Programmable controller

FP-XH Series
User's Manual

Positioning Function / PWM Output / High-speed Counter Function

Western version

WUME-FPXHPOSG-01

2020.10 panasonic.net/id/pidsx
(MEMO)

2 WUME-FPXHPOSG-01
 Introduction
Thank you for purchasing a Panasonic product. Before you use the product, please carefully
read through the user’s manual, and understand it in detail to use the product properly.

Type of Manual
● This manual describes the "positioning function (table setting mode) / PWM output and high-
speed counter function" implemented in the FP-XH Control Unit.
● The following user’s manuals are available for the FP-XH series. Please refer to a relevant
manual for the unit and purpose of your use.
● The manuals can be downloaded from our Download Center:https://
industrial.panasonic.com/ac/e/dl_center/.
Unit name or purpose of
Manual name Manual code
use
FP-XH User‘s Manual (Basic) WUME-FPXHBASG
FP-XH Control Unit
FP Series Programming Manual ARCT1F313E
Positioning Function / FP-XH User’s Manual
PWM Output / High-speed WUME-FPXHPOSG
Counter Function (Positioning / PWM Output / High-speed Counter)

Communication Functions
FP-X Extension FP-XH User‘s Manual (COM Communication) WUME-FPXHCOMG
(Communication) Cassette
FP-X Expansion Unit
FP-X Series User’s Manual WUME-FPX
FP-X Function Cassettes

SAFETY PRECAUTIONS

● To prevent accidents or personal injuries, please be sure to comply with the following items.
● Prior to installation, operation, maintenance and inspection, please read this manual carefully for proper use.
● Before using the product, please fully understand the knowledge related to the equipment, safety
precautions and all other precautions.
● Safety precautions are divided into two levels in this manual: Warning and Caution.

Incorrect operation may lead to death or serious injury.

● Take appropriate safety measures for the external circuit of the product to ensure the security of the whole
system in case of abnormalities caused by product failure or external factors.
● Do not use this product in areas with inflammable gases.
Otherwise it may lead to an explosion.
● Do not put this product into a fire.
Otherwise it may cause damage to the battery or other electronic parts.
● Do not impact, charge or heat the lithium battery, and do not put it into a fire.
Otherwise it may lead to fire or damage.

Incorrect operation may lead to injury or material loss.

● To prevent the excessive exothermic heat or smoke generation of the product, a certain margin is required
for guaranteed characteristics and performance ratings of relative products.
● Do not disassemble or modify the product.
Otherwise it may lead to the excessive exothermic heat or smoke generation of the product.
● Do not touch terminal blocks during power-on.

WUME-FPXHPOSG-01 iii
 Otherwise it may result in an electric shock.
● Create an emergency stop and interlock circuit in the external devices.
● Connect wires and connectors reliably.
Otherwise it may lead to the excessive exothermic heat or smoke generation of the product.
● Do not carry out construction (wiring, removal, etc.) during power-on.
Otherwise it may result in an electric shock.
● If the equipment is used in a manner not specified by the Panasonic, the protection provided by the
equipment may be impaired.
● This product has been developed/produced for industrial use only.

Description on Copyright and Trademarks

● The copyright of this manual is owned by Panasonic Industrial Devices SUNX Co., Ltd
● Unauthorized reproduction of this manual is strictly prohibited.
● Windows is a registered trademark of Microsoft Corporation in the U.S. and other countries.
● Ethernet is a registered trademark of Fuji Xerox Co., Ltd. and Xerox Corporation.
● Other company and product names are trademarks or registered trademarks of their respective companies.

iv WUME-FPXHPOSG-01
 Table of Contents

1 Functions of Unit and Restrictions on Combination .........................1-1

1.1 Functions of Unit .................................................................................1-2
1.1.1 Overview of FP-XH Positioning Function ......................................... 1-2
1.1.2 Unit type and available functions ..................................................... 1-3
1.2 Restrictions on Combinations and Functions .....................................1-5
1.2.1 Applicable Versions of Unit and Software ........................................ 1-5
1.2.2 Restrictions on the Combination of Pulse I/O Cassettes ................. 1-5
1.2.3 Restrictions on I/O Allocation ........................................................... 1-5
1.2.4 Restrictions on Using Together with Communication Function ........ 1-7
1.3 Comparison of Pulse Output Function ................................................1-8
1.3.1 Types of Positioning Control Modes ................................................ 1-8
1.3.2 Selection of Positioning Control Mode ............................................. 1-8
1.3.3 Comparison of Two Control Modes.................................................. 1-8

2 Wiring .....................................................................................................2-1
2.1 Connections with Servo Motor Amplifier .............................................2-2
2.1.1 Connection Example ........................................................................ 2-2
2.1.2 Precautions on Connection .............................................................. 2-3
2.2 Connection with Stepping Motor Driver ..............................................2-4
2.2.1 Precautions on Connection .............................................................. 2-4

3 Power ON and OFF, and Items to Check.............................................3-1

3.1 Safety Circuit Design ..........................................................................3-2
3.2 Before Turning On the Power .............................................................3-3
3.3 Procedure for Turning On the Power ..................................................3-4
3.3.1 Procedure for Turning On the Power ............................................... 3-4
3.3.2 Procedure for Turning Off the Power ............................................... 3-4
3.4 Confirming while the Power is ON ......................................................3-5
3.4.1 Items to check after turning on the power ........................................ 3-5
3.4.2 Checking the Installation of the External Safety Circuit ................... 3-6
3.4.3 Checking the Safety Circuit Based on the Unit ................................ 3-6
3.4.4 Checking the Operation of the Near Home Switch and Home
Switch ............................................................................................... 3-6
3.4.5 Checking Rotating and Moving Directions and Moving Distance .... 3-7

4 Settings of Control Unit........................................................................4-1

4.1 Confirming I/O Allocation ....................................................................4-2
4.1.1 When Using Pulse Output Table Setting Mode ................................ 4-2
4.1.2 When Using Pulse Output Function (FP-X Compatible Instruction
Mode)................................................................................................ 4-3
4.1.3 When Using PWM Output Function ................................................. 4-5
4.1.4 When Using High-speed Counter Function ..................................... 4-6
4.2 Settings in Configurator PMX..............................................................4-8
4.2.1 Allocating Channels to be Used ....................................................... 4-8
4.2.2 Setting Parameters .......................................................................... 4-9

WUME-FPXHPOSG-01 v
 4.2.3 Creating Positioning Data Table....................................................... 4-11
4.2.4 Saving Positioning Parameters ........................................................ 4-13
4.2.5 Export and Import ............................................................................ 4-14
4.2.6 Check on Parameter Data ............................................................... 4-14
4.2.7 Writing Parameters to Unit (1).......................................................... 4-15
4.2.8 Writing Parameters to Unit (2).......................................................... 4-15
4.3 System Register Settings....................................................................4-17
4.3.1 Confirming and Selecting Functions to be Used .............................. 4-17
4.4 Reading Elapsed Values.....................................................................4-20
4.4.1 Elapsed Value (Current Value) Area ................................................ 4-20
4.4.2 Elapsed Value (Current Value) Area ................................................ 4-20

5 Operation Patterns................................................................................5-1
5.1 Stop Operation....................................................................................5-2
5.1.1 Type of Stop Operations .................................................................. 5-2
5.1.2 Characteristics of Stop Operations .................................................. 5-3
5.2 JOG Operation....................................................................................5-4
5.2.1 Settings and Operation of JOG Operation ....................................... 5-4
5.2.2 Settings and Operation of JOG Operation (Speed Changes).......... 5-6
5.2.3 Speed Changes in JOG Operation .................................................. 5-8
5.3 Home Return.......................................................................................5-9
5.3.1 Types of Home Return ..................................................................... 5-9
5.3.2 Operation Patterns of Home Return ................................................ 5-10
5.3.3 Settings and Operations of Home Return ........................................ 5-12
5.4 Positioning Control..............................................................................5-16
5.4.1 Types of Positioning Control ............................................................ 5-16
5.4.2 E-point Control (Single-Speed Positioning) ..................................... 5-17
5.4.3 P-point Control (Double-Speed Positioning) .................................... 5-18
5.4.4 C-point Control ................................................................................. 5-20
5.4.5 J-point Control (JOG Positioning) .................................................... 5-22
5.4.6 J-point Control (JOG Positioning: Speed Changes) ........................ 5-23
5.4.7 Programming Cautions .................................................................... 5-26
5.5 Repeat Operation................................................................................5-28
5.5.1 Overview of Repeat Operation......................................................... 5-28
5.5.2 Settings and Operations of Repeat Operation ................................. 5-29
5.5.3 Stop Operation During Repeat Operation ........................................ 5-31
5.6 Linear Interpolation Control.................................................................5-33
5.6.1 Overview .......................................................................................... 5-33
5.6.2 Settings and Operations of Linear Interpolation............................... 5-34

6 Operating Characteristics ....................................................................6-1

6.1 Operational Difference Between Parameters .....................................6-2
6.1.1 Startup speed................................................................................... 6-2
6.1.2 When Target Speed/Startup Speed is Less Than 50Hz .................. 6-2
6.1.3 Operation Patterns and Start Speed Settings .................................. 6-3
6.2 Other Characteristics ..........................................................................6-5
6.2.1 Backup of Positioning Memory ........................................................ 6-5
6.2.2 Activation of Each Operation ........................................................... 6-5
6.2.3 Operation When PLC Mode Changes From RUN To PROG. .......... 6-5

vi WUME-FPXHPOSG-01
 7 Instruction References .........................................................................7-1
7.1 Table Setting Mode Control Instruction ...............................................7-2
7.1.1 [F380 POSST] Positioning Table Start Instruction ........................... 7-2
7.1.2 [F381 JOGST] JOG Operation Start Instruction .............................. 7-3
7.1.3 [F382 ORGST] Home Return Start Instruction ................................ 7-4
7.1.4 [F383 MPOST] Positioning Table Simultaneous Start Instruction .... 7-5
7.1.5 [F384 PTBLR] Positioning Parameter Read Instruction................... 7-7
7.1.6 [F385 PTBLW] Positioning Parameter Write Instruction .................. 7-8
7.2 FP-X Compatible Instruction Mode Control Instruction.......................7-10
7.2.1 [F171 (SPDH)] Pulse Output (Trapezoidal Control) ......................... 7-10
7.2.2 [F171 (SPDH)] Pulse Output (Home Return) ................................... 7-15
7.2.3 [F172 (PLSH)] Pulse Output (JOG operation) ................................. 7-19
7.2.4 [F174 (SP0H)] Pulse Output (Selectable Data Table Control
Operation) ......................................................................................... 7-22
7.2.5 [F175 (SPSH)] Pulse Output (Linear Interpolation).......................... 7-26

8 Troubleshooting ....................................................................................8-1
8.1 Self-diagnosis Function.......................................................................8-2
8.1.1 Operation Monitor LEDs of Control Unit .......................................... 8-2
8.1.2 Operation Mode When an Error Occurs .......................................... 8-2
8.2 What to Do If an Error Occurs.............................................................8-4
8.2.1 ERR / ALM LED Flashes ................................................................. 8-4
8.2.2 What to Do When Positioning Error Occurs..................................... 8-5
8.2.3 Motor Does Not Rotate/Move (Output LED Flashes or is ON) ........ 8-7
8.2.4 Motor Does Not Rotate/Move (Output LED is OFF) ........................ 8-7
8.2.5 Rotation/Movement Direction is Reversed....................................... 8-8

9 PWM output function ............................................................................9-1

9.1 PWM output function...........................................................................9-2
9.1.1 Overview of PWM Output Function.................................................. 9-2
9.1.2 System Register Settings................................................................. 9-2
9.1.3 [F173 PWMH] PWM Output Instruction (Frequency Specification) . 9-4
9.1.4 [F173 PWMH] PWM Output Instruction (Control Code
Specification) .................................................................................... 9-5

10 High-speed Counter Function ...........................................................10-1

10.1 Overview of High-speed Counter Function .......................................10-2
10.1.1 Overview of High-speed Counter Function .................................... 10-2
10.1.2 Counting Range and Elapsed Value (Current Value) Area ............ 10-2
10.1.3 Areas Used For High-speed Counter Function .............................. 10-3
10.1.4 Input Mode Type ............................................................................ 10-4
10.1.5 Minimum Input Pulse Width ........................................................... 10-5
10.2 System Register Settings..................................................................10-7
10.2.1 System Register Settings (Transistor Output Type)....................... 10-7
10.2.2 System Register Settings (Relay Output Type) ............................. 10-8
10.3 High-speed Counter Instruction ........................................................10-11
10.3.1 [F0 MV] High-speed Counter Control Instruction ........................... 10-11
10.3.2 [F1 DMV] Elapsed Value Write / Read Instruction ......................... 10-12

WUME-FPXHPOSG-01 vii
 10.3.3 [F166 HC1S] High-speed Counter Target Value Match ON
Instruction and [F167 HC1R] High-speed Counter Target Value
Match OFF Instruction ...................................................................... 10-14
10.3.4 Sample Program (Positioning Operation With Inverter: Single-
Speed) .............................................................................................. 10-15
10.3.5 Sample Program (Positioning Operation With Inverter: Double-
Speed) .............................................................................................. 10-17
10.4 High-speed Counter Cam Control Instruction ...................................10-20
10.4.1 [F165 CAM0] High-speed Counter Cam Control Instruction .......... 10-20
10.4.2 Sample Program (Upper Limit Control, Reset, Addition) ............... 10-24
10.4.3 Sample Program (Upper Limit Control, Instruction Clear,
Addition)............................................................................................ 10-26
10.4.4 Sample Program (Upper Limit Control, Subtraction) ..................... 10-28
10.5 Interrupt Program Activation .............................................................10-31
10.5.1 Overview of Function ..................................................................... 10-31
10.5.2 Interrupt Activation When F165 (CAM0) is Executed .................... 10-32

11 Specifications ......................................................................................11-1
11.1 Specifications ....................................................................................11-2
11.1.1 General Specifications ................................................................... 11-2
11.1.2 Performance Specifications............................................................ 11-2
11.2 Allocation of Memory Areas ..............................................................11-5
11.2.1 When Using Pulse Output Table Setting Mode .............................. 11-5
11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction
Mode)................................................................................................ 11-7
11.2.3 When Using PWM Output Function ............................................... 11-8
11.2.4 When Using High-speed Counter Function.................................... 11-9
11.3 Positioning Memory...........................................................................11-12
11.3.1 Configuration of Memory Map ........................................................ 11-12
11.3.2 Common Area (Memory Area No. 0).............................................. 11-13
11.3.3 Axis Information Area (Memory Area No. 1) .................................. 11-14
11.3.4 Axis Setting Area (Memory Area No. 2) ......................................... 11-15
11.3.5 Positioning Table Area (Memory Area No. 3) ................................. 11-17

viii WUME-FPXHPOSG-01
 1 Functions of Unit and
Restrictions on Combination
1.1 Functions of Unit .................................................................................1-2
1.1.1 Overview of FP-XH Positioning Function ......................................... 1-2
1.1.2 Unit type and available functions ..................................................... 1-3
1.2 Restrictions on Combinations and Functions .....................................1-5
1.2.1 Applicable Versions of Unit and Software ........................................ 1-5
1.2.2 Restrictions on the Combination of Pulse I/O Cassettes ................. 1-5
1.2.3 Restrictions on I/O Allocation ........................................................... 1-5
1.2.4 Restrictions on Using Together with Communication Function ........ 1-7
1.3 Comparison of Pulse Output Function ................................................1-8
1.3.1 Types of Positioning Control Modes ................................................ 1-8
1.3.2 Selection of Positioning Control Mode ............................................. 1-8
1.3.3 Comparison of Two Control Modes.................................................. 1-8

WUME-FPXHPOSG-01 1-1
1.1 Functions of Unit

1.1 Functions of Unit

1.1.1 Overview of FP-XH Positioning Function

■ Up to 6-axis position control is available by combining with a driver of pulse

string input type.
● The pulse output can be performed up to 100 kHz, and servo motors can be controller.
● It is also available for a stepping motor connected by open collector output.

■ Programs can be simplified by adopting the table setting mode.

● The dedicated software "Configurator PMX" is available, which allows ease of setting a
variety of parameters and positioning tables required for positioning control. "Configurator
PMX" is started from the "Options" menu of tool software "FPWIN GR7".
● In user programs, positioning control is executed only by specifying axis numbers (channel
numbers) and table numbers, and executing instructions.

■ Four kinds of position control patterns (Table setting mode)

● Four patterns, which are E-point control (single-speed automatic trapezoidal acceleration /
deceleration), P-point control (double-speed automatic trapezoidal acceleration /
deceleration), C-point control (continuance point control) and J-point control (from speed
control to position control), can be selected. They are created as tables on "Configurator
PMX".

■ Five kinds of home return operations are supported. (Table setting mode)
● Five kinds of home return methods including home search are available. The most
appropriate home return method can be selected in accordance with the system such as
home input, near home input and the type of driver.

■ FP-X compatible mode also available

● There is a mode where the same instructions (F171 to F175, F0, and F1) as those for the
conventional FP-X series.

1-2 WUME-FPXHPOSG-01
 1.1 Functions of Unit

If the compatible mode setting is set to “FP-X mode”, "Table setting mode" cannot be selected.

1.1.2 Unit type and available functions

Available conditions vary by functions.

■ Comparison of functions and performances

Transistor output type Relay output type
Item
C14T C30T C60T C14R C30R C60R
Using the input section of the Control Unit
or the input section of the pulse I/O
Using the input section of the Control Unit
cassette

Configuration

Using the output section of the Control Unit

Using the output section of the pulse I/O
cassette
Using the input of the Control Unit
Max. 8 channels (CH0 to CH7), Max. 10
kHz × 8
Single- Max. 8 channels (CH0 to CH7)
phase Per one pulse I/O cassette
Max. 100 kHz × 4 + Max. 10 kHz × 4
Max. 2 channels (CH8 and CH9 or CHA
and CHB)
High-
speed Max. 100 kHz × 2
counter Using the input of the Control Unit
Max. 4 channels (CH0, CH2, CH4, and
Max. 4 channels (CH0, CH2, CH4, and CH6) CH6), Max. 5 kHz × 4
2-phase
Max. 50 kHz × 2 + Max. 10 kHz × 2 Per one pulse I/O cassette
Max. 1 channel (CH8 or CHA)
Max. 50 kHz×2
Per one pulse I/O cassette: Max. 1 axis
Indepen Max. 3 axes Max. 4 axes Max. 6 axes
dent (CH0 to CH2) (CH0 to CH3) (CH0 to CH5) Max. 1 axis Max. 2 axes (CH0 and
Pulse (CH0) CH1)(Note 3)
Output
Max. 4 axes Max. 6 axes
Interpol Max. 2 axes
(CH0 and (CH0, CH2, Not available Max. 2 axes (CH0)(Note 3)
ation (CH0)
CH2) and CH4)
Per one pulse I/O cassette: Max. 1 point
PWM output Max. 4 points (CH0 to CH3) Max. 2 points (CH0 and
Max. 1 point
CH1)(Note 3)

WUME-FPXHPOSG-01 1-3
1.1 Functions of Unit

Transistor output type Relay output type

Item
C14T C30T C60T C14R C30R C60R
(CH0)

(Note 1) Functions, channel numbers and I/O numbers used are set in the tool software.
(Note 2) I/O numbers used for each function should be allocated so that they do not overlap.
(Note 3) The pulse I/O cassette can be attached to the relay output type Control Unit only. (C14R: 1 piece,
C30R / C60R: Max. 2 pieces) When using two axes for the pulse output or two points for the PWM
output, use two pulse I/O cassettes.

1-4 WUME-FPXHPOSG-01
 1.2 Restrictions on Combinations and Functions

1.2 Restrictions on Combinations and Functions

1.2.1 Applicable Versions of Unit and Software

For using the FP-XH, the software of the following versions is necessary.
Item Applicable version

Programming tool FPWIN GR Ver.2.93 or later

software Control FPWIN C14/C30/C60 FPWIN GR7 Ver.2.5 or later
GR / GR7 / Pro7 FPWIN Pro7 Ver.7.03 or later
It is used for using the pulse output function in the table setting mode. It is
Configurator PMX implemented in FPWIN GR / GR7 / Pro7 and activated from the option
menu.

(Note 1) The latest version is provided free of charge at our download center (https://
industrial.panasonic.com/ac/e/dl_center/software/). Use the latest version.
(Note 2) To use the FP-XH in FPWIN Pro7, it is also necessary to install a setup file. For details, see the above
website.

1.2.2 Restrictions on the Combination of Pulse I/O Cassettes

There are following restrictions depending on units and cassettes to be used.

Installable
Pulse I/O cassette
Unit Types number of
AFPX-PLS
cassettes
C14R Max. 1 unit
Relay output type Installable
C30R/C60R Max. 2 units
C14T Max. 1 unit
Transistor output type Uninstallable
C30T/C60T Max. 2 units

1.2.3 Restrictions on I/O Allocation

● I/O signals used for each function are set in the tool software. They are allocated
automatically when set by Configurator PMX.
● Allocate the I/O numbers used for the pulse output function, high-speed counter function and
PWM output function so that they do not overlap.

■ Examples of unusable combinations

Examp When allocating input X4 to the home input of CH0 for the pulse output function, they cannot be used
le 1 as the count input of high-speed counter CH4.
Examp
When using the output Y0 as CH0 for the pulse output function, the PWM output CH0 cannot be used.
le 2

WUME-FPXHPOSG-01 1-5
1.2 Restrictions on Combinations and Functions

■ Input signals of Control Unit

High-speed counter function
I/O
Pulse output function Count input
No. Reset input
Single-phase 2-phase
CH0 J-point control positioning
X0 CH0 Count input -
control start input
CH0 Count input
CH1 J-point control positioning
X1 CH1 Count input -
control start input
X2 CH4 Home input CH2 Count input -
CH2 Count input
X3 CH5 Home input CH3 Count input -
X4 CH0 Home input CH4 Count input -
CH4 Count input
X5 CH1 Home input CH5 Count input -
X6 CH2 Home input CH6 Count input CH0 Reset input
CH6 Count input
X7 CH3 Home input CH7 Count input CH2 Reset input

■ Output signals of Control Unit

I/O Pulse output function
PWM output function
No. Pulse output Deviation counter clear output
Y0 CH0 CW or pulse output - CH0 PWM output

Y1 CH0 CCW or sign output - (Note 2)

Y2 CH1 CW or pulse output - CH1 PWM output

Y3 CH1 CCW or sign output - (Note 2)

Y4 CH2 CW or pulse output CH0 (C14 type) CH2 PWM output

Y5 CH2 CCW or sign output CH1 (C14 type) (Note 2)

Y6 CH3 CW or pulse output - CH3 PWM output

Y7 CH3 CCW or sign output - (Note 2)

Y8 CH4 CW or pulse output CH0 (C30 type) -

Y9 CH4 CCW or sign output CH1 (C30 type) -
YA CH5 CW or pulse output CH2 (C30 type) -
YB CH5 CCW or sign output CH3 (C30 type) -
YC - CH0 (C60 type) -
YD - CH1 (C60 type) -
YE - -
YF - -
Y10 - CH2 (C60 type) -
Y11 - CH3 (C60 type) -
Y12 - CH4 (C60 type) -
Y13 - CH5 (C60 type) -

1-6 WUME-FPXHPOSG-01
 1.2 Restrictions on Combinations and Functions

(Note 1) When using the target value match ON instruction (F166) or target value match OFF instruction (F167)
in the high-speed counter function, arbitrary output is specified in the range of Y0 to Y29F in a user
program so that it does not overlap the above functions.
(Note 2) When using the PWM output, the output numbers to be paired are normal output.

■ Pulse I/O cassette input signal

High-speed counter function
I/O
Pulse output function Count input
No. Reset input
Single-phase 2-phase
CH0 J-point control positioning
X100 CH8 Count input -
control start input CH8 Count input
X101 - CH9 Count input -
CH8 Reset input
X102 CH0 Home input - -
or CH9 Reset input
CH1 J-point control positioning
X200 CHA Count input
control start input CHA Count input
X201 - CHB Count input
CHA Reset input
X202 CH1 Home input - -
or CHB Reset input

■ Pulse I/O cassette output signal

I/O Pulse output function
PWM output function
No. Pulse output Deviation counter clear output
Y100 CH0 CW or pulse output - CH0 PWM output
Y101 CH0 CCW or sign output - -
CH0 Deviation counter clear
Y102 - -
output
Y200 CH1 CW or pulse output - CH1 PWM output
Y201 CH1 CCW or sign output - -
CH1 Deviation counter clear
Y202 - -
output

1.2.4 Restrictions on Using Together with Communication Function

● The FP-XH series can communicate with external devices through the maximum of five
communication interfaces including the COM0 port supported as standard and COM1 to
COM4 ports used by communication cassettes.
● When using all the five ports from COM0 to COM4, the communication speed is 115.2 kbps
max. and the pulse output function supports two axes max. When using four or less number
of ports, the communication speed is 230.4 kbps max. and the pulse output function supports
six axes max.

WUME-FPXHPOSG-01 1-7
1.3 Comparison of Pulse Output Function

1.3 Comparison of Pulse Output Function

1.3.1 Types of Positioning Control Modes

For using the FP-XH pulse output function, the following two control modes are available.

■ Table setting mode

● Positioning parameters such as position command and speed command are created as data
tables by tool software Configurator PMX in advance.
● As parameters are set in advance, programs can be simplified.
● Four patterns of position control modes and five patterns of home return modes are
available.
● Dedicated instructions F380 to F385 are used for the control.
● Set positioning parameters and information on positioning tables can be exported as a setup
file of Configurator PMX and reused between multiple units and projects.

■ FP-X compatible instruction mode

● Positioning parameters such as position command and speed command are set as operands
of instructions.
● Dedicated instructions F171 to F175 and instructions F0 and F1 are used for the control.
● The system is similar to the pulse output function of the conventional FP-X.

1.3.2 Selection of Positioning Control Mode

● The positioning control mode is selected in the system register no. 407 by the tool software.

(Note 1) If the compatible mode setting is set to “FP-X mode”, "Table setting mode" cannot be selected.

1.3.3 Comparison of Two Control Modes

There are following differences between the table setting mode and FP-X compatible instruction
mode.

1-8 WUME-FPXHPOSG-01
 1.3 Comparison of Pulse Output Function

■ Comparison of Two Control modes

Item Table setting mode FP-X compatible instruction mode
Four patterns (System stop, Emergency
Type Emergency stop only
stop, Limit stop, and Deceleration stop)
Stop control Turns ON the bit 3 of the special data
Turns ON the output contact allocated to
Start register DT90052 using F0 instruction in a
each axis for each stop method.
user program.
Set in the positioning parameters of
JOG Set Set using the operands of instructions.
Configurator PMX.
operation
Start F381 instruction F172 instruction
Five patterns (DOG methods x 3, Home Two patterns (DOG method x 1, Home
Type
position method x 1, Data set method x 1) position method x 1)
Home return Set in the positioning parameters of
Set Set using the operands of instructions.
Configurator PMX.
Start F382 instruction F171 instruction
Four patterns (E-point control, P-point E-point control (single-speed
Type control, C-point control and J-point acceleration / deceleration), Multistep
control) acceleration / deceleration control
Positioning
operation Set in the positioning data table of
Set Set using the operands of instructions.
Configurator PMX.
Start F380 instruction F171 instruction
Three patterns (E-point control, P-point E-point control (single-speed
Type
control, C-point control) acceleration / deceleration)
Positioning
operation Set in the positioning data table of
Set Set using the operands of instructions.
interpolation Configurator PMX.
Start F380 instruction F175 instruction
Dwell time setting, Repeat control
(Positioning parameter setting)
Others Data table control (F174 instruction)
Multiple table simultaneous start (F383
instruction)

■ Comparison in programming
Item Table setting mode FP-X compatible instruction mode
Special data registers DT90392 to
Read / Write Area Positioning memory
DT90407
of elapsed
value Execut F384 instruction (Read), F385 instruction
F1 instruction (Both Read and Write)
e (Write)
Confirmation of BUSY
Input contacts X28 to X2D Special relays R911C to R9121
state
Confirmation of
Input contacts X30 to X35
positioning completion Instead detects the fall of the above BUSY
Confirmation of home signal by a user program.
Input contacts X48 to X4D
return completion
Allocate arbitrary input contacts and turn Allocate arbitrary input contacts and turn
Near home input ON the outputs Y70 to Y75 by user ON the bit4 of the special data register
programs. DT90052 by user programs.

WUME-FPXHPOSG-01 1-9
(MEMO)

1-10 WUME-FPXHPOSG-01
 2 Wiring
2.1 Connections with Servo Motor Amplifier .............................................2-2
2.1.1 Connection Example ........................................................................ 2-2
2.1.2 Precautions on Connection .............................................................. 2-3
2.2 Connection with Stepping Motor Driver ..............................................2-4
2.2.1 Precautions on Connection .............................................................. 2-4

WUME-FPXHPOSG-01 2-1
2.1 Connections with Servo Motor Amplifier

2.1 Connections with Servo Motor Amplifier

2.1.1 Connection Example

PLC Amplifier
FP-XH C30T MINAS A5 series

50 FG

2kΩ
Y0 3 PULS1

220Ω
4 PULS2

2kΩ
Y1 5 SIGN1

220Ω
6 SIGN2

5.1kΩ
X4 19 CZ
Home input Z phase output
COM 13 GND

25 GND

7 COM＋

4.7Ω
Y8 30 CL Counter clear input
4.7Ω
− 29 SRV-ON Servo ON input
4.7Ω
27 GAIN Gain switch input
4.7Ω
31 A-CLR Alarm clear input
4.7Ω
COM 9 POT
Near home input
5.6kΩ 4.7Ω
X8 8 NOT

35 S-RDY＋

5.6kΩ
Servo ready output
X9 34 S-RDY−

37 ALM＋

5.6kΩ
Servo alarm output
XA 36 ALM−

39 INP＋

38 INP−
Near home sensor
CCW limit sensor 41 COM−

CW limit sensor

GND ＋24V

(Note 1) The allocation of I/O numbers on the controller side depends on unit types.

