift register preset X10A SHL.US （ ） Shift condition MV.UL H2000001 （ ） Control code MV.UL U500 Startup speed MV.UL U5000 Target speed MV.UL...
  • Page 95 7.2 Operation of I/O Flags Before and After P Point Control 7.2 Operation of I/O Flags Before and After P Point Control ■ Time chart ■ Operation of each I/O flag I/O No. Signal Operation name P point ● P point control is initiated based on the parameter written to the pulse output unit. control Y101 ●...
  • Page 96 7.2 Operation of I/O Flags Before and After P Point Control I/O No. Signal Operation name ● This flag is shared among E point control, P point control, JOG operation, JOG positioning operation and pulser input operation. (Note 1) The above I/O numbers are those for the starting word number "10". The I/O numbers actually allocated are the numbers based on the starting word number allocated to the unit.
  • Page 97 7.3 Operation at Over Limit Input 7.3 Operation at Over Limit Input ■ Operation at limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.
  • Page 98 7.4 Precautions On Programming 7.4 Precautions On Programming ■ Common precautions to each operation ● The same unit memory (UM) areas to which the various control parameters are written are used for acceleration / deceleration control, JOG operation, JOG positioning operation, home return, and other types of control.
  • Page 99 7.4 Precautions On Programming 7.4.1 Program example 1 If the P point control program is booted while the E point control program has been booted and is running, the set value change confirmation flag (XA) changes, resulting in affecting the P point control program operation.
  • Page 100 7.4 Precautions On Programming 7.4.2 Program example 2 Because an interlock is in effect, the E point control program cannot be booted if the P point control program has already been booted. This prevents E point control from affecting P point control.
  • Page 101 8 JOG Operation 8.1 Sample Program .................8-2 8.1.1 JOG Operation (Forward and Reverse) ........... 8-2 8.1.2 JOG Operation (Forward, Reverse and Speed Changes) ....8-4 8.2 Changing the Speed During JOG Operation ........8-6 8.3 Operation of I/O Flags Before and After JOG Operation ....8-9 8.4 Operation at Over Limit Input..............8-11 8.5 Precautions on Programming .............8-12 WUME-FP7PG-05...
  • Page 102 8.1 Sample Program 8.1 Sample Program 8.1.1 JOG Operation (Forward and Reverse) Forward and reverse rotation is performed using the external switch. ■ Pulse output diagram ■ Unit memory settings Set values in sample program Parameter Settable range example (Note 1) H200 0000 Control code Refer to...
  • Page 103 8.1 Sample Program Set values in sample program Parameter Settable range example Acceleration / U100 U0 to U32,767 deceleration time [ms] (Note 1) If the limit error occurs, set H200 0080 to change the limit input valid logic. ■ Program X143 X100 R200...
  • Page 104 8.1 Sample Program 8.1.2 JOG Operation (Forward, Reverse and Speed Changes) Forward and reverse rotation is performed using the external switch. Also, the speed is changed using the external switch. ■ Pulse output diagram WUME-FP7PG-05...
  • Page 105 8.1 Sample Program ■ Unit memory settings Set values in sample program example Parameter Settable range Low-speed High-speed settings settings (Note 1) H200 0000 Control code Refer to "16.2.4 List of Control Codes". (CW / CCW) Startup speed [pps] U500 U0 to U4,000,000 U1 to U4,000,000 Target speed [pps]...
  • Page 106 8.2 Changing the Speed During JOG Operation 8.2 Changing the Speed During JOG Operation ● Forward and reverse rotation is performed using the external switch. Also, the speed is changed using the external switch. ● To change the speed during JOG operation, only the "Target speed" parameter in the unit memory (UM) is overwritten after JOG operation has begun.
  • Page 107 8.2 Changing the Speed During JOG Operation ■ Sample program X143 X100 R200 JOG start （ ） X144 X100 （ ） R200 MV.UL H2000000 Control code MV.UL U500 Startup speed Acceleration/deceleration MV.UL time initial speed is reached MV.UL U5000 Target speed (Low-speed) BKMV.SL S1:UM00100 Shared memory writing...
