Sharp X-70H Instrukcja Użytkownika Strona 1

JW-12PSJW-14PSModel nameFor two axes : For four axes : Pulse output moduleSharp Programmable ControllerNEWVersion 1.0Produced in February, 2004User,s

CONTENTS - 3Chapter 7 Direct operation •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 7-1 to 7-117-1 Explanation of direct operation

5 - 565F-032SETF-033RSTF-033RSTF-033RSTF-001BCD12023X-axis B write12223Y-axis B write12423Z-axis B write12623A-axis B write00Write completed relay0400

5 - 575F-008OCTF-008OCTF-008wOCT000BN0 counterAD buffer 1AD buffer 2BN0 counterAD buffer 1AD buffer 200100000009000090120901004001Axis data write SW04

5 - 585F-008OCTF-008OCTF-008wOCTFc012CMP000BN0 counterAD buffer 1AD buffer 2BN0 counterAD buffer 1AD buffer 200101000009000090120901004042Z-axis write

5 - 595Fc012CMP09000 062040430054000633F-032SET04033A-axis write completed040430055000637F-070FILEF-000XFERFc210wADD100BN0 counterA-axis BN0AD buffer

5 - 6055-10 Transfer of any X-axis block when top address of special I/O area is set to 1000The ladder program shown on pages 5-61 to 5-63 s

5 - 615Leading write area of file 1Final block No.When final block No. is written to 31X-axis BD write relayY-axis 12223Z-axis 12423A-axis 12623When X

5 - 625Read relayY-axis 12224Z-axis 12464A-axis 12624Final block No.When final block No. is set to 3110006BD REQ XFc210wADDF-032SET0900000010009000Fc0

5 - 635F-070FILE100X-axis read relayY-axis 12224Z-axis 12424A-axis 1262407357ZeroZero flagBD RDBU ZYBlock data read in progress (X-axis)Monitor block

6 - 16Chapter 6 Zero ReturnThis chapter describes zero return instructions and operation patterns during zero return by individualsettings.6-1 Zero r

6 - 26When instructing positioning using absolute values, you must perform a zero return first of all to confirm theorigin.(Note) When the present pos

CONTENTS - 49-5 Electronic gear setup methods and restrictions 9-7 [1] Restriction 1 when setting up the electronic gear 9-7 [2] Restriction 2

6 - 366-2 Example of operation by origin detection method(1) Stop by origin signal after origin proximity detection (value of parameter 1 address A+0

6 - 46(3) Origin count method 2 (value of parameter 1 address A+0003 set to "02")With this mode, the origin proximity signal and origin sign

6 - 56(5) Inversion at limit end, zero return operation at low speed, and stop at origin (value of

6 - 666-3 Operation patterns by origin detection methodThe following describes the operation patterns according to origin detection method and zero r

6 - 7602 • Origin count method 2CW limit endOrigin signalCCWStart StopCWCCWStartStopStopCWCCWStartCW03 • Origin proximity not usedOrigin proximity

6 - 8605 • Origin proximity signal and origin signal not usedFrom previous pageCW limit endOrigin signalCCWStartStopCWCCWStartStopStopCWCCWStart

6 - 962 : Limit end inversion OFF (inversion mode 2)00 • Stop by origin signal after origin proximity escapeOrigin proximity CW limit endOrigin

6 - 106Results in CW limit end errorCW limit endOrigin signalCCWStart StopCWCCWStartStopStopCWCCWStartCW03 • Origin proximity not usedStart StopCon

6 - 11605 • Origin proximity signal and origin signal not usedFrom previous page04 • The limit end signal is used instead of the origin proximit

6 - 1260: All inversion OFF00 • Stop by origin signal after origin proximity escapeOrigin proximity CW limit endOrigin signalCCWStart StopCWCCWS

CONTENTS - 511-8 Clear error 11-18 [1] Outline of function 11-18 [2] Operation relay assignment 11-18 [3] Parameter settings 11-18 [4]

6 - 136Start StopResults in a CW limit end error.Start StopResults in a CW limit end error.Results in a CW limit end error.Results in a CW limit end e

6 - 14605 • Origin proximity signal and origin signal not usedFrom previous page04 • The limit end signal is used instead of the origin proximit

6 - 1566-4 Zero return timing chart [1] When there is no origin compensation data When the origin proximity input signal is used When the origin

6 - 166 [2] When there is origin compensation data When the origin proximity input signal is usedOrigin proximity input signal10Positioning complete

6 - 176 [3] Immediate stop of zero returnZero return is canceled when the emergency stop signal (external input signal) is input duringexecution of

