SM

Maximum Value for OEMs

NX70/700 Position
(NX70-POSI2/POSI4,
NX-POSI1/POSI2/POSI3/POSI4)

User Manual
Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Because of these differences, and also because
of the wide variety of uses for solid state equipment, all persons responsible
for applying this equipment must satisfy themselves that each intended
application of this equipment is acceptable.
In no event will OE MAX Controls be responsible or liable for indirect or
consequential damages resulting from the use or application of this
equipment.
The examples and diagrams in this manual are included solely for illustrative
purposes. Because of the many variables and requirements associated with
any particular installation, OE MAX Controls cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by OE MAX Controls with respect to use of
information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without
written permission of OE MAX Controls is prohibited.
Throughout this manual, when necessary we use notes to make you aware of
safety considerations.

WARNING Identifies information about practices or circumstances

which may lead to serious personal injury or death, property
damage, or economic loss.

Identifies information that is critical for successful

IMPORTANT
application and understanding of the product.

ATTENTION Identifies information about practices or circumstances that

can lead to minor personal injury, property damage,
economic loss, or product malfunction. However, depending
on the situation, failure to follow the directions
accompanying this symbol may also lead to serious
consequences.
 Contents
1. Positioning Unit Specifications
Performance Specifications ....................................................................................... 5
Buffer Memory .......................................................................................................... 7
I/O points List .......................................................................................................... 10

2. Functions of Unit and Restrictions on Combination

Functions of NX700 Positioning Unit ..................................................................... 13
Unit Functioning and Operation Overview.............................................................. 16
Restrictions on Units Combination .......................................................................... 19

3. Parts and Specifications

Parts and Specifications ........................................................................................... 21
Input /Output Specifications and Output terminal Layout....................................... 25
Supplying Power for Internal Circuit Drive............................................................. 28
Connection of Pulse Command Output Signal ........................................................ 29
Connection of Deviation Counter Clear Output Signal (for servo motor) ...................... 31
Connection of Home Input/Near Home Input Signals............................................. 32
Connection of Pulse Input ....................................................................................... 34
Precausions on Wiring ............................................................................................. 35

4. Confirming the Unit Settings and Design Contents

Operation mode setting switch................................................................................. 37
Confirming the Slot Number and I/O Number Allocations..................................... 41
Increment and Absolute ........................................................................................... 46
Selection of Acceleration / Deceleration Method .................................................... 48
Internal Absolute Counter........................................................................................ 50

5. Power ON and OFF, and Booting the System

Safety Circuit Design ............................................................................................... 53
Before Turning ON the Power ................................................................................. 54
Procedure for Turning ON the Power ...................................................................... 56
Confirming while the Power is ON ......................................................................... 58

6. Automatic Acceleration/Deceleration
(E Point Control: Single - Speed Acceleration/
Deceleration)
Sample Program....................................................................................................... 63
Flow of E Point Control Operation .......................................................................... 72
Operation of the Input and Output Before and After E Point Control
.................................................................................................................................. 74

7. Automatic Acceleration/Deceleration Control

(P Point Control: Multi - Stage Acceleration/
Deceleration)
Sample Program....................................................................................................... 75
Flow of P Point Control Operation .......................................................................... 83

3
 Operation of the Input and Output Flag Before and After P Point Control .................... 87
Precautions When Creating P Point Control Programs ........................................... 89

8. JOG Operation
Sample Program....................................................................................................... 91
Sequence Flow for JOG Operation .......................................................................... 97
Changing the Speed During JOG Operation ......................................................... 100
Teaching Following JOG Operation ...................................................................... 103
Action of the I/O Flag Before and After JOG Operation....................................... 106
Cautions for changing speed during JOG operation .............................................. 107

9. Home Return
Sample Program..................................................................................................... 109
Flow of Operation Following a Home Return ....................................................... 116
Action of the I/O Flag Before and After a Home Return Operation
................................................................................................................................ 121
Checking the Home and Near Home Input Logic ................................................. 124
Practical Use for a Home Return ........................................................................... 125
Home Return .......................................................................................................... 128

10. Pulser (MPG) Input Operation

Sample Program..................................................................................................... 131
Sequence Flow for Pulser input operation ............................................................. 137
Action of the I/O Flag During Pulser Input Operation .......................................... 141
Types of Manual Pulse Generators That Can be Used .......................................... 142

11. Deceleration Stop and Forced Stop

Sample Program..................................................................................................... 143
Operations for a Deceleration Stop and Forced Stop............................................. 147
I/O Flag Operation Before and After a Stop .......................................................... 149
Precautions Concerning Stopping Operations ....................................................... 151

12. Precautions Concerning the operation and Programs

Precautions Relating to Basic Operations of the Unit ........................................... 153
Precautions Concerning Practical Usage Methods ................................................ 157

13. Operation if an Error Occurs

Positioning Unit Operation if an Error Occurs ...................................................... 159
Errors Which Occur in the Positioning Unit Itself................................................. 161
Resolving Problems ............................................................................................... 163

14. Dimensions and Driver Wiring

Motor Drive Connection Diagram ......................................................................... 172
Wiring for Motor Driver ........................................................................................ 175
NX700 PLC External Dimensions......................................................................... 180

15. Sample Program

Sample Program..................................................................................................... 183

Glossary

4
 1
Positioning Unit Specifications

Performance Specifications
General Specifications
Item Specification
Operating
Ambient 0 to 55°C
temperature
temperature
Storage temperature -25 to 70°C
Ambient Operating humidity 30 to 85% RH (no dewing)
humidity Storage humidity 30 to 85% RH (no dewing)
Between external connector pins and GND: AC 500V
for 1 minute
Voltage resistance
(exception: F.E connectors). F.E connectors use
shielded wires.
Between external connector pins and GND: 100MΩ
Insulation resistance or higher (DC 500V). (exception: F.E connectors). F.E
connectors use shielded wires.
10 to 55Hz 1 sweep/min, Amplitude: 0.75mm (10
Vibration resistance
minutes for each X, Y or Z axis)
98 m/s2 or better, 4 times for each 3 direction
Shock resistance
(X, Y, Z)
1500 Vp-p Pulse width: 50ns, 1µs (Using noise
Noise resistance
simulator method)
The operating environment shall not contain
Operating environment
corrosive gas or large amounts of dust

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

*1. As you can see in the figure below, E point control and P point control indicate Acceleration/
Deceleration controls respectively.
*2. If you select Linear Acceleration/Deceleration operation, you can modify Target Speed during
operation.
*3. Supply power from Positioning module's external connector.

6
 Buffer Memory
Buffer Memory Address Setting necessary / not necessary
(Hexadecimal number) ( ○ necessary x not necessary)
Name Content JOG Home Pulse
Axis Axis Axis Axis E point P point
operati Positio Opera
1 2 3 4 control control
on n tion
100h 110h 120h 130h Acceleration/Deceleration
method(Linear, S-pattern)
Control control
Code method(Incremental, ○ ○ ○ ○ ○
101h 11h 121h 131h
Absolute) Home Return
and logic Pulse
102h 112h 122h 132h
Starting Starting speed setting ○
Only
speed setting range ○ first ○ ○ x
103h 113h 123h 133h fs[pps] 0to+1,000,000[pps]
stage
104h 114h 124h 134h Target Target Speed setting
Speed setting range ○ ○ ○ ○ ○
105h 115h 125h 135h ft[pps] 1to+1,000,000[pps]
106h 116h 126h 136h Acceleration
/ Acceleration/Deceleration
Deceleration Time setting range 0 to ○ ○ ○ ○ x
107h 117h 127h 137h Time +32,767[ms]
Ac[pulse]
108h 118h 128h 138h Position
Position Instruction value
Instruction
setting signed 32bit - ○ ○ x x x
109h 119h 129h 139h value
2,147,483,648to
Pt[pulse]
10Ah 11Ah 12Ah 13Ah Elapsed pulse count
Elapsed
(Absolute) signed 32bit -
pulse U U U U U
10Bh 11Bh 12Bh 13Bh 2,147,483,648to
Pe[pulse]
+2,417,483,647[Pulse]
10Ch 11Ch 12Ch 13Ch Number of Comparing Pulse setting
comparing signed 32bit -
U U U U U
10Dh 11Dh 12Dh 13Dh pulses 2,147,483,648 to
Pc[pulse] +2,417,483,647[Pulse]

1. Buffer Memory area is commonly used for E point control, P point

CAUTIONS control, JOG operation, home return, pulse generator, or input
operation, so care should be taken not to overwrite the memory
area with other simultaneously.
2. For the first speed of E POINT control and P POINT control, JOG
operation, and home return, target speed should be greater than
starting speed.
3. Symbol U will be read or input as necessary.

7
 Control Codes
E-point control / P-point control

Control Control method Control Control method

Code Acceleration/Deceleration Codel Acceleration/Deceleration
H0 Incremental and Linear H2 Incremental and S-pattern
H1 Absolute and Linear H3 Absolute and S-pattern

JOG operation

Control Acceleration/Deceleration Control Acceleration/

Code method Codel Deceleration method
H0 Linear Acceleration/Deceleration S-pattern Acceleration/
H2
Deceleration

Home Return

Acceleration/ Home Near-zero Acceleration/ Home Near-zero

Control Zero Point Control Zero Point
Deceleration Return Point Input Deceleration Return Point Input
Code Input logic Code Input logic
method Direction logic method Direction logic
Valid, if Valid, if Valid, if
Valid, if
- power is power is power is
H0 Linear H20 Linear -direction power is not
direction not connecte not
connected
connected d connected
Valid, if Valid, if Valid, if
Valid, if
- power is power is power is
H2 S-PATTERN H22 S-PATTERN -direction power is not
direction not connecte not
connected
connected d connected
Valid, if Valid, if Valid, if
Valid, if
+ power is power is + power is
H4 Linear H24 Linear power is not
direction not connecte direction not
connected
connected d connected
Valid, if Valid, if Valid, if
Valid, if
+ power is power is + power is
H6 S-PATTERN H26 S-PATTERN power is not
direction not connecte direction not
connected
connected d connected
Valid, if Valid, if Valid, if
Valid, if
- power is H30 Linear -direction power is power is not
H10 Linear power is
direction connecte connected connected
connected
d Valid, if Valid, if
Valid, if H32 S-PATTERN -direction power is power is not
Valid, if
- power is connected connected
H12 S-PATTERN power is
direction connecte
connected Valid, if Valid, if
d +
H34 Linear power is power is not
direction
Valid, if connected connected
Valid, if
+ power is
H14 Linear power is Valid, if Valid, if
direction connecte +
connected H36 S-PATTERN power is power is not
d direction
connected connected
Valid, if
Valid, if
+ power is
H16 S-PATTERN power is
di i

8
Pulse Generator Input operation

Control method Control method

Control Control
Acceleration/Deceleration Acceleration/Deceleration
H0 1 times H400 50 times
H100 2 times H500 100 times
H200 5 times H600 500 times
H300 10 times H700 1000 times

Control codes are entered into buffer memory as shown below.

IMPORTANT Since the control method, acceleration/deceleration method, home
return method, and pulse multiplication factor settings are entered in
the same area, you have to be careful not to overwrite the area with
other functions simultaneously.

<Control Code details>

For detailed explanations on Input logic, please refer to chapter 9.

IMPORTANT

9
 I/O points List
I/O Point No.
I/O Point No.
(NX-POSI1, NX-
Points Name Description (NX-POSI3, NX-POSI4)
POSI2)
1 axis 2 axis 1 axis 2 axis 3 axis 4 axis
Turned ON during Pulse Output
X†0 Pulse Output BUSY X0 X10 X0 X10 X20 X30
(Note 1)
Pulse Output Turned ON when Pulse Output is
X†1 EDP X1 X11 X1 X11 X21 X31
End completed. (Note 2)
Acceleration
X†2 ACC Turned ON in Acceleration Zone X2 X12 X2 X12 X22 X32
Zone
Constant Turned ON in Constant Speed
X†3 CON X3 X13 X3 X13 X23 X33
Speed Zone Zone
Deceleration
X†4 DEC Turned ON in Deceleration Zone X4 X14 X4 X14 X24 X34
Zone
Rotation Monitors motor rotation direction.
X†5 DIR X5 X15 X5 X15 X25 X35
Direction (ON if elapsed pulse increases)
Zero Point Turned ON if Zero Point Input is
X†6 ZSG X6 X16 X6 X16 X26 X36
Input valid.
Near-zero Turned ON if Near-zero Point
X†7 DOG X7 X17 X7 X17 X27 X37
Point Input Input is valid.
Home return Turned ON when Home return is
X†8 ORGE X8 X18 X8 X18 X28 X38
Completion completed.
ON if Built-in counter's elapsed
Comparison
X†9 CLEP value > Number of Comparing X9 X19 X9 X19 X29 X39
Result
Pulses.
Setting change Checks if settings are changed
X†A CEN XA X1A XA X1A X2A X3A
Checking during P point control(Note 3)
X†B - XB X1B XB X1B X2B X3B
X†C - XC X1C XC X1C X2C X3C
X†D - XD X1D XD X1D X2D X3D
Turned ON if setting error
X†E Setting Error SERR XE X1E XE X1E X2E X3E
occurs.
X†F - XF X1F XF X1F X2F X3F
E Point Control If turned ON using user
YU0 EST Y20 Y30 Y40 Y50 Y60 Y70
Start program, E point control starts
P Point Control If turned ON using user
YU1 PST Y21 Y31 Y41 Y51 Y61 Y71
Start program, P point control starts
Home return If turned ON using user
YU2 ORGS Y22 Y32 Y42 Y52 Y62 Y72
Start program, Home return starts
If turned ON using user
JOG Forward
YU3 JGF program, JOG Forward Rotation Y23 Y33 Y43 Y53 Y63 Y73
Rotation
starts
JOG Reverse If turned ON using user program
YU4 JGR Y24 Y34 Y44 Y54 Y64 Y74
Rotation JOG reverse operation starts
If turned ON using user
program, stops all current
YU5 Forced Stop EMR Y25 Y35 Y45 Y55 Y65 Y75
operations and performs forced
stop
If turned ON using user program
Deceleration
YU6 DCL stops all current operations and Y26 Y36 Y46 Y56 Y66 Y76
Stop
performs forced stop.

10
 If turned ON using user program
Pulse
Pulse Generator Inputs are
YU7 Generator PEN Y27 Y37 Y47 Y57 Y67 Y77
allowed (valid only when it is
Input Allow
ON)
YU8 - Y28 Y38 Y48 Y58 Y68 Y78
YU9 - Y29 Y39 Y49 Y59 Y69 Y79
YUA - Y2A Y3A Y4A Y5A Y6A Y7A
YUB - Y2B Y3B Y4B Y5B Y6B Y7B
YUC - Y2C Y3C Y4C Y5C Y6C Y7C
YUD - Y2D Y3D Y4D Y5D Y6D Y7D
YUE - Y2E Y3E Y4E Y5E Y6E Y7E
Errors are removed if turned ON
YUF Error Clear ECLR from user program when a Y2F Y3F Y4F Y5F Y6F Y7F
Setting Error occurs.

