3F88L-CG001N

Cat. No. O008-E1-1 USER’S MANUAL 3F88L-160/162 Cam Positioner Thank you for choosing this 3F88L-160/162 Cam Positioner. Proper use and handling of the product will ensure proper product performance, will lengthen product life, and may prevent possible accidents. Please read this manual thoroughly and handle and operate the product with care. NOTICE 1. This manual describes the functions of the product and relations with other products. You should assume that anything not described in this manual is not possible. 2. Although care has been given in documenting the product, please contact your OMRON representative if you have any suggestions on improving this manual. 3. The product contains potentially dangerous parts under the cover. Do not attempt to open the cover under any circumstances. Doing so may result in injury or death and may damage the product. Never attempt to repair or disassemble the product. 4. We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed. S Precautions on the dangers of high-voltage equipment. S Precautions on touching the terminals of the product even after power has been turned off. (These terminals are live even with the power turned off.) 5. Specifications and functions may be changed without notice in order to improve product performance. Items to Check Before Unpacking 1. Check the following items before removing the 3F88L-160/162 Cam Positioner from the package: S Has the correct product been delivered (i.e., the correct model number and specifications)? S Has the product been damaged in shipping? S Are any screws or bolts loose? S Have all accessories been correctly delivered together with or attached to the product? The accessory for the 3F88L-160/162 Cam Positioner is the Safety Precautions only. Mounting screws and other necessary parts must be provided by the customer. Should there be any problems with this product, contact your nearest OMRON sales representative. 2. Check the following items before removing the 3F88L-RS17/17T/15/15WResolver from the package: S Has the correct product been delivered (i.e., the correct model number and specifications)? S Has the product been damaged in shipping? S Are any screws or bolts loose? S Have all accessories been correctly delivered together with or attached to the product? The accessories for the 3F88L-RS17/17T are one 3F88L-RL10 Coupling and one copy of the user’s manual. The accessories for the 3F88L-RS15/15W are one 3F88L-RL6 Coupling and three mounting claws. Should there be any problems with this product, contact your nearest OMRON sales representative. Notice: OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property. DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. ! WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. ! Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage. ! OMRON Product References All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product. The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense. The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything else. Visual Aids The following headings appear in the left column of the manual to help you locate different types of information. Note Indicates information of particular interest for efficient and convenient operation of the product.  OMRON, 1999 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication. Intended Audience This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent). S Personnel in charge of installing FA systems. S Personnel in charge of designing FA systems. S Personnel in charge of managing FA systems and facilities. General Precautions The user must operate the product according to the performance specifications described in the operation manuals. Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, and other systems, machines, and equipment that may have a serious influence on lives and property if used improperly, consult your OMRON representative. Make sure that the ratings and performance characteristics of the product are sufficient for the systems, machines, and equipment, and be sure to provide the systems, machines, and equipment with double safety mechanisms. This manual provides information for programming and operating the Unit. Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation. ! WARNING It is extremely important that a PC and all PC Units be used for the specified purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying a PC System to the above-mentioned applications. Safety Precautions General Warnings ! WARNING Do not attempt to disassemble the Unit while power is being supplied. Doing so may result in electrical shock. ! WARNING Do not touch any of the terminals while power is being supplied. Doing so may result in electrical shock. ! WARNING Take safety measures outside the Cam Positioner to ensure safety for the entire system in the event of Cam Positioner failure or error caused by external factors of the Cam Positioner. Faulty operations may result in serious accidents. S Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be included in control circuits outside the Cam Positioner. S The Cam Positioner turns OFF all outputs when its self-diagnostic function detects an error (ERROR is OFF), when TRIG input turns ON, or when RESET input turns ON. Take safety measures outside the Cam Positioner to ensure safety for the entire system in such an event. S The Cam Positioner output may remain ON or OFF due to damage to an output transistor or for some other reason. Take safety measures outside the Cam Positioner to ensure safety for the entire system in such an event. General Precautions ! Caution Fail-safe measures must be taken by the customer to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes. ! Caution Always use the power supply voltages specified in the operation manuals. ! Caution Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Be particularly careful in locations where the power supply is unstable. ! Caution Install external breakers and take other safety measures against short-circuiting in external wiring. ! Caution Disconnect the functional ground terminal when performing withstand voltage tests. ! Caution Always connect to a ground of 100 Ω or less when installing the Unit. ! Caution Do not attempt to disassemble, repair, or modify the Unit. ! Caution Leave the label attached to the Unit when wiring. ! Caution Remove the label after the completion of wiring to ensure proper heat dissipation. ! Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. ! Caution Thoroughly check all wiring before turning ON the power supply. ! Caution Wire all connections correctly. ! Caution Do not place objects on top of the cables or other wiring lines. ! Caution Do not pull on the cables or bend the cables beyond their natural limit. ! Caution Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static built-up. ! Caution Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in the operation manual. For DIN track mounting, push the Cam Positioner forward until the lock snaps into place. ! Caution Be sure that cables and other items with locking devices are properly locked into place. ! Caution Always turn OFF the power supply to the Unit before attempting any of the following. S Assembling the Unit. S Setting switches. S Connecting cables or wiring the system. S Connecting or disconnecting the connectors. ! Caution Thoroughly check the newly created cam programs, parameter settings, and switch settings for proper execution before actually running them. ! Caution Confirm that no adverse effect will occur in the system before attempting any of the following. S Switching the operating mode of the Unit S Origin compensation S Switching the execution bank ! Caution When installing the Unit, adjust the origin before starting operation. ! Caution Be sure that the number of resolver rotations is always within the allowable range. ! Caution When replacing the Unit, transfer all the parameters and cam programs from the old Unit to the new Unit before restarting operation. ! Caution Do not apply voltages to the input terminal in excess of the rated input voltage. ! Caution Do not apply voltages or connect loads to the output terminal or cam output connector in excess of the maximum switching capacity. ! Caution Do not touch the terminals for one minute after the power is turned OFF. Installation Precautions ! Caution Install the Unit properly as specified in the operation manual. ! Caution Do not install the Unit in the following locations. S Locations subject to direct sunlight. S Locations subject to temperatures or humidity outside the range specified in the specifications. S Locations subject to condensation as the result of severe changes in temperature. S Locations subject to corrosive or flammable gases. S Locations subject to dust (especially iron dust) or salts. S Locations subject to exposure to water, oil, or chemicals. S Locations subject to shock or vibration. ! Caution Take appropriate and sufficient countermeasures when installing the Unit in the following locations. S Locations subject to static electricity or other forms of noise. S Locations subject to strong electromagnetic fields and magnetic fields. S Locations subject to possible exposure to radioactivity. S Locations close to power supplies. Conformance to EC Directives H Applicable Directives S EMC Directives S Low Voltage Directive Concepts EMC Directives EMC Directives stipulate that the system must comply with both EMS and EMI standards (see the following note). Because OMRON devices are designed for installation in various equipment or machines, they comply with the relevant EMC standards so that the equipment or machines can easily comply with the EMC standards. However, the systems used by customers are diverse, and EMC-related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration, wiring, and other conditions of the equipment or control panel in which the OMRON devices are installed. The customer must, therefore, perform final checks to confirm that devices and the overall machine conform to EMC standards. Note Applicable EMC (Electromagnetic Compatibility) standards are as follows: EMS (Electromagnetic Susceptibility): EN61131-2 EMI (Electromagnetic Interference): EN50081-2 (Radiated emission: 10-m regulations) Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1,000 V AC or 75 to 1,500 V DC meet the required safety standards (EN61131-2). Conformance to EC Directives The 3F88L-160/162 Cam Positioner complies with EC Directives. To ensure that the system in which the 3F88L-160/162 is installed complies with EC Directives, the following precautions must be observed. 1. The 3F88L-160/162 is defined as an in-panel device according to the Low-voltage Directive. The 3F88L-160/162 must, therefore, be installed within a control panel. 2. Reinforced insulation or double insulation must be used for the DC power supplies used as I/O power supplies. 3. The 3F88L-160/162 conforms to the Common Emission Standard (EN50081-2) in relation to EMI. However, the radiated emission (10-m regulations) may vary depending on the configuration of the control panel, connected devices, wiring, and other conditions. The user must, therefore, confirm that devices and the overall machinery conform to EC Directives. Table of Contents Chapter 1. Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1-1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 1-1-1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 1-1-2 Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 1-1-3 Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 1-1-4 Selecting the Function Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 1-1-5 Basic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 1-1-6 Initial Settings Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 1-1-7 Applied Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 1-3 Name and Function of Each Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 1-3-1 Display Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8 1-3-2 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8 1-3-3 Operation Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9 1-3-4 Terminal Block and Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9 1-4 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10 1-5 Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11 1-5-1 Before Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11 Chapter 2. Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 2-1 System Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1-1 Selecting the Resolver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1-2 Selecting the Output Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2-1 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2-2 Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2-3 Mounting the Resolver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3-1 System Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3-2 Standard Wiring Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3-3 Terminal Block Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3-4 Resolver Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3-5 Cam Output Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3-6 Connecting a Display Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 2-2 2-4 2-6 2-6 2-8 2-9 2-13 2-13 2-14 2-16 2-21 2-22 2-25 Chapter 3. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3-1 Nomenclature of Display and Operation Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Modes, Functions, and Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3-1 Before Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 Selecting Function Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5-1 Function Level Selection Setting (SET Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5-2 Initial Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5-3 Cam Program Creating and Checking (PRGM Mode/SET Mode) . . . . . . . . . . . . . . . 3-5-4 Resolver and Machinery Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5-5 Origin Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5-6 Start Operation (RUN Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5-7 I/O Monitor Function (RUN Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5-8 Control I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 3-4 3-12 3-12 3-14 3-20 3-20 3-21 3-24 3-37 3-37 3-38 3-40 3-42 Table of Contents 3-6 Applied Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-1 Function Level Selection Setting (SET Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-2 Parameter List (SET Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-3 Parameter Explanation and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-4 Origin Compensation and Origin Shift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-5 Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-6 Advance Angle Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-7 Cam Protect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-8 One-direction Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-9 Output Hold Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-10 Present Value Output Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-11 Pulse Output Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-12 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-13 Copy Function (Data Transfer) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-14 Trial/Adjustment Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44 3-44 3-45 3-49 3-56 3-60 3-62 3-69 3-75 3-77 3-78 3-80 3-83 3-88 3-93 Chapter 4. Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 4-1 Overview of CompoWay/F Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 Command and Response Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2-1 Command Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2-2 Response Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 Command Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3-1 Memory Area Read (RUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3-2 Parameter Area Read/Write (SET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3-3 Controller Data Read (RUN, PRGM, SET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3-4 Unit Attribute Read (RUN, PRGM, SET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3-5 Controller Status Read (RUN, PRGM, SET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3-6 Operation Command (RUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3-7 Internode Echo Test (RUN, PRGM, SET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Executing CompoWay/F Commands with Protocol Macros . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 4-5 4-5 4-7 4-10 4-10 4-12 4-19 4-20 4-20 4-21 4-22 4-23 Chapter 5. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 5-1 5-2 5-3 5-4 5-5 Diagnosis using Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 CompoWay/F Communications Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12 Cam Positioner Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13 Chapter 6. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 6-1 6-2 6-3 6-4 Cam Positioner Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Resolver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I/O Block Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Display Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 6-4 6-6 6-8 Chapter 7. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 7-1 7-2 7-3 7-4 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4 Resolver Life Expectancy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8 Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11 Table of Contents 7-5 7-6 7-7 7-8 Displays by Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Cam Programming Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameter Settings Log Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12 7-16 7-21 7-22 I-1 R-1 1 Chapter 1 Outline 1-1 1-2 1-3 1-4 1-5 Functions System Configuration Name and Function of Each Part Glossary Operation Procedure Outline 1-1 Chapter 1 Functions The 3F88-L160 and 3F88L-162 Cam Positioners are Units that detect angles through a Resolver (a sensor that detects absolute angles) and turn output signals ON and OFF at a preset angle through a cam program. The 3F88L-160 Cam Positioner has 16 cam output points and the 3F88L-162 Cam Positioner has 32 cam output points. 1-1-1 Basic Operation • Input a cam program (the ON/OFF pattern for cam outputs) into the Cam Positioner, use the bank switching signal to select the bank number, and turn ON the operation signal to start operation. Resolver angle 0° 90° 180° 270° 0° Cam output 1 Cam output 2 Cam output 3 (Programming example for 360 resolution) Cam output Cam Program (Bank No. 1) Cam No. Step ON angle OFF angle 1 2 2 3 --- 1 1 2 1 --- 90 315 135 0 --- 180 45 225 45 --- Cam Program (Bank No. 2) Cam Program (Bank No. 3) ----- Resolver User machine or device Cam Positioner Control input Bank switching signal (Bank numbers 1 to 3) Operation signal (START) 1-1-2 Resolution • The angle resolution can be set to 360 (divisions/revolution) or 720 (divisions/revolution). • The following table shows how functions and performances are affected by resolution settings. Function or Characteristic Angle setting and display units Permissible Resolver speed No. of cam program steps Number of banks 360 resolution 1° is set and displayed as “1.” 1,600 r/min 180 max. 8 720 resolution 0.5° is set and displayed as “1.” 800 r/min 360 max. 4 Note For example, to set the ON angle at 90°, the setting is “90” for a 360 resolution and “180” for a 720 resolution. 1-2 Outline Chapter 1 1-1-3 Modes • The 3F88-L160 and 3F88L-162 Cam Positioners have three modes: RUN, PRGM, and SET. These are set using the mode selection switch on the front of the Unit. The functions of each mode are outlined below. (Refer to 3-2 Mode, Functions, and Display.) RUN mode: Operation and compensation. PRGM mode: Creation, editing, deletion, and trial operation of cam programs. SET mode: Unit parameters and various compensation value settings, teaching, and communications settings. 1-1-4 Selecting the Function Level • Three function levels are available to limit Cam Positioner functions. (Refer to 3-4 Selecting Function Levels.) Function Level 0 (Monitor Only) Cam output and monitoring are enabled. Cam programs are write protected and parameter settings cannot be made. This function level is designed to prevent inadvertent changes to the cam program or parameters. Function Level 1 (Basic Operation/Monitor Only) In addition to the functions available at function level 0, cam programs may be edited. This function level is used for basic operation. Function Level 2 (All Functions) All Cam Positioner functions are enabled. This function level is for using applied functions. 1-1-5 Basic Functions H Cam Program Write Function • Cam programs set the angle at which the cam output is turned ON and OFF. Up to 180 steps can be set and up to 8 banks registered for 360 resolution and up to 360 steps and 4 banks for 720 resolution can be set for each cam output point. (Refer to 3-5-3 Cam Program Creating and Checking.) • Cam programs are normally input by using the operation keys on the front of the Unit but settings can be made from a personal computer by using a special communications protocol (CompoWay/F). (Refer to Chapter 4 Communications.) Note 1. A step is one ON/OFF combination for one cam. Note 2. A bank is a program unit made up of cam outputs 1 to 32 for the 3F88L-162 and cam outputs 1 to 16 for the 3F88L-160. By changing the bank, the program that will be operated will change. H Cam Output • While START input is ON, this function turns cam outputs ON and OFF in the bank specified at BANK input according to the ON/OFF angles set for each cam. H Monitor • Monitors cam output and control I/O status. (Refer to 3-5-7 I/O Monitor Function.) 1-3 Outline Chapter 1 H Data Save • Saves parameters and cam programs in non-volatile memory (EEPROM). As the data is stored in non-volatile memory, battery replacement, and other maintenance is not required. H Program Number Check • The number of programs and origin compensation angle can be checked. (Refer to 3-5-3 Cam Program Creating and Checking.) 1-1-6 Initial Settings Functions H Switching Resolution • Switches between 360 and 720 divisions per Resolver revolution. (Refer to 3-5-2 Initial Settings.) H Changing Rotation Direction • Sets the direction of increasing angle to suit the mechanical configuration. (Refer to 3-5-2 Initial Settings.) 1-1-7 Applied Functions H Origin Compensation • Sets any angle to 0° according to the mechanical origin. (Refer to 3-6-4 Origin Compensation and Origin Shift.) H Origin Shift • Sets any angle to 0° according to the mechanical origin when the trigger turns ON in RUN mode. (Refer to 3-6-4 Origin Compensation and Origin Shift.) H Backlash Compensation • Sets a difference between the detection angles in CW and CCW directions to absorb mechanical vibration. (Refer to 3-6-5 Backlash Compensation..) H Advance Angle Compensation • Advances the cam output angle in proportion to the number of Resolver revolutions. (Refer to 3-6-6 Advance Angle Compensation.) H Cam Protect • Protects each bank and cam to prevent the cam ON/OFF data being inadvertently changed or deleted. H One-direction Function Setting • Enables cam output in one rotational direction only. (Refer to 3-6-8 One-direction Function.) 1-4 Outline Chapter 1 H Output Hold Function • Holds the immediately preceding cam output status when the user switches to PRGM mode or when there is an error. (Refer to 3-6-9 Output Hold Function.) H Present Value Output Function • Uses the cam output signal and outputs the signal to the Display Unit (M7E, M7F, or other Display Units.) The present angle or number of revolutions can be displayed on the Display Unit. (Refer to 3-6-10 Present Value Output Function.) H Pulse Output Function • Automatically sets data that turns ON and OFF at regular intervals in a desired bank or cam in order to edit memory contents. (Refer to 3-6-11 Pulse Output Function.) H Teaching • The Resolver angle data may be input as cam program settings during manual operation of the machinery. (Refer to 3-6-12 Teaching.) H Copy Function • By making the settings for one Cam Positioner, the cam program, the various compensation values, and settings in one operation may be copied to another Cam Positioner. H Trial Operation • When adjusting the ON/OFF angles to suit the machinery, performs cam output and changes the ON/ OFF angle in real time regardless of the control input signal status. (Refer to 3-6-14 Trial/Adjustment Operation.) H Compensation Operation • When adjusting the ON/OFF angles to suit the machinery, changes the ON/OFF angles in real time while in operation status (cam output status). (Refer to 3-6-14 Trial/Adjustment Operation.) H Communications Function • Has a communications port that conforms to shape B in CompoWay/F. Communications can be used to read and write cam programs and monitor present angles and number of revolutions. (Refer to Chapter 4 Communications.) Note CompoWay/F is a uniform procedure in OMRON serial communications. CompoWay/F has uniform frame formats and commands that conform to FINS (Factory Interface Network Service) that is used in OMRON PCs. It facilitates easier communications between multiple components and between personal computers and components. 1-5 Outline 1-2 Chapter 1 System Configuration Control Section Output Section SYSMAC CS1-series PC or other PC Cam output signal Control I/O signal SYSMAC CS1-series PC or other PC G7TC-OC16 I/O Block 3F88L-160 or 3F88L-162 Cam Positioner Detection Section M7E or M7F Display Unit 3F88L-RS17, 3F88L-RS17T, 3F88L-RS15, or 3F88L-RS15W Resolver 1-6 Note Refer to 2-3 Wiring or 7-4 Standard Models for information on various connection cables. Outline 1-3 Chapter 1 Name and Function of Each Part 11. Cam output connector (top) 1. Bank/Function display 2. Cam/Parameter No. display 5. Mode selection switch 6. P⋅ CLR switch 7. ADJ switch 8. CW/CCW setting switch Mounting hole 12. Communications port 10. Resolver connector 9. Operation keys 13. Terminal block (under the cover) Mounting hole 4. POSITION/OFF (Present angle/ OFF angle) display 5. SPEED/ON (Number of revolutions/ON angle) display 1-7 Outline Chapter 1 1-3-1 Display Section • Displays the operation status, error status, and settings data. • The data displayed will differ depending on the mode. Name 1. Bank and function display p y 2. Cam and parameter number display p y 3. Number of revolutions and ON angle l display di l 4. Present angle g and OFF angle l display di l Mode RUN PRGM SET RUN PRGM SET RUN PRGM SET RUN PRGM SET Display Display the number of the operating bank. Display the number of the bank being programmed. Display the number of the function being set. Displays “ru” when the START signal is ON and is blank when the START signal is OFF. Displays the number of the cam being programmed. (Different for different settings functions.) Displays the number of revolutions or an error message. Displays the ON angle or an error message. (Differs for different settings functions.) Displays the present angle. Displays the OFF angle. (Different for different settings functions.) 1-3-2 Switches Name 5. Mode selection switch --- 6. P ⋅ CLR switch PRGM 7. ADJ switch SET 8. CW/CCW setting switch When power is turned ON 1-8 Mode Function Switches between the three operation modes: RUN, PRGM, and SET. Deletes all cam programs in the Cam Positioner. Adjusts the compensation by executing origin compensation. Changes the rotation direction. The direction of increasing angle is set to either CW (clockwise) or CCW (counterclockwise) when viewed from the Resolver axle side. Outline Chapter 1 1-3-3 Operation Keys BANK/ FUN CAM/ PRMTR ON/ OFF CLR SET Name Bank/Function Key Mode PRGM/SET Function Increases bank and function numbers. Cam/Parameter Key --- Increases cam and parameter numbers. ON/OFF Switching Key --- Switches between ON and OFF angles. Up Key --- Increases the numeral that is flashing. Down Key --- Decreases the numeral that is flashing. Forward Key --- Changes the digit of the numeral to be set. Clear Key --- Clears data. Set Key --- Saves input data. 1-3-4 Terminal Block and Connectors Name 10. Resolver connector 11. Cam output connector 12. Communications port 13. Terminal block Function Connects to the Resolver cable connector. Used for cam output. CompoWay/F communications connector (connects to a personal computer and other Cam Positioners) (9-pin D-sub connector) Power input, control input, and control output terminals. 1-9 Outline 1-4 Chapter 1 Glossary Term Cam output Cam program Cam protect Compensation operation Origin compensation Origin shift Origin value Resolver Trial operation Meaning Cam output consists ON/OFF outputs for the Resolver angle according to the ON/OFF angles set by the user (the cam program). A cam program consists ON/OFF angle data set by the user. The cam data protect function protects the cam ON/OFF data from being inadvertently changed or deleted. When in RUN mode, this function can be used to adjust the cam output ON and OFF angles by using the operation keys in order to check mechanical operation. When in SET mode, the mechanical origin and the Resolver origin can be aligned by pressing the ADJ switch on the front of the Cam Positioner. When in RUN mode, this function can be used to temporarily shift the displayed angle to the origin by shorting the TRIG terminal with the 0-V terminal. The origin value is a value set as the origin of the Resolver. This value can be set to any angle when origin compensation or origin shift has been performed. The default setting is 0. The Resolver is a sensor that detects the absolute angle. One of four Resolver models (3F88L-RS17, 3F88L-RS17T, 3F88L-RS15, and 3F88L-RS15W) can be selected for 3F88L-160 and 3F88L-162 Cam Positioners. When in PRGM mode, this function can be used to adjust the cam output ON and OFF angles by using the operation keys in order to check mechanical operation. The greatest difference from compensation operation is the ability to adjust the ON and OFF angles of any bank or cam number without any external control signal input during trial operation. 