6 - 1866-5 Move originMove origin is used to return the axes to the origin position from any position. This is executed at theON rising edge of mov

6 - 196 [2] Timing chartThe following shows the timing chart when move origin on the X-axis is executed.Move origin(n+02011)10Busy flag(n+00002)10Pul

7 - 177-1 Explanation of direct operation[1] OutlineIn program operation, the step data programmed with the operation patterns must be transferred to

7 - 27 [3] Data setup procedure in direct operationThe following shows the procedure for performing direct operation on the X-axis. Set the displ

7 - 377-2 Setting data to be used for direct operationThe following describes the various axis data and special I/O data area used when executing dir

1 - 11Chapter 1 Features, System Configuration and Basic FunctionsThe JW-12PS/14PS (simply called "this module" from here on) is the pulse o

7 - 477-3 Basic operation of direct operationWhenever there is a startup, the required operation data is set to special I/O data area to executeposit

7 - 57[2] Speed control operationSpeed control operation is executed when direct operation is started up with the "Position control/speedcontrol

7 - 677-4 Nested startups in direct operationWhen new operation data is set to special I/O data area and position control operation is executed witho

7 - 77 (3) Basic timing chart 3 (in case of nested startups in the same direction with incremental values)In the following operation, the final positi

7 - 877-5 Direct operation sample programThe following shows an example of direct operation on the X-axis using the settings below.These parameters m

7 - 97F-47ONLSF-47ONLSF-48ONLRF-48ONLR07366F-000dXFER49000F-000dXFER49020F-000dXFER49040F-000dXFER4906007366F-000dXFER49200F-000dXFER49220F-000dXFER49

7 - 107 (3) Assignment of special I/O data area • Input section (N+0000 to 0177)I/O Input (PC←PS)490044900549006490074901049011490124901349014490

7 - 117I/OOutput(PC→PS)4920449205492064920749210492114921249213492144921549216492244922549226492274923049231492324923349234492354923649244492454924649

8 - 188-1 OutlineIn program operation, step data (position data, speed data, etc.) is transferred in advance to thismodule, and positioning is perfor

8 - 28This module performs positioning by step data (speed data No., acceleration time data No.,deceleration time data No., dwell timer data No.) that

1 - 211-2 Basic functions and general outlineThe following shows the basic functions of this module.PositionPositionDeceleration time data No.Target s

8 - 38 [2] Axis designation and flagsThere are two types of status and present position that are assigned to input relays: those that areinput to

8 - 48 • When the instruction (e.g. zero return) other than program operation is the same axis as thestartup execution axis in program operation, the

8 - 588-2 Setting the data to be used in program operationThe following describes the various axis parameters and operation relays that are used when

8 - 68 [2] Operation relay Assignment of special I/O data area • "****" in N+**** indicates the numerical value of the address. • When

8 - 788-3 Operation in program operationPositioning can be performed as follows according to step data settings.[1] Startup of program operationThere

8 - 88 (2) In continuous operation (operation pattern 1, jump destination 00)Position is executed by the settings of this step data, program executi

8 - 98 (4) Speed control (operation pattern 3)Pulse output is maintained at the target speed in this step data. The present position is alsocalculat

8 - 108 [3] Linear interpolationLinear interpolation can be performed on two or more specified axes. The desired axis on whichlinear interpolation

8 - 1188-4 Data setup procedure in program operationThe following shows the procedure for performing program operation on the X-axis. Save the block

8 - 128TimeSpeedPulse outputStep No.10Step No.11Step No.20Step No.21Step No.(N+0203)Step No. enable(n+02002)Startup(n+02000)10Step No.(N+0011)10 11 12

1 - 31There are three positioning control modes "single-step positioning," "automatic positioning" and"continuous positioning

8 - 138[3] Timing chart of startup by single-step operationStartup by single-step operation is used to cause a stop at each step data.Startup by singl

8 - 148 [4] Startup timing chartFor startup, operation following the operation pattern of each step data is executed from anydesired step No.When

8 - 1588-6 Example of programThe following shows an example of a ladder program for starting up the X-axis program data (step No.2)when the top addre

8 - 168[1] Step data when performing program operation on X-axis Program operation step data (For details, ⇒see page 5-7.)The following shows the timi

8 - 178 Timing chart when operation is performed on one axis at a time started up by X-axisTimeSpeedX-axisStep No. enable(05202)Program operation star

8 - 188[2] Step data when performing program operation on Y-axisY-axis step dataStep No.22(BCD)22(BCD)10(BCD)01(BCD)02(BCD)05(BCD)05(BCD)3(BCD)1(BCD)