1. Turned ON while pulses are being outputted at each operation of E

IMPORTANT point control, P point control, Home Return, and JOG operation, and
also turned ON when each operation is completed.
2. Turned ON when each operation in E POINT control, P POINT
control, JOG operation, or Pulse Generator Input is completed. Also
it is turned ON in Deceleration Stop or Forced Stop Completion.
Also it is turned OFF when all the operations in E POINT control, P
POINT control, JOG operation, Home Return, and Pulse Generator
Input operation are started.
3. Turned ON when P POINT control or E POINT control is started. Also
it will be turned OFF if application instruction F151(P151) is
executed so that some data is entered in the Positioning Unit's
buffer memory.
4. The above each I/O point number is the one that is used at unit no.0.
The actual number will be varied depending on the unit's mounting
position.

11
12
 2
Functions of Unit and Restrictions on
Combination

Functions of NX700 Positioning Unit

Functions of Unit
Positioning can be controlled through the combination of a servo motor and a
stepping motor with a driver using the pulse train input method.
Positioning Control(Servo Motor)

Pulse Train Encoder

Servo Motor
Positioning Unit Servo Drive

Positioning Control(Stepping Motor)

Pulse Train

Stepping Motor
Stepping Drive
Positioning Unit

13
 NX700 PLC has four Positioning Units

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

14
Automatic acceleration and deceleration can be controlled simply by providing the
startup speed, target speed, acceleration/deceleration time, and position instruction
values, as data.

The linear acceleration/deceleration and “S” acceleration/deceleration can be

selected simply by setting parameters, enabling to cope with the control needs
smooth acceleration and deceleration. Sin curve, Secondary curve, Cycloid curve,
Third curve are available for “S” acceleration/deceleration.

Unit type
Unit type and Product number

Products Functions Product No. Note

One 20-pin connector hood (3M) is
Axis 1 Type For Axis 1 control NX-POSI1
included in the box
Two 20-pin connector hoods (3M) are
Axis 2 Type For Axis 2 control NX-POSI2
included in the box
Three 20-pin connector hoods (3M) are
Axis 3 Type For Axis 3 control NX-POSI3
included in the box
Four 20-pin connector hoods (3M) are
Axis 4 Type For Axis 4 control NX-POSI4
included in the box

15
 Unit Functioning and Operation Overview
Unit Combinations for Positioning Control
CCW limit
Zero points
Control signals such as alarm, positioning completion etc.
Near-zero point Input
[Pulse instruction Output]
Power Unit

CPU Unit

Input Unit
Output Unit

Positioning Unit
[Deviation Counter Clear Output]

CW limit
Control output signals such
as servo-ON, alarm reset etc.

Zero Point Input, Near-zero Point Input

Limit over inputs

Interfaces provided with the positioning unit

In addition to pulse instruction output for the motor driver, the positioning unit is
equipped with home input, near home input terminals, over limit input (+), over
limit input (-), positioning control start input (timing input) for JOG positioning
operation, and deviation counter clear output for the servo driver.

Use input unit and output unit for PLC safety circuit and control
signal interfaces.
In addition to the positioning unit, an input unit and output unit are used in
combination for connections between the driver and external output such as servo
ON signals.

Number of output pulses counted by internal high - speed

counter.
The number of pulses output is counted as an absolute value by an internal high .
speed counter, which counts them as the “elapsed value”.
Counting range: - 2,147,483,648 to +2,147,483,647 (signed 32 - bit)

If the elapsed value exceeds the maximum (minimum) value, the value returns
IMPORTANT automatically to the minimum (maximum) value and continues from that point.
The motor does not stop if this occurs, and no error occurs.

16
Basic Operation of NX700 Positioning Unit
Control proceeds by turning ON and OFF the shared memory and input/output flag.

1. Determining the necessary data.

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

17
 3. Initiating control operations.
In order to execute the data waiting in the positioning unit, the startup flag of
the various operation modes are turned ON. The abovementioned-
programming example shows this process for Y40. Y40 is the number of the
flags that starts up the E point control of the first axis when the unit is installed
in slot 0. Separate flags are provided for each of the axes, for E point control, P
point control, home return, JOG operation, JOG positioning operation and
other types of control.

18
Restrictions on Units Combination
Restrictions on Combinations Based on Current
Consumption
The internal current consumption (at 5 V DC power supply) for the positioning
units is noted below.
When the system is configured, the other units being used should be taken into
consideration, and a power supply unit with a sufficient capacity should be used.

Current consumption at 5V
Product Product No. Note
DC
Positioning Unit (Axis 1) NX-POSI1 230mA
Positioning Unit (Axis 2) NX-POSI2 240mA
Positioning Unit (Axis 3) NX-POSI3 400mA
Positioning Unit (Axis 4) NX-POSI4 430mA

Restrictions on Unit Installation Position

The positioning unit may be installed in either the CPU backplane or the expansion
back plane position.
However, it should be installed to the right of the power supply unit and CPU.
With NX700 PLC, you can install as many Positioning Units as you want to.

The NX700 positioning unit can be used only with the following CPU modules. If
IMPORTANT you use other CPU modules such as CPU700 or CPU700p, we cannot guarantee
the performance of the system. Recommended CPU modules (model) : NX-
CPU750A, NX-CPU750B, NX-CPU750C, and NX-CPU750D

19
20
 3
Parts and Specifications

Parts and Specifications

Parts and Specifications

Unit Bottom

Unit Bottom

Axis 1 Axis 2 Axis 3 Axis 4

Positioning Positioning Positioning Positioning
(NX-POSI1) (NX-POSI2) (NX-POSI3) (NX-POSI4)

21
 Names and Functions of External Parts
1. Status LED
Displays the operational statues of the Positioning Unit.
2. User interface connector (20-pin connector(3M))
Used for Motor Drive (Servo and Stepping) connection and interfacing.
3. Operation mode setting switches
These switches assign the rotation direction and pulse output method of each
axis. Rotation direction is normally set to forward rotation (travel value
increase) and Pulse Output method is set to Pulse/Sign mode (ON) when the
system is shipped out of factory.
If you want to set the motor going in the opposite rotation direction to that
assigned in the program, you have to set the Rotation Direction to OFF. For the
Pulse Output method, you have to use the pulse output method of the motor
drive to be connected.

If you change operation mode setting switch settings while the power is ON, your
CAUTIONS new setting will become invalid.

Operation Status Display LEDs

22
Operation Status Display LEDs
LED Content ON OFF Flicker
Pulse/ Sign Output
- Stop Pulse Output
Indicates method setting
A Pulse Output Pulse Output
signal A *1 CW/ CCW Output Stop
- (Forward
method setting (Forward Rotation)
Rotation)
Reverse
Forward Rotation
Pulse/ Sign Output Rotation
direction -
Indicates method setting direction
Command
B Pulse Output Command
signal *1 Pulse Output
CW/ CCW Output Stop
- (Reverse
method setting (Reverse Rotation)
Rotation)
Indicates Pulse Generator Signal Indicates the Input status of Pulse Generator Input
PA
Input *3 signal A.
Indicates Pulse Generator Signal Indicates the Input status of Pulse Generator Input
PB
Input *3 signal B.
Indicates the input status of zero
Z ON OFF -
point input *2
Indicates the states of Near-zero
D ON OFF -
Point *2
Indicates Counter Clear Signal
CL Output ON Output OFF -
Output
Indicates that a Wrong Setting Error Setting value Setting value is
ER -
occurred error correct

(*1): The pulse output signal display LEDs (A and B) blink at the output frequency (speed). For this reason,
they may appear to light steadily at high-speed output.
(*2): The near home (D) and home input (Z) LEDs light when the respective input becomes valid. The input
valid logic is specified using the control codes in the program.(In the manual,"Z" is described as
"ZSG",and "D" is described as "DOG".)
(*3): Pulse input signal (PA) and (PB) display the pulse signal input status.

23
 Operation mode setting switch

Factory setting

NX-POSI1(Axis 1 Unit) NX-POSI3(Axis 3 Unit)

NX-POSI2(Axis 2 Unit) NX-POSI4(Axis 4 Unit)

Unit bottom

Operation mode setting switch

Switch Axis Content ON (factory setting) OFF
1 Pulse Output mode Pulse/Sign mode CW/CCW mode
Axis 1 Unit
2 Rotation direction Normal Settings Reverse Settings
3 Pulse Output mode Pulse/Sign mode CW/CCW mode
Axis 2 Unit
4 Rotation direction Normal Settings Reverse Settings
5 Pulse Output mode Pulse/Sign mode CW/CCW mode
Axis 3 Unit
6 Rotation direction Normal Settings Reverse Settings
7 Pulse Output mode Pulse/Sign mode CW/CCW mode
Axis 4 Unit
8 Rotation direction Normal Settings Reverse Settings

All set to ON by factory setting

CAUTIONS Operation mode setting switch settings are valid when power is ON.

24
 Input /Output Specifications and Output
terminal Layout
Connector Pin Configuration: 20-Pin Connector (3M)
• NX700 Positioning Unit uses only 20-pin connector (3M) regardless of the
number of axes. The figure on the right side shows an example of axis 3 type
unit.
• NX700 Positioning Unit contains the same amount of 3M connector hoods as
the number of axes in a box, so you can use these for wiring.

(20-pin connector (3M))

20-pin connector (3M)

20-Pin Configuration (Output Connectors)

Pin
Signal Name Circuit Item Specification
no.
Pulse output A: line drive
20
(+)
Pulse output A: line drive (-
10 20,19
) Line drive output (same as
Output type
Pulse output B: line drive 100pF AM26C31)
19
(+) 10,9
Pulse output B: line drive (-
9
)
Pulse output A: Open Output type Open collector
18
collector 18,8
Permissible voltage range 4.76 to 5.25 VDC

Pulse output B: Open Maximum load current 15mA

8
collector GND Voltage drop(ON) Equal to or lower than 0.6V
Output voltage range 4.76 to 5.25 VDC
6 Output(DC 5V) DC/DC 6
Total current is 120 mA at
Maximum load current
GND 5VDC

Output type Open collector

17 Deviation counter clear (+)
17 Permissible voltage range 4.76 to 26.4 VDC
Maximum load current 15mA
7 Deviation counter clear (-)
7 Voltage drop(ON) Equal to or lower than 1.2V

25
 20-Pin Configuration (Power Connectors)
Pin
Signal Name Circuit Item Specification
no.
External power input: DC Power supply input voltage
11 21.4 to 26.4 VDC
24V (+) range
24V IN 11 Axis 4 type average: 90mA
External power input: DC or lower
1 1 Current dissipation
24V (-) GND Axis 2 type average: 45mA
or lower
Reference
Frame Ground Connectors (F and E) don't have connector pins, but are connected to the 20-pin connector
(3M) external shielded wire.

20-pin Configuration (Input connector)

Pin
Signal Name Circuit Item Specification
no.
Input Voltage Range 11.4~26.4VDC
Zero Point Input 24V
16 24 Minimum ON voltage/current 10.5V/6mA
DC(+)
16
V Maximum OFF voltage/current 2.0V/0.5mA
Input impedance About 1.6KΩ
Zero Point Input 5V
25 Input Voltage Range 3.5~5.25VDC
DC(+) 15
Minimum ON voltage/current 3.0V/6mA
5V
Maximum OFF voltage/current 1.0V/0.5mA
5
5 Zero Point Input(-) Input impedance About 220Ω
Minimum Input Pulse Width 100µs
Input Voltage Range 4.75~26.4VDC
14 Near-zero Point Input(+)
Minimum ON voltage/current 4.0V/2mA
14
Maximum OFF voltage/current 1.5V/0.5mA

4 Near-zero Point Input(-) Input impedance About 1.6KΩ

4
Minimum Input Pulse Width 500µs

Pulse generator Input Input Voltage Range 3.5~5.25VDC

13
A(+) Minimum ON voltage/current 3.0V/6mA
Pulse generator Input
3 Maximum OFF voltage/current 1.0V/0.5mA
A(-) 13,12

Pulse generator Input

12 Input impedance About 200Ω
B(+)
3,2
2µs or better
Pulse generator Input B(-
2 Minimum Input Pulse Width (Maximum 250KHz
)
at each phase)

26
 Pulse generator input signals(A and B) are differential phase inputs. If PHASE A
IMPORTANT leads PHASE B, travel value increases.

27
 Supplying Power for Internal Circuit Drive
Always make sure an external +24V DC power supply is connected to the pins for
external input power supply (pin No. 1 and 11).
The applied 24V DC passes through an internal DC/DC converter and is converted
to 5 V DC voltage. It is then supplied to the various internal circuits as a power
supply for internal circuit drive of the pulse command output pin.

Line Driver Output Type

Allowed Voltage
21.4~26.4VDC
Range
4 axis Type 90mA or lower

Consumption
Current
3 axis Type 65mA or lower
2 axis Type 45mA or lower
1 axis Type 25mA or lower

Transistor Output Type

The power supply for the pulser command output circuit can be taken from the 5V
DC out put pins.

Allowed Voltage
21.4~26.4VDC
Range
4 axis Type 90mA or lower
Consumption
Current

3 axis Type 65mA or lower

2 axis Type 45mA or lower
1 axis Type 25mA or lower

"The current capacity of the Output Common Connector (+5VDC, connector no.6) is
IMPORTANT 120mA (max) in total at Output Common (5V)." When open collector pulse output
(Transistor output) is used, the value of 15 mA per signal should be used as a guide. If
exceeds the 15 mA, the appropriate resistance should be added.

28
Connection of Pulse Command Output Signal
Two types of output types are available for the NX700 positioning unit due to two
types of the interfaces of motor driver. Select and connect one or the other,
depending on the interface of the motor driver being used.

We recommend using twisted - pair cables as the wiring between the positioning
IMPORTANT unit output and the motor driver, or twisting the cables to be used.

Line Driver Output type

DC/
DC

Transistor Output Type

29
 "The current capacity of the Output Common Connector (+5VDC, connector no.6)
IMPORTANT is 120mA (max) in total at Output Common (5V)." A value of 15 mA per signal
should be used as a guide. If exceeds this, resistance should be added.

30
Connection of Deviation Counter Clear
Output Signal (for servo motor)
This is an example showing connection of the counter clear input to the servo
motor driver. An external power supply (+5 V DC to +24 V DC) must be provided
for the connection.

Always use twisted - pair cables for wiring.

IMPORTANT The Current which can be conducted as the deviation counter clear output signal is
10 mA max.

31
 Connection of Home Input/Near Home Input
Signals
This is the home signal input connection for the home return.
It should be connected to the Z phase output (Line driver output or Transistor
output) of the motor driver, or to an external switch and sensor.

We recommend using twisted - pair cables as the wiring between the positioning
IMPORTANT unit output and the motor driver, or twisting the cables used.