1-10 Outline 1-5 Chapter 1 Operation Procedure 1-5-1 Before Operation H Basic Use • The procedure for using the Cam Positioner at function level 1 (basic operation/monitor only) is outlined below. Procedure Installation Wiring Power ON Contents Install the Cam Positioner according to the installation environment conditions. Connect the wiring for the power supply, Resolver, and peripheral devices. Before the power is turned ON: Reference section 2-2 2-3 • Check that the wires and connectors for the Resolver and peripheral devices have been connected properly. • Check that the Resolver and the machinery are not connected. After the power is turned ON: • Check that there are no error codes displayed (E--**). Function level selection Initial settings Power resetting (OFF to ON) Creation and confirmation of cam programs Connection between Resolver and machinery Execution of origin compensation Operation/monitoring Function level selection • Set the mode selection switch to RUN and check that the number of revolutions and the present angle display changes when the Resolver axis is rotated by hand. Select function level 1 (basic operation/monitor only). 3-5-1 3-5-2 Set the resolution (SET mode) and rotation direction (CW/CCW) to suit the application. Turn ON the power to enable the set parameters. Create and check cam programs (PRGM mode). Check the number of programs (SET mode). Turn OFF the power and connect the Resolver and the machinery. Turn ON the power and execute origin compensation (use the ADJ switch in SET mode). Change to RUN mode and check the operation of the machinery and monitor the I/O status. Correct the cam program if required (PRGM mode). If required, set to function level 0 (monitor only) to prevent faulty operation. 3-5-3 3-5-4 3-5-5 3-5-6 3-4 Note This procedure is applicable when only the basic functions (function level 1) are used. In the cases outlined below, the applied functions (function level 2) must be used. (Refer to 3-6 Applied Functions.) S When setting origin compensation values, using backlash compensation, advance angle compensation, and other compensation functions. S When executing a trial or compensation operation. 1-11 Outline Chapter 1 S When using the teaching function. S When making pulse output, cam data protect, output hold, one-direction function, and present value output settings. H Applied Functions • The procedure for using the Cam Positioner at function level 2 (all functions) is outlined below. Procedure Installation Wiring Power ON Contents Install the Cam Positioner according to the installation environment conditions. Connect the wiring for the power supply, Resolver, and peripheral devices. Before the power is turned ON: Reference section 2-2 2-3 • Check that the wires and connectors for the Resolver and peripheral devices have been connected properly. • Check that the Resolver and the machinery are not connected. After the power is turned ON: • Check that there are no error codes displayed (E--**). Function level selection Initial settings Power resetting (OFF to ON) Parameter settings Power resetting (OFF to ON) Creation and confirmation of cam programs Connection between Resolver and machinery Execution of origin compensation Teaching Trial operation Operation/monitoring Origin shift execution Compensation operation Function level selection 1-12 • Set the mode selection switch to RUN and check that the number of revolutions and the present angle display changes when the Resolver axis is rotated by hand. Select function level 2 (all functions). 3-6-1 3-5-2 Set the resolution (SET mode) and rotation direction (CW/CCW) to suit the application. Turn ON the power to enable the set parameters. Make the parameter settings. Turn ON the power to enable the set parameters. 3-6-2 and 3-6-3 Create and check cam programs (PRGM mode). Check the number of programs (SET mode). Turn OFF the power and connect the Resolver and the machinery. Turn ON the power and execute origin compensation (use the ADJ switch in SET mode). If required, use the teaching function (SET mode) and create a cam program while operating the machinery manually. Change to PRGM mode, and, if required, adjust the cam program while checking the timing of the cam output. Change to RUN mode and check the operation of the machinery and monitor the I/O status. Correct the cam program if required (PRGM mode). If required, turn ON TRIG input and execute origin shift (RUN mode). If required, adjust the cam program while checking the timing of the cam output. If required, set to function level 0 (monitor only) to prevent faulty operation. 3-5-3 3-5-4 3-5-5 3-6-12 3-6-14 3-5-6 3-6-4 3-6-14 3-4 2 Chapter 2 Design 2-1 2-2 2-3 System Design Installation Wiring Design 2-1 Chapter 2 System Design ! WARNING Take safety measures outside the Cam Positioner to ensure safety for the entire system in the event of Cam Positioner failure or error caused by factors external to the Cam Positioner. Faulty operation may result in a serious accident. S Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be included in control circuits outside the Cam Positioner. S The Cam Positioner turns OFF all outputs when its self-diagnostic function detects an error (ERROR is OFF), when TRIG input turns ON, or when RESET input turns ON. Take safety measures outside the Cam Positioner to ensure safety for the entire system in such an event. S The Cam Positioner output may remain ON or OFF due to damage to an output transistor or for some other reason. Take safety measures outside the Cam Positioner to ensure safety for the entire system in such an event. 2-1-1 Selecting the Resolver There are four Resolver models available. Select the Resolver suitable for the application. H Resolvers Type Model Axle diameter Rated axle load Total length Attachment method Friction torque Connection to Cam Positioner Large-diameter High-torque 3F88L-RS17 3F88L-RS17T 10 mm Thrust load: 196 N max. Connector Lead-wire 3F88L-RS15 3F88L-RS15W 6 mm Thrust load: 98N max. Radial load: 196 N max. 101 mm 110 mm Flange Radial load: 98 N max. 154 mm 97 mm Connected to the servo. 12 mN S m max. 49 to 147 mN S m Shown in diagram A. 2.9 mN S m max. Shown in diagram B. Note High-torque Resolvers have oil seals. 2-2 Shown in diagram C. Design Chapter 2 H Cam Positioner and Resolver Configuration A 3-m Plug-in cable 3F88L-160 or 3F88L-162 Cam Positioner 3F88L-CRjjjC Resolver Extension Cable B 3F88L-RS17/-RS17T Resolver Connector type 3F88L-160 or 3F88L-162 Cam Positioner 3F88L-CRjjjNA Resolver Cable C 3F88L-RS15 Resolver 35-cm Separate wire plug-in cable 3F88L-160 or 3F88L-162 Cam Positioner 3F88L-CRjjjSA Resolver Cable 3F88L-RS15S Resolver Note 1. 3F88-RS17 and 3F88-RS17T Resolvers have 3-m cables. Use the 3F88L-CRjjjC Resolver Extension Cable if more cable is required. Note 2. The jjj in the Extension Cable model number indicates the length of the Extension Cable. For example, the 3F88L-CR010C Extension Cable is 10 m in length. Note 3. The distance between the Cam Positioner and the Resolver can be up to 100 m. 2-3 Design Chapter 2 2-1-2 Selecting the Output Device Select the device and connection method for ON/OFF outputs from the Cam Positioner. (Refer to 2-3 Wiring for information on connecting output devices.) H For Relay Output Use an I/O Block for relay output. 3F88L-160 or 3F88L-162 Cam Positioner 3F88L-CGjjjN Cam Output Cable G7TC-OC16 I/O Block H For Transistor (Open Collector) Output Use the outputs straight from the Cam Output Cable. Open collector output 3F88L-160 or 3F88L-162 Cam Positioner 3F88L-CGjjjS Cam Output Cable H For Mostly Relay Output with Some Open Collector Output Use an I/O Block and use an Output Short-circuit Module to give some open collector output. 3F88L-160 or 3F88L-162 Cam Positioner 2-4 3F88L-CGjjjN Cam Output Cable G7TC-OC16 I/O Block Output Short-circuit Module Design Chapter 2 H To Display Present Angles and Other Data on a Display Unit Connect a M7E or M7F Display Unit to the Cam Output Cable. 3F88L-160 or 3F88L-162 Cam Positioner 3F88L-CGjjjS Cam Output Cable M7E or M7F Display Unit Note Parameters must be set to output present values. The present value output and cam output terminals will be shared which means that some cam output signals can no longer be used. 2-5 Design 2-2 Chapter 2 Installation 2-2-1 External Dimensions Note All units are in millimeters unless otherwise indicated. H 3F88L-160 and 3F88L-162 Cam Positioners 101±0.2 91± 0.2 Two, 4.5 dia. • When the Resolver Cable is connected 2-6 Design Chapter 2 H Resolvers 50 ± 0.3 dia. 28±0.5 72 (81) (see note) 40 dia. 35+0/--0.05 dia. Four, 4.5 dia. 10--0.005/--0.017 dia. D 3F88L-RS17 and 3F88L-RS17T OMRON XM2A-1501 15-pin D-sub Plug 8.6 dia. Approx. 3 m 8.6 dia. OMRON XM2D-1501 15-pin D-sub Socket Note The dimensions in parentheses are for the 3F88L-RS17T Resolver. 16.5±0.5 65 max. 39 dia. 6--0.004/--0.016 dia. 33.32+0/--0.05 43 dia. D 3F88L-RS15 Hirose RM15WTP-10S-(8) Connector Hirose RM15WTR-10P Connector 2-7 Design Chapter 2 16.5±0.5 16 max. 350 max. 39 dia. 6--0.004/--0.016 dia. 33.32+0/--0.05 43 dia. D 3F88L-RS15W 2-2-2 Installation Environment Take precautions with the installation environment to improve the reliability and to fully utilize the functions of the Cam Positioner system. H Do not install the Unit in the following locations. • Locations subject to direct sunlight. • Locations subject to ambient temperatures or relative humidities outside the following ranges. Ambient temperature: 0° to 55°C (Cam Positioner Unit) and --10° to 80°C (Resolver) Ambient humidity: 10 to 90 % (with no condensation). • Locations subject to condensation as the result of severe changes in temperature. • Locations subject to corrosive or flammable gases. • Locations subject to dust (especially iron dust) or salts. • Locations subject to exposure to water, oil, or chemicals. • Locations subject to shock or vibration. H Take appropriate and sufficient countermeasures when installing the Unit in the following locations. • Locations subject to static electricity or other forms of noise. • Locations subject to strong electromagnetic fields and magnetic fields. • Locations subject to possible exposure to radioactivity. • Locations close to power supplies. 2-8 Design Chapter 2 H Conformance to EC Directives The 3F88L-160/162 Cam Positioner complies with EC Directives. To ensure that the system in which the 3F88L-160/162 is installed complies with EC Directives, the following precautions must be observed. • The 3F88L-160/162 is defined as an in-panel device according to the Low-voltage Directive. The 3F88L-160/162 must, therefore, be installed within a control panel. • Reinforced insulation or double insulation must be used for the DC power supplies used as I/O power supplies. • The 3F88L-160/162 conforms to the Common Emission Standard (EN50081-2) in relation to EMI. However, the radiated emission (10-m regulations) may vary depending on the configuration of the control panel, connected devices, wiring, and other conditions. The customer must, therefore, confirm that devices and the overall machine conform to EC Directives. 2-2-3 Mounting the Resolver Use the Resolver Coupling to connect the Resolver to the machinery. This Coupling protects the Resolver from vibrations and shocks from the machinery. H Mounting Method D 3F88L-RS17/17T (Flange-mounted) • Recommended mounting holes • Mounting example Four, M4 screws Four, M4-screws 35+0.025/+0.009 dia. 50 dia. 50 ± 0.3 dia. 3-mm sheet min. 2-9 Design Chapter 2 D 3F88L-RS15/15W (Servo-mounted) • Recommended mounting hole • Mounting example Three, M4 screws (Evenly spaced around circumference) 33.332+0.025/+0.009 dia. 52 dia. 52 dia. 67 dia. 3-mm sheet min. • Mounting hook (Resolver attachment) 4.4 dia. H Connecting with the Coupling As a rule, the Resolver Coupling should be used when connecting the Resolver to the machinery. The Coupling will break near the center if 1.7 to 2 times the rated tightening torque is applied and, therefore, protects the Resolver from excessive torque. Keep the axle center displacement and bend angle of the Coupling within the specifications when mounting. D Coupling Specifications 3F88LCouplings Dimensions (mm) 3F88LResolvers D dia. E dia. L P A B C Max. bend angle θ1 (see note 2) Axle center displace placement Rated tightening torque +20°C +80°C Screw sets Size t1 (see note 3) Tightening torque RL10 RS17/RS17J 10 22 26.2 19 3.6 7.1 12 10° max. 1.0 mm max. 2.94 NSm 1.76 NSm M4 × 6 0.44 NSm RL6 RS15/RS15W 6 15 22 16.4 2.8 5.5 11 10° max. 1.2 mm max. 0.98 NSm 0.58 NSm M3 × 4 0.24 NSm Note 1. The Coupling is made from 25% Duracon glass fiber. 2-10 E dia. D dia. Hexagonal set screw Design Chapter 2 Note 2. Maximum bend angle Θ1 Note 3. Axle center displacement t1 D Precautions when Connecting with the Coupling Take the following precautions when connecting the Resolver to the machinery via the Coupling. • Make sure the axle center does not protrude into the area marked C in the diagram. If the axle center is protruding when the Resolver rotates, the Coupling will no longer function and the machinery may be damaged. • If the bend angle or displacement of the axle center is large, the life of the Coupling will be shortened and the accuracy of the Resolver rotation angle will be adversely affected. Mechanical axle center Resolver axle center H Connecting without the Coupling Give sufficient consideration to the load that will be applied to the Resolver axle if it is connected to the machinery without the Coupling. Make sure the applied load will be below the rated load. D Rated Resolver Axle Load Model Rated axle load 3F88L-RS17 3F88L-RS17T Thrust load: 196 N max. 3F88L-RS15 3F88L-RS15W Thrust load: 98 N max. Radial load: 196 N max. Radial load: 98 N max. Thrust load (load parallel to the axle) Radial load (load perpendicular to the axle) 2-11 Design Chapter 2 D Connection Examples Using a Timing Belt A pulley is attached directly onto the Resolver axle and connected to a rotating machinery by a timing belt. In this case, the load on the axle is the tension on the timing belt and the weight of the pulley. Timing belt Resolver Using Gears Pitch errors, total alignment errors, and other gear errors apply a repeated load in the radial direction. Gear Resolver Using Chains A sprocket can be attached directly to the Resolver axle and the axle then connected to a rotating machinery with a chain. The weight of both the sprocket and the chain will be a load on the axle. Rattles in the sprocket and chain will become shock loads applied to the axle when machine movement stops and starts. Chain Resolver 2-12 Design 2-3 Chapter 2 Wiring 2-3-1 System Connection Diagram G7TC-OC16 I/O Block SYSMAC CS1 or other Programmable Controller Display Units M7E M7F 3F88L-CGjjjN Cam Output Cable 3F88L-CGjjjS Cam Output Cable 3F88L-CGjjjS Cam Output Cable Cam Output Connector 3F88L-160/162 Cam Positioner Resolver Connection Cables 3F88L-CRjjjC Resolver Extension Cable 3F88L-RS17/-RS17T Resolver 3F88L-CRjjjNA Resolver Cable 3F88L-RS15 Resolver 3F88L-CRjjjSA Resolver Cable 3F88L-RS15W Resolver 2-13 Design Chapter 2 2-3-2 Standard Wiring Method The number of man hours required for wiring will be reduced and the reliability of the Unit will be improved if OMRON Cables are used. Give sufficient consideration to noise countermeasures when wiring H Using Connection Cables Use the following Cables to connect the Unit to peripheral devices. Always use OMRON Cables when connecting the Resolver, in particular, to ensure reliability of the Unit. Peripheral device to be connected Resolver Cable name Resolver Cable I/O Block Cam Output Cable PC or similar device Cam Output Cable (for cam output) Display Unit Cam Output Cable Model Remarks 3F88L-CRjjjC 3F88L-CRjjjNA 3F88L-CRjjjSA 3F88L-CGjjjN 3F88L-CGjjjS Extension Cable for 3F88L-RS17/-RS17T Cable for 3F88L-RS15 Cable for 3F88L-RS15W Connectors at both ends. Connector on one end. 3F88L-CGjjjS Connector on one end. Note The jjj in the cable model numbers indicates the length of the cable. Refer to 7-4 Standard Models for details. H Wiring for Improved Noise Resistance The noise resistance of the system can be improved by the wiring method. The following points must be given attention when wiring. D Connection Method Control panel Power device AC power supply Control device Surge absorber Insulation transformer Noise filter Control power supply Resolver Cam Positioner Ground board Ground to 100 Ω or less. 2-14 If metal ducted 2.0 mm2 ground min. Design Chapter 2 • Use a ground board as shown in the diagram and ground (FG) each Unit to one point on the ground board. • Do not bundle the ground together with the power supply, motor drive, or Resolver signal wires or run the ground through the same duct as these wires. • If using metal conduit or running wires through metal duct, ground the metal to one point. Note To make the 3F88L-160/162 Cam Positioner conform to EC Directives, be sure to install the Unit within a control panel. D External Wiring • Use a different cable for the Cam Positioner I/O and the control wire. Do not run these wires through the same cable. • It is recommended that the Cam Positioner cables and other control and power cables are wired as shown below. • Parallel cable racks must be a minimum of 300 mm apart. • If multiple terminals are to be housed in one duct, shield the terminals with a grounded conductive plate. Low-current cable Conductive plate (steel) 1 1. Resolver cable 2 300 mm min. Control cable 3 2. Cam Positioner input cable 3. Cam Positioner power supply cable General control cable 300 mm min. Power cable 4. Power cable 4 Ground to 100 Ω or less Conductive plate (steel) 1 2 3 4 200 mm min. Ground to 100 Ω or less Note The 3F88L-160/162 conforms to the Common Emission Standard (EN50081-2) in relation to EMI. However, the radiated emission (10-m regulations) may vary depending on the configuration of the control panel, connected devices, wiring, and other conditions. The customer must, therefore, confirm that devices and the overall machine conform to EC Directives. H Points to Consider when Wiring to Peripheral Devices • Install a surge absorber and noise filter on the AC power supply input wiring. • Pay attention to the following points when using relays, electromagnetic valves, and other noise-generating devices. S Separate noise-generating devices, parts and the wiring as much as possible. S Use a separate power supply system. 2-15 Design Chapter 2 S Use a separate grounding system. S Attach a surge absorber or diode to the device or parts generating the noise, as shown in the following diagram. AC relays or AC valves AC power supply DC relays Surge absorber ~ DC power supply Diode Note Select withstand pressure and current suitable for the load. 2-3-3 Terminal Block Wiring Use crimp terminals and firmly tighten to the appropriate torque. H Terminal Block Layout Power supply input Function Earth Control input Control output Protect Earth H Power Supply Input Wiring D Wiring Method Func- Protect tion Earth Earth 100 to 240 V AC 50/60 Hz 2-16 ~ Ground to 100 Ω or less Terminal screw size: M3.5 Tightening torque: 0.8 N S m Design Chapter 2 D Terminal Functions Terminal name Symbol Main circuit power supply input terminal AC1/L AC2/N Function earth terminal Protect earth terminal Function Inputs the AC power supply for the Cam Positioner. Provide a 100 to 240 V AC 50/60 Hz power supply. (Rated power supply voltage 85 to 264 V AC) This is the primary ground terminal connected for the power supply. This is the frame ground terminal. Recommended connection wire diameter 1.25 mm2 2.0 mm2 2.0 mm2 Note 1. Use M3.5 round crimp terminals for AC 1/L and AC 2/N terminals. Note 2. Use M3.5 round or forked crimp terminals for function earth and protect earth terminals. • Round crimp terminal 7 mm max. • Forked crimp terminal 7 mm max. Note If the power supply voltage of the Cam Positioner slowly increases or decreases at less than 85% of the rated voltage (i.e., less than 85 V), operation may stop intermittently. If this affects the operation of equipment, provide protective circuits that interrupt output enough to cause the voltage to increase to more than 85% of the rated value. H Control Input Wiring D Wiring Method 24 V DC Terminal screw size: M3 Tightening torque: 0.5 N S m 2-17 Design Chapter 2 D Terminal Functions Terminal name Function Symbol Recommended connection wire diameter 1.25 mm2 Control I/O power supply l 24 V The control I/O power supply terminal is used for the power supplyy for control I/O. 0V Provide a 24-V DC power supply. (Rated power supply voltage 20.4 to 26.4 V DC) Operation start input Bank switching input START Cam output will start if the START signal is shorted with 0V. 0.5 mm2 BANK1 The BANK signals are used to select the execution bank for the Cam Positioner. 0.5 mm2 BANK2 BANK3 Origin shift input TRIG The BANK signals turn ON when shorted with 0V. Bank No. 1 2 3 4 5 6 BANK1 OFF ON OFF ON OFF ON BANK2 OFF OFF ON ON OFF OFF BANK3 OFF OFF OFF OFF ON ON 8 ON ON ON 0.5 mm2 Origin shift is performed when this signal is shorted with 0V. Note 1. The TRIG signal is disabled when the Resolver rotates at 4 r/min or greater. Note 2. The TRIG signal is enabled when it is ON for 10 ms or more. Inside Reset input 7 OFF ON ON New origin value Y Origin shift execution RESET If this signal is shorted with 0V, a hardware reset will be performed and the Unit will return to the state it was in upon power ON. Regardless of output-hold settings, all outputs will be turned OFF. Also, the origin value for the origin shift will be lost. 0.5 mm2 Note 1. Use M3.5 round or forked crimp terminals for functional ground and protective ground terminals. • Round crimp terminal 6.2 mm max. • Forked crimp terminal 6.2 mm max. Note 2. Reinforced insulation or double insulation must be used for the DC power supplies used as I/O power supplies in order to comply EC Directives. 2-18 Design Chapter 2 D Control Input Specifications Item Rated input voltage Input impedance Input current ON voltage OFF voltage ON/OFF response time Internal circuit Specification 24 V DC --15%/10% 4.7 kΩ 4.7 mA TYP. (for 24 V DC input) 17 V min. between 24-V terminal and control input terminals. 5 V max. between 24-V terminal and control input terminals. 1.0 ms START BANK1 to 3 TRIG RESET 4.7 kΩ H Control Output Wiring D Wiring Method L L Terminal screw size: M3 MSDET COM /0 V 24 V DC for load Tightening torque: 0.5 N S m L D Terminal Functions Terminal name Control output common terminal Symbol Function COM/0 V The COM/0 V terminal is the common terminal for control output. RUN output RUN Resolver movement detection output Error output MSDET ERROR It is connected to the 0V terminal on the control I/O output power supply. The RUN terminal indicates the operation status of the Unit. It turns ON when cam output is enabled. The M⋅DET terminal turns ON when the Resolver is rotating at 4 r/min or faster. The ERROR terminal turns OFF when an error is generated. Recommended connection wire diameter 0.5 mm2 0.5 mm2 0.5 mm2 0.5 mm2 2-19 Design Chapter 2 Note 1. Use M3.5 round or forked crimp terminals for functional ground and protective ground terminals. • Round crimp terminal 6.2 mm max. • Forked crimp terminal 6.2 mm max. Note 2. Reinforced insulation or double insulation must be used for the DC power supplies used as I/O power supplies in order to comply EC Directives. Note 3. The control I/O power supply must be turned ON to operate the control output circuit. D Control Output Specifications Item Maximum switching capacity Leakage current Residual voltage ON response time OFF response time Internal circuit Specification 24 V DC --15%/10%, 0.3 A/point 0.1 mA max. 1.5 V max. 0.5 ms max. 1.0 ms max. RUN M-DET ERROR 2-20 Design Chapter 2 2-3-4 Resolver Wiring Use OMRON Resolver Cables which are designed to reduce noise. Resolver Cables transfer signals that require a high degree of accuracy. Separate the Resolver Cables from other cables as much as possible to prevent the accuracy being affected by induction noise resulting from low signal voltage. S Separate Resolver Cables as much as possible from control and drive wiring inside the control panel. S For external wiring, house the cables in a low-current duct and shield with grounded conduction plates. The Cam Positioner and Resolver can be separated by a maximum distance of 100 m. H Resolver Wiring Method 3 m plug-in cable 3F88L-160/162 Cam Positioner 3F88L-CRjjjC Extension Cable 3F88L-RS17/-RS17T Resolver Connector type 3F88L-160/162 Cam Positioner 3F88L-CRjjjNA Cable 3F88L-RS15 Resolver 35-cm Separate wire plug-in cable 3F88L-160/162 Cam Positioner 3F88L-CRjjjSA Cable 3F88L-RS15W Resolver 2-21 Design Chapter 2 D Resolver Cable Models Resolver Extension Cables (for 3F88L-RS17/-RS17T) 2m 5m 10 m 20 m 50 m 3F88L-CR002C 3F88L-CR005C 3F88L-CR010C 3F88L-CR020C 3F88L-CR050C Note 1. A maximum of two extension cables can be joined together. Note 2. Refer to 6-2 Resolver Specifications for information on cable wire colors and pin positions. Resolver Cables (for 3F88L-RS15) 3m 5m 10 m 15 m 20 m 3F88L-CR003NA 3F88L-CR005NA 3F88L-CR010NA 3F88L-CR015NA 3F88L-CR020NA Resolver Cables (for 3F88L-RS15W) 3m 5m 10 m 3F88L-CR003SA 3F88L-CR005SA 3F88L-CR010SA 2-3-5 Cam Output Wiring Cam output is an open-collector output. The wiring connectors are located on top of the Cam Positioner Unit and the wiring is easily performed if Cam Output Cables are used. H Cam Output Wiring Method Use the 3F88L-CGjjjS Cam Output Cable for direct connection to PCs or Relays and the 3F88L-CGjjjN Cam Output Cable for direct connection to an I/O Block. Note Cam output is also used for connection to Display Units. Refer to 2-3-6 Connecting a Display Unit for details. Cam Output Connectors CAM17 to 32 CAM1 to 16 G7TC-OC16 I/O Block 3F88L-CGjjjN Cam Output Cable 3F88L-160/162 Cam Positioner 2-22 PC or Relay 3F88L-CGjjjS Cam Output Cable Design Chapter 2 Note The 3F88L-160 16-output Cam Positioner does not have cam output connector terminal numbers CAM17 to CAM32. D Cam Output Cable Models Cam Output Cables for Connection to I/O Blocks 0.5 m 1m 3F88L-CG0R5N 3F88L-CG001N Cam Output Cables for Connection to Other Devices 1m 3m 3F88L-CG001S 3F88L-CG003S H Cam Outputs for I/O Blocks 3F88L-160/162 Cam Positioner G7TC-OC16 I/O Block 3F88LCGjjjN -+ -+ + -- 2-23 Design Chapter 2 H Cam Output Cable Connection Pin Positions and 3F88L-CGjjjS Cam Output Cable Colors Pin Layout Cam Positioner External Cam output COM/0V Pin No. A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 Signal name NC COM/0V CAM16 (CAM32) CAM15 (CAM31) CAM14 (CAM30) CAM13 (CAM29) CAM12 (CAM28) CAM11 (CAM27) CAM10 (CAM26) CAM9 (CAM25) Cable color Brown Red Orange Yellow Green Blue Purple Gray White Black Pin No. B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 Signal name NC COM/0V CAM8 (CAM24) CAM7 (CAM23) CAM6 (CAM22) CAM5 (CAM21) CAM4 (CAM20) CAM3 (CAM19) CAM2 (CAM18) CAM1 (CAM17) Cable color Brown Red Orange Yellow Green Blue Purple Gray White Black Note 1. Pin numbers have been given for convenience. The pin “A1”, indicated by the Y mark on the protruding side, should be used as the starting pin number. Note 2. The signal names in parentheses in the table will be applicable if the Cam Connector Cable is connected to the connectors for cam outputs 17 to 32 (CAM17 to CAM32). These connectors are not available on the 3F88L-160 16-point Cam Positioner. Note 3. The maximum switching capacity for cam outputs is 26.4 V DC, 300 mA. However, keep this at no more than 1.6 A per connector. Note 4. The COM/0V connector is common to both A2 and B2 pins. Note 5. If the present value output function is used, some cam outputs cannot be used. Note 6. Reinforced insulation or double insulation must be used for the DC power supplies used as I/O power supplies in order to comply EC Directives. 2-24 Design Chapter 2 H Cam Output Specifications Item Maximum switching capacity Leakage current Residual voltage ON response time Off response time Internal circuit Specifications 24 V DC --15%/10%, 0.3 A/point, 1.6 A/connector 0.1 mA max. 1.5 V max. 0.05 ms max. 0.07 ms max. CAM1 to 32 2-3-6 Connecting a Display Unit If the Cam Positioner is connected to a Display Unit, the present angle and Resolver speed can be displayed. The Display Unit is connected to the cam output connectors on the Unit via Cam Output Cables. Note 1. The speed display can have an error margin or 5 r/min max. Note 2. Parameters must be set to display present values such as the present angle and Resolver speed. The present value output and cam output share terminals. Some cam output signals can no longer be used, therefore, when present values are being output. H Connecting a M7E Display Unit Use a 3F88L-CGjjjS Cam Output Cable to connect the M7E Display Unit. 3F88L-160/162 Cam Positioner 3F88L-CGjjjS Cam Output Cable M7E Display Unit D Functions The present angle (in degrees) or the Resolver speed (r/min) can be displayed on a 3- or 4-digit Display Unit. The display data is set using the present value display function parameters. 