8 - 198 Timing chart when interpolation is performed on two axes after the X-axis that started up by the Y-axis operates in program operationTimeS

9 - 19This module captures information from the encoder using a high-speed counter, and performs threeoperations (operation modes 0, 1 and 2) using th

9 - 29Stepping driverJW-12PSEncoder (PG) [2] Mode 1In this mode, errors are monitored according to the feedback data. An error is judged to stopo

9 - 39Allowable deviation during operation ±500Allowable deviation at end of operation ±500Deviation 0 [3] Mode 2This mode is for performing posit

1 - 41[3] Other functions(1) Zero returnThis function determines the origin of a specified axis.(2) Jog operationThis function is the operation of sta

9 - 499-3 Table of setting values and operationsThe following describes the values of various parameters and operations according to the externalposi

9 - 599-4 Mode setup methods[1] Mode 0 Stepping/servo motor system (both) Wire the encoder. Set the count direction for encoder input at parameter 2

9 - 69Cautions when closed loop control 2 is used[3] Mode 2(1) Stepping motor system Wire the encoder. Set the count direction for encoder input at pa

9 - 799-5 Electronic gear setup methods and restrictionsNormally, all coordinate-related data of JW-12PS/14PS is managed in pulses. However, whenelec

9 - 89 [2] Restriction 2 when setting up the electronic gearAll speed system data shown below is subject to the restriction in the following equat

9 - 99(2) Electronic gear 2 M2 coefficient (encoder value)This value is the number of pulses that are returned from the encoder (PG) when the shaft th

10 - 110Chapter 10 Absolute SystemAn absolute system can be configured on this module by using servo driver systems made by specificmanufacturers. In

10 - 210 [3] Absolute system setup procedure Wire connector CN1 for tool connection and the driver communications connector for this module.

10 - 310 Wiring between this module and driver (X-/Y-/Z-/A-axes)TXD/TXDRXD/RXDGNDFGTD+TD-SG110961112871TD+TD-SG871TD+TD-SG871TD+TD-SG871JW-12PS/14PSCo

10 - 410 Connection between driver, power supply and motor (absolute encoder made by Nikon)rtERSTRB1RB2UVWErtRST1234567891011121234A+A-B+B-Z+Z-SD+SD-C

1 - 51(8) Deceleration stopThis function causes operation to decelerate and come to a stop according to the deceleration stopinstruction.TimePulse out

10 - 510 [4] Reading absolute valuesOn this system, the absolute value is automatically read to the driver from this module when themodule is pow

10 - 610 [5] Matching the mechanical origin on an absolute systemThe origin on an absolute system becomes the origin of the absolute value encode

11 - 11111-1 Jog operationThe following describes the various data and operations when jog operation is performed. [1] Outline of functionOperati

11 - 211Target speedDecelerationAccelerationSpeedStartup speedJOG+Pulse outputBusy flag(n+02006)(n+00002)n is the top address (in relay units) of the

11 - 31111-2 TeachingThe following describes data and operations when teaching is performed. [1] Outline of teaching functionThe present position

11 - 411 [3] Assignment of operation relay and operation data settings [4] Timing chartThe following shows the timing chart when teaching is per

11 - 51111-3 Interrupt jog feedThe following describes the various data and operations when interrupt jog feed is performed.To use the interrupt jog

11 - 611 (2) Program operation step dataThe following typical example of speed control describes program operation when operation isstarted up by

11 - 711 [3] Startup by direct operationOperation starts up by speed control startup in direct operation, and program execution stands by foran int

11 - 811 [5] Assignment of operation parameter and operation I/O data setting Assignment of special I/O data area Parameter 1 (regular parameter)Se

1 - 611-3 Principle of operation of control systems, simple design of a positioning system [1] Principle of operation of control systemsThis module

11 - 91111-4 Forced intervention startupThe forced intervention startup instruction is enabled only in program operation. It is used, forexample, to

11 - 1011 [4] Timing chartThe following describes the timing chart when the operation pattern of each step data is set asfollows with the X-axis as

11 - 111111-5 Deceleration stopThe currently started up axis is made to decelerate and then comes to a stop. [1] Outline of functionThis function

11 - 1211 [3] Deceleration stop during positioning (1) Deceleration stop during positioning by absolute valueWhen program execution is stopped

11 - 1311 (3) Deceleration stop at linear interpolation operationDeceleration stop at linear interpolation is executed by the rising edge of dece