Connection of Home Input (When connecting to motor

driver Z phase output)

Connection of Home Input (When connecting to an external

switch/sensor)

32
Connection of Near Home Input Signal

Limit Over Input Connection

Use Input Unit for Limit Over Inputs to PLC.
Install the motor manufacturer's recommended circuits outside.

DC Input Unit

Limit Over
Input

+24VDC

COM
COM

Table

Ball screw

MOTOR

Limit Over Limit Over

switch(-) switch(+)

Reference:
Program an Emergency Stop circuit appropriate to your system.
Please refer to chapter 11 for Overrun.

33
 Connection of Pulse Input
The signal output style may differ depending on Pulser or Encoder. Connect in
accordance with the output style. Line driver type, Transistor open collector type
and Transistor-resistance pull-up type are available for the output styles.
The same pulse input terminal is used for Pulser input operation and Feedback
pulse count, so it is used for either.

We recommend using twisted - pair cables for connections, or twisting the cables
IMPORTANT used.

Line Driver Type

Transistor Open Collector Type

Transistor - resistor Pull - up Type

34
Precausions on Wiring
Connect the wire in less than or the following length between the Transistor output
type and the motor driver.

Output type Wiring length

Transistor output
Line driver output 10m
Deviation counter clear output

35
36
 4
Confirming the Unit Settings and Design
Contents

Operation mode setting switch

Check if the mode setting switches at the bottom are set according to your system
specifications before you install Positioning Unit to motherboard.

All set to ON by factory setting. Operation mode setting switch

ATTENTION setting is valid while power is ON.

37
 Mode Setting Switch selects the rotation direction of motor and pulse
output mode of each axis.

Switch Axis Content ON (factory setting) OFF

1 Pulse Output mode Pulse/Sign mode CW/CCW mode
Axis 1 Unit
2 Rotation direction Normal Settings Reverse Settings
3 Pulse Output mode Pulse/Sign mode CW/CCW mode
Axis 2 Unit
4 Rotation direction Normal Settings Reverse Settings
5 Pulse Output mode Pulse/Sign mode CW/CCW mode
Axis 3 Unit
6 Rotation direction Normal Settings Reverse Settings
7 Pulse Output mode Pulse/Sign mode CW/CCW mode
Axis 4 Unit
8 Rotation direction Normal Settings Reverse Settings

Selection of Rotation Direction

Changing this settings allows to rotating a motor in a reverse direction under the
same connection status and the driver settings.

Selection of Pulse Output Mode

The pulse output mode can be selected to match the pulse input mode supported by
the motor driver.
The two types of pulse output described below can be selected.

Pulse/sign output method

With this method, pulse output signals for motor drive (signals that determine the
rotation speed of the motor) and signals that determine the rotation direction of the
motor are output.
Pulse signals (pulses) are output from the pulse output A pin, while signals that
determine the rotation direction (signs) are output from the pulse output B pin.

CW/CCW output method

With this method, pulse output signals for forward rotation and pulse output signals
for reverse rotation are output in response to the direction in which the motor is
rotating (CW/CCW: clockwise/counter -clockwise).
When the rotation direction switch is set to “ON”, forward rotation (CW:
clockwise) pulse signals are output from the pulse output A pin, and reverse
rotation (CCW: counter -clockwise) pulse signals are output from the pulse output
B pin.

38
Relationship between Switch Setting and Rotation
Direction
Pulse/Sign mode <rotation direction switch: ON>

Pulse/Sign mode <rotation direction switch: OFF>

s

39
 CW/CCW mode <rotation direction switch: ON>

CW/CCW mode <rotation direction switch: OFF>

The direction of rotation varies depending on the wiring, the motor driver settings,
IMPORTANT the position command value in the program, and other factors.

40
Confirming the Slot Number and I/O Number
Allocations
Occupied I/O Area
With the positioning unit, as with other I/O units, allocations are entered for the
input (X) and output (Y). The positioning unit has 16 input points and 16 output
points per axis, for a total of 32. Consequently, a 4- axis type has 128 points (input
64, output 64), and a 2 - axis type has 64 points (input 32, output 32). The
configuration of the occupied I/O area is as shown below.

If installed on slot 0.

* We do not use X1O to X1F and Y3O to

X3F, but these I/O areas are available for
Axis 1 Unit.

41
 Contents of Input and Output Allocations
I/O flag number
I/O flag number
(NX-POSI1, NX-
Fla (NX-POSI3, NX-POSI4)
Name Description POSI2)
g
1st 2nd 1st 2nd 3rd 4th
axis axis axis axis axis axis
Pulse output ON during pulse output.
X_0 BUSY X0 X10 X0 X10 X20 X30
busy (* 1)
Pulse output Goes ON when pulse output
X_1 EDP X1 X11 X1 X11 X21 X31
done ends. (* 2)
Acceleration
X_2 ACC ON during acceleration zone. X2 X12 X2 X12 X22 X32
zone
Constant ON during constant speed
X_3 CON X3 X13 X3 X13 X23 X33
speed zone zone.
Deceleration
X_4 DEC ON during deceleration zone. X4 X14 X4 X14 X24 X34
zone
Monitors direction of rotation
Rotation
X_5 DIR (On during the elapsed value X5 X15 X5 X15 X25 X35
direction
increment)
Goes ON when home input
X_6 Home input ZSG X6 X16 X6 X16 X26 X36
becomes valid
Near home Goes ON when near home
X_7 DOG X7 X17 X7 X17 X27 X37
input input becomes valid
Home return Turns ON when home return
X_8 ORGE X8 X18 X8 X18 X28 X38
done is done.
ON when elapsed value of
Comparison internal counter is greater than
X_9 CLEP X9 X19 X9 X19 X29 X39
result or equal to the number of
comparison pulse.
Set value With P point control, this is used
X_A change CEN to confirm rewriting of set XA X1A XA X1A X2A X3A
confirmation values. (* 3)
X_B XB X1B XB X1B X2B X3B
X_C XC X1C XC X1C X2C X3C
X_D XD X1D XD X1D X2D X3D
Set value ON when a set value error
X_E SERR XE X1E XE X1E X2E X3E
error occurs.
X_F XF X1F XB X1F X2F X3F
( *1): This goes ON during pulse output in various operations such as E point control, P point control,
home return, JOG operation, JOG positioning operation and remains ON until the operation
has been completed.
( *2): This goes ON when the various operations such as E point control, P point control, JOG
operation, JOG positioning operation, and pulser input operation have been completed. It also
goes ON when deceleration stop have been completed, and when a forced stop has been
completed. It goes OFF when the next operation such as E point control, P point control, JOG
operation, JOG positioning operation, a home return, or pulser input operation is initiated.
( *3): This goes ON when Home return is completed. It goes OFF when the next operation such as E
point control, P point control, JOG operation, JOG positioning operation, a home return, or
pulser input operation is initiated.
( *4): The input and output flag numbers indicate the number when the slot number is 0. The numbers
actually used change depending on the position in which the unit is installed.

42
 I/O flag number
I/O flag number
(NX-POSI1, NX-
Fla (NX-POSI3, NX-POSI4)
Name Description POSI2)
g
1st 2nd 1st 2nd 3rd 4th
axis axis axis axis axis axis
When turned ON in the user
E point
Y_0 EST program, E point control is Y20 Y30 Y40 Y50 Y60 Y70
control start
initiated.
When turned ON in the user
P point
Y_1 PST program, P point control is Y21 Y31 Y41 Y51 Y61 Y71
control start
initiated.
When turned ON in the user
Home return
Y_2 ORGS program, a home return is Y22 Y32 Y42 Y52 Y62 Y72
start
initiated.
When turned ON in the user
Y_3 Forward JOG JGF program, JOG forward Y23 Y33 Y43 Y53 Y63 Y73
rotation is initiated.
When turned ON in the user
Y_4 Reverse JOG JGR program, JOG reverse rotation Y24 Y34 Y44 Y54 Y64 Y74
is initiated.
When turned ON in the user
program, operations currently
Y_5 Forced stop EMR Y25 Y35 Y45 Y55 Y65 Y75
running are interrupted and
forcibly terminated.
When turned ON in the user
Deceleration program, operations currently
Y_6 DCL Y26 Y36 Y46 Y56 Y66 Y76
stop running are interrupted, and
decelerate to a stop.
When turned ON in the user
Pulser input
Y_7 PEN program, pulser input is Y27 Y37 Y47 Y57 Y67 Y77
enabled
enabled (valid only while on).
Y_8 Y28 Y38 Y48 Y58 Y68 Y78
Y_9 Y29 Y39 Y49 Y59 Y69 Y79
Y_A Y2A Y3A Y4A Y5A Y5A Y5A
Y_B Y2B Y3B Y4B Y5B Y5B Y5B
Y_C Y2C Y3C Y4C Y5C Y5C Y5C
Y_D Y2D Y3D Y4D Y5D Y5D Y5D
Y_E Y2E Y3E Y4E Y5E Y5E Y5E
If a error occurs, the error is
Y_F Error clear ECLR canceled when this is turned Y2F Y3F Y4F Y5F Y6F Y7F
ON in the user program.

43
 Confirming I/O Number and Slot Number Allocations
The I/O numbers is always required when creating a program. These change
depending on the position at which the unit is installed on the backplane, and
should always be checked to make sure they match the design.
For information on allocating I/O numbers, refer to the NX700 Hardware Manual,
“section: I/O Allocation”.
The occupied I/O areas for all of the units mounted between the CPU and the
positioning unit should be confirmed. The serial numbers are allocated as I/O areas
for the positioning unit.
The following is an example of a 4 - axis type positioning unit being
mounted after the 3rd I/O unit.

The following is an example of a 3 - axis type positioning unit being

mounted after the 3rd I/O unit.

The following is an example of a 2 - axis type positioning unit being

mounted after the 3rd I/O unit.

44
The following is an example of a 1 - axis type positioning unit being mounted after the 3rd
I/O unit.

Confirming Slot No.

When mounted on the CPU backplane
Slots are numbered in sequential order, with the slot to the right of the CPU being
No.0

When mounted on an expansion backplane

The slot number of the slot to the right of the power supply unit on the expansion
backplane should be counted as “16”.

45
 Increment and Absolute
In an automatic accelerating and decelerating control, the position command value
is specified by a number (a number of pulses) in advance. There are two ways to set
the position command value. Specify whichever due to your usage (For more
information about setting, refer to “Chapter 6 Automatic accelerating and
decelerating control (E-point control)”, “Chapter 7 Automatic accelerating and
decelerating control (P-point control)”.).

Increment (relative value control)

The position command value is normally specified as the relative position from the
current position, using a number of pulses (increment).

Example:
Travels from the current position to a position + 5,000 pulses away.
“5000 pulses” is set as the position command value, and travel is carried out.

NX700

“ - 2000 pulses” is set as the next position command value, and travel is carried
out.

NX700

46
Absolute (absolute value control)
The position command value is normally specified as the absolute position from the
home position, using a number of pulses (Absolute).

Example:
If the unit is 15,000 pulses away from the home position, it travels +5,000 pulses,
“20000 pulses” is set as the position command value, and travel is carried out.

“18000 pulses” is set as the next position command value, and travel is carried out.

47
 Selection of Acceleration / Deceleration Method
Linear and S Acceleration/Decelerations
The NX700 positioning unit has two methods of acceleration and deceleration
which can be selected: Linear acceleration/deceleration and S acceleration/
deceleration. With linear acceleration/deceleration, acceleration and deceleration
(the acceleration from the starting speed to the target speed) are carried out in a
straight line. (acceleration and deceleration take place at a constant percentage.)

S acceleration/deceleration is carried out along an S - shaped curve. When

acceleration or deceleration is first begun, the speed is relatively slow, and
gradually increases.
When the acceleration or deceleration has been almost completed, the speed slows
once again. This results in comparatively smooth movement.

48
Indicating the Method of Acceleration / Deceleration
Indicating the method of acceleration/deceleration
This is specified in the program, as a control code.
Example: With E point control

The method of control varies depending on the control code.

z When the code is H0: increment method, linear acceleration/deceleration
z When the code is H1: absolute method, linear acceleration/deceleration
z When the code is H2: increment method, S acceleration/deceleration (Sin curve)
z When the code is H3: absolute method, S acceleration/deceleration (Sin curve)

49
 Internal Absolute Counter
How the Internal Absolute Counter Works
How the internal absolute counter works
z The positioning unit is equipped with a function that counts the number of
pulses output.
z The counted value of each axis is stored in the shared memory area of the
positioning unit.
z The stored value is read by the user program, enabling the position data
(absolute value) to be discerned. This is used in functions such as teaching
during JOG operation.
z Using the comparison relay output function, external output can be obtained in
response to the count value, through the user program.

How the internal absolute counter operates

z When the power supply is turned OFF, the counter value is set to zero (0).
z When the table returns to the home position by a home return, the counter value
automatically becomes zero (0).
z The counter value is counted as an absolute value, based on the pulse output
value.
z The value stored in the shared memory can be read using the F150/P150
instruction in the user program.
z Overwriting should be done while the operation is stopped.

50
Reading Elapsed Value
The F150/P150 instructions are used to read the elapsed value from the shared
memory of the positioning unit.

F150 (READ) and P150 (PREAD) instructions

These are the instructions used to read data from the memory of the positioning
unit.

Explanation:
“n” words of the data stored in the shared memory of the unit mounted in the slot
specified by “S1” are read from the address specified by “S2”, and are stored in the
area of the CPU specified by “D”.

Specified addresses
Data (elapsed values) are stored as 32 - bit data.

Address of shared memory (hexadecimal)

Description
1st. axis 2nd. axis 3rd. axis 4th. axis
10Ah 11Ah 12Ah 13Ah Signed 32 . bit
Elapsed value count
- 2,147,483,648
10Bh 11Bh 12Bh 13Bh (absolute value)
to +2,147,483,647

Program example
Reads the elapsed value into the optional data register.

51
 Writing Elapsed Value
The F151/P151 instructions are used to write data to the shared memory of the
positioning unit.

F151 (WRT) and P151 (PWRT) instructions

These are the instructions that write data to the shared memory of the positioning
unit.

Explanation:
This stores the contents of the CPU area specified by “S2” and “n” in the address
specified by ”D’ of the shared memory of the unit mounted in the slot specified by
“S1”, at the beginning of the memory area.

Specified addresses
Data (elapsed values) are stored as 32 - bit data.

Address of shared memory (hexadecimal)

Description
1st. axis 2nd. axis 3rd. axis 4th. axis
10Ah 11Ah 12Ah 13Ah Signed 32 . bit
Elapsed value count
- 2,147,483,648
10Bh 11Bh 12Bh 13Bh (absolute value)
to +2,147,483,647

Elapsed values should be written while the operation is stopped.

IMPORTANT

Program example
Writes the data “0 (zero)” into the elapsed value area.