  • Page 108 8.2 Changing the Speed During JOG Operation Acceleration / deceleration time = (10000[pps] - 5000[pps] / 90[pps/ms] = Approx. 55.6[ms] 3. Time from the JOG speed of the high-speed specification to when pulse output stops Acceleration / deceleration time = (10000[pps] - 500[pps] / 90[pps/ms] = Approx. 105.6[ms] WUME-FP7PG-05...
  • Page 109 8.3 Operation of I/O Flags Before and After JOG Operation 8.3 Operation of I/O Flags Before and After JOG Operation ■ Time chart ■ Operation of each I/O flag I/O No. Signal Operation name Forward Y103 JOG start ● JOG operation is initiated based on the parameter written to the pulse output unit. flag ●...
  • Page 110 8.3 Operation of I/O Flags Before and After JOG Operation I/O No. Signal Operation name ● This flag is shared among E point control, P point control, JOG operation, JOG positioning operation and home return (except for a pulse input operation). ●...
  • Page 111 8.4 Operation at Over Limit Input 8.4 Operation at Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.
  • Page 112 8.5 Precautions on Programming 8.5 Precautions on Programming ■ Common precautions to each operation ● The same unit memory (UM) areas to which the various control parameters are written are used for acceleration / deceleration control, JOG operation, JOG positioning operation, home return, and other types of control.
  • Page 113 9 JOG Positioning Operation 9.1 Sample Program .................9-2 9.1.1 Increment (Relative Value Control): Plus (+) Direction ....9-2 9.1.2 Increment (Relative Value Control): Minus (-) Direction....9-4 9.2 Operation of I/O Flags During JOG Positioning Operation ....9-7 9.3 Operation at Over Limit Input..............9-9 9.4 Precautions On Programming.............9-10 WUME-FP7PG-05...
  • Page 114 9.1 Sample Program 9.1 Sample Program 9.1.1 Increment (Relative Value Control): Plus (+) Direction ● JOG positioning operation is initiated using the input signal from the external switch as a trigger to perform position control. ● For this control, the "Increment" method is used, and a positive value is specified for the position command value.
  • Page 115 9.1 Sample Program ■ Pulse output diagram ■ Operations of each flag I/O No. Signal name Operation JOG positioning operation JOG positioning operation is initiated based on the parameter Y108 start flag written to the pulse output unit. Turns on during JOG positioning operation, and turns off when X100 Pulse output busy flag pulse output is completed.
  • Page 116 9.1 Sample Program Set values in sample program Parameter Settable range example Startup speed [pps] U500 U0 to U4,000,000 U1 to U4,000,000 Target speed [pps] U10000 * Set a value larger than the startup speed. Acceleration / U100 U0 to U32,767 deceleration time [ms] Position command (Note 2)
  • Page 117 9.1 Sample Program ■ Pulse output diagram WUME-FP7PG-05...
  • Page 118 9.1 Sample Program ■ Operations of each flag I/O No. Signal name Operation JOG positioning operation JOG positioning operation is initiated based on the parameter Y108 start flag written to the pulse output unit. Turns on during JOG positioning operation, and turns off when X100 Pulse output busy flag pulse output is completed.
  • Page 119 9.2 Operation of I/O Flags During JOG Positioning Operation 9.2 Operation of I/O Flags During JOG Positioning Operation ■ Time chart ■ Operation of each I/O flag I/O No. Signal Operation name positioning ● JOG positioning operation is initiated based on the parameter written to the pulse operation output unit.
  • Page 120 9.2 Operation of I/O Flags During JOG Positioning Operation (Note 1) The above I/O numbers are those for the starting word number "10". The I/O numbers actually allocated are the numbers based on the starting word number allocated to the unit. WUME-FP7PG-05...
  • Page 121 9.3 Operation at Over Limit Input 9.3 Operation at Over Limit Input ■ Operation at limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.
  • Page 122 9.4 Precautions On Programming 9.4 Precautions On Programming ■ Common precautions to each operation ● The same unit memory (UM) areas to which the various control parameters are written are used for acceleration / deceleration control, JOG operation, JOG positioning operation, home return, and other types of control.