2-2 WUME-FPXHPOSG-01
 2.1 Connections with Servo Motor Amplifier

2.1.2 Precautions on Connection

■ Connections of various signals

Signal type Point
● Connect the output allocated to each channel and the command pulse input of
servo amplifier.
Pulse command output
● Connect a resistor (2 kΩ) for limiting currents.
● Use twisted-pair cables for the connection.
● Connect the input allocated to each channel and the Z phase input of servo
Home input amplifier.
● Use twisted-pair cables for the connection.
● Connect the near home sensor to an arbitrary input.
Near home input ● It will be valid when the outputs (Y70 to Y75) allocated to each channel in user
programs turn ON.
CCW over limit input ● Connect the over limit switches to arbitrary inputs.
● It will be valid when the outputs (Y80 to Y8B) allocated to each channel in user
CW over limit input programs turn ON.
● Connect the output allocated to each channel and the counter clear input of servo
Deviation counter clear amplifier.
output ● The length of a deviation counter clear signal is specified in the range of 1 to 100
ms in the “Parameter setting” dialog box of Configurator PMX.
Servo ON output ● Connect an arbitrary output of PLC to the servo ON input of servo amplifier.

● Use twisted-pair cables for the connection between the output of the unit and servo amplifiers.

WUME-FPXHPOSG-01 2-3
2.2 Connection with Stepping Motor Driver

2.2 Connection with Stepping Motor Driver

2.2.1 Precautions on Connection

■ Connections of various signals

Signal type Point
● Connect the output allocated to each channel and the command pulse input of
motor driver.
Pulse command output ● Use twisted-pair cables for the connection.
● Use a 24 V DC input for the input on the driver side. When the input interface of
the driver is 5 V DC input, insert a resistor for limiting currents externally.
● Connect the input allocated to each channel and the home sensor.
Home input
● Use twisted-pair cables for the connection.
● Connect the near home sensor to an arbitrary input.
Near home input ● It will be valid when the outputs (Y70 to Y75) allocated to each channel in user
programs turn ON.
CCW over limit input ● Connect the over limit switches to arbitrary inputs.
● It will be valid when the outputs (Y80 to Y8B) allocated to each channel in user
CW over limit input programs turn ON.

● Use twisted-pair cables for the connection between the output of the unit and motor driver.

2-4 WUME-FPXHPOSG-01
 3 Power ON and OFF, and
Items to Check
3.1 Safety Circuit Design ..........................................................................3-2
3.2 Before Turning On the Power .............................................................3-3
3.3 Procedure for Turning On the Power ..................................................3-4
3.3.1 Procedure for Turning On the Power ............................................... 3-4
3.3.2 Procedure for Turning Off the Power ............................................... 3-4
3.4 Confirming while the Power is ON ......................................................3-5
3.4.1 Items to check after turning on the power ........................................ 3-5
3.4.2 Checking the Installation of the External Safety Circuit ................... 3-6
3.4.3 Checking the Safety Circuit Based on the Unit ................................ 3-6
3.4.4 Checking the Operation of the Near Home Switch and Home
Switch ............................................................................................... 3-6
3.4.5 Checking Rotating and Moving Directions and Moving Distance .... 3-7

WUME-FPXHPOSG-01 3-1
3.1 Safety Circuit Design

3.1 Safety Circuit Design

■ System configuration example

Installation of the over limit switch

■ Confirmation of safety circuit

No. Item Description
Safety circuit based on Install the safety circuit recommended by the manufacturer of the motor
(1)
external circuit being used.
Install over limit switches as shown above.
Safety circuit based on the
(2) Connect the over limit switch inputs on the (+) and (-) sides to the input
unit
circuit of PLC.

3-2 WUME-FPXHPOSG-01
 3.2 Before Turning On the Power

3.2 Before Turning On the Power

■ System configuration example

■ Items to check before turning ON the power

No. Item Description
Checking connections to the Check to make sure the various devices have been connected as
(1)
various devices indicated by the design.
Checking the installation of Check to make sure the safety circuit (wiring and installation of over
(2)
the external safety circuit limit switch) based on an external circuit has been installed securely.
Checking the installation of
Check the connection between the unit and over limit switches. Check
(3) the safety circuit based on
the installation condition of the over limit switches.
the unit
Checking the procedure Make sure settings have been entered so that power supplies will be
(4) settings for turning ON the turned on according to the procedure outlined in section “Procedure for
power supplies Turning ON the Power”.
Checking the Control Unit Set the Control Unit to PROG. mode. Setting it in the RUN mode can
(5)
mode selection switch cause inadvertent operation.

WUME-FPXHPOSG-01 3-3
3.3 Procedure for Turning On the Power

3.3 Procedure for Turning On the Power

3.3.1 Procedure for Turning On the Power

When turning on the power to the system incorporating the unit, consider the nature and states
of any external devices connected to the system, and take sufficient care so that turning on the
power will not initiate unexpected movements.

1. Turn on the power supplies for the input and output devices connected to the PLC.
2. Turn ON the power supply for the PLC.
3. Turn ON the power supply for the motor driver.

3.3.2 Procedure for Turning Off the Power

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 the input and output devices connected to the PLC.

3-4 WUME-FPXHPOSG-01
 3.4 Confirming while the Power is ON

3.4 Confirming while the Power is ON

3.4.1 Items to check after turning on the power

■ System configuration example

Check each item in the following four major steps.

■ Items to check before turning ON the power

No. Item Description
Checking the installation of Check to make sure the safety circuit (wiring and installation of over
(1)
the external safety circuit limit switch) based on an external circuit has been installed securely.
Checking the safety circuit Check the connection between the unit and over limit switches. Check
(2)
by the PLC unit the installation condition of the over limit switches.
Check if the near home input and home input are loaded as the inputs
Checking the near home
(3) of the PLC and activated properly by performing JOG operation or
input and home input
home return operation.
Checking the rotation,
Check the rotation, moving direction and moving distance by
(4) moving direction, and
performing JOG operation or positioning operation.
moving distance.

WUME-FPXHPOSG-01 3-5
3.4 Confirming while the Power is ON

3.4.2 Checking the Installation of the External Safety Circuit

Make a check on the safety circuit recommended by the motor manufacturer, which includes a
check on the disconnection of the power supply to the motor driver with CW and CCW drive
inhibition switch input from an external circuit.

3.4.3 Checking the Safety Circuit Based on the Unit

1. Using forced operation of the over limit switch, check to see if the over limit input is being
properly taken into the PLC side.

2. If necessary, input a program to start the JOG operation. Then operate the over limit input
to check whether the motor will stop. The limit stop will be effective when output signals
(Y80 to Y8B) allocated to each axis turn ON in user programs. In addition, the valid logic of
over limit input can be changed in the parameter setting menu of "Configurator PMX".

3. Using the JOG operation, check to see if the over limit switch is functioning properly.
Operation at over limit input
Conditions Direction Limit status Operation
Over limit input (+): ON Not executable, Error occurs.
Forward
When JOG operation is Over limit input (-): ON Executable
started Over limit input (+): ON Executable
Reverse
Over limit input (-): ON Not executable, Error occurs.
Over limit input (+): ON Limit stops, Error occurs.
Forward
Over limit input (-): ON Limit stops, Error occurs.
During JOG operation
Over limit input (+): ON Limit stops, Error occurs.
Reverse
Over limit input (-): ON Limit stops, Error occurs.

3.4.4 Checking the Operation of the Near Home Switch and Home Switch

1. Check if the near home input is loaded as input signals on the PLC properly by operating
the home input and near home input forcibly.

2. Start the home return by inputting the home return program, and check if the operation
transits to the deceleration operation by the near home input.
Points to check
Set the valid logic which enables the home input and near home input in the parameter
setting menu of "Configurator PMX".

3-6 WUME-FPXHPOSG-01
 3.4 Confirming while the Power is ON

3. Check if the home stop position shifts by repeating the JOG and home return operations.
Points to check
A shift may result depending on the position of near home input or home input and the
return speed.

4. If the home stopping position is shifted, change the position of near home input or reduce
the home return speed.

3.4.5 Checking Rotating and Moving Directions and Moving Distance

1. Execute the JOG operation to confirm the rotating direction and moving direction of the
motor.
Points to check
The rotating direction is determined according to the installation of the ball screw or the
“CW/CCW direction setting” of the parameter.

2. Check if the moving distance is that as designed by performing the JOG operation or
positioning operation.
Points to check
The moving distance is determined according to the pitch of the ball screw, deceleration
gear ratio or setting movement amount of the positioning data.

WUME-FPXHPOSG-01 3-7
(MEMO)

3-8 WUME-FPXHPOSG-01
 4 Settings of Control Unit
4.1 Confirming I/O Allocation ....................................................................4-2
4.1.1 When Using Pulse Output Table Setting Mode ................................ 4-2
4.1.2 When Using Pulse Output Function (FP-X Compatible Instruction
Mode)................................................................................................ 4-3
4.1.3 When Using PWM Output Function ................................................. 4-5
4.1.4 When Using High-speed Counter Function ..................................... 4-6
4.2 Settings in Configurator PMX..............................................................4-8
4.2.1 Allocating Channels to be Used ....................................................... 4-8
4.2.2 Setting Parameters .......................................................................... 4-9
4.2.3 Creating Positioning Data Table....................................................... 4-11
4.2.4 Saving Positioning Parameters ........................................................ 4-13
4.2.5 Export and Import ............................................................................ 4-14
4.2.6 Check on Parameter Data ............................................................... 4-14
4.2.7 Writing Parameters to Unit (1).......................................................... 4-15
4.2.8 Writing Parameters to Unit (2).......................................................... 4-15
4.3 System Register Settings....................................................................4-17
4.3.1 Confirming and Selecting Functions to be Used .............................. 4-17
4.4 Reading Elapsed Values.....................................................................4-20
4.4.1 Elapsed Value (Current Value) Area ................................................ 4-20
4.4.2 Elapsed Value (Current Value) Area ................................................ 4-20

WUME-FPXHPOSG-01 4-1
4.1 Confirming I/O Allocation

4.1 Confirming I/O Allocation

4.1.1 When Using Pulse Output Table Setting Mode

● The home input signal and positioning completion signal is allocated to I/O signals.

■ Allocation of I/O signals (Input)

I/O No.
Signal name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
CH0 CH1 CH2 CH3 CH4 CH5
J-point control
When using the positioning start X0 X1 - - - -
transistor output input
Control Unit
Home input(Note 1) X4 X5 X6 X7 X2 X3

Near home input(Note 1)(Note 2) (Y70) (Y71) (Y72) (Y73) (Y74) (Y75)

Over limit input (+)(Note 2) (Y80) (Y82) (Y84) (Y86) (Y88) (Y8A)

Over limit input (-)(Note 2) (Y81) (Y83) (Y85) (Y87) (Y89) (Y8B)

BUSY X28 X29 X2A X2B X2C X2D

Operation done X30 X31 X32 X33 X34 X35
Home return done X48 X49 X4A X4B X4C X4D
J-point control
When using the positioning start X100 X200 - - - -
relay output type input
pulse I/O cassette
Home input(Note 1) X102 X202 - - - -

(Note 1) Even when setting the linear interpolation, the interpolation operation is not performed for the home
return. Execute the operation for X axes and Y axes separately.
(Note 2) The near home input, over limit input (+) and over limit input (-) will be valid when an arbitrary input is
allocated and the output relay indicated in the above table turns ON.

■ Sample program
The following sample shows the program when the near home input, over limit input (+) and
over limit input (-) are allocated to X10 to X12.

4-2 WUME-FPXHPOSG-01
 4.1 Confirming I/O Allocation

● When selecting the table setting mode, the control active flags (R911C to R911F) are not
activated. Confirm that other instructions for the table setting mode (F380 to F383) are
not activated using the above BUSY flags (X28 to X2D), and execute each instruction.

■ Allocation of I/O signals (Output)

I/O No.
Signal name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
CH0 CH1 CH2 CH3 CH4 CH5
CW output or
Y0 Y2 Y4 Y6 Y8 YA
Pulse output
When using CCW output or
the Y1 Y3 Y5 Y7 Y9 YB
transistor Sign output
output type Deviation C14 Y4 Y5 - - - -
Control Unit
counter C30 Y8 Y9 YA YB - -
clear
output C60 YC YD Y10 Y11 Y12 Y13

System stop Y20

Error clear request Y21
Emergency stop Y50 Y51 Y52 Y53 Y54 Y55
Deceleration stop Y58 Y59 Y5A Y5B Y5C Y5D
J point control speed change Y60 Y61 - - - -

Near home input(Note 1) (Y70) (Y71) (Y72) (Y73) (Y74) (Y75)

Over limit input (+)(Note 1) (Y80) (Y82) (Y84) (Y86) (Y88) (Y8A)

Over limit input (-)(Note 1) (Y81) (Y83) (Y85) (Y87) (Y89) (Y8B)

CW output or
Y100 Y200 - - - -
When using Pulse output
the relay CCW output or
output type Y101 Y201 - - - -
pulse I/O Sign output
cassette Deviation counter clear output
Y102 Y202 - - - -
(Note 1)

(Note 1) The near home input, over limit input (+) and over limit input (-) will be valid when an arbitrary input is
allocated and the output relay indicated in the above table turns ON.

4.1.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode)

● The following reserved areas are allocated to the home input or control active flag.
● Allocate an arbitrary input to the near home input or pulse output stop signal (emergency
stop).

WUME-FPXHPOSG-01 4-3
4.1 Confirming I/O Allocation

■ Allocation of I/O signals (Input)

I/O No.
Signal name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
CH0 CH1 CH2 CH3 CH4 CH5

Home input(Note 1)
When using the transistor output Control X4 X5 X6 X7 X2 X3
Unit

Near home input (Note 2) (Note 2) (Note 2) (Note 2) (Note 2) (Note 2)

Control active flag (BUSY) R911C R911D R911E R911F R9120 R9121

Operation done (Note 3) (Note 3) (Note 3) (Note 3) (Note 3) (Note 3)

Home return done (Note 3) (Note 3) (Note 3) (Note 3) (Note 3) (Note 3)

Home input(Note 1)
When using the pulse I/O cassette for relay X102 X202 - - - -
output type Control Unit

(Note 1) Even when setting the linear interpolation, the interpolation operation is not performed for the home
return. Execute the operation for X axes and Y axes separately.
(Note 2) The near home input will be enabled when an arbitrary input is allocated and the bit 4 of the special
data register DT90052 is turned ON by the pulse output control instruction (F0).
(Note 3) The operation done flag or home return done flag are substituted by confirming that the control active
flag turns from ON to OFF after the execution of the pulse output instruction (F171).

■ Allocation of I/O signals (Output)

I/O No.
Signal name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
CH0 CH1 CH2 CH3 CH4 CH5
CW output or
Y0 Y2 Y4 Y6 Y8 YA
Pulse output

When using CCW output or Y1 Y3 Y5 Y7 Y9 YB

the transistor Sign output
output type
Control Unit Deviation C14 Y4 Y5 - - - -
counter C30 Y8 Y9 YA YB
clear output
(Note 1) C60 YC YD Y10 Y11 Y12 Y13

Emergency stop (Pulse output stop) (Note 2)

When using CW output or Pulse output Y100 Y200

the relay CCW output or Sign output Y101 Y201 - - - -
output type
pulse I/O Deviation counter clear output
cassette Y102 Y202 - - - -
(Note 1)

(Note 1) Even when setting the linear interpolation, the interpolation operation is not performed for the home
return. Execute the operation for X axes and Y axes separately.

4-4 WUME-FPXHPOSG-01
 4.1 Confirming I/O Allocation

(Note 2) The emergency stop will be enabled by specifying channel numbers and turning ON the bit 3 of the
special data register DT90052 by the pulse output control instruction (F0). In case of the emergency
stop in the FP-X compatible instruction mode, pulses stop immediately.

■ Allocation of I/O relating to pulse output control (Only in FP-X compatible

instruction mode)
● By using the special data register DT90052 by the pulse output control instruction (F0),
operations such as loading the near home input and stopping the pulse output forcibly can
be performed.

● When controlling the above functions using external inputs, arbitrary inputs can be allocated.
The following program is for loading the near home input of CH1 using the input X10.

● In the FP-X compatible instruction mode, the allocations of J-point control and over limit inputs
are not available.
● In the FP-X compatible instruction mode, the allocations of system stop, error clear request,
deceleration stop and J-point speed change are not available.

4.1.3 When Using PWM Output Function

● The following reserved areas are allocated to the PWM output or control active flag.
● Allocate them so that they do not overlap the I/O used for the pulse output function.

WUME-FPXHPOSG-01 4-5
4.1 Confirming I/O Allocation

■ Allocation of I/O signals

I/O No.
Signal name
CH0 CH1 CH2 CH3

When using the PWM output Y0 Y2 Y4 Y6

transistor output Control active
Control Unit R911C R911D R911E R911F
flag (BUSY)

When using the PWM output Y100 Y200 - -

relay output type Control active
pulse I/O cassette R911C R911D - -
flag (BUSY)

4.1.4 When Using High-speed Counter Function

● The following reserved areas are allocated to the hardware reset input or control active flag.

■ Allocation of I/O signals (When using internal input)

I/O No.
Signal name
CH0 CH1 CH2 CH3 CH4 CH5 CH6 CH7
Single-phase
X0 X1 X2 X3 X4 X5 X6 X7
Count input input
2-phase input X0 / X1 - X2 / X3 - X4 / X5 - X6 / X7 -
Single-phase
Hardware reset X6 - X7 - - - - -
input
input
2-phase input X6 - X7 - - - - -
Single-phase
Control active flag R9110 R9111 R9112 R9113 R9114 R9115 R9116 R9117
input
(BUSY)
2-phase input R9110 - R9112 - R9114 - R9116 -

■ Allocation of I/O signals (When using the input section of the pulse I/O cassette)
I/O No.
Signal name
CH8 CH9 CHA CHB
Single-phase
X100 X101 X200 X201
Count input input
2-phase input X100 / X101 - X200 / X201 -
Single-phase
Hardware reset X102 X102 X202 X202
input
input
2-phase input X102 X102 X202 X202
Single-phase
Control active flag R9118 R9119 R911A R911B
input
(BUSY)
2-phase input R9118 - R911A -

(Note 1) The input X102 can be set to either CH8 or CH9 and the input X202 can be set to either CHA or CHB
as a hardware reset input.

4-6 WUME-FPXHPOSG-01
 4.1 Confirming I/O Allocation

■ Allocation of I/O relating to high-speed counter control

● By using the special data register DT90052 by the high-speed counter control instruction
(F0), operations such as the software reset of the high-speed counter and disabling /
enabling the count can be performed.

● When controlling the above functions using external inputs, arbitrary inputs can be allocated.
The following program is for performing the software reset of CH0 using the input X7.

WUME-FPXHPOSG-01 4-7
4.2 Settings in Configurator PMX

4.2 Settings in Configurator PMX

4.2.1 Allocating Channels to be Used

Use the Configurator PMX to allocate used channels and applications. The following procedure
is explained on the condition that the FPWIN GR7 has already started.

1. Select Options>Positioning Table Settings from the menu bar.

”Configurator PMX” will be activated.

2. Select Channel setting>Used channel setting from the menu bar.

The “Used channel setting” dialog box will be displayed.

3. Select the axes to be used and the usage, and press the [OK] button.

4-8 WUME-FPXHPOSG-01
 4.2 Settings in Configurator PMX

When the setting is changed, a confirmation message box will be displayed. When the
setting is changed, a confirmation message box appears.

4. Confirm the change and press the [Yes] button.

A data table tab each is created for the groups set.

● When interpolation control is selected, the data table of the channel numbers of X and Y
axes will be added, and [Interpolation] will be displayed on the tab.

● When changing "Used channel setting" in Configurator PMX, the system registers no. 400
to 402 and 407 corresponding to the I/O used for the positioning control will be
automatically updated.

REFERENCE
4.3 System Register Settings

4.2.2 Setting Parameters

Use the Configurator PMX to allocate the most fundamental parameters for positioning control,
such as the motor rotation direction, pulse output method (CW/CCW and Pulse/Sign), home
input, limit input logic, and positioning control. The following procedure is explained on the
condition that the Configurator PMX has already started.

1. Select Channel setting>Parameter settings from the menu bar.

The “Parameter settings” dialog box appears.

WUME-FPXHPOSG-01 4-9
4.2 Settings in Configurator PMX

2. Make necessary parameter settings according to the application and press the [OK] button.
The settings will be stored as part of positioning parameter data.

Parameters
Default
Parameter name Settings
(unit)
Pulse output method Pulse/Sign Pulse/Sign, CW/CCW
When selecting Pulse/Sign mode:
CW direction +: Select this setting for the case that the
elapsed value is increased when Sign output turns off.
CCW direction +: Select this setting for the case that the
Pulse output rotation elapsed value is increased when Sign output turns on.
CW direction +
direction When selecting CW/CCW mode:
CW direction +: Select this setting for the case that the
Basic

elapsed value is increased at the time of CW output.

CCW direction +: Select this setting for the case that the
elapsed value is increased at the time of CCW output.
Set the startup speed common to each operation. This
setting is common to JOG operation, home return, E-point
Startup speed 100 (pps) control, P-point control, C-point control and J-point
control.
Setting range: 1 to 100,000
Specify this setting for performing repetitive controls when
Positioning repeat count 0
using E-point/P-point/C-point control.

4-10 WUME-FPXHPOSG-01
 4.2 Settings in Configurator PMX

Default
Parameter name Settings
(unit)
0, 1: Not repeat
2 to 254: Repeat for the specified number of times.
255: Repeat infinitely until the execution of stop control.
Home position logic Normal Open
Home position proximity
Normal Open Select the input logic for each switch.
Input

logic
Normal Open, Normal Close
Limit + switch logic Normal Open
Limit - switch logic Normal Open
DOG method 1, DOG method 2, DOG method 3, Home
Home return method Not use
position method, Data set method, Not use
Limit (-)
Home return direction Limit (-) direction, Limit (+) direction
direction
Home return
100 (ms) Setting range: 1 to 10,000
acceleration time
Home return
100 (ms) Setting range: 1 to 10,000
deceleration time
Home return

Home return target

1000 (pps) Setting range: 1 to 100,000
speed
Home return creep
100 (pps) Setting range: 1 to 100,000
speed
Deviation counter clear
1 (ms) Setting range: 1 to 100
time
When the home return method is Data set method,
specify a coordinate origin.
Coordinate origin 0 (pulse) Setting range: -1,073,741,824 to 1,073,741,823
For the interpolation control, the range is as follows.
Setting range: -8,388,608 to 8,388,607
JOG acceleration time 0 (ms) Setting range: 0 to 10,000
JOG operation

JOG deceleration time 0 (ms) Setting range: 0 to 10,000

JOG target speed 1000 (pps) Setting range: 1 to 100,000
Set this setting for changing the speed during J-point
J point change target control.
1000 (pps)
speed
Setting range: 1 to 100,000
Emergency stop
100 (ms) Setting range: 1 to 10,000
deceleration time
Stop

Limit stop deceleration

100 (ms) Setting range: 1 to 10,000
time

4.2.3 Creating Positioning Data Table

● The positioning data tables are divided into sheets for each axis, and 20 tables ranging no. 1
to no. 20 can be set.

WUME-FPXHPOSG-01 4-11
4.2 Settings in Configurator PMX

■ For independent axis control

Parameter Default (unit) Description
name

Operation Select one from the following operation patterns.

E: End point
pattern E: End point, P: Pass point, C: Continuance point, J: Speed point
Control
I: Increment Select either. I: Increment or A: Absolute.
method
X-axis
Input a movement amount. Setting range: -1,073,741,824 to
movement 0 (pulse)
+1,073,741,823
amount
Acceleration/
deceleration L: Linear For FP0H, only L: Linear can be selected.
method
Acceleration
100 (ms) Set an acceleration time. Setting range: 1 to 10,000
time
Deceleration
100 (ms) Set a deceleration time. Setting range: 1 to 10,000
time
Target speed 1000 (pps) Set a target speed. Setting range: 1 to 100,000
Set the time from the completion of the positioning instruction in the E-point
control until the positioning done flag turns ON. For the C-point control, it is
Dwell time 0 (ms)
the wait time between each table. Also, the dwell time setting is invalid for
the P-point control.

■ For interpolation control

Parameter Default (unit) Description
name

Operation Select one from the following operation patterns.

E: End point
pattern E: End point, P: Pass point, C: Continuance point
Select a specification method of speed.
Linear Linear (composite speed): Specify the speed combining the speed of X and
Interpolation
(composite Y axes.
operation
speed) Linear (major axis speed): Specify the speed on the long axis side whose
movement amount is large.
Control
I: Increment Select either. I: Increment or A: Absolute.
method
X-axis
movement 0 (pulse) Input a movement amount. Setting range: -8,388,608 to +8,388,607
amount
Y-axis
movement 0 (pulse) Input a movement amount. Setting range: -8,388,608 to +8,388,607
amount
Acceleration/
deceleration L: Linear For FP0H, only L: Linear can be selected.
method
Acceleration
100 (ms) Set an acceleration time. Setting range: 1 to 10,000
time
Deceleration
100 (ms) Set a deceleration time. Setting range: 1 to 10,000
time

4-12 WUME-FPXHPOSG-01
 4.2 Settings in Configurator PMX

Parameter Default (unit) Description

name
Set either composite speed or major axis speed in accordance with the
Interpolation selection of interpolation operation.
1000 (pps)
speed
Setting range: 1 to 100,000
Set the time from the completion of the positioning instruction in the E-point
control until the positioning done flag turns ON. For the C-point control, it is
Dwell time 0 (ms)
the wait time between each table. Also, the dwell time setting is invalid for
the P-point control.

■ Selection of positioning operation patterns

● For the E-point control, enter settings in one row.
● For P-point control (speed change control), C-point control (continuance point control) and J-
point control (JOG positioning control), they should be combined with E-point control of the
next step as a pair and the settings should be input in two rows.

■ Table numbers and activation of positioning

● Execute the positioning start instruction (F380) in the user program to specify table numbers
in the Configurator PMX.
● The unit executes the control under the conditions set in the table by turning on the
positioning start contact corresponding to a desired channel number (axis number) and table
number. Specify the first data table number for each control in the program.

R1 X28 CH No.0
（ DF ） F380 POSST K0 K1 K0 Table no. 1
CH0 Position control starts.
BUSY

● For details, refer to "5 Operation Patterns". For details of instructions, refer to "7 Instruction
References".

4.2.4 Saving Positioning Parameters

Information on positioning parameters and positioning data tables set on Configurator PMX is
saved as part of program files.

WUME-FPXHPOSG-01 4-13
4.2 Settings in Configurator PMX

1. Select File>Save changes and exit from the menu bar.

A confirmation message box appears.

2. Press [Yes].
The set information will be saved as part of project files.

4.2.5 Export and Import

● Basic parameters and positioning parameters set can be exported to and imported from the
Configurator PMX.
● Information on positioning parameters and positioning tables saved by using the export
function can be reused between projects.

1. Select File>Export from the menu bar.

The saving destination and file names appear.

2. Enter a saving destination and file name, and press [Save] button.
Information on the parameters and positioning data tables will be saved in a file with a
“.pmx” extension.

● When export is executed, information on the positioning data tables will be saved along
with parameters set in the parameter setting menu.

4.2.6 Check on Parameter Data

● The following procedure is explained on the condition that the Configurator PMX has already
started.

4-14 WUME-FPXHPOSG-01
 4.2 Settings in Configurator PMX

1. Select Debug>Check Parameter and Data Values from the menu bar.
A message box appears to show the check result. If there is an error in the settings for the
positioning data tables, an error message will appear and the cursor will move to the
corresponding error position.

4.2.7 Writing Parameters to Unit (1)

● Information on parameters that have been set is transferred to the unit along with information
on programs, comments and system registers.
● The following procedure is explained on the condition that the Configurator PMX has already
started.

1. Select File>Save changes and exit from the menu bar of the Configurator PMX.
2. When "Do you save the setting?" appears, press [Yes (Y)].
3. Select Online>Download To PLC (Entire project) from the FPWIN GR7 menu bar.
Positioning data will also be downloaded to the control unit along with information on
programs, comments and system registers.

4.2.8 Writing Parameters to Unit (2)

● Information on parameters that have been set can also be downloaded to the unit in the
Configurator PMX.
● The following procedure is explained on the condition that the Configurator PMX has already
started.

1. Select File>Download positioning data from the menu bar of the Configurator PMX.
A message box for confirming the saving appears.

WUME-FPXHPOSG-01 4-15
4.2 Settings in Configurator PMX

2. Press the [Yes] button.

A message confirming the download to the PLC appears. In the RUN mode, a message
confirming that the mode is switched to the PROG. mode also appears.

3. Press the [Yes] button.

A message confirming the switching of the operation mode appears.

4. Press the [Yes] button to switch the operation mode.

4-16 WUME-FPXHPOSG-01
 4.3 System Register Settings

4.3 System Register Settings

4.3.1 Confirming and Selecting Functions to be Used

The set condition can be confirmed by the following procedure. The following procedure is
explained on the condition that the FPWIN GR7 has already started.

1. Select Options>System register settings from the menu bar.

The "PLC Configuration" dialog box appears.

2. Select "Controller output setting (PLS / PWM)" from the left pane.

3. Confirm the functions to be used and change the settings as necessary.

4. Press the [OK] button.
The screen returns to the ladder edit screen. The settings will be downloaded to the PLC
together with programs.