52
 5
Power ON and OFF, and Booting the
System

Safety Circuit Design

Example of a safety circuit
Installation of the Over limit switch

Safety circuit based on Positioning unit

Install Over limit switches as shown above.

Safety circuit based on external circuit

Install the safety circuit recommended by the manufacturer of the motor being
used.

53
 Before Turning ON the Power
Items to check before turning ON the power
System configuration example

1. Checking connections to the various devices

Check to make sure the various devices have been connected as indicated by
the design.
2. Checking the installation of the external safety circuit
Check to make sure the safety circuit (wiring and installation of Over limit switch)
based on an external circuit has been installed securely.
3. Checking the installation of the safety circuit based on the
Positioning unit.
Check to make sure the connection of the Positioning unit with Over limit
switches.
Check to make sure that Over limit switches have been properly installed.
4. Checking the procedure settings for turning ON the power supplies
Make sure settings have been entered so that power supplies will be turned ON
according to the procedure outlined in section 5.3.1, “Procedure for Turning
ON the Power”.

54
5. Checking the CPU mode selection switch
Set the CPU in the PROG. mode. Setting it in the RUN mode can cause
inadvertent operation.

When the power to the PLC is turned ON, internal data in the shared memory will
IMPORTANT be cleared (set to zero). Check to see whether the start flag for the various
operations of the positioning unit are OFF. If they are ON, a set value error will
occur for the positioning unit, unless the data settings for the shared memory have
been entered.

55
 Procedure for Turning ON the Power
When turning ON the power to the system incorporating the positioning 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.

Procedure for Turning ON the Power

Procedure:
1. Turn ON the power supplies for input and output devices connected to the PLC
(including the power supply for the line driver output or open collector output).
2. Turn ON the power supply for the PLC.
3. Turn ON the power supply for the motor driver.

Do not turn ON/OFF PLC power supply when motor drive power is ON.
IMPORTANT The motor may operate because 1 pulse is out from the positioning unit
when the power is turned ON or OFF.
Under normal operation, program it so that home return is triggered when
the power supply is ON.

56
Procedure for Turning OFF the Power
Procedure:
1. Check to make sure the rotation of the motor has stopped, and then turn OFF the
power supply for the motor driver.
2. Turn OFF the power supply for the PLC.
3. Turn OFF the power supplies for input and output devices connected to the PLC
(including the power supply for the line driver output or open collector output).

Precautions when rebooting the system

The flags of the operation memory are initialized simply by initializing the CPU,
but the flags of the shared memory for the positioning unit are retained.
If the positioning unit is operated with data still in the shared memory, operation
may be carried out based on any set values which have been retained, in some
cases. The flags of the shared memory can be cleared when the power supply is
turned OFF.

57
 Confirming while the Power is ON
Items to check when the power is ON
System configuration example

Checking should be carried out in the four general stages described below.

Checking the External Safety Circuit

Check the safety circuit recommended by the motor manufacturer to confirm the
power supply cutoff of the motor driver, etc. by using the limit over input of an
external circuit.

58
Checking the Safety Circuit based on Positioning Unit
Procedure:
1. Using forced operation of Over limit switch for the external safety circuit of the
positioning unit, check to see if the Over limit input is being properly taken into
the positioning unit.
2. If necessary, input a program to start the JOG operation. Then operate the Over limit
input forcibly to check whether the motor will stop.
3. Using the JOG operation, check to see if the Over limit switch is functioning
properly.

59
 Checking the Rotation and Travel Directions, and the Travel
Distance
Procedure:
1. Check to see if the directions of rotation and travel are correct using the JOG
operation or the automatic acceleration/deceleration.
Points to check
The direction of rotation is determined by the driver wiring, the settings of the
DIP switch underneath the unit, and the data set in the program.
• Please refer to Chapter 6 and Chapter 7 for detailed information on
Automatic Acceleration/Deceleration Control.
• Please refer to Chapter 4 for detailed information on the DIP switch
underneath the unit.
2. Check to see if the specified number of pulses produces the travel distance
indicated by the design.
Points to check
The travel distance is determined by the ball screw pitch, the reduction gear
ratio, the electronic multiplication ratio of the driver, the number of pulses
specified in the program, and other factors.

60
Checking the Operation of the Near Home Switch and Home
Switch
Procedure:
1. Using forced operation of the home input and near home input, check to make
sure the operation display LEDs on the positioning unit light. At the same time,
using programming tools, monitor the X_6 and X_7 flag and check LEDs light.
2. Input the home return program, and actually carry out a home return to check if
near home input produces deceleration.
Points to check
The input valid logic for the home input and near home input is determined by
the control codes of the program.
3. Using repeated JOG operation and home return operation, check to make sure
the table stops properly at the home position, with no offset.
Points to check
There may be times when near home input, the home input position, and the
return speed cause offset from the home position.

4. If the table does not stop precisely at the home position, either change the
position of the near home input, or reduce the home return speed, so that the
table stops precisely at the home position.

If the CPU is switched from the RUN to the PROG. mode while the
IMPORTANT positioning unit is in operation, the table decelerates and stops. For more
information about decelerating stop, refer to “Chapter 11”.

61
62
 6
Automatic Acceleration/Deceleration
Control
(E Point Control: Single - Speed
Acceleration/ Deceleration)

Sample Program
Increment (Relative Value Control): Plus (+) Direction
For this control, the “Increment” method of travel amount setting is used, and the
direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. It is assumed the mode setting switch at the bottom of positioning
unit is set to set side.

63
 Pulse output diagram

Operations of the various flag

The pulse output busy flag (X0) goes ON when E point control is initiated, and
goes OFF when pulse output is completed.
The pulse output done flag (X1) goes ON when pulse output is completed, and is
maintained until the next E point control, P point control, JOG operation, home
return, or pulser input enabled status is initiated.
The elapsed value is stored as the absolute value in the counter in the positioning
unit.

Shared memory settings

Control parameter setting Set values in sample Range of acceptable
content program example settings
H0: Increment, Linear
H0
acceleration/deceleration
Control code <Increment method, Linear
H2: Increment, S-pattern
acceleration/deceleration>
acceleration/deceleration
Startup speed (pps) K500 K0 to K1,000,000
K1 to K1,000,000
Target speed (pps) K10000 Set a value larger than the
startup speed.
Acceleration/deceleration time (ms) K100 K0 to K32,767
K-2,147,483,648 to
Position command value (pulse) K10000
K2,147,483,647

64
Program

Precautions concerning the program

z The same shared memory areas to which the various control parameters are
written are used for acceleration/deceleration control, JOG operation, home
return, and other types of control. These should not be overwritten by other
conditions.
z If the values for the startup speed, the target speed, the acceleration/deceleration
time, or the position command value exceed the range of values which can be
specified, a set value error will occur, and operation cannot be initiated.
z The number of the start flag varies depending on the number of axes the unit
has, and the installation position.
z The specified slot number and shared memory address vary depending on the
slot position and axis number of the positioning unit. Refer to Chapter 4 for slot
no. and Chapter 1 for shared memory address.

65
 Increment (Relative Value Control): Minus ( - ) Direction
For this control, the “Increment” method of travel amount setting is used, and the
direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. It is assumed the mode setting switch at the bottom of positioning
unit is set to set side.

Pulse output diagram

66
Operations of the various flag
The pulse output busy flag (X0) goes ON when E point control is initiated, and
goes OFF when pulse output is completed.
The pulse output done flag (X1) goes ON when pulse output is completed, and is
maintained until the next E point control, P point control, JOG operation, JOG
positioning operation, home return, or pulser input enabled status is initiated.
The elapsed value is stored as the absolute value in the counter in the positioning
unit.

Shared memory settings

Control parameter setting Set values in sample Range of acceptable
content program example settings
H0: Increment, Linear
H0
acceleration/deceleration
Control code <Increment method, Linear
H2: Increment, S-pattern
acceleration/deceleration>
acceleration/deceleration
Startup speed (pps) K500 K0 to K1,000,000
K1 to K1,000,000
Target speed (pps) K10000 Set a value larger than the
startup speed.
Acceleration/deceleration time (ms) K100 K0 to K32,767
K-2,147,483,648 to
Position command value (pulse) K10000
K2,147,483,647

Program

67
 Precautions concerning the program
z The same shared memory areas to which the various control parameters are
written are used for acceleration/deceleration control, JOG operation,home
returns, and other types of control. These should not be overwritten by other
conditions.
z If the values for the startup speed, the target speed, the acceleration/deceleration
specified, a set value error will occur, and operation cannot be initiated.
z The number of the startup flag varies depending on the number of axes the unit
has, and the installation position.
z The specified slot number and shared memory address vary depending on the
slot position and axis number of the positioning unit. Refer to Chapter 4 for slot
no. and Chapter 1 for shared memory address.

68
Absolute (Absolute Value Control)
For this control, the “Absolute” method of travel amount setting is used, and the
direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. It is assumed the mode setting switch at the bottom of positioning
unit is set to set side.

Pulse output diagram

69
 Operations of the various flag
The pulse output busy flag (X0) goes ON when E point control is initiated, and
goes OFF when pulse output is completed.
The pulse output done flag (X1) goes ON when pulse output is completed, and is
maintained until the next E point control, P point control, JOG operation, JOG
positioning operation,home return, or pulser input enabled status is initiated.
The elapsed value is stored as the absolute value in the counter in the positioning
unit.

Shared memory settings

Control parameter setting Set values in sample Range of acceptable
content program example settings
H0: Absolute, Linear
H1
acceleration/deceleration
Control code <Absolute method, Linear
H2: Absolutet, S-pattern
acceleration/deceleration>
acceleration/deceleration
Startup speed (pps) K500 K0 to K1,000,000
K1 to K1,000,000
Target speed (pps) K10000 Set a value larger than the
startup speed.
Acceleration/deceleration time (ms) K100 K0 to K32,767
K-2,147,483,648 to
Position command value (pulse) K10000
K2,147,483,647

Program

70
Precautions concerning the program
z The same shared memory areas to which the various control parameters are
written are used for acceleration/deceleration control, JOG operation, JOG
positioning operation, home returns, and other types of control. These should
not be overwritten by other conditions.
z If the values for the startup speed, the target speed, the acceleration/deceleration
time, or the position command value exceed the range of values which can be
specified, a set value error will occur, and operation cannot be initiated.
z The number of the start flag varies depending on the number of axes the unit
has, and the installation position.
z The specified slot number and shared memory address vary depending on the
slot position and axis number of the positioning unit. Refer to Chapter 4 for slot
no. and Chapter 1 for shared memory address.

71
 Flow of E Point Control Operation
E point control: Single - speed acceleration/deceleration
When the E point control startup relay (EST) is turned ON, acceleration/
deceleration control is carried out automatically at a single speed, in accordance
with the specified data table. You may select S acceleration/deceleration.
When the 4 - axis type positioning unit is mounted in slot 0

Operation example
When the flag for E point control is turned ON, acceleration/deceleration is carried
out in accordance with the settings, and the table travels and stops.

When Y40 is set to ON in the program, the motor of the first axis begins
accelerating.
X0 is a Pulse output busy flag (BUSY) that indicates that the operation is in
progress, and X1 is a Pulse output done flag (EDP) that indicates that the operation
is done. The EDP flag remains ON until a request for another operation is received.

Data necessary for settings

The following data items must be written to the specified addresses in the shared
memory.
For repeating the same operation, the re-setting is not necessary.
Operation is determined by these five types of data.
z Control code
z Startup speed

72
z Target speed
z Acceleration/deceleration time
z Position command value

Operation steps
Step 1: Preparatory stage
The data required for operation is transferred to the shared memory in advance.

Step 2: Executing the operations

Operation begins when the flag Y40 for E point control is turned ON.
The control code determines whether S acceleration/deceleration or linear
acceleration/deceleration is used.
Acceleration is carried out from the startup speed to the target speed, and then the
speed slows to the startup speed.
This amount of travel is determined by the position command value.

73
 Operation of the Input and Output Before and
After E Point Control

E point control start flag(Y_0)

1. E point control is initiated based on the parameters written to the positioning
unit.
2. E point control is not initiated during the time that the pulse output busy flag
(X_0) is ON.(It is already initiated.)
3. This is reset when the power supply is turned OFF.

Pulse output busy flag(X_0)

1. This goes ON with the next scan after E point control has been initiated, and
goes OFF when the pulse output is completed.
2. Operation cannot be shifted to any other operation while this signal is ON
(except for a forced stop and a deceleration and stop).
3. This is reset when the power supply is turned OFF.
z This flag is shared among E point control, P point control, JOG operation,
and home return. (except for a pulser input enabled operation).

Pulse output done flag(X_1)

1. This goes ON when the pulse output is completed, and is maintained until the
next E point control, P point control, JOG operation, home return, or pulser
input enabled status is initiated.
2. This is reset when the power supply is turned OFF.
z This flag is shared among E point control, P point control, JOG operation,
and pulser input enabled operation.

74
 7
Automatic Acceleration/Deceleration
Control
(P Point Control: Multi - Stage
Acceleration/ Deceleration)

Sample Program
Increment (Relative Value Control): Plus (+) Direction
For this control, the “Increment” method of travel amount setting is used, and the
direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. It is assumed the mode setting switch at the bottom of positioning
unit is set to set side.

75
 Pulse output diagram

Shared memory settings

Control Set values in sample program example
Range of acceptable
parameter
1st speed 2nd speed 3rd speed settings
setting content
H0 H0: Increment, Linear
Increment method, The same as The same as acceleration/deceleration
Control code
Linear acceleration/ left left H2: Increment, S-pattern
deceleration acceleration/deceleration
The same as The same as
Startup speed(pps) K500 K0 to K1,000,000
left left
K1 to K1,000,000
The target speed for the first
Target speed(pps) K5000 K20000 K500
speed should be set to a value
larger than the startup speed.
Acceleration/deceler
K100 K100 K500 K0 to K32,767
ation time(ms)
Position command K-2,147,483,648 to
K5000 K15000 K6000
value (pulse) K2,147,483,647

76
Program

77
 Increment (Relative Value Control): Minus ( - ) Direction
For this control, the “ncrement” method of travel amount setting is used, and the
direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. It is assumed the mode setting switch at the bottom of positioning
unit is set to set side.

Pulse output diagram

78
Shared memory settings
Set values in sample program
Control parameter example Range of acceptable
setting content 2nd 3rd settings
1st speed
speed speed
H0
H0: Increment, Linear
Increment
The same as The same acceleration/deceleration
Control code method, Linear
left as left H2: Increment, S-pattern
acceleration/
acceleration/deceleration
deceleration
The same as The same
Startup speed(pps) K500 K0 to K4,000,000
left as left
K1 to K4,000,000
The target speed for the first
Target speed(pps) K5000 K20000 K500 speed should be set to a
value larger than the startup
speed.
Acceleration/deceler
K100 K100 K500 K0 to K32,767
ation time(ms)
Position command K-2,147,483,648 to
K-5000 K-15000 K-6000
value (pulse) K2,147,483,647

If the limit error occurs, set H0 as the limit input valid logic can be changed.
IMPORTANT

79
 Program

80
Absolute (Absolute Value Control)
For this control, the “Absolute” method of travel amount setting is used, and the
direction in which the elapsed value increases as the motor rotates is set as the plus
(+) direction. It is assumed the mode setting switch at the bottom of positioning
unit is set to set side.