  • Page 123 10 Home Return 10.1 Sample Program ................10-2 10.1.1 Search to Home in Minus Direction ..........10-2 10.1.2 Search to Home in Plus Direction ..........10-4 10.2 Types of Home Return ..............10-6 10.2.1 Home Search Valid Mode .............. 10-6 10.2.2 Home Search Invalid Mode............10-8 10.3 Flow of Home Return Operation ............10-10 10.3.1 When the Home Input is the Z Phase of Servo Amplifier....
  • Page 124 10.1 Sample Program 10.1 Sample Program 10.1.1 Search to Home in Minus Direction ● The home return direction is specified with the control code to perform home return. ● The input logic of near home input and home input , and the home return direction are specified with the control codes.
  • Page 125 10.1 Sample Program (Note 1) If the limit error occurs, set H200 00D0 to change the limit input valid logic. ■ Pulse output diagram ■ Program X142 R142 （ ） Condition of home return R142 MV.UL H2000050 Control code MV.UL U500 Startup speed MV.UL...
  • Page 126 10.1 Sample Program 10.1.2 Search to Home in Plus Direction ● The home return direction is specified with the control code to perform home return. ● The input logic of near home input and home input , and the home return direction are specified with the control codes.
  • Page 127 10.1 Sample Program ■ Pulse output diagram ■ Program X142 R142 （ ） Condition of home return R142 MV.UL H2000054 Control code MV.UL U500 Startup speed MV.UL U10000 Target speed MV.UL U100 Acceleration/deceleration time BKMV.SL S1:UM00100 Shared memory writing R142 Y102 Home return start WUME-FP7PG-05...
  • Page 128 10.2 Types of Home Return 10.2 Types of Home Return 10.2.1 Home Search Valid Mode ■ What is Home search valid mode ● When the home position is in between where the table travels or when the direction of the home return could be in the both directions, the home return in the both directions can be performed using the over limit switch (+) or over limit switch (-).
  • Page 129 10.2 Types of Home Return (2) When the over limit switch (-) is detected, the table reverses the direction. When the near home input is once turned ON and the OFF, the table slows down and turns around. (3) When the near home is detected again, the speed slows down from the target speed to the startup speed and the table stops at the home position.
  • Page 130 10.2 Types of Home Return (2) When the near home is detected again, the speed slows down from the target speed to the startup speed and the table stops at the home position. ● The above operation is also applicable when the speed does not reach the target one before the table comes to the near home position.
  • Page 131 10.2 Types of Home Return ● The table does not reverse the direction but stops by detecting the over limit switch (+) or (-). Setting the control code (the lower 6th bit) of the unit memory (UM) to 0 disables a home position search.
  • Page 132 10.3 Flow of Home Return Operation 10.3 Flow of Home Return Operation 10.3.1 When the Home Input is the Z Phase of Servo Amplifier When near home input is input, the speed slows, and when the startup speed has been reached, the pulse output unit recognizes the first input Z phase signal as the home input signal, and stops.
  • Page 133 10.3 Flow of Home Return Operation 10.3.2 When the Home Input is Through an External Switch When near home input is input, the speed slows. When the startup speed has been reached, the home input signal is input and stops. ●...
  • Page 134 10.4 Operation of I/O Flags Before and After Home Return Operation 10.4 Operation of I/O Flags Before and After Home Return Operation ■ Time chart ■ Operation of each I/O flag I/O No. Signal name Operation ● Home return is initiated based on the parameter written to the pulse output unit. Home return Y102 ●...
  • Page 135 10.4 Operation of I/O Flags Before and After Home Return Operation I/O No. Signal name Operation ● The table stops when the home switch input becomes valid after the near home switch input connected to the pulse output unit became valid. X106 Home input ●...
  • Page 136 10.5 Home and Near Home Input Logic 10.5 Home and Near Home Input Logic 10.5.1 When "Input Valid When Power is Supplied" is Specified In cases like that below, when power is supplied to the input circuit of the unit, the "Power supplied"...