2-25 Design Chapter 2 If set to an automatically switching display, the present angle will be displayed when the Resolver speed is less than 4 r/min and the Resolver speed will be displayed when it is greater than 4 r/min. D Unit Models Used Name Display p y Unit (N (Numerals) l ) Display p y Unit (Units) ( ) End Plate Display Unit Connector Cam Output p C bl Cable 1m 3m Model M7E-01DRD2 (red, decimal, one digit) M7E-01DGD2 (green, decimal, one digit) M7E-01UR2-V (red, rpm) M7E-01UG2-V (green, rpm) M7E-01UR2-A (red, no display) M7E-01UG2-A (green, no display) M7E-2M (light-blue case) M7E-2M-1 (black case) NRT-C (soldered-terminal type) Remarks Combine as manyy Display p y Units (N (Numerals) l ) as required i d to achieve hi the h required number of display digits. If the automatically y switching g display p y f function i is i to be b used, d two Display Di l Units U i (Units) are required -- an “r/min” Unit and a “degrees” degrees Unit. One set is required. q Enough connectors for the number of Display Units is required. One Cam Output p Cable is required. q 3F88L-CG001S 3F88L-CG003S D Display Contents and Required Number of Units Display Present angle l r/min / Switching present angle/r/min display p y Resolution setting 360 720 360 720 360 720 Parameter Display for present range value output function 1 0 to 359 1 0 to 719 2 0 to 999 0 to 1,600 2 0 to 800 3 0 to 359 (degrees)/ 4 to 999 (r/min) 4 0 to 359 (degrees)/ 4 to 1,600 (r/min) 3 0 to 719 (degrees)/ 4 to 800 (r/min) Required number of Units Numeric Display Unit Units Display Unit Display Unit Connectors 3 3 3 4 3 3 ----------1 no display Unit and 1 “rpm” Unit 3 3 3 4 3 5 4 1 no display Unit and 1 “rpm” Unit 6 3 1 no display Unit and 1 “rpm” Unit 5 Note 1. Refer to 3-5-2 Initial Settings for information on setting the display resolution. Note 2. Refer to 3-6-10 Present Value Output Function for information on parameters for this function. Note 3. One 3F88L-CGjjjS Cam Output Cable and one End Plate set are required when connecting Units other than those listed in the above table. Note 4. When the resolution is set at 720, the present angle display will read “1” for every 0.5°. 2-26 Design Chapter 2 D Wiring Example The following wiring example is for automatically switching the 4-digit display between the present angle and the Resolver speed (with units also displayed). M7E Display Unit 12 to 24 V DC Cam Output Connectors Signal name Pin No. CAM13 (CAM29) CAM14 (CAM30) Display data CAM15 (CAM31) CAM16 (CAM32) 1-digit LE signal CAM12 (CAM28) 2-digit LE signal CAM11 (CAM27) 3-digit LE signal CAM10 (CAM26) 4-digit LE signal CAM9 (CAM25) CAM8 (CAM24) “Degrees” CAM7 (CAM23) “r/min” COM/0V Common cam output terminal Blue Green Yellow Orange Purple Gray White Black Orange Yellow Red (see note 1) 4th digit (1,000’s digit) M7E01jjj2 3rd digit (100’s digit) M7E01jjj2 2nd digit (10’s digit) M7E01jjj2 1st digit (1’s digit) M7E01jjj2 No display M7E01Uj2-A r/min M7E01Uj2-V Note 1. If pin 9 (4th digit) is left open, a zero (0) will appear as “0.” In the above wiring example, an output of 0 would appear as “0000.” Note 2. The cam output signal names not in parentheses will be displayed for 3F88L-160 Cam Positioners and the names in parentheses will be displayed for 3F88L-162 Cam Positioners. Note 3. The circled numbers in the diagram are the terminal numbers for the NRT connectors. Note 4. Reinforced insulation or double insulation must be used for the DC power supply used as an I/O power supply in order to comply to EC Directives. 2-27 Design Chapter 2 Note 5. Some display examples are given below. • Present angle display • Resolver speed display (see note) (blank) (blank) rpm Note Write “deg” in the space when using a no display Unit. H Connecting a M7F Display Unit Use a 3F88L-CGjjjS Cam Output Cable to connect the M7F Display Unit. 3F88L-160/162 Cam Positioner 3F88L-CGjjjS Cam Output Cable M7F Display Unit D Functions The present angle (in degrees) or the Resolver speed (r/min) can be displayed on a 4-digit numeric Display Unit. The display data is set using the present value display function parameters. Note The M7F Display Unit does not have a function to change the unit of display. Do not use this Unit in automatically switching display mode. D Unit Models Used Name 4-digit g Display p y Unit,, character height g 14 mm 4 digits g + Display p y Unit (Units), ( ), character h height h i h 14 mm Units Nameplate, p , character height g 14 mm 4-digit g Display p y Unit,, character height g 25 mm 4 digits g + Display p y Unit (Units), ( ), character h height h i h 25 mm Unit nameplate, p , character height g 25 mm Display Unit Connector Display p y Unit Connector Cover Cam Output p Cable 2-28 1m 3m Model M7F-4D1R (red) M7F-4D1G (green) M7F-4D1RT (red) M7F-4D1GT (green) M7F-1 (no display) M7F-RPM-1 (r/min) M7F-4D2R (red) M7F-4D2G (green) M7F-4D2RT (red) M7F-4D2GT (green) M7F-2 (no display) M7F-RPM-2 (r/min) XG5M-2035-N (separately wired pressure-welded type) XG5S-1001 XG5S-2012 3F88L-CG001S 3F88L-CG003S Remarks Select the appropriate pp p Unit b based d on the h display di l character h height requirements for units height, display, and color of displayed characters. When using a Unit with units display, p y select a Unit Nameplate p with ith with ith same height h i ht character h t display There is no Unit display. Nameplate for “degrees.” degrees. Select the “no display” p y Unit Nameplate p instead. One Display Unit Connector is required. Two XG5S-1001 Covers or one XG S XG5S-2012 C Cover is i required. i d One Cable is required. q Design Chapter 2 D Wiring Example The following wiring example is for four-digit display of the Resolver speed. M7F Display Unit Cam Output Connectors Signal name CAM13 (CAM29) CAM14 (CAM30) Display data CAM15 (CAM31) CAM16 (CAM32) Common cam output terminal COM/0V Pin No. A8 A5 A4 A3 A2 1-digit LE signal CAM12 (CAM28) 2-digit LE signal CAM16 (CAM32) A7 A8 CAM16 (CAM32) 4-digit LE signal CAM16 (CAM32) A9 A10 3-digit LE signal Blue Green Yellow Orange Red V Purple Gray White Black Power  supply 12 to 24 V DC input Power ⊖ supply output Case mark Note 1. The cam output signal names not in parentheses will be displayed for 3F88L-160 Cam Positioners and the names in parentheses will be displayed for 3F88L-162 Cam Positioners. Note 2. The circled terminal numbers have been provided for convenience. When assembling the socket, pay attention to the direction of the polarity guide and connect the wires as shown in the above terminal layout. Note 3. The case mark (Y) indicates the first digit of the M7F terminal number and is different from the connector Y mark described previously. Note 4. A display example is shown below. • Resolver speed display rpm Unit Nameplate 2-29 3 Chapter 3 Operation 3-1 3-2 3-3 3-4 3-5 3-6 Nomenclature of Display and Operation Sections Modes, Functions, and Display Operation Procedure Selecting Function Levels Basic Operation Applied Functions Operation 3-1 Chapter 3 Nomenclature of Display and Operation Sections Bank/Function display Cam/Parameter No. display Mode selection switch P⋅CLR switch ADJ switch CW/CCW setting switch Operation keys Present angle/OFF angle display No. of revolutions/ON angle display H Operation Keys BANK/ FUN CAM/ PRMTR ON/ OFF Bank/Function Key Down Key Cam/Parameter Key Forward Key ON/OFF Switching Key Up Key 3-2 CLR SET Clear Key Set Key Operation Chapter 3 H Display Patterns for Seven-segment Display Marks underneath a character display indicate that the character is flashing. 3-3 Operation 3-2 Chapter 3 Modes, Functions, and Display H Modes The 3F88L-160/162 Cam Positioner has three modes: SET, PRGM, and RUN. Set Mode (SET) S Unit parameter settings S Various compensation value settings Program Mode (PRGM) Mode change S Creation, editing, and deletion of cam programs. S Trial operation Operation Mode (RUN) S Normal operation Mode change S Adjustment operation S Teaching S Cam output and control I/O monitoring S Communications settings S Origin shift S Origin compensation H Changing Modes The mode selection switch is used to change modes. Mode selection switch H Functions by Mode Classification Function selection Initial settings 3-4 Function name Applicable modes Front panel displays Conditions Reference secsec tion Function level selection SET --- Function ParameNo. ter No. U 1 Resolution selection SET --- A 1 3-5-2 Rotation direction selection SET, PRGM, RUN Note The CW/ CCW setting switch is used. --- --- --- 3-5-2 3-5-1 Operation Classification Basic functions Chapter 3 Function name Applicable modes Conditions Front panel displays Function ParameNo. ter No. 1 to 8 1 to 32 (1 to 4) (1 to 16) (see note (see note 2) 1) 0 to 8 --(0 to 4) (see note 2) ----- Reference section Cam program writing PRGM --- Program number checking SET --- Origin compensation Press the ADJ switch in SET mode. The Resolver speed must be less than 4 r/min. Cam output (from cam output connector) RUN (only when START signal is ON) Output during normal operation (Depending on the output holding function when error is generated and the type of error, cam outputs may be held or turned OFF.) --- --- --- 3-5-6 --- --- 3-5-8 PRGM (Only during trial operation) Con- Introl put I/O signals START (Start operation) RUN Note BANK1 to 3 (Change banks) RUN --- --- --- TRIG (Origin shift) RUN --- --- --- SET, PRGM, RUN --- --- --- RUN (Only when START signal is ON) ON during normal operation (cam output enabled). --- --- ON when Resolver speed is 4 r/min or greater. --- --- OFF when an error has been generated. --- --- --- o 1, 2 RESET (Reset) Out- RUN (Cam put output sig- enabled) nals M-DET (Resolver rotation detection) ERROR (Error) I/O monitor 3-5-3 3-5-3 3-5-5 This signal is disabled and cam output is executed when in PRGM mode and a trial operation. PRGM (Only during trial operation) RUN PRGM (Only during trial operation) SET, PRGM, RUN RUN (Possible when START signal is ON or OFF.) 3-5-7 3-5 Operation Classification Applied functions Chapter 3 Function name Applicable modes Conditions Origin compensation value setting Note Origin compensation can also be performed as a basic function at function level 0 or 1 SET --- Origin shift (operation) Note Used for both origin compensation operation and compensation value. TRIG input in RUN Resolver speed must mode (possible when be less than 4 r/min. Backlash compensation value setting Enable/disable backlash compensation setting SET Backlash compensation Front panel displays Function ParameNo. ter No. b 1 --- --- --- b 2 SET --- H 1 RUN Only when backlash compensation value is enabled. --- --- Reference section 3-6-4 START signal is ON or OFF.) PRGM (trial operation only) 3-6-5 SET (only when teaching) Advance angle compensation setting Advance angle compensation enable/disable setting SET --- b 3, 4, 5 SET --- H 2 Advance angle compensation RUN --- --- --- 3-6-6 PRGM (trial operation only) SET (only when teaching) 3-6 Cam protect setting SET --- C --- Cam protect function (operation) PRGM --- --- One-direction function setting One-direction function (operation) SET The power must be reset to ON after cam protect has been set. --- F --- RUN (except during compensation operation) --- --- --- Output hold setting SET --- H 3 3-6-7 3-6-8 3-6-9 Operation Classification Applied functions Chapter 3 Function name Applicable modes Conditions Output hold function (operation) When switching from RUN mode to PRGM or SET mode (when the START signal is ON). Present value output setting Present value output function (operation) SET The power must be reset to ON after output hold has been set. The START signal must be ON (cam outputs will be OFF if the START signal is OFF). The RESET signal must be OFF (cam outputs will be OFF if the RESET signal is ON). --- SET, PRGM, RUN Cam program creating/ g/ changing h i Pulse output setting Cam outputs/cam program changing g g Communications Front panel displays Function ParameNo. ter No. ----- Reference section 3-6-9 H 4 3-6-10 The power must be reset to ON after present value output has been set. Shared with a cam output. --- --- SET --- P --- 3-6-11 Teaching SET d --- 3-6-12 Trial operation PRGM Resolver speed must be less than 4 r/min. --- 1 to 32 (1 to 16) (see note 1) 1 to 32 (1 to 16) (see note 1) --- 3-6-14 Adjustment RUN operation --- CompoWay/F communications function SET, PRGM, RUN (the content of the communications will differ for each mode.) --- 1 to 8 (1 to 4) (see note 2) 1 to 8 (1 to 4) (see note 2) --- Copy SET --- t --- 3-6-13 Baud rate setting (shared with CompoWay/F and copy operation.) SET --- b 6 4-1 3-6-13 Note 1. The data for the 3F88L-160 (16-point model) Cam Positioner is shown in parentheses. Note 2. The data for 720 resolution (divisions/revolution) is shown in parentheses. 3-6-14 Chapter 4 3-7 Operation Chapter 3 H Displays by Mode D SET Mode Bank/Func- Cam/ParameFunction tion ter 1 to 8 0 Origin (1 to 4) compensation ((see note 2)) absolute angle 1 to 32 Program (1 to 16) number (see note 1) checking A (a) b (b) 1 Resolution selection Data range ----- 0, 1 1 Origin compensation value 0 to 359 (0 to 719) (see note 2) 2 Backlash compensation value 0 to 179 (0 to 359) (see note 2) 3 Advance angle compensation value 1 0 to 1600 (0 to 800) (see note 2) 0 to 359 (0 to 719) (see note 2) 4 Advance angle compensation value 2 0 to 1600 (0 to 800) (see note 2) 0 to 359 (0 to 719) (see note 2) SPEED/ON Displays the absolute angle for origin compensation. Displays the number of steps for the displayed bank or cam number. 0: 360 divisions/ revolution (factory setting) 1: 720 divisions/ revolution Sets origin compensation value (angle data). Factory setting “0.” Sets backlash compensation value (angle data). Factory setting “0.” Sets speed data for advance angle compensation value 1. Factory setting “0.” --- Sets speed data for advance angle compensation value 2. Factory setting “0.” --- 5 Advance angle compensation value 3 0 to 359 (0 to 719) (see note 2) --- 6 Baud rate 1, 2 1: 9,600 bps (factory setting) 2: 19,200 bps 3-8 POSITION/OFF ----- --- --- --- --- Sets angle data for advance angle compensation value 1. Factory setting “0.” --- Sets angle data for advance angle value 2. Factory setting “0.” Sets angle data for advance angle compensation value 3 (advance angle compensated position). Factory setting “0.” --- Operation Chapter 3 Bank/Func- Cam/ParameFunction tion ter --Cam protect c (c) Data range --- d (d) --- Teaching --- F (f) --- One-direction function setting 0 to 2 SPEED/ON POSITION/OFF Protection can be set or released for each cam number or for all cams in a bank number. (Factory setting: “unprotected”) Present Resolver angle can be input as ON angle data. --- Protect can be set or released for each cam number or for all cams in a bank number (Factory setting “unprotected”) Present Resolver angle can be input as OFF angle data. 0: One-direction function disabled (factory setting) 1: Enabled in forward direction H (h) 1 2 3 Backlash compensation enable/disable setting Advance angle compensation enable/disable setting Output hold 0, 1 0, 1 0, 1 0: Backlash compensation disabled (factory setting) 1: Backlash compensation enabled 0: Advance angle compensation disabled (factory setting) 1: Advance angle compensation enabled 0: Output hold disabled (factory setting) 2: Enabled in reverse direction --- --- --- 1: Output hold enabled 3-9 Operation Chapter 3 Bank/Func- Cam/ParameFunction tion ter 4 Present value H (h) output setting Data range 0 to 4 SPEED/ON 0: No present value output function (factory setting) POSITION/OFF --- 1: 4-digit present angle (no units) 2: 4-digit number of rotations (no units) 3: Automatic switching of 3-digit present angle and number of rotations (with units) P (p) (see note 4) --- Pulse output setting --- t (t) (see note 4) 0 Data transfer (Slave setting) --- 1 Data transfer 0 to 3 (Master setting) 4: Automatic switching of 4-digit present angle and number of rotations (with units) Writes pulse output program to any bank or cam number (sets pulse number). (Operates on a command issued from Master Unit.) 0: Disabled (factory setting) (Sets pulse start position.) ----- 1: Read data 2: Write data U (u) 1 Function level selection 0 to 2 3: Verify data 0: Function level 0 (monitor only) --- 1: Function level 1 (basic operation/monitor only) (factory setting) --- --- Error display --- 2: Function level 2 (all functions) E--** (error display) --- Note 1. The data for the 3F88L-160 (16-point model) Cam Positioner is shown in parentheses. Note 2. The data for 720 resolution (divisions/revolution) is shown in parentheses. The angles will be set and displayed as “1” for 0.5°. Note 3. Functions A, b, C, F, H, and U will be enabled after the power has been turned OFF and then ON again. Note 4. Functions P and t are special operations that are not stored as parameters. 3-10 Operation Chapter 3 D RUN Mode Bank/Function 1 to 8 ( to 4)) (see (1 ( note 2)) 1 to 8 (1 to 4) (see note 2) o (o) ( ) --- Cam/Parameter Start input OFF ON ON --ru (rU) 1 to 32 (1 to 16) (see note 1) 1 --2 ------- SPEED/ON Number of Resolver rotations i (r/min) (/ i ) POSITION/OFF Present angle g Compensation operation ON angle Cam output monitor Control I/O monitor E--** (error display) Compensation operation OFF angle --- Note 1. The data for the 3F88L-160 (16-point model) Cam Positioner is shown in parentheses. Note 2. The data for 720 resolution (divisions/revolution) is shown in parentheses. The angles will be set and displayed as “1” for 0.5°. D PRGM Mode Bank/Function 1 to 8 (1 to 4) (see note 2) 1 to 8 (1 to 4) (see note 2) --- Cam/Parameter 1 to 32 (1 to 16) (see note 1) 1 to 32 (1 to 16) (see note 1) --- SPEED/ON ON angle POSITION/OFF OFF angle “t (t)” + ON angle (trial operation) E--** (error display) OFF angle (trial operation) --- Note 1. The data for the 3F88L-160 (16-point model) Cam Positioner is shown in parentheses. Note 2. The data for 720 resolution (divisions/revolution) is shown in parentheses. The angles will be set and displayed as “1” for 0.5°. 3-11 Operation 3-3 Chapter 3 Operation Procedure 3-3-1 Before Operation H Basic Use • The procedure for using the Cam Positioner at function level 1 (basic operation/monitor only) is outlined below. Procedure Installation Wiring Power ON Contents Install the Cam Positioner according to the installation environment conditions. Connect the wiring for the power supply, Resolver, and peripheral devices. Before the power is turned ON: Reference section 2-2 2-3 • Check that the wires and connectors for the Resolver and peripheral devices have been connected properly. • Check that the Resolver and the machinery are not connected. After the power is turned ON: • Check that there are no error codes displayed (E--**). Function level selection Initial settings Power resetting (OFF to ON) Creation and confirmation of cam programs Connection between Resolver and machinery Execution of origin compensation Operation/monitoring Function level selection • Set the mode selection switch to RUN and check that the number of revolutions and the present angle display changes when the Resolver axis is rotated by hand. Select function level 1 (basic operation/monitor only). 3-5-1 3-5-2 Set the resolution (SET mode) and rotation direction (CW/CCW) to suit the application. Turn ON the power to enable the set parameters. Create and check cam programs (PRGM mode). Check the number of programs (SET mode). Turn OFF the power and connect the Resolver and the machinery. Turn ON the power and execute origin compensation (use the ADJ switch in SET mode). Change to RUN mode and check the operation of the machinery and monitor the I/O status. Correct the cam program if required (PRGM mode). If required, set to function level 0 (monitor only) to prevent faulty operation. 3-5-3 3-5-4 3-5-5 3-5-6 3-4 Note This procedure is applicable when only the basic functions (function level 1) are used. In the cases outlined below, the applied functions (function level 2) must be used. (Refer to 3-6 Applied Functions.) S When setting origin compensation values, using backlash compensation, advance angle compensation, and other compensation functions. S When executing a trial or adjustment operation. 3-12 Operation Chapter 3 S When using the teaching function. S When setting pulse output, cam protect, output hold, one-direction function, and present value output. H Applied • The procedure for using the Cam Positioner at function level 2 (all functions) is outlined below. Procedure Installation Wiring Power ON Contents Install the Cam Positioner according to the installation environment conditions. Connect the wiring for the power supply, Resolver, and peripheral devices. Before the power is turned ON: Reference section 2-2 2-3 • Check that the wires and connectors for the Resolver and peripheral devices have been connected properly. • Check that the Resolver and the machinery are not connected. After the power is turned ON: • Check that there are no error codes displayed (E--**). Function level selection Initial settings Power resetting (OFF to ON) Parameter settings Power resetting (OFF to ON) Creation and confirmation of cam programs Connection between Resolver and machinery Execution of origin compensation Teaching Trial operation Operation/monitoring Origin shift execution Compensation operation Function level selection • Set the mode selection switch to RUN and check that the number of revolutions and the present angle display changes when the Resolver axis is rotated by hand. Select function level 2 (all functions). 3-6-1 3-5-2 Set the resolution (SET mode) and rotation direction (CW/CCW) to suit the application. Turn ON the power to enable the set parameters. Make the parameter settings. Turn ON the power to enable the set parameters. 3-6-2 and 3-6-3 Create and check cam programs (PRGM mode). Check the number of programs (SET mode). Turn OFF the power and connect the Resolver and the machinery. Turn ON the power and execute origin compensation (use the ADJ switch in SET mode). If required, use the teaching function (SET mode) and create a cam program while operating the machinery manually. Change to PRGM mode, and, if required, adjust the cam program while checking the timing of the cam output. Change to RUN mode and check the operation of the machinery and monitor the I/O status. Correct the cam program if required (PRGM mode). If required, turn ON TRIG input and execute origin shift (RUN mode). If required, adjust the cam program while checking the timing of the cam output. If required, set to function level 0 (monitor only) to prevent faulty operation. 3-5-3 3-5-4 3-5-5 3-6-12 3-6-14 3-5-6 3-6-4 3-6-14 3-4 3-13 Operation 3-4 Chapter 3 Selecting Function Levels Three function levels are available to limit 3F88L-160/162 Cam Positioner functions by setting the function level selection (Function No. U). Limiting the Cam Positioner functions protects it from being incorrectly set or operated by the user. S Function Level 0 (Monitor Only) Cam output and monitoring are enabled. Cam program writing and parameter setting cannot be made. Function level 0 is designed to prevent inadvertent changes to the cam program or parameters. Functions for which the settings have already been completed are enabled and may be used at this level. S Function Level 1 (Basic Operation/Monitor Only) (Factory Setting) In addition to the functions available at function level 0, cam programs may be edited. This function level is used for basic operation. S Function Level 2 (All Functions) All Cam Positioner functions are enabled. This function level is for using applied functions. It is recommended, therefore, that cam programs be created and parameters set at level 2 (or level 1) first and then the 3F88L-160/162 Cam Positioner be used at level 0 (or level 1). H Limiting Functions by Function Level The following table shows how functions are limited by the function level settings. The “Yes” indicates that that function is enabled and “No” indicates that the function is disabled. Classification i Initial settings Function Resolution selection (setting) Set the resolution for one Resolver rotation. rotation Resolution selection (360 or 720 (operation) divisions/rotation) Rotation direction selection (setting) Rotation direction selection (operation) 3-14 Contents Select either CW or CCW direction. Function level 0 1 2 (Moni(Basic (All tor operafunconly) tion/ tions) monitor only) No Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Reference 3-5-2 3-5-2 Operation Classification Basic functions Chapter 3 Function Cam program writing Program number checking Origin compensation Cam output (from cam output connector) Contents Function level 0 1 2 (Moni(Basic (All tor operafunconly) tion/ tions) monitor only) No Yes Yes Writes and edits cam programs (settings for cam output ON/OFF angles) Checks the number of Yes cam program steps. When the ADJ switch Yes is pressed in SET mode, the present Resolver angle at that time is changed to 0 or to the origin compensation value. While the START Yes signal is ON in RUN mode, the cam outputs for the specified bank number are turned ON or OFF according to the cam program and present Resolver angle. Reference 3-5-3 Yes Yes 3-5-3 Yes Yes 3-5-5 Yes Yes 3-5-6 3-15 Operation Function Classification Basic functions Chapter 3 Control I/O Input signals START (Start operation) BANK1 to 3 (Change banks) TRIG (Origin shift) RESET (Reset) Output sigg nals RUN (Cam output enabled) M⋅DET (Resolver rotation detection) ERROR (Error) I/O monitor 3-16 Contents While the START signal is ON in RUN mode, the cam outputs for the specified bank number are turned ON or OFF according to the cam program and present Resolver angle. Specifies the bank number to be executed. When the TRIG signal is turned ON, origin shift is executed. When the RESET signal is turned ON, hardware reset is executed. Turns ON when cam output is enabled. Function level 0 1 2 (Moni(Basic (All tor operafunconly) tion/ tions) monitor only) Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Turns ON when Yes Resolver speed is 4 r/min or greater. (Origin compensation, origin shift, and teaching operations cannot be performed while M⋅DET is turned ON.) Turns OFF when an Yes error is generated. Monitors Resolver Yes speed, present angle, cam output status, and control I/O signal status. Note Effective for troubleshooting at startup. Yes Yes Yes Yes Yes Yes Reference 3-5-8 3-5-7 Operation Classification Applied functions Chapter 3 Function Origin compensation value setting Origin shift (operation) Backlash compensation value setting Enable/disable backlash compensation setting Backlash compensation Contents Sets the compensation value to match the mechanical origin to the Cam Positioner origin. Note The compensation value is shared by the origin shift operation and the origin compensation operation. Note The origin compensation operation is possible even with the basic functions (function levels 0 and 1). When the TRIG input is turned ON in RUN mode, the present Resolver angle at that time is changed to 0 or to the origin compensation value. Sets a value equivalent to the mechanical looseness. Enables/disables the backlash compensation value. When the backlash compensation value is enabled, provides cam outputs in conformance with the mechanical looseness. Function level 0 1 2 (Moni(Basic (All tor operafunconly) tion/ tions) monitor only) No No Yes Yes Yes Yes No No Yes No No Yes Yes Yes Yes Reference 3-6-4 3-6-5 3-17 Operation Classification Applied functions Chapter 3 Function Advance angle compensation setting Advance angle compensation enable/disable setting Advance angle compensation Cam protect setting Cam protect function (operation) One-direction function setting One-direction function (operation) Output hold setting Output hold function (operation) Present value output setting Present value output function (operation) 3-18 Contents Sets a compensation value to advance all cam output ON and OFF angles in proportion to the number of Resolver rotations. Enables/disables the advance angle compensation value. When the advance angle compensation value is enabled, advances the ON and OFF angles in proportion to the number of Resolver rotations. Protects ON/OFF angle settings (cam programs) for each bank and cam. Function level 0 1 2 (Moni(Basic (All tor operafunconly) tion/ tions) monitor only) No No Yes No No Yes Yes Yes Yes No No Yes Yes Yes Yes Enables cam outputs when the Resolver is rotating in one direction only, either forward or reverse. No No Yes Yes Yes Yes When switching from RUN to PRGM or SET modes or when an error is generated, holds the cam output status. Using cam output signals, outputs signal connecting to M7E, M7F or other Display Units Units. Note Uses CAM 9(7) to 16 for 3F88L-160 and CAM 25 (23) to 32 3F88L-162. No No Yes Yes Yes Yes No No Yes Yes Yes Yes Reference 3-6-6 3-6-7 3-6-8 3-6-9 3-6-10 Operation Classification Applied functions Chapter 3 Function Cam program creating/changing Cam outputs/cam program changing Communications Pulse output setting Contents Creates cam programs that turn ON and OFF at constant intervals in any bank or cam number. Teaching Inputs data from the Resolver as ON/OFF angle settings. Trial When the system operation starts up, checks the cam output status in PRGM mode and changes (adjusts) the ON/OFF angle one setting at a time. Adjustment After the system has operation started operating, checks the cam output status in PRGM mode and changes (adjusts) the ON/OFF angles one setting at a time. CompoWay/F Acts as the Slave Unit communicafor CompoWay/F tions function communications and reads/writes Cam Positioner programs and parameters from the host CPU and monitors present angle and number of rotations. Copy Transfers data (cam programs, parameters) between Cam Positioners. Sets a common baud Baud rate rate for the setting CompoWay/F and Baud rate copy functions. setting operation Function level 0 1 2 (Moni(Basic (All tor operafunconly) tion/ tions) monitor only) No No Yes Reference 3-6-11 No No Yes 3-6-12 No No Yes 3-6-14 No No Yes 3-6-14 Yes Yes Yes Section 4 No Yes Yes 3-6-13 No No Yes 3-6-13 Yes Yes Yes 4-1 3-6-13 3-19 Operation 3-5 Chapter 3 Basic Operation 3-5-1 Function Level Selection Setting (SET Mode) H Function Level Selection Setting and Checking Check if the function level is set to function level 1 (basic operation/monitor only). Change to function level 1 (basic operation/monitor only) if set to a different level. Function level Function No. U (u) Parameter No. 1 Function Function level selection Setting range 0 to 2 0 1 2 Details 0: Function level 0 (monitor only) 1: Function level 1 (basic operation/monitor only) (factory setting) 2: Function level 2 (all functions) D Procedure Set the function level selection to “1” (function level 1). Operation Display Explanation If the Cam Positioner power is turned ON while in RUN mode, the display will appear as shown to the left. • Bank/Function: Displays the bank number specified by the bank selection input (banks 1 to 3). • Cam/Parameter: (Clear) • SPEED/ON angle display: Displays the Resolver speed (r/min). • POSITION/OFF: Displays the present angle. Use the mode selection switch to change to SET mode. BANK/ FUN SET Keep pressing the Bank/Function Key until “U” appears on the display. Note The display will change from 1→2→....