Pulse output diagram

81
 Shared memory settings
Set values in sample program
Control example Range of acceptable
parameter setting
2nd settings
content 1st speed 3rd speed
speed
H1
H1: Absolute, Linear
Increment
The same as The same as acceleration/deceleration
Control code method, Linear
left left H3: Absolute, S-pattern
acceleration/
acceleration/deceleration
deceleration
The same as The same as
Startup speed(pps) K500 K0 to K1,000,000
left left
K1 to K1,000,000
The target speed for the first
Target speed(pps) K5000 K20000 K500 speed should be set to a
value larger than the startup
speed.
Acceleration/deceler
K100 K100 K500 K0 to K32,767
ation time(ms)
Position command K-2,147,483,648 to
K10000 K25000 K31000
value (pulse) K2,147,483,647

Program

82
Flow of P Point Control Operation
P point control: Multi - stage acceleration/deceleration
z When the flag for initiating P point control (Y_1) is turned ON, acceleration/
deceleration control is carried out repeatedly, in accordance with the specified
data table, and then the operation stops.
z Multiple accelerations/decelerations can be specified between starting and
stopping.
z Sin curve, Secondary curve, Cycloid curve and Third curve can be selected for S
acceleration/deceleration can also be selected.
z The acceleration/deceleration time can be specified separately for each travel
point.

When the 4 - axis type positioning unit is mounted in slot 0

Operation example
When the flag for initiating P point control (Y41) is turned ON, acceleration/
deceleration is carried out repeatedly in accordance with the settings.

When Y41 is set to ON in the program, the motor of the first axis begins
accelerating.

83
 X0 is a Pulse output busy (BUSY) flag that indicates that operation is in progress,
while X1 is a Pulse output done (EDP) flag that indicates that operation has been
completed. After operation has been completed, the EDP flag remains ON until the
next operation request is issued.

Data necessary for settings

As shown below, data items must be written to the specified addresses in the shared
memory, in the order in which operations are to be executed. In the illustration
below, the operations and processing of the P point control consists of sections I to
III are explained.
Section I :
Operation is determined by these five types of data.
z Control code
z Startup speed
z Target speed
z Acceleration/deceleration time
z Position command value
Section II and III :
Operation is determined by these three types of data.
z Target speed
z Acceleration/deceleration time
z Position command value

84
Operation steps
Step 1: Preparatory stage
The data required for section I of the operation is transferred to the shared memory
in advance.

Shared memory
1
F15

Step 2: Executing the operation of Section I

Operation begins when the flag Y41 for P point control start is turned ON.
(At this point, XA goes ON. When XA goes ON, the data for the operation of
section II is transferred to the shared memory. XA goes OFF after the data has been
transferred.)

85
 Step 3: Executing the operation of Section II
When the operation of section I is completed, operation shifts to section II.
(At this point, XA goes ON. When XA goes ON, the data for the operation of
section III is transferred to the shared memory. XA goes OFF after the data has
been transferred.)

Step 4: Executing the operation of Section III

When the operation of section II is completed, operation shifts to section III.

Step 5: Completing the operation of Section III

Because no data for the next operation is specified during the operation of section
III, operation automatically stops.

86
Operation of the Input and Output Flag Before
and After P Point Control

P point control start flag (Y_1)

1. P point control is initiated based on the parameters written to the positioning
unit.
2. Control is not initiated during the time that the pulse output busy flag (X_0) is
ON. (it has already been initiated).
3. Control is reset when the power supply is turned OFF.

Set value change confirmation flag(X_A)

1. This goes ON with the next scan after P point control has been initiated.
2. It remains ON until the next F151 or P151 shared memory write instruction is
executed, and the new parameters are written to the shared memory, and then
goes OFF after the parameters have been written to the unit.
3. This is reset when the power supply is turned OFF.
z This is used for P point control, and the user must be careful that it does not
overlap other control programs. (Refer to the next section)

87
 Pulse output busy flag(X_O)
1. This goes ON with the next scan after P point control has been initiated, and
goes OFF when the pulse output is completed.
2. Operation cannot be shifted to any other operation while this signal is ON.
(except for a forced stop and a deceleration and stop)
3. This is reset when the power supply is turned OFF.
z This flag is shared among E point control, P point control, JOG operation,
and home return. (except a pulser input enabled operation)

Pulse output done flag(X_1)

1. This goes ON when the pulse output is completed, and is maintained until the
next E point control, P point control, JOG operation, home return, or pulser
input enabled status is initiated.
2. This is reset when the power supply is turned OFF.
z This flag is shared among E point control, P point control, JOG operation,
and pulser input enabled operation.

88
Precautions When Creating P Point Control
Programs
Precautions Concerning the Set Value Change Confirmation
Flag X_A
The set value change confirmation flag is turned ON and OFF at the timing noted
below, so an interlock should be applied to prevent the shared memory or other data
from being overwritten at the same timing.

Conditions for turning the flag from OFF to ON

z This flag goes ON when P point control or E point control is initiated.
z It goes ON at the point when the next data can be written.

Conditions for turning the flag from ON to OFF

z This flag goes OFF when pulse output is completed after P point control or E
point control is initiated.
z It goes OFF when the shared memory write instruction F151 is executed, and
any type of data is written to the shared memory of the positioning unit.
The interlock should be applied to each circuit, so that F151 instruction cannot be
executed and the set value change confirmation flag X_A cannot be rewritten under
any other conditions.

89
 If the P point control program is booted Because an interlock is in effect,
while the E point control program has the E point control program cannot
been booted and is running, the flag XA be booted if the P point control
changes, resulting in affecting the P point program has already been booted.
control program operation. This prevents E point control from
affecting P point control.

90
 8
JOG Operation

Sample Program
JOG Operation (Forward and Reverse)
This is the basic program for forward and reverse rotation using
the external switch.
The direction in which the elapsed value increases as the motor rotates is set as the
plus (+) direction.
z Pulses are output as long as the startup flag is ON in the manual mode. It is
assumed the mode setting switch at the bottom of the positioning unit is set to
set side.
z There are two flags for startup, one for forward rotation and another for reverse
rotation.

91
 Pulse output diagram

Shared memory settings

Control parameter setting Set values in sample Range of
content program example acceptable settings
H0: Increment, Linear
H0
acceleration/deceleration
Control code Linear
H2: Increment, S-pattern
acceleration/deceleration
acceleration/deceleration
Startup speed (pps) K500 K0 to K1,000,000
K1 to K1,000,000
Target speed (pps) K10000 Set a value larger than the
startup speed.
Acceleration/deceleration time (ms) K100 K0 to K32,767

If the limit error occurs, set H0 as the limit input valid logic can be changed.
IMPORTANT

92
Program

Precautions concerning the program

z The same shared memory areas to which the various control parameters are
written are used for acceleration/deceleration control, JOG positioning
operation, home return, and other types of control. These should not be
overwritten by other conditions.
z If the values for the startup speed, the target speed, or the acceleration/
deceleration time exceed the range of values which can be specified, a set value
error will occur, and operation cannot be initiated.
z The number of the start flag varies depending on the number of axes the unit
has, and the installation position.
z The specified slot number and shared memory address vary depending on the
slot position and axis number of the positioning unit. Refer to Chapter 1.
z If forward and reverse rotations are started at the same timing, forward rotation
takes precedence. Also, if one or the other is started first, rotation in that
direction takes precedence.
z When re-started during deceleration, the rotation will again accelerate if in the
same direction.

93
 JOG Operation (Forward, Reverse and Speed Changes)
This is the basic program for forward and reverse rotation using the
external switch.
The direction in which the elapsed value increases as the motor rotates is set as the
plus (+) direction. It is assumed the mode setting switch at the bottom of the
positioning unit is set to set side.
z Pulses are output as long as the startup flag is ON in the manual mode.
z There are two flags for start, one for forward rotation and one for reverse
rotation.
z In the example shown below, the selector switch is used to switch between high-
speed and low - speed operation.

94
Pulse output diagram

Shared memory settings

Set values in sample program
Control parameter example Range of acceptable
setting content Low . speed High . speed settings
settings settings
H0: Increment, Linear
H0 acceleration/deceleration
Control code
Linear acceleration/deceleration H2: Increment, S-pattern
acceleration/deceleration
Startup speed(pps) K500 K0 to K1,000,000
K1 to K1,000,000
Target speed(pps) K5000 K10000 Specify a value larger than
the startup speed.
Acceleration/deceler
K100 K0 to K32,767
ation time(ms)

95
 Program

Precautions concerning the program

z The same shared memory areas to which the various control parameters are
written are used for acceleration/deceleration control, JOG positioning
operation, home return, and other types of control. These should not be
overwritten by other conditions.
z If the values for the startup speed, the target speed, or the acceleration/
deceleration time exceed the range of values which can be specified, a set value
error will occur, and operation cannot be initiated.
z The number of the start flag varies depending on the number of axes the unit
has, and the installation position. Refer to Chapter 1.
z The specified slot number and shared memory address vary depending on the
slot position and axis number of the positioning unit. Refer to Chapter 1.
z If forward and reverse rotation are started at the same timing, forward rotation
takes precedence. Also, if one or the other is started first, rotation in that
direction takes precedence.

96
Sequence Flow for JOG Operation
JOG operation
When a 4 - axis type positioning unit is mounted in slot 0

Operation example
When the flag for forward rotation (Y43) (JGF) is turned ON, forward rotation
begins and acceleration is initiated based on the settings. When the flag is turned
OFF, deceleration takes place based on the settings, and the operation stops.
When the flag for reverse rotation (Y44) (JGR) is turned ON, reverse rotation
begins and acceleration is initiated based on the settings. When the flag is turned
OFF, deceleration takes place based on the settings, and the operation stops.

When Y43 is turned ON in the program above, the motor for the first axis begins to
turn in the forward direction, and accelerates to the target speed. When Y43 is
turned OFF, the motor decelerates and stops.
Reverse rotation can be carried out in the same way, with Y44 being turned ON and
OFF. X0 is the Pulse output busy (BUSY) flag that indicates that operation is in
progress, and X1 is the Pulse output done (EDP) flag that indicates that operation
has been completed. The EDP flag remains on until the next operation request is
issued.

97
 Data necessary for settings
The following data must be written to the specified addresses of the shared
memory.
Operation is determined by the following four types of data.
z Control code
z Startup speed
z Target speed
z Acceleration/deceleration time

Operation steps
Step 1: Preparatory stage
The data for operation is transferred to the shared memory ahead of time.

Shared memory
1
F15

Step 2: Executing the operations

Forward
The start flag Y43 for forward rotation is turned ON.

98
Reverse
The start flag Y44 for reverse rotation is turned ON.

The control codes determine whether S acceleration/deceleration or linear

acceleration/deceleration is used.
When the start flag is turned ON, acceleration takes places from the startup speed to
the target speed for the acceleration/deceleration time. When the flag is turned OFF,
deceleration takes place until the startup speed is reached, and operation then stops.

99
 Changing the Speed During JOG Operation
Specifying a speed change during JOG operation
To change the speed during JOG operation, the program should be set up so that
only the “Target speed” parameter in the shared memory is overwritten after JOG
operation has begun.

Pulse output diagram

100
Sample Program

Acceleration/deceleration time when the speed is changed

z If the JOG speed is changed during JOG operation, it is not possible to specify
the acceleration/deceleration time when the speed changes.
z The acceleration/deceleration time is determined by the “Rate of acceleration”,
which is the speed change from the startup speed to the point where the first
target speed is reached, and the acceleration/deceleration time continues to
change until this “Rate of acceleration” becomes constant.
Example: Acceleration/deceleration time for a sample program
1. Time until the low - speed specification for JOG operation
The acceleration/deceleration time specified by the program serves as the
acceleration/deceleration time, just as it is.
Acceleration/deceleration time = 50ms
Acceleration rate = = 90[pps/ms]
5000[pps] - 500[pps]
2. Time from the JOG speed of the low - speed specification to the JOG speed of
the high - speed specification 50[ms]
Acceleration/deceleration time = = Approx. 55.6[ms]
3. Time from the JOG speed of the high10000[pps] - 5000[pps]
- speed specification to when pulse
output stops 90pps/ms

Acceleration/deceleration time = = Approx. 105.6[ms]

10000[pps] - 500[pps]
For the sake of expedience, “pps/ms” is used as the unit for the acceleration
rate. 90pps/ms

101
 Acceleration/Deceleration settings
z When you change Jog speed during JOG operation, set it to Linear
Acceleration/Deceleration
z When you set it to S Acceleration/Deceleration, JOG operation continues with
the initial speed.

102
Teaching Following JOG Operation
Example of Teaching Settings, and Sample Program
Example of teaching operation following JOG operation
z The current position can be determined by reading the counter value stored in
the shared memory of the unit after JOG operation has taken place.
z The value read at this time is the data for the absolute value.

103
 Pulse output diagram

104
Sample Program

105
 Action of the I/O Flag Before and After JOG
Operation

Forward JOG flag (Y_3)/Reverse JOG flag (Y_4)

1. JOG operation is initiated based on the parameters written to the positioning
unit.
2. The operation is not initiated during the time that the pulse output busy flag
(X_0) is ON.(it has already been initiated).
3. The operation is reset when the power supply is turned OFF.
z If the start flag for forward and reverse rotation go ON at exactly the
same timing, forward rotation takes precedence.

Pulse output busy flag (X_0)

1. This goes ON with the next scan after JOG operation has been initiated, and
goes OFF when the pulse output is completed.
2. Operation cannot be shifted to any other operation while this signal is ON
(except for a forced stop and a deceleration and stop).
3. This is reset when the power supply is turned OFF.
z This flag is shared among E point control, P point control, JOG
operation, JOG positioning operation and home return. (except for
pulse input enabled operation)

106
Pulse output done flag (X_1)
1. This goes ON when the pulse output is completed, and is maintained until the
next E point control, P point control, JOG operation, JOG positioning operation,
home return, or pulser input enabled status is initiated.
2. This is reset when the power supply is turned OFF.
z This flag is shared among E point control, P point control, JOG
operation, JOG positioning operation, and pulser input enabled
operation.

Cautions for changing speed during JOG operation.

When you change target speed, only in linear acceleration/deceleration, during a
JOG operation, do not change target speed in a JOG point
ON->OFF speed reduction operation. If you change the target speed in this
situation, it may output a high-speed pulse train.

107
108
 9
Home Return

Sample Program
Search to home in the Minus Direction
Search to the home position is carried out in the minus direction.
The direction in which the elapsed value increases as the motor rotates is set as the
plus (+) direction. It is assumed the mode setting switch at the bottom of the
positioning unit is set to set side. The home input is connected to the Z phase output
of the motor driver, or to an external switch or a sensor.