  • Page 137 10.5 Home and Near Home Input Logic Current stops flowing when the home or near home position is detected. WUME-FP7PG-05 10-15...
  • Page 138 10.6 Practical Use for Home Return 10.6 Practical Use for Home Return 10.6.1 When One Switch is Used as the Home Input ■ Connection The home input switch is connected. No near home input switch is connected. ■ Input logic settings The control code in the unit memory (UM) should be set as indicated below.
  • Page 139 10.6 Practical Use for Home Return ● Home return is executed at the startup speed. ● When the home input is connected to the Z phase output of the motor driver, one switch cannot be used as the home input. ●...
  • Page 140 10.6 Practical Use for Home Return ■ Connection Near home input and home input are connected to the near home input switch. ■ Input logic setting (When the switch of a contact is used) The control code in the unit memory (UM) should be set as indicated below. ●...
  • Page 141 10.7 Over Limit Input 10.7 Over Limit Input Operations depend on the status of over limit input (+) and over limit input (-) as follows. ■ Operation at Over limit input (Home search is valid) Condition Direction Limit status Operation Over limit input (+): ON Executable Forward...
  • Page 142 10.7 Over Limit Input 4) The control codes are to specify the reverse direction of the rotation for the pulse output (forward or reverse) in the program. 10-20 WUME-FP7PG-05...
  • Page 143 10.8 Precautions on Programming 10.8 Precautions on Programming ■ Common precautions to each operation ● The same unit memory (UM) areas to which the various control parameters are written are used for acceleration / deceleration control, JOG operation, JOG positioning operation, home return, and other types of control.
  • Page 144 (MEMO) 10-22 WUME-FP7PG-05...
  • Page 145 11 Pulser Input Operation 11.1 Sample Program ................11-2 11.1.1 Pulser Input Operation (Transfer Multiple: 1 Multiple Setting)..11-2 11.1.2 Pulser Input Operation (Transfer Multiple: 5 Multiple Setting)..11-3 11.2 Operation of I/O Flags During Pulser Input Operation ......11-6 11.3 Operation at Over Limit Input ............11-7 11.4 Precautions on Programming............11-8 11.5 Types of Manual Pulse Generators that Can be Used......11-9 WUME-FP7PG-05...
  • Page 146 11.1 Sample Program 11.1 Sample Program 11.1.1 Pulser Input Operation (Transfer Multiple: 1 Multiple Setting) ● Pulses are output according to the input from the pulser. ● The input mode, pulse input transfer multiple and pulse output transfer multiple are specified using the control code.
  • Page 147 11.1 Sample Program Set values in sample program Parameter Settable range example Pulse input mode: 2 phase Pulse input transfer multiple: ×4 Pulse output transfer multiple: ×1 Pulse output mode: Pulse+Sign Target speed [pps] U10000 U1 to U4,000,000 (Note 1) If the limit error occurs, set H20 0080 to change the limit input valid logic.
  • Page 148 11.1 Sample Program ■ Pulse output diagram ■ Unit memory settings Set values in sample program Parameter Settable range example (Note 1) H20 0200 Pulse input mode: 2 phase Control code Refer to "16.2.4 List of Control Codes". Pulse input transfer multiple: ×4 Pulse output transfer multiple: ×5 Pulse output mode: Pulse+Sign Target speed [pps]...
  • Page 149 11.1 Sample Program ■ Program X147 R147 Starting condition R147 MV.UL H200200 Control code MV.UL S1:UM00100 Shared memory writing MV.UL U10000 Target speed MV.UL S1:UM00104 Shared memory writing R147 Y107 Pulser input enabled WUME-FP7PG-05 11-5...
  • Page 150 11.2 Operation of I/O Flags During Pulser Input Operation 11.2 Operation of I/O Flags During Pulser Input Operation ■ Time chart ■ Operation of each I/O flag I/O No. Signal name Operation This is in the pulser input operation status, based on the parameter written to the pulse output unit.
  • Page 151 11.3 Operation at Over Limit Input 11.3 Operation at Over Limit Input ■ Operation at limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.