→8→A→t→U→1→.. Press the Set Key to allow settings to be made. • Cam/Parameter number display: “1” • SPEED/ON angle display: Flashes current setting If the setting is not on “1,” use the Up or Down Key to change to “1” (function level 1). 0: Function level 0 1: Function level 1 2: Function level 2 3-20 Operation Operation Chapter 3 Display SET BANK/ FUN Explanation Press the Set Key to confirm the settings. The setting will stop flashing for approximately 1 second and then resume flashing. Note When a setting is flashing, the Up and Down Keys are enabled and the setting may be changed. Press the Bank/Function Key. The display will return to only the function number that appears. Turn OFF the power supply. (The settings will now be enabled.) Note 1. The functions are enabled once the power has been turned OFF and then ON again. Note 2. The display will change as shown below when the Bank/Function Key is pressed repeatedly to set the function number. Function level 0: 1→2→3→4→5→6→7→8→U→1→etc. Function level 1: 1→2→3→4→5→6→7→8→A→t→U→1→etc. Function level 2: 1→2→3→4→5→6→7→8→A→b→C→d→F→H→P→t→U→1→etc. If the resolution selection (explained in the next section) is set to “1” (720 divisions/rotation), “5→6→7→8” will not be displayed. 3-5-2 Initial Settings Only the rotation direction (CW/CCW selection switch) and resolution setting (SET mode) are changed at function level 1. H Rotation Direction Selection Setting The CW/CCW setting switch is used to change the direction of rotation. CW/CCW setting switch Set the direction of increasing angles to “CW” for clockwise direction when viewed from the Resolver axis, and “CCW” for counterclockwise direction (as shown in the following diagram). Note These settings will be enabled by turning the power supply OFF and then ON again. 3-21 Operation Chapter 3 D Relationship between Resolver Rotation Direction and Rotation Direction Selection Increasing angles Increasing angles Direction of increasing angles when setting switch is set to “CW.” Direction of increasing angles when setting switch is set to “CCW.” H Resolution Selection (SET Mode) Select a resolution of either 360 or 720 (divisions/rotation). D Resolution Selection Details Function level Function No. A (a) Parameter No. 1 Function Resolution selection Setting range 0, 1 1 2 Details 0: 360 divisions/rotation (factory setting) 1: 720 divisions/rotation D Functions and Performances Affected by Resolution Setting Function or Characteristic Angle setting and display units Permissible Resolver speed No. of cam program steps Number of banks 360 resolution 1° is set and displayed as “1.” 1,600 r/min 180 max. 8 720 resolution 0.5° is set and displayed as “1.” 800 r/min 360 max. 4 Note For example, to set the ON angle at 90°, the setting is “90” for a 360 resolution and “180” for a 720 resolution. 3-22 Operation Chapter 3 D Procedure Operation BANK/ FUN SET Display Explanation Use the mode selection switch to change to SET mode. Keep pressing the Bank/Function Key until “A” appears on the Bank/Function display. Note The display for level 1 will change from “1” to “2” through to “8” then to “A,” “t,” “U,” and back to “1” and so on. (When the resolution is set to 720, “5” through “8” will not be displayed.) Press the Set Key to enable settings to be made. Cam/Parameter number display: “1” SPEED/ON angle display: Flashes current setting Press the Up or Down Keys and select the resolution to be used. 0: 360 (divisions/rotation) 1: 720 (divisions/rotation) SET BANK/ FUN Press the Set Key to confirm the settings. The setting will stop flashing for approximately 1 second and then resume flashing. Note When a setting is flashing, the Up and Down Keys are enabled and the setting can be changed. Press the Bank/Function Key. The display will return to only the function number appearing. Turn OFF the power supply. (The settings will now be enabled.) Note These functions are enabled once the power has been turned OFF and then ON again. 3-23 Operation Chapter 3 3-5-3 Cam Program Creating and Checking (PRGM Mode/SET Mode) Once the initial settings have been made, turn OFF the power and then turn it ON again. (The initial settings will be enabled once the power has been turned ON again.) Next, create a cam program (cam output ON/OFF patterns) in PRGM mode. Once the cam program has been created, check the number of cam program steps in SET mode. H Outline of Program Functions D Cam Program Creation (PRGM Mode) Operation 1 2 3 BANK/ FUN CAM/ PRMTR 4 5 6 Explanation Set the mode selection switch to PRGM mode. Press the Bank/Function Key and set the bank number. Press the Cam/Parameter Key and set the cam number. Set the ON angle. (Use the Up, Down, and Forward Keys) ON/ OFF SET Press the ON/OFF Switching Key and set the OFF angle. (Use the Up, Down, and Forward Keys) Press the Set Key to confirm the settings data. The next step can now be input. (Return to step 4 to input more steps.) Once a program has been created for one cam number, change the cam number (using the Cam/Parameter Key) and create another cam program in the same way. If multiple bank numbers are used, change the bank number (using the Bank/Function Key) and create another program in the same way. D Cam Program Checking (PRGM Mode) Operation 1 2 3 4 5 3-24 BANK/ FUN CAM/ PRMTR SET Explanation Set the mode selection switch to PRGM mode. Press the Bank/Function Key and set the bank number. Press the Cam/Parameter Key and set the cam number. Check the ON and OFF angles. Press the Set Key and check the next step. (Return to step 4 of this procedure to check the next step.) Operation Chapter 3 Once a program has been checked for one cam number, change the cam number (using the Cam/Parameter Key) and check another cam program in the same way. If multiple bank numbers are used, change the bank number (using the Bank/Function Key) and check another program in the same way. D Cam Program Deletion (PRGM Mode) There four methods to delete cam programs. Each of these methods will be explained in this section. • ON/OFF angle data deleted by steps. • ON/OFF angle data deleted by cam numbers. • ON/OFF angle data deleted by bank numbers. • All cam programs deleted at once. Deleting by Step (PRGM Mode) Operation 1 2 3 4 5 6 BANK/ FUN CAM/ PRMTR SET CLR SET Explanation Set the mode selection switch to PRGM mode. Press the Bank/Function Key and set the bank number that contains the step to be deleted. Press the Cam/Parameter Key and set the cam number that contains the step to be deleted. Press the Set Key to display the step to be deleted. Press the Clear Key once. (The ON angle and OFF angle displays will start flashing.) Press the Set Key to delete the step. Deleting by Cam Number (PRGM Mode) Operation 1 2 3 4 5 BANK/ FUN CAM/ PRMTR CLR CLR SET Explanation Set the mode selection switch to PRGM mode. Press the Bank/Function Key and set the bank number that contains the cam number to be deleted. Press the Cam/Parameter Key and set the cam number that is to be deleted. Press the Clear Key twice. (The cam number display will start flashing.) Press the Set Key to delete the cam number. 3-25 Operation Chapter 3 Deleting by Bank Number (PRGM Mode) Operation 1 2 3 4 Press the Bank/Function Key and set the bank number that is to be deleted. BANK/ FUN CLR CLR Explanation Set the mode selection switch to PRGM mode. CLR SET Press the Clear Key three times. (The bank number display will start flashing.) Press the Set Key to delete the bank number. Deleting All Cam Programs (PRGM Mode) Operation 1 2 Explanation Set the mode selection switch to PRGM mode. Press the P⋅CLR switch to clear all cam programs in the Cam Positioner. Note The P⋅CLR switch will be ignored by the system, even in PRGM mode, if the trial operation function is being used. Trial operation cannot be performed in function level 1. D Checking Number of Programs (SET Mode) Check the number of cam program steps that have been created. Operation 1 2 3 4 BANK/ FUN CAM/ PRMTR Explanation Set the mode selection switch to SET mode. Press the Bank/Function Key and set the bank number that contains the cam number to be checked. Press the Cam/Parameter Key and set the cam number to be checked. The number of steps for that cam program will appear in the SPEED/ON display. Once the number of steps for one cam number have been checked, change the cam number (using Cam/Parameter Key) and check another cam number in the same way. If multiple bank numbers are used, change the bank number (using the Bank/Function Key) and check another bank number in the same way. 3-26 Operation Chapter 3 H Cam Program Creation (PRGM Mode) Before creating cam programs, use the information contained in 7-7 Cam Programming Sheet to write down the ON/OFF patterns so as to make the process easier. D Time Chart The following shows how to create a cam program with the following kind of ON/OFF patterns. The resolution is set to 360 (divisions/rotation) in this example. (When the resolution is set to 720, the ON and OFF angle values will be double the values shown here.) Bank No. 2 Cam No. ON position OFF position Time chart D Display and Operation Functions in PRGM Mode Display Functions Function name Bank/Function display Cam/Parameter No. display SPEED/ON angle display POSITION/OFF angle display Display Displays the bank numbers currently being programmed. Displays the cam numbers currently being programmed. Displays ON angles or errors. Displays OFF angles. 3-27 Operation Chapter 3 Operation Key Functions BANK/ FUN CAM/ PRMTR ON/ OFF CLR SET Operation keys Bank/Function Key Functions Increases the bank number (used for setting bank numbers.) Cam/Parameter Key Increases the cam number (used for setting cam numbers.) ON/OFF Key Switches between ON and OFF angles. Up Key Increases the numeral currently flashing (used for setting ON and OFF angles.) Down Key Decreases the numeral currently flashing (used for setting ON and OFF angles.) Forward Key Changes the digit of the numeral to be set (used when setting ON and OFF angles.) Clear Key Clears data. Set Key Confirms input data. D Procedure Operation BANK/ FUN Display example Explanation Use the mode selection switch to change to PRGM mode. Use the Bank/Function Key to set the bank number to be used. The Bank/Function display will change as shown below each time the Bank/Function Key is pressed. 1→2→3→4→5→6→7→8→1 etc. CAM/ PRMTR Keep pressing the Bank/Function Key until “2” appears in the Bank/Function display. Note When the resolution is set to 720 (divisions/rotation), the display will not include 5→6→7→8. Use the Cam/Parameter Key to set the cam number to be used. The Cam/Parameter No. display will change as shown below when the Cam/Parameter Key is pressed. 1→2→3→...→15→16→1→ etc. Keep pressing the Cam/Parameter Key until “2” appears in the Cam/Parameter No. display. Note For the 3F88L-162 (32-point model) Cam Positioner, the numbers displayed will continue to “32” and then return to “1.” 3-28 Operation Operation Chapter 3 Display example Explanation Set the ON angle. Under the initial settings, the rightmost digit (the first digit) will be flashing. Press the Forward Key to move the position of the flashing digit from the first to the second digit, from the second to the third digit, and then back to the first digit again. Use the Up and Down Keys to increase or decrease the numerical value of the flashing digit. The operated digit will be carried over. If the Up and Down Keys are continually pressed, they will automatically increment and decrement, and the automatic changes will become faster the longer the key is pressed. The ON angle for cam number two is “0” and must, therefore, be set to “0.” ON/ OFF Press the ON/OFF Switching Key to set the OFF angle. The rightmost digit (the first digit) in the POSITION/OFF display will start flashing. Set the OFF angle in the same way the ON angle was set. The ON angle for cam number 2 is “90” and must, therefore, be set to “90.” SET Press the Set Key to confirm the ON and OFF angle settings. The data will stop flashing for approximately one second after the Set Key is pressed. Approximately one second after the Set Key has been pressed, the next step can be input. CAM/ PRMTR There is only one step for cam number 2. Proceed, therefore, to the settings for cam number 3. Press the Cam/Parameter Key. The Cam/Parameter No. display will change from “2” to “3.” ON/ OFF In step 1 of cam number 3, set the ON angle to “30” and the OFF angle to “60.” The setting method is the same as outlined previously. SET Press the Set Key to save the ON and OFF angle settings for step 1. When the Set Key is pressed, the data will stop flashing for approximately one second. Step 2 can be input approximately one second after the Set Key has been pressed. 3-29 Operation Operation Chapter 3 Display example ON/ OFF Explanation In step 2 of cam number 3, set the ON angle to “150” and the OFF angle to “180.” The setting method is the same as outlined previously. SET Press the Set Key to save the ON and OFF angle settings for step 2. When the Set Key is pressed, the data will stop flashing for approximately one second. Step 3 can be input approximately one second after the Set Key has been pressed. ON/ OFF In step 3 of cam number 3, set the ON angle to “270” and the OFF angle to “300.” The setting method is the same as outlined previously. SET Press the Set Key to save the ON and OFF angle settings for step 3. When the Set Key is pressed, the data will stop flashing for approximately one second. Step 4 can be input approximately one second after the Set Key has been pressed. The cam program is now complete. Note 1. If there is an error with the input data, the display will change as outlined below. Check and reset the input data. S If data is duplicated in the ON region (the region between an ON angle and OFF angle) of a step that has been already input. “E-22” (cam program duplication error) will appear in the SPEED/ON angle display. Press the Clear Key to clear the error and reset with the correct data. S If the input numeric data exceeds the setting range. All displays will flash twice and return to the status before the data was edited. Reset with the correct data. Note 2. Cam outputs turn ON at the set ON angle and turn OFF at the set OFF angle. In this cam program example, the cam output number 2 will turn ON at the point when 0° is detected and turn OFF when 90° is detected. 3-30 Operation Chapter 3 H Cam Program Confirmation (PRGM Mode) Once a cam program has been created, check that it has been created correctly. D Procedure Operation Display Explanation Use the mode selection switch to set to PRGM mode. The data for step 1 of the bank and cam numbers displayed will be displayed. Note If there is no data, the display will be “-- -- --.” BANK/ FUN Use the Bank/Function Key to set the bank number to be checked. The Bank/Function display will change as shown below each time the Bank/Function Key is pressed. 1→2→3→4→5→6→7→8→1 etc. CAM/ PRMTR Keep pressing the Bank/Function Key until the bank number to be checked appears. Note When the resolution is set to 720 (divisions/rotation), the display will not include 5→6→7→8. Use the Cam/Parameter Key to set the cam number to be checked. The Cam/Parameter No. display will change as shown below when the Cam/Parameter Key is pressed. 1→2→3→...→15→16→1→ etc. SET Keep pressing the Cam/Parameter Key until the cam number to be checked is displayed. Note For the 3F88L-162 (32-point model) Cam Positioner, the numbers displayed will continue to “32” and then return to “1.” Press the Set Key to display the data for the next step. The display will be “-- -- --” for the last step. SET If the Set Key is pressed while the display shows “-- -- --,” the data for step 1 will be displayed again. CAM/ PRMTR Press the Cam/Parameter Key to check the contents of other cam numbers. SET The data for step 1 of the bank and cam number displayed will be displayed. Note If there is no data, the display will be “-- -- --.” Press the Set Key to check data for step 2. 3-31 Operation Operation Chapter 3 Display SET Explanation Check the data for step 3 in the same way. Check data through to the last step. SET Check the data for all cam programs that have been created. If there are errors in any cam program, follow the procedure outlined in the previous section and set the correct data. H Cam Program Deletion (PRGM Mode) This section explains how to delete cam programs after they have been created or while they are being created. The four methods to delete cam programs are shown below. Each of these methods will be explained in this section. S ON/OFF angle data deleted by steps. S ON/OFF angle data deleted by cam numbers. S ON/OFF angle data deleted by bank numbers. S All cam programs deleted at once. D Deleting by Steps Operation Display Explanation Set the mode selection switch to PRGM mode. The data for step 1 of the displayed bank and cam numbers will be displayed. Note If there is no data, the display will be “-- -- --.” BANK/ FUN Press the Bank/Function Key and set the bank number that contains the step to be deleted. The Bank/Function display will change as shown below each time the Bank/Function Key is pressed. 1→2→3→4→5→6→7→8→1 etc. Keep pressing the Bank/Function Key until the bank number to be set appears. Note When the resolution is set to 720 (divisions/rotation), the display will not include 5→6→7→8. 3-32 Operation Operation Chapter 3 Display CAM/ PRMTR Explanation Press the Cam/Parameter Key and set the cam number that contains the step to be deleted. The Cam/Parameter No. display will change as shown below when the Cam/Parameter Key is pressed. 1→2→3→...→15→16→1→ etc. Keep pressing the Cam/Parameter Key until the cam/parameter number to be set is displayed. Note For the 3F88L-162 (32-point model) Cam Positioner, the numbers displayed will continue to “32” and then return to “1.” Press the Set Key to display the step to be deleted. SET Press the Set Key to display the cam program steps in order. Keep pressing the Set Key until the step to be deleted appears. When the display is blank (“-- -- --”), press the Set Key to return to step 1. Press the Clear Key to delete the step that is displayed CLR If the Clear Key is pressed once, the ON angle and OFF angle displays will start flashing (which means the step is ready to be deleted). Note If the Clear Key is pressed twice, the cam number will start flashing (which means that cam number is ready to be deleted. If the Clear Key is pressed three times, the bank number will start flashing (which means that that bank number is ready to be deleted). If the Clear Key is pressed four times, the display will return to the original display (nothing will be deleted). Press the Set Key while the ON and OFF angle displays are flashing, and that step will be deleted. SET Once the step has been deleted, the final step for that cam number (”-- -- --”) will be displayed (ready for input). D Deleting by Cam Number Operation Display Explanation Set the mode selection switch to PRGM mode. The data for step 1 of the bank and cam numbers displayed will be displayed. Note If there is no data, the display will be “-- -- --.” BANK/ FUN Press the Bank/Function Key and set the bank number that contains the cam number to be deleted. The Bank/Function display will change as shown below each time the Bank/Function Key is pressed. 1→2→3→4→5→6→7→8→1 etc. Keep pressing the Bank/Function Key until the bank number to be set appears. Note When the resolution is set to 720 (divisions/rotation), the display will not include 5→6→7→8. 3-33 Operation Operation Chapter 3 Display CAM/ PRMTR Explanation Press the Cam/Parameter Key and set the cam number that is to be deleted. The Cam/Parameter No. display will change as shown below when the Cam/Parameter Key is pressed. 1→2→3→...→15→16→1→ etc. CLR Keep pressing the Cam/Parameter Key until the cam/parameter number to be deleted is displayed. Note For the 3F88L-162 (32-point model) Cam Positioner, the numbers displayed will continue to “32” and then return to “1.” Press the Clear Key twice to delete the displayed cam number. CLR The cam number display will start flashing when the Clear Key is pressed twice (which means the cam number is ready to be deleted). Note If the Clear Key is pressed once, the ON and OFF angle display will start flashing (which means the step is ready to be deleted). If the Clear Key is pressed three times, the bank number will start flashing (which means that that bank number is ready to be deleted). If the Clear Key is pressed four times, the display will return to the original display (nothing will be deleted). While the cam number display is flashing, press the Set Key to delete the cam number that is flashing. SET Once the cam number has been deleted, the ON and OFF angle display will be “-- -- --” (which means data can be input). D Deleting by Bank Number Operation Display Explanation Set the mode selection switch to PRGM mode. The data for step 1 of the displayed bank and cam numbers will be displayed. Note If there is no data, the display will be “-- -- --.” BANK/ FUN Press the Bank/Function Key and set the bank number that is to be deleted. The Bank/Function display will change as shown below each time the Bank/Function Key is pressed. 1→2→3→4→5→6→7→8→1 etc. Keep pressing the Bank/Function Key until the bank number to be deleted appears. Note When the resolution is set to 720 (divisions/rotation), the display will not include 5→6→7→8. 3-34 Operation Operation CLR CLR Chapter 3 Display CLR Explanation Press the Clear Key three times to delete the displayed bank number. The bank number display will start flashing when the Clear Key is pressed three times (which means the bank number is ready to be deleted). Note If the Clear Key is pressed once, the ON and OFF angle display will start flashing (which means the step is ready to be deleted). If the Clear Key is pressed twice, the cam number will start flashing (which means that that cam number is ready to be deleted). If the Clear Key is pressed four times, the display will return to the original display (nothing will be deleted). While the bank number display is flashing, press the Set Key to delete the bank number that is flashing. SET Once the cam number has been deleted, the ON and OFF angle display will be “-- -- --” (which means data can be input). D Deleting All Cam Programs Operation Display Explanation Set the mode selection switch to PRGM mode. The data for step 1 of the displayed bank and cam numbers will be displayed. Note If there is no data, the display will be “-- -- --.” Press the P⋅CLR switch to clear all cam programs in the Cam Positioner. Note The P⋅CLR switch will be ignored by the system, even in PRGM mode, if the trial operation function is being used. Trial operation cannot be performed in function level 1. H Program Number Checking (SET Mode) The number of steps in a new program are checked in SET mode. D Program Number Checking Information Function level Function No. 1 to 8 (1 to 4) (see note 2) Note Parameter No. 0 to 32 (1 to 16) (see note 1) Function name Program number checking 0 1 2 Display The number of steps for the displayed bank and cam numbers will be shown in the SPEED/ON display. 1. The numeric values for the 3F88L-160 (16-point model) Cam Positioner are shown in parentheses. 3-35 Operation Note Chapter 3 2. The numeric values for 720 (divisions/rotation) resolution are shown in parentheses. Bank No. Cam No. Number of steps for the set bank and cam numbers Note When the parameter number (PRMTR) is “0,” the absolute angle for origin compensation is shown in the SPEED/ON display. D Procedure Operation Display Explanation Use the mode selection switch to change to SET mode. Use the Bank/Function Key to set the bank number to be checked. BANK/ FUN Keep pressing the Bank/Function Key until the bank number to be checked is displayed. Use the Cam/Parameter Key to set the cam number to be checked. CAM/ PRMTR Keep pressing the Cam/Parameter Key until the cam number to be checked is displayed. The number of steps for that cam program will be shown in the SPEED/ON display. Repeat these steps to check other cam numbers. CAM/ PRMTR Keys other than BANK/ FUN 3-36 CAM/ PRMTR Press any key other than the Cam/Parameter Key to return the Cam/Parameter No. display to “0.” Press the Bank/Function Key while the Cam/Parameter No. display is “0” to display the next bank number (or function number). Operation Chapter 3 3-5-4 Resolver and Machinery Connection Once the cam programs have been completed, turn OFF the power supply (for safety) and connect the Resolver and the machinery. H Resolver and Machinery Connection • Turn OFF the system power supply before connecting the Resolver and machinery. • Follow the directions in 2-2-3 Mounting the Resolver and attach the Resolver correctly. 3-5-5 Origin Compensation Once the Resolver and machinery have been connected, turn ON the power supply and execute origin compensation. H Origin Compensation Execution (SET Mode) • Once the Resolver and machinery have been connected, turn ON the system power supply. • Switch the Cam Positioner to SET mode and use the ADJ switch to execute origin compensation. (The Resolver present position is set to “0” at this point.) Note 1. Origin compensation will not be executed if the Resolver speed is 4 r/min or greater. Note 2. If the origin compensation value is set to a value other than “0,” parameter settings (origin compensation value settings) must be made at function level 2. (Refer to 3-6-4 Origin Compensation and Origin Shift.) D Procedure Operation (Manual operation of the machinery) Display Explanation Use the mode selection switch to change to SET mode. Rotate the machinery to the position to be set to zero. Press the ADJ switch. Origin compensation will be executed. The absolute angle (electrical angle of the Resolver) will be flashing in the POSITION/OFF display until origin compensation has been completed. (After origin compensation has been completed) The original display will appear when origin compensation has been completed. Note If the bank number appears in the Bank/Function display and “0” appears in the Cam/Parameter No. display, the absolute angle for origin compensation will be displayed in the SPEED/ON display. Use the mode selection switch to change to RUN mode. The speed display will be “0” and present angle will be “0” if the machinery is not moving. 3-37 Operation Chapter 3 Origin Compensation and Origin Shift • Both origin compensation and origin shift functions match the mechanical origin and the Cam Positioner origin. • The differences between origin compensation and origin shift are outlined as follows: Origin Compensation Press the ADJ switch in SET mode to set the present angle at that point to zero. If an origin compensation value has been set, the present angle will change to that origin compensation value. This value (the origin position after compensation for the Resolver’s electrical 0°) will not be lost even if the power is turned OFF. Origin Shift Turn ON the origin shift input (TRIG) in RUN mode to set the present angle at that point to zero. If an origin compensation value has been set, the present angle will change to that origin compensation value. This value will be lost if the power is turned OFF. • Origin compensation is used to align the mechanical origin and the Cam Positioner origin, for example, when the system is first introduced, when the system is adjusted, or when Resolvers or Cam Positioners are exchanged. Origin shift is used during normal operation when the present angle (origin) is to be changed. • Both origin compensation and origin shift functions are enabled when the Resolver speed is less than 4 r/min. Neither function will be executed when the Resolver speed is 4 r/min or greater. • The absolute angle will be flashing in the POSITION/OFF display during execution of origin compensation or origin shift. Note When origin compensation values have been set, turn OFF the power supply to the Cam Positioner, turn it ON again and then execute origin compensation or origin shift. The origin compensation value is enabled once the power has been turned ON again. If origin compensation or origin shift are executed without the power being turned OFF and then ON again, the origin compensation or origin shift function will not be executed properly. 