109
 Pulse output diagram

Shared memory settings

Control parameter Set values in sample program Range of acceptable
setting content example settings
H0
Acceleration/deceleration method:
The specified values vary
Linear acceleration/deceleration
depending on the method of
Direction of home return:
acceleration/deceleration, the
Control code - direction of elapsed value
home return direction, the home
Home input logic: Input valid when the
input logic, and the near home
power is ON
input logic. (Refer to the below)
Near home input logic: Input valid when
the power is ON
Startup speed (pps) K500 K0 to K1,000,000
K1 to K1,000,000
Target speed (pps) K10000 Set a value larger than the
startup speed.
Acceleration/deceleration
K100 K0 to K32,767
time (ms)

110
Program

Precautions concerning the program

z The same shared memory 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. These should not
be overwritten by other conditions.
z If the values for the startup speed, the target speed, or the acceleration/
deceleration time exceed the range of values which can be specified, a set value
error will occur, and operation cannot be initiated.
Set the startup speed to 1pps or more.
z The number of the start flag varies depending on the number of axes the unit
has, and the installation position. Refer to Chapter 1.
z The specified slot number and shared memory address vary depending on the
slot position and axis number of the positioning unit. Refer to Chapter 1.
z The control code settings vary depending on the logic of the near home input
and the home return input which have been connected. Input logic Refer to
Chapter 9-4.

111
 Control Code Assignments

Controls Controls
Contr Accelerati Zero Accelerati Zero
Home Near-zero Contro Home Near-zero
ol on/ Point on/ Point
Return Point l Code Return Point
Code Decelerati Input Decelerati Input
direction logic direction logic
on method logic on method logic
No power Power No power No power
H0 Linear (-) direction H20 Linear (-) direction
connected connected connected connected
No power Power No power No power
H2 S-PATTERN (-) direction H22 S-PATTERN (-) direction
connected connected connected connected
Power Power Power No power
H10 Linear (-) direction H30 Linear (-) direction
connected connected connected connected
Power Power Power No power
H12 S-PATTERN (-) direction H32 S-PATTERN (-) direction
connected connected connected connected

Search to the home in the Plus Direction

Search to the home position is carried out in the plus direction.
The direction in which the elapsed value increases as the motor rotates is set as the
plus (+) direction. The home input is connected to the Z phase output of the motor
driver, or to an external switch or sensor.

112
Pulse output diagram

Shared memory settings

Control parameter Set values in sample program Range of acceptable

setting content example settings
H0
Acceleration/deceleration method:
The specified values vary
Linear acceleration/deceleration
depending on the method of
Direction of home return:
acceleration/deceleration, the
Control code - direction of elapsed value
home return direction, the home
Home input logic: Input valid when the
input logic, and the near home
power is ON
input logic.(Refer to the below)
Near home input logic: Input valid when
the power is ON
Startup speed (pps) K500 K0 to K1,000,000
K1 to K1,000,000
Target speed (pps) K10000 Set a value larger than the
startup speed.
Acceleration/deceleration
K100 K0 to K32,767
time (ms)

Home search function is valid.

IMPORTANT If the limit error occurs, set H54 as the limit input valid logic can be changed.

113
 Program

Precautions concerning the program

z The same shared memory areas to which the various control parameters are writ
ten are used for acceleration/deceleration control, JOG operation, JOG
positioning operation, home return and other types of control. These should not
be overwritten by other conditions.
z If the values for the startup speed, the target speed, or the acceleration/
deceleration time exceed the range of values which can be specified, a set value
error will occur, and operation cannot be initiated.
Set the startup speed to 1pps or more.
z The number of the startup flag varies depending on the number of axes the unit
has, and the installation position. Refer to Chapter 1.
z The specified slot number and shared memory address vary depending on the
slot position and axis number of the positioning unit. Refer to Chapter 1.
z The control code settings vary depending on the logic of the home input and the
near home input which have been connected. Input logic Refer to Chapter 9-
4.

114
 Control Code Assignments

Controls Controls
Contr Accelerati Zero Accelerati Zero
Home Near-zero Contro Home Near-zero
ol on/ Point on/ Point
Return Point l Code Return Point
Code Decelerati Input Decelerati Input
direction logic direction logic
on method logic on method logic
No power Power No power No power
H4 Linear (+) direction H24 Linear (+) direction
connected connected connected connected
No power Power No power No power
H6 S-PATTERN (+) direction H26 S-PATTERN (+) direction
connected connected connected connected
Power Power Power No power
H14 Linear (+) direction H34 Linear (+) direction
connected connected connected connected
Power Power Power No power
H16 S-PATTERN (+) direction H36 S-PATTERN (+) direction
connected connected connected connected

115
 Flow of Operation Following a Home Return
Home return
When a 4 - axis type positioning unit is mounted in slot 0

Operation example
When the startup flag is turned ON, acceleration is carried out based on the
settings, until the targetspeed is reached. If near home input exists at that point, the
speed slows to the startup speed, and then, if home input exists at that point as well,
the movement stops.

When Y42 is turned ON in the program above, the motor for the first axis begins to
accelerate, and continues accelerating until the target speed is reached. If there is
near home input at that point, the motor decelerates to the startup speed. After
deceleration has been completed, the motor stops if home input exists.

Data required for settings

z The following data must be written to the specified addresses of the shared
memory.
z Operation is determined by the following four types of data.
• Control code
• Startup speed
• Target speed
• Acceleration/deceleration time

116
Operation steps
Step 1: Preparatory stage
The data for operation is transferred to the shared memory ahead of time.

Step 2: Executing the operations

The startup flag Y42 is turned ON.
The control code determines whether S acceleration/deceleration or linear
acceleration/deceleration is used.
When the startup flag is turned ON, acceleration takes places for the acceleration/
deceleration time it takes to reach the target speed, and the table moves.

NX700

117
 Step 3: Near home input
If there is near home input, the speed slows to the startup speed.

Step 4: Home input

After decelerating to the startup speed value, the movement unit stops if there is
home input.

118
Operation If the Home Input is the Z Phase of the Servo
Driver
When near home input is input, the speed slows, and when the startup speed has
been reached, the positioning unit recognizes the first input Z phase signal as the
home input signal, and stops.

When a 4 - axis type positioning unit is mounted in slot 0

Z phase signals input during deceleration are not viewed as home input signals.
IMPORTANT Deceleration continues without stopping until the startup speed is reached, and
then the motor continues to rotate at the startup speed until a Z phase signal is
input

When Home return is completed, the elapsed value stored in the shared memory is
IMPORTANT cleared and the deviation counter clear output signal is output for about 1ms at the
same time.

When the home return is started at where the both of the near home and home
IMPORTANT inputs are valid, the operation will be as follows;
Home Return: does not operate.

119
 Operation If 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.

When a 4 - axis type positioning unit is mounted in slot 0

Home input signals input during deceleration are not viewed as home input
IMPORTANT signals.
Deceleration continues without stop ping until the startup speed is reached, and
then the motor continues to rotate at the startup speed until a home input signal is
input.

When Home return is completed, the elapsed value stored in the shared memory is
IMPORTANT cleared and the deviation counter clear output signal is output for about 1ms at the
same time.

When the home return is started at where the both of the near home and home
IMPORTANT inputs are valid, the operation will be as follows;
Home Return: does not operate.

120
Action of the I/O Flag Before and After a
Home Return Operation
Return Operation

121
 Home return start flag(Y_2)
1. Home return is initiated based on the parameters written to the
positioning unit.
2. The flag is not initiated during the time that the pulse output busy flag
(X_0) is ON.(It has already been initiated).
3. The flag is reset when the power supply is turned OFF.

Near home input(X_7)

1. Deceleration begins when the near home switch input connected to the
positioning unit becomes valid.
2. The leading edge of the signal is detected, so changes to flags following
the input do not affect operation.
z Confirmation of the input logic is necessary. <Refer to page 10-17.>

Home input(X_6)
1. The table stops when the home switch input connected to the positioning
unit becomes valid and then the table stop.
2. The leading edge of the signal is detected, so changes to flags following
the input do not affect operation.
z Confirmation of the input logic is necessary. <Refer to page 10-17.>

Deviation counter clear output

3. This goes ON for approximately 1 ms or 10ms after the home return has
been completed.
z This is used in systems in which a servomotor is used.
This is not used for a stepping motor.

Pulse output busy flag (X_0)

1. This goes ON with the next scan after home return has been initiated,
and goes OFF when the pulse output is completed.
2. Operation cannot be shifted to any other operation while this signal is ON
(except for a forced stop and a deceleration and stop).
3. This is reset when the power supply is turned OFF.
z This flag is shared among E point control, P point control, JOG
operation, and home return. (except for the pulser input operation)

Home return done flag (X_8)

1. This goes ON when a home return is completed, and is maintained until
E point control, P point control, JOG operation, a home return, or pulser
input operation is started.
2. This flag is reset when the power supply is turned OFF.

122
Pulse output done flag (X_1)
1. The pulse output done flag does not go ON when a home return is
completed.
2. Before a home return is started, this goes from ON to OFF when E point
control, P point control, JOG operation, JOG positioning operation or
pulser input operation is completed.
3. If this is OFF before a home return is started, it remains OFF and does
not change.
4. This flag is reset when the power supply is turned OFF.
z This flag is common to E point control, P point control, JOG
operation, and pulser input operation.

123
 Checking the Home and Near Home Input
Logic
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” control code for the program is selected from the control code
table.(Refer to Chapter 1)
When to specify “Input valid when power is supplied”:
z If the input switch contact is the “a” contact
z If the input sensor goes ON when the home or near home position is detected

When “Input Valid When Power is not Supplied” is

Specified
In cases like that below, when power is not being supplied to the input circuit of the
unit, the “Power not supplied” control code for the program is selected from the
control code table.(Refer to Chapter 1)
When to specify “Input valid when power is not supplied”:
If the input switch contact is the “b” contact
If the input sensor goes OFF when the home or near home position is detected

124
Practical Use for a Home Return
When One Switch is Used as the Home Input
Example of usage method
• Connection
Only the home input switch is installed and connected. (No near home input
switch is connected.)

• Input logic settings

The control code in the shared memory should be set as indicated below.
- Home input logic: Input exists when power is supplied.
- Near home input logic: Input exists when power is not supplied.
• Operation
When Home return is started, the motor rotates in the direction of home return
The motor rotates at the startup speed.
At this time, the near home input is already ON due to the Input logic setting.
The motor stops when the home input is made.
Example:

- Home return is executed at the startup speed.

IMPORTANT - When the home input is connected to the Z phase output of the motor driver, one
switch can not be used as the home input.

125
 Reference (Key Points):
z Practical application of input logic. The near home input is set to “Input exists
when power is not supplied”, and is not connected.
z There is no near home switch.
z There is only home input switch.
• When One Switch ON and OFF are assigned to Near Home Input and Home

Environment available for this

The system in which the near home input switch is once turned ON and then OFF
when the home return is started.

Example of usage method

• Connection
Near home input and home input are connected to the near home input switch.

• Input logic setting

Set the control code of the shared memory for the following;
Home input logic: Input Valid when power is not supplied
Near home input logic: Input Valid when power is supplied.

126
• Operation
When a home return begins, the motor rotates in the direction of the home
return.
When the near home input switch is turned ON, the speed slows down to the
startup speed.
The motor rotates the further and the near home input will be OFF.
At this point, the home input should already be ON, as a result of the input logic,
and the motor stops.

The near home input should be ON for the time more than the deceleration time.
IMPORTANT The operation of the near home input will not be affected by the signal logic change
after the near home input is detected.

Reference (Key Points):

z Practical application of input logic. Reverse the logic of the near home input and
the home input.
z When the switch is ON, the near home input is to be ON.
z When the switch is OFF, the home input is to be ON.
z One switch is to be connected with the home input and the near home input.

127
 Home Return
Home Return by home position search
When you control the motor over its home position, if Home Return direction is not
limited to one direction, you can use Limit Over Inputs and the user program to
perform home return in both directions as shown in the figure below.

When Near-zero Point Input is in Home Return direction

Slow down at Near-zero Point and stop at zero-point input position.

When Near-zero Point Input is not in Home Return direction.

1. Starts home return in the direction defined in the program, and moves to Limit
Over Input position.

2. When Limit Over is detected, movement direction is reversed, and near-zero

point input becomes ON and the motor moves until near-zero point input
becomes OFF.

128
3. If Near-zero point inputs are detected, operation direction is reversed,
and motor stops at zero-point.

Sample Program

129
130
 10
Pulser (MPG) Input Operation

Sample Program
Pulser input operation (Transfer multiple: 1 multiple setting)
The rotation direction of the motor in which the elapsed value increases is set as the
plus direction, and “pulse/sign” is set as the pulse outpt mode. It is assumed the
mode setting switch at the bottom of the positioning unit is set to set side.
The normal setting system

131
 Pulse output diagram

Shared memory settings

Control parameter Set values in sample Range of acceptable
setting content program example settings
H0 : x 1multiple
H100 : x 2 multiple
H200 : x 5 multiple
H0 H300 : x 10 multiple
Control code
Multiplication ratio:x1 multiple H400 : x 50 multiple
H500 : x 100 multiple
H600 : x 500 multiple
H700 : x 1000 multiple
Target speed (pps) K1000 K1 to K1,000,000

132
Program

Precautions concerning the program

• The same shared memory 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. These should not
be overwritten by other conditions.
• If the target speed is out of the range of possible settings, a set value error will
occur, and pulser input cannot be accepted.
• The number of the startup flag varies depending on the number of axes the
pulser input unit has, and the installation position. Refer to Chapter 1.
• The specified slot number and shared memory address vary depending on the
slot position and axis number of the positioning unit. Refer to Chapter 1.
• The target speed should be specified as an appropriately large value to match the
multiplication ratio.
• If the multiplication ratio is high and the target speed is low, the next pulser
input command may be received before the specified pulse output has been
completed, making it impossible to obtain output of the input number of pulses.

133
 Pulser input operation (Transfer multiple: 5 multiple setting)
The rotation direction of the motor in which the elapsed value increases is set as the
plus direction, and “pulse/sign” is set as the pulse output mode. It is assumed the
mode setting switch at the bottom of the positioning unit is set to set side.
The normal setting system

Pulse output diagram

134
Shared memory settings
Control parameter Set values in sample Range of acceptable
setting content program example settings
H0 : x 1multiple
H100 : x 2 multiple
H200 : x 5 multiple
H0 H300 : x 10 multiple
Control code
Multiplication ratio:x5 multiple H400 : x 50 multiple
H500 : x 100 multiple
H600 : x 500 multiple
H700 : x 1000 multiple
Target speed (pps) K5000 K1 to K1,000,000

Program

135
 Precautions concerning the program
• The same shared memory 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. These should not
be overwritten by other conditions.
• If the target speed is out of the range of possible settings, a set value error will
occur, and pulser input cannot be accepted.
• The number of the startup flag varies depending on the number of axes the unit
has, and the installation position. Refer to Chapter 1.
• The specified slot number and shared memory address vary depending on the
slot position and axis number of the positioning unit. Refer to Chapter 1.
• The target speed should be specified as an appropriately large value to match the
multiplication ratio.
• If the multiplication ratio is high and the target speed is low, the next pulser
input command may be received before the specified pulse output has been
completed, making it impossible to obtain output of the input number of pulses.