11 - 1411 [4] Timing chartThe following shows the timing chart when the currently started up X-axis is decelerated and stoppedby direct operation.T

11 - 151111-6 Change present positionChange the present position to any value. [1] Outline of functionThe value set to the operation data area is

11 - 161111-7 OverrideOverride is used to change the speed of axis startup. [1] Outline of functionWhile override enable is ON, the override set

11 - 1711 [3] Timing chartThe following shows the timing chart for when the target speed is changed by the override while jogoperation is being exe

11 - 181111-8 Clear error [1] Outline of functionWhen the following inputs turn ON on this module, pulse output is interrupted and pulses are not

1 - 71NmPVStepping motor Reduction gear ratioTableGear BGear AFeed screw pitch[2] Simple design of a positioning system (method of converting position

11 - 1911 [4] Timing chartThe following shows the timing chart when the emergency stop input signal turns ON duringexecution of direct operation on

11 - 201111-9 Clear deviation outputClear deviation output (CN2/3 pin Nos.6 and 18) turns ON for about 20 ms according to the changein state of the

11 - 211111-10 Backlash compensation [1] Outline of function"Backlash" is the gear meshing error that occurs between the drive shaft

11 - 2211 [4] Backlash compensation at linear interpolationBacklash compensation can be set to operate on individual axes during linear interpola

11 - 231111-11 General-purpose inputThe general-purpose input signal is captured directly on this module, and sets its operation modeto parameters.

11 - 241111-12 General-purpose outputThe general-purpose output signal is captured directly on this module, and sets the operationmode to parameters

12 - 112 6 Set parameter 1 (2) to the PLC. 5 I/O registration 3 Wire the module. 2 Install this module.Chapter 12 Trial OperationTrial operati

12 - 21211 Perform jog operation.Perform jog operation to test if the jog speed is appropriate. • For details on the jog operation method, see "

13 - 113Chapter 13 Troubleshooting13-1 Checks to perform when an error occurs and how torecover from an errorPerform the following to recover from err

13 - 213Signal input24 V power errorEmergency stop errorClosed loop control mode selection (parameter 2 address 0000)Closed loop control mode selectio

• Every effort has been made in the preparation of this document. Should you have any ques-tions or inquiries, please feel free to contact your dealer

1 - 81 ExampleThe data to set to this module is as follows when positioning is performed at a set speed of 5000(mm/s) and set coordinates 20000 (mm).&

13 - 313Though there is no difference in control during regular operation, operation of this module differsduring zero return caused by an emergency s

13 - 413 (2) When an incremental type driver and encoder feedback are usedWhen powered ON, this module clears the present value to "0" (z

13 - 513The order of priority when an error occurs is as follows: X-axis, Y-axis, Z-axis and A-axis. When allerrors on the X-axis are cancelled, error

13 - 613Error codeDetection timingError itemContent/cause of error Operation state at errorRemedy015Eliminate the error on the driver, reset the drive

13 - 713Error code030 At all timesDetection timingError itemContent/cause of error Operation state at errorRemedyThe axis arrived at the CW limit end

13 - 813035 At startupThe step data or step No. is not contained in the data at program operation startup.An error is output and operation is not star

13 - 9132**At data transferThe value of parameter 1 has exceeded the setting range.The problem location (address) in the parameter is the location mar

13 - 101372*At data transferThe value of the M output data has exceeded the setting range.The problem location (M output No.) in the deceleration data

A - 1A Time lag in sinusoidal acceleration/decelerationWhen the sinusoidal acceleration/deceleration speed is set, pay attention as a time lagsuch as

A - 2AAppendix 2 Way of thinking behind interpolation and maximum speed ofeach axisWhen two axes have been started up in direct operation using interp

1 - 91(2) Rotary operationThe following describes rotary operation by positioning such as below a stepping motor. : Angle of rotation per pulse (angle

A - 3AAppendix 3 Way of thinking behind acceleration/acceleration timeThe acceleration time is the time from speed 0 up to when reference speed (param

A - 4AAppendix 4 Ladder programming of various operationsThe following pages show an example of a ladder program (simply called "ladderexample&qu

A - 5A Selection of program operation continuous/single-step startupWhen 6040 is OFF, continuous operation is started up when program operation is sta

A - 6A06000 12006JOG+06001 12007JOG-06010 12010Zero return06011 12011Move origin12020TeachingF-001BCD05TU position No.TU position No.06005 F-044↑12012

A - 7A12002Step No. enabled12000Program operation startupProgram operation startupF-001BCD03Step No.Program operation step No.06041 F-044 10003 10002B