3-5-6 Start Operation (RUN Mode) Once origin compensation has been executed, check the operation of the machinery. D Procedure Operation Display Explanation Use the mode selection switch to change to RUN mode. Bank No. specified at bank selection input (BANK1 to 3) Blank when operation start input signal (START) is OFF. Present angle Resolver speed (r/min) 3-38 Operation Operation Bank selection input ((BANK1 to 3)) Chapter 3 Display Explanation Use the control input bank selection input (BANK1 to 3) to specify the bank number to be used. 24 V DC RUN Operation start input (START) Set bank number (BANK 1 to 3) E.g.:To set bank No. 2: BANK 1:ON BANK 2: OFF BANK 3: OFF Note Refer to 3-5-8 Control I/O Signals for information on the relationship between bank selection input (BANK1 to 3) and execution bank numbers. Turn ON the operation start input signal (START) for control input. When cam output is enabled, the control output RUN output signal (RUN) is turned ON. 24 V DC 24V Turn ON the operation start signal (START). Machinery operation starts Note When the operation start signal (START) is turned ON, “ru” will appear in the Cam/Parameter No. display. Start up the machinery and start operation. Note Observe the movement of peripheral devices to check if the cam output signals are being output at the correct timing. Note 1. To change the ON and OFF angles, follow the directions in 3-5-3 Cam Program Creating and Checking and change the angle data. Note 2. Use the compensation operation function to change the angle data during operation. Refer to 3-6 Applied Functions for details. 3-39 Operation Chapter 3 3-5-7 I/O Monitor Function (RUN Mode) The 3F88L-160/162 Cam Positioners have the following monitor functions in RUN mode. If the system does not perform properly at start up, use this monitor function first and check the I/O status. S Resolver speed and present angle S Error display S Cam output status S Control I/O signal status H Resolver Speed and Present Angle Monitoring (RUN Mode) If the Cam Positioner is set to RUN mode, the Resolver speed (r/min) will be displayed in the SPEED/ ON display and the present angle (in 1° units for 360 resolution and 0.5° units for 720 resolution) is displayed in the POSITION/OFF display. Bank No. being executed “ru”: Shows that START input is ON in RUN mode. Present angle Resolver speed H Error Display If an error is generated, an error code (E--**) will appear in the SPEED/ON display. If an error has been generated, refer to Chapter 5 Operation for countermeasures. Error code 3-40 Operation Chapter 3 H Cam Outputs and Control I/O Signal Monitoring (RUN Mode) Function No. o (%) Parameter No. 1 2 Function name Cam output monitor Display ON/OFF state of cam outputs 1 to 32 (see note) will be displayed by lighting or not lighting each one of the 7-segment indicators (lit when cam is OFF). Control I/O sig- ON/OFF state of control I/O signals (see note) will be nal monitor displayed by lighting or not lighting each one of the 7-segment indicators (lit when signal is OFF). Note The 3F88L-160 (16-point model) Cam Positioner does not have cam outputs 17 to 32. (The relevant indicators will remain OFF.) D Procedure Operation Display Press the Bank/Function Key. BANK/ FUN The Bank/Function display will show “0” and the Cam/Parameter No. display will show “1.” The ON/OFF status of cam outputs will be shown in the SPEED/ON and POSITION/OFF displays. Press the Cam/Parameter Key. CAM/ PRMTR Keys other than Explanation (Displayed in normal RUN mode.) CAM/ PRMTR The Cam/Parameter No. display will show “2,” and the ON/OFF status of the control I/O signals will be shown in the SPEED/ON and POSITION/OFF displays. Press any key other than the Cam/Parameter Key to return to the display for normal RUN mode. D Cam Output Monitor Display • SPEED/ON • POSITION/OFF 3-41 Operation Chapter 3 D Control I/O Signal Monitor Display • SPEED/ON (Control output) • POSITION/OFF (Control input) 3-5-8 Control I/O Signals In addition to cam outputs (CAM 1 to 16/CAM 1 to 32), the 3F88L-160/162 Cam Positioners also have the control inputs and outputs described below. Refer to 2-3-3 Terminal Block Wiring for information on wiring control I/O signals. Cam outputs BANK 1 to 3 (select the bank number to be executed) RUN output (enables cam outputs) START input (starts cam outputs) M-DET output (outputs detection of Resolver rotation) TRIG input (executes origin shift) RESET input (hardware reset) Cam Positioner ERROR output (outputs errors) H Control Inputs Name Bank selection input p Symbol BANK1 BANK2 BANK3 Operation start input START Function Bank selection input selects which Cam Positioner bank number will be executed. Turns ON when this signal is short-circuited with the 0V. Execution 1 2 3 4 5 6 7 8 bank BANK1 OFF ON OFF ON OFF ON OFF ON BANK2 OFF OFF ON ON OFF OFF ON ON BANK3 OFF OFF OFF OFF ON ON ON ON Note Refer to 7-2 Performance for information on bank selection timing when in operation mode. When the operation start input is turned ON in RUN mode, the operation will start and cam outputs are enabled. When operation start input is turned OFF in RUN mode, cam outputs are disabled. Note 1. START input is ignored when the Unit is in modes other than RUN. 3-42 Note 2. Cam outputs will turn ON and OFF during a trial operation in PRGM mode, regardless of the START input status. Note 3. Refer to ntl7-2 Performance for information on delay times for cam outputs and RUN outputs after START input is turned ON. Operation Name Origin shift input Chapter 3 Symbol TRIG Function When the origin shift input is turned from OFF to ON in RUN mode, origin shift is executed. Note 1. TRIG input is ignored when the Unit is in modes other than RUN. Note 2. TRIG input is disabled when Resolver speed is 4 r/min or greater. Note 3. The TRIG signal is enabled when it has been turned ON for 10 ms or longer. 4. Refer to 7-2 Performance for information on the relationship between TRIG inputs, RUN outputs, and cam outputs. Regardless of the current operation mode, hardware reset is performed when the reset input is turned ON and the system will return to the startup status. Note 1. All outputs will turn OFF, regardless of the output hold settings. Note Reset input RESET Note 2. The origin values retained for origin shift will be lost. H Control Outputs Name RUN output Symbol RUN Function ON: Cam outputs enabled OFF: Cam outputs disabled In any of the following circumstances, cam outputs will be enabled if no errors have been generated. • When the START signal is ON in RUN mode (including during compensation operation) • When the trial operation function is started in PRGM mode. Cam outputs will be disabled under any of the following circumstances. • When the START signal is OFF in RUN mode. • When an error has been generated (error code E--** or a watchdog error). (Refer to 5-1 Diagnosis using Error Codes.) • When changing from RUN to PRGM mode or from RUN to SET mode. Resolver rotation detection output M-DET • When the trial operation function is completed in PRGM mode. Note Refer to 7-2 Performance for information on ON and OFF delay times for RUN outputs. ON: When Resolver speed is 4 r/min or greater Error output ERROR OFF: When Resolver speed is less than 4 r/min or an error has been generated. (Refer to 5-1 Diagnosis using Error Codes.) Note Refer to 7-2 Performance for information on ON and OFF delay times when the Resolver speed is 4 r/min or greater. ON: While error code E--** or watchdog errors have not been generated. OFF: When an error code E--** or watchdog error has been generated (Refer to 5-1 Diagnosis using Error Codes). Alternatively, during initialization when the power is turned ON. (Refer to 7-2 Performance for information on initialization times.) 3-43 Operation 3-6 Chapter 3 Applied Functions Function selection (Function No. U) must be set to “2” (all functions) before the applied functions can be used for 3F88L-160/162 Cam Positioners. 3-6-1 Function Level Selection Setting (SET Mode) H Function Level Selection Setting and Checking Check if the function level is set to function level 2 (all functions). If another function level is set, change the setting to function level 2 (all functions). Function level Function No. U (u) Parameter No. 1 Function name Function level selection Setting range 0 to 2 0 1 2 Details 0: Function level 0 (monitor only) 1: Function level 1 (basic operation/monitor only) (factory setting) 2: Function level 2 (all functions) D Procedure Set the function level selection to “2” (function level 2). Operation Display Explanation Use the mode selection switch to change to SET mode. BANK/ FUN Keep pressing the Bank/Function Key until “U” appears on the display. Note The display will change from 1→2→....→8→A→t→U→1→.. in the basic settings. Press the Set Key to allow settings to be made. SET • Cam/Parameter number display: “1” • SPEED/ON angle display: Flashes current setting If the setting value is not “2,” use the Up Key and change the setting to “2” (all functions). 0: Monitor 1: Basic settings 2: All functions If the setting is not on “2,” use the Up or Down Key to change to “2” (all functions). 0: Monitor 1: Basic settings 2: All functions 3-44 Operation Chapter 3 Operation Display Explanation Press the Set Key to confirm the settings. The setting will stop flashing for approximately 1 second and then resume flashing. Note When a setting is flashing, the Up and Down Keys are enabled and the setting may be changed. Press the Bank/Function Key. SET The display will return to only the function number that appears. BANK/ FUN Turn OFF the power supply. (The settings will now be enabled.) Note 1. The functions are enabled once the power has been turned OFF and then ON again. Note 2. The display will change as shown below when the Bank/Function Key is pressed repeatedly to set the function number. Function level 0: 1→2→3→4→5→6→7→8→U→1→etc. Function level 1: 1→2→3→4→5→6→7→8→A→t→U→1→etc. Function level 2: 1→2→3→4→5→6→7→8→A→b→C→d→F→H→P→t→U→1→etc. If the resolution selection (explained in the next section) is set to “1” (720 divisions/rotation), “5→6→7→8” will not be displayed. 3-6-2 Parameter List (SET Mode) Bank/Func- Cam/Parame- Function name tion ter 1 to 8 0 Origin (1 to 4) compensation (see note 2) absolute angle A (a) Setting range --- 1 to 32 (1 to 16) (see note 1) Program number checking --- 1 Resolution selection 0, 1 SPEED/ON POSITION/OFF Displays the --absolute angle for origin compensation (display only, no settings can be made). Displays the number --of steps for the displayed bank or cam number (display only, no settings can be made). 0: 360 divisions/ --revolution (factory setting) 1: 720 divisions/ revolution 3-45 Operation Chapter 3 Bank/Func- Cam/Parame- Function name tion ter 1 Origin b (b) compensation value Setting range 0 to 359 (0 to 719) (see note 2) 2 Backlash compensation value 0 to 179 (0 to 359) (see note 2) 3 Advance angle compensation value 1 0 to 1600 (0 to 800) (see note 2) 0 to 359 (0 to 719) (see note 2) 4 Advance angle compensation value 2 0 to 1600 (0 to 800) (see note 2) 0 to 359 (0 to 719) (see note 2) 5 Advance angle compensation value 3 0 to 359 (0 to 719) (see note 2) 6 Baud rate 1, 2 c (c) --- Cam protect --- d (d) --- Teaching --- 3-46 SPEED/ON Sets origin compensation value (angle data). Factory setting “0.” Sets backlash compensation value (angle data). Factory setting “0.” Sets speed data for advance angle compensation value 1. Factory setting “0.” --- POSITION/OFF --- --- --- Sets angle data for advance angle compensation value 1. Factory setting “0.” --- Sets speed data for advance angle compensation value 2. Factory setting “0.” --Sets angle data for advance angle value 2. Factory setting “0.” --Sets angle data for advance angle compensation value 3 (advance angle compensated position). Factory setting “0.” 1: 9,600 bps --(factory setting) 2: 19,200 bps Protection can be set or released for each cam number or for all cams in a bank number. (Factory setting: “unprotected”) Present Resolver angle can be input as ON angle data. Protect can be set or released for each cam number or for all cams in a bank number (Factory setting “unprotected”) Present Resolver angle can be input as OFF angle data. Operation Chapter 3 Bank/Func- Cam/Parame- Function name tion ter --One-direction F (f) function setting Setting range 0 to 2 SPEED/ON --- POSITION/OFF 0: One-direction function disabled (factory setting) 1: Enabled in forward direction H (h) 1 2 3 4 Backlash compensation enable/disable setting Advance angle compensation enable/disable setting Output hold Present value output setting 0, 1 0, 1 0, 1 0 to 4 0: Backlash compensation disabled (factory setting) 1: Backlash compensation enabled 0: Advance angle compensation disabled (factory setting) 1: Advance angle compensation enabled 0: Output hold disabled (factory setting) 1: Output hold enabled 0: No present value output function (factory setting) 2: Enabled in reverse direction --- --- --- --- 1: 4-digit present angle (no units) 2: 4-digit number of rotations (no units) 3: Automatic switching of 3-digit present angle and number of rotations (with units) 4: Automatic switching of 4-digit present angle and number of rotations (with units) 3-47 Operation Chapter 3 Bank/Func- Cam/Parame- Function name tion ter --Pulse output P (p) setting (see note 4) t (t) (see note 4) Setting range --- 0 Data transfer (Slave setting) --- 1 Data transfer (Master setting) 0 to 3 SPEED/ON Writes pulse output program to any bank or cam number (sets pulse number). (Operates on a command issued from Master Unit) 0: Disabled (factory setting) POSITION/OFF (Sets pulse start position.) ----- 1: Read data 2: Write data U (u) 1 Function level selection 0 to 2 3: Verify data 0: Function level 0 (monitor only) --- 1: Function level 1 (basic operation/monitor only) (factory setting) 2: Function level 2 (all functions) Note 1. The data for the 3F88L-160 (16-point model) Cam Positioner is shown in parentheses. Note 2. The data for 720 resolution (divisions/revolution) is shown in parentheses. The angles will be set and displayed as “1” for 0.5°. Note 3. Functions A, b, C, F, H, and U will be enabled after the power has been turned OFF and then ON again. Note 4. Functions P and t are special operations that are not stored as parameters. 3-48 Operation Chapter 3 3-6-3 Parameter Explanation and Operation H Explanation In this section, individual parameters will be explained in the following format. Parameter name Function level setting D Origin Compensation Value Function b (b) No. Parameter No. Function level 1 2 Setting range 0 to 359 (0 to 719) (see note 1) • (Function explanation) Note (Additional information) • Parameter Name Parameter names such as “origin compensation value” and “backlash compensation value” will appear here. • Function Level Setting The function level at which this parameter can be set will appear here. In the above example, this parameter can be set at function level 2 (all functions) only. • Function No. The function number of this parameter will appear here. The 7-segment indicator display will appear in parentheses after function numbers that appear as letters (rather than numerals). • Parameter No. The parameter number for this parameter will appear here. • Setting Range The setting range for this parameter will appear here. • Function Explanation The functions and factory settings for this parameter will be explained here. • Additional Information Additional information for items with “See note” as well as information on restrictions or cautions pertaining to the use of that function will appear here. H Items to be Checked before Setting Parameters The functions and parameter setting for 3F88L-160/162 Cam Positioners will be explained in the next section. Before proceeding, be sure to check that the following two settings have been made. • Set the function level (Function No. U) to “2” (function level 2). • Set the resolution selection (Function No. A) to the resolution to be used. Once these settings have been made, turn OFF the Cam Positioner and then turn it ON again. If additional parameters are set without the power being turned OFF and then ON again, the function levels and resolution selections will not be enabled and the parameters, therefore, will not be set properly. 3-49 Operation Chapter 3 H Operation The method for basic parameter display and settings is shown in the following diagram. Change to SET mode (using the mode selection switch) Set the function number with the Bank/Function Key When setting parameters for a different function number. Press the Set Key Individual operations (display parameters) When setting parameters for the same function number. (Use the Cam/Parameter Key to change the parameter number). Set parameters (set parameter values) D Individual Operations Individual operations differ for each parameter. A status flowchart, like the one shown below, will be shown for each parameter in each section. The following example shows the status flowchart when displaying function No. b parameters. Origin compensation value Backlash compensation value Baud rate Note Set the function number (use the Bank/Function Key to change the function number and press the Set Key), display the parameter numbers, and then use the Cam/Parameter Key to set the parameter numbers (for functions with multiple parameter numbers). The parameter number will increase each time the Cam/Parameter Key is pressed. If the Cam/Parameter Key is pressed on the last parameter number (parameter number 6 in the above example), the display will return to parameter number 1. 3-50 Operation Chapter 3 D Setting Parameters Once the parameters have been displayed using the individual operations, perform the following operations to set the parameter data. • Use the Up and Down Keys to increase or decrease the numeric value of the digit that is flashing. • Press the Forward Key to shift to the next digit to the left. If the Forward Key is pressed while the leftmost digit is flashing, the rightmost digit will start flashing. • If a parameter has two items to be set (e.g., advance angle compensation value 1), the data will be displayed in the SPEED/ON and POSITION/OFF displays. • As the final step, press the Set Key to confirm the settings. When the Set Key is pressed, the data will remain lit for approximately one second and then one of the digits will start flashing again. 3-51 Operation Chapter 3 H Display Changes in SET Mode Origin compensation absolute angle (display) Program number checking (display) Origin compensation absolute angle (display) Bank number 1, cam number 1, step number (display) Up to cam number 16 or 3F88L-160 Keys other than Origin compensation absolute angle (display) Any key Bank number 2, cam number 1, step number (display) Keys other than Origin compensation absolute angle (display) Note: Up to bank number 4 for 720 resolution Bank number 1, cam number 32, step number (display) Bank number 2, cam number 32, step number (display) Up to cam number 16 or 3F88L-160 Any key Bank number 8, cam number 1, step number (display) Keys other than Bank number 8, cam number 32, step number (display) Up to cam number 16 or 3F88L-160 Any key Resolution selection Resolution selection Various compensation values and baud rate setting Origin compensation value 3-52 Backlash compensation value Advance angle compensation value 1 (speed data) Advance angle compensation value 2 (speed data) Advance angle compensation data 1 (angle data) Advance angle compensation data 2 (angle data) Various compensation values and baud rate setting Operation Chapter 3 Advance angle compensation value 3 Baud rate Cam protect Cam protect (bank number 1) Cam protect (bank number 1, cam number 1) Cam protect (bank number 1, cam number 32) Up to cam number 16 for 3F88L-160 Cam protect setting Cam protect (bank number 2) Cam protect (bank number 2, cam number 1) Cam protect (bank number 2, cam number 32) Up to cam number 16 for 3F88L-160 Cam protect (bank number 8) Cam protect (bank number 8, cam number 1) Up to cam number 16 for 3F88L-160 Note: Up to bank number 4 for 720 resolution Teaching Teaching (bank number 1) Cam protect (bank number 8, cam number 32) Teaching (bank number 1, cam number 1) Teaching (bank number 1, cam number 32) Up to cam number 16 for 3F88L-160 Teaching (bank number 2, cam number 1) Teaching (bank number 2, cam number 32) Teaching Teaching (bank number 2) Up to cam number 16 for 3F88L-160 Teaching (bank number 8) Note: Up to bank number 4 for 720 resolution Teaching (bank number 8, cam number 1) Teaching (bank number 8, cam number 32) Up to cam number 16 for 3F88L-160 3-53 Operation Chapter 3 One-direction function setting One-direction function (bank number 1) One-direction function (bank number 1, cam number 1) One-direction function (bank number 1, cam number 32) One-direction function setting Up to cam number 16 for 3F88L-160 One-direction function (bank number 2) Various compensation value enable/disable, output hold, and present value output settings One-direction function (bank number 2, cam number 32) Up to cam number 16 for 3F88L-160 One-direction function (bank number 8) Various compensation value enable/disable settings 3-54 One-direction function (bank number 2, cam number 1) One-direction function (bank number 8, cam number 1) Note: Up to bank number 4 for 720 resolution Backlash compensation enable/disable Advance angle compensation enable/disable Output hold Current value output setting One-direction function (bank number 8, cam number 32) Up to cam number 16 for 3F88L-160 Operation Pulse output settings Chapter 3 Pulse output (bank number 1) Pulse output (bank number 1, cam number 1) Pulse output (bank number 1, cam number 32) Up to cam number 16 for 3F88L-160 Pulse output settings Pulse output (bank number 2) Pulse output (bank number 2, cam number 1) Pulse output (bank number 2, cam number 32) Up to cam number 16 for 3F88L-160 Pulse output (bank number 8) Note: Up to bank number 4 for 720 resolution Data transfer Data transfer Pulse output (bank number 8, cam number 1) Pulse output (bank number 8, cam number 32) Up to cam number 16 for 3F88L-160 Data transfer (Slave settings) Data transfer (Master settings) Function level selection Function level selection Function level selection Origin compensation absolute angle (display) 3-55 Operation Chapter 3 3-6-4 Origin Compensation and Origin Shift H Functions • Both origin compensation and origin shift functions match the mechanical origin and the Cam Positioner origin. • The differences between origin compensation and origin shift are outlined as follows: Origin Compensation Press the ADJ switch in SET mode to set the present angle at that point to zero. If an origin compensation value has been set, the present angle will change to that origin compensation value. This value (the origin position after compensation for the Resolver’s electrical 0°) will not be lost even if the power is turned OFF. Origin Shift Turn ON the origin shift input (TRIG) in RUN mode to set the present angle at that point to zero. If an origin compensation value has been set, the present angle will change to that origin compensation value. This value will be lost if the power is turned OFF. • Origin compensation is used to align the mechanical origin and the Cam Positioner origin, for example, when the system is first introduced, when the system is adjusted, or when Resolvers or Cam Positioners are exchanged. Origin shift is used during normal operation when the present angle (origin) is to be changed. • Both origin compensation and origin shift functions are enabled when the Resolver speed is less than 4 r/min. Neither function will be executed when the Resolver speed is 4 r/min or greater. • The absolute angle will be flashing in the POSITION/OFF display during execution of origin compensation or origin shift. Note 1. When origin compensation values have been set, turn OFF the power supply to the Cam Positioner, turn it ON again and then execute origin compensation or origin shift. The origin compensation value is enabled once the power has been turned ON again. If origin compensation or origin shift are executed without the power being turned OFF and then ON again, the origin compensation or origin shift function will not be executed properly. Note 2. When origin shift has been used to change the origin position, the origin position value will be lost when the power is turned OFF. The present angle after the power is turned ON again will, therefore, be different from the present angle before the power was turned OFF and the cam output timing will be out of synch. When using origin shift, stop the machinery and turn ON the power supply while the START input is OFF. Execute origin shift at the correct position and then turn ON the START input and start the machinery operation. H Example Operation • When the origin compensation value is “0” (resolution: 360) Present angle before compensation 100 101 102 103 104 105 106 Y Execution position for origin compensation/origin shift Present angle after compensation 3-56 357 358 359 0 1 2 3 Operation Chapter 3 • When the origin compensation value is “200” (resolution: 360) Present angle before compensation 100 101 102 103 104 105 106 Y Execution position for origin compensation/origin shift Present angle after compensation 197 198 199 200 201 202 203 H Related Parameters (SET Mode) Function level D Origin Compensation Value Function No. b (b) Parameter No. 1 2 Setting range 0 to 359 (0 to 719) (see note 1) • Use this parameter to set the present angle for when origin compensation or origin shift function is executed. • If this value is set to “0” (factory setting), the present angle will change to the origin (0°) when the origin compensation or origin shift function is executed. Note 1. The numeric values for 720 (divisions/rotation) resolution are shown in parentheses. Note 2. This parameter is enabled when the power is turned OFF and then turned ON again. Operation Use the mode selection switch to change to SET mode. Origin compensation value Backlash compensation value Baud rate • When the origin compensation value (Function No. b, Parameter No. 1) is displayed, the present setting will be displayed in the SPEED/ON display and the first digit (rightmost digit) will flash. • Use the Forward, Up, and Down Keys to change the data. • Press the Set Key and the data will remain lit for approximately one second, the setting will be confirmed, and the display will resume flashing. • If the data is inappropriate and the Set Key is pressed, all displays will flash twice and then return to the settings before the data was edited. Re-input the correct data. • Press the Clear Key to return the data to the factory settings. If the Clear Key is pressed, the three digits of data will start flashing. Press the Set Key while the data is flashing and the display will change to “-- -- --” and the factory settings will be restored. If the Clear Key is pressed again while the three digits of data are flashing, the data will not be initialized and the display will return to the edited state. 3-57 Operation Chapter 3 Function level D Origin Compensation Absolute Angle (Display) Function No. 1 to 8 (1 to 4) (see note) Parameter No. 0 0 1 2 Setting range (Display only) • Use this parameter to display the origin compensation absolute angle (origin position after origin compensation or origin shift for the Resolver’s electrical 0°) in the SPEED/ON display. • If the parameter number is “0,” the same numeric value will be displayed, regardless of the function number (1 to 8 or 1 to 4). Note The numeric values for 720 (divisions/rotation) resolution are shown in parentheses. Operation Use the mode selection switch to change to SET mode. Origin compensation absolute angle (display) Origin compensation absolute angle (display) Origin compensation absolute angle (display) H Origin Compensation Execution (SET Mode) D Procedure Operation (Manual operation of the machinery) Display Explanation Use the mode selection switch to change to SET mode. Rotate the machinery to the position to be set to zero. Press the ADJ switch. Origin compensation will be executed. The absolute angle (electrical angle of the Resolver) will be flashing in the POSITION/OFF display until origin compensation has been completed. (After origin compensation has been completed) The original display will appear when origin compensation has been completed. Note If the bank number appears in the Bank/Function display and “0” appears in the Cam/Parameter No. display, the absolute angle for origin compensation will be displayed in the SPEED/ON display. Use the mode selection switch to change to RUN mode. The speed display will be “0” and present angle will be “0” if the machinery is not operating. 3-58 Operation Chapter 3 H Origin Shift Execution (RUN Mode) D Procedure Operation Display Explanation Use the mode selection switch to change to RUN mode. (Manual operation of the machinery) Rotate the machinery to the position to be set as zero (or to the origin compensation value). Origin shift input (TRIG) Turn ON the origin shift input (TRIG) to execute origin shift. The absolute angle (Resolver’s electrical angle) will flash in the POSITION/OFF display until origin shift has been completed. 24 V DC Turn ON origin shift input (TRIG) (After origin shift has been completed) The original display will appear when origin shift has been completed. The speed display will be “0” and present angle will be “0” if the machinery is not operating. 