  • Page 152 11.4 Precautions on Programming 11.4 Precautions on Programming ■ Common precautions to each operation ● The same unit memory (UM) areas to which the various control parameters are written are used for acceleration / deceleration control, JOG operation, JOG positioning operation, home return, and other types of control.
  • Page 153 11.5 Types of Manual Pulse Generators that Can be Used 11.5 Types of Manual Pulse Generators that Can be Used ■ A pulse generators should be used for which the number of output pulses is "25P/R" (25 pulses per cycle). With the "100P/R"...
  • Page 154 (MEMO) 11-10 WUME-FP7PG-05...
  • Page 155 12 Deceleration Stop and Forced Stop 12.1 Sample Program ................12-2 12.1.1 In-progress Stop and Emergency Stop .......... 12-2 12.2 Operations for Deceleration Stop and Forced Stop ......12-4 12.2.1 Deceleration Stop ................12-4 12.2.2 Forced Stop ................... 12-4 12.3 Operation of I/O Flags Before and After Stop ........12-6 12.4 Precautions on Stop Operations ............12-7 WUME-FP7PG-05 12-1...
  • Page 156 12.1 Sample Program 12.1 Sample Program 12.1.1 In-progress Stop and Emergency Stop The deceleration stop flag or emergency stop flag allocated to the pulse output unit is turned ■ Pulse output diagram: Deceleration stop operation (In-progress stop) 12-2 WUME-FP7PG-05...
  • Page 157 12.1 Sample Program ■ Pulse output diagram: Forced stop operation (Emergency stop) ■ Program X140 R140 （ ） R140 MV.UL H2000000 MV.UL U300 MV.UL U10000 E point control positioning operation program example MV.UL U300 MV.SL K50000 BKMV.SL S1:UM00100 R140 Y100 X146 Y106 In –...
  • Page 158 12.2 Operations for Deceleration Stop and Forced Stop 12.2 Operations for Deceleration Stop and Forced Stop 12.2.1 Deceleration Stop ● If the deceleration stop flag is turned ON during operation, the operation is interrupted, and the speed slows. ● When the startup speed is reached, pulse output stops. This operation is common to E point control, P point control, home return, JOG operation and JOG positioning operation.
  • Page 159 12.2 Operations for Deceleration Stop and Forced Stop WUME-FP7PG-05 12-5...
  • Page 160 12.3 Operation of I/O Flags Before and After Stop 12.3 Operation of I/O Flags Before and After Stop ■ Time chart ■ Operation of each I/O flag I/O No. Signal Operation name ● When the deceleration stop flag goes ON, the operation in progress is interrupted, and deceleration begins.
  • Page 161 12.4 Precautions on Stop Operations 12.4 Precautions on Stop Operations ■ Programming concerning programming (Deceleration stop and Forced stop) ● The number of the stop input flag varies depending on the number of axes and the installation position. ■ Restarting after deceleration stop or forced stop ●...
  • Page 162 (MEMO) 12-8 WUME-FP7PG-05...
  • Page 163 13 Feedback Counter 13.1 Sample Program ................13-2 13.1.1 Step Out Detection by Comparing Feedback Value with Elapsed Value ....................13-2 13.2 Feedback Counter Function..............13-4 13.2.1 Feedback Counter Function............13-4 13.2.2 Operation of Feedback Counter............. 13-4 13.2.3 Feedback Counter Settings ............13-5 13.2.4 Input Method of Feedback Counter ..........
  • Page 164 13.1 Sample Program 13.1 Sample Program 13.1.1 Step Out Detection by Comparing Feedback Value with Elapsed Value ● The following example program compares the count of the output pulses with the count of the feedback pulses at the E point control and makes the deceleration stop if the count is out of the allowable range.
  • Page 165 13.1 Sample Program ■ Program example X140 R140 Starting condition （ ） R140 MV.UL H2000000 Control code MV.UL U500 Startup speed Target speed MV.UL U10000 MV.UL U100 Acceleration/deceleration time Position command value MV.SL K10000 BKMV.SL S1:UM00100 Shared memory writting MV.SL S1:UM0010A DT10 Reading the count value of...