A - 8A12021Write interrupt output positionRegister interrupt output position dataRegister interrupt output position dataF-091BCD82000 600006060 F-044↑

A - 9AAppendix 5 Table of block data for each axis applied to file 1 with sample ladderprogram usedWhen setting the various block data to file 1, refe

A - 10ABlock No.Byte address Default Signal name Data format Remarks0320 to 03230324 to 03270330 to 03330334 to 03370340 to 03430344 to 03470350 to 03

A - 11ABlock No.Byte address Default Signal name Data format Remarks1000 to 10031004 to 10071010 to 10131014 to 10171020 to 10231024 to 10271030 to 10

A - 12ABlock No.Byte address Default Signal name Data format Remarks1464 to 14671470 to 14731474 to 14771500 to 15031504 to 15071510 to 15131514 to 15

1 - 101 ExampleThe data to set to this module is as follows when rotation is performed at a shaft rotary speed of 20(rps) and number of shaft rotation

A - 13A2400 to 24072410 to 24172420 to 24272430 to 24372440 to 24472450 to 24572460 to 24672470 to 24772500 to 25072510 to 25172520 to 25272530 to 253

A - 14ABit0″ 1″ 2″ 3″ 4″ 5″ 6″ 7Bit0″ 1″ 20000000000000001000000000-99999999999999000003000000990000000111100000000000000000000000000Selectio

A - 15A4340 to 43434344 to 43474350 to 43534354 to 43574360 to 43634364 to 43674370 to 43734374 to 43774400 to 44014402 to 44034404 to 44054406 to 440

A - 16A5000 to 50035004 to 50075010 to 50135014 to 50175020 to 50235024 to 50275030 to 50335034 to 50375040 to 50435044 to 50475050 to 50535054 to 505

A - 17A5464 to 54675470 to 54735474 to 54775500 to 55035504 to 55075510 to 55135514 to 55175520 to 55235524 to 55275530 to 55335534 to 55375540 to 554

A - 18A6400 to 64076410 to 64176420 to 64276430 to 64376440 to 64476450 to 64576460 to 64676470 to 64776500 to 65076510 to 65176520 to 65276530 to 653

A - 19ABit0″ 1″ 2″ 3″ 4″ 5″ 6″ 7Bit0″ 1″ 20000000000000001000000000-9999999999999900000300000099000000011110000000000000000000000000

A - 20A10340 to 1034310344 to 1034710350 to 1035310354 to 1035710360 to 1036310364 to 1036710370 to 1037310374 to 1037710400 to 1040110402 to 10403104

A - 21A11000 to 1100311004 to 1100711010 to 1101311014 to 1101711020 to 1102311024 to 1102711030 to 1103311034 to 1103711040 to 1104311044 to 11047110

A - 22A11464 to 1146711470 to 1147311474 to 1147711500 to 1150311504 to 1150711510 to 1151311514 to 1151711520 to 1152311524 to 1152711530 to 11533115

1 - 1111-4 Procedure up to start of operation(Note 1) Regarding functions that do not operation unless origin is confirmed, be sure to perform a zero

A - 23A12400 to 1240712410 to 1241712420 to 1242712430 to 1243712440 to 1244712450 to 1245712460 to 1246712470 to 1247712500 to 1250712510 to 12517125

A - 24A[4] For A-axisBit0″ 1″ 2″ 3″ 4″ 5″ 6″ 7Bit0″ 1″ 20000000000000001000000000-99999999999999000003000000990000000111100000000000

A - 25A14340 to 1434314344 to 1434714350 to 1435314354 to 1435714360 to 1436314364 to 1436714370 to 1437314374 to 1437714400 to 1440114402 to 14403144

A - 26A15000 to 1500315004 to 1500715010 to 1501315014 to 1501715020 to 1502315024 to 1502715030 to 1503315034 to 1503715040 to 1504315044 to 15047150

A - 27A15464 to 1546715470 to 1547315474 to 1547715500 to 1550315504 to 1550715510 to 1551315514 to 1551715520 to 1552315524 to 1552715530 to 15533155

A - 28A16400 to 1640716410 to 1641716420 to 1642716430 to 1643716440 to 1644716450 to 1645716460 to 1646716470 to 1647716500 to 1650716510 to 16517165

2 - 12Chapter 2 Specifications[1] General specifications-20 to 70°C0 to 55°C35 to 90%RH (condensation not allowed)JIS C0911 compliant• Peak-to-peak am