3-59 Operation Chapter 3 3-6-5 Backlash Compensation H Functions • The backlash compensation function absorbs mechanical looseness by creating a gap between the detection angles in the CW and CCW directions. • If a compensation value equivalent to the mechanical looseness is set, the cam outputs can match the mechanical position. • This function is effective for machinery that rotate in both directions. Backlash compensation is not required for machinery that rotates in one direction only. • If backlash compensation values are set, the display will not change until the machine has rotated in the opposite direction through a number of degrees for the backlash compensation amount. • The backlash compensation function operates when the “backlash compensation enable/disable” parameter is set to “enable.” Backlash Absorbs looseness in CW and CCW direction. Resolver H Related Parameters (SET Mode) Function level D Backlash Compensation Value Function No. b (b) Parameter No. 2 Setting range 0 to 179 (0 to 359) (see note 1) • Use this parameter to set the angle equivalent to the mechanical looseness (backlash). • The factory setting is “0.” Note 1. The numeric values for 720 (divisions/rotation) resolution are shown in parentheses. Note 2. This parameter is enabled when the power is turned OFF and then turned ON again. 3-60 2 Operation Chapter 3 Operation Use the mode selection switch to change to SET mode. Origin compensation value Backlash compensation value Baud rate • When the backlash compensation value (Function No. b, Parameter No. 2) is displayed, the present setting will be displayed in the SPEED/ON display and the first digit (rightmost digit) will flash. • Use the Forward, Up, and Down Keys to change the data. • Press the Set Key and the data will remain lit for approximately one second, the setting will be confirmed, and the display will resume flashing. • If the data is inappropriate and the Set Key is pressed, all displays will flash twice and then return to the settings before the data was edited. Re-input the correct data. • Press the Clear Key to return the data to the factory settings. If the Clear Key is pressed, the three digits of data will start flashing. Press the Set Key while the data is flashing and the display will change to “-- -- --” and the factory settings will be restored. If the Clear Key is pressed again while the three digits of data are flashing, the data will not be initialized and the display will return to the edited state. Function level D Backlash Compensation Enable/Disable Function No. Parameter No. H (h) 1 2 Setting range 0, 1 • Set this parameter to “1” to enable backlash compensation. (0: backlash compensation disabled; 1: backlash compensation enabled) • The factory setting is “0.” Note This parameter is enabled when the power is turned OFF and then turned ON again. Operation Use the mode selection switch to change to SET mode. Various compensation value enable/disable setting Backlash compensation enable/disable Advance angle compensation enable/disable Present value output setting 3-61 Operation Chapter 3 • When the backlash compensation enable/disable setting (Function No. H, Parameter No. 1) is displayed, the current settings will be flashing in the SPEED/ON display. • Use the Up and Down Keys to change the data. • When the Set Key is pressed, the data will remain lit for approximately one second, the setting will be confirmed, and then the data will resume flashing. 3-6-6 Advance Angle Compensation H Functions • The advance angle compensation function advances the ON and OFF angles for all cams in proportion to the speed of the Resolver. • When cam output signals are used to move peripheral devices, this function is used to adjust the timing of peripheral device movement. This function can also be used to minimize angle deviation caused by a delay in signal transmission. • There are three advance angle compensation parameters for 3F88L-160/162 Cam Positioners. Advance angle compensation value 1: Speed and angle data settings Advance angle compensation value 2: Speed and angle data settings Advance angle compensation value 3: Angle data settings for advance angle compensation position The relationship between the Resolver speed and advance angle is set in the first two parameters, advance angle compensation values 1 and 2. The third parameter, advance angle compensation value 3 indicates the position where the advance angle is to be changed. (For example, if the advance angle amount changes from 0° to 1°, the angle must be increased by 1° somewhere in the rotation. This parameter designates the position for that increase.) • The advance angle compensation function operates when the “advance angle compensation enable/ disable setting” parameter is set to “enable.” 3-62 Operation Chapter 3 D Timing Compensation Example • This example shows a peripheral device (cylinder) operating on workpieces on a conveyor belt. In this application, the Resolver is mounted on the drive axle of the conveyor and the drive signal for the cylinder is output by the Cam Positioner. A: Working position B: Drive signal output position for 100 r/min Peripheral device (cylinder) C: Drive signal output position for 200 r/min The cylinder and workpiece are timed to coincide here. Conveyor Resolver Cam Positioner Drive signal (cam output) • The position where work is performed by the cylinder on the workpiece is indicated by A. If the conveyor is moving and the drive signal (cam output) is output when the workpiece has arrived at position A, the workpiece will have already left that position when the cylinder descends. Therefore, the drive signal must be output at an earlier point. That point is determined by the speed of the conveyor and the cylinder descending time. If the conveyor speed is high, the drive speed must be output earlier. For example, if the drive signal output position for a Resolver speed of 100 r/min is B, then the drive signal output position will be C for a speed of 200 r/min. • If the cylinder descending time is constant, the distance between the drive signal output position and the work position A will be proportional to the Resolver speed. This proportional relationship is set as an advance angle compensation parameter and enables the cylinder descending time and the arrival of the workpiece to coincide, regardless of the conveyor speed (Resolver speed). 3-63 Operation Chapter 3 • A setting example is shown in the following diagram. Advance angle amount Set angle (distance between A and B) Resolver speed (r/min) Set speed (100 r/min) Note For example, set the speed to 100 r/min and set a Resolver angle corresponding to the distance between A and B as the set angle. • For example, if the advance angle amount is 5° for 100 r/min (when the distance between A and B corresponds to a Resolver angle of 5°), the advance angle compensation will be as shown below. Cam program settings Cam outputs at 100 r/min Cam outputs at 200 r/min When advance angle compensation value 1 is set. Advance angle amount Advance angle amount = Set angle ÷ Set speed × Resolver speed Set angle Saturation speed = Set speed ÷ Set angle × 359 (or 719) Set speed Saturation speed Resolver speed (r/min) Note The maximum compensation value is 359 (for 360 resolution) or 719 (for 720 resolution). compensation greater than one rotation cannot be made. 3-64 Operation Chapter 3 When advance angle compensation values 1 and 2 are set. Advance angle amount Advance angle amount = Set angle 1 + (Set angle 2 -- Set angle 1) ÷ (Set speed 2 -- Set speed 1) × (Resolver speed -- Set speed 1) Set angle 2 Set angle 1 Advance angle amount = Set angle 1 ÷ Set speed 1 × Resolver speed Saturation speed = Set speed 1 + (359 (or 719) -- Set angle 1) ÷ (Set angle 2 -- Set angle 1) × (Set speed 2 -- Set speed 1) Set speed 1 Set speed 2 Saturation speed Resolver speed (r/min) Note 1. The data for advance angle compensation value with the lower speed (out of advance angle compensation values 1 and 2) will become the set speed 1 and the set angle 1. Note 2. The maximum compensation value is 359 (for 360 resolution) or 719 (for 720 resolution). A compensation greater than one rotation cannot be made. Note 3. Except for 0, the same speed data cannot be set for advance angle compensation values 1 and 2. When advance angle compensation values 1 and 2 are set and the set angle 2 is smaller than the set angle 1. Advance angle amount Set angle 1 Advance angle amount = Set angle 1 ÷ Set speed 1 × Resolver speed Set angle 2 Advance angle amount = Set angle 1 + (Set angle 2 -- Set angle 1) ÷ (Set speed 2 -- Set speed 1) × (Resolver speed -- Set speed 1) Set speed 1 Set speed 2 Resolver speed (r/min) Saturation speed Saturation speed = Set speed 1 + Set angle 1 ÷ (Set angle 1 -- Set angle 2) × (Set speed 2 -- Set speed 1) Note The lowest compensation value is 0. 3-65 Operation Chapter 3 Advance Angle Compensation Function Processing Detects Resolver angle Detects Resolver speed Calculates advance angle amount from the advance angle compensation values 1 and 2. Calculates advance angle amount Adds the advance angle amount to the Resolver angle. Re-writes advance angle amount The advance angle amount is re-written when the present angle equals the advance angle compensation value 3 parameter. Calculates and displays the present angle Note 1. Resolver angle detection and Resolver speed detection are performed in different cycles. Note 2. The “Resolver angle” is the angle after origin compensation (or origin shift) has been performed for the electrical absolute angle of the Resolver. S For example, assume that the advance angle compensation value 3 is set to “30” and the result of the advance angle calculation has changed from “0” to “1.” This calculation result is reflected, not immediately but when the present angle reaches “30.” In other words, when the present angle “30” is detected, the present angle is compensated to “31.” When this compensation is performed, therefore, present angle “30” is skipped. (An operation example is shown below.) Resolver angle 25 26 Advance angle amount Present angle 27 28 29 30 31 32 0 25 26 27 33 34 35 36 35 36 37 1 28 29 31 32 33 34 S The processing is the same when the advance angle amount is to be reduced. For example, if the advance angle amount changes from “10” to “5,” the Resolver angle, advance angle amount, and present angles will be as shown below. In this instance, the present angles “25” through “29” are repeated. Resolver angle 15 16 Advance angle amount Present angle 17 18 19 20 21 22 10 25 26 27 23 24 25 26 29 30 31 5 28 29 25 26 27 28 In this way, the present angles do not continue in numerical order from the angle where the present angle and the advance angle compensation value 3 coincide. The following points must be taken into consideration, therefore, when using the advance angle compensation function. S Set advance angle compensation value 3 in a section where the cam output does not change. (Set in the middle of a section where ON or OFF status continues for a long time.) S As much as possible, do not operate the machinery while the advance angle amount is changing (accelerating or decelerating.) (Start real operation after the speed has stabilized.) S If the machinery must be operated during acceleration or deceleration, change the system settings to minimize the change in advance angle amounts as much as possible. (Consider gentle acceleration or deceleration and minimizing the change in advance angle amount or speeding up the peripheral devices (or slowing down the drive axle side) and reducing the size of the compensation amount itself.) 3-66 Operation Chapter 3 S Make sure that the machinery is operating normally. H Related Parameters (SET Mode) Function level D Advance Angle Compensation Value 1 Function No. b (b) Parameter No. 3 2 Setting range Speed data : 0 to 1600 (800) (see note 1) Angle data: 0 to 359 (719) (see note 1) Function level D Advance Angle Compensation Value 2 Function No. b (b) Parameter No. 4 2 Setting range Speed data: 0 to 1600 (800) (see note 1) Angle data: 0 to 359 (719) (see note 1) • Use these parameters to set the Resolver speed and advance angle amount. • The Resolver speed (r/min) is set as the speed data and the compensation amount is set as the angle data. • The factory settings for both speed and angle data is “0.” Note 1. The data for 720 resolution (divisions/revolution) is shown in parentheses. Note 2. When the speed data is set to “0,” the angle data can only be set to “0.” Note 3. The same speed data cannot be set for advance angle compensation values 1 and 2, unless the settings are “0.” Note 4. These parameters are enabled by turning OFF the power supply and turning it ON again. D Advance Angle Compensation Value 3 Function No. b (b) Parameter No. 5 Function level 2 Setting range 0 to 359 (0 to 719) (see note 1) • Use this parameter to set the point to change the angle based on the advance angle compensation. For example, if the advance angle amount changes from “0” to “1,” the angle must increase by “1” somewhere in the rotation. This parameter sets the position for that change. The advance angle amount is updated when the Resolver angle matches advance angle compensation amount 3. • The factory setting is “0.” Note 1. The data for 720 resolution (divisions/revolution) is shown in parentheses. Note 2. Set advance angle compensation value 3 in a section where the cam output does not change. (Set in the middle of a section where ON or OFF status continues for a long time.) If cam outputs with short ON/OFF durations are set near advance angle compensation value 3, cam outputs may not be made (if the advance angle amount is increasing) or may be output twice (if the advance angle amount is decreasing). Note 3. These parameters are enabled by turning OFF the power supply and turning it ON again. 3-67 Operation Chapter 3 Operation Use the mode selection switch to change to SET mode. Origin compensation value Backlash compensation value Advance angle compensation value 1 (speed data) Advance angle compensation value 1 (angle data) Advance angle compensation value 2 (speed data) Advance angle compensation value 2 (angle data) Advance angle compensation value 3 Baud rate • If the advance angle compensation value (Function No. b, Parameters 3 to 5) is displayed, the present settings will be displayed in the SPEED/ON and POSITION/OFF displays and the first digit (rightmost digit) will be flashing. (The SPEED/ON display will be blank for advance angle compensation value 3.) • Use the Forward, Up, and Down Keys to change the data. (For advance angle compensation values 1 and 2, use the ON/OFF Switching Key to switch between speed and angle data.) • Press the Set Key and the data will remain lit for approximately one second, the setting will be confirmed, and the display will resume flashing. • If the data is inappropriate and the Set Key is pressed, all displays will flash twice and then return to the settings before the data was edited. Re-input the correct data. 3-68 Operation Chapter 3 • Press the Clear Key to return the data to the factory settings. If the Clear Key is pressed, the three digits of data will start flashing. Press the Set Key while the data is flashing and the display will change to “-- -- --” and the factory settings will be restored. If the Clear Key is pressed again while the data is flashing, the data will not be initialized and the display will return to the edited status. D Advance Angle Compensation Enable/Disable Function No. Parameter No. H (h) 2 Function level 2 Setting range 0, 1 • Set to “1” to enable advance angle compensation. (0: Advance angle compensation disabled; 1: Advance angle compensation enabled.) • The factory setting is “0.” Note This parameter is enabled when the power is turned OFF and then turned ON again. Operation Use the mode selection switch to change to SET mode. Various compensation value enable/disable settings Backlash compensation enable/disable Advance angle compensation enable/disable Present value output setting • If the advance angle compensation enable/disable function (Function No. H, Parameter No. 2) is displayed, the present settings will flash in the SPEED/ON display. • Use the Up and Down Keys to set the data. • Press the Set Key and the data will stop flashing for approximately one second, the setting will be confirmed, and the display will resume flashing. 3-6-7 Cam Protect H Functions • The cam protect function protects cams and banks from accidental changes or deletion of cam ON/ OFF data. • Operations are limited in the following ways when data is cam protected. Protected cam data cannot be changed or deleted. Banks containing protected cam data cannot be deleted. The P⋅CLR operation (clear all cam programs) cannot be performed. If any of these operations are attempted, an E-22 (cam protect input prohibited) error will be displayed. (The program will not be changed or deleted.) 3-69 Operation Chapter 3 H Related Parameters (SET Mode) Function level D Cam Protect Function No. C (c) Parameter No. --- 2 Setting range --- • Use this parameter to set or release cam protection for individual banks and cams. • The factory setting is “no cam protection for any cam.” Note This parameter is enabled when the power is turned OFF and then turned ON again. Cam Protect Display • SPEED/ON • POSITION/OFF • The cam protect status for a particular cam number is shown by the ON/OFF status of the a 7-segment indicator. ON: Cam protected OFF: Not cam protected Note The 3F88L-160 (16-point model) Cam Positioner does not have cam numbers 17 to 32. (Those indicators will remain OFF). 3-70 Operation Chapter 3 Operation Set bank number Set function number C Change mode Outline for Setting and Releasing Cam Protect Change to SET mode (using the mode selection switch) Cam protect Set the cam protect function number Use the Bank/Function Key to set function number C. Press the Set Key (enabling bank number selection) The Bank/Function display will start flashing. ”C” will appear in the leftmost Bank/Function digit. Set the bank number to which cam protect is to be set or cleared. Use the Up and Down Keys to set the bank number. The Bank/Function numeral will increase or decrease as these keys are pressed. Press the Set Key (enabling cam protect settings). The cam number will appear in the Cam/Parameter No. display. Set or release cam protect. There are two ways to set or release cam protect. Set or release cam protect • Setting/releasing by bank Up + ON/OFF Switching Keys: Sets cam protect for all cams in the bank. Down + ON/OFF Switching Keys: Releases cam protect from all cams in the bank. • Setting/releasing by cam Use the Cam/Parameter Key to set the cam number, and then press one of the following. Up Key: Sets cam protect for the specified cam. Down Key: Releases cam protect for the specified cam. Confirm settings Once cam protect has been set/cleared for one bank, press the Set Key and save the setting. “C” will flash twice to confirm the settings have been saved. The cam protect settings can be adjusted again if required. Press the Clear Key (enables bank number selection). The Bank/Function display will flash. The Cam/Parameter No. display will turn OFF. If setting or clearing cam protect for other bank numbers. Exit Press the Bank/Function Key (enables function number settings). The operation to set or release cam protect has now been completed. 3-71 Operation Chapter 3 Setting/Releasing Cam Protect Procedure 1 (Enabling Cam Protect Settings) Use the mode selection switch to change to SET mode. Bank number selection possible Cam protect Cam protect (bank number 1) Cam protect settings possible Cam protect (bank number 1, cam number 1) Cam protect (bank number 1, cam number 32) Up to cam number 16 for 3F88L-160. Cam protect (bank number 2) Cam protect (bank number 2, cam number 1) Cam protect (bank number 2, cam number 32) Up to cam number 16 for 3F88L-160. Cam protect (bank number 8) Cam protect (bank number 8, cam number 1) Up to bank number 4 for 720 resolution. Cam protect (bank number 8, cam number 32) Up to cam number 16 for 3F88L-160. S Use the Bank/Function Key to set cam protect (Function No. C) and press the Set Key, and the bank number will flash in the Bank/Function display (indicating that bank number selection is enabled.) Use the Up and Down Keys to set the bank number containing the cam to be cam protected. S Next, press the Set Key to display the cam number in the Cam/Parameter No. display. The current cam protect status will be displayed in the SPEED/ON and POSITION/OFF displays (and cam protect settings can be made). 3-72 Operation Chapter 3 Setting/Releasing Cam Protect Procedure 2 (Setting/Releasing Cam Protect within a Set Bank) • Setting/Releasing Cam Protect by Bank Set Cam protect (bank number 1) Cam protect (bank number 1, cam number 1) Release Bank number selection enabled (Bank/Function display flashing) Confirm settings For 3F88L-162 (32-point model) ”C” flashes twice Cam Positioners Confirm settings Cam protect settings possible (present setting status displayed) ”C” flashes twice S While the bank and cam numbers are displayed (cam protect settings enabled), press the ON/ OFF Switching Key while pressing the Up Key to set cam protect for all cams within that bank number. S While the bank and cam numbers are displayed (cam protect settings enabled), press the ON/ OFF Switching Key while pressing the Down Key to release cam protect for all cams within that bank number. S Once cam protect has been set or released, press the Set Key to confirm the cam protect settings. “C” will flash twice on the display. (Perform this operation for each bank. The setting will be canceled if the Set Key is not pressed before moving to another bank.) S Once the settings have been completed, press the Clear Key to return to bank selection enabled status (Bank/Function display flashing). S To set or release cam protect for another bank number (the above operation), use the Up and Down Keys when in bank selection enabled status (Bank/Function display flashing) to select the new bank number, and repeat the above operation. S Press the Bank/Function Key when in bank selection enabled status (Bank/Function display flashing) to return to function number setting status (”C” displayed in the Bank/Function display). 3-73 Operation Chapter 3 • Setting/Releasing Cam Protect by Cam Bank selection enabled status (Bank/Function display flashing) Cam protect (bank number 1) Cam protect settings enabled status (current setting status displayed) Cam protect (bank number 1, cam number 1) Release Set Cam protect (bank number 1, cam number 2) Release Set Cam protect (bank number 1, cam number 3) Release Set Confirm settings “C” flashes twice (This example shows cam protect set for cam numbers 1 to 9.) S While the bank and cam numbers are being displayed (cam protect settings enabled status), press the Cam/Parameter Key and set the cam number for which cam protect is to be set or released. S Press the Up Key to set cam protect for that bank and cam number. (The relevant indicators will turn ON.) Press the Down Key to release cam protect for that bank and cam number. (The relevant indicators will turn OFF.) S To set or release cam protect for another cam number, press the Cam/Parameter Key, change the cam number, and repeat the above operation. S Once cam protect has been set or released, press the Set Key to confirm the setting. “C” will flash twice. (Perform this operation for each bank. The setting will be canceled if the Set Key is not pressed before moving to another bank.) S Once the settings have been completed, press the Clear Key to return to bank selection enabled status (Bank/Function display flashing). S To set or release cam protect for another bank number (the above operation), use the Up and Down Keys when in bank selection enabled status (Bank/Function display flashing) to select the new bank number, and repeat the above operation. 3-74 Operation Chapter 3 S Press the Bank/Function Key when in bank selection enabled status (Bank/Function display flashing) to return to function number setting status (”C” displayed in the Bank/Function display). 3-6-8 One-direction Function H Functions • Enables cam outputs when the Resolver is rotating in one direction only, either forward or reverse. (If the Resolver rotates in the opposite direction, the output status will be held.) • This function can be set for any cam. Note 1. The one-direction function is disabled when compensation operation, trial operation, or teaching is being executed. Note 2. When backlash compensation is enabled, the one-direction function works at the angle after backlash compensation has been executed. (For example, even if the Resolver rotates in the opposite direction, the system will not consider this as the reverse direction until the backlash compensation amount has been exceeded.) Note 3. When advance angle compensation is enabled, cam outputs are made at the angle after advance angle compensation has been made. Rotation direction for the one-direction function is determined by the increasing or decreasing angles after backlash compensation has been performed (the angle after advance angle compensation is not used to determine the rotation direction). Therefore, even when the present angle is decreasing (when decelerating or due to a reduction in the advance angle amount), this is not considered as reverse direction. (Refer to 3-6-6 Advance Angle Compensation.) H Related Parameters (SET Mode) Function level D One-direction Function Setting Function No. F (f) Parameter No. --- 2 Setting range 0 to 2 • Use this parameter to set or clear the one-direction function for each cam. • The settings are as follows: 0: One-direction function disabled (factory setting) 1: Enabled in the forward direction (cam output status held when rotating in reverse) 2: Enabled in the reverse direction (cam output status held when rotating forward) Note 1. This parameter is enabled when the power is turned OFF and then ON again. Note 2. Use the CW/CCW setting switch to set either CW or CCW as the forward direction. Refer to 3-5-2 Initial Settings for details. 3-75 Operation Chapter 3 Operation Use the mode selection switch to change to SET mode. Bank selection enabled status One-direction function setting One-direction function (bank number 1) One-direction function setting enabled status One-direction function (bank number 1, cam number 1)) One-direction function (bank number 1, cam number 32) Up to cam number 16 for 3F88L-160. One-direction function (bank number 2) One-direction function (bank number 2, cam number 1)) One-direction function (bank number 2, cam number 32) Up to cam number 16 for 3F88L-160. One-direction function (bank number 8) Up to bank number 4 for 720 resolution. One-direction function (bank number 8, cam number 1)) One-direction function (bank number 8, cam number 32) Up to cam number 16 for 3F88L-160. • Use the Bank/Function Key to set the one-direction function (Function No. F) and press the Set Key to make the bank number flash in the Bank/Function display (bank selection enabled status). Use the Up and Down Keys to set the bank number that contains the cam for which one-direction function is to be set. • Next, press the Set Key to display the cam number in the Cam/Parameter No. display. The present settings will flash in the POSITION/OFF display (one-direction function setting enabled status). • While the bank and cam numbers are displayed (one-direction function setting enabled status), press the Cam/Parameter Key to change the cam number. Set the cam number for which the one-direction function is to be set. • Use the Up and Down Keys to set the data. • Press the Set Key. The data will remain lit for approximately one second, the data will be confirmed, and the display will start flashing again. 3-76 Operation Chapter 3 H Operation Example • Cam Program: Cam outputs ON between 100 and 200 (360 resolution) • One-direction Setting: Enabled in the forward direction (cam output status held for rotation in the opposite direction) Rotation direction Forward Reverse Forward Time Resolver angle Time Cam outputs Time Cam output status held Note If both the one-direction function and the advance angle compensation function are set at the same time, cam outputs may be left out or output twice when the advance angle data is compensated. (Refer to 3-6-6 Advance Angle Compensation.) 3-6-9 Output Hold Function H Functions • The output hold function holds the cam output status when an error has been generated or when switching from RUN mode to SET or PRGM mode. • When the output hold function is enabled, the cam output status is held even in the following circumstances. When banks are switched during operation. When in PRGM or SET mode only when START signal is ON. During origin shift processing. When an error has been generated (except E-10 or watchdog errors). • Even when the output hold function is enabled, cam outputs are OFF in the following circumstances. When the START signal is OFF. When the RESET signal is being input. When a E-10 or watchdog error has been generated. H Related Parameters Function level D Output Hold Function No. • Settings: H (h) Parameter No. 3 2 Setting range 0, 1 0: Output hold disabled (factory setting), 1: Output hold enabled Note This parameter is enabled when the power is turned OFF and then ON again. 3-77 Operation Chapter 3 Operation Use the mode selection switch to change to SET mode. Various compensation values enable/disable setting Backlash compensation enable/disable Output hold Present value output setting • When output hold (Function No. H, Parameter No. 3) is displayed, the present settings will flash in the SPEED/ON display. • Use the Up and Down Keys to set the data. • Press the Set Key. The data will remain lit for approximately one second, the settings will be confirmed, and then the data will resume flashing again. 