  • Page 166 13.2 Feedback Counter Function 13.2 Feedback Counter Function 13.2.1 Feedback Counter Function ■ Overview of feedback counter function ● The pulse output unit has a function to count pulse signals from an external input such as encoder at high speed. ●...
  • Page 167 13.2 Feedback Counter Function 13.2.3 Feedback Counter Settings ● The mode can be changed by rewriting the control code in the user program. ● When counting the 2-phase input such as the input from the encoder, set the pulse input transfer multiple to "4 multiple setting"...
  • Page 168 13.2 Feedback Counter Function ■ Count method Method Connection Count For the 2-phase input, the input A signal and input B signal of each counter are connected to the phase A and phase B of an encoder. The count direction depends on the 2-phase phase difference between phases A (Phase...
  • Page 169 13.2 Feedback Counter Function ■ Count operation of individual input Multiple Time chart Addition Subtraction multiple multiple ■ Count operation of direction discrimination input Multiple Time chart Addition Subtraction multiple multiple WUME-FP7PG-05 13-7...
  • Page 170 (MEMO) 13-8 WUME-FP7PG-05...
  • Page 171 14 Precautions Concerning Unit Operation and Programs 14.1 Precautions Relating to Basic Operations of the Unit .......14-2 14.1.1 Values in Unit Memory (UM) are Cleared When Power is Turned OFF....................14-2 14.1.2 Operation When the CPU Switches from RUN to PROG. Mode ... 14-3 14.1.3 Operation Cannot be Switched Once One Operation Has Started 14-3 14.2 Precautions Concerning Practical Usage Methods ......14-5 14.2.1 Setting Acceleration / Deceleration to Zero ........
  • Page 172 14.1 Precautions Relating to Basic Operations of the Unit 14.1 Precautions Relating to Basic Operations of the Unit 14.1.1 Values in Unit Memory (UM) are Cleared When Power is Turned OFF ● The data in the unit memory (UM) of the pulse output unit is not backed up if a power failure occurs.
  • Page 173 14.1 Precautions Relating to Basic Operations of the Unit 14.1.2 Operation When the CPU Switches from RUN to PROG. Mode ● For safety reasons, if the CPU mode switches to the PROG. mode during E point control, P point control, JOG operation, JOG positioning operation or home return, any positioning unit operations in progress at that point are interrupted, and the speed decelerates.
  • Page 174 14.1 Precautions Relating to Basic Operations of the Unit Reference: If the flag for a deceleration stop or forced stop goes ON, the six basic operations noted above (E point control, P point control, Home return, Pulser input operation, JOG operation, JOG positioning operation) stop immediately.
  • Page 175 14.2 Precautions Concerning Practical Usage Methods 14.2 Precautions Concerning Practical Usage Methods 14.2.1 Setting Acceleration / Deceleration to Zero ● To initiate the target speed without accelerating or decelerating (acceleration / deceleration Zero operation = automatic startup operation), the startup speed and acceleration / deceleration time should be set to 0 (zero).
  • Page 176 (MEMO) 14-6 WUME-FP7PG-05...
  • Page 177 15 Troubleshooting 15.1 Pulse Output Unit Operation If an Error Occurs........15-2 15.1.1 If the Pulse Output Unit ERR LED Lights........15-2 15.1.2 If the CPU ERROR LED Lights ............15-2 15.2 Errors Which Occur in Pulse Output Unit..........15-3 15.3 What to Do If an Error Occurs............15-6 15.3.1 If the Pulse Output Unit ERROR LED Lights .........
  • Page 178 15.1 Pulse Output Unit Operation If an Error Occurs 15.1 Pulse Output Unit Operation If an Error Occurs 15.1.1 If the Pulse Output Unit ERR LED Lights ■ When starting (stopped) ● If a set value error occurs when the pulse output unit is started (stopped), the various operations will not begin.
  • Page 179 15.2 Errors Which Occur in Pulse Output Unit 15.2 Errors Which Occur in Pulse Output Unit ● There are a limit error and a set value error which occur in the pulse output unit. ● When a limit input becomes enabled, the pulse output unit warns the user of a limit error. ●...