● When the settings are saved in the Configurator PMX, the system registers corresponding
to the I/O used for the positioning function will be automatically set.
● Change the settings of the corresponding system registers when the home input is not
used or the PWM output is allocated to other channels.

WUME-FPXHPOSG-01 4-17
4.3 System Register Settings

Settings when using table setting mode (Transistor output type)

Parameter Settings
No. and setting item
name
To use the J-point control, select J-point positioning start
X0
input of CH0.
400
Control Unit To use the J-point control, select J-point positioning start
High-speed counter X1
input settings input of CH1.
setting
(HSC / PLS)
(X0 to X3) X2 Select CH4 Home input or Normal input.
X3 Select CH5 Home input or Normal input.
X4 Select CH0 Home input or Normal input.
401
Control Unit High-speed counter X5 Select CH1 Home input or Normal input.
input settings
2 (HSC / PLS) pulse output setting X6 Select CH2 Home input or Normal input.
(X4 to X7)
X7 Select CH3 Home input or Normal input.
407 Positioning control mode Select the table setting mode or FP-X compatible
setting instruction mode.
CH0
Control Unit
CH1
output 402 Select the output allocated to each channel.
settings CH2
Pulse / PWM output Normal output, PWM output, Pulse output [Table setting
(PLS / PWM) setting mode],
CH3
(Y0 to YB) Pulse output [FP-X compatible instruction mode]
CH4
CH5

(Note 1) Displayed items vary according to models.

(Note 2) Select "Normal input" and "Normal output" for the input and output that is not used for the pulse
output function or high-speed counter function.
(Note 3) "J-point positioning start input" for each channel can be selected only when "Table setting mode"
is set in the system register no. 407.

Settings when using table setting mode (Relay output type)

Parameter Settings
No. and setting item
name
407 Positioning control mode Select the table setting mode or FP-X compatible
setting instruction mode.
400 High-speed
counter setting To use the J-point control, select J-point positioning start
X100
input of CH0.
(X100 to X102)
Select the output allocated to each channel.
Pulse I/O 400 Pulse output
setting Normal output, PWM output, Pulse output [Table setting
cassette CH0
mode],
setting (Y100 and Y101)
Pulse output [FP-X compatible instruction mode]
(HSC / PLS)
400 High-speed
counter setting To use the J-point control, select J-point positioning start
X200
input of CH1.
(X200 to X202)
Select the output allocated to each channel.
400
CH1 Normal output, PWM output, Pulse output [Table setting
Pulse output setting
mode],

4-18 WUME-FPXHPOSG-01
 4.3 System Register Settings

Parameter Settings
No. and setting item
name
(Y200 and Y201) Pulse output [FP-X compatible instruction mode]

(Note 1) Displayed items vary according to models.

(Note 2) Select "Normal input" and "Normal output" for the input and output that is not used for the pulse
output function or high-speed counter function.
(Note 3) "J-point positioning start input" for each channel can be selected only when Table setting mode is
set in the system register no. 407.

WUME-FPXHPOSG-01 4-19
4.4 Reading Elapsed Values

4.4 Reading Elapsed Values

4.4.1 Elapsed Value (Current Value) Area

● They are stored as 2-word 32-bit data in the axis information area of positioning memory.
● The elapsed value area will be reset when the power supply turns off. It will be held when
switching the mode from RUN to PROG.

■ Counting range of elapsed value (current value) area

Section Range
For single axis
-1,073,741,824 to 1,073,741,823
control
For interpolation
-8,388,608 to +8,388,607
axis control

4.4.2 Elapsed Value (Current Value) Area

Use [F384 PTBLR] positioning parameter read instruction for reading elapsed values.

■ Instruction format

Operand Settings Specification for reading the elapsed value area

H1 Specify the axis information area of CH0.
H101 Specify the axis information area of CH1.

Specification of channel numbers and H201 Specify the axis information area of CH2.
S1
positioning memory area H301 Specify the axis information area of CH3.
H401 Specify the axis information area of CH5.
H501 Specify the axis information area of CH5.
Starting address of positioning memory
S2 K2 Specify the offset address.
(Offset address)
n No. of read words K2 Specify two words.
D Operation memory storing read data Specify an arbitrary memory.

■ Sample program
The following sample shows the program when reading the elapsed value (current value) of
CH3 to the data registers DT300 to DT301. For details of instructions, refer to "7 Instruction
References".

4-20 WUME-FPXHPOSG-01
 4.4 Reading Elapsed Values

WUME-FPXHPOSG-01 4-21
(MEMO)

4-22 WUME-FPXHPOSG-01
 5 Operation Patterns
5.1 Stop Operation....................................................................................5-2
5.1.1 Type of Stop Operations .................................................................. 5-2
5.1.2 Characteristics of Stop Operations .................................................. 5-3
5.2 JOG Operation....................................................................................5-4
5.2.1 Settings and Operation of JOG Operation ....................................... 5-4
5.2.2 Settings and Operation of JOG Operation (Speed Changes).......... 5-6
5.2.3 Speed Changes in JOG Operation .................................................. 5-8
5.3 Home Return.......................................................................................5-9
5.3.1 Types of Home Return ..................................................................... 5-9
5.3.2 Operation Patterns of Home Return ................................................ 5-10
5.3.3 Settings and Operations of Home Return ........................................ 5-12
5.4 Positioning Control..............................................................................5-16
5.4.1 Types of Positioning Control ............................................................ 5-16
5.4.2 E-point Control (Single-Speed Positioning) ..................................... 5-17
5.4.3 P-point Control (Double-Speed Positioning) .................................... 5-18
5.4.4 C-point Control ................................................................................. 5-20
5.4.5 J-point Control (JOG Positioning) .................................................... 5-22
5.4.6 J-point Control (JOG Positioning: Speed Changes) ........................ 5-23
5.4.7 Programming Cautions .................................................................... 5-26
5.5 Repeat Operation................................................................................5-28
5.5.1 Overview of Repeat Operation......................................................... 5-28
5.5.2 Settings and Operations of Repeat Operation ................................. 5-29
5.5.3 Stop Operation During Repeat Operation ........................................ 5-31
5.6 Linear Interpolation Control.................................................................5-33
5.6.1 Overview .......................................................................................... 5-33
5.6.2 Settings and Operations of Linear Interpolation............................... 5-34

WUME-FPXHPOSG-01 5-1
5.1 Stop Operation

5.1 Stop Operation

5.1.1 Type of Stop Operations

■ Type of stop operations

Name Timing chart Occurrence condition and operation

● Once the system stop contact (Y20) turns on,

an active operation will stop and the pulse
System outputs of all channels will immediately stop.
stop ● The similar operation is performed when the
operation mode of the Control Unit is
switched from RUN to PROG.

Emergency stop deceleration time

● Once an emergency stop contact (Y50 to
Y55) turns on, an active operation will stop
and the pulse outputs of corresponding
Emergenc channels will stop.
y stop
● Performs a deceleration stop in the
deceleration time specified in the positioning
parameter setting menu of Configurator PMX.

Limit stop deceleration time

● Once an over limit input (+) and over limit
input (-) (Y80 to Y8B) turns on, an active
operation will stop and the pulse outputs of
Limit stop corresponding channels will stop.
● Performs a deceleration stop in the "limit stop
deceleration time" specified in the positioning
parameter settings.

Deceleration time
● Once a deceleration stop contact (Y58 to
Y5D) turns on, an active operation will stop
and the pulse outputs of corresponding
Decelerati channels will stop.
on stop
● Performs a deceleration stop in the
deceleration time specified for the active
positioning operation.

■ Execution of stop operations

Stop controls are executed when the following I/O signals turn ON.

■ Allocation of I/O signals (Output)

I/O No.
Signal name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
CH0 CH1 CH2 CH3 CH4 CH5
System stop Y20

5-2 WUME-FPXHPOSG-01
 5.1 Stop Operation

I/O No.
Signal name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
CH0 CH1 CH2 CH3 CH4 CH5
Emergency stop Y50 Y51 Y52 Y53 Y54 Y55

Over limit input (+)(Note 1) (Y80) (Y82) (Y84) (Y86) (Y88) (Y8A)

Over limit input (-)(Note 1) (Y81) (Y83) (Y85) (Y87) (Y89) (Y8B)

Deceleration stop Y58 Y59 Y5A Y5B Y5C Y5D

(Note 1) The over limit input (+) and over limit input (-) will be valid when arbitrary inputs are allocated and the
output relays indicated in the above table turn ON.

5.1.2 Characteristics of Stop Operations

■ Priority of stop operations

When stop control requests are made simultaneously, the stop operations are executed
according to the following priority.
1. System stop > 2. Emergency stop > 3. Limit stop > 4. Deceleration stop

■ Dwell time setting

The dwell time setting is invalid in the stop operations regardless of patterns.

■ Flag processing
● In the case of system stop, the busy signal turns off and the operation done signal turns on.
● In the cases of emergency stop, limit stop and deceleration stop, the busy signal turns off
and the operation done signal turns on after the completion of the pulse output during
deceleration.

■ Elapsed value area (Current value coordinate)

● Even in a stop operation, the elapsed value area is always updated.
● After the emergency stop, limit stop or deceleration stop, deceleration is performed with each
specified deceleration time, and the value when the pulse output stops is stored.
● In the case of system stop, the value when the pulse output stops is stored.

● For details of the deceleration stop operations when repetitive control is executed, refer to
"5.5.3 Stop Operation During Repeat Operation".

WUME-FPXHPOSG-01 5-3
5.2 JOG Operation

5.2 JOG Operation

5.2.1 Settings and Operation of JOG Operation

The parameters for JOG operations are specified in the positioning parameter setting menus of
Configuration PMX.
Pulses are output while the JOG operation start instruction (F381 JOGST) is executed.
Reverse JOG Forward JOG
Table

Ball screw

(-) side (+) side

■ Operation diagram
f [Hz]

20,000Hz

1,000Hz
t [ms]

100ms 200ms
Instruction start condition

Busy signal

Operation done signal

JOG operation target speed 20,000

■ Operations of each contact

● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the
JOG operation starts, and they will turn OFF when the operation completes.
● The operation done flags (X30 to X35), which indicate the completion of operation, will turn
ON when the current operation is completed, and they will be held until the next positioning
control, JOG operation or home return operation starts.

■ Notes on programming
● The startup contact and flag numbers vary depending on channel numbers (axis numbers).

5-4 WUME-FPXHPOSG-01
 5.2 JOG Operation

■ Settings
Item Setting example
Startup speed 1,000 Hz
JOG operation
100 ms
acceleration time
Axis setting area JOG operation
200 ms
deceleration time
JOG operation target
20,000 Hz
speed

■ Configurator PMX settings

■ Sample program
The execution condition is set to be always executed. For details of instructions, refer to
"7 Instruction References".
R3 R4
CH No.0
F381 JOGST K0 K0 JOG forward operation starts.
R4 R3
CH No.0
F381 JOGST K0 K1
JOG reverse operation starts.

■ Operation at over limit input

Conditions Direction Limit status Operation
Over limit input (+): ON Not executable, Error occurs.
Forward
Over limit input (-): ON Executable
At startup
Over limit input (+): ON Executable
Reverse
Over limit input (-): ON Not executable, Error occurs.

Over limit input (+): ON Limit stops, Error occurs.(Note 1)

Forward
During Over limit input (-): ON Limit stops, Error occurs.(Note 1)
operation
Reverse Over limit input (+): ON Limit stops, Error occurs.(Note 1)

WUME-FPXHPOSG-01 5-5
5.2 JOG Operation

Conditions Direction Limit status Operation

Over limit input (-): ON Limit stops, Error occurs.(Note 1)

(Note 1) Create a program as below if you do not want to restart the instruction when the limit error occurs
during an operation when the execution condition has been set to be always executed.

5.2.2 Settings and Operation of JOG Operation (Speed Changes)

It is possible to change a target speed during the JOG operation. The target speed is changed
by rewriting the positioning memory using a user program.

■ Operation diagram

f [Hz]

20,000Hz

10,000Hz

1,000Hz
t [ms]

100ms Approx.100ms Approx.100ms

Instruction start condition

Busy signal

Operation done signal

JOG operation target speed 20,000 10,000

Rewriting the target speed

■ Operations of each contact

● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the
JOG operation starts, and they will turn OFF when the operation completes.

5-6 WUME-FPXHPOSG-01
 5.2 JOG Operation

● The operation done flags (X30 to X35), which indicate the completion of operation, will turn
ON when the current operation is completed, and they will be held until the next positioning
control, JOG operation or home return operation starts.

■ Characteristics of acceleration / deceleration zone when changing speeds

● In the case of the speed change in the JOG operation, the speed of acceleration zone and
deceleration zone changes whenever the instruction is executed. The speed variation is
obtained by the following formula.
Speed variation = (JOG operation target speed - Startup speed) / (JOG acceleration time or
JOG deceleration time)

■ Settings
Item Setting example
Startup speed 1,000 Hz
JOG operation
100 ms
acceleration time
Axis setting area JOG operation
200 ms
deceleration time
JOG operation
20,000 Hz → 10,000 Hz
target speed

■ Configurator PMX settings

■ Sample program
The execution condition is set to be always executed. For details of instructions, refer to
"7 Instruction References".

R4
CH No.0
F381 JOGST K0 K0 JOG forward operation starts.

R5
（ DF ） F1 DMV K10000 DT100
Target speed is
rewritten.
F385 PTBLW H2 DT100 K2 K16

WUME-FPXHPOSG-01 5-7
5.2 JOG Operation

■ Notes on programming
● To change a speed during the JOG operation, rewrite the value of the positioning memory
(axis setting area) using a user program.
● The startup contact and flag numbers vary depending on channel numbers (axis numbers).

5.2.3 Speed Changes in JOG Operation

● The value of “JOG operation target speed” in the axis setting area is constantly monitored
while the operation is being executed. When the target speed is changed, it will be changed
with the same acceleration.
● The speed change is executed after the completion of acceleration/deceleration.
● The speed range in which the JOG operation can be set is 50Hz to 100kHz. When setting a
value smaller than 50 Hz, it is corrected to 50 Hz.

5-8 WUME-FPXHPOSG-01
 5.3 Home Return

5.3 Home Return

5.3.1 Types of Home Return

The home return is specified in the positioning parameter setting dialog box for each axis.
Name Operation diagram Operation and application
● The leading edge of the first home input
is set as a home position after the
detection of the leading edge of the near
home input.
Home return direction ● Even when the limit input turns on, the
Limit (-) Near home Limit (+) motor rotation will be automatically
DOG Home switch reversed and the home return operation
method Home return creep speed
Target speed
will continue.
1 ● This method is used when the home
Home return switch exists in the range that the near
deceleration time
home switch is enabled, such as a
system using a servo motor. This
method can also be used when no
home switch exists in the range that the
near home switch is enabled.
● The leading edge of a near home input
is detected and it is set as a home
Home return direction position.
Limit (-) Near home Limit (+) ● Even when the limit input turns on, the
DOG
motor rotation will be automatically
method Target speed
Home return reversed and the home return operation
2 deceleration time
will continue.
● This method is used for performing the
home return with the near home switch
only.
● The leading edge of the first home input
in the home return direction set as a
home position after the detection of a
Home return direction trailing edge (back end) of the near
Limit (-) Near home Limit (+) home input.
DOG Home switch
● Even when the limit input turns on, the
method Home return
deceleration time Target speed motor rotation will be automatically
3 Home return creep speed
reversed and the home return operation
will continue.
● This method is used when no home
switch exists in the range that the near
home switch is enabled.
● Moves the current position to the home
return direction, and stops at the
position where the leading edge of the
home input is detected. This coordinate
Home return direction
is set as the starting point.
Limit (-) Limit (+)
Home Home switch ● When no home input exists in the home
position return direction, the limit input turns on
method Home return creep speed and the operation stops.
● This method is used for performing the
home return with the home switch only.
This method is compatible with the F171
instruction of the existing model
FPsigma.

WUME-FPXHPOSG-01 5-9
5.3 Home Return

Name Operation diagram Operation and application

● Performs the home return based on the
home coordinate values in the axis
setting area of positioning memory.
Data set Home position (= Current value)
● Performs the home return toward the
method
home coordinate on the software.
● When the starting point is within the limit
switch, it cannot be started.

5.3.2 Operation Patterns of Home Return

The operations vary according to selected home return methods and the difference in current
positions.

■ DOG method 1 (Edge detection of near home switch + Home switch, based on
front end)
The leading edge of the first home switch is set as a home position after the detection of the
leading edge of the near home switch.
Home return direction

Limit (-) switch Near home switch Limit (+) switch

Home switch
① The starting point is Target speed
between the near home Home return creep speed
switch and limit (+) switch.

Home return
deceleration time
Home return creep speed
② The starting point is on the
near home switch.
Home return
Target speeddeceleration time
Limit stop Target speed
deceleration time Home return creep speed
③ The starting point is
between the near home
switch and limit (-) switch. Target speed Home return
deceleration time

④ The starting point is on the

limit (-) switch. Target speed Home return
deceleration time

■ DOG method 2 (Edge detection of near home switch)

The leading edge of the near home switch is detected and it is set as a home position.

5-10 WUME-FPXHPOSG-01
 5.3 Home Return

Home return direction

Limit (-) switch Near home switch Limit (+) switch

① The starting point is Home return Target speed

between the near home deceleration time Home return creep speed
switch and limit (+) switch.

Home return creep speed

② The starting point is on the
near home switch.
Home return
deceleration time
Target speed
Limit stop Target speed
deceleration time Home return creep speed
③ The starting point is
between the near home
switch and limit (-) switch. Target speed Home return
deceleration time
Home return creep speed
④ The starting point is on the
limit (-) switch. Target speed Home return
deceleration time

■ DOG method 3 (Edge detection of near home switch + Home switch, based on
back end)
The leading edge of the first home switch in the home return direction is set as a home position
after the detection of the trailing edge (back end) of the near home switch.
Home return direction

Limit (-) switch Near home switch Limit (+) switch

Home switch
Home return
The starting point is deceleration time Target speed
between the near home Home return creep speed
switch and limit (+) switch.

Home return creep speed

The starting point is on the
near home switch.

Limit stop
deceleration time Home return creep speed
The starting point is
between the near home
switch and limit (-) switch. Target speed Home return
deceleration time
Home return creep speed

The starting point is on the

limit (-) switch. Target speed Home return
deceleration time

WUME-FPXHPOSG-01 5-11
5.3 Home Return

■ Home position method (Edge detection of home switch)

Moves the current position to the home return direction, and stops at the position where the
leading edge of the first home switch is detected. This coordinate is set as a home position.

Home switch Home return direction

Home return creep speed

■ Data set method

Performs the home return based on the home coordinate values in the axis setting area of
positioning memory.

Home position (= Current value)

● For details of addresses and settings of positioning memory, refer to "11.3 Positioning
Memory".

5.3.3 Settings and Operations of Home Return

● The parameters for home return operations are specified in the positioning parameter setting
menus of Configuration PMX.
● When the home return start instruction (F382 ORGST) is executed, the pulse output will start
and the home return operation will be performed.
● In the following example, the DOG1 method is selected. After the start, it moves at a target
speed and reverses at the time of near home detection. After the redetection of near home
input, it moves at a creep speed until the home position is detected.

5-12 WUME-FPXHPOSG-01
 5.3 Home Return

■ Operation diagram
Home return target speed

Home return creep speed

Near home switch (DOG)

Home switch

Home return start contact

Deviation counter clear signal

BUSY flag

Home return done flag

■ Operations of each contact

● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the
home return operation starts, and they will turn OFF when the operation completes.
● The deviation counter clear signal will turn ON after the completion of the home return
operation. The ON time is set in the axis setting area of the positioning memory.
● The home return done flags (X48 to X4D), which indicate the completion of home return
operation, will turn ON when the current operation is completed, and they will be held until
any operation of the positioning control, JOG operation and home return operation starts.
The timing of turning ON the flags is on the completion of the home return.

■ Settings
Item Setting example
Home return method DOG method 1
Home return direction Over limit (-) direction
Home return acceleration time
100 ms
(ms)
Home return deceleration time
Axis setting area 100 ms
(ms)
Home return target speed 10000 pps
Home return creep speed 1000 pps
Deviation counter clear time
1 ms
(ms)

WUME-FPXHPOSG-01 5-13
5.3 Home Return

■ Configurator PMX settings

■ Sample program
The execution condition is differential execution. For details of instructions, refer to
"7 Instruction References".

■ Operation at over limit input

Conditions Direction Limit status Operation

Over limit input (+): ON Executable(Note 2)(Note 3)

Forward
Over limit input (-): ON Executable(Note 3)
At startup
Over limit input (+): ON Executable(Note 3)
Reverse
Over limit input (-): ON Executable(Note 2)(Note 3)
Automatic reverse
Over limit input (+): ON
Forward operation(Note 4)

Over limit input (-): ON edge(Note 1) Limit stops, Error occurs.

During operation
Over limit input (+): ON edge(Note 1) Limit stops, Error occurs.
Reverse Automatic reverse
Over limit input (-): ON
operation(Note 4)

(Note 1) Only when an edge signal is detected, the limit stop is performed.
(Note 2) In the case of home position method, it cannot be executed.
(Note 3) In the case of data set method, it cannot be executed.

5-14 WUME-FPXHPOSG-01
 5.3 Home Return

(Note 4) In accordance with situations, “Limit stops or Error occurs.” (Example) When the limit input is enabled
during deceleration after near home detection, the over limit stop is performed without reverse
operation.

WUME-FPXHPOSG-01 5-15
5.4 Positioning Control

5.4 Positioning Control

5.4.1 Types of Positioning Control

■ Operation pattern
Repea
t Interpol
Name Time chart Operation and application
ation

● This is a method of control which is

E-
initiated up to an end point, and is
point
referred to as “E-point control”. ● ●
contro
● This method is used for a first
l
speed acceleration/deceleration.

● This refers to control which passes

through a “Pass Point”, and is
P- called “P-point control”.
point ● This method is used for a second
● ●
contro speed acceleration/deceleration.
l ● After the pulse output is performed
for a specified movement amount,
it shifts to the E-point control.
● This refers to control which passes
through a “Continuance Point”, and
is called “C-point control”.
C- ● This method is used for performing
point two successive first speed
positioning control with different ● ●
contro target speeds or acceleration/
l deceleration times.
● The time taken for transmitting
from the C-point control to E-point
control is specified as a dwell time.
No speed change
● This refers to control which passes
through a speed point “JOG
Operation Point”, and is called “J-
point control”.
J- ● After the start, it is controlled at
point specified speeds.
－ －
contro Speed changes ● Once the J-point positioning
l contact turns on, the positioning
control starts.
● When the J-point control speed
change flag is set, the speed
changes.

■ Selection of positioning operation modes

Positioning operation modes are selected on Configurator PMX.

5-16 WUME-FPXHPOSG-01
 5.4 Positioning Control

● For the E-point control, enter settings in one row.

● For P-point, C-point and J-point controls, they should be combined with E-point control of the
next step as a pair and the setting should be input in two rows.

● When E: End point is not selected in the next row of P: Pass point, C: Continuance point or J:
Speed point, the self-diagnostic error (error code 44: positioning error) is detected.

■ Settings of J-point control

● For J-point control, only "Increment" can be selected as a control method.
● For changing speed during J-point control, set the target speed after the change in the
positioning parameter dialog box.

5.4.2 E-point Control (Single-Speed Positioning)

● The parameters for position control operations are specified in the positioning parameter
setting menus and data tables of Configurator PMX.
● When the positioning table start instruction (F380 POSST) or positioning simultaneous start
instruction (F383 MPOST) is executed, the pulse output will start and the positioning control
operation will be performed.

■ Operation diagram
f [Hz]
Ta ble 1

20,000Hz

100,000 pulses

1,000Hz
t [ms]
100ms 200ms

50ms
Instruction
start condition

Busy signal

Operation
done signal

WUME-FPXHPOSG-01 5-17
5.4 Positioning Control

■ Operations of each contact

● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the
positioning control starts, and it will turn OFF when the operation completes.
● The operation done flags (X30 to X35), which indicate the completion of operation, will turn
ON when the current operation is completed, and they will be held until the next positioning
control, JOG operation or home return operation starts.

■ Settings
Item Setting example
Axis setting area Startup speed 1,000 Hz
Table number Table 1
Control method Increment mode
Operation pattern E-point control (End point control)
Positioning
100 ms
acceleration time

Table area Positioning

200 ms
deceleration time
Positioning target
20,000 Hz
speed
Positioning movement
100,000 pulse
amount
Dwell time 50 ms

■ Configurator PMX settings

■ Sample program
The execution condition is differential execution. For details of instructions, refer to
"7 Instruction References".

5.4.3 P-point Control (Double-Speed Positioning)

● The parameters for position control operations are specified in the positioning parameter
setting menus and data tables of Configurator PMX.

5-18 WUME-FPXHPOSG-01
 5.4 Positioning Control

● When the positioning table start instruction (F380 POSST) or positioning simultaneous start
instruction (F383 MPOST) is executed, the pulse output will start and the positioning control
operation will be performed.

■ Operation diagram
f [Hz]
Table 1 Tabl e 2

20,000Hz

10,000Hz
50,000 pulses 100,000 pulses

1,000Hz
t [ms]
100ms 250ms 250ms

50ms
Instruction
start condition

Busy signal

Operation
done signal

■ Operations of each contact

● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the
positioning control starts, and it will turn OFF when the operation completes.
● The operation done flags (X30 to X35), which indicate the completion of operation, will turn
ON when the current operation is completed, and they will be held until the next positioning
control, JOG operation or home return operation starts.

■ Settings
Item Setting example
Axis setting area Startup speed 1,000 Hz
Table number Table 1 Table 2
Control method Increment mode Increment mode
P-point control (Pass point E-point control (End point
Operation pattern
control) control)
Positioning
100 ms 150 ms
acceleration time
Table area Positioning
200 ms 250 ms
deceleration time
Positioning target
20,000 Hz 10,000 Hz
speed
Positioning movement
50,000 pulse 100,000 pulse
amount
Dwell time - 50 ms

WUME-FPXHPOSG-01 5-19
5.4 Positioning Control

■ Configurator PMX settings

■ Sample program
The execution condition is differential execution. For details of instructions, refer to
"7 Instruction References".

5.4.4 C-point Control

● The parameters for position control operations are specified in the positioning parameter
setting menus and data tables of Configurator PMX.
● When the positioning table start instruction (F380 POSST) or positioning simultaneous start
instruction (F383 MPOST) is executed, the pulse output will start and the positioning control
operation will be performed.

■ Operation diagram
f [Hz] Ta ble 1 Ta ble 2

20,000Hz

10,000Hz
100,000 50,000
pulses pulses
1,000Hz
t [ms]
100ms 200ms 150ms 250ms

30ms 50ms
Instruction
start condition

Busy signal

Operation
done signal

5-20 WUME-FPXHPOSG-01
 5.4 Positioning Control

■ Operations of each contact

● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the
positioning control starts, and it will turn OFF when the operation completes.
● The operation done flags (X30 to X35), which indicate the completion of operation, will turn
ON when the current operation is completed, and they will be held until the next positioning
control, JOG operation or home return operation starts.

■ Settings
Item Setting example
Axis setting area Startup speed 1,000 Hz
Table number Table 1 Table 2
Control method Increment mode Increment mode
C-point control (Continuance E-point control (End point
Operation pattern
point control) control)
Positioning
100 ms 150 ms
acceleration time
Table area Positioning
200 ms 250 ms
deceleration time
Positioning target
20,000 Hz 10,000 Hz
speed
Positioning movement
100,000 pulse 50,000 pulse
amount
Dwell time 30 ms 50 ms

■ Configurator PMX settings

■ Sample program
The execution condition is differential execution. For details of instructions, refer to
"7 Instruction References".

WUME-FPXHPOSG-01 5-21
5.4 Positioning Control

5.4.5 J-point Control (JOG Positioning)

● The parameters for position control operations are specified in the positioning parameter
setting menus and data tables of Configurator PMX.
● When the positioning table start instruction (F380 POSST) or positioning simultaneous start
instruction (F383 MPOST) is executed, the pulse output will start. In the J-point control, the
unit operates at a target speed after the startup, and will start the position control when the J-
point positioning start contacts (X0 and X1) turn ON.

● In the system register no. 400, select "J-point positioning start input of pulse output CH*" of the
channel to perform the J-point control.

■ Operation diagram
f [Hz]
Ta ble 1 Ta ble 2

20,000Hz

15,000Hz

100000
pulses

1,000Hz T [ms]

100ms 250ms
Approx. 250ms 5ms
Instruction
start condition

Busy signal

Operation
done signal
J-point positioning
start contact

■ Operations of each contact

● The BUSY flags (X28 and X29) will turn ON when the operation starts and turn OFF when
the operation is completed.
● The operation done flags (X30 and X31), which indicate the completion of operation, will turn
ON when the current operation is completed, and they will be held until the next positioning
control, JOG operation or home return operation starts.
● Positioning control will start when J-point positioning start contacts (X0 and X1) turn ON.

■ Settings
Item Setting example
Startup speed 1,000 Hz
Axis setting area
J-point change speed 10,000 Hz

Table area Table number Table 1 Table 2

5-22 WUME-FPXHPOSG-01
 5.4 Positioning Control

Item Setting example

Control method Increment mode Increment mode
J-point control (Speed E-point control (End point
Operation pattern
control) control)
Positioning
100 ms 150 ms
acceleration time
Positioning
200 ms 250 ms
deceleration time
Positioning target
20,000 Hz 15,000 Hz
speed
Positioning movement
- 100,000 pulse
amount
Dwell time 30 ms 5 ms

■ Configurator PMX settings

■ Sample program
The execution condition is differential execution. For details of instructions, refer to
"7 Instruction References".

5.4.6 J-point Control (JOG Positioning: Speed Changes)

● In the J-point control, the speed can be changed while controlling the speed after the start.
● After starting the J-point control, the unit operates at the speed specified in the positioning
parameters of Configurator PMX.
● The speed changes when the J-point control speed change contacts (Y60 and Y61) turn ON.