2 - 22[2] Functional specifications(1) Performance specificationsItemJW50H/70H/100H SeriesI/O relays: 2 bytes, data registers: 256 bytes (special I/O

2 - 32From previous pageItem Specifications (JW-12PS/14PS)Settable within range -9999999 to +9999999 pulses8 outputs/axis (output to external relay)1

2 - 42(4) Output specifications(5) External 24 V power input specifications(6) Communications port (communications between support tool and specified

3 - 13Chapter 3 Names and Functions of PartsDisplays the point No., axis operating state and other information using the segment LED (three digits) an

3 - 23 [1] Display panelThe operation status of this module is indicated by the state (lit, out, blinking) of LEDs on the displaypanel.JW-14PSXYZACW

Sefety - 1Safety PrecautionsRead this user's manual and the attached documents carefully before installing, operating, or performing any maintena

3 - 33 (2) Segment display (3 digits)The data No., error code, etc. are indicated in each operation mode.3rd digit 2nd digit 1st digitRegular ope

3 - 43 [2] Switches (MODE, INITIAL)MODERotary switch 0 to 9 (4 bits)INITIALPush switchName Type Description of functionsSets the operation mode:0: Re

4 - 14Chapter 4 Installation and Connection4-1 Installing this module Insert the connector for this module into the module connector on the rack pan

4 - 244-2 Connecting connectors to this moduleThe following describes how to connect the CN1 connector for tool connection, CN2 connector for X-/Y-a

4 - 34(1) Exclusive cable wiring diagramPersonal computer side (JW-100SA side)Pin No.Signal NameRemarks34568910111314152421617181920172122231225TXDNCN

4 - 44 [2] Connection of connectors CN2/CN3 for axesThe following shows the model names and signal arrangements of the X-/Y-axis connector CN2 and

4 - 54(2) Signal arrangement of connectors CN2/CN3 for axes24 V power input (+) 24 V power input (+) CW pulse output: differential output +[line drive

4 - 644-3 Connecting (wiring) to external devices[1] to [8] show the wiring between this module and external equipment. Pay attention to the followi

4 - 743.9kΩ3.9kΩ3.9kΩ3.9kΩ3.9kΩ3.9kΩ3.9kΩ150ΩX,11(Y,23)Encoder A phase input (+)1,2(X, Y common)24 VDC(+) input+-26,27(X, Y common)JW-12PS(JW-14PS)Con

4 - 84+-24 VDC power supplyA phase signal outputB phase signal outputZ phase signal outputEncoder installed on drive shaftEncoder A phase output (+)En

Sefety - 2• Take special care to follow all safety guidelines if you are changing the parameters for the operating conditions or performing a "

4 - 94+-24 VDC power supply3.9kΩ3.9kΩ3.9kΩ3.9kΩ3.9kΩ3.9kΩ3.9kΩ150ΩX,11(Y,23)Encoder A phase input (+)1,2(X, Y common)24 VDC (+) input26,27(X, Y common

4 - 104+-24 VDC power supply3.9kΩ3.9kΩ3.9kΩ3.9kΩ3.9kΩ3.9kΩ3.9kΩ150ΩX,11(Y,23)Encoder A phase input (+)1,2(X, Y common)24 VDC (+) input26,27(X, Y commo

4 - 114[5] Wiring of the input sectionUse a switch, for example, having a switching capacity of 5 mA or more for each input. Connect apower supply t

4 - 124X (Z) axis pin 5Y (A) axis pin 1726,27(common to X, Y, Z, A axes)CW open collector pulse output(24V (-) input is common.)24 VDC (-) input(COM f

4 - 134750Ω150ΩX (Z) axis pin 13Y (A) axis pin 25Encoder Z phase input (+)2.2kΩEncoder Z phase input (-)Encoder Z phase output (+)AM26LS31 or equivale

5 - 155-1 Data transfer between this module and the JW50H/70H/100H control module256-byte special I/O data area is used for transferring data betwe

5 - 25 Outline of data exchangeControl module sideData memoryBlock dataJW-14PS (JW-12PS) sideCommon RAM (32 Kbytes)Output relays(16 bytes/axis)Total 6

5 - 35[1] Refresh area(1) Refresh area 1: I/O relay area (2 bytes)(2) Refresh area 2: Special I/O data area (256 bytes)Address Description1st byte2nd

5 - 45 [2] Block dataThe block data for each axis is comprised as shown in the following table in 64-byte units. (Theblock data must be set indepe

5 - 55The following shows the formats for each of the data items. (Setting data is annotated entirely in BCD.)(1) M output range data (0 to 7)Setting