3-6-10 Present Value Output Function H Function The present value output uses the cam output signal and output signals that are sent to the M7E or M7F Display Units. H Related Parameter (SET Mode) Function level D Present Value Output Setting Function No. H (h) Parameter No. 4 2 Setting range 0 to 4 • Use this parameter to set the present value output function. • The settings are as follows: 0: No present value output function (factory setting) 1: 4-digit present angle output (no units) 2: 4-digit speed output (no units) 3: 3-digit automatically switching present angle/speed output (with units) 4: 4-digit automatically switching present angle/speed output (with units) For automatically switching data output, the present angle data will be output when the speed is less than 4 r/min and the speed data will be output when the speed is 4 r/min or greater. • Use settings 1 to 4 for M7E Display Units and 1 or 2 for M7F Display Units. • The present value output signals are the same as cam output signals. When this function is used, therefore, some cam outputs can no longer be used. (Different cam outputs are used for 3F88L-160 and 3F88L-162 Cam Positioners.) Note 1. This parameter is enabled when the power is turned OFF and then ON again. 3-78 Operation Chapter 3 Note 2. Use setting 2 or 4 when displaying speeds of 1,000 r/min or greater. Setting 1 2 3 4 Display data 4-digit present angle output (no units) 4-digit speed output (no units) 3-digit automatically switching present angle/speed output (with units) 4-digit automatically switching present angle/speed output (with units) Cams used for 3FF88L-160 CAM 13 to 16: Display data Cams used for 3FF88L-162 CAM 29 to 32: Display data CAM 12: 1st digit LE signal CAM 28: 1st digit LE signal CAM11: 2nd digit LE signal CAM 27: 2nd digit LE signal CAM10: 3rd digit LE signal CAM 26: 3rd digit LE signal CAM 9: 4th digit LE signal CAM 25: 4th digit LE signal CAM 13 to 16: Display data CAM 29 to 32: Display data CAM 12: 1st digit LE signal CAM 28: 1st digit LE signal CAM11: 2nd digit LE signal CAM 27: 2nd digit LE signal CAM10: 3rd digit LE signal CAM 26: 3rd digit LE signal CAM 9: 4th digit LE signal CAM 25: 4th digit LE signal CAM 13 to 16: Display data CAM 29 to 32: Display data CAM 12: 1st digit LE signal CAM 28: 1st digit LE signal CAM11: 2nd digit LE signal CAM 27: 2nd digit LE signal CAM10: 3rd digit LE signal CAM 26: 3rd digit LE signal CAM 9: “Degrees” units output CAM 25: “Degrees” units output CAM 8: “r/min” units output CAM 24: “r/min” units output CAM 13 to 16: Display data CAM 29 to 32: Display data CAM 12: 1st digit LE signal CAM 28: 1st digit LE signal CAM11: 2nd digit LE signal CAM 27: 2nd digit LE signal CAM10: 3rd digit LE signal CAM 26: 3rd digit LE signal CAM 9: 4th digit LE signal CAM 25: 4th digit LE signal CAM 8: “Degrees” units output CAM 24: “Degrees” units output CAM 7: “r/min” units output CAM 23: “r/min” units output Operation Use the mode selection switch to change to SET mode. Various compensation value enable/disable setting Backlash compensation enable/disable Output hold Present value output setting • Display the present value output setting (Function No. H, Parameter No. 4) and the present settings will flash in the SPEED/ON display. • Use the Up and Down Keys to set the data. 3-79 Operation Chapter 3 • Press the Set Key. The data will remain lit for approximately one second, the settings will be confirmed, and then the data will resume flashing again. H Data Output Timing • 3F88L-160 (16-point Model) • For Present Value Outputs Set to “2” (4-digit Resolver Speed (No Units)) 1st digit display 2nd digit display 3rd digit display 4th digit display 1st digit Output Tr:ON Output Tr:OFF Time Time Output Tr:ON Output Tr:OFF Time Output Tr:ON Output Tr:OFF Output Tr:ON Output Tr:OFF Time Time Note The output timing for each digit of display data (CAM 13 to 16) and each digit’s LE signal (CAM9 to 12) are shown below. 1st digit display data 3-6-11 Pulse Output Function H Function • The pulse output function creates cam programs that turn ON and OFF at even intervals at particular bank and cam numbers. • The cam programs that turn ON/OFF at even intervals can be set from any angle (pulse start position). Note 1. For pulse settings to be made, the resolution/(pulse number × 2) must be an integer. If this equation does not produce an integer, the pulse number will be changed to the nearest pulse number that will give an integer. The pulse numbers are as follows: For 360 resolution: 1, 2, 3, 4, 5, 6, 9, 10, 12, 15, 18, 20, 30, 36, 45, 60, 90, 180 For 720 resolution: 1, 2, 3, 4, 5, 6, 8, 9, 10, 12, 15, 18, 20, 24, 30, 36, 40, 45, 60, 72, 90, 120, 180, 360 If a pulse that falls between any of these pulse numbers is set, it will be converted to the next largest pulse number. For example, if “7” is set for 720 resolution, it will be converted to “8.” Note 2. If the pulse number and pulse start position are set, a cam program that turns ON at the pulse start position will be created. 3-80 Operation Chapter 3 Note 3. Cam programs created using the pulse output function, like other cam programs, can be edited and deleted in PRGM mode and edited freely using compensation and trial operations. Note 4. The pulse output function creates cam programs and does not store the parameters set here in memory. Note 5. Refer to 3-5-3 Cam Program Creating and Checking for information on how to check cam programs that have been created using this function. Note 6. If the pulse output function is used to create a new cam program for a cam number that already has a cam program input, the existing cam program does not have to be cleared beforehand. When pulse output settings are made, all existing cam programs are cleared and overwritten by the pulse output cam program. H Operation Example • For Pulse Number = 4, Pulse Start Position = 30° Cam output (cam program) H Related Parameters (SET Mode) Function level D Pulse Output Setting Function No. P (p) Parameter No. --- 2 Setting range --- • Use this parameter to create pulse output programs. 3-81 Operation Chapter 3 Operation Use the mode selection switch to change to SET mode. Pulse number selection enabled Pulse output setting Pulse output (bank number 1) Pulse output setting enabled Pulse output (bank number 1, cam number 1) Pulse output (bank number 1, cam number 32) Up to cam number 16 for 3F88L-160. Pulse output (bank number 2) Pulse output (bank number 2, cam number 1) Pulse output (bank number 2, cam number 32) Up to cam number 16 for 3F88L-160. Pulse output (bank number 8) Pulse output (bank number 8, cam number 1) Up to bank number 4 for 720 resolution Pulse output (bank number 8, cam number 32) Up to cam number 16 for 3F88L-160. • Use the Bank/Function Key to make the pulse output settings (Function No. P) and press the Set Key and the bank number will flash in the Bank/Function display. Use the Up and Down Keys to set the bank number that contains the cam for which a pulse output program is to be created. • Next, press the Set Key to display the cam number in the Cam/Parameter No. display. Alternatively, “P-- -- --” (first digit flashing) will appear in the SPEED/ON display and “-- -- --” will appear in the POSITION/OFF display. • Press the Cam/Parameter Key until the cam number to be set appears. • The data that appears in the SPEED/ON display is the pulse number. Set a pulse number between 1 and 180 for 360 resolution or between 1 and 360 for 720 resolution. • The data that appears in the POSITION/OFF display is the pulse start position. Set a pulse start position between 0 and 359 (for 360 resolution) and 0 and 719 (for 720 resolution). • Use the Forward, Up, and Down Keys to set the data. Use the ON/OFF Switching Key to switch between pulse number and pulse start position data. 3-82 Operation Chapter 3 • Press the Set Key. The data will remain lit for approximately one second, the settings will be confirmed, and then the data will resume flashing again. • If the data is inappropriate and the Set Key is pressed, all displays will flash twice and then return to the settings before the data was edited. Re-input the correct data. 3-6-12 Teaching H Function • The teaching function is used to input data from the Resolver as ON/OFF angle settings while the machinery is being manually operated. • The only editing of cam programs allowed while using this function is the registration or deletion of ON/OFF angle data. Note 1. If the teaching function is used on cam numbers for which a cam program has already been input, steps will be added to that cam program. Note 2. The ON or OFF angles for cam programs that have been already input cannot be changed separately. Note 3. The teaching function cannot be used if the Resolver speed is 4 r/min or greater. H Related Parameter (SET Mode) Function level D Teaching Function No. d (d) Parameter No. --- 2 Setting range --- • Use this parameter to create cam programs. 3-83 Operation Chapter 3 Operation Use the mode selection switch to change to SET mode. Bank number selection enabled Teaching Teaching (bank number 1) Input by teaching and step deletion enabled Teaching (bank number 1, cam number 1) Teaching (bank number 1, cam number 32) Up to cam number 16 for 3F88L-160. Teaching (bank number 2) Teaching (bank number 2, cam number 1) Teaching (bank number 2, cam number 32) Up to cam number 16 for 3F88L-160. Teaching (bank number 8) Teaching (bank number 8, cam number 1) Teaching (bank number 8, cam number 32) Up to bank number 4 for 720 resolution Up to cam number 16 for 3F88L-160. • Use the Bank/Function Key to set teaching (Function No. d) and press the Set Key to display the bank number in the Bank/Function display (flashing). Use the Up and Down Keys to set the bank number that contains the cam to which the teaching function will be applied. • Next, press the Set Key to display the cam number in the Cam/Parameter No. display. If there is no cam program for that cam number The SPEED/ON display will be “-- -- --” and the POSITION/OFF display will be “-- -- --.” If there is a cam program for that cam number The ON and OFF angles for step 1 will be displayed. Press the Set Key to display the ON and OFF angles for step 2. Press the Set Key while the last step is displayed. The displays will be “-- -- --” and “-- -- --.” • Press the Cam/Parameter Key until the cam number to be set is displayed. 3-84 Operation Chapter 3 D Input Using the Teaching Function Operation Display Explanation Change the status to display the cam number to which the teaching function is to be applied. Press the the Set Key while pressing the ON/OFF Switching Key. ON/ OFF + SET The ON angle can now be input. The present angle will be flashing in the SPEED/ON display. (Manual operation of machinery) Using manual operation, move the machine to the ON angle position. Press the Set Key to set the ON angle and change the status to enable OFF angle input. Note Press the Clear Key to re-set the ON angle. The system will return to the ON angle input status. SET (Manual operation of machinery) Using manual operation, move the machine to the OFF angle position. Press the Set Key to set the OFF angle. The ON and OFF angles for the step created using the teaching function will be displayed in the SPEED/ON and POSITION/OFF displays. SET ON/ OFF + SET To apply the teaching function to the next step in the same cam number, press the Set Key while pressing the ON/OFF Switching Key again. Repeat the same operation as described above. Note If the ON or OFF setting overlaps with the ON region for the next step when the Set Key is pressed to save those settings, an E23 (cam program duplication error) will be generated. Press the Clear Key if this error occurs. The error will be cleared and the status will return to the angle settings that generated the error. If an E23 (cam program duplication error) occurs, check the contents of the already input cam program. Refer to Deleting Cam Program Steps on the next page for information on how to delete the relevant step. 3-85 Operation Chapter 3 D Changes in Display after Teaching Inputs Teaching (bank number 1, cam number 1) ON angle input status OFF angle input status D Deleting Cam Program Steps • Perform the following operation to delete steps in an existing cam program for a particular cam number. Teaching (bank number 1, cam number 1) Step data ready to be deleted Deleting step data • Display the step to be deleted. (Press the Set Key to display the steps in order.) • Press the the Clear Key while pressing the ON/OFF Switching Key. The ON and OFF angles will flash (indicating that the step data is ready to be deleted.) • Press the Set Key to delete the data. The displays will change to “-- -- --” and “-- -- --.” • If the Clear Key is pressed when the step data is ready to be deleted, the delete operation will be canceled, and the display will return to the original display. Note The “-- -- --” and “-- -- --” displayed after the step has been deleted indicate the next status after the last step. Therefore, press the Set Key while pressing the ON/OFF Switching Key to display the ON and OFF angles for step 1. Relationship between Teaching and Various Compensation Functions S If the teaching function is used while other compensation functions are set, the present angle as adjusted by the compensation function will be read as ON angle or OFF angle data. S When using compensation functions, perform teaching after these functions have been changed to the “enabled” status. 3-86 Origin compensation (origin shift): Refer to 3-6-4 Origin Compensation and Origin Shift. Backlash compensation: Refer to 3-6-5 Backlash Compensation. Advance angle compensation: Refer to 3-6-6 Advance Angle Compensation. Operation Chapter 3 One-direction function setting: Not related to the teaching function. These settings will become enabled after the power has been turned OFF and then ON again. Therefore, always turn OFF the power once before starting the teaching operation. Teaching and Backlash Compensation Backlash compensation operates when the Resolver rotates in the reverse direction. In other words, the present angle does not change until the Resolver rotating in the reverse direction has turned the amount for the backlash compensation. When using the teaching function, therefore, the machine must be manually operated to rotate the Resolver axis. For example, when the Resolver is connected to the drive axle that is driven by a motor and if there is backlash between the drive axle and the driven side (load side), teaching must be performed by moving the drive axle. If the driven side is moved for teaching, the backlash compensation will work in the opposite direction and teaching will not be performed correctly. Correct Incorrect Driven side Driven side Drive axle Resolver Drive axle Resolver (Drive axle moved and teaching performed) (Driven side moved and teaching performed) For example, in the right-hand example, even if the driven side is moved to the right for the amount of the backlash compensation, the Resolver will not rotate, and therefore, the present angle will not change. Even if the driven side is moved to the left for the amount of the backlash compensation, the backlash compensation function will work and the present angle will not change. Teaching and Advance Angle Compensation Advance angle compensation is performed when the Resolver is rotating. Teaching, in principle, is performed while the Resolver is stationary. Advance angle compensation, therefore, generally does not affect the teaching function. However, advance angle compensation does affect the teaching function for teaching that can be executed only when the Resolver is rotating (at less than 4 r/min). In particular, if a large advance angle compensation is set at low speed, the present angle may not be continuous in the region where the advance angle is compensated, and the angle to which the teaching function has been applied will become inappropriate. When using the advance angle function, therefore, pay attention to the following points when using the teaching function also. S Perform teaching while the Resolver is not rotating. S When the Resolver cannot be stopped, keep the advance angle amount as small as possible for rotation at low speed (less than 4 r/min). S When the Resolver cannot be stopped, perform teaching when there is no acceleration (when the speed is constant.) Furthermore, when teaching has been completed, change the advance angle compensation position (advance angle compensation value 3) to a section where the cam output does not change (the middle of a section where the ON or OFF status continues for a long time.) 3-87 Operation Chapter 3 3-6-13 Copy Function (Data Transfer) H Function • The copy function receives and transmits data (cam programs and parameters) between two Cam Positioners. • By setting one Cam Positioner as the Master and one as the Slave, data can be read, written, and verified. • Cam Positioners are connected via communications ports by RS-232C cables. H Connecting RS-232C Cables D Connecting Cam Positioners RS-232C cables are connected via the Cam Positioner communications ports. Communications port RS-232C cable Communications port 3F88L-160/162 Cam Positioner 3F88L-160/162 Cam Positioner D Communications Port Pin Arrangement Pin No. Symbol 1 NC 2 RD 3 SD Signal name --Receive data Send data Pin No. Symbol 6 NC 7 RS 8 CS 4 5 --Signal ground 9 Shell NC SG NC FG Signal name --Send request Send enabled --Frame ground D RS-232C Cable Assembly An RS-232C cross cable is used for communications between Cam Positioners (9-pin D-sub, socket -socket type) 9-pin 3-88 Shell Shield Shell 9-pin Operation Chapter 3 Recommended Products Name RS-232C Connector Cable Model (manufacturer) No. of Units XM2D-0901 (OMRON) 2 XM2S-0913 (OMRON) Non-UL AWG28×5P IFVV-SB (Fujikura Ltd.) product d CO-MA-VV-SB 5P×28AWG (Hitachi Cable, Ltd.) UL product UL2464 AWG28×5P IFS-RVV-SB (Fujikura Ltd.) UL2464-SB (MA) 5P×28AWG (Hitachi Cable, Ltd.) 2 1 Description 9-pin D-sub connector (socket) Connector hood Shielded multi-cond ductor cable bl Note Keep the RS-232C cable under 5 m. H Outline of Data Transfer Operation The basic operation when transferring data (cam programs and parameters) between two Cam Positioner Units is outlined below. 1. Connect the RS-232C Cable. Connect the cable according to the instructions under Connecting RS-232C Cables in the previous section. 2. Set the baud rate. Set the baud rate (Function No. b, Parameter No. 6). Set the same baud rate for both Master and Slave Units. 1: 9,600 bps (factory setting) 2: 19,200 bps 3. Turn OFF the power supply and turn it ON again. If the baud rate setting has been changed, turn OFF the power supply and turn it ON again. This will enable the baud rate setting. 4. Put the Slave Unit into transmission enabled mode. Display Function No. t, Parameter No. 0 on the Slave Cam Positioner Unit. 5. Put the Master Unit into transmission enabled mode. Display Function No. t, Parameter No. 1 on the Master Cam Positioner Unit. Set the data as required for the transmission and press the Set Key. The data transfer will begin. 1: Data read (Reads programs and parameters from the Slave to the Master.) 2: Data write (Writes programs and parameters from the Master to the Slave.) 3: Data verification (Verifies the Master programs and parameters against the Slave programs and parameters.) 3-89 Operation Chapter 3 H Related Parameters (SET Mode) Function level D Baud Rate Setting Function No. b (b) Parameter No. 6 2 Setting range 1, 2 • The Baud rate setting function sets the baud rate for data transmission. • The baud rate settings are explained below. 1: 9,600 bps (factory setting) 2: 19,200 bps • Set the same baud rate for both the Master and Slave Units. Note This parameter is enabled after the power has been turned OFF and then ON again. Operation Use the mode selection switch to change to SET mode. Origin compensation value Backlash compensation value Baud rate • When the baud rate (Function No. b, Parameter No. 6) is displayed, the present baud rate settings flash in the SPEED/ON display. • Use the Up and Down Keys to change the data. • Press the Set Key and the data will remain lit for approximately one second, the setting will be confirmed, and the display will resume flashing. • If the baud rate setting has been changed, turn OFF the power supply and turn it ON again. Function level D Data Transfer (Slave Unit Settings) Function No. t (t) Parameter No. 0 1 2 1 2 Setting range --- • Use this parameter to make the settings on the Slave Unit to enable data transfer. D Data Transfer (Master Unit Settings) Function No. t (t) Parameter No. 1 Function level Setting range 0 to 3 • Use this parameter to make the settings on the Master Unit to enable data transfer. • The settings are shown below. 0: Disabled (factory setting) 1: Data read (Reads cam programs and parameters from the Slave to the Master Unit.) 2: Data write (Writes cam programs and parameters from the Master to the Slave Unit.) 3: Data verification (Verifies the Master programs and parameters against the Slave programs and parameters.) 3-90 Operation Chapter 3 Operation Data transfer Data transfer (Slave Unit settings) Data transfer (Master Unit settings) D Slave Cam Positioner Settings • Use the Bank/Function Key to set data transfer (Function No. t) and press the Set Key. “0” (Slave Unit settings) will appear in the Cam/Parameter No. display. • The settings for the Slave Unit have now been completed. While this data is displayed, make the settings for the Master Cam Positioner Unit. D Master Cam Positioner Settings • Use the Bank/Function Key to set data transfer (Function No. t) and press the Set Key. “0” (Slave Unit settings) will appear in the Cam/Parameter No. display. • Press the Cam/Parameter Key to display “1” (Master Unit settings) • ”0” will flash in the SPEED/ON display. • Use the Up and Down Keys to set the data. 0: Disabled (factory setting) 1: Data read (Reads cam programs and parameters from the Slave to the Master Unit.) 2: Data write (Writes cam programs and parameters from the Master to the Slave Unit.) 3: Data verification (Verifies the Master programs and parameters against the Slave programs and parameters.) • If the incorrect setting is made, e.g., if data read (setting “1”) and data write (setting “2”) settings are mistaken, important data may be deleted. Check again that the correct setting has been selected. • Press the Set Key to start communications with the Slave Cam Positioner Unit. During the transfer, the data being transferred (P: parameter; b1 to b8: bank numbers 1 to 8) will be appear in the POSITION/ OFF display. The communications will take approximately 40 seconds to be completed. Note 1. The data being transferred will be displayed on the Master Unit only. Note 2. The display will not include “b5” to “b8” for 720 resolution. • When the communications have been completed normally, press the Set Key to return to the previous display. • If a communications error has occurred, the error code will appear in the SPEED/ON display. Check the error and press the Clear Key. The error will be cleared. Press the Set Key to return to the previous display. Additional Information on the Copy Function S Data Transferred All cam programs and parameters will be transferred from one Cam Positioner Unit to the other. The contents of Function No. t (data transfer) and Function No. P (pulse output setting) will not be transferred. 3-91 Operation Chapter 3 S Data Transfer between Different Cam Positioner Models When data is transferred between 3F88L-160 and 3F88L-162 Cam Positioner Units, cam programs for cam numbers 17 to 32 will be transferred. However, if these programs have been transferred to 3F88L-160 Cam Positioner Units, they cannot be displayed or checked. If data is transferred to a 3F88L-162 Cam Positioner from a 3F88L-160 Cam Positioner that has cam programs for cam numbers 17 to 32, these cam programs can be checked on the 3F88L-162 Cam Positioner side. S Operation after Data Transfer Once the data transfer has been completed, turn OFF the power for the Cam Positioner that received the data transfer and then turn it ON again. The parameters will be enabled when the power is turned ON again. The power must be turned OFF and then ON again to determine if the data has been correctly transferred. S Communications Errors The following communications errors may occur. E-22 (Cam Protect Error) This cam protect error will occur on the receiving side if there is a cam that has been cam protected in that Cam Positioner. The parameters will be transferred but the cam program will terminate with an error. Clear all cam protects on the receiving Cam Positioner and then re-transfer the data. (Refer to 3-6-7 Cam Protect.) If the Cam Positioner transmitting the data is a Master Unit, an E-31 (communications error) will be generated in the Master Unit. E-31 (Communications Error) This communications error is generated in the Master Unit when there has been no response from the Slave Unit or when there has been a communications data error in the Slave Unit. If this error occurs while data is transferred, transfer of some parameters or partial cam programs may result. Press the Clear Key to delete the error. This error will not occur in the Slave Unit. E-33 (Verification Error) This verification error is generated when the cam programs or parameters on the Master Unit do not match those on the Slave Unit. Press the Clear Key to delete the error. This error will not occur in the Slave Unit. 3-92 Operation Chapter 3 3-6-14 Trial/Adjustment Operation The trial/adjustment operation function is used to adjust ON and OFF angles while checking the cam output status. This function is made up of the trial operation function and the adjustment operation function. The differences between these two functions is outlined below. Trial operation function: This function is operated in PRGM mode. Regardless of the status of the START input, control and cam outputs are made and the Up and Down Keys are used to change the ON and OFF angles of any cam number in any bank number. (The angles can be changed in units of “1.”) Adjustment operation function: This function is executed in RUN mode when the START input is ON. If the current bank number is being operated, the ON and OFF angles of any cam number within that bank number can be changed by using the Up and Down Keys. (The angles can be changed in units of “1.”) Normally, the trial operation function is used to check the contents of cam programs when the system is started up and the adjustment operation is used to change angles after the system has started operation. The data changes made using the trial operation and adjustment operation functions are reflected in the outputs at the point the data is changed using the Up and Down Keys. H Trial Operation (PRGM Mode) D Outline of Operation 1. Use the mode selection switch to change to PRGM mode. 2. Use the Bank/Function Key to set the bank number containing the cam that is to be adjusted. 3. Press the Set Key while pressing the ON/OFF Switching Key to enable the trial operation function. 4. Use the Cam/Parameter Key to set the cam number to be adjusted. 5. Adjust the ON angle (using the Up and Down Keys) 6. Adjust the OFF angle (by pressing the ON/OFF Switching Key and then using the Up and Down Keys) 7. Press the Set Key to display the next step. 8. The message “Do you want to adjust the next step?” will appear. Select “Y” to return to 5 above. Select “N” to continue. 9. The message “Do you want to adjust another cam number?” will appear. Select “Y” to return to 4 above. Select “N” to continue. 10. Press the Clear Key to exit the trial operation function. 11. The message “Do you want to adjust another bank number?” will appear. Select “Y” to return to 2 above. Select “N” to exit the procedure. 3-93 Operation Chapter 3 D Procedure Operation Display Explanation Use the mode selection switch to change to PRGM mode. Use the Bank/Function Key to display the bank number for the trial operation. BANK/ FUN Press the Set Key while pressing the ON/OFF Switching Key ON/ OFF + SET The trial operation function is now enabled. Note 1. Press the Clear Key at this stage to return to the previous status. 2. From this point, cam outputs corresponding to the Resolver angle will be output. Press the Cam/Parameter Key. Note CAM/ PRMTR CAM/ PRMTR The cam number will appear in the Cam/Parameter No. display. The ON angle for step 1 will appear (flashing) in the SPEED/ON display. The OFF angle for step 1 will appear (lit) in the POSITION/OFF display. Press the Cam/Parameter Key to set the cam number for which angle data is to be adjusted. The ON and OFF angles for step 1 will be displayed (ON angle flashing, OFF angle lit) Press the Up and Down Keys to increase or decrease the ON angle. The ON angle for cam outputs will be changed at the same time. Note The Up and Down Keys will not work if the ON section overlaps another step. ON/ OFF SET Press the ON/OFF Switching Key to make the OFF angle flash. Use the Up and Down Keys to increase and decrease the OFF angle. (The cam output OFF angles will be changed at the same time.) Note The Up and Down Keys will not work if the ON section overlaps another step. Press the Set Key to display step 2. Repeat the same procedure to adjust the ON and OFF angles for step 2 onwards. Note 1. The display will not move on to step 2 if there is only one step. 2. During trial operation, the data changes will be reflected in the outputs and cam program at the point the changes are made. Press the Cam/Parameter Key to adjust other cam numbers. Note CAM/ PRMTR CLR 3-94 Step 1 of the next cam number will be displayed. Repeat the same procedure to adjust the angles for each step. Press the Clear Key to exit the trial operation function. Note To adjust the cams in another bank number, exit the trial operation, press the Bank/Function Key to set the next bank number to be adjusted, and re-enter trial operation mode. Operation Chapter 3 H Adjustment Operation (RUN Mode) D Outline of Operation 1. Change to RUN mode. 2. Press the Set Key while press the Up and Down Keys to enable the adjustment operation function. 