● In the system register no. 400, select "J-point positioning start input of pulse output CH*" of the
channel to perform the J-point control.

WUME-FPXHPOSG-01 5-23
5.4 Positioning Control

■ Operation diagram

f [Hz] J-point speed

Ta ble 1 change Ta ble 2
20,000Hz

15,000Hz
10,000Hz
100000
pulses

1,000Hz
t [ms]
100ms 150 ms 250ms
Approx. 50 ms
50ms
Instruction
start condition

Busy signal

Operation
done signal

J-point speed
change contact
J-point positioning
start contact

■ Operations of each contact

● The BUSY flags (X28 and X29) will turn ON when the operation starts and turn OFF when
the operation is completed.
● The operation done flags (X30 and X31), which indicate the completion of operation, will turn
ON when the current operation is completed, and they will be held until the next positioning
control, JOG operation or home return operation starts.
● The target speed will be changed when the J-point speed change contacts (Y60 and Y61)
turn ON. The change will be enabled at the edge where the contact turns ON.
● Positioning control will start when J-point positioning start contacts (X0 and X1) turn ON.

■ Characteristics of acceleration / deceleration zone when changing speeds

● The speed of speed change zone changes for each scan when changing the speed in the J-
point control. The speed variation is obtained by the following formula.
(J-point table target speed - Startup speed) / (J-point table acceleration time or J-point table
deceleration time)

■ Settings
Item Setting example
Startup speed 1,000 Hz
Axis setting area
J-point change speed 10,000 Hz
Table number Table 1 Table 2
Table area
Control method Increment mode Increment mode

5-24 WUME-FPXHPOSG-01
 5.4 Positioning Control

Item Setting example

J-point control (Speed E-point control (End point
Operation pattern
control) control)
Positioning
100 ms 150 ms
acceleration time
Positioning
200 ms 250 ms
deceleration time
Positioning target
20,000 Hz 15,000 Hz
speed
Positioning movement
- 100,000 pulse
amount
Dwell time 30 ms 50 ms

(Note 1) For the J-point control, the set acceleration time and deceleration time is converted as a time between
0 Hz to 100 kHz, and the speed tables in the acceleration and deceleration sections are calculated.
Therefore, when the target speed is below 100 kHz, the actual acceleration / deceleration time is
shorter than the set values.

■ Configurator PMX settings

■ Sample program
The execution condition is differential execution. For details of instructions, refer to
"7 Instruction References".

WUME-FPXHPOSG-01 5-25
5.4 Positioning Control

■ Behaviors when the speed change contact turns ON during acceleration or

deceleration
● A speed change is possible during J-point control, but impossible during acceleration or
deceleration.
● A speed change will be made after the unit goes to constant speed when the speed change
signal turns ON during acceleration or deceleration.

● Specify parameters for the start of operation in the positioning data table. The parameters for
changing speeds are specified in “Channel setting” > “Parameter settings” menu.
● J-point control can be used for single-axis control only. It is not available for interpolation
control.
● Set the unit to increment mode to implement E-point control with positions specified after J-
point control is implemented.
● Speed control is performed while the positioning unit is in J-point control, in which case, be
sure to input the amount of movement for positioning with a value that can secure a target
constant-speed area.

5.4.7 Programming Cautions

■ Programming cautions
● The last table should be set to E: End point.
● If any value such as a movement amount, acceleration time, deceleration time or target
speed is out of the specified range, a positioning error will occur when the position control
starts.
● The startup contact and flag numbers vary depending on channel numbers (axis numbers).

■ Operation at limit input

Conditions Direction Limit status Operation

When each control starts Forward Over limit input (+): ON Not executable, Error occurs.

5-26 WUME-FPXHPOSG-01
 5.4 Positioning Control

Conditions Direction Limit status Operation

Over limit input (-): ON Not executable, Error occurs.
Over limit input (+): ON Not executable, Error occurs.
Reverse
Over limit input (-): ON Not executable, Error occurs.
Over limit input (+): ON Limit stops, Error occurs.
Forward
When each control is Over limit input (-): ON Limit stops, Error occurs.
performed Over limit input (+): ON Limit stops, Error occurs.
Reverse
Over limit input (-): ON Limit stops, Error occurs.

WUME-FPXHPOSG-01 5-27
5.5 Repeat Operation

5.5 Repeat Operation

5.5.1 Overview of Repeat Operation

● The repeat count is specified for executing the repeat control in Configurator PMX.
● When the position control start instruction F380 is executed, the unit repeats the operation
set in the positioning table.

■ Conditions of repeat control

Item Repeat control is available Repeat control is unavailable
E-point control, P-point control + E-point
control JOG operation, J-point control, Interpolation
Operation pattern
control
C-point control + E-point control
Control method Increment mode Absolute mode
Set the table of E-point control to 1 ms or
Dwell time setting When setting 0 ms.
more.

■ Operation diagram (Setting operation on the table)

■ Operation diagram (Repeat operation)

5-28 WUME-FPXHPOSG-01
 5.5 Repeat Operation

■ Configurator PMX setting items

Parameter name Unit Default Settings
0 or 1 Not repeat an operation.
Repeat an operation for a specified
Positioning repeat count times 0 2 to 254
number of times.
255 Repeat an operation infinitely.

■ Configurator PMX settings

● When selecting “255: Repeat infinitely” in the parameter of positioning repeat count, create a
program to stop the operation using the deceleration stop function.

5.5.2 Settings and Operations of Repeat Operation

● The parameter for the repeat count is specified in the positioning parameter setting menus of
Configurator PMX.
● When the positioning table start instruction (F380 POSST) or positioning simultaneous start
instruction (F383 MPOST) is executed, the pulse output will start.
● After starting the instruction, the unit executes the pulse output for a specified repeat count
and then stops the operation. For setting to execute the operation infinitely, use this function
in combination with the deceleration stop function.

WUME-FPXHPOSG-01 5-29
5.5 Repeat Operation

■ Operation diagram

■ Operations of each contact

● The BUSY flags (X28 to X2D), which indicate that the motor is running, will turn ON when the
position control starts, and they will turn OFF when the set repeat operation completes.
● The operation done flags (X30 to X35), which indicate the completion of operation, will turn
ON when the current operation is completed, and they will be held until the next positioning
control, JOG operation or home return operation starts. Those flags do not turn OFF in the
middle of the repeat operation.

■ Settings
Item Setting example
Axis setting Turn ON the single axis setting for an appropriate axis.
Common area Positioning repeat
3
count
Pulse output control
Set in accordance with system configuration.
Axis setting area code
Startup speed 1,000 Hz
Table number Table 1 Table 2
Control method Increment mode Increment mode
P-point control (Pass point E-point control (End point
Operation pattern
control) control)
Positioning
100 ms 150 ms
acceleration time
Table area Positioning
200 ms 250 ms
deceleration time
Positioning target
20,000 Hz 10,000 Hz
speed
Positioning movement
5,000 pulse 10,000 pulse
amount
Dwell time - 50 ms

5-30 WUME-FPXHPOSG-01
 5.5 Repeat Operation

■ Configurator PMX settings

■ Sample program
The execution condition is differential execution. For details of instructions, refer to
"7 Instruction References".

5.5.3 Stop Operation During Repeat Operation

● When setting the repeat function, the operation at the time of deceleration stop varies as
follows.

■ Operation at the time of deceleration stop (Repeating E-point control)

When the unit detects a deceleration stop, the unit will come to a stop after repeating
positioning control N+2 times. However, the unit will stop the control when reaching the set
repeat count.

WUME-FPXHPOSG-01 5-31
5.5 Repeat Operation

■ Operation at the time of deceleration stop (Repeating P-point control, C-point

control)
When the unit detects a deceleration stop, it stops the operation after repeating the positioning
control N+1 times. However, the unit will stop the control when reaching the set repeat count.

● When a system stop is executed, the unit will stop the pulse output immediately without
repetitive operations.
● When an emergency stop is executed, the unit will stop the pulse output after a specified
emergency stop setting time without repetitive operations.

5-32 WUME-FPXHPOSG-01
 5.6 Linear Interpolation Control

5.6 Linear Interpolation Control

5.6.1 Overview

The interpolation control is available under the following conditions.

■ Combinations of interpolation control

Interpolation axis 1 Interpolation axis 2 Interpolation axis 3
Model
X-axis Y-axis X-axis Y-axis X-axis Y-axis
C14T CH0 CH1 - -
Transistor output type C30T CH0 CH1 CH2 CH3 -
C60T CH0 CH1 CH2 CH3 CH4 CH5
C14R - - -
Relay output type
(When using the pulse C30R CH0 CH1 - -
I/O cassette)
C60R CH0 CH1 - -

(Note 1) In case of the relay output type Control Unit, two pulse I/O cassettes are required.

■ Conditions of interpolation control

Condition under which interpolation control is executable
Item
Available Not available

E-point control JOG operation

Operation pattern P-point control + E-point control Home return(Note 1)
C-point control + E-point control J-point control
Control method Increment mode, Absolute mode -
When set to 0 ms, the positioning error
Dwell time setting Set the E-point control to 1 ms or more.
occurs.

(Note 1) In the home return operation, the home return start instruction (F382 ORGST) is executed for each
channel corresponding to X and Y axes. The trajectory is not linear interpolation.

■ Setting method of speed

Item Composite speed Long axis

Operation

Specify the speed combining the speed Specify the speed for the axis whose
Setting method
of X and Y axes. movement amount is large.

(Note 1) When specifying the same value, the long axis speed is faster than the composite speed.

WUME-FPXHPOSG-01 5-33
5.6 Linear Interpolation Control

5.6.2 Settings and Operations of Linear Interpolation

The example below is a case of E-point control with the unit installed in slot 1. The X axis is set
to the 1st axis and the Y axis is set to the 2nd axis. The movement amount setting is the
increment method, and the unit is set to pulse.

Y axis

5000 pulses

X axis

10000 pulses

■ Operation diagram
f [pps]

Composite speed
10000

100 100 t [ms]

Start Condition

BUSY flag of axis 1

BUSY flag of axis 2

Operation done flag of axis 1

Operation done flag of axis 2

■ Operations of each contact

● The BUSY flags of axes 1 and 2 (X28 and X29), which indicate that the motor is running, will
turn ON when the positioning control starts, and it will turn OFF when the operation
completes.
● The operation done flags of axes 1 and 2 (X30 and X31), which indicate the completion of
operation, will turn ON when the current operation is completed, and it will be held until the
next positioning control, JOG operation or home return operation starts.

■ Settings
Item Setting example

Common area Axis setting Turn ON the single axis setting for an appropriate axis.

5-34 WUME-FPXHPOSG-01
 5.6 Linear Interpolation Control

Item Setting example

Positioning repeat
0
count
Pulse output control
Set in accordance with system configuration.
Axis setting area code
Startup speed 1,000 Hz
Operation pattern E: End point
Interpolation operation 0: Linear (composite speed)
Control method I: Incremental
X-axis movement
10,000 pulse
amount
Y-axis movement
Table 5,000 pulse
amount
area
Acceleration /
L: Linear
deceleration method
Acceleration time (ms) 100 ms
Deceleration time (ms) 100 ms
Interpolation speed 10000 pps
Dwell time 0 ms

■ Sample program
The execution condition is differential execution. For details of instructions, refer to
"7 Instruction References".

■ Notes on programming
● Specify a smaller channel number in the same group for starting the interpolation control.
● If any value such as a movement amount, acceleration time, deceleration time or target
speed is out of the specified range, a positioning error will occur when the position control
starts.
● The startup contact and flag numbers vary depending on channel numbers (axis numbers).

WUME-FPXHPOSG-01 5-35
(MEMO)

5-36 WUME-FPXHPOSG-01
 6 Operating Characteristics
6.1 Operational Difference Between Parameters .....................................6-2
6.1.1 Startup speed................................................................................... 6-2
6.1.2 When Target Speed/Startup Speed is Less Than 50Hz .................. 6-2
6.1.3 Operation Patterns and Start Speed Settings .................................. 6-3
6.2 Other Characteristics ..........................................................................6-5
6.2.1 Backup of Positioning Memory ........................................................ 6-5
6.2.2 Activation of Each Operation ........................................................... 6-5
6.2.3 Operation When PLC Mode Changes From RUN To PROG. .......... 6-5

WUME-FPXHPOSG-01 6-1
6.1 Operational Difference Between Parameters

6.1 Operational Difference Between Parameters

6.1.1 Startup speed

● The startup speed is the parameter for setting the initial speed when starting each operation
and the speed when finishing each operation.
● The startup speed is common to each control of the JOG operation, home return, E-point
control, P-point control, C-point control and J-point control operations. It is set for each
channel number (axis number).

■ Setting method of startup speed

It is set in the “Parameter settings” dialog box of Configurator PMX.

■ Precautions when setting the startup speed

● The home return creep speed setting is not influenced by the startup speed in the home
return operation.
● The target speed of each operation is not influenced by the startup speed. Each operation is
performed at each specified target speed regardless of the setting of startup speed.

6.1.2 When Target Speed/Startup Speed is Less Than 50Hz

■ Operation
Operation
Speed setting Operation
pattern
Operation is performed with the set target speed. The
When target speed is less than
startup speed setting is invalid and the acceleration/
50 Hz
deceleration operation is not performed.
E-point control
When the target speed is set to 50 Hz or more, the startup
When startup speed is less
speed is corrected to 50 Hz and the table operation is
than 50 Hz
performed.
P-point control When target speed is less than The target speed is corrected to 50 Hz and the table
C-point control 50 Hz operation is performed.
J-point control When startup speed is less The startup speed is corrected to 50 Hz and the table
JOG operation than 50 Hz operation is performed.

6-2 WUME-FPXHPOSG-01
 6.1 Operational Difference Between Parameters

6.1.3 Operation Patterns and Start Speed Settings

Operation
Startup speed setting
pattern
(1) Startup speed

JOG
operation (2) Target speed

(1) Startup speed

(2) Target speed

Home
return
(3) Creep speed

(1) Startup speed

E-point
control (2) Target speed

(1) Startup speed

(2) P-point target speed

P-point
control
(3) E-point target speed

(1) Startup speed

(2) C-point target speed

C-point
control
(3) E-point target speed

WUME-FPXHPOSG-01 6-3
6.1 Operational Difference Between Parameters

Operation
Startup speed setting
pattern
(1) Startup speed
(2) J-point target speed

J-point (3) J-point change speed

control

(4) E-point target speed

6-4 WUME-FPXHPOSG-01
 6.2 Other Characteristics

6.2 Other Characteristics

6.2.1 Backup of Positioning Memory

● The positioning parameters and positioning table data set in the unit will be also held in the
memories of the control unit when the control unit is powered off. They will be also held when
the mode is switched from RUN to PROG.
● The elapsed value area (current value of position data) in the axis information area will be
reset to zero when the unit is powered off. However, when the RUN mode is switched to
PROG. mode, the latest value will be held.

6.2.2 Activation of Each Operation

● When any of the JOG operation, home return and position control is activated, it does not
transit to other operation even if an instruction to activate the other instruction turns ON.
Create a program in the user program to confirm the busy signals (X28 to X2D) allocated to
each axis and to start instructions.
● Stop operations (system stop, emergency stop, limit stop, deceleration stop) have priority
even during other operations. Each operation is executed by turning on the stop signal
allocated to each axis.

6.2.3 Operation When PLC Mode Changes From RUN To PROG.

● When the mode of CPU Unit changes from RUN to PROG. after starting the JOG operation,
home return or position control (E-point control, P-point control, C-point control, J-point
control), each operation stops.
● As well as the execution of the system stop, the unit stops the pulse output immediately.

WUME-FPXHPOSG-01 6-5
(MEMO)

6-6 WUME-FPXHPOSG-01
 7 Instruction References
7.1 Table Setting Mode Control Instruction ...............................................7-2
7.1.1 [F380 POSST] Positioning Table Start Instruction ........................... 7-2
7.1.2 [F381 JOGST] JOG Operation Start Instruction .............................. 7-3
7.1.3 [F382 ORGST] Home Return Start Instruction ................................ 7-4
7.1.4 [F383 MPOST] Positioning Table Simultaneous Start Instruction .... 7-5
7.1.5 [F384 PTBLR] Positioning Parameter Read Instruction................... 7-7
7.1.6 [F385 PTBLW] Positioning Parameter Write Instruction .................. 7-8
7.2 FP-X Compatible Instruction Mode Control Instruction.......................7-10
7.2.1 [F171 (SPDH)] Pulse Output (Trapezoidal Control) ......................... 7-10
7.2.2 [F171 (SPDH)] Pulse Output (Home Return) ................................... 7-15
7.2.3 [F172 (PLSH)] Pulse Output (JOG operation) ................................. 7-19
7.2.4 [F174 (SP0H)] Pulse Output (Selectable Data Table Control
Operation) ......................................................................................... 7-22
7.2.5 [F175 (SPSH)] Pulse Output (Linear Interpolation).......................... 7-26

WUME-FPXHPOSG-01 7-1
7.1 Table Setting Mode Control Instruction

7.1 Table Setting Mode Control Instruction

7.1.1 [F380 POSST] Positioning Table Start Instruction

Starts the positioning operation according to the data specified in the positioning memory
(positioning table area). This instruction is used to start the E-point control, P-point control, C-
point control, J-point control or linear interpolation control.

■ Instruction format

■ Operand
Operand Settings Setting range
Channel number to start the positioning operation (Unsigned 16-
S1 0 to 5
bit integer)
S2 Table number to start (Unsigned 16-bit integer) 1 to 20
0 (Pulse output), 1
S3 Output assignment
(Calculation only)

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S1 ● ● ● ● ● ● ● ● ● ● ● ●
S2 ● ● ● ● ● ● ● ● ● ● ● ●
S3 ● ● ● ● ● ● ● ● ● ● ● ●

■ Outline of operation
● Starts the positioning operation according to the data specified in the positioning memory
(positioning table area).
● When Calculation only is specified for [S3], only the table calculation is executed. When
starting the positioning operation for the same channel and the same table from the next
scan after executing the calculation, the startup time of the positioning control is reduced.

■ Precautions during programming

● If an operand is an out-of-range value, an operation error occurs.
● The stop operation has priority when the conditions of system stop, emergency stop, limit
stop and deceleration stop are satisfied.
● An operation error occurs when the system register of a specified channel is other than
“Pulse output [Table setting mode]”.

7-2 WUME-FPXHPOSG-01
 7.1 Table Setting Mode Control Instruction

● A self-diagnostic error (positioning operation error) occurs when the set value or the value of
the positioning memory (axis setting area) is abnormal.
● When the channel to be started has been already operating, the positioning control does not
start and it terminates.

■ Flag operations
Name Description
When the area is exceeded at the time of index modification

R9007 When the [S1] value is outside the set range

R9008 When the [S2] value is outside the set range
(ER) When the [S3] value is outside the set range
When the pulse output (table operation) has not been set in the system register

7.1.2 [F381 JOGST] JOG Operation Start Instruction

Starts the JOG operation according to the parameters specified in the positioning memory (axis
setting area).

■ Instruction format

■ Operand
Operand Settings Setting range
Channel number to start the JOG operation (Unsigned 16-bit
S1 0 to 5
integer)
S2 Operating direction (Unsigned 16-bit integer) 0 (Forward), 1 (Reverse)

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S1 ● ● ● ● ● ● ● ● ● ● ● ●
S2 ● ● ● ● ● ● ● ● ● ● ● ●

■ Outline of operation
● Executes the JOG operation according to the JOG operation parameters specified in the
positioning memory (axis setting area). While the execution condition is valid, the JOG
operation continues.

WUME-FPXHPOSG-01 7-3
7.1 Table Setting Mode Control Instruction

● The target speed can be changed by rewriting the positioning parameter area with a user
program. The change is executed after it becomes a constant speed.

■ Precautions during programming

● If an operand is an out-of-range value, an operation error occurs.
● The stop operation has priority when the conditions of system stop, emergency stop, limit
stop and deceleration stop are satisfied.
● An operation error occurs when the system register of a specified channel is other than
“Pulse output [Table setting mode]”.
● A self-diagnostic error (positioning operation error) occurs when the set value or the value of
the positioning memory (axis setting area) is abnormal.
● The JOG operation needs to be stopped for switching between the forward rotation and
reverse rotation.
● In case of changing a speed, when the target speed after the change is an out-of-range
value, the speed change is not executed and the operation continues.

■ Flag operations
Name Description
When the area is exceeded at the time of index modification
R9007
When the [S1] value is outside the set range
R9008
When the [S2] value is outside the set range
(ER)
When the pulse output (table operation) has not been set in the system register

7.1.3 [F382 ORGST] Home Return Start Instruction

Starts the home return operation according to the parameters specified in the positioning
memory (axis setting area).

■ Instruction format

■ Operand
Operand Settings Setting range
S Channel number to start the home return (Unsigned 16-bit integer) 0 to 5

7-4 WUME-FPXHPOSG-01
 7.1 Table Setting Mode Control Instruction

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S ● ● ● ● ● ● ● ● ● ● ● ●

■ Outline of operation
● Starts the home return operation according to the home return parameters specified in the
positioning memory (axis setting area).

■ Precautions during programming

● If an operand is an out-of-range value, an operation error occurs.
● The stop operation has priority when the conditions of system stop, emergency stop, limit
stop and deceleration stop are satisfied.
● An operation error occurs when the system register of a specified channel is other than
“Pulse output [Table setting mode]”.
● An operation error occurs when the home return pattern is set to either "DOG method 1",
"DOG method 3", or "Home position method" unless the home input is set in the system
register.
● The home return operation is started when the home return pattern is set to either "DOG
method 2" or "Data set method" even if the home input is not set.
● A self-diagnostic error (positioning operation error) occurs when the set value or the value of
the positioning memory (axis setting area) is abnormal.

■ Flag operations
Name Description

R9007 When the area is exceeded at the time of index modification

R9008 When the [S] value is outside the set range
(ER) When the pulse output (table operation) has not been set in the system register

7.1.4 [F383 MPOST] Positioning Table Simultaneous Start Instruction

Starts the positioning tables for multiple axes specified on Configurator PMX. The tables of the
E-point control, P-point control and C-point control can be started.

■ Instruction format

WUME-FPXHPOSG-01 7-5
7.1 Table Setting Mode Control Instruction

■ Operand
Operand Settings
The starting area of the data register storing the data table numbers (unsigned 16-bit integer) to
S
be started simultaneously

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S - - - - - - ● - - - - ●

■ Outline of operation
● Starts the positioning table numbers of the channels specified in the area starting with [S]
simultaneously.
● Positioning tables that can be specified are those for the single-axis control only.
● Table numbers are specified in the range of 0 to 20. In the case of 0, the table is not
executed simultaneously with other tables.
S Output specification (0: Pulse output, 1: Calculation only)
S+1 CH0 Positioning table number (0 to 20)
S+2 CH1 Positioning table number (0 to 20)
S+3 CH2 Positioning table number (0 to 20)
S+4 CH3 Positioning table number (0 to 20)
S+5 CH4 Positioning table number (0 to 20)
S+6 CH5 Positioning table number (0 to 20)

■ Precautions during programming

● If an operand is an out-of-range value, an operation error occurs.
● The stop operation has priority when the conditions of system stop, emergency stop, limit
stop and deceleration stop are satisfied.
● An operation error occurs when the system register of a specified channel is other than
“Pulse output [Table setting mode]”.
● Only when all the specified channels can be started, they are executed simultaneously.
When the BUSY flag of any channel is on, tables are not started simultaneously and the
process is terminated.
● Use F380 POSST instruction to start linear interpolation. When the table of the interpolation
axis control has been specified with F383 MPOST instruction, a self-diagnostic error
(positioning operation error) occurs.

■ Flag operations
Name Description
When the area is exceeded at the time of index modification
R9007
R9008 When the [S] data table exceeds the area
(ER) When the [S] value is outside the set range

7-6 WUME-FPXHPOSG-01
 7.1 Table Setting Mode Control Instruction

Name Description
When the pulse output (table operation) has not been set in the system register

7.1.5 [F384 PTBLR] Positioning Parameter Read Instruction

Reads the positioning parameter data stored in the positioning memory of the unit to the
operation memory area.

■ Instruction format

■ Operand
Operand Settings
Specification of channel numbers and positioning memory area
(Higher 8 bits) channel no.: H0 to H5
S1
H00 (Common area), H01 (Axis information area), H02 (Axis
(Lower 8 bits) Area no.:
setting area), H03 (Positioning table area)
Starting address of the positioning memory storing read data (offset address)
S2
or operation memory area storing the starting address
n No. of read words
D Operation memory storing read data

(Note 1) When reading the common area, the setting of channel numbers is invalid.
(Note 2) The operand S1 is specified using a combination of hexadecimal numbers. For the axis information
area of channel number 3, specify H301.

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S1 ● ● ● ● ● ● ● ● ● ● ● ●
S2 ● ● ● ● ● ● ● ● ● ● ● ●
n ● ● ● ● ● ● ● ● ● ● ● ●
D - ● ● ● ● ● ● ● ● - - ●

■ Outline of operation
● Reads [n] words of the data stored in the positioning memory starting with [S2], and stores it
in the operation memory area starting with [D].
● Channel numbers and the type of positioning memory are specified by [S1].

WUME-FPXHPOSG-01 7-7
7.1 Table Setting Mode Control Instruction

■ Precautions during programming

● If an operand is an out-of-range value, an operation error occurs.

■ Flag operations
Name Description
When the [S1] value is outside the set range
R9007
When the [S2] value exceeds the positioning area specified by [S1]
R9008
When the no. of read words is "0"
(ER)
When the read data exceeds the area of [D]

7.1.6 [F385 PTBLW] Positioning Parameter Write Instruction

This instruction is used to write positioning parameters and positioning table data with user
programs.

■ Instruction format

■ Operand
Operand Settings
Specification of channel numbers and positioning memory area
(Higher 8 bits) channel no.: H0 to H5
S1
H00 (Common area), H01 (Axis information area), H02 (Axis
(Lower 8 bits) Area no.:
setting area), H03 (Positioning table area)
S2 Operation memory area storing written data
n No. of written data
Starting address of the positioning memory storing data (offset address)
D
or operation memory area storing the starting address

(Note 1) When writing data to the common area, the setting of channel numbers is invalid.
(Note 2) The operand S1 is specified using a combination of hexadecimal numbers. For the axis setting area of
channel number 3, specify H302.

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S1 ● ● ● ● ● ● ● ● ● ● ● ●

7-8 WUME-FPXHPOSG-01
 7.1 Table Setting Mode Control Instruction

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S2 ● ● ● ● ● ● ● ● ● - - ●
n ● ● ● ● ● ● ● ● ● ● ● ●
D ● ● ● ● ● ● ● ● ● ● ● ●

■ Outline of operation
● Reads [n] words of the data stored in the area starting with [S2], and stores it in the
positioning memory area starting with [D].
● Channel numbers and the type of positioning memory are specified by [S1].

■ Precautions during programming

● If an operand is an out-of-range value, an operation error occurs.

● For details of positioning memory, refer to "11.3 Positioning Memory".

■ Flag operations
Name Description
When the [S1] value is outside the set range

R9007 When the [D] value exceeds the positioning area specified by [S1]
R9008 When the range of the data written from [D] exceeds the positioning area specified by [S1]
(ER) When the no. of written data is "0"
When the written data exceeds the area of [S2]

WUME-FPXHPOSG-01 7-9
7.2 FP-X Compatible Instruction Mode Control Instruction

7.2 FP-X Compatible Instruction Mode Control Instruction

7.2.1 [F171 (SPDH)] Pulse Output (Trapezoidal Control)

This instruction outputs pulses from a specified pulse output channel according to specified
parameters.

■ Instruction format

■ Operand
Operand Settings
S Starting number of the area in which data tables are registered
n Target channel for pulse output

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S - - - - - - ● - - - - ●
n - - - - - - - - - ● ● -

■ Outline of operation
● Outputs pulses from a specified channel when a corresponding control active flag is OFF
and the execution condition is ON.
● The control code, initial speed, maximum speed, acceleration / deceleration time, and target
value are specified by creating data tables [S] to [S+11] described on the next page using a
user program.
● Switches the frequency from the initial speed to the maximum speed in the specified
acceleration / deceleration time. At the time of deceleration, switches the frequency with the
same inclination as that for acceleration.
● For setting the frequency to 50 kHz or more, specify the duty of 1/4 (25%).

■ Operation mode
Incremental <Relative value control>
Outputs the pulses set with the target value.

7-10 WUME-FPXHPOSG-01
 7.2 FP-X Compatible Instruction Mode Control Instruction

Selection
PLS+SIGN PLS+SIGN
Target value CW / CCW Forward OFF Forward ON Elapsed value
Reverse ON Reverse OFF
Pulse output when Pulse output when
Pulse output from direction output is direction output is
Positive value Addition
CW OFF ON

Pulse output when Pulse output when

Pulse output from direction output is direction output is
Negative value Subtraction
CCW ON OFF

Absolute <Absolute value control>

Outputs the pulses of the difference between the set target value and current value.
Selection
PLS+SIGN PLS+SIGN
Target value CW / CCW Forward OFF Forward ON Elapsed value
Reverse ON Reverse OFF

When target value Pulse output when Pulse output when

Pulse output from direction output is direction output is
is larger than Addition
CW OFF ON
current value

When target value Pulse output when Pulse output when

Pulse output from direction output is direction output is
is smaller than Subtraction
CCW ON OFF
current value

■ Data table settings

f
Fmax

No. of output pulses

Fmin
t
t t
Acceleration time Deceleration time

WUME-FPXHPOSG-01 7-11
7.2 FP-X Compatible Instruction Mode Control Instruction

S Control code
S+1 ①

S+2 Initial speed

S+3 Fmin(Hz)
②
S+4 Maximum speed
S+5 Fmax(Hz)

S+6 Acceleration/
S+7
deceleration time ③
t(ms)
S+8 Target value
S+9 ④
(No. of pulses)
S+10 K0 ⑤
S+11

Operand Settings Description

Specify the control code by setting the H constant.