  • Page 180 15.2 Errors Which Occur in Pulse Output Unit At setting change during At startup setting operation Operation pattern Negativ Negative Out of Out of number range range number Target speed Error Error Error Acceleration / deceleration Error (Note 1) Error time Position command value (Increment)
  • Page 181 15.2 Errors Which Occur in Pulse Output Unit At setting change during At startup setting operation Operation pattern Negativ Negative Out of Out of number range range number Target speed Error Error Error Acceleration / deceleration time input operation Position command value No applicable condition (Increment) Position command value...
  • Page 182 15.3 What to Do If an Error Occurs 15.3 What to Do If an Error Occurs 15.3.1 If the Pulse Output Unit ERROR LED Lights ■ Situation An over limit error or a set value error occurs. ■ Solution Using the tool software, check the contents of an error by monitoring the input flags allocated to the pulse output unit.
  • Page 183 15.3 What to Do If an Error Occurs 15.3.3 What to Do When a Set Value Error Occurs ■ Procedure 1 Using the programming tool, check to see if the values in the data registers being used as the parameter data tables are within the allowable setting range. Parameter Allowable setting range Program specification...
  • Page 184 15.3 What to Do If an Error Occurs ■ Solution 2 Check to make sure the power supply for the driver is ON. ■ Solution 3 ● Check to make sure the wiring between the pulse output unit and the driver has been correctly connected.
  • Page 185 15.3 What to Do If an Error Occurs ■ Solution 1 ● Check to make sure the wiring between the pulse output unit and the driver has been correctly connected. ● Make sure the CW / CCW output or the Pulse / Sign output has been connected to the pertinent input on the driver side.
  • Page 186 15.3 What to Do If an Error Occurs ■ Solution 1 Try shifting the position of the near home input switch in the direction of the home return, and in the opposite direction. ■ Point to check If the home input is connected to the Z phase of the servo amplifier, there may be cases in which the near home input position is close to the home input.
  • Page 187 15.3 What to Do If an Error Occurs 15.3.8 Speed Does Not Slow for a Home Return ■ Conditions There is a possibility that the near home input has not been read correctly. ■ Solution 1 Forcibly turn the near home input switch ON and OFF from an external source, and check to see if the near home input display LED "D"...
  • Page 188 15.3 What to Do If an Error Occurs 15.3.9 Movement Does Not Stop at Home Position (after decelerating for home return) ■ Situation There is a possibility that the home input has not been read correctly. Point to check The home return makes home input　subsequent to deceleration valid, so if the home signal is input during deceleration, that input will end up being ignored.
  • Page 189 16 Specifications 16.1 Specifications..................16-2 16.2 List of Unit Memory Area ..............16-5 16.2.1 Allocation of Unit Memory Area ............. 16-5 16.2.2 Precautions on Setting Unit Memory (UM) ........16-6 16.2.3 How to Specify Control Code ............16-6 16.2.4 List of Control Codes ..............16-8 16.3 Table of I/O Flag Allocation ...............16-10 16.4 Dimensions ..................16-13 WUME-FP7PG-05...
  • Page 190 16.1 Specifications 16.1 Specifications ■ General Specifications Item Specifications Operating ambient 0℃ to +55℃ temperature Storage ambient -40℃ to +70℃ temperature Operating ambient humidity 10 to 95%RH (at 25℃ non-condensing) Storage ambient humidity 10 to 95%RH (at 25℃ non-condensing) Between various pins of external connector and CPU power supply terminal/ function earth terminal Breakdown voltage 500 V AC, 1 minute...
  • Page 191 16.1 Specifications Item Specifications Acceleration / Acceleration / Linear acceleration / deceleration, S acceleration / deceleration deceleration deceleration command pattern "S" Can be selected from Sin curve, Secondary curve, Cycloid curve and Acceleration / Third curve. deceleration Acceleration / 0 to 32,767 ms (can be set in 1 ms.) deceleration time Home return...