136
Sequence Flow for Pulser input operation
Pulser input operation
• A manual pulse generator (pulser) can be connected, and the motor can be
controlled in the manual mode.
Pulser signals can be input while the pulser input enabled flag (PEN) is ON.
• The user can select the number of pulses to be sent to the motor driver in
relation to one pulser signal pulse (by setting the control code in the shared
memory).

When the 4 - axis type positioning unit is mounted in slot 0

Operation example
When the flag which enables pulser input operation is turned ON, the motor rotates
at the specified speed, in conjunction with the pulser operation.

137
 When Y47 is turned ON in the above program, the motor for the first axis waits for
pulser input. If the pulser is rotated in this state, the motor rotates also.
The pulse output busy flag X0 remains OFF, and its status does not change. The
pulse output done flag X1 goes OFF when Y47 goes ON.

Data necessary for settings

The following data must be written to the specified addresses of the shared
memory. Operation is determined by the following two types of data.
• Control code
• Target speed

138
Operation steps
Step 1: Preparatory stage
The data required for operation is transferred to the shared memory in advance.

Shared memory

Step 2: Executing the operations

The input enabled flag Y47 is turned ON.
This sets the system in standby mode for input from the pulser.

Forward rotation
The pulser rotates in the forward direction.

Reverse rotation
The pulser rotates in the reverse direction.
Forward rotation is the direction in which the elapsed value increases, and reverse
rotation is the direction in which the elapsed value decreases. The direction in
which the pulser rotates and that in which the motor rotates vary depending on how
they are connected.

139
 Reference:
Value of the internal absolute counter during pulser input operation
The internal absolute counter counts the number of pulses output. Consequently, in
the instant that pulses are being input, the number of pulses input from the pulser
does not equal to the value counted by the counter.

When the input signal from the pulser is ignored

IMPORTANT If the specified multiplication is high and the target speed is low, the next pulser
input command may be received before the specified pulse output has been
completed, making it impossible to obtain output of the input number of pulses.
If this happens, the target speed should be changed to an appropriate value.

140
Action of the I/O Flag During Pulser Input
Operation

Pulser input enabled flag (Y_7)

1. This is in pulser input operation status, based on the parameters written
to the positioning unit.
2. This does not shift to enabled status while the pulse output busy flag X_0
is ON.
3. This flag is reset when the power supply is turned OFF.

Pulse output busy flag (X_0)

The ON/OFF status of the pulse output busy flag does not change, even if the
pulser input enabled lag Y_7 goes ON.

Pulse output done flag (X_1)

1. This goes from ON to OFF if E point control, P point control, JOG operation,
JOG positioning operation or pulser input operation is completed before pulser
input operation.
2. This goes from OFF to ON when the pulser input enabled flag Y_7 goes OFF.
3. This flag is reset when the power supply is turned OFF.
This flag is common to E point control, P point control, JOG operation, and
pulser input operation.

141
 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” (100 pulses per cycle) type, four pulses are output per click, and
operation may not be accurate in some cases.
A line driver output type is recommended.
A transistor open collector output type or transistor output type with pull-up
resistance may be used.
Manual Pulse generator (for Reference)

Manufacturer Types Notes

RE45BA2D5F
TOKYO SOKUTEIKIZAI in Japan
RE45BA2D5C
NEMICON in Japan UFO-0025-2D

142
 11
Deceleration Stop and Forced Stop

Sample Program
In - progress Stopping, Emergency Stopping, Overrun

143
 Program

Precautions concerning the program

• The number of the stop input flag varies depending on the number of axes that
the unit has, and the position in which it is mounted.
• If a deceleration stop or forced stop is triggered, the start flag for the various
operations must be turned OFF before operation can be restarted. This content is
common to E point control, P point control, home return, JOG operation, and
pulser input operation.

144
Pulse output diagram
Deceleration stop operation (In - progress stop)

145
 Forced stop operation (Emergency stop, Overrun)

146
Operations for a Deceleration Stop and
Forced Stop
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 ontrol, P point control, home return,
JOG operation. For pulser input operation, pulse output stops.

When a deceleration stop has been executed, deceleration is carried out based on
IMPORTANT the acceleration rate determined by the data specified in the shared memory area at
that point, and continues until the startup speed is reached. Following that,
operation stops. If the deceleration stop flag goes ON during deceleration or
acceleration, deceleration is carried out at the rate of acceleration in effect at that
time, and operation stops.

147
 Forced Stop
If the forced stop flag goes ON during operation, pulse output stops immediately.
This operation is common to E point control, P point control, home return, JOG
operation, and pulser input operation.

148
I/O Flag Operation Before and After a Stop

Deceleration stop flag (Y_6)

1. When the deceleration stop flag goes ON, the operation in progress is
interrupted, and deceleration begins.
2. After deceleration has begun and the speed has slowed to the startup speed,
pulse output stops.
3. This flag is reset when the power supply is turned OFF.

Forced stop flag (Y_5)

1. When the forced stop flag goes ON, the operation in progress is interrupted
immediately, and pulse output stops.
2. This flag is reset when the power supply is turned OFF.

Pulse output busy flag (X_0)

1. When the deceleration stop flag goes ON, this flag goes OFF when pulse output
is completed.
2. When the forced stop flag goes ON, this flag goes OFF after 1 scan from when
the flag has gone ON.
3. This flag is reset when the power supply is turned OFF.

149
Pulse output done flag (X_1)
1. When the deceleration stop flag goes ON, this flag goes ON when pulse output
is completed.
2. When the forced stop flag goes ON, this flag goes ON after 1 scan from when
the flag has gone ON.
3. This flag is reset when the power supply is turned OFF.

150
Precautions Concerning Stopping Operations
Pulse Output Done Flag Status After a Stop
For either a deceleration stop or a forced stop, the pulse output done flag goes ON
after operation has stopped. If the pulse output done flag is being used as a trigger
signal for operation after positioning has been completed, the program should be
set up so that operation does not proceed to the next step following a deceleration
stop or a forced stop.

Restarting After a Stop

When a deceleration stop or forced stop is triggered, the start flags for all
operations must be turned OFF before operation can be restarted. This operation is
common to E point control, P point control, home return, JOG operation, and pulser
input operation.

Forced Stop Elapsed Value Data

Elapsed value data in the shared memory is saved after a forced stop is applied.
Under normal conditions, it is possible that a mechanical error has occurred, so
after home return, we recommend positioning control start.

151
152
 12
Precautions Concerning the operation and
Programs

Precautions Relating to Basic Operations of

the Unit
Values of Shared Memory are Cleared When Power is
Turned OFF
The data in the shared memory of the positioning unit is not backed up if a power
failure occurs. As a result, when the power supply is turned ON again, the default
operation data should be written to the shared memory before the various start flags
are turned ON.

When the power supply is turned OFF, the various set values in the shared memory
are set to “0”. All of the control codes also return to the default values.

If the start flags are turned ON without writing the data to the memory, a set value
IMPORTANT error may occur, and the unit may not operate as expected.

153
 If a home return is carried out when the power supply is ON, write the control
codes to the memory before the home return start flag is turned ON. If the control
codes are not written to the memory, problems may occur such as a discrepancy
between the direction of the home return and the input logic, causing the unit to
operate in unexpected ways.

Reference:
The following program should be written to the unit, so that after the power supply
is turned ON, the elapsed value data prior to the power supply being turned OFF
will be read.

Example:
Before the power supply is turned OFF, the elapsed values of DT100 and DT101
are read, and when the power supply is turned ON, the contents of DT100 and
DT101 are written to the elapsed value area of the unit, through DT102 and DT103.

154
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, or a home return, any positioning unit
operations in progress at that point are interrupted, and the speed decelerates.

Example:
If the CPU switches from RUN to PROG. mode during E point control operation

At the point at which the CPU switches from the RUN to the PROG. mode,
IMPORTANT deceleration and stopping begin.
The acceleration rate used for deceleration at that point is that determined by the
data stored in the shared memory when the switch is made from the RUN to the
PROG. mode.
The CPU mode should not be switched from RUN to PROG. while positioning
unit operation is being executed under normal usage conditions.

Reference:
Deceleration Stop and Forced Stop, Chapter 11.

155
 Operation Cannot be Switched Once One Operation Has
Started
If the startup flag for one of the five basic operations of the positioning unit (E
point control, P point control, home return, JOG operation, and pulser operation)
goes ON and operation is initiated, it is not possible to switch to another operation,
even if the flag for that operation goes ON.
Example:
Once the E point control start flag has gone ON and E point control has begun, it is
not possible to switch to P point control, a home return, JOG operation, or pulser
operation, even if those flags are turned ON, while E point control is still in
operation.

Reference:
If the flag for a deceleration stop or forced stop goes ON, the five basic operations
noted above (E point control, P point control, Home return, Pulser operation, JOG
operation) stop immediately.

156
Precautions Concerning Practical Usage
Methods
Setting the Acceleration/Deceleration to Zero
To initiate the target speed immediately without accelerating or decelerating
(acceleration/deceleration Zero operation = automatic startup operation), the
startup speed and acceleration/deceleration time should both be set to 0 (zero). This
produces pulse output at the target speed, with an acceleration/deceleration time of
0 (zero). Setting the startup speed equal to the target speed results in a set value
error, and the positioning unit will not start.

Cautions when you set position command value to 1 pulse

When you set Position Command value (displacement value) to 1 pulse at E-point
control and P-point control, you have to set starting speed higher than 1pps. If you
set the starting speed to 0 pps, Positioning Unit outputs 1 pulse and stops its
operation.

157
158
 13
Operation if an Error Occurs

Positioning Unit Operation if an Error Occurs

If the Positioning Unit ERR LED Lights

When starting (stopped)

If a set value error occurs when the positioning unit is started (stopped), the various
operations will not begin. This applies to E point control, P point control, home
return, JOG operation, and pulser operation, none of which will be initiated.

During P point control operation or JOG operation

If a set value error occurs during P point control operation or during JOG operation,
the positioning unit interrupts any operation currently in progress, and enters the
“deceleration stop” status.

Reference:
When a set value error occurs or a limit error occurs, the error clear flag should be
turned OFF, ON, and then OFF again. Operation cannot be restarted until the error
has been cleared.
Operation continues on other axes where the set value error has not occurred.
-> Deceleration stop operation (Reference: Chapter 11.)

159
 If the CPU ERROR LED Lights

The positioning unit interrupts any operation currently in progress, and enters the
“deceleration stop” status.

Reference:
Operation is continued, however, if “Operation” has been specified in the system
register settings for operation when an error of some kind occurs.
-> Deceleration stop operation (Reference: Chapter 11.)

160
Errors Which Occur in the Positioning Unit
Itself
The positioning unit itself has a function which warns the user of an error if any of
the parameters for the “Startup speed”, “Target speed”, and “Acceleration/
deceleration time” settings are not appropriate.

161
 Cases in which errors occur, and their contents

At setting change during

At startup setting
operation
Item
Negative Out of Negative Out of
0 0
number range number range
startup speed Error Error
E point target speed Error Error Error
No applicable condition
control Acceleration/
Error Error
deceleration time
startup speed Error Error
P point target speed Error Error Error Error Error Error
control Acceleration/
Error Error Error Error
deceleration time
startup speed Error Error Error
Home target speed Error Error Error
No applicable condition
return Acceleration/
Error Error
deceleration time
startup speed Error Error
JOG target speed Error Error Error Error Error Error
operation Acceleration/
Error Error
deceleration time
startup speed
Pulser
target speed Error Error Error
input No applicable condition
operation Acceleration/
Not applicable condition
deceleration time
Operation when above error occurs Operation does not begin Deceleration stop

1. The position command value and the control code are not subject to setting
errors regardless of whether the increment or absolute method is selected.
2. Data of shaded area is not subject to errors.
3. When starting any of the modes (except pulser input operation), an error will
occur if the startup speed setting is greater than or equal to the target speed
setting.
4. A setting change can only be made during JOG operation if linear acceleration/
deceleration is selected.

162
Resolving Problems
If the Positioning Unit ERR LED Lights
Conditions
There is a set value error in the positioning data.

Procedure 1
Using programming tools, check to see if the values in the data registers being used
as the positioning parameter data tables are within the allowable setting range.

Range for positioning data setting

Allowable setting Program
Type of parameter
range specifications
Startup speed (pps) 0 to +1,000,000 [pps] K0 to K1,000,000
Target speed (pps) +1 to +1,000,000 [pps] K1 to K1,000,000
Acceleration/deceleration time (ms) 0 to +32,767 [ms] K0 to K32,767

Points to check:
1. Is the value for the startup speed larger than that for the target speed? An error
occurs if the two values are the same, as well.
For the first speed with E point control and P point control, and when carrying
out JOG operation, and home return, a value should be set which is larger than
the startup speed.
2. Has the target speed been set to “0”?
3. Has a data register been set to a negative value?
4. If parameters have been set from an external source, and if operation is being
carried out internally in the PLC, check to make sure the values match those
specified by the design.

Procedure 2
Modify the value out of the range in the program.

Procedure 3
Reset an error by either of the followings;
1. Specify in the program so that the error clear flag (ECLR) goes OFF, ON and
then OFF.
2. By the forced output using WinFPST S/W make the error clear flag (ECLR)
goes OFF, ON and then OFF.
3. Turn OFF once the driver and then PLC and turn ON again PLC and then the
driver.

If Error Clear Signal (ELOR) is ON, no position operation will be started.

Caution
Restart each operation after you clear errors.

163
 Each operation starting point is valid after errors are released.
IMPORTANT If you clear the Error Clear Signal with the program, you can clear errors even
when another axis is being used in operation.

Clearing an error by Error clear signal 1 (specify in the program)

This is to clear an error in the program using the switch connected in advance.
Make the optional input to turn ON the error clear signal applicable for each axis.

Example:

The number of relay to be used varies depending on the allocations.

IMPORTANT

Clearing an error by Error clear signal 2 (forced output)

Procedure:
1. Select [Forced I/O] from the menu of the programming tool software.
2. Specify the flag Y_F for the forced output.
3. Make the target contact once ON and then OFF.
4. Cancel the forced status.

Without fail, execute “forced cancel” operation after the forced output.
IMPORTANT The number of relay to be used varies depending on the allocations, axis number
and the type of the unit installed. Refer to Chapter 1 and 4.