H
0: Fixed
Acceleration/deceleration time setting
0: Normal
1: Acceleration/deceleration time priority
Output setting
0: Pulse output
1: Calculate only
Acceleration/deceleration steps
0: 30 steps
(1) S, S+1 Control code 1: 60 steps
Duty (on width)
0: Duty 1/2 (50%)
1: Duty 1/4 (25%)
Frequency range
Not used
Operation mode and output method
0: Incremental CW/CCW
2: Incremental PLS+SIGN (forward off/reverse on)
3: Incremental PLS+SIGN (forward on/reverse off)
10: Absolute CW/CCW
12: Absolute PLS+SIGN (forward off/reverse on)
13: Absolute PLS+SIGN (forward on/reverse off)

Initial speed The setting range of the settable maximum speed varies according to
S+2, S+3 the setting of the initial speed as shown in the table below.
Fmin (Hz)
Range Initial speed Maximum speed
(2) Low K1 to K49 Initial speed to K22000 (to 22
Maximum speed speed (1 to 49 Hz) kHz)
S+4, S+5
Fmax (Hz)
High- K50 to K100000 Initial speed to K100000 (to
speed (50 Hz to 100 kHz) 100 kHz)

7-12 WUME-FPXHPOSG-01
 7.2 FP-X Compatible Instruction Mode Control Instruction

Operand Settings Description

When the initial speed is set to low speed, an operation error occurs if
a value exceeding K22000 is specified for the maximum speed.
Acceleration / deceleration time (ms)

With 30 steps: K30 to K32760

(Specify in 30 ms increments.)
Acceleration /
(3) S+6, S+7 deceleration time With 60 steps: K60 to K32760
t (ms) (Specify in 60 ms increments.)

(Note 1) When the time is not specified in 30 ms nor 60 ms

increments, it will be automatically corrected to the
multiple value (larger value) of 30 ms or 60 ms.
Target value
(4) S+8, S+9 Target value
K-2147483648 to K2147483647 pulse
(5) S+10, S+11 K0 Set K0 to the last two words of the data table.

■ Example of program

7kHz

No. of output pulses

100,000

1kHz

300ms 300ms

⊿f

⊿t

WUME-FPXHPOSG-01 7-13
7.2 FP-X Compatible Instruction Mode Control Instruction

● With 30 steps:
∆f = (7000 - 1000) / 30 steps = 200 (Hz)
∆t = 300 ms / 30 steps =10 ms
● With 60 steps:
∆f = (7000 - 1000) / 60 steps = 100 (Hz)
∆t = 300 ms / 60 steps = 5 ms

■ Regarding the specification of acceleration / deceleration time

For specifying acceleration / deceleration time, No. of steps and initial speed, set the value to
be calculated by the formula below. Specify acceleration / deceleration time in 30 ms
increments with 30 steps, and in 60 ms increments with 60 steps. When the time is not
specified in 30 ms nor 60 ms increments, it will be automatically corrected to the multiple value
(larger value) of 30 ms or 60 ms.
Acceleration / deceleration time t [ms] ≥ (No. of steps x 1000) / Initial speed f0 [Hz]
● When "Acceleration / deceleration time priority" is specified for the control code, the initial
speed is corrected according to the time.
The corrected speed is stored in the correction speed area of initial speed of special data
registers (from DT90400).
(Example): When the initial speed is 10 Hz, and acceleration / deceleration time is 1 msec,
the initial speed is corrected to 1000 Hz.
● When the corrected initial speed exceeds the maximum speed, the initial speed is corrected
to the maximum speed.
(Example): When the initial speed is 10 Hz, the maximum speed is 500 Hz, acceleration /
deceleration time is 1 msec, and acceleration / deceleration time priority is specified,
it takes 100 msec for outputting one pulse at the initial speed and it exceeds 1 msec of
acceleration / deceleration time.
Although the initial speed is corrected to 1000 Hz as "Acceleration / deceleration time
priority” is specified, it is corrected to 500 Hz because it exceeds the maximum speed.

■ Supplement to pulse output operation

When outputting pulses with the PLS+SIGN (direction output) method, pulses will be output
approx. 300 μs later after the output of direction signal (SIGN). (The characteristics of a motor
driver are considered.)

■ Precautions during programming

● When describing the same channel in both the normal program and the interrupt program, be
sure to program not to execute them simultaneously.
● This instruction cannot be executed when a control active flag corresponding to each
channel is ON.
● Select "Pulse output" for the channel setting corresponding to the system register no. 402.
● By performing the rewriting during RUN while outputting pulses, more pulses than the setting
may be output.

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

7-14 WUME-FPXHPOSG-01
 7.2 FP-X Compatible Instruction Mode Control Instruction

REFERENCE
11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode)

7.2.2 [F171 (SPDH)] Pulse Output (Home Return)

This instruction outputs pulses from a specified pulse output channel according to specified
parameters.

■ Instruction format

■ Operand
Operand Settings
S Starting number of the area in which data tables are registered
n Target channel for pulse output

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S - - - - - - ● - - - - ●
n - - - - - - - - - ● ● -

■ Outline of operation
● Outputs pulses from a specified channel when a corresponding control active flag is OFF
and the execution condition is ON.
● The control code, initial speed, maximum speed, acceleration / deceleration time, and
deviation counter clear signal are specified by creating data table described on the next page
using a user program.
● Switches the frequency from the initial speed to the maximum speed in the specified
acceleration / deceleration time. At the time of deceleration, switches the frequency with the
same inclination as that for acceleration.
● For setting the frequency to 50 kHz or more, specify the duty of 1/4 (25%).

■ Explanation of operation mode

Home return
The pulses are continuously output until the home input (X2 or X5) is enabled. To shift to
deceleration operation when detecting the near home, turn the corresponding bit of special

WUME-FPXHPOSG-01 7-15
7.2 FP-X Compatible Instruction Mode Control Instruction

data register DT90052 to OFF→ON→OFF by the near home input. The value in the elapsed
value area during the home return operation differs from the current value.
Home return mode I (Home return by near home input and home input)
When the near home input is enabled, deceleration will be performed, and the pulse output
will stop after the home input. The operation varies according to the setting of the control code
(low byte) described on the next page.
f Near home input
Fmax

Home input

Fmin
t
Home return mode II (Home return by home input only)
When the home input is enabled, the pulse output will stop. Set the control code (low byte) on
the next page to H20 to H27.
f

Home input

Fmax

Fmin
t

■ Data table settings

S Control code
S+1 ①

S+2 Initial speed

S+3 Fmin(Hz)
②
S+4 Maximum speed
S+5 Fmax(Hz)

S+6 Acceleration/
S+7
deceleration time ③
t(ms)
S+8 Deviation counter clear
S+9 signal output time tr(ms) ④

Operand Settings Description

(1) S, S+1 Control code Specify the control code by setting the H constant.

7-16 WUME-FPXHPOSG-01
 7.2 FP-X Compatible Instruction Mode Control Instruction

Operand Settings Description

H
0: Fixed
Acceleration/deceleration time setting
0: Normal
1: Acceleration/deceleration time priority
Output setting
0: Pulse output
1: Calculate only
Acceleration/deceleration steps
0: 30 steps
1: 60 steps
Duty (on width)
0: Duty 1/2 (50%)
1: Duty 1/4 (25%)
Frequency range
Not used
Operation mode and output method
20: Homing mode 1 CW
21: Homing mode 1 CCW
22: Homing mode 1 Directional output off
23: Homing mode 1 Directional output on
24: Homing mode 1 CW + deviation counter reset
25: Homing mode 1 CCW + deviation counter reset
26: Homing mode 1 Direction output off + deviation counter reset
27: Homing mode 1 Direction output on + deviation counter reset
30: Homing mode 2 CW
31: Homing mode 2 CCW
32: Homing mode 2 Directional output off
33: Homing mode 2 Direction output on
34: Homing mode 2 CW + deviation counter reset
35: Homing mode 2 CCW + deviation counter reset
36: Homing mode 2 Direction output off + deviation counter reset
37: Homing mode 2 Direction output on + deviation counter reset

Initial speed The setting range of the settable maximum speed varies
S+2, S+3 according to the setting of the initial speed as shown in the table
Fmin (Hz)
below.

Range Initial speed Maximum speed

Low K1 to K49 Initial speed to K22000 (to 22
(2) speed (1 to 49 Hz) kHz)
Maximum speed
S+4, S+5 High- K50 to K100000 Initial speed to K100000 (to
Fmax (Hz)
speed (50 Hz to 100 kHz) 100 kHz)

When the initial speed is set to low speed, an operation error

occurs if a value exceeding K22000 is specified for the maximum
speed.

Acceleration / Acceleration / deceleration time (ms)

(3) S+6, S+7 deceleration time With 30 steps: K30 to K32760
t (ms) With 60 steps: K60 to K32760
Set the output time of the deviation counter clear signal.
Deviation counter
clear 0.5 ms to 100 ms [K0 to K100] Setting value + error (0.5 ms or
(4) S+8, S+9 less)
signal output time
When this signal is not used or the time is set to less than 0.5 ms,
tr (ms)
specify K0.

WUME-FPXHPOSG-01 7-17
7.2 FP-X Compatible Instruction Mode Control Instruction

■ Example of program

■ Regarding the specification of acceleration / deceleration time

For specifying acceleration / deceleration time, No. of steps and initial speed, set the value to
be calculated by the formula below. Specify acceleration / deceleration time in 30 ms
increments with 30 steps, and in 60 ms increments with 60 steps. When the time is not
specified in 30 ms nor 60 ms increments, it will be automatically corrected to the multiple value
(larger value) of 30 ms or 60 ms.
Acceleration / deceleration time t [ms] ≥ (No. of steps x 1000) / Initial speed f0 [Hz]
● When "Acceleration / deceleration time priority" is specified for the control code, the initial
speed is corrected according to the time.
The corrected speed is stored in the correction speed area of initial speed of special data
registers (from DT90400).
(Example): When the initial speed is 10 Hz, and acceleration / deceleration time is 1 msec,
the initial speed is corrected to 1000 Hz.
● When the corrected initial speed exceeds the maximum speed, the initial speed is corrected
to the maximum speed.
(Example): When the initial speed is 10 Hz, the maximum speed is 500 Hz, acceleration /
deceleration time is 1 msec, and acceleration / deceleration time priority is specified,
it takes 100 msec for outputting one pulse at the initial speed and it exceeds 1 msec of
acceleration / deceleration time.
Although the initial speed is corrected to 1000 Hz as "Acceleration / deceleration time
priority” is specified, it is corrected to 500 Hz because it exceeds the maximum speed.

■ Supplement to pulse output operation

When outputting pulses with the PLS+SIGN (direction output) method, pulses will be output
approx. 300 μs later after the output of direction signal (SIGN). (The characteristics of a motor
driver are considered.)

7-18 WUME-FPXHPOSG-01
 7.2 FP-X Compatible Instruction Mode Control Instruction

■ Precautions during programming

● When the control code (low byte) is H20 to H27 (home return mode I), the home input is
enabled even after the near home input, the completion of deceleration, or in the middle of
deceleration.
● When the control code (low byte) is H30 to H37 (home return mode II), the home input is
enabled only after the near home input and the completion of deceleration up to the value of
initial speed.
● Even when the home input is enabled, the pulse output starts by the execution of this
instruction.
● When the near home input is enabled during acceleration, the deceleration operation will
start.
● When describing the same channel in both the normal program and the interrupt program, be
sure to program not to execute them simultaneously.
● This instruction cannot be executed when a control active flag corresponding to each
channel is ON.
● Select "Pulse output" for the channel setting corresponding to the system register no. 402.
● By performing the rewriting during RUN while outputting pulses, more pulses than the setting
may be output.
● For performing the software reset, disabling the counting, stopping the pulse output or near
home processing, refer to the F0 (MV) instruction, pulse output control.

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

REFERENCE
11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode)

7.2.3 [F172 (PLSH)] Pulse Output (JOG operation)

This instruction outputs pulses from a specified pulse output channel according to specified
parameters.

■ Instruction format

■ Operand
Operand Settings
S Starting number of the area in which data tables are registered
n Target channel for pulse output

WUME-FPXHPOSG-01 7-19
7.2 FP-X Compatible Instruction Mode Control Instruction

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S - - - - - - ● - - - - ●
n - - - - - - - - - ● ● -

■ Outline of operation
● Outputs pulses from a specified channel when a corresponding control active flag is OFF
and the execution condition is ON. The output is performed when the execution condition is
ON.
● By specifying the addition counting or subtraction counting mode for the control code, it can
be used for the instruction for activating JOG operation.
● The frequency can be changed in each scan, or the target value can be changed
asynchronously. However, the control code cannot be changed during the execution of an
instruction.
● For setting the frequency to 50 kHz or more, specify the duty of 1/4 (25%).

■ Data table settings

S S
S+1 Control code ① S+1 Control code ①

S+2 S+2
S+3 Frequency ② S+3 Frequency ②

S+4 Target value ③

S+5

Operand Settings Description

Specify the control code by setting the H constant.

H
0: Fixed
Acceleration/deceleration steps
0: Mode with no target value
1: Target value match stop mode
Duty (on width)
0: Duty 1/2 (50%)
1: Duty 1/4 (25%)
(1) S, S+1 Control code
Frequency range
Not used
Output method
00: No counting CW
01: No counting CCW
10: Addition counting CW
12: Addition counting Directional output off
13: Addition counting Directional output on
21: Subtraction counting CW
22: Subtraction counting Directional output off
23: Subtraction counting Directional output on

7-20 WUME-FPXHPOSG-01
 7.2 FP-X Compatible Instruction Mode Control Instruction

Operand Settings Description

The setting range of the settable change speed varies according to
the setting of the initial speed as shown in the table below.

Range Initial speed Change speed

Low K1 to K49 K1 to K22000
speed (1 to 49 Hz) (1 Hz to 22 kHz)
(2) S+2, S+3 Frequency
High- K50 to K100000 K1 to K100000
speed (50 Hz to 100 kHz) (1 Hz to 100 kHz)

When the initial speed is set to low speed, it is corrected to 22 kHz

even when specifying a value exceeding K22000 for the change
speed.
Target value (absolute value)
It is used when setting the target value match stop mode. (Absolute
only)
Specify the target value in the following range. If a value outside of
the range is specified, the number of pulses different from the
specified value is output. When specifying the no counting mode, the
target value setting is ignored.
(3) S+4, S+5 Target value
Output
Settable range of target value
method
Addition Values larger than the current value
counting
Subtraction Values smaller than the current value
counting

■ Supplement to pulse output operation

When outputting pulses with the PLS+SIGN (direction output) method, pulses will be output
approx. 300 μs later after the output of direction signal (SIGN). (The characteristics of a motor
driver are considered.)

■ Precautions during programming

● This instruction cannot be executed when a control active flag corresponding to each
channel is ON.
● When describing the same channel in both the normal program and the interrupt program, be
sure to program not to execute them simultaneously.
● Select "Pulse output" for the channel setting corresponding to the system register no. 402.
● When rewriting during RUN is performed during the operation, the pulse output stops while a
program is being rewritten.
● Even if the control code is changed after starting the instruction, the change is invalid. It does
not affect on the operation.
● When the frequency is changed to a value outside of the settable range after executing the
instruction, the operation is performed with the minimum or maximum value in the
specification range without causing an operation error.

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

WUME-FPXHPOSG-01 7-21
7.2 FP-X Compatible Instruction Mode Control Instruction

REFERENCE
11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode)

7.2.4 [F174 (SP0H)] Pulse Output (Selectable Data Table Control Operation)

This instruction outputs pulses from a specified pulse output channel according to a specified
data table.

■ Instruction format

■ Operand
Operand Settings
S Starting number of the area in which data tables are registered
n Target channel for pulse output

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S - - - - - - ● - - - - ●
n - - - - - - - - - ● ● -

■ Outline of operation
● Outputs pulses from a specified channel according to the settings specified in the data table
starting with the address specified by [S] when a corresponding control active flag is OFF
and the execution condition is ON.
● Switches the pulse frequency when the elapsed value of the high-speed counter reaches the
target value set in the data table. (It is performed by the interrupt processing.)
● Stops the pulse output when the elapsed value reaches the final target value.
● For setting the frequency to 50 kHz or more, specify the duty of 1/4 (25%).

7-22 WUME-FPXHPOSG-01
 7.2 FP-X Compatible Instruction Mode Control Instruction

■ Data table settings

S
Control code ①

S+2
Frequency 1 ②

S+4 Target value 1

③
(Pulse number)

S+6
Frequency 2

S+8 Target value 2

(Pulse number)

S+2n
Frequency n

S+2(n+1) Target value n

(Pulse number)

S+2(n+2)
K0 ④

Operand Settings Description

Specify the control code by setting the H constant.

H
0: Fixed
Duty (on width)
0: Duty 1/2 (50%)
1: Duty 1/4 (25%)
Frequency range
Not used
(1) S Control code Operation mode
0: Specify Incremental movement amount (pulse no.).
1: Specify Absolute target value (absolute value).
Output method
0: Addition counting CW
1: Subtraction counting CCW
2: Addition counting PLS+SIGN (forward off)
3: Subtraction counting PLS+SIGN (reverse on)
4: Addition counting PLS+SIGN (forward on)
5: Subtraction counting PLS+SIGN (reverse off)

The setting range of the settable maximum speed varies according to

the setting of the initial speed as shown in the table below.
S+2,
(2) Frequency n Range Initial speed Maximum speed
S+2n
Low K1 to K49 Initial speed to K22000 (to 22
speed (1 to 49 Hz) kHz)

WUME-FPXHPOSG-01 7-23
7.2 FP-X Compatible Instruction Mode Control Instruction

Operand Settings Description

Range Initial speed Maximum speed
High- K50 to K100000 Initial speed to K100000 (to 100
speed (50 Hz to 100 kHz) kHz)

When the frequency 1 (initial speed) is the low speed range and the
frequency n is not in the range between 1 Hz to 22 kHz, the pulse
output stops.
When the frequency 1 (initial speed) is the high speed range and the
frequency n is not in the range between 50 Hz to 100 kHz, the pulse
output stops.
Target value (K-2147483648 to K2147483647)
The values of 32-bit data specified as target values should be within
the range as shown in the table below.

Control code setting

Output Settable range of target value
Operation mode
method
S+4, Addition
(3) Target value n Positive values
S+2(n+1) counting
Incremental
Subtraction
Negative values
counting
Addition Values larger than the current
counting value
Absolute
Subtraction Values smaller than the current
counting value

(4) S+2(n+2) K0 End of table (Pulse output stop setting)

■ Example of program
[Operation]
(1) Starts the pulse output at 1000 Hz from the specified channel ch0 when the execution
condition R10 of F174 (SP0H) instruction turns ON.
(2) Switches the frequency to 2500 Hz when 1000 pulses are counted at 1000 Hz.
(3) Switches the frequency to 5000 Hz when 3000 pulses are counted at 2500 Hz.
(4) Switches the frequency to 1000 Hz when 8000 pulses are counted at 5000 Hz.
(5) Stops the pulse output when 10000 pulses are counted.
Frequency (speed) [Hz]

5000

2500

1000
HSC elapsed value
(Movement amount)
0 1000 3000 8000 10000
Execution condition
R10

Control active flag

7-24 WUME-FPXHPOSG-01
 7.2 FP-X Compatible Instruction Mode Control Instruction

(Note 1) When the execution condition R10 of F174 (SP0H) instruction turns ON, the control active flag will turn
ON. When the elapsed value reaches 10000 and the pulse output stops, the control active flag will
turn OFF.

[Settings and program]

Set the frequency range to 191 Hz to 100 kHz and duty 1/4 (25%), and the operation mode to
Incremental and the output method to CW.

■ Supplement to pulse output operation

When outputting pulses with the PLS+SIGN (direction output) method, pulses will be output
approx. 300 μs later after the output of direction signal (SIGN). (The characteristics of a motor
driver are considered.)

■ Precautions during programming

● The control active flag turns ON until the pulse output stops after the execution condition of
F174 (SP0H) instruction has turned ON.
● This instruction cannot be executed when a control active flag corresponding to each
channel is ON.
● Select "Pulse output" for the channel setting corresponding to the system register no. 402.
● When the control code or frequency 1 is any value outside of the settable range, an
operation error occurs. (When the data of the frequency 1 is 0, nothing is executed and the
operation ends.)

WUME-FPXHPOSG-01 7-25
7.2 FP-X Compatible Instruction Mode Control Instruction

● When the frequency after the second step is 0 or outside of the settable range, the pulse
output stops.
● When the table pointer exceeds the area of data registers DT during the pulse output, the
pulse output control will be canceled and the control active flag will turn OFF.
● The target values should be set in the range shown on the next page. If a value outside of
the range is specified, the number of pulses different from the specified value is output.

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

REFERENCE
11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode)

7.2.5 [F175 (SPSH)] Pulse Output (Linear Interpolation)

Pulses are output from channel for 2 pulse output, in accordance with the parameters in the
designated data table, so that the path to the target position forms a straight line.

■ Instruction format

■ Operand
Operand Settings
S Starting number of the area in which data tables are registered
n 0 or 2

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S - - - - - - ● - - - - ●
n - - - - - - - - - ● ● -

■ Outline of operation
● Outputs pulses from a specified channel when a corresponding control active flag is OFF
and the execution condition is ON.
● The control code, initial speed, maximum speed, acceleration / deceleration time, and target
value are specified by creating data tables [S] to [S+11] described on the next page using a
user program.

7-26 WUME-FPXHPOSG-01
 7.2 FP-X Compatible Instruction Mode Control Instruction

● For setting the frequency to 40 kHz or more, specify the duty of 1/4 (25%).

■ Data table settings

S
Control code ①

S+2 Composite speed

Initial speed Fmin(Hz)
②
S+4 Composite speed Setting area
Maximum speed Fmax(Hz)
Specify by user programs.
S+6 Acceleration/deceleration time
③
T(ms)

S+8 X-axis
Target value (Movement amount)
④
Y-axis
S+10
Target value (Movement amount)
X-axis
S+12 Component speed
Initial speed Fmin(Hz)
X-axis
S+14 Component speed
Maximum speed Fmax(Hz)
⑤
Y-axis
Component speed
S+16 Operation result storage area
Initial speed Fmin(Hz)
Y-axis Parameters of each axis
Component speed
S+18 component calculated due to
Maximum speed Fmax(Hz) instruction execution are stored.
X-axis
S+20 Frequency range
⑥
Y-axis
S+21 Frequency range

S+22 X-axis
Acceleration/deceleration steps
⑦
S+23 Y-axis
Acceleration/deceleration steps

Setting area
Operand Settings Description
Specify the control code by setting the H constant.
S+1 S
H
0: Fixed
Duty (on width)
0: Duty 1/2 (50%)
1: Duty 1/4 (25%)
(1) S Control code
0: Fixed
Operation mode and output method
00: Incremental CW/CCW
02: Incremental PLS+SIGN (forward off/reverse on)
03: Incremental PLS+SIGN (forward on/reverse off)
10: Absolute CW/CCW
12: Absolute PLS+SIGN (forward off/reverse on)
13: Absolute PLS+SIGN (forward on/reverse off)

WUME-FPXHPOSG-01 7-27
7.2 FP-X Compatible Instruction Mode Control Instruction

Operand Settings Description

Composite speed Composite speed (Initial speed, maximum speed) (Hz) <K constant>
S+2 Initial speed 1.5 Hz to 100 kHz [K1 to K100000]
Fmin (Hz) (However, for 1.5 Hz, the angle is 0 degree or 90 degrees only. Also,
for specifying 1.5 Hz, specify K1.)
● When the component speed becomes lower than the minimum
speed in each frequency range, it will be a corrected component
speed.
● Do not set 60 kHz or more when using any two of the high-speed
counter, periodical interrupt and PLC link are used simultaneously.
● When the initial speed is set to the maximum speed, the pulse
output is performed without acceleration and deceleration.
● Specify the composite speed to make the component speed of
(2)
each axis be 1.5 Hz or more.
Composite speed
S+4 ● Composite speed (Initial speed): 30 kHz or less
Maximum speed
Fmax (Hz) Notes on the specification of composite speed (initial speed)
When each initial component speed of CH0 and CH2 is not 1.5 Hz or
more by the following arithmetic expression, the path may not be
linear. (When the following formula is not satisfied)

∆x: Channel whose distance of (target value - current value) is short

∆y: Channel whose distance of (target value - current value) is long
Acceleration / deceleration time (ms) <K constant>
Acceleration /
(3) S+6 deceleration time K0 to K32767
T (ms) In the case of 0, the pulse output is performed at the initial speed
(composite speed) without acceleration and deceleration.
X-axis K-8388608 to K8388607
S+8 Target value When only one axis is activated;
(Movement 1. For the incremental mode, set the target value of the axis that is
amount) not activated to 0.
(4)
Y-axis 2. For the absolute mode, set the target value of the axis that is not
Target value activated to the same as the current value.
S+10
(Movement (Note): In the case of linear interpolation, infinite rotation cannot be
amount) performed.

Operation result storage area

Settin
Operand Description
gs
X-axis The component speed (initial speed and maximum speed of each axis) is
compo stored as 2 words in real type.
nent
S+12 speed (Composite speed) × (X-axis movement amount)
X-axis component speed =
Initial ((X-axis movement amount)2 + (Y-axis movement amount) 2)
(5) speed
Fxmin (Composite speed) × (Y-axis movement amount)
Y-axis component speed =
X-axis ((X-axis movement amount)2 + (Y-axis movement amount) 2)
compo
S+14 Example) Even when the initial speed is corrected, the calculated value is
nent
speed stored as is in the operation result storage area.

7-28 WUME-FPXHPOSG-01
 7.2 FP-X Compatible Instruction Mode Control Instruction

Settin
Operand Description
gs
Maxim
um
speed
Fmax
Y-axis
compo
nent
S+16 speed
Initial
speed
Fymin
Y-axis
compo
nent
speed
S+18 Maxim
um
speed
Fmax
(Hz)
X-axis The frequency ranges are automatically selected by the system for the
Frequ components of each axis
S+20
ency 0: Low speed range (1 Hz to 22 kHz)
range 1: High speed range (50 Hz to 100 kHz)
(6) When the initial speed (X / Y axis) is the low speed range and the maximum
Y-axis speed (X / Y axis) exceeds 22 kHz, the initial speed (X / Y axis) is corrected
Frequ to 50 Hz.
S+21
ency When the initial speed (X / Y axis) is less than 1 and the maximum speed (X /
range Y axis) exceeds 22 kHz or less, the initial speed (X / Y axis) is corrected to 1
Hz.
X-axis The acceleration / deceleration steps are automatically calculated by the
Accele system in the range of 0 to 60 steps.
S+22 ration / ● When the operation result is 0, the pulse output is performed at the initial
Decele speed (composite speed) without acceleration and deceleration.
ration ● The acceleration / deceleration steps are calculated by the following
steps formula; Acceleration / deceleration time (ms) x Initial component speed
(Hz).
Example) When the settings are as follows; Incremental, Initial speed = 300
Hz, maximum speed = 5 kHz, Acceleration / deceleration time=0.5 s, CH0
target value = 1000, and CH2 target value = 50.
(7)
Y-axis 300×1000
Accele CH0 Initial component speed = = 299.626 Hz
S+23 ration / (10002+502)
Decele
ration 300×50
CH2 Initial component speed = = 14.981 Hz
steps
(10002+502)

CH0 Acceleration/deceleration steps = 500x10-3x299.626≈147.8 60 steps

CH2 Acceleration/deceleration steps = 500x10-3x14.981≈7.4 7 steps

WUME-FPXHPOSG-01 7-29
7.2 FP-X Compatible Instruction Mode Control Instruction

■ Supplement to pulse output operation

When outputting pulses with the PLS+SIGN (direction output) method, pulses will be output
approx. 300 μs later after the output of direction signal (SIGN). (The characteristics of a motor
driver are considered.)

■ Precautions during programming

● Set the target value and movement amount to be within the following range.
-8,388,608 to +8,388,607
When using this instruction in combination with other positioning instructions such as F171,
also set the target values for those instructions to be within the above range.
● When using this instruction for a purpose for which high accuracy is required, confirm the
operation using a real machine.
● When describing the same channel in both the normal program and the interrupt program, be
sure to program not to execute them simultaneously.
● Select "Pulse output" for the channel setting corresponding to the system register no. 402.
● By performing the rewriting during RUN while outputting pulses, more pulses than the setting
may be output.

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

REFERENCE
11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction Mode)

7-30 WUME-FPXHPOSG-01
 8 Troubleshooting
8.1 Self-diagnosis Function.......................................................................8-2
8.1.1 Operation Monitor LEDs of Control Unit .......................................... 8-2
8.1.2 Operation Mode When an Error Occurs .......................................... 8-2
8.2 What to Do If an Error Occurs.............................................................8-4
8.2.1 ERR / ALM LED Flashes ................................................................. 8-4
8.2.2 What to Do When Positioning Error Occurs..................................... 8-5
8.2.3 Motor Does Not Rotate/Move (Output LED Flashes or is ON) ........ 8-7
8.2.4 Motor Does Not Rotate/Move (Output LED is OFF) ........................ 8-7
8.2.5 Rotation/Movement Direction is Reversed....................................... 8-8

WUME-FPXHPOSG-01 8-1
8.1 Self-diagnosis Function

8.1 Self-diagnosis Function

8.1.1 Operation Monitor LEDs of Control Unit

● The Control Unit has a self-diagnostic function which identifies errors and stops operation if
necessary.
● When an error occurs, the status of the operation monitor LEDs on the Control Unit vary, as
shown in the table below.