  • Page 192 16.1 Specifications (Note 4) It indicates the current consumption of the power to be supplied to the unit inside through the bus from the power supply unit or CPU. (Note 5) It indicates the current consumption (when using 24 V DC) of the power to be supplied from the connector terminal of the unit.
  • Page 193 16.2 List of Unit Memory Area 16.2 List of Unit Memory Area 16.2.1 Allocation of Unit Memory Area ■ Setting/Monitor area Unit memory No. (Hex) Setting item Parameter name Setting range and unit 1st axis 2nd axis 3rd axis 4th axis UM00100 UM00110 UM00120...
  • Page 194 16.2 List of Unit Memory Area ■ Special area for monitor Unit memory No. (Hex) Parameter name Setting range and unit 1st axis 2nd axis 3rd axis 4th axis UM00013 Hardware version of pulse output unit UM00030 UM00030 UM00030 UM00030 Servo ON output status of the unit bit 0 bit 1...
  • Page 195 16.2 List of Unit Memory Area Example 3: The control code when changing the output mode to CW / CCW in the Increment method Change the value of bit 9 of the higher word to which the output mode is assigned to "1" to specify "H200 0000".
  • Page 196 16.2 List of Unit Memory Area 16.2.4 List of Control Codes ■ Unit memory addresses UM00101, UM00111, UM00121, UM00131 (Higher word) (Note 1) When counting the 2-phase input such as the input from the encoder, set the pulse input transfer multiple to "4 multiple setting"...
  • Page 197 16.2 List of Unit Memory Area count per second be a broken number. Example: Target speed is 300 pps and divided mode is 16: 18.75 pps is output. ■ Unit memory addresses UM00100, UM00110, UM00120, UM00130 (Lower word) (Note 1) The startup speed is specified by a combination of bit3 and bit 11.
  • Page 198 16.3 Table of I/O Flag Allocation 16.3 Table of I/O Flag Allocation ■ Input flag (Note 1) I/O flag number Flag Name Description axis axis axis axis During pulse BUSY (Note 2) ON during pulse output. output Turns ON when pulse output ends. Pulse output done (Note 3) Acceleration zone...
  • Page 199 16.3 Table of I/O Flag Allocation It also turns ON when deceleration stop or a forced stop is completed. It turns OFF when the next operation such as E point control, P point control, JOG operation, JOG positioning operation, home return, or pulser input operation is initiated.
  • Page 200 16.3 Table of I/O Flag Allocation (Note 1) I/O flag number Flag Name Description axis axis axis axis If an error occurs, the error is canceled Error clear ECLR when this is turned ON in the user program. (Note 1) The I/O numbers actually allocated are the numbers based on the starting word number allocated to the unit.
  • Page 201 16.4 Dimensions 16.4 Dimensions 2-axis type 4-axis type (19) (Unit: mm) WUME-FP7PG-05 16-13...
  • Page 202 (MEMO) 16-14 WUME-FP7PG-05...
  • Page 203 Record of Changes Date Manual No. Record of Changes Dec. 2013 WUME-FP7PG-01 1st Edition 2nd Edition ● Corrected errors. Changed the manual format. May 2021 WUME-FP7PG-02 Corrected errors in the descriptions of the servo ON monitor (sections 4.4 and 16.2). Corrected other errors.
  • Page 204 [Scope of warranty] In the event that Panasonic Industry Co., Ltd. confirms any failures or defects of the Products by reasons solely attributable to Panasonic Industry Co., Ltd. during the warranty period, Panasonic Industry Co., Ltd. shall supply the replacements of the Products, parts or replace and/or repair the defective portion by free of charge at the location where the Products were purchased or delivered to your premises as soon as possible.
  • Page 205 (MEMO) WUME-FP7PG-05...
  • Page 206 Panasonic Industry Co., Ltd. 1006, Oaza Kadoma, Kadoma-shi, Osaka 571-8506, Japan https://industry.panasonic.com/ Please visit our website for inquiries and about our sales network. © Panasonic Industry Co., Ltd. 2013-2024 April, 2024 WUME-FP7PG-05...

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