Precautions - 1Precautions during UsePay attention to the following precautions during use of this module (1) Installation site/storageAvoid installin

5 - 65(4) Speed data (No.01 to 64)Setting range: 0 to 500000 (0 to 500 kpps) in 1-pps incrementsAddress71011031051001021046543210BitG+0000G+0001G+0002

5 - 75(6) Program operation step data (No.01 to 99)Address7Axis designation (4=X-axis, 5=X-axis, 6=X-axis, 7=X-axis)Acceleration time No. (0 to 8) *0

5 - 85 Operation patterns and jump destinations in program operationFour settings are provided for the operation patterns (described on the previous p

5 - 95 About startup axis in program operation, and interpolation operation StartupThis module can simultaneously start single-step operation of each

5 - 1055-2 Operation data areaThis section describes the assignments and functions of refresh area 2 (pages 5-2 and 5-3). [1] Assignment of speci

第６章5 - 115 (2) Output section (N+0200 to 0377)I/OOutput(PC→PS)0200 0220 0240 02600201 0221 0241 02610202 0222 0242 0262020302040205020602070210021

5 - 125[2] Description of functions(1) Input section (PC←←←←←PS) to correspond to the numbers on pages 5-10 and 5-11. Operation ready (U.R.)This inp

第６章5 - 135 Error flagThis flag turns ON when an error occurs. At the same time, an error code is output to the "Errorcode" register and is i

5 - 145(2) Output section (PC→→→→→PS) to correspond to the number on page 5-11. Start 1Program operation is started by this relay changing state fro

第６章5 - 155 Deceleration stopA deceleration stop is executed by this relay changing state from OFF to ON. • In program operation, the "Deceleratio

Precautions - 2(6) Static electricityIn abnormally dry locations, excessive amounts of static electricity may be generated on the humanbody. To preven

5 - 165 Block data readWhen this relay is ON, the 64-byte block data in this module is read to the "Data storage area atblock data read" reg

第６章5 - 175 Speed instruction value (100 101) to Speed instruction value (104 105)Set the target speed to these registers during "Direct operati

5 - 1855-3 Parameters[1] Parameter assignments(1) Parameter 1 (regular parameters: must be set independently on each axis)This parameter must

5 - 195Address ByteDefaultFunctionDetailsNo.Page1Bits 0 to 3000Acceleration/deceleration curve (00 to 99%)Jog operation mode4 to 7 0Operation at softw

5 - 205[2] Parameter setup procedure(1) Setup procedure for regular control parameters (when module is used in an open loop) Set all functions to be u

5 - 215[3] Details of parameters 1/2(1) Details of parameter 1 to correspond to numbers on pages 5-18 and 5-19. Parameter 1 - address 0000 - bit 0 (

5 - 225 Parameter 1 - address 0003 (default 00 (BCD))Sets the origin detection method in BCD. When "00" is set, an immediate stop at the ori

5 - 235 Parameter 1 - addresses 0044 to 0047 (default -9999999 (BCD))This is the software limit value on the CCW side. The setting range is -9999999 t

5 - 245 Setting details of parameter 1 - address 0000 - bit 0Sets the pulse output type according to the driver specifications. • When set to "0&

5 - 255(2) Details of parameter 2 to correspond to numbers on page 5-18. Parameter 2 - address 0000 (default 0 (OFF))Selects the closed loop control

Chapter 1 Features, System Configuration and Basic Functions Chapter 2 Specifications Chapter 3 Names and Functions of Parts Chapt

5 - 2655-4 How to transfer to the relay areaThis module is a special I/O module. However, it differs from regular special I/O modules in thatautoma

5 - 275 Brief outline of data transferThe following shows a brief outline of data transfer that must be handled in relay units in the special I/O data

5 - 285[1] Special I/O data area assignments(1) Assignment of special I/O data area when top address is set to 49000 by optional I/O registration(I/O

5 - 295• Output section (N+0200 to 0377)I/OOutput (PC→PS)49200 49220 49240 4926049201 49221 49241 4926149202 49222 49242 49262492034920449205492064920

5 - 305(2) Assignment of special I/O data area after transfer by sample ladder 1 (page 5 - 32) (I/O assignment after transfer of a on page 5 - 27

5 - 315I/OOutput (PC→PS) 0520 0524 0530 0534 0521 0525 0531 0535 0522 0526 0532 0536 052349204492054920

5 - 325 Sample ladder program 1This ladder program transfers part of special I/O data area to relay area.F-000dXFERF-000dXFERF-000dXFERF-000dXFERF-047