■ LEDs related to self-diagnostic errors

LED display Operation
Description
RUN PROG. ERR. status

ON OFF OFF Normal operation Operating

Program mode
In normal OFF ON OFF LED does not flash even if the forcing output Stop
condition is performed in program mode.
Forcing input/output in Run mode
Flashes Flashes OFF Operating
"RUN" and "PROG." LEDs flash alternately.
ON OFF Flashes Self-diagnostic error (During operation) Operating
In
abnormal OFF ON Flashes Self-diagnostic error (During stop) Stop
condition
OFF ON ON System watchdog timer has been activated Stop

8.1.2 Operation Mode When an Error Occurs

● Normally, when an error occurs, the operation stops.

● For some errors, the user may select whether operation is to be continued or stopped by
setting the system registers.

■ "PLC Configuration" dialog box of FPWIN GR7

To specify the steps to be taken by the FPWIN GR7 if a PLC error occurs, select Option
(O)>PLC System register settings from the menu bar, and click on the "Action on Error" tab.
The screen shown below is displayed.

8-2 WUME-FPXHPOSG-01
 8.1 Self-diagnosis Function

● When the checkbox of the system register no. 25 "Stop operation when positioning operation
error occurs" is unchecked, only the operation of the axis in which the positioning error occurs
stops and the operations of other axes continue.

WUME-FPXHPOSG-01 8-3
8.2 What to Do If an Error Occurs

8.2 What to Do If an Error Occurs

8.2.1 ERR / ALM LED Flashes

■ Situation
A syntax error or self-diagnostic error has occurred. The following shows the procedure when a
positioning error has occurred.

■ Solution
1. Check the error code using the programming tool.
If a PLC error occurs during programming or debugging, the "Status Display" dialog box will
appear automatically.

2. In the case of the positioning operation error, press the [Positioning errors] button.
The channel number where the positioning error has occurred and the error code occurred
when using the table setting mode appears.

Press the [Clear Error Log] button to clear the positioning error log.

3. Press the [Close] button.

8-4 WUME-FPXHPOSG-01
 8.2 What to Do If an Error Occurs

It returns to the "Status Display" dialog box.

4. Press the [Clear errors] button.

The display of the self-diagnostic error message will be cleared.

5. Correct the positioning parameters or positioning tables according to the positioning error
code confirmed in step 2.

6. Download the corrected positioning parameters or positioning table data.

Error codes and how to handle them
Error code Situation Solution
● Change to PROG. mode and clear the error.
1 to 9 Syntax error occurs. ● Execute a total-check function using FPWIN GR7 to determine
the location of the syntax error and correct the program.
● For errors other than the positioning error, refer to 12.7 Error
Self-diagnostic error Code List in the FP-XH User’s Manual (Basic) and correct
20 or more settings and programs.
occurs.
● Use the programming tool in PROG. mode to clear the error.

● In the case of an error code 43 or higher, the error can be cleared by pressing the [Clear
errors] button in the "Status Display" dialog box. In the PROG. mode, the power supply can
be turned OFF and then ON again to clear the error, but all of the contents of the operation
memory except hold type data will be cleared.
● When the positioning error (error code 44) occurs, the detailed information on the error can
be confirmed. Press the [Positioning errors] button to check the error code.
● When an operation error (error code 45) occurs, the address at which the error occurred is
stored in special data registers DT90017 and DT90018. If this happens, click on the
[Operation errors] button in the dialog box and confirm the address at which the error
occurred before canceling the error.
● For the solution of the positioning error (error code 44), refer to the following.

8.2.2 What to Do When Positioning Error Occurs

The following are the solutions when the self-diagnostic error (error code 44: positioning error)
occurs.

■ Positioning error code

Operation when an error
Error
Error name Description occurs and
code
solution
The input on the plus side of the limit
10H Limit + signal detection The operation stops in the limit
turned on. (Note 1)
stop time specified in the axis
The input on the minus side of the limit setting area.
11H Limit - signal detection
turned on. (Note 1) After the stop, execute the
home return or JOG operation
Both inputs on the plus and minus sides of in the reverse direction.
12H Limit signal error
the limit turned on.

WUME-FPXHPOSG-01 8-5
8.2 What to Do If an Error Occurs

Operation when an error

Error
Error name Description occurs and
code
solution
Correct the setting of the
parameter.
20H Axis setting error The axis setting is incorrect.
Limit stop deceleration The set value of the limit stop deceleration
21H
time error time is out of the range.
Emergency stop The set value of the emergency stop
22H
deceleration time error deceleration time is out of the range.
The set value of the startup speed is out
23H Startup speed error
of the range.
Home return setting code The set value of the home return setting
24H
error code is out of the range.
Home return target The set value of the home return target
25H
speed error speed is out of the range.
Home return acceleration The set value of the home return
26H
time error acceleration time is out of the range.
Home return deceleration The set value of the home return
27H
time error deceleration time is out of the range.
Home return creep The set value of the home return creep
28H
speed error speed is out of the range.
Home return direction The set value of the home return direction
29H
error is out of the range.
JOG operation target The set value of the JOG operation target
30H Each control operation does
speed error speed is out of the range.
not start. Correct the setting of
JOG operation The set value of the JOG operation the parameter.
31H
acceleration time error acceleration time is out of the range.
JOG operation The set value of the JOG operation
32H
deceleration time error deceleration time is out of the range.
41H Table setting error The combination of tables is incorrect.
The set value of the operation pattern is
42H Operation pattern error
incorrect.
Positioning acceleration The set value of the positioning
43H
time error acceleration time is out of the range.
Positioning deceleration The set value of the positioning
44H
time error deceleration time is out of the range.
Positioning target speed The set value of the positioning target
45H
error speed is out of the range.
Positioning movement The set value of the positioning movement
46H
amount error amount is out of the range.
The set value of the dwell time is out of
47H Dwell time error
the range.
J point control setting The J-point control is set on the
48H
error interpolation axis table.
Repeat operation dwell The dwell time of the E table which
60H
time setting error performs repetitive operations is 0 ms.

(Note 1) The error occurs only when the condition of the limit stop is satisfied.

8-6 WUME-FPXHPOSG-01
 8.2 What to Do If an Error Occurs

■ Error code 41: Occurrence condition of table setting error

● The last table of the positioning setting tables is not the E point. (e.g. The P point, C point
and J point are set continuously.)
● The control method of the J-point control table is absolute.
● The tables whose control method is absolute are set repeatedly.
● The opposite pulse output directions (forward/reverse) are set on the consecutive tables of P
+E points.
● Axes to which the interpolation operation setting is made are selected for the F383
simultaneous start instruction.

8.2.3 Motor Does Not Rotate/Move (Output LED Flashes or is ON)

■ Solution 1: For servo motor

Check to make sure the servo on input is set to “ON”.

■ Solution 2
Check to make sure the power supplies for the servo amplifier and motor driver are ON.

■ Solution 3
Check to make sure the servo amplifier and motor driver are connected to the unit correctly.

■ Solution 4
Check to make sure the settings for the pulse output method (CW/CCW method or Pulse/Sign
method) are appropriate.

8.2.4 Motor Does Not Rotate/Move (Output LED is OFF)

■ Solution
Review the program.

Point to check
● Check to make sure the I/O numbers are appropriate.
● Check non-rewriting of the start flag in the program.
● Check the input valid logic of the over limit switch. In this case, the error LED flashes.

WUME-FPXHPOSG-01 8-7
8.2 What to Do If an Error Occurs

8.2.5 Rotation/Movement Direction is Reversed

■
(Reverse direction) (Intended direction)

■ Solution 1
Check to make sure the servo amplifier and motor driver are connected to the unit correctly.

Point to check
Check to make sure the CW/CCW output or the Pulse/Sign output is connected to the pertinent
input of the servo amplifier and motor driver.

■ Solution 2
Change the pulse output rotation direction of the parameters for each axis, and set it to the
reverse direction.

8-8 WUME-FPXHPOSG-01
 9 PWM output function
9.1 PWM output function...........................................................................9-2
9.1.1 Overview of PWM Output Function.................................................. 9-2
9.1.2 System Register Settings................................................................. 9-2
9.1.3 [F173 PWMH] PWM Output Instruction (Frequency Specification) . 9-4
9.1.4 [F173 PWMH] PWM Output Instruction (Control Code
Specification) .................................................................................... 9-5

WUME-FPXHPOSG-01 9-1
9.1 PWM output function

9.1 PWM output function

9.1.1 Overview of PWM Output Function

The pulse output of an arbitrary duty ratio can be performed.

■ Comparison of functions and performances

Transistor output type Relay output type
Channel no. Control active Control active
Output no. Output no. Installation position
flag flag
Cassette mounting
CH0 Y0 R911C Y100 R911C
part 1
Cassette mounting
CH1 Y2 R911D Y200 R911D
part 2
CH2 Y4 R911E - -
CH3 Y6 R911F - -

(Note 1) Functions, channel numbers and I/O numbers used are set in the tool software.
(Note 2) I/O numbers used for each function should be allocated so that they do not overlap.

9.1.2 System Register Settings

Functions to be used are allocated in the "System register settings" dialog box. The following
procedure is explained on the condition that the FPWIN GR7 has already started.

1. Select Options>System register settings from the menu bar.

The "PLC Configuration" dialog box appears.

2. Select "Controller output setting (PLS / PWM)" from the left pane.
The setting menu for the system register “No. 402" appears.

9-2 WUME-FPXHPOSG-01
 9.1 PWM output function

3. Change the settings for the channels used for the PWM output.
4. Press the [OK] button.
The screen returns to the ladder edit screen. The settings will be downloaded to the PLC
together with programs and comments.

System register relating to PWM output

Classification No. and setting item Settings
Set the PWM output (Y0) and normal output
CH0
(Y1).
Set the PWM output (Y2) and normal output
CH1
(Y3).
Transistor output type 402
Control Unit output Pulse / PWM output Set the PWM output (Y4) and normal output
CH2
settings setting (Y5).
(PLS / PWM) (Y0 to YB) Set the PWM output (Y6) and normal output
CH3
(Y7).
CH4
The PWM output cannot be allocated.
CH5
Pulse output setting Set the PWM output (Y100) and normal output
Relay output type CH0
(Y100 and Y101) (Y101).
Pulse I/O setting
Pulse output setting Set the PWM output (Y200) and normal output
(PLS / PWM) CH1
(Y200 and Y201) (Y201).

(Note 1) Displayed items and ranges vary depending on models of the Control Unit.
(Note 2) Select "Normal output" for the output that is not used for the pulse output function or PWM output
function.

WUME-FPXHPOSG-01 9-3
9.1 PWM output function

9.1.3 [F173 PWMH] PWM Output Instruction (Frequency Specification)

The PWM output is performed according to the set parameters.

■ Instruction format

■ Operand
Operand Settings
Starting address of the memory area storing the parameters of the PWM output.
S Specify the control code HFF.
S+1 Specify the output frequency in 2-word 32-bit data.
S S+2 Setting range: K1 to K100000 (1 Hz to 100 kHz: in 1 Hz increments)

Duty ratio (Resolution of 1000 or 100)

For the output frequencies K1 to K70000, Setting range: K0 to K1000 (0.0% to 100.0%)
S+3
For the output frequencies K70001 to K100000, Setting range: K0 to K1000 (0% to
100%)
Channel nos. used for PWM output:
n
K0 (CH0: Y0), K1 (CH1: Y2), K2 (CH3: Y4), K3 (CH4: Y6)

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S - - - - - - ● - - - - ●
n - - - - - - - - - ● ● -

■ Outline of operation
● The PWM output is performed from a specified output. The output is performed when the
execution condition is ON.
● The output frequency and duty ratio are specified in the operands [S1+1] to [S1+3].

■ Precautions during programming

● This instruction cannot be executed when a control active flag corresponding to each
channel is ON.
● The duty may be different from the set ratio according to the load voltage and load current
especially in the vicinity of minimum and maximum values. The duty can be changed for
each scan. However, the control code cannot be changed during the execution of an
instruction.

9-4 WUME-FPXHPOSG-01
 9.1 PWM output function

● When rewriting during RUN is performed during the operation, the PWM output stops while a
program is being rewritten.

■ Example of program
The following sample shows the program for performing the PWM output with 10 kHz and the
duty ratio of 50% from CH0 (Y0).

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

REFERENCE
11.2.3 When Using PWM Output Function

9.1.4 [F173 PWMH] PWM Output Instruction (Control Code Specification)

The PWM output is performed according to the set parameters.

■ Instruction format

■ Operand
Operand Settings
Starting address of the memory area storing the parameters of the PWM output.
S
S Specify the control code. K0 to K30

WUME-FPXHPOSG-01 9-5
9.1 PWM output function

Operand Settings
Duty ratio (Resolution of 1000 or 100)
S+1 For the control codes K0 to K27, Setting range: K0 to K1000 (0.0% to 100.0%)
For the control codes K28 to K30, Setting range: K0 to K1000 (0% to 100%)
Channel nos. used for PWM output:
n
K0 (CH0: Y0), K1 (CH1: Y2), K2 (CH3: Y4), K3 (CH4: Y6)

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S - - - - - - ● - - - - ●
n - - - - - - - - - ● ● -

■ Outline of operation
● The PWM output is performed from a specified output. The output is performed when the
execution condition is ON.
● The output frequency and cycle are determined by a specified control code. The duty ratio is
specified in the operand [S1+1].

■ Precautions during programming

● This instruction cannot be executed when a control active flag corresponding to each
channel is ON.
● The duty may be different from the set ratio according to the load voltage and load current
especially in the vicinity of minimum and maximum values. The duty can be changed for
each scan. However, the control code cannot be changed during the execution of an
instruction.
● When rewriting during RUN is performed during the operation, the PWM output stops while a
program is being rewritten.

■ Control code
Frequency Frequency Resolutio
S Cycle (ms) Resolution S Cycle (ms)
(Hz) (Hz) n
K0 1.5 666.67 K16 2000.0 0.50
K1 2.0 500.00 K17 3000.0 0.33
K2 4.0 250.00 K18 6000.0 0.17
K3 6.0 166.67 K19 12500.0 0.08
K4 8.0 125.00 K20 15000.0 0.067
K5 10.0 100.00 1000 K21 20000.0 0.050 1000
K6 20.0 50.00 K22 25000.0 0.040
K7 50.0 20.00 K23 30000.0 0.033
K8 100.0 10.00 K24 40000.0 0.025
K9 200.0 5.00 K25 50000.0 0.020
K10 400.0 2.50 K26 60000.0 0.017

9-6 WUME-FPXHPOSG-01
 9.1 PWM output function

Frequency Frequency Resolutio

S Cycle (ms) Resolution S Cycle (ms)
(Hz) (Hz) n
K11 500.0 2.00 K27 70000.0 0.0143
K12 700.0 1.48 K28 80000.0 0.0125
K13 1000.0 1.00 K29 90000.0 0.0111 100
K14 1300.0 0.77 K30 100000.0 0.010
K15 1600.0 0.625 -

■ Example of program
The following sample shows the program for performing the PWM output with 1 kHz and the
duty ratio of 50% from CH0 (Y0).

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

REFERENCE
11.2.3 When Using PWM Output Function

WUME-FPXHPOSG-01 9-7
(MEMO)

9-8 WUME-FPXHPOSG-01
 10 High-speed Counter Function
10.1 Overview of High-speed Counter Function .......................................10-2
10.1.1 Overview of High-speed Counter Function .................................... 10-2
10.1.2 Counting Range and Elapsed Value (Current Value) Area ............ 10-2
10.1.3 Areas Used For High-speed Counter Function .............................. 10-3
10.1.4 Input Mode Type ............................................................................ 10-4
10.1.5 Minimum Input Pulse Width ........................................................... 10-5
10.2 System Register Settings..................................................................10-7
10.2.1 System Register Settings (Transistor Output Type)....................... 10-7
10.2.2 System Register Settings (Relay Output Type) ............................. 10-8
10.3 High-speed Counter Instruction ........................................................10-11
10.3.1 [F0 MV] High-speed Counter Control Instruction ........................... 10-11
10.3.2 [F1 DMV] Elapsed Value Write / Read Instruction ......................... 10-12
10.3.3 [F166 HC1S] High-speed Counter Target Value Match ON
Instruction and [F167 HC1R] High-speed Counter Target Value
Match OFF Instruction ...................................................................... 10-14
10.3.4 Sample Program (Positioning Operation With Inverter: Single-
Speed) .............................................................................................. 10-15
10.3.5 Sample Program (Positioning Operation With Inverter: Double-
Speed) .............................................................................................. 10-17
10.4 High-speed Counter Cam Control Instruction ...................................10-20
10.4.1 [F165 CAM0] High-speed Counter Cam Control Instruction .......... 10-20
10.4.2 Sample Program (Upper Limit Control, Reset, Addition) ............... 10-24
10.4.3 Sample Program (Upper Limit Control, Instruction Clear,
Addition)............................................................................................ 10-26
10.4.4 Sample Program (Upper Limit Control, Subtraction) ..................... 10-28
10.5 Interrupt Program Activation .............................................................10-31
10.5.1 Overview of Function ..................................................................... 10-31
10.5.2 Interrupt Activation When F165 (CAM0) is Executed .................... 10-32

WUME-FPXHPOSG-01 10-1
10.1 Overview of High-speed Counter Function

10.1 Overview of High-speed Counter Function

10.1.1 Overview of High-speed Counter Function

● This function allows the counting of input signals from external devices such as a sensor and
encoder at high speed .
● Dedicated instructions (F166 and F167) are provided for turning ON or OFF arbitrary outputs
(Y0 to Y29F) in the interrupt processing when the elapsed value matches the target value.
The output turned ON or OFF by an instruction is used by presetting with an instruction such
as the SET / RET instructions. The instruction (F165) which enables the cam output up to 32
points to be acquired according to the elapsed value.
● Channels and inputs to be used are specified by system registers. The output when the
values match is specified by the operand of the instruction.

10.1.2 Counting Range and Elapsed Value (Current Value) Area

● The elapsed value of the high-speed counter is stored in a special data register as 2-word
32-bit data.
● The elapsed value area will be reset when the power supply turns off. It will be held when
switching the mode from RUN to PROG.
● The high-speed counter is a ring counter. When the counted value exceeds the maximum
value, it returns to the minimum value. When the counted value exceeds the minimum value,
it returns to the maximum value.

10-2 WUME-FPXHPOSG-01
 10.1 Overview of High-speed Counter Function

■ Counting range of elapsed value (current value) area

Section Range

High-speed counter
K–2,147,483,648 to K2,147,483,647
control

10.1.3 Areas Used For High-speed Counter Function

The usable combinations vary according to the unit type.

■ List of used areas

Transistor output
Relay output type
type
Channel Control Elapsed
Target value
Input no. Input no. active value
No. Installation area
flag area
Single- 2-phase Single- 2-phase position
phase phase

Control Unit DT90300 DT90302

CH0 X0 X0, X1 X0 X0, X1 R9110
input DT90301 DT90303

Control Unit DT90304 DT90306

CH1 X1 - X1 - R9111
input DT90305 DT90307

Control Unit DT90308 DT90310

CH2 X2 X2, X3 X2 X2, X3 R9112
input DT90309 DT90311

Control Unit DT90312 DT90314

CH3 X3 - X3 - R9113
input DT90313 DT90315

Control Unit DT90316 DT90318

CH4 X4 X4, X5 X4 X4, X5 R9114
input DT90317 DT90319

Control Unit DT90320 DT90322

CH5 X5 - X5 - R9115
input DT90321 DT90323

Control Unit DT90324 DT90326

CH6 X6 X6, X7 X6 X6, X7 R9116
input DT90325 DT90327

WUME-FPXHPOSG-01 10-3
10.1 Overview of High-speed Counter Function

Transistor output
Relay output type
type
Channel Control Elapsed
Target value
Input no. Input no. active value
No. Installation area
flag area
Single- 2-phase Single- 2-phase position
phase phase

Control Unit DT90328 DT90330

CH7 X7 - X7 - R9117
input DT90329 DT90331
Cassette
X100 DT90332 DT90334
CH8 - - X100 mounting part R9118
X101 DT90333 DT90335
1
Cassette
DT90336 DT90338
CH9 - - X101 - mounting part R9119
DT90337 DT90339
1
Cassette
X200 DT90340 DT90342
CHA - - X200 mounting part R911A
X201 DT90341 DT90343
2
Cassette
DT90344 DT90346
CHB - - X201 - mounting part R911B
DT90345 DT90347
2

(Note 1) Functions, channel numbers and I/O numbers used are set in the tool software.
(Note 2) I/O numbers used for each function should be allocated so that they do not overlap. Refer to
"1.2 Restrictions on Combinations and Functions".
(Note 3) In the case of the input on the relay output type Control Unit, there is no combination of the individual
input and the direction distinction input.

● The performance such as the maximum counting speed varies depending on the combination
used. Refer to Performance Specifications.

10.1.4 Input Mode Type

■ Input modes and count operation

Mode Range

Addition input

Subtraction input

10-4 WUME-FPXHPOSG-01
 10.1 Overview of High-speed Counter Function

Mode Range

2-phase input

Individual input

Direction distinction
input

(Note 1) In the case of the input on the relay output type Control Unit, there is no combination of the individual
input and the direction distinction input.

10.1.5 Minimum Input Pulse Width

For the period T, the following minimum input pulse width is required.

WUME-FPXHPOSG-01 10-5
10.1 Overview of High-speed Counter Function

■ Min. input pulse width

Single-phase input 2-phase input

10-6 WUME-FPXHPOSG-01
 10.2 System Register Settings

10.2 System Register Settings

10.2.1 System Register Settings (Transistor Output Type)

Functions to be used are allocated in the "System register settings" dialog box. The following
procedure is explained on the condition that the FPWIN GR7 has already started.

1. Select Options>System register settings from the menu bar.

The "PLC Configuration" dialog box appears.

2. Select "Controller input setting 1 (HSC / PLS)" or "Controller input setting 2 (HSC / PLS)"
from the left pane.
The setting menu for the system register “No. 400" or “No. 401” appears.

3. Change the settings for the channels used for the high-speed counter.
The following figure shows the case when 2-phase input (X0, X1) is allocated to CH0.

4. Press the [OK] button.

The screen returns to the ladder edit screen. The settings will be downloaded to the PLC
together with programs and comments.

System register relating to high-speed counter output

Classification No. and setting item Settings
400 Select either Addition input (X0), Subtraction
Control Unit input
High-speed counter input (X0), 2-phase input (X0, X1), Individual
settings 1 CH0
setting input (X0, X1), or Direction distinction input (X0,
(HSC / PLS) X1).
(X0 to X3)

WUME-FPXHPOSG-01 10-7
10.2 System Register Settings

Classification No. and setting item Settings

Select either Addition input (X1) or Subtraction
CH1
input (X1).
Select either Addition input (X2), Subtraction
input (X2), 2-phase input (X2, X3), Individual
CH2
input (X2, X3), or Direction distinction input (X2,
X3).
Select either Addition input (X3) or Subtraction
CH3
input (X3).
Select either Addition input (X4), Subtraction
input (X4), 2-phase input (X4, X5), Individual
CH4
input (X4, X5), or Direction distinction input (X4,
X5).
Select either Addition input (X5) or Subtraction
CH5
input (X5).
401 Select either Addition input (X6), Subtraction
Control Unit input input (X6), 2-phase input (X6, X7), Individual
High-speed counter CH6
settings 2 input (X6, X7), or Direction distinction input (X6,
pulse output setting
(HSC / PLS) X7).
(X4 to X7)
To use the external reset input, select the reset
X6
input of high-speed counter CH0.
Select either Addition input (X7) or Subtraction
CH7
input (X7).
To use the external reset input, select the reset
X7
input of high-speed counter CH2.

(Note 1) Displayed items and ranges vary depending on models of the Control Unit.
(Note 2) Select "Not set XX as High Speed Counter" for the input that is not used for the high-speed
counter function.

10.2.2 System Register Settings (Relay Output Type)

Functions to be used are allocated in the "System register settings" dialog box. The following
procedure is explained on the condition that the FPWIN GR7 has already started.

1. Select Options>System register settings from the menu bar.

The "PLC Configuration" dialog box appears.

2. Select " Pulse I/O cassette setting (HSC / PLS)" or "Controller input setting (HSC / PLS)"
from the left pane.
The setting menu for the system register “No. 400 to 401" or “No. 402” appears.

3. Change the settings for the channels used for the high-speed counter.
The following figure shows the case when the Control Unit input setting (HSC) is selected
and 2-phase input (X0, X1) is allocated to CH0.

10-8 WUME-FPXHPOSG-01
 10.2 System Register Settings

4. Press the [OK] button.

The screen returns to the ladder edit screen. The settings will be downloaded to the PLC
together with programs and comments.

System register relating to high-speed counter output

Classification No. and setting item Settings
Select either Addition input (X100), Subtraction input
(X100), 2-phase input (X100, X101), Individual input
400 CH8 (X100, X101), or Direction distinction input (X100,
High-speed X101). You can also select a combination with Reset
counter setting input (X102).
(X100 to X102) Select either Addition input (X101) or Subtraction
CH9 input (X101). You can also select a combination with
Pulse I/O cassette Reset input (X102).
setting
(HSC / PLS) Select either Addition input (X200), Subtraction input
(X200), 2-phase input (X200, X201), Individual input
401 CHA (X200, X201), or Direction distinction input (X200,
High-speed X201). You can also select a combination with Reset
counter setting input (X202).
(X200 to X202) Select either Addition input (X201) or Subtraction
CHB input (X201). You can also select a combination with
Reset input (X102).
Select either Addition input (X0), Subtraction input
CH0
(X0), or 2-phase input (X0, X1).

402 Select either Addition input (X1) or Subtraction input

Control Unit input CH1
(X1).
settings High-speed
counter Select either Addition input (X2), Subtraction input
(HSC) CH2
(X0 to X7) (X2), or 2-phase input (X2, X3).
Select either Addition input (X3) or Subtraction input
CH3
(X3).

WUME-FPXHPOSG-01 10-9
10.2 System Register Settings

Classification No. and setting item Settings

Select either Addition input (X4), Subtraction input
CH4
(X4), or 2-phase input (X4, X5).
Select either Addition input (X5) or Subtraction input
CH5
(X5).
Select either Addition input (X6), Subtraction input
CH6
(X6), or 2-phase input (X6, X7).
Select either Addition input (X7) or Subtraction input
CH7
(X7).

(Note 1) Displayed items and ranges vary depending on models of the Control Unit.
(Note 2) Select "Not set XX as High Speed Counter" for the input that is not used for the high-speed
counter function.

10-10 WUME-FPXHPOSG-01
 10.3 High-speed Counter Instruction

10.3 High-speed Counter Instruction

10.3.1 [F0 MV] High-speed Counter Control Instruction

Performs the controls such as the software reset, disabling the count and clearing the high-
speed counter instruction.

■ Instruction format

■ Operand
Operand Settings
S Area storing the control code of the high-speed counter or constant data

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S ● ● ● ● ● ● ● ● ● ● ● ●

■ Outline of operation
● Performs the high-speed counter control according to the control code specified by [S].
● This instruction is used when performing the following operations with the high-speed
counter.
1. When performing the software reset
2. When disabling the count
3. When disabling the reset input by an external input temporarily
4. When canceling the control executed by the high-speed counter instruction F165
(CAM0) / F166 (HC1S) / F167 (HC1R) or when clearing the target value match interrupt
● The control codes once written are held until the next writing.
● The control code written by the F0 (MV) instruction is written to the special data register
DT90052. At the same time, it is written to the control code monitor area. The written data is
the data for lower 8 bits only.

■ Precautions during programming

● The setting of disabling the rest input is valid only when allocating the reset input in the
system register.
● In the external reset input setting for the transistor output type, the reset input (X6 or X7)
allocated to the Control Unit input is switched between enable and disable. In the reset input
setting for the relay output type, the pulse I/O cassette reset input (X102 or X202) allocated

WUME-FPXHPOSG-01 10-11
10.3 High-speed Counter Instruction

in the high-speed counter setting of the system register is switched between enable and
disable.

■ Allocation of control codes

● The following bits are allocated according to the specified channel and functions

● When controlling the above functions using external inputs, arbitrary inputs can be allocated.

■ Example of program
The following example shows the program for performing the software reset of the high-speed
counter CH0 using the input X7.

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

REFERENCE
11.2.4 When Using High-speed Counter Function

10.3.2 [F1 DMV] Elapsed Value Write / Read Instruction

Writes and reads the elapsed value of the high-speed counter.

10-12 WUME-FPXHPOSG-01
 10.3 High-speed Counter Instruction

■ Instruction format

■ Operand
Operand Settings
When setting: Area storing the elapsed value (32-bit) set in the high-speed counter or constant
S data
K−2,147,483,648 to K2,147,483,647
D When reading: Area reading the elapsed value of the high-speed counter

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S ● ● ● ● ● ● ● ● ● ● ● ●
D - ● ● ● ● ● ● ● ● - - ●

■ Outline of operation (Reading elapsed value)

● Reads the content of the special data register storing the elapsed value of the high-speed
counter and writes to the area specified by [D].

■ Outline of operation (Setting elapsed value)

● At the same time as writing the value to the elapsed value area of the high-speed counter
which uses 32-bit data specified by [S], sets it in the elapsed value area of the high-speed
counter used within the system.

■ Precautions during programming

● Only F1 (DMV) instruction can perform the writing. The writing cannot be performed by other
high-level instructions such as transfer instruction F0 (MV) and arithmetic instructions.
● Specify the memory area of [S] or [D] with the memory area number for the lower 16 bits.

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

REFERENCE
11.2.4 When Using High-speed Counter Function

WUME-FPXHPOSG-01 10-13
10.3 High-speed Counter Instruction

10.3.3 [F166 HC1S] High-speed Counter Target Value Match ON Instruction

and [F167 HC1R] High-speed Counter Target Value Match OFF Instruction

Turns ON or OFF the specified output when the elapsed value of the high-speed counter
matches the target value set by the operand.