164
If the Motor Does Not Turn or Operate (if the LED for pulse
output A or B is flashing or lighted)
Solution 1: For the servomotor
Check to make sure the servo on input is set to “ON”.

Solution 2
Check to make sure the power supply for the driver is ON.

Solution 3
Check to make sure the wiring between the positioning unit and the driver has been
correctly connected.

Solution 4
Check to make sure the settings for the pulse output method (CW/CCW method or
Pulse/Sign method) are appropriate for the driver.
For more information about mode switch, refer to Chapter 4.

If the Motor Does Not Turn or Operate (if the LED for pulse
output A or B is not lighted)
Solution
Review the program and correct it if necessary.

Points to check:
1. Check to make sure the I/O numbers are appropriate.
2. Check non-rewriting of the start flag in the program.

165
 Rotation/Movement Direction is Reversed
Example of reversed rotation/movement direction:

Solution 1
Make sure the wiring between the positioning unit and the driver has been correctly
connected.

Point to check:
Make sure the CW/CCW output or the Pulse/Sign output has been connected to the
pertinent input on the driver side.
->“Connection of pulse output signal” (Refer to Chapter 3.)

Solution 2
Check to make sure the control codes in the shared memory match the
specifications for the position command values.

Point to check:
The settings for the increment “relative value control” and the absolute “absolute
value control” are specified through the control codes in the program.
-> Increment and Absolute (Refer to Chapter 4.)

Solution 3
If the settings for the position command data have been designed with the plus (+)
and minus ( - ) directions reversed, change the direction of rotation, using the mode
settings witches on the back of the unit mode. -> Mode settings switch (Refer to
Chapter 4.)

166
The Stopping Position is OFF for a Home Return

Conditions
When a home return is carried out, there is a possibility that the speed cannot be
slowed sufficiently.
If deceleration cannot be continued down to the startup speed, the unit will not stop
even if there is home input.

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 motor driver, there may
be cases in which the near home input position is close to the home input.

Solution 2
Correct the program and set the home return speed to a slower speed.

167
 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” on the positioning unit lights.

Solution 2
Check to make sure the input valid logic for the near home input switch is normally
either ON or OFF.

Solution 3
Check the specifications of the control codes in the home return program.
-> Control code: (Refer to Chapter 4)
-> Input valid logic: (Refer to Chapter 9)

Point to check:
If no near home input has been connected, the near home input will be recognized
as being OFF.

168
Movement Doesn’t Stop at Home Position (after
decelerating for home return)

Conditions
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.

Solution 1
Forcibly turn the home input sensor ON and OFF from an external source, and
check to see if the home input display LED “Z” on the positioning unit lights.

Solution 2
Check to make sure the input logic for the home input is normally either ON or
OFF.

Solution 3
Check the specifications of the control codes in the home return program.
-> Control code: (Refer to Chapter 4)
-> Input valid logic: (Refer to Chapter 9)

Point to check:
If no home input has been connected, the home input will be recognized as being
OFF.

169
170
 14
Dimensions and Driver Wiring

171
 Motor Drive Connection Diagram
Rockwell Automation Korea CSDJ plus series (Line Drive
connection)

For the Drive side CW Start Limit Input and CCW Start Limit Input and Servo
Alarm Output connections, please refer to the Motor manufacturer's circuit
recommendations.

172
Rockwell Automation Korea CSD3 Series (Line Drive
Connection)

For the Drive side CW Start Limit Input and CCW Start Limit Input and Servo
Alarm Output connections, please refer to the Motor manufacturer's circuit
recommendations.

173
 Mitsubishi Electronics MR-J2-[] A[1] Series (Line Drive
Connection)

For the Drive side CW Start Limit Input and CCW Start Limit Input and Servo
Alarm Output connections, please refer to the Motor manufacturer's circuit
recommendations.

174
Wiring for Motor Driver
Matsushita Electric Industrial Co., Ltd. MINAS A Series
(Line drive connection)

*When connecting the CW drive disabled and CCW drive disabled input, and the
servo alarm output on the motor driver side, the circuits recommended by the
various motor manufacturers should be used.

175
 Matsushita Electric Industrial Co., Ltd. MINAS EX Series
(Line drive connection)

*When connecting the CW drive disabled and CCW drive disabled input, and the
servo alarm output on the motor driver side, the circuits recommended by the
various motor manufacturers should be used.

176
Matsushita Electric Industrial Co., Ltd. MINAS X(XX)Series
(Line drive connection)

*When connecting the CW drive disabled and CCW drive disabled input, and the
servo alarm output on the motor driver side, the circuits recommended by the
various motor manufacturers should be used.

177
 Matsushita Electric Industrial Co., Ltd. MINAS X (V) Series
(Line drive connection)

*When connecting the CW drive disabled and CCW drive disabled input, and the
servo alarm output on the motor driver side, the circuits recommended by the
various motor manufacturers should be used.

178
Oriental Motor Co., Ltd. UPK-W Series (Open collector
output, stepping drive connection)

179
 NX700 PLC External Dimensions
1. System Dimensions (mm)

Motherboard Installation Diagram (mm)

180
2. CPU, I/O, Analog Unit Dimensions (mm)

3. Special Unit Dimensions(mm)

181
182
 15
Sample Program

Sample Program
Positioning Program for 1 Axis
Unit configuration

An overview of a sample program

This sample program uses the absolute method.
1. When input X80 is ON, the table moves to the absolute position 10000.
[Positioning (1)]
2. When input X81 is ON, the table moves to the absolute position 0. [Positioning
(2)]
3. When input X82 is ON, a return to the home position begins. (If the near home
input is not in the return direction, a Over limit input is detected, and the
direction is reversed. After the near home input (ON/OFF) is detected, the return
to the home position is begun again.)

183
 The example above is I/O with Positioning Unit Axis 3 or Axis 4 If you use
CAUTIONS Positioning Unit Axis 1 or Axis 2, you have to use different I/O numbers. Please
refer to chapter 4.

I/O Allocation

I/O No. Description I/O No. Description

X0 Pulse output busy flag R1 Home return command pulse
X1 Positioning done flag Home Position Return Command
R2
X7 Near home input Pulse

X8 Home return done flag R3 CCW LIMIT DETECTION

X80 Positioning(1) operation start R4 JOG Forward Rotation Start

X81 Positioning(2) operation start R5 JOG Forward Rotation Start Pulse

X82 Home Return start R6 Non-near-zero Point Detection

X83 Forward JOG R7 Home Position Return Retry

X84 Reverse JOG R8 Home return done pulse

X85 Emergency stop Home return completed and stored

R9
in memory
X90 CW Limit Detection
R10 during positioning (1) operation
X91 CCW Limit Detection
Positioning (1) operation command
Y40 E point control start R11
pulse
Y42 Home return start Positioning (1) completed and
R12
Y43 Forward JOG stored in memory
Y44 Reverse JOG R13 Positioning (1) done pulse
Y45 Forced stop R20 during positioning (2) operation
Positioning (2) operation command
R21
pulse
Positioning (2) completed and
R22
stored in memory
R23 Positioning (2) done pulse
R30 Forward JOG setting
R31 Reverse JOG setting

184
Program

185
 Positioning for 2 Axes (Linear Interpolation Program)
Unit configuration

The example above is I/O with Positioning Unit Axis 3 or Axis 4

Caution If you use Positioning Unit Axis 1 or Axis 2, you have to use different I/O numbers.
Please refer to chapter 4.

An overview of a sample program

This sample program uses the absolute method.
1. The current absolute position is read into the data table reads.
2. The distance from the current position to the target position (4000, 3000) is
calculated.
3. The proportions of the X component and Y component included in the distance
are calculated individually.
4. E point control is initiated simultaneously for the X and Y axes, the start up
speed and target speed are output as the respective proportions, and linear
interpolation is carried out.
Because an error occurs if a startup is applied to an axis for which the target speed
is 0 pps, an internal flag is used and the startup conditions are specified.

186
Items to be set for the program
Linear X axis Y axis
Data
component component component
Target position (absolute) (X, Y) X* Y*
Current position (absolute) (x, y) x y

Movement distance Lx=X-x Ly=Y-y

startup speed VS*

target speed Vt*

Acceleration/deceleration time Ac* Acx=Ac Acy=Ac

For items marked with an asterisk (*), the user may specify any desired value.
Other items are handled through operation in the sample program.

Reference:
Calculation of the linear movement distance

187
 Allocation of data registers
Data Calculation
Item Description
No. formula
DT0 startup speed
User DT2 target speed
Setting DT4 Acceleration/deceleration time
area DT6 Target position of X axis
DT8 Target position of Y axis
DT10 Current position of X axis
DT12 Current position of Y axis
_
DT14 ABS(DT6 DT10)
Movement amount of X axis = absolute value of (target position of X axis -
current position of X axis) _
DT16 ABS(DT8 DT12)
Movement amount of Y axis = absolute value of (target position of Y axis -
current position of Y axis)
DT18 Square of (DT14)
Movement amount of square of X axis
DT20 Square of (DT16)
Movement amount of square of Y axis
DT22 DT18+DT20
Movement amount of square of X axis +movement amount of square of Y axis
Data Linear movement amount
register DT24 DT22
Movement amount of X axis/Linear movement amount
the DT26 DT14/DT24
Movement amount of Y axis/Linear movement amount
program DT28 DT16/DT24
is using DT30 Control code of X axis H1<Absolute>
DT32 Startup speed of X axis component DT0*DT26
DT34 Target speed of X axis component DT2*DT26
DT36 Acceleration/deceleration time DT4
DT38 Target position of X axis DT6
DT40 Control code of Y axis H1<Absolute>
DT42 Startup speed of Y axis component DT0*DT28
DT44 Target speed of Y axis component DT2*DT28
DT46 Acceleration/deceleration time DT4
DT48 Target position of Y axis DT8

188
Program

189
190
Glossary

E point control
This is a method of control which is initiated up to an end point, and in this manual
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. This method is used when a multi - stage target speed is to
be specified.

Startup time
This is the time from when the startup signal is output from the CPU of the FP2 to
when the pulse output is issued from the positioning unit.

Acceleration/deceleration time
Acceleration time: the time during which the speed changes from the startup speed
to the target speed after the pulse output is issued.
Deceleration time: the time during which the speed changes from the target speed
to the startup speed.

CW, CCW
Generally, these indicate the direction in which the motor is rotating, with CW
referring to clockwise rotation and CCW to counterclockwise rotation.

CW/CCW output method (2-pulse output method)

This is a method in which control is carried out using two pulses, a forward rotation
pulse and a reverse rotation pulse. With the FP2 positioning unit, this is specified
using the control codes of the shared memory according to the driver specifications.

191
 Pulse/Sign output method (1-pulse output method)
This is a method in which control is carried out using one pulse to specify the speed
and ON/OFF signals to specify the direction of rotation. With the FP2 positioning
unit, this is specified using the control codes of the shared memory according to the
driver specifications.

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. With the FP2 positioning unit, this is specified in
the user program, using the control codes and the position command values. See
chapter6.1.3”shared memory setttings”.

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. With the FP2 positioning unit, this
is specified in the user program, using the control codes and the position command
values. See chapter6.1.1/6.1.2 ”shared memory setttings”.

Line driver output

This is one output format used in pulse output signal circuits, in which the push -
pull output of the line driver is used. Because this format offers better resistance to
noise than the open collector output format, a larger distance to the driver is
possible. The line driver must be supported on the motor driver side. Most servo
motor drivers are equipped with this format.

192
Open collector output
This is one output format used in pulse output signal circuits, enabling to make
connections in accordance with the voltage of the power supply being used by
connecting an external resistance. This is used when connecting a driver that does
not have line driver input, such as a stepping motor.

JOG operation
This refers to an operation in which the motor is rotated only while operation
commands are being input. This is used to forcibly rotate the motor using input
from an external switch, for 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. This is used to stop an operation halfway.

JOG positioning operation

This refers to an operation to transfer a JOG operation to a positioning operation by
an input from the external switch.

Positioning control start input (Timing input)

This is a JOG positioning operation input to transfer a JOG operation to a
positioning operation. The pulse count settings can be output after the external
switch input.

Over limit input (+), Over limit input (-)

This is an input to set a limit the motor movement. Over limit input (+) is the
maximum limit and Over limit input(-) is the minimum limit.

Home return, Home search

The reference position for positioning is called a Home position and an operation to
travel to a Home position is called Home return. The home position should be set in
advance. This operation moves to the home position and its coordinate is set to be
0.
Home search automatically reverses the motor rotation when Over limit input(+) or
Over limit input (-) is input and searches the home position or the near home
position to return to the home position automatically.

Forced stop
This is a function which interrupts the operation in progress, and stops it
immediately. It is used to initiate an emergency stop using anexternal switch, and to
initiate a temporary stop through an overrun.

193
 Twisted pair cable
This refers to a cable constructed of two wires, which suppresses the effects of
noise. Because current of the same size is flowing in the reverse direction (the
current in the same size flows in the opposite direction between the two, noise is
blanked out, which reduces the effects of the noise.

Home input
This refers to input of the reference position used for positioning, and is connected
to the Z phase signal of the servo motor driver, or to an external input switch and
sensor.

Near home input

In order to stop the table at the home position, a position called the near home
position is specified, at which deceleration begins. This is connected to an external
input switch or sensor.

Input valid logic

Depending on the type of sensor and switch connected to the home input and near
home input, it is necessary to confirm whether the input signal will be valid when
current is flowing, or whether input will be valid when no current is flowing. This
is called the “input valid logic”. With the FP2 positioning unit, this setting is
entered using a control code in the program.

Deviation counter
This is located inside the servo motor driver, and counts the difference between
command pulses and the feedback from the encoder. Command pulses are counted
as plus values and feedback pulses are counted as negative values, with control
being initiated so that the difference between them is zero.

Deviation counter clear output signal

This is installed in the FP2 positioning unit, and goes on when a home position
return is completed, to notify the driver that the table has arrived at the home
position.

Pulser input operation

This is a device which generates pulses manually, and is used for adjustment when
manual operation is used. The same type of output as that from the encoder can be
obtained, and the FP2 positioning unit is equipped with a dedicated input terminal.

Transfer multiple
With the FP2 positioning 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”.
Example: Transfer multiple function of the FP positioning unit pulser input

194
Feedback pulse input
This counts the feedback pulse from the encoder. 2-phase input, direction
distinction input and individual input can be handled.

2-phase input method

This counts the signal of 2 pulses in the different phase (A phase, B phase). when A
phase preceeds B phase, the motor is rotated clockwise(count increment) and when
B phase preceeds A phase, the motor is rotated counter-clockwise (count
decrement).

Direction distinction input method

This is a method to count using ON/OFF signal specifying the pulse signal and
count direction.

Individual input method

This is a method to count using the count increment pulse signal and the count
decrement pulse signal.

195
196
NX70/700 Position User Manual

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Publication NX700-UM007A-EN-P - September 2006 Copyright © 2006 OE MAX Controls