5 - 3355-5 How to block-transfer any single block of dataThe following describes a method of reading any single block of data to block data storage a

5 - 345[Details of data flow] Read X-axis parameter 1 (block data No.00) from PS side. Transfer read data to write storage area. Write write data to P

5 - 355F-000dXFERF-000dXFERF-000dXFERF-000dXFERF-047ONLS49000X-axis data 1 X-axis bit 1Y-axis data 1 Y-axis bit 1Z-axis data 1 Z-axis bit 1A-axis data

CONTENTS - 1ContentsChapter 1 Features, System Configuration and Basic Functions •••••••••••• 1-1 to 1-111-1 Features, basic system configuration 1-

5 - 365F-000dXFERF-000dXFERF-000dXFERF-000dXFERF-047ONLS0520X-axis bit 2 X-axis data 2Y-axis bit 2 Y-axis data 2Z-axis bit 2 Z-axis data 2A-axis bit 2

5 - 3755-6 Data read/write ladders in block transfer [1] OutlineVarious data is transferred in 64-byte size blocks to transfer (read/write) dat

5 - 385 Brief description of reading by the sample ladder programPC side data memoryBlock dataJW-12PS/14PS sideInput relays (16 bytes/axis)Total 64 by

5 - 395 [2] BD.REQ signalThe following explains operation of the BD.REQ signal which is handy when used for reading/writing of block data.Normall

5 - 405F-000dXFERF-000dXFERF-000dXFERF-000dXFERF-047ONLS49000X-axis data 1X-axis bit 1Y-axis data 1Y-axis bit 1Z-axis data 1Z-axis bit 1A-axis data 1A

5 - 41505224X-axis B read05264Y-axis B read05324Z-axis B read05364A-axis B read04000Axis data read SWX-axis block data read No. is set to 0.Data for X

5 - 425Read block data is transferred to file 1.1 is added to block data read No.Number of data reads is counted.32 reads are completed. F-070FILEF-06

5 - 435F-044F-044F-044F-044F-045F-032SETF-033RSTF-033RSTF-033RSTF-032SETF-033RSTF-033RSTF-033RSTF-032SETF-033RSTF-033RSTF-033RSTF-032SETF-033RSTF-033R

5 - 445F-008OCTF-008OCTF-008wOCTFc012CMP000BN0 counterAD buffer 1AD buffer 2BN0 counterAD buffer 1AD buffer 2BN0 counterAD buffer 1AD buffer 2BN0 coun

5 - 455↑Fc012CMP09000 062040410051000574F-032SET04031Y-axis write completed04041005200060004002Data save SW05225Data save (flash ROM)0059000662F-044F-

CONTENTS - 2Chapter 5 Data Transfer ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••5-1 to 5-635-1 Data transfer between this module

5 - 4655-8 Transfer of any X-axis block when top address of special I/O area is set to 49000The ladder program shown on pages 5-47 to 5-49 sh

5 - 475F-000dXFERF-000dXFERF-000dXFERF-000dXFERF-047ONLS49000X-axis bit 1Y-axis bit 1Z-axis bit 1A-axis bit 1490204904049060Leading write area of file

5 - 485F-012CMP49205 09010X-axis final block No. comparisonY-axis 49225Z-axis 49245A-axis 49265X-axis BD write relayY-axis 5263Z-axis 5323A-axis 5363X

5 - 495F-070FILE100 49100X-axis monitor block No.Y-axis 49037Z-axis 49057A-axis 49077X-axis read relayY-axis 5264Z-axis 5324A-axis 5364Transfer of out

5 - 5055-9 Ladder programs for block transfer of any block of data and transfer of all block dataPages 5-53 to 5-59 show the following ladder

5 - 515 [1] Assignment of special I/O data area when top address is set to 1000 by optional I/O registration on JW-14PS• Input section

5 - 525 • Output section (N+0200 to 0377)I/OOutput(PC→PS)0123456701234567012345670 to 70 to 70 to 70 to 70 to 70 to 70 to 70 to 70 to 70 to 70 to 70 t

5 - 535 [2] Sample ladder program 4Ladder for transferring any block of data on JW-14PSF-040ENDX-axis block data readX-axis block data input area→

5 - 545 [3] Sample ladder program 5Sample ladder for batch-transferring all axes, all block data on JW-14PS04000 all axes read switchX-axis 32 blo

5 - 555F-008OCTF-008OCTF-008wOCT000X-axis BDN0AD buffer 1AD buffer 2001000000090120901004000 04022Z-axis read auxiliaryZ-axis B read124240008000077040