■ Instruction format

■ Operand
Operand Settings
n Target channel number of the high-speed counter for the match output
S Target value data of the high-speed counter or the starting number of the area storing data
D Output coil which turns ON or OFF when the values match (Y0 to Y29F)

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

n - - - - - - - - - ● ● -
S ● ● ● ● ● ● ● ● ● ● ● ●
D - - - - - - - - - - - -

■ Outline of operation
● Sets the value specified by [S] as the target value of the high-speed counter, and controls the
specified output [Yn] when the elapsed value matches the target value. This operation is
executed as an interrupt processing.
● In the case of [F166 HC1S] instruction, the output turns ON from OFF. In the case of [F167
HC1R] instruction, the output turns OFF from ON.
● Stores the value of [S] in the target value area when the instruction is executed.
● Clears the setting of the target value and the control of the target value match output when
the value matches the target value.
● For resetting the output turned ON/OFF when the values match, use the RST instruction or
F0 (MV) instruction, or use the F166 (HC1R) instruction and F167 (HC1R) instruction in a
pair.

■ Example of program
The following example shows the program for setting the output Y0 when the elapsed value of
the high-speed counter CH0 matches K10000.

10-14 WUME-FPXHPOSG-01
 10.3 High-speed Counter Instruction

■ Precautions during programming

● The high-speed counter control active flag turns ON until the value matches the target value
after the execution condition of the instruction has turned ON. During this processing, the
high-speed counter instruction F165 (CAM0) / F166 (HC1S) / F167 (HC1R) cannot be
executed for the high-speed counter of the same channel.
● When the hardware reset is performed before the elapsed value matches the target value,
the elapsed value will be reset. However, the settings of the target value and the target value
match output will not be cleared.
● For the output Y specified for the target value match output, it is not checked whether the
output is overlapped with the OT, KP and other high-level instructions.
● When describing the same channel in both the normal program and the interrupt program, be
sure to program not to execute them simultaneously.

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

REFERENCE
11.2.4 When Using High-speed Counter Function

10.3.4 Sample Program (Positioning Operation With Inverter: Single-Speed)

Counts the feedback signals from the encoder with the high-speed counter. The operation of
the inverter stops when the count value reaches 5000.

WUME-FPXHPOSG-01 10-15
10.3 High-speed Counter Instruction

■ Wiring example

■ Operation chart

■ I/O allocation table

I/O No. Description I/O No. Description
X0 Encoder input R100 Positioning operation is running
X5 Operation start signal R101 Positioning operation starts
Y0 Inverter operation signal R102 Positioning done pulse
- R9110 High-speed counter CH0 control active flag

10-16 WUME-FPXHPOSG-01
 10.3 High-speed Counter Instruction

■ Sample program

(1) Positioning operation is running

(2) Positioning operation starts
(3) Resets the elapsed value of the high-speed counter CH0.
Target value match OFF instruction: Y0 turns OFF when the elapsed value of the high-speed counter
(4)
reaches 5000 pulses.
(5) Sets the inverter operation signal Y0.
(6) Positioning done pulse (0.5 sec)
(7) Sets 0.5 sec with 0.1-second timer.

10.3.5 Sample Program (Positioning Operation With Inverter: Double-Speed)

Counts the feedback signals from the encoder with the high-speed counter. Switches the
inverter operation to low speed operation when the count value reaches 4500. The operation of
the inverter stops when the count value reaches 5000.

WUME-FPXHPOSG-01 10-17
10.3 High-speed Counter Instruction

■ Wiring example

■ Operation chart

■ I/O allocation table

I/O No. Description I/O No. Description
X0 Encoder input R100 Positioning operation is running
X5 Operation start signal R101 Arrival at deceleration point
Y0 Inverter operation signal R102 Positioning operation starts
Y1 Inverter high-speed signal R103 Positioning done pulse
R900C Comparison instruction < Flag
-
R9110 High-speed counter CH0 control active flag

10-18 WUME-FPXHPOSG-01
 10.3 High-speed Counter Instruction

■ Sample program

(1) Positioning operation is running

(2) Positioning operation starts
(3) Resets the elapsed value of the high-speed counter CH0.
Target value match OFF instruction: Y0 turns OFF when the elapsed value of the high-speed counter
(4)
reaches 5000 pulses.
(5) Sets Y0 (inverter operation signal).
(6) Sets Y1 (inverter high-speed signal).
32-bit data comparison instruction: R900C turns ON when the elapsed value of the high-speed counter
(7)
CH0 is larger than 4500 pulses.
(8) Arrival at deceleration point
(9) Resets Y1 (inverter high-speed signal).
(10) Positioning done pulse (0.5 sec)
(11) 0.1-second timer: Sets K5. It is used as 0.5-second timer.

WUME-FPXHPOSG-01 10-19
10.4 High-speed Counter Cam Control Instruction

10.4 High-speed Counter Cam Control Instruction

10.4.1 [F165 CAM0] High-speed Counter Cam Control Instruction

Performs the cam output up to a maximum of 32 points (ON / OFF) according to the elapsed
value of the high-speed counter.

■ Instruction format

■ Operand
Operand Settings
S Starting number of data table

■ Memory area type that can be specified

Constant Index
Operand WX WY WR WL SV EV DT LD I
K H modifier

S - - - - - - ● - - - - ●

■ Outline of operation
● Performs the cam output up to a maximum of 32 points (ON/OFF) according to the elapsed
value of the high-speed counter in the pattern specified for the data table starting with [S].
The output device can be selected from internal relay, output relay and link relay.
● The ON set value and OFF set value can be arbitrarily specified as a paired target values for
a single cam output regardless of the magnitude of target values or the order for one cam
output. The pattern of ON/OFF varies according to the setting.

10-20 WUME-FPXHPOSG-01
 10.4 High-speed Counter Cam Control Instruction

Target value 1
12000 0 ON set value
1000
Target value 2
OFF set value
9000 1000 to 4999
Elapsed R100:ON
value
7000 to 8999
R101:ON

Target value 2 Target value 1

ON set value OFF set value
7000 5000

■ Upper limit control

With the F165 (CAM0) instruction, the control with a specified upper limit can be performed.
The settings for enabling / disabling the upper limit control and the upper limit are specified in
the data table.
Upper limit control: Enable Upper limit control: Disable
Negative min. value to Positive max.
Counting range 0 to Upper limit
value
When the elapsed value exceeds the
When When the elapsed value exceeds the
Operation positive maximum value, it returns to the
added upper limit, it returns to 0.
when negative minimum value.
exceeding the
counting range When When the elapsed value falls below the
When the elapsed value falls below 0, it
subtracte negative minimum value, it returns to the
returns to the upper limit.
d positive maximum value.

■ Data table settings

Operand Settings Description
Specify the high-speed counter channel where the cam control is
performed and whether or not to execute the upper and lower limit
control as a hexadecimal constant.

High-speed counter
channel
S, S+1
Upper and lower limit
control

Output device type Specify the device type set for the cam output.
S+2, S+3
(Note 1) H0: Link relay (L), H1: Internal relay (R), H2: Output relay (Y)

WUME-FPXHPOSG-01 10-21
10.4 High-speed Counter Cam Control Instruction

Operand Settings Description

Starting word no. of Specify the starting word number of the device set for the cam
S+4, S+5
output device output.(Note 2)

S+6, S+7 No. of target values Settable range: K1 to K32(Note 2)

Target value 1: ON set
S+8, S+9
value
Target value 1: ON set
S+10, S+11
value
Set the ON set value and OFF set value according to the number of
Target value 2: ON set target values.
S+12, S+13
value
(Note 3)
Target value 2: ON set Settable range:
S+14, S+15
value
K-2147483647 to K2147483646 (H80000001 to H7FFFFFFE)
------ ------ The cam output described in the next page is acquired according to
S+(m-1)x4+8 the magnitude of the ON set values and elapsed value.
Target value m: ON set
S+(m-1)x4+9 value

S+(m-1)x4+10 Target value m: OFF

S+(m-1)x4+11 set value

S+(m-1)x4+12 Settable range:

Upper limit(Note 4)
S+(m-1)x4+13 K1 to K2147483646 (H1 to H7FFFFFFE)

(Note 1) When specifying the output relay (Y), values are also output to the Control Unit output as well as
operation memories.
(Note 2) When the number of target values [S+6, S+7] is set to 1-16, the cam output is allocated to one word of
output device. When set to 17-32, it is allocated to two words of output device. Refer to the next page
for details.
(Note 3) The number of target values specified after [S+8, S+9] varies according to the number of target values
specified in [S+6, S+7].
(Note 4) The upper limit of the data table end is valid only when the upper limit control is set to "Yes" in [S, S
+1]. This setting can be omitted when the upper limit control is set to "No".
(Note 5) The data table varies in the range of 12 to 138 words according to the number of target values and the
specified upper limit setting

■ Specification of output device: [S+2] to [S+5]

● When the number of target values is set to 1-16, one word is used. When the number of
target values is set to 17-32, two words are used.
● One device is allocated to a paired target values (ON set value and OFF set value).
(Example): When the output device type is set to "Internal relay", the starting word number
of output device is set to "0", and the number of target values is set to "32", R0 to R1F are
allocated as the device for the cam output.

10-22 WUME-FPXHPOSG-01
 10.4 High-speed Counter Cam Control Instruction

(1) When the elapsed value reaches the target value 1, R0 turns ON or OFF.
(2) When the elapsed value reaches the target value 16, RF turns ON or OFF.
(3) When the elapsed value reaches the target value 18, R11 turns ON or OFF.

■ Specification of target values: From [S+8]

The acquired output varies according to the ON set value and OFF set value.
ON set value < OFF set value ON set value > OFF set value ON set value = OFF set value
When added
When subtracted

When the elapsed value is larger When the elapsed value is

than or equal to the ON set value smaller than the ON set value
Description

and smaller than the OFF set and larger than or equal to the
The corresponding bit always turns
value, the corresponding output OFF set value, the corresponding
off.
bit turns ON. When the elapsed output bit turns off. When the
value is out of the range, the elapsed value is out of the range,
corresponding bit turns off. the corresponding bit turns ON.

■ Notes on programming
● This instruction cannot be used when the high-speed counter function is not used. Allocate
arbitrary channels and contacts in the system register "high-speed counter setting"
● The high-speed counter control active flag corresponding to the specified channel turns ON
until the execution of the high-speed counter control instruction F0 (MV) is cleared after the
execution condition of the F165 (CAM0) instruction has turned ON. When the high-speed
counter control active flag is on, the high-speed counter control instruction F165 (CAM0) /
F166 (HC1S) / F167 (HC1R) for which the same channel is specified cannot be executed.
● This instruction can be activated for up to two channels simultaneously.
● To stop the control of this instruction, execute "Clear high-speed counter instruction" by the
high-speed counter control instruction F0 (MV). Even when executing "Clear high-speed
counter instruction", the output allocated to the cam output is held. Also, the counting of the
high-speed counter continues and the upper limit control becomes disabled.
● Reset or preset the high-speed counter elapsed value before executing the instruction.
● Do not rewrite the elapsed value for the control using the F1 (DMV) instruction after the
execution of the instruction. After the execution of the instruction, the setting of the active
target values do not change even if the operation memory of the specified target values (ON
set value/OFF set value) is changed.

WUME-FPXHPOSG-01 10-23
10.4 High-speed Counter Cam Control Instruction

● When controlling the output device using the main program, set each target value so that
"minimum moving time between each target value" is larger than "1 scan time".
● When controlling the output device using an interrupt program, set each target value so that
"minimum moving time between each target value" is larger than "maximum execution time
of interrupt program".
● When the maximum value control and the hardware / software reset is used at the same
time, do not operate them intensively in a short time.
● When hardware / software reset is used, set the minimum target value to an integer value
that is 1 or more.
● When the hardware reset or software reset is executed during the high-speed counter
control, the high-speed counter elapsed value is reset to 0. The output allocated to the cam
output will be the output according to the elapsed value 0.
● It is also possible to start the interrupt program INTn every time the elapsed value reaches
each target value. For this operation, the activation of the interrupt program should be
permitted by the interrupt control instruction ICTL.

● For details of the allocations of I/O and flags, refer to “Allocation of Memory Areas”.

REFERENCE
11.2.4 When Using High-speed Counter Function

10.4.2 Sample Program (Upper Limit Control, Reset, Addition)

The following shows the program for performing two cam outputs (R100, R101) according to
the elapsed value of the high-speed counter CH0. When the elapsed value reaches the target
value (ON set value), the cam output turns ON, and when it reaches the target value (OFF set
value), it turns OFF. When it reaches the target value (ON set value), the interrupt program is
started. When the elapsed value exceeds the upper limit, it returns to 0.

10-24 WUME-FPXHPOSG-01
 10.4 High-speed Counter Cam Control Instruction

Code Value Description

(a) Upper limit When the elapsed value exceeds the upper limit, it returns to 0.
Target value 2: OFF
(b) The cam output is performed according to the target values.
set value
In this example, the ON set value is smaller than the OFF set value for each
Target value 2: ON set target value.
(c)
value
Therefore, When added: When the elapsed value reaches the ON set value,
Target value 1: OFF the cam output turns ON, and when it reaches the OFF set value, it turns
(d) OFF.
set value
When subtracted: When the elapsed value falls below the OFF set value, the
Target value 1: ON set cam output turns ON, and when it falls below the ON set value, it turns OFF.
(e)
value
When the execution condition turns ON from OFF, the instruction is executed
(1) Execution condition
and the cam control starts.
High-speed counter The high-speed counter instruction active flag turns ON during the execution
(2) instruction of the instruction. Even when the reset signal exists, the execution of the
active flag nstruction continues.

(3) Cam output The output turns ON/OFF according the set values.
When the elapsed value reaches the ON set value, the interrupt program
(4) Interrupt
starts.
When the hardware reset (X2) or software reset DT90052 (bit 0) turns ON,
the elapsed value of the high-speed counter is rest to 0. The outputs
(5) Reset signal
corresponding to the elapsed value 0 (both R100 and R101 in the above
example) become OFF.

(Note 1) It shows the hardware reset input (X2) for the high-speed counter CH0.

■ Sample program

Code Description
(1) High-speed counter channel H10: Performs the upper limit control, CH0
(2) Cam output device type K1: Internal relay (R)
(3) Word number of cam output device K10

WUME-FPXHPOSG-01 10-25
10.4 High-speed Counter Cam Control Instruction

Code Description
(4) Specification of the number of target values K2
(5) Target value 1: ON set value K1000
(6) Target value 1: OFF set value K5000
(7) Target value 2: ON set value K7000
(8) Target value 2: ON set value K9000
(9) Upper limit + K11000
(10) Presets 0 as the elapsed value.
(11) Executes the F165 (CAM0) instruction and starts the cam control.

10.4.3 Sample Program (Upper Limit Control, Instruction Clear, Addition)

The following shows the program for performing two cam outputs (R100, R101) according to
the elapsed value of the high-speed counter CH0. In the case of addition, when the elapsed
value reaches the target value (ON set value), the cam output turns ON, and when it reaches
the target value (OFF set value), it turns OFF. When it reaches the target value (ON set value),
the interrupt program is started. When the elapsed value exceeds the upper limit, it returns to 0.
The instruction is cleared by the high-speed counter control instruction F0 (MV).

Code Value Description

Positive maximum When the instruction clear is executed, the upper limit control is canceled and
(a)
value the counting continues up to the positive maximum value.
(b) Upper limit When the elapsed value exceeds the upper limit, it returns to 0.
Target value 2: OFF The cam output is performed according to the target values.
(c)
set value In this example, the ON set value is smaller than the OFF set value for each
target value.
Target value 2: ON set Therefore, When added: When the elapsed value reaches the ON set value,
(d)
value the cam output turns ON, and when it reaches the OFF set value, it turns
OFF.

10-26 WUME-FPXHPOSG-01
 10.4 High-speed Counter Cam Control Instruction

Code Value Description

Target value 1: OFF
(e)
set value When subtracted: When the elapsed value falls below the OFF set value, the
cam output turns ON, and when it falls below the ON set value, it turns OFF.
Target value 1: ON set
(f)
value
When the execution condition turns ON from OFF, the instruction is executed
(1) Execution condition
and the cam control starts.
High-speed counter The high-speed counter instruction active flag turns ON during the execution
(2) instruction of the instruction. When the high-speed counter control instruction F0 (MV) is
active flag executed, it turns OFF.

(3) Cam output The output turns ON/OFF according the set values.
In the case of addition, when the elapsed value reaches the ON set value,
(4) Interrupt
the interrupt program is started.

Clear high-speed By the high-speed counter control instruction F0 (MV), when the bit 3 of the
(5) counter instruction special data register DT90052 turns ON from OFF, the executed F165
(CAM0) instruction is cleared.

■ Sample program

Code Description
(1) High-speed counter channel H10: Performs the upper limit control, CH0
(2) Cam output device type K1: Internal relay (R)
(3) Word number of cam output device K10
(4) Specification of the number of target values K2
(5) Target value 1: ON set value K1000
(6) Target value 1: OFF set value K5000

WUME-FPXHPOSG-01 10-27
10.4 High-speed Counter Cam Control Instruction

Code Description
(7) Target value 2: ON set value K7000
(8) Target value 2: ON set value K9000
(9) Upper limit + K11000
(10) Presets 0 as the elapsed value.
(11) Executes the F165 (CAM0) instruction and starts the cam control.
(12) Clears the executed F165 (CAM0) instruction by turning the DT90052 (bit 3) OFF → ON → OFF.

10.4.4 Sample Program (Upper Limit Control, Subtraction)

The following shows the program for performing three cam outputs (R100-R102) according to
the elapsed value of the high-speed counter CH0. In the case of subtraction, when the elapsed
value falls below the target value (OFF set value), the cam output turns ON, and when it falls
below the target value (ON set value) the cam output turns OFF. When it falls below the target
value (OFF set value), the interrupt program is started. When the elapsed value falls below 0, it
returns to the upper limit.

Code Value Description

When the high-speed counter elapsed value falls below 0, it returns to the
(a) Upper limit
upper limit.
The control is started from the elapsed value when executed. In this example,
(b) Elapsed value
the elapsed value 13000 is preset.
Target value 3: OFF The cam output is performed according to the target values.
(c)
set value In this example, the ON set value is smaller than the OFF set value for each
Target value 2: OFF target value.
(d)
set value When subtracted: When the elapsed value falls below the OFF set value, the
cam output turns ON, and when it falls below the ON set value, it turns OFF.
Target value 1: OFF
(e) When added: When the elapsed value reaches the ON set value, the cam
set value output turns ON, and when it reaches the OFF set value, it turns OFF.

10-28 WUME-FPXHPOSG-01
 10.4 High-speed Counter Cam Control Instruction

Code Value Description

Target value 3: ON set
(f)
value
Target value 2: ON set
(g)
value
Target value 1: ON set
(h)
value
When the execution condition turns ON from OFF, the instruction is executed
(1) Execution condition
and the cam control starts.
High-speed counter
instruction The high-speed counter instruction active flag turns ON during the execution
(2)
of the instruction.
active flag
(3) Cam output The output turns ON/OFF according the set values.
Interrupt program In the case of subtraction, when the elapsed value falls below the OFF set
(4)
activation value, the interrupt program is started.

■ Sample program

Code Description
(1) High-speed counter channel H10: Performs the upper limit control, CH0
(2) Cam output device type K1: Internal relay (R)
(3) Word number of cam output device K10
(4) Specification of the number of target values K3
(5) Target value 1: ON set value K1000
(6) Target value 1: OFF set value K7000
(7) Target value 2: ON set value K3000

WUME-FPXHPOSG-01 10-29
10.4 High-speed Counter Cam Control Instruction

Code Description
(8) Target value 2: OFF set value K9000
(9) Target value 3: ON set value K5000
(10) Target value 3: OFF set value K11000
(11) Upper limit value K15000
(12) Presets 13000 as the elapsed value.
(13) Executes the F165 (CAM0) instruction and starts the cam control.

10-30 WUME-FPXHPOSG-01
 10.5 Interrupt Program Activation

10.5 Interrupt Program Activation

10.5.1 Overview of Function

When the elapsed value reaches the target value while the high-speed counter instruction F165
(CAM0) / F166 (HC1S) / F167 (HC1R) is being executed, the interrupt program can be
activated.

■ Execution method
● Make the setting for the high-speed counter by system registers. There is no need to make
the setting of interrupt input.
● Describe the interrupt program as a sub program.
● Allow the execution of a corresponding interrupt program number by the ICTL instruction in
the main program.
● Execute the F165 (CAM0) / F166 (HC1S) / F167 (HC1R) instruction. When the elapsed
value of the high-speed counter reaches the target value, the interrupt program is activated.

R0 ICTL instruction
ICTL H0 H1 INT0 program
execution enabled

R1 R9110 F166 HC1S instruction

（ DF ） F166 HC1S K0 K10000 Y2 Target value match ON
R9110: CH0 control flag
K0: CH0 specified
( ED ) K10000: Target value
( INT 0 ) Y2: Match output set

INT0 Program
( I RET )

■ Corresponding channel numbers and interrupt program numbers

Channel No. INT number
CH0 INT0
CH1 INT1
CH2 INT3
CH3 INT4
CH4 INT5
CH5 INT6
CH6 INT7
CH7 INT8
CH8 INT9
CH9 INT10
CHA INT11
CHB INT12

WUME-FPXHPOSG-01 10-31
10.5 Interrupt Program Activation

10.5.2 Interrupt Activation When F165 (CAM0) is Executed

For the cam control instruction F165 (CAM0), the start condition varies according to the
magnitude of the ON set value and OFF set value. Also, the interrupt program is activated with
each target value of up to 32 points.

■ Activation of interrupt program

ON set value < OFF set value ON set value > OFF set value ON set value = OFF set value
When added
When subtracted

When the elapsed value is larger

Description

When the elapsed value is smaller When the elapsed value

than or equal to the ON set value
than the ON set value and larger reaches the ON set value (=
and smaller than the OFF set
than or equal to the OFF set value, OFF set value), the interrupt
value, the interrupt program is
the interrupt program is activated. program is activated.
activated.

10-32 WUME-FPXHPOSG-01
 11 Specifications
11.1 Specifications ....................................................................................11-2
11.1.1 General Specifications ................................................................... 11-2
11.1.2 Performance Specifications............................................................ 11-2
11.2 Allocation of Memory Areas ..............................................................11-5
11.2.1 When Using Pulse Output Table Setting Mode .............................. 11-5
11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction
Mode)................................................................................................ 11-7
11.2.3 When Using PWM Output Function ............................................... 11-8
11.2.4 When Using High-speed Counter Function.................................... 11-9
11.3 Positioning Memory...........................................................................11-12
11.3.1 Configuration of Memory Map ........................................................ 11-12
11.3.2 Common Area (Memory Area No. 0).............................................. 11-13
11.3.3 Axis Information Area (Memory Area No. 1) .................................. 11-14
11.3.4 Axis Setting Area (Memory Area No. 2) ......................................... 11-15
11.3.5 Positioning Table Area (Memory Area No. 3) ................................. 11-17

WUME-FPXHPOSG-01 11-1
11.1 Specifications

11.1 Specifications

11.1.1 General Specifications

For details of the general specifications, refer to FP-XH User’s Manual (Basic).

11.1.2 Performance Specifications

■ High-speed counter / Pulse output / PWM output specifications

Specifications
Item
Relay type Transistor type
Single-phase 8 channels or 2-phase
4 channels
High-speed single-phase (4
Single-phase 8 channels or 2-phase
channels): 100 kHz each
4 channels
Medium-speed single-phase (4
Control Unit input Single-phase 8 channels: 10 kHz
channels): 10 kHz each
each
High-speed 2-phase (2 channels):
2-phase 4 channels: 5 kHz each
50 kHz each
Medium-speed 2-phase (2
High-speed channels): 10 kHz each
counter
C14: Single-phase 2 channels (2-
phase 1 channel)
C30/60: Single-phase 4 channels (2-
phase 2 channels)
Pulse I/O With single-phase 2 channels (100 Uninstallable
cassette installed kHz), with 2-phase 1 channel (50
kHz)
With single-phase 4 channels (100
kHz), with 2-phase 2 channels (10
kHz)
Pulse output: 100 kHz each
C14: 3 channels
C30: 4 channels
C60: 6 channels
Control Unit PWM:
None
output
C14: 3 channels
C30 / 60: 4 channels
Pulse output / 1 to 70 kHz (Resolution of 1000)
PWM output 70001 to 100 kHz (Resolution of
100)
Pulse output: 100 kHz each
C14: 1 channel
Pulse I/O C30 / 60: 2 channels
Uninstallable
cassette installed * With two cassettes installed
PWM output: 2 channels
1 to 70 kHz (Resolution of 1000)

11-2 WUME-FPXHPOSG-01
 11.1 Specifications

Specifications
Item
Relay type Transistor type
70001 to 100 kHz (Resolution of
100)

(Note 1) For details of combinations, refer to "1.2 Restrictions on Combinations and Functions".

■ Pulse output function specifications

Specifications
Item
Table setting mode FP-X compatible instruction mode
C14T: maximum 3 axes, C30T : Max. 4 axes, C60T: Max. 6 axes
Number of axes controlled C14R: Max. 1 axis (When using the pulse I/O cassette)
C30R / C60R: Max. 2 axes (When using two pulse I/O cassettes)
Position setting mode Increment, Absolute
Common specifications

Output interface Transistor open-collector output

Pulse output method Pulse ＋ Sign, CW+CCW
Max. output frequency 100,000 Hz
Output pulse duty ratio 25% (Fixed) 25% / 50% (Select by instruction)
Control unit Pulse
-1,073,741,824 to 1,073,741,823 pulses
Position setting range
For the interpolation control, -8,388,608 to +8,388,607 pulses
Speed command range Pulse: 1 to 100,000 Hz
Max. operation speed 100 kHz
Acceleration / deceleration
Linear acceleration / deceleration
method
Acceleration time 1 to 10,000 ms (Settable by 1 ms) 30 to 32760 ms
Position control

(Specify by instruction. Acceleration

Deceleration time 1 to 10,000 ms (Settable by 1 ms) time and deceleration time cannot
be set separately.)
Number of positioning
20 tables for each axis Arbitrary (Set by user program)
tables
PTP control (E-point control, C-point PTP control (E-point control: F171
control), CP control (P-point control), instruction), Multistep acceleration /
Single axis JOG positioning control (J-point deceleration control (F174
Control control)(Note 1)(Note 2) instruction)
method
E-, P-, C-point control; composite
2-axis linear E-point control, composite speed
speed or major axis speed
interpolation specification (F175 instruction)
specification
Dwell time 0 to 32,767 ms (Settable by 1 ms) No setting

Speed command range Pulse: 1 to 100,000 Hz(Note 2)

JOG operation

Acceleration / deceleration
Linear acceleration / deceleration Acceleration / deceleration cannot
method
be specified. (F172 instruction)
Acceleration time 0 to 10,000 ms (Settable by 1 ms)
Deceleration time 0 to 10,000 ms (Settable by 1 ms)

WUME-FPXHPOSG-01 11-3
11.1 Specifications

Specifications
Item
Table setting mode FP-X compatible instruction mode
Speed command range Pulse: 1 to 100,000 Hz
Acceleration / deceleration
Linear acceleration / deceleration
Home return

method
DOG method x 1, Home return
Acceleration time 1 to 10,000 ms (Settable by 1 ms) method x 1
Selected by F171 instruction
Deceleration time 1 to 10,000 ms (Settable by 1 ms)
DOG methods (3 types), Home
Return method
return method, Data set method
Each axis stops in the deceleration
Deceleration stop
time of a running operation.
Stop function

Each axis stops in the deceleration

Emergency stop time specified in the positioning Each axis stops in the deceleration
parameter. time of a running operation.
(Executed by F0 instruction)
Each axis stops in the deceleration
Limit stop
time specified for the over limit input.
System stop All axes stop.
Positioning parameters and
positioning table data are stored in Data is stored in arbitrary data
Memory backup F-ROM registers by user programs.
(without battery).

(Note 1) The J-point control can be executed only for the two axes of CH0 and CH1.
(Note 2) When performing the J-point control or JOG operation, the speed can be changed after the startup.

11-4 WUME-FPXHPOSG-01
 11.2 Allocation of Memory Areas

11.2 Allocation of Memory Areas

11.2.1 When Using Pulse Output Table Setting Mode

■ Control unit (transistor output type)

Input / output contact number used Memory area
used
Deviation counter Hom Over J-
CW CCW Near
Channel no. clear output e home limit point Elapse
or or input positi BUSY d
input input value
Pulse Sign (Note (Note oning flag
C14 C30 C60 (Note 2) start area
output output 1) 3)
input
(Y80)
CH0 Y0 Y1 Y4 Y8 YC X4 (Y70) X0 X28
(Y81)
(Y82)
CH1 Y2 Y3 Y5 Y9 YD X5 (Y71) X1 X29
(Y83)
(Y84)
Independent

CH2 Y4 Y5 - YA Y10 X6 (Y72) - X2A

(Y85)
(Note 4)
(Y86)
CH3 Y6 Y7 - YB Y11 X7 (Y73) - X2B
(Y87)
(Y88)
CH4 Y8 Y9 - - Y12 X2 (Y74) - X2C
(Y89)
(Y8A)
CH5 YA YB - - Y13 X3 (Y75) - X2D
(Y8B)

X- (Y80)
Y0 Y1 Y4 Y8 YC X4 (Y70) X28
axis (Y81)
CH0
Y- (Y82)
Linear interpolation(Note 1)

Y2 Y3 Y5 Y9 YD X5 (Y71) X29
axis (Y83)

X- (Y84)
Y4 Y5 - YA Y10 X6 (Y72) X2A
axis (Y85)
CH2 - (Note 4)
Y- (Y86)
Y6 Y7 - YB Y11 X7 (Y73) X2B
axis (Y87)

X- (Y88)
Y8 Y9 - - Y12 X2 (Y74) X2C
axis (Y89)
CH4
Y- (Y8A)
YA YB - - Y13 X3 (Y75) X2D
axis (Y8B)

(Note 1) Even when setting the linear interpolation, the interpolation operation is not performed for the home
return. Execute the operation for X axes and Y axes separately.
(Note 2) The near home input will be valid when arbitrary inputs are allocated and the output relays indicated in
the above table turn ON.
(Note 3) The over limit input (+) and over limit input (-) will be valid when arbitrary inputs are allocated and the
output relays indicated in the above table turn ON. The I/O numbers in the upper rows (Y80 to Y8A) in
the above table are over limit input (+), the I/O numbers in the lower rows (Y81 to Y8B) are over limit
input (-).

WUME-FPXHPOSG-01 11-5
11.2 Allocation of Memory Areas

(Note 4) The elapsed values are stored in the axis information area of the positioning memory. They can be
read by user programs using the F384 instruction.

■ Control unit (relay output type)

Input / output contact number used Memory area used

Deviati J-
CW CCW Near Over point
on Home home
Channel no. or or limit positio BUSY Elapsed value
counter input input input
Pulse Sign (Note 1) ning flag area
clear (Note 3)
output output (Note 2) start
output input
(Y80)
Independent

CH0 Y100 Y101 Y102 X102 (Y70) X100 X28

(Y81)
(Note 4)
(Y82)
CH1 Y200 Y201 Y202 X202 (Y71) X200 X29
(Y83)
(Y80)
Linear Y102 X102 (Y70)
Y100 Y101 (Y81) X28
interpolation - (Note 4)
(Note 1) Y200 Y201 (Y82) X29
Y202 X202 (Y71)
(Y83)

(Note 1) Even when setting the linear interpolation, the interpolation operation is not performed for the home
return. Execute the operation for X axes and Y axes separately.
(Note 2) The near home input will be valid when arbitrary inputs are allocated and the output relays indicated in
the above table turn ON.
(Note 3) The over limit input (+) and over limit input (-) will be valid when arbitrary inputs are allocated and the
output relays indicated in the above table turn ON. The I/O numbers in the upper rows (Y80 to Y8A) in
the above table are over limit input (+), the I/O numbers in the lower rows (Y81 to Y8B) are over limit
input (-).
(Note 4) The elapsed values are stored in the axis information area of the positioning memory. They can be
read by user programs using the F384 instruction.

11-6 WUME-FPXHPOSG-01
 11.2 Allocation of Memory Areas

11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction

Mode)

■ Control Unit (transistor output type)

Input / output contact number used Memory area used
Deviation J-
counter poin
clear output Ove t
CW CCW Ho
Near r posi BUSY Elapsed
me
or or home limit tioni flag Target
Channel no. inpu value
input inpu ng value
Pulse Sign t t (Contro area
start area
outp outp
C14 C30 C60
(Note
(Note 2) (Note inpu l active (Note 5)
ut ut 1) t flag)
3)
(Note
4)

DT90348 DT90350
CH0 Y0 Y1 Y4 Y8 YC X4 R911C
DT90349 DT90351
DT90352 DT90354
CH1 Y2 Y3 Y5 Y9 YD X5 R911D
DT90353 DT90355
DT90356 DT90358
Independent

CH2 Y4 Y5 - YA Y10 X6 DT R911E

DT90357 DT90359
90052 - -
DT90360 DT90362
CH3 Y6 Y7 - YB Y11 X7 bit4 R911F
DT90361 DT90363
DT90364 DT90366
CH4 Y8 Y9 - - Y12 X2 R9120
DT90365 DT90367
DT90368 DT90370
CH5 YA YB - - Y13 X3 R9121
DT90369 DT90371

X- DT90348 DT90350
Y0 Y1 Y4 Y8 YC X4 R911C
axis DT90349 DT90351
CH0
Y- DT90352 DT90354
Linear interpolation(Note 1)

Y2 Y3 Y5 Y9 YD X5 R911D
axis DT90353 DT90355

X- DT90356 DT90358
Y4 Y5 - YA Y10 X6 DT R911E
axis DT90357 DT90359
CH2 90052 - -
Y- DT90360 DT90362
Y6 Y7 - YB Y11 X7 bit4 R911F
axis DT90361 DT90363

X- DT90364 DT90366
Y8 Y9 - - Y12 X2 R9120
axis DT90365 DT90367
CH4
Y- DT90368 DT90370
YA YB - - Y13 X3 R9121
axis DT90369 DT90371

(Note 1) Even when setting the linear interpolation, the interpolation operation is not performed for the home
return. Execute the operation for X axes and Y axes separately.
(Note 2) The near home input will be valid when an arbitrary input is allocated and the bit 4 of the special data
register DT90052 turns ON.

WUME-FPXHPOSG-01 11-7
11.2 Allocation of Memory Areas

(Note 3) In the FP-X compatible instruction mode, the stop function using the over limit input and the home
return function using the limit input are available.
(Note 4) In the FP-X compatible instruction mode, the J-point control function is not available.
(Note 5) Only F1 (DMV) instruction can perform the reading and writing of elapsed value area.

■ Control Unit (relay output type)

Input / output contact number used Memory area used
J-point BUSY
Deviatio Near
CW CCW Over positio Elapsed
Channel n Home home flag Target
or or limit ning value
no. counter input input (Contr value
Pulse Sign input start area
clear (Note 1) ol area
(Note 2) (Note 3) input active (Note 5)
Output output
output (Note 4) flag)

DT
DT90348 DT90350
CH0 Y100 Y101 Y102 X102 90052 - - R911C
Independent

DT90349 DT90351
bit4
DT
DT90352 DT90354
CH1 Y200 Y201 Y202 X202 90052 - - R911D
DT90353 DT90355
bit4
DT
DT90348 DT90350
Linear Y102 X102 90052 - R911C
DT90349 DT90351
interpolatio Y100 Y101 bit4
n -
Y200 Y201 DT
(Note 1) DT90352 DT90354
Y202 X202 90052 - R911D
DT90353 DT90355
bit4

(Note 1) Even when setting the linear interpolation, the interpolation operation is not performed for the home
return. Execute the operation for X axes and Y axes separately.
(Note 2) The near home input will be valid when arbitrary inputs are allocated and the output relays indicated in
the above table turn ON.
(Note 3) In the FP-X compatible instruction mode, the stop function using the over limit input and the home
return function using the limit input are available.
(Note 4) In the FP-X compatible instruction mode, the J-point control function is not available.
(Note 5) Only F1 (DMV) instruction can perform the reading and writing of elapsed value area.

11.2.3 When Using PWM Output Function

■ Control Unit (transistor output type)

Channel no. Output no. Control active flag Output frequency (duty)
CH0 Y0 R911C
CH1 Y2 R911D 1.0 Hz to 70 kHz: Resolution of 1000 (0.0% to 100.0%)
CH2 Y4 R911E 70001 Hz to 100 kHz: Resolution of 100 (0% to 100%)

CH3 Y6 R911F

11-8 WUME-FPXHPOSG-01
 11.2 Allocation of Memory Areas

■ Control Unit (relay output type)

Channel no. Output no. Control active flag Output frequency (duty)
CH0 Y100 R911C 1.0 Hz to 70 kHz: Resolution of 1000 (0.0% to 100.0%)
CH1 Y200 R911D 70001 Hz to 100 kHz: Resolution of 100 (0% to 100%)

■ Maximum output frequency of pulse output / PWM output

These values are available only when the conditions of each item (such as output method or
channels) are executed. These values are available when the operations such as the high-
speed counter, pulse output function or other interrupt controls are not performed. For details of
the performance achieved when these functions are used simultaneously, refer to the attached
High-speed Counter Maximum Counting Speed Reference Table (FP-XH).

11.2.4 When Using High-speed Counter Function

■ Control Unit (transistor output type)

Performance
Memory area used
specifications
Hardware
Count
Channel no. reset Control Elapsed Target Minimu
Input Maximum
active value value m input
input counting
pulse
flag area area speed
width
DT90300 DT90302
CH0 X0 X6 R9110
DT90301 DT90303
DT90304 DT90306
CH1 X1 - R9111 High-
High- DT90305 DT90307 speed
input 100 kHz
speed DT90308 DT90310
CH2 X2 X7 R9112 5 μs
DT90309 DT90311
[Single
phase] DT90312 DT90314
CH3 X3 - R9113
Addition DT90313 DT90315
input DT90316 DT90318
Subtraction CH4 X4 - R9114
DT90317 DT90319
input
DT90320 DT90322
CH5 X5 - R9115 Medium-
Mediu DT90321 DT90323 speed
m- input 10 kHz
speed DT90324 DT90326
CH6 X6 - R9116 50 μs
DT90325 DT90327
DT90328 DT90330
CH7 X7 - R9117
DT90329 DT90331
X0 DT90300 DT90302
[2-phase] CH0 X6 R9110 High-
High- X1 DT90301 DT90303 speed
2-phase 50 kHz
input speed input
X2 DT90308 DT90310
CH2 X7 R9112 10 μs
Individual X3 DT90309 DT90311
input
Mediu X4 DT90316 DT90318 Medium-
Direction CH4 - R9114
m- speed 10 kHz
distinction X5 DT90317 DT90319
speed input

WUME-FPXHPOSG-01 11-9
11.2 Allocation of Memory Areas

Performance
Memory area used
specifications
Hardware
Count
Channel no. reset Control Elapsed Target Minimu
Input Maximum
active value value m input
input counting
pulse
flag area area speed
width
X6 DT90324 DT90326
CH6 - R9116 100 μs
X7 DT90325 DT90327

(Note 1) X6 can be used either as the count input for CH6 or the reset input for CH0. X7 can be used either as
the count input for CH7 or the reset input for CH2.
(Note 2) Only F1 (DMV) instruction can perform the reading and writing of elapsed value area.

■ Maximum counting speed

These values are available only when the conditions of each item (such as counting method or
channels) are executed. These values are available when the high-speed counter match ON
(F166) instruction, high-speed counter match OFF (F167) instruction, pulse output function or
other interrupt controls are not performed. For details of the performance achieved when these
functions are used simultaneously, please contact us.

■ Control Unit (relay output type Control Unit input)

Performance
Memory area used
Specifications
Count
Channel no. Control Elapsed Minimum
Input Target value Maximum
active value input
counting
area pulse
flag area speed
width
DT90300 DT90302
CH0 X0 R9110
DT90301 DT90303
DT90304 DT90306
CH1 X1 R9111
DT90305 DT90307
DT90308 DT90310
CH2 X2 R9112
DT90309 DT90311
DT90312 DT90314
[Single phase] CH3 X3 R9113
DT90313 DT90315
Addition input 50 μs 10 kHz
DT90316 DT90318
Subtraction input CH4 X4 R9114
DT90317 DT90319
DT90320 DT90322
CH5 X5 R9115
DT90321 DT90323
DT90324 DT90326
CH6 X6 R9116
DT90325 DT90327
DT90328 DT90330
CH7 X7 R9117
DT90329 DT90331
[2-phase] X0 DT90300 DT90302
CH0 R9110
Phase differential X1 DT90301 DT90303
input
100 μs 5 kHz
Individual input X2 DT90308 DT90310
CH2 R9112
direction X3 DT90309 DT90311
distinction

11-10 WUME-FPXHPOSG-01
 11.2 Allocation of Memory Areas

Performance
Memory area used
Specifications
Count
Channel no. Control Elapsed Minimum
Input Target value Maximum
active value input
counting
area pulse
flag area speed
width
X4 DT90316 DT90318
CH4 R9114
X5 DT90317 DT90319
X6 DT90324 DT90326
CH6 R9116
X7 DT90325 DT90327

(Note 1) Only F1 (DMV) instruction can perform the reading and writing of elapsed value area.

■ When using the relay output type pulse I/O cassette

Performance
Memory area used
specifications
Input
Channel no. contact Minimum
Control Elapsed Maximum
(Note 1) Target value input
active value counting
area pulse
flag area speed
width
X100 DT90332 DT90334
CH8 R9118
(X102) DT90333 DT90335 Single-
phase 2
X101 DT90336 DT90338 channels
[Single phase] CH9 R9119
(X102) DT90337 DT90339 6.25μs 100 kHz
Addition input
CHA X200 DT90340 DT90342 (100 μs) Single-
Subtraction input R911A phase 4
(Note 2) (X202) DT90341 DT90343
channels
CHB X201 DT90344 DT90346 100 kHz
R911B
(Note 2) (X202) DT90345 DT90347

X100
[2-phase] DT90332 DT90334 2-phase 1
CH0 X101 R9118 channel
Phase differential DT90333 DT90335
input (X102) 16.7 μs 50 kHz
Individual input X200 (100 μs) 2-phase 2
direction CH2 DT90340 DT90342 channels
X201 R911A
distinction (Note 2) DT90341 DT90343 10 kHz
(X202)

(Note 1) The I/O numbers shown in parentheses can be used as the hardware reset input for one of the
channels.
(Note 2) CHA or CHB can be used when two pulse I/O cassettes are installed.
(Note 3) Only F1 (DMV) instruction can perform the reading and writing of elapsed value area.

WUME-FPXHPOSG-01 11-11
11.3 Positioning Memory

11.3 Positioning Memory

11.3.1 Configuration of Memory Map

The positioning memory consists of four areas.

■ Whole memory map

Area Absolute
address No. of words and configuration
No. Name (Decimal)
Common
0 0000 to 0029 30 words
area
0030 to 0039 For CH0
0040 to 0049 For CH1
Axis 0050 to 0059 For CH2
informatio 10 words for each channel
1 n 0060 to 0069 For CH3
area 0070 to 0079 For CH4
0080 to 0089 For CH5
0090 to 0099 Reserved for system
0100 to 0129 For CH0
0130 to 0159 For CH1
0160 to 0189 For CH2
Axis 30 words for each channel
2 setting 0190 to 0219 For CH3
area
0220 to 0249 For CH4
0250 to 0279 For CH5
0280 to 0299 Reserved for system
For CH0 250 words for each channel
0300 to 0309 Table 1
0300 to 0549 ｜ ｜ 10 words for each table
0490 to 0499 Table 20
Positionin
g 0500 to 0549 Reserved for system
3
table 0550 to 0799 For CH1
area
0800 to 1049 For CH2
1050 to 1299 For CH3 250 words for each channel
1300 to 1549 For CH4
1550 to 1799 For CH5

(Note 1) The addresses in the table are the addresses which indicate the configurations in the positioning
memory. For reading / writing data using user programs, use an area number and offset address in
combination for specification.

11-12 WUME-FPXHPOSG-01
 11.3 Positioning Memory

■ Reading from positioning memory

● It is possible to read the areas which are shown with "Available" in the "R" column in the
following table using the F384 (PTBLR) instruction in user programs during RUN. The
operand of the instruction is specified using the combination of the channel number, area
number and offset address.

■ Writing to positioning memory

● When the mode changes from PROG. to RUN, the contents set by the tool software
Configurator PMX will be stored.
● It is possible to rewrite the areas which are shown with "Available" in the "W" column in the
following table using the F385 (PTBLW) instruction in user programs during RUN. The
operand of the instruction is specified using the combination of the channel number, area
number and offset address.
● Be sure not to execute writing in the reserved areas for the system.

11.3.2 Common Area (Memory Area No. 0)

●: Available, -: Not available

Address Name Default Description R W
Stores used channels (axes) and usage methods.
Monitor using binary display.

bit no. Settings

0 Not use CH0 (0) / Use CH0 (1)
1 Not use CH1 (0) / Use CH1 (1)
2 Not use CH2 (0) / Use CH2 (1)
3 Not use CH3 (0) / Use CH0 (1)
4 Not use CH4 (0) / Use CH3 (1)
0000 Axis setting H0 ● ●
5 Not use CH5 (0) / Use CH3 (1)
6 to 7 Disable the setting
Use CH0 and CH1 as an interpolation
8 axis
Not use (0) / Use (1)
Use CH2 and CH3 as an interpolation
9 axis
Not use (0) / Use (1)
10 to 15 Disable the setting

Positioning repeat Stores the repeat count in decimal when using the
0001 count K0 repeat control in the position control. ● ●
(CH0)
Set value Operation
Positioning repeat 0 or 1 Not repeat an operation.
0002 count K0 ● ●
Repeat an operation for a specified
(CH1) 2 to 254
number of times.

WUME-FPXHPOSG-01 11-13
11.3 Positioning Memory

Address Name Default Description R W

Positioning repeat
0003 count K0 ● ●
(CH2) Set value Operation

Positioning repeat 255 or more Repeat an operation infinitely.

0004 count K0 ● ●
(CH3)
Positioning repeat
0005 count - - ● ●
(CH4)
Positioning repeat
0006 count ● ●
(CH5)
Stores a generated positioning error code in Hex
format (hexadecimal) when using the pulse output
0007 Error code H0 function (table setting mode). ● -
The higher 8 bits indicate channel number.
The lower 8 bits indicate error code.
0008
Reserved for system - - - -
to 0029

11.3.3 Axis Information Area (Memory Area No. 1)

●: Available, -: Not available

Offset
Name Default Description R W
address
Stores the monitor values of the positioning
Active or execution table numbers during the execution or on the
0000 K0 completion of each channel. ● -
done table
Stored value: 0-20
Stores the repeat count during the operation of
each channel. The execution start time is
counted as “1”. When the repeat count exceeds
Repeat count current the upper limit, it returns to “0”. When the repeat
0001 K0 ● -
value operation is not enabled, “0” is stored at the
positioning control start time.
Stored value: 0-65535
Stores the elapsed values (current value
coordinate) of each channel.
0002 Elapsed value (Current Range: -1,073,741,824 to 1,073,741,823
K0 ● ●
-0003 value coordinate) For the interpolation control, the setting range is
as follows.
-8,388,608 to +8,388,607
0004
Reserved for system - - - -
-0009

11-14 WUME-FPXHPOSG-01
 11.3 Positioning Memory

11.3.4 Axis Setting Area (Memory Area No. 2)

●: Available, -: Not available

Offset
Name Default Description R W
address
Stores the settings of pulse output, home position, near
home position, and limit signal of each channel. Monitor in
binary format.

bitno. Item Settings

Pulse output 0：Pulse/Sign

0
method 1：CW/CCW
0: Elapsed value + Direction
is CW
Pulse output (Forward OFF/Reverse ON)
1
rotation direction 1: Elapsed value + Direction
Pulse output is CCW
0000 H0 (Forward ON/Reverse OFF) ● ●
control code
Home position
2
logic
Home position
3
proximity logic 0: Normal Open (A contact)
Limit (+) switch 1: Normal Close (B contact)
4
logic
Limit (-) switch
5
logic
Disable the
6-15
setting

Stores the settings of the startup speed for each operation

0001 Startup
K100 of each channel in decimal. ● ●
-0002 speed
Setting range: 1 to 100,000
Stores the settings of home return patterns of each channel.
H0: DOG method 1
H1: DOG method 2
H2: DOG method 3
Home return
0003 HFF H3: Setting error ● ●
method
H4: Setting error
H5: Home position method (Z phase method)
H6: Data set method
HFF: Not use
Stores the settings of home return operation direction in
Home return decimal.
0004 K0 ● ●
direction 0: Elapsed value decreasing direction (Limit - direction)
1: Elapsed value increasing direction (Limit + direction)
Stores the settings of the acceleration time for the home
Home return
return of each channel in decimal. It indicates the time from
0005 acceleration K100 the startup speed to the home return target speed. ● ●
time
Setting range: 1-10,000 (ms)

WUME-FPXHPOSG-01 11-15
11.3 Positioning Memory

Offset
Name Default Description R W
address
Stores the settings of the deceleration time for the home
Home return
return of each channel in decimal. It indicates the time from
0006 deceleration K100 the home return target speed to the startup speed. ● ●
time
Setting range: 1-10,000 (ms)
Stores the settings of the target speed for the home return
0007 Home return
K1000 of each channel in decimal. ● ●
-0008 target speed
Setting range: 1 to 100,000
Stores the settings of the creep speed for the home return
0009 Home return
K100 of each channel in decimal. ● ●
-0010 creep speed
Setting range: 1 to 100,000
Stores the settings of the deviation counter clear signal ON
time after the completion of home return of each channel in
Deviation decimal.
0011 counter K1 Setting range: 1 to 100 (ms) ● ●
clear time
In the case of 0, no deviation counter clear signal is output.
In the case of 100 or more, the ON time is set to 100 ms.
Stores the elapsed values (current value) after the home
return.
0012 Coordinate
K0 Range: -1,073,741,824 to 1,073,741,823 ● ●
-0013 origin
For the interpolation control, the setting range is as follows.
-8,388,608 to +8,388,607
Stores the settings of the acceleration time for the JOG
JOG operation of each channel in decimal. It indicates the
0014 acceleration K0 acceleration time from startup speed to JOG operation ● ●
time target speed.
Setting range: 0 to 10,000 (ms)
Stores the settings of the deceleration time for the JOG
JOG operation of each channel in decimal. It indicates the
0015 deceleration K0 deceleration time from JOG operation target speed to ● ●
time startup speed.
Setting range: 0 to 10,000 (ms)
Stores the settings of the target speed for the JOG
0016 JOG
K1000 operation of each channel in decimal. ● ●
-0017 target speed
Setting range: 1 to 100,000
J point Stores the settings of the target speed for changing the J-
0018
change K1000 point control speed for each channel in decimal. ● ●
-0019
target speed Setting range: 1 to 100,000
Emergency Stores the settings of the deceleration time for the
stop emergency stop operation of each channel in decimal. It
0020 K100 indicates the deceleration time from 100 kHz to 0 Hz. ● ●
deceleration
time Setting range: 0 to 10,000 (ms)
Stores the settings of the deceleration time for the limit stop
Limit stop
operation of each channel in decimal. It indicates the
0021 deceleration K100 deceleration time from 100 kHz to 0 Hz. ● ●
time
Setting range: 0 to 10,000 (ms)
0022 Reserved
- - - -
-0029 for system

11-16 WUME-FPXHPOSG-01
 11.3 Positioning Memory

(Note 1) The emergency stop deceleration time and limit stop deceleration time indicates the deceleration time
in the section from 100 kHz to 0 Hz. When the speed during the operation is less than 100 kHz, the
actual deceleration time is shorter than the set time.

11.3.5 Positioning Table Area (Memory Area No. 3)

●: Available, -: Not available

Offset
Name Default Description R W
address
Stores the settings of the position specification method for
the positioning operation.

bit no. Item Settings

0000 Control code H0 Control 0：Increment mode ● ●
0
method 1：Absolute mode
Disable the
1-15
setting

Stores the settings of single axis and interpolation operation

pattern of positioning operation. In the interpolation
operation, the setting for the axis with the smallest number
in an axis group is effective.

bit no. 15 87 0
0 0 0 0 0 0 0

Control Channel specification

0001 H0 H00: Linear interpolation ● ●
pattern
(composite speed)
H01: Linear interpolation
(major axis speed)
Control pattern
H00: E-point control (End point control)
H01: P-point control (Pass point control)
H02: C-point control (Continuance point control)
H03: J-point control (Speed point control)

Stores the settings of the acceleration time for the

Positioning
positioning operation. It indicates the acceleration time from
0002 acceleration K100 the startup speed to the target speed. ● ●
time
Setting range: 1 to 10,000 (ms)
Stores the settings of the deceleration time for the
Positioning
positioning operation. It indicates the deceleration time from
0003 deceleration K100 the target speed to the startup speed. ● ●
time
Setting range: 1 to 10,000 (ms)
Stores the settings of the target speed for the positioning
0004 Positioning operation. In the interpolation operation, the setting for the
K1000 axis with the smallest number in an axis group is effective. ● ●
-0005 target speed
Setting range: 1 to 100,000
Stores the settings of the movement amount for the
Positioning positioning operation.
0006
movement K0 ● ●
-0007 Setting range: -1,073,741,824 to 1,073,741,823
amount
For the interpolation control, the setting range is as follows.

WUME-FPXHPOSG-01 11-17
11.3 Positioning Memory

Offset
Name Default Description R W
address
-8,388,608 to +8,388,607
Dwell Stores the setting of dwell time.
0008 K0 ● ●
time Setting range: 0 to 32,767ms
Reserved for
0009 - - - -
system

(Note 1) The offset addresses in the above table are for the table no. 0. They vary according to the table
numbers as described on the next page.

■ Offset addresses

Control Control Positioning Positioning Positioning Dwell

Positioning
Table no. acceleration deceleration movement
code pattern target speed time
time time amount
1 0 1 2 3 4-5 6-7 8
2 10 11 12 13 14-15 16-17 18
3 20 21 22 23 24-25 26-27 28
4 30 31 32 33 34-35 36-37 38
5 40 41 42 43 44-45 46-47 48
6 50 51 52 53 54-55 56-57 58
7 60 61 62 63 64-65 66-67 68
8 70 71 72 73 74-75 76-77 78
9 80 81 82 83 84-85 86-87 88
10 90 91 92 93 94-95 96-97 98
11 100 101 102 103 104-105 106-107 108
12 110 111 112 113 114-115 116-117 118
13 120 121 122 123 124-125 126-127 128
14 130 131 132 133 134-135 136-137 138
15 140 141 142 143 144-145 146-147 148
16 150 151 152 153 154-155 156-157 158
17 160 161 162 163 164-165 166-167 168
18 170 171 172 173 174-175 176-177 178
19 180 181 182 183 184-185 186-187 188
20 190 191 192 193 194-195 196-197 198

(Note 1) For the positioning target speed and positioning movement amount, specify the lower address number
of 2-word area.

11-18 WUME-FPXHPOSG-01
 Record of Changes
Manual numbers can be found at the bottom of the manual cover.

Date Manual No. Record of Changes

Oct. 2020 WUME-FPXHPOSG-01 1st Edition

WUME-FPXHPOSG-01


Order Placement Recommendations and Considerations

  The Products and Specifications listed in this document are subject to change (including
  specifications, manufacturing facility and discontinuing the Products) as occasioned by the
  improvements of Products. Consequently, when you place orders for these Products, Panasonic
  Industrial Devices SUNX asks you to contact one of our customer service representatives and
  check that the details listed in the document are commensurate with the most up-to-date
  information.
  [Safety precautions]
  Panasonic Industrial Devices SUNX is consistently striving to improve quality and reliability.
  However, the fact remains that electrical components and devices generally cause failures
  at a given statistical probability. Furthermore, their durability varies with use environments
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  actual conditions before use. Continued usage in a state of degraded condition may cause the
  deteriorated insulation. Thus, it may result in abnormal heat, smoke or fire. Carry out safety
  design and periodic maintenance including redundancy design, design for fire spread prevention,
  and design for malfunction prevention so that no accidents resulting in injury or death, fire
  accidents, or social damage will be caused as a result of failure of the Products or ending
  life of the Products.
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  sure standards, laws and regulations in case the Products are incorporated to machinery, system,
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  Products by yourself.
Do not use the Products for the application which breakdown or malfunction of Products may
  cause damage to the body or property.
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ii)application which the performance degradation or quality problems, such as breakdown,
of the Products may directly result in damage to the body or property
  It is not allowed the use of Products by incorporating into machinery and systems indicated
  below because the conformity, performance, and quality of Products are not guaranteed under
  such usage.
i) transport machinery (cars, trains, boats and ships, etc.)
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iv) control equipment for electric power generation
v) nuclear control system
vi) aircraft equipment, aerospace equipment, and submarine repeater
vii) burning appliances
viii) military devices
ix) medical devices‫ق‬except for general controls‫ك‬
x) machinery and systems which especially require the high level of reliability and safety
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[Warranty period]
 Unless otherwise stipulated by both parties, the warranty period of our Products is 3 years
after the purchase by you or after their delivery to the location specified by you.
The consumable items such as battery, relay, filter and other supplemental materials are excluded
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[Scope of warranty]
 In the event that Panasonic Industrial Devices SUNX confirms any failures or defects of
the Products by reasons solely attributable to Panasonic Industrial Devices SUNX during the
warranty period, Panasonic Industrial Devices SUNX shall supply the replacements of the Products,
parts or replace and/or repair the defective portion by free of charge at the location where
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 However, the following failures and defects are not covered by warranty and we are not responsible
for such failures and defects.
(1) When the failure or defect was caused by a specification, standard, handling method,
etc. which was specified by you.
(2) When the failure or defect was caused after purchase or delivery to your premises by
an alteration in construction, performance, specification, etc. which did not involve
us.
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the technology at purchasing or contracted time.
(4) When the use of our Products deviated from the scope of the conditions and environment
set forth in the instruction manual and specifications.
(5) When, after our Products were incorporated into your products or equipment for use, damage
resulted which could have been avoided if your products or equipment had been equipped
with the functions, construction, etc. the provision of which is accepted practice in
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(6) When the failure or defect was caused by a natural disaster or other force majeure.
(7) When the equipment is damaged due to corrosion caused by corrosive gases etc. in the
surroundings.
The above terms and conditions shall not cover any induced damages by the failure or defects
of the Products,   and not cover your production items which are produced or fabricated by using
the Products. In any case, our responsibility for compensation is limited to the amount paid
for the Products.
[Scope of service]
  The cost of delivered Products does not include the cost of dispatching an engineer, etc.
  In case any such service is needed, contact our sales representative.
3DQDVRQLF,QGXVWULDO'HYLFHV ㄟㄡㄚㄤ &R/WG

WUME-FPXHPOSG-01

6;6<
(MEMO)

WUME-FPXHPOSG-01
Panasonic Industrial Devices SUNX Co., Ltd. 2020
October, 2020
WUME-FPXHPOSG-01