3. Use the Up and Down Keys to set the cam number to be adjusted. 4. Press the Set Key. 5. Adjust the ON angle using the Up and Down Keys. 6. Adjust the OFF angle by pressing the ON/OFF Switching Key and then using the Up and Down Keys). 7. Press the Set Key to display the next step. 8. The message “Do you want to adjust the next step?” will appear. Select “Y” to return to 5 above. Select “N” to continue. 9. Press the Cam/Parameter Key. 10. The message “Do you want to adjust another cam number?” will appear. Select “Y” to return to 3 above. Select “N” to continue. 11. Press any key other than the Up, Down, or Set Keys to exit the procedure. D Procedure Operation Display Explanation (Display during normal RUN mode.) Press the Set Key while pressing the Up or Down Keys. The adjustment operation function will now be enabled. + + SET The cam number will be displayed (flashing) in the Cam/Parameter No. display. Note Press any key other than the Up, Down, or Set Keys at this point to return to the previous status. Use the Up and Down Keys to set the cam number for which angle data is to be adjusted. Press the Set Key. SET The angles for step 1 will be displayed (ON angle flashing and OFF angle lit). Press the Up and Down Keys to increase or decrease the ON angle. The cam output ON angle will change at the same time. Note The Up and Down Keys will not work if the ON section overlaps another step. ON/ OFF Press the ON/OFF Switching Key to make the OFF angle flash. Use the Up and Down Keys to increase and decrease the OFF angle. (The cam output OFF angles will be changed at the same time.) Note The Up and Down Keys will not work if the ON section overlaps another step. 3-95 Operation Operation Chapter 3 Display Explanation Press the Set Key to save the adjusted angle data and display step 2. Use the same procedure to adjust the ON and OFF angles for step 2 onwards. Note 1. The display will not move on to step 2 if there is only one step. SET 2. During adjustment operation, the data changes will be reflected in the outputs and cam program at the point the changes are made. Press the Cam/Parameter Key to adjust other cam numbers. Note The display will return to a flashing cam number. Repeat the same operation to adjust the angles for each step in other cam numbers. CAM/ PRMTR SET Other Keys 3-96 Use the Up and Down Keys to set the cam number, use the Set Key to display the ON and OFF angle data, use the Up and Down Keys to adjust the ON angle data, use the ON/OFF Switching Key to make the OFF angle flash, use the Up and Down Keys to adjust the OFF angle, and use the Set Key to save the adjusted data. Repeat this operation as required.) To exit the adjustment operation function, press any key other than the Up, Down, or Set Keys while the cam number is flashing. The display will exit the adjustment operation function and return to normal RUN mode. 4 Chapter 4 Communications 4-1 4-2 4-3 4-4 Overview of CompoWay/F Communications Command and Response Frames Command Types Executing CompoWay/F Commands with Protocol Macros Communications 4-1 Chapter 4 Overview of CompoWay/F Communications The 3F88L-160/162 Cam Positioner has a communications port that conforms to CompoWay/F Type B. Through communications, the 3F88L-160/162 is capable of reading and writing cam programs and parameters as well as monitoring the present cam angle and Resolver speed. Note CompoWay/F is OMRON’s standard protocol for serial communications. It provides a standard frame format and commands based on the Factory Interface Network Service (FINS) used by OMRON Programmable Controllers in order to facilitate communications between components or between a personal computer and a component. Note FINS is a protocol used for message communications between controllers on OMRON FA networks. H Cam Positioner Communications In communications between a Cam Positioner and a host CPU, communications capabilities differ depending on the operating mode of the Cam Positioner. Mode RUN PRGM SET RUN Function Read Monitor Operating State Change 4-2 Data Error code Executing status Model and communications buffer size Communications capabilities Reads error code. Reads Cam Positioner status. Reads model and communications buffer size (send or receive buffer size, whichever smaller). Internode Echo test Conducts an internode echo test. Command name Controller Status R d Read Unit Attribute Read Internode Echo Test Controller Data Read Memoryy Area R d Read Model and version Reads model and version. Resolver speed Present cam angle Cam output status Executing bank Control I/O status --- Reads Resolver speed. Reads present cam angle. Reads cam output status. Reads the bank being executed. Reads control I/O status. Changes the current operating state to Operation Comthe one in which parameters and pro- mand grams can be sent and received in RUN mode. Returns from the above state to the original state. Communications Mode SET ((Slave Unit setting) Function Read/Write Program Clear Parameter Clear Parameter Update Chapter 4 Data Resolution/compensation settings Compensation values Cam data protect settings Output hold information Cam program --- Communications capabilities Reads and writes operation parameters. Reads and writes compensation value parameters. Reads and writes cam data protect settings. Reads and writes output hold information. Reads and writes cam programs. Clears cam programs. --- Returns parameters to their default settings. Enables parameters that will be made valid when the power is turned OFF and then ON. (Using this command makes it unnecessary to turn the power OFF and then ON when making parameter settings valid.) --- Command name Parameter Area Read/Write / H Connecting to Host CPU Connect the Cam Positioner to the host CPU through the communications port. RS-232C cable Communications port Host CPU (such as personal computers and CS1-series Programmable Controllers) 3F88L-160/162 Cam Positioner H Communications Specifications The communications specifications of the Cam Positioner are shown below. Set the communications conditions of the host CPU to these specifications. Communications method: RS-232C Synchronization method: Start-stop synchronization Baud rate: 9,600 or 19,200 bps (parameter setting) Transmission code: ASCII Data bit length: 7 bits Stop bit: 2 bits Parity: Even Node number: “00” Subaddress: “00” Note 1. The Cam Positioner is factory-set to a baud rate of 9,600 bps. To use 19,200 bps, relevant parameters must be set. Refer to 3-6-13 Copy Function (Data Transfer) for details. 4-3 Communications Chapter 4 Note 2. Node numbers and subaddresses are the codes used when executing commands. In this chapter, numeric values enclosed in double quotation marks such as “00” represent ASCII codes. Numeric values followed by Hex such as (02 Hex) represent hexadecimal values. For example, ASCII code “00” can be represented as (30 30 Hex) in hexadecimal notation. H Communications Cables (RS-232C Cables) D Communications Port Pin Arrangement on Cam Positioner End Pin No. 1 2 3 4 5 Symbol NC RD SD NC SG Signal name --Receive data Send data --Signal ground Pin No. 6 7 8 9 Shell Symbol NC RS CS NC FG Signal name --Request to send Clear to send --Frame ground D Assembling RS-232C Cables The cable length must be 5 m or less. Host CPU end Cam Positioner end D-sub 9-pin socket: OMRON XM2D-0901 Shell Connector hood: OMRON XM2S-0913 Shell Shield 9-pin Recommended Cables Name Cable Model (manufacturer) Non-UL AWG28¢5P IFVV-SB (Fujikura Ltd.) product d CO-MA-VV-SB 5P¢28AWG (Hitachi Cable, Ltd.) UL product p UL2464 AWG28¢5P IFS-RVV-SB (Fujikura Ltd.) UL2464-SB(MA) 5P¢28AWG (Hitachi Cable, Ltd.) Quantity Remarks 1 Shielded multiconductor d cable Note The following cables can be used to connect to CS1-series Programmable Controllers. Name Programming Device Connecting Cables (for RS-232C port) 4-4 Model (manufactured by OMRON) XW2Z-200S-CV Length 2m XW2Z-500S-CV 5m Quantity 1 Remarks For connection to CS1 series PCs CS1-series Communications 4-2 Chapter 4 Command and Response Frames 4-2-1 Command Frame H Transmission Protocol When receiving a command from the host CPU, the Cam Positioner returns a response frame corresponding to the command. In other words, one response frame is returned in response to one command frame. Command and response frames are transmitted as shown in the following illustration. Host CPU (personal computer, PC, etc.) Command frame Command frame 3F88L-160/162 Cam Positioner Response frame H Command Frame Structure Text STX Node No. Subaddress SID FINS-mini command text (PDU) (02 Hex) “0” No. of bytes 1 STX Node No. Subaddress SID (service ID) FINS-mini command text ETX BCC (block check character) “0” 2 “0” “0” 2 (Refer to 4-3 Command Types.) 1 ETX BCC (03 Hex) 1 1 A code signifying the beginning of a communications frame (text). Always set 02 Hex. The node number of a Cam Positioner. Always set “00.” The subaddress of a Cam Positioner. Always set “00.” Set the number of retries using a value from “0” to “F.” (See note 1.) Set a service request PDU (protocol data unit). (See note 2.) A code signifying the end of text. Always set 03 Hex. Set BCC as the calculation result of exclusive OR of the data from the node number to ETX. 4-5 Communications Chapter 4 Note 1. Operations on the Cam Positioner side are shown below. Receives command frame Errors other than end code “0F” Checks command frame Y SID (no. of retries) = “0”? Sends error response Saves the following information on current command frame. N S MRC/SRC (command code) Same as the contents of last command? S BCC excluding SID N S MRC/SRC (command code) Analyzes command and sends response S BCC excluding SID Y Sends the last response frame Waits for next command frame When initially sending a command frame, set SID to “0.” If the corresponding response frame is abnormal, set SID to “1” and then resend the command frame. Note 2. Refer to 4-3 Command Types for details on FINS-mini command text. H Structure of FINS-mini Command Text (PDU) FINS-mini command text consists of MRC, SRC, and data. No. of bytes MRC SRC 2 2 Data Main request code and subrequest code. Various commands can be set by combining these two codes. Settings differ depending on the command executed. Refer to 4-3 Command Types for details. MRC, SRC Data D Contents of MRC and SRC MRC “01” “02” “05” “06” “08” “30” 4-6 SRC “01” “01” “02” “01” “03” “01” “01” “05” Function Memory Area Read Parameter Area Read Parameter Area Write Controller Data Read Unit Attribute Read Controller Status Read Operation Command Internode Echo Test Reference section 4-3-1 4-3-2 4-3-2 4-3-3 4-3-4 4-3-5 4-3-6 4-3-7 Communications Chapter 4 4-2-2 Response Frame H Response Frame Structure D When Command Frame is Normal No. of bytes STX Node No. Subaddress End code FINS-mini response text (PDU) ETX BCC (02 Hex) “0” 1 “0” “0” 2 “0” “0” 2 (03 Hex) “0” 2 1 1 A code signifying the beginning of a communications frame (text). 02 Hex is set. The node number of a Cam Positioner. “00” is set. The subaddress of a Cam Positioner. “00” is set. “00” is set at normal termination. A response PDU (protocol data unit) is set. A code signifying the end of text. 03 Hex is set. BCC is set as the calculation result of exclusive OR of the data from the node number to ETX. STX Node No. Subaddress End code FINS-mini response text ETX BCC (block check character) D When FINS-mini Command is Not Executed No. of bytes End code STX Node No. Subaddress End code FINS-mini response text (PDU) ETX BCC (02 Hex) “0” 1 “0” “0” 2 “0” “0” 2 (03 Hex) “F” 2 1 1 “0F” is set when the specified FINS-mini command is not executed. Details on non-execution can be checked with FINS response code. D When Command Frame is Abnormal No. of bytes End code STX Node No. Subaddress End code ETX BCC (02 Hex) “0” 1 “0” 2 “0” (03 Hex) “0” 2 2 1 1 End code differs with the type of error. 4-7 Communications Chapter 4 D Error Code and Error Detection Priority Error code Name Meaning “00” “0F” Normal completion FINS command error “10” Parity error “11” “12” Framing error Overrun error “13” “14” “16” “18” BCC error Format error Subaddress error Frame length error The command terminated normally. The specified FINS-mini command failed to be executed. A parity error occurred in any of the received characters. A framing error occurred in the received frame. An overrun error occurred in any of the received characters. BCC in the received frame is invalid. The FINS frame is invalid. The subaddress in the received frame is invalid. The received frame exceeded the maximum number of bytes supported. Error detection priority (None) 8 2 1 3 5 7 6 4 Note 1. The Cam Positioner does not respond until ETX and BCC are completed. Note 2. “Error detection priority” is applicable when multiple errors occur at the same time. H Structure of FINS-mini Response Text (PDU) FINS-mini response text consists of MRC, SRC, MRES, SRES, and data. No. of bytes MRC SRC MRES 2 2 2 MRC, SRC MRES, SRES Data SRES Data 2 The same main request code and subrequest code as the command are returned. Main response code and subresponse code. Processing results are indicated by combining these two codes. Each code is “00” at normal completion. Data differs with each command. Refer to 4-3 Command Types for details. D MRES (Main Response Code) MRES “00” “04” MRES name Normal completion Service unsupported “10” Command format error “11” Parameter error “22” Status error “30” Access error 4-8 Meaning The service was executed normally. The Cam Positioner does not support the service specified in the command. The command (PDU) length differs from the length specified in the service. The specified number of items does not match the number of data items to be written. Because the specified parameters (data) following the command codes are incorrect, the service cannot be executed. Check the parameters. The service cannot be executed due to the current status of the Cam Positioner. An error relating to access to objects such as memory areas or parameter areas Communications Chapter 4 D SRES (Subresponse Code) MRES “00” “04” SRES “00” “01” SRES name Normal completion Unsupported command “10” “01” Too long command “02” Too short command “03” Item/data count mismatch “01” Area type error “03” “04” Beginning address range error End address range error “0B” Too long response “00” “03” Other parameter errors Operation error “11” “22” “30” “02” “03” “05” Write-only Read-only No-object error Meaning The service was executed normally. The service specified in the command is not supported. The command length is above the maximum length. The command length is below the minimum length. The specified number of items does not match the number of data items to be written. The area type (such as memory area or parameter area) is not specified correctly. The specified beginning address is outside the allowable range. The specified end address (beginning address + the number of items) is outside the allowable range. The response length exceeds the maximum packet length. Other parameter errors Operation cannot be performed as specified. The service cannot be executed in the current mode. Read is impossible due to write-only area. Write is impossible due to read-only area. No objects such as memory areas or parameter areas exist. 4-9 Communications 4-3 Chapter 4 Command Types The following commands are used to communicate with a Cam Positioner. S Memory Area Read: Reads the Resolver speed, present cam angle, cam output status, executing bank, and control I/O status. S Parameter Area Read: Reads various parameters and cam programs. S Parameter Area Write: Writes various parameters and cam programs. S Controller Data Read: Reads the model and version. S Unit Attribute Read: Reads the model and communications buffer size. S Controller Status Read: Reads error codes and executing status. S Operation Command: Changes the executing status. S Internode Echo Test: Executes an internode echo test. This section describes the contents of these FINS-mini command text (PDU) and FINSmini response text (PDU). The following examples show FINS-mini response text where communications has terminated normally (MRES, SRES = “00”). For the entire frame structure or the contents of MRES and SRES where communications has terminated abnormally, refer to 4-2-1 Command Frame and 4-2-2 Response Frame. The following symbols indicate which Cam Positioner mode can be used to execute each command. RUN: Indicates a command that can be executed in RUN mode. PRGM: Indicates a command that can be executed in PRGM mode. SET: Indicates a command that can be executed in SET mode. Note The commands that can be executed only in SET mode can also be executed in RUN mode if the Operation Command (Operating Status Change Command) is executed in RUN mode when the START signal is OFF and the status is normal. 4-3-1 Memory Area Read (RUN) H Structure of FINS-mini Command Text (PDU) MRC “0” No. of bytes “1” 2 SRC “0” Memory area code Beginning address “1” 2 “0” 2 6 No. of items “0” 4 Note 1. The memory area code is divided into the following three types. 40: Memory area data in byte (8 bits) units 80: Memory area data in word (16 bits) units C0:Memory area data in long word (32 bits) units Set the memory area code as ASCII code “40” (3430 Hex), “80” (3830 Hex), or “C0” (4330 Hex). 4-10 Communications Chapter 4 Note 2. Set the beginning address as a four-digit ASCII code + “00.” For example, the present cam angle (address 0002) is set as “000200.” Note 3. In “No. of items,” set the number of items in the unit specified for the memory area code. For example, revolver speed is memory area data in word units, so the number of items is 1 (set “0001”). Control I/O status is memory area data in byte units, so the number of items is 2 when both input and output are read. H Structure of FINS-mini Response Text (PDU) MRC “0” No. of bytes SRC “1” “0” 2 MRES “1” “0” 2 “0” 2 SRES “0” Data “0” 2 (as required) H Contents of Memory Area Address Memory area code 0000 0001 80 Name Resolver Speed Explanation Current Resolver speed (r/min): 4-digit BCD 0000 to 1600 (resolution: 360 divisions per revolution) 0000 to 0800 (resolution: 720 divisions per revolution) Address 0000: Leftmost byte Address 0001: Rightmost byte 0002 0003 80 Present Cam Angle Present cam angle (in set unit): 4-digit BCD 0000 to 0359 (resolution: 360 divisions per revolution) 0000 to 0719 (resolution: 720 divisions per revolution) Address 0002: Leftmost byte Address 0003: Rightmost byte 0004 to 0007 C0 Cam Output Status Cam output status 0: Output OFF 1: Output ON b7 0008 40 b0 Address 0007 CAM8 CAM7 CAM6 CAM5 CAM4 CAM3 CAM2 CAM1 Address 0006 CAM16 CAM15 CAM14 CAM13 CAM12 CAM11 CAM10 CAM9 Address 0005 CAM24 CAM23 CAM22 CAM21 CAM20 CAM19 CAM18 CAM17 Address 0004 CAM32 CAM31 CAM30 CAM29 CAM28 CAM27 CAM26 CAM25 Executing Executing bank No.: 2-digit BCD Bank 01 to 08 (resolution: 360 divisions per revolution) 01 to 04 (resolution: 720 divisions per revolution) 4-11 Communications Address Memory area code 000A 000B 40 Chapter 4 Name Explanation Control Control I/O signal status output I/O Status 0: OFF 1: ON Address 000A: Control input b7 START b0 --- --- --- TRIG BANK3 BANK2 --- --- ERROR MSDET BANK1 Address 000B: Control output b7 --- Note b0 --- --- RUN Bits indicated by “---” are set to 0. Note 1. Specify the beginning address of FINS-mini command text as 4-digit ASCII code + “00.” For example, when reading the executing bank, specify “000800” as the beginning address. Note 2. The data structure shown in the “Explanation” column is the one inside the Cam Positioner. If the data is read through CompoWay/F communications, it will be converted into ASCII code. For example, when the Resolver speed is 800 r/min, data is stored as 08 Hex (leftmost byte: Address 0000) and 00 Hex (rightmost byte: Address 0001) inside the Cam Positioner. This data will be read as ASCII code “0800” (30 38 30 30 Hex) during communications. When CAM1 to CAM8 are all ON, hexadecimal value FF is written to address 0004, but it will be read as ASCII code “FF” (46 46 Hex) during communications. 4-3-2 Parameter Area Read/Write (SET) H Parameter Area Read D Structure of FINS-mini Command Text (PDU) MRC “0” No. of bytes “2” 2 SRC “0” Parameter area code Beginning address No. of items “1” 2 4 4 4 Note 1. The parameter area code is divided into the following three types. 4000: Parameters in byte (8 bits) units 8000: Parameters in word (16 bits) units C000: Parameters in long word (32 bits) units Set the parameter area code as ASCII code “4000,” “8000,” or “C000.” Note 2. Set the beginning address as 4-digit ASCII code. For example, to read an origin compensation value from address 8000, set “8000.” Note 3. In “No. of items,” set the number of items in the unit specified for the parameter area code. For example, resolution/compensation settings are parameters in byte units, so the number of items is 1. Origin compensation values are parameters in word units, so the number of items is 1. Cam programs for cams 1 to 8 of bank 1 are parameters in byte units, so the number of items is 720. 4-12 Communications Chapter 4 To set the number of items, represent it as a 4-digit hexadecimal number first, set the leftmost bit to 1, then convert the hexadecimal code into ASCII code. For example, when the number of items is 720, represent it as hexadecimal number 02D0 Hex first, set the leftmost bit to 1 to obtain hexadecimal number 82D0 Hex, then set ASCII code “82D0” (38 32 44 30 Hex). D Structure of FINS-mini Response Text (PDU) MRC “0” No. of bytes SRC MRES SRES “2” “0” “1” “0” “0” “0” 2 2 2 Parameter area code Beginning address No. of items 4 4 4 Data “0” 2 (as required) Note The contents of MRC, SRC, parameter area code, beginning address, and No. of items are the same as those of the command. H Parameter Area Write D Structure of FINS-min Command Text (PDU) MRC “0” No. of bytes “2” 2 SRC “0” Parameter area code Beginning address 4 4 No. of items Data “2” 2 4 Note 1. The parameter area code is divided into the following three types. 4000: Parameters in byte (8 bits) units 8000: Parameters in word (16 bits) units C000: Parameters in long word (32 bits) units Set the parameter area code as ASCII code “4000,” “8000,” or “C000.” Note 2. Set the beginning address as 4-digit ASCII code. For example, to write an origin compensation value to address 8000, set “8000.” Note 3. In “No. of items,” set the number of items in the unit specified for the parameter area code. For example, resolution/compensation settings are parameters in byte units, so the number of items is 1. Origin compensation values are parameters in word units, so the number of items is 1. Cam programs for cams 1 to 8 of bank 1 are parameters in byte units, so the number of items is 720. To set the number of items, represent it as a 4-digit hexadecimal number first, set the leftmost bit to 1, then convert the hexadecimal code into ASCII code. For example, when the number of items is 720, represent it as hexadecimal number 02D0 Hex first, set the leftmost bit to 1 to obtain hexadecimal number 82D0 Hex, then set ASCII code “82D0” (38 32 44 30 Hex). Note 4. In “Data,” set all data as ASCII code. Example 1: Writing 200 as an origin compensation value Parameter area code: “8000”; Beginning address: “0002”; No. of items: “8001”; Data: “0200” Example 2: Clearing cam programs Parameter area code: “4000”; Beginning address: “0100”; No. of items: “8001”; Data: “20” D Structure of FINS-mini Response Text (PDU) MRC “0” No. of bytes “2” 2 SRC “0” MRES “2” 2 “0” “0” 2 SRES “0” “0” 2 4-13 Communications Chapter 4 H Contents of Parameter Area Address Parameter Name area code 0000 4000 Resolution/ ComCom pensation Settings Explanation Default Resolution selection, and the presence or absence of backlash and advance angle compensations. b7 b0 00 Present value output 0: OFF 1 to 4: Set value Output hold 0: OFF 1: ON Advance angle compensation 0: OFF 1: ON Backlash compensation 0: OFF 1: ON Resolution 0: 360 divisions per revolution 1: 720 divisions per revolution 0002 0003 0004 0005 8000 8000 0006 to 0009 C000 000A to 000D C000 000E 000F 8000 0010 to 0013 4-14 C000 Origin Compensation Value Origin compensation value: 4-digit BCD from 0000 to 0359 (0719) Backlash Compensation Value Backlash compensation value: 4-digit BCD from 0000 to 0359 (0719) Advance Angle Compensation Value 1 Advance angle compensation value 1: 4-digit BCD Advance Angle Compensation Value 2 Advance angle compensation value 2: 4-digit BCD 0000 Address 0002: Leftmost byte Address 0003: Rightmost byte Address 0004: Leftmost byte Address 0005: Rightmost byte 0000 Addresses 0006 and 0007: Speed data 0000 to 1600 (0800) 0000 Addresses 0008 and 0009: Angle data 0000 to 0359 (0719) 0000 Addresses 000A and 000B: Speed data 0000 to 1600 (0800) 0000 Addresses 000C and 000D: Angle data 0000 to 0359 (0719) 0000 Advance Angle Compensation Value 3 Advance angle compensation value 3: 4-digit BCD from 0000 to 0359 (0719) 0000 Bank 1 Cam Data Protect Setting Cam data protect setting Address 000E: Leftmost byte Address 000F: Rightmost byte 0: Not protected 1: Protected b7 b0 Address 0013 CAM8 CAM7 CAM6 CAM5 CAM4 CAM3 CAM2 CAM1 00 Address 0012 CAM 16 CAM 15 CAM 14 CAM 13 CAM 12 CAM 11 CAM 10 CAM9 00 Address 0011 CAM 24 CAM 23 CAM 22 CAM 21 CAM 20 CAM 19 CAM 18 CAM 17 00 Address 0010 CAM 32 CAM 31 CAM 30 CAM 29 CAM 28 CAM 27 CAM 26 CAM 25 00 Communications Address 0014 to 0017 0018 to 001B 0020 to 002B 0030 to 003B 0040 to 004B Parameter Name area code C000 Bank 1 One-direction Function Setting C000 C000 C000 C000 Bank 1 Rotation Direction Setting Chapter 4 Explanation Default One-direction function setting 0: OFF 1: ON b7 b0 Address 0017 CAM8 CAM7 CAM6 CAM5 CAM4 CAM3 CAM2 CAM1 00 Address 0016 CAM 16 CAM 15 CAM 14 CAM 13 CAM 12 CAM 11 CAM 10 CAM9 00 Address 0015 CAM 24 CAM 23 CAM 22 CAM 21 CAM 20 CAM 19 CAM 18 CAM 17 00 Address 0014 CAM 32 CAM 31 CAM 30 CAM 29 CAM 28 CAM 27 CAM 26 CAM 25 00 Rotation direction setting 0: Forward 1: Reverse b7 b0 Address 001B CAM8 CAM7 CAM6 CAM5 CAM4 CAM3 CAM2 CAM1 00 Address 001A CAM 16 CAM 15 CAM 14 CAM 13 CAM 12 CAM 11 CAM 10 CAM9 00 Address 0019 CAM 24 CAM 23 CAM 22 CAM 21 CAM 20 CAM 19 CAM 18 CAM 17 00 Address 0018 CAM 32 CAM 31 CAM 30 CAM 29 CAM 28 CAM 27 CAM 26 CAM 25 00 Bank 2 Cam Data Protect Setting, One-direction Function Setting,and Rotation Direction Setting Same as for bank 1. Bank 3 Cam Data Protect Setting, One-direction Function Setting,and Rotation Direction Setting Same as for bank 1. Bank 4 Cam Data Protect Setting, One-direction Function Setting,and Rotation Direction Setting Same as for bank 1. All 00 Addresses 0020 to 0023: Bank 2 cam data protect setting Addresses 0024 to 0027: Bank 2 one-direction function setting Addresses 0028 to 002B: Bank 2 rotation direction setting All 00 Addresses 0030 to 0033: Bank 3 cam data protect setting Addresses 0034 to 0037: Bank 3 one-direction function setting Addresses 0038 to 003B: Bank 3 rotation direction setting All 00 Addresses 0040 to 0043: Bank 4 cam data protect setting Addresses 0044 to 0047: Bank 4 one-direction function setting Addresses 0048 to 004B: Bank 4 rotation direction setting 4-15 Communications Address 0050 to 005B 0060 to 006B 0070 to 007B 0080 to 008B 4-16 Parameter Name area code C000 Bank 5 Cam Data Protect Setting, One-direction Function Setting,and Rotation Direction Setting C000 C000 C000 Chapter 4 Explanation Same as for bank 1. Default All 00 Addresses 0050 to 0053: Bank 5 cam data protect setting Addresses 0054 to 0057: Bank 5 one-direction function setting Addresses 0058 to 005B: Bank 5 rotation direction setting Bank 6 Cam Data Protect Setting, One-direction Function Setting,and Rotation Direction Setting Same as for bank 1. Bank 7 Cam Data Protect Setting, One-direction Function Setting,and Rotation Direction Setting Same as for bank 1. Bank 8 Cam Data Protect Setting, One-direction Function Setting,and Rotation Direction Setting Same as for bank 1. All 00 Addresses 0060 to 0063: Bank 6 cam data protect setting Addresses 0064 to 0067: Bank 6 one-direction function setting Addresses 0068 to 006B: Bank 6 rotation direction setting All 00 Addresses 0070 to 0073: Bank 7 cam data protect setting Addresses 0074 to 0077: Bank 7 one-direction function setting Addresses 0078 to 007B: Bank 7 rotation direction setting Addresses 0080 to 0083: Bank 8 cam data protect setting Addresses 0084 to 0087: Bank 8 one-direction function setting Addresses 0088 to 008B: Bank 8 rotation direction setting All 00 Communications Address 0100 Parameter Name area code 4000 Clear C Command Chapter 4 Explanation Program Clear, Parameter Clear, and Parameter Update b7 Default 00 b0 Program Clear: Setting this bit to 1 executes Program Clear. Parameter Clear: Setting this bit to 1 executes Parameter Clear. Parameter Update: Setting this bit to 1 executes Parameter Update. Note 1. Setting the respective bits to 1 executes Program Clear, Parameter Clear, and Parameter Update. When the commands are completed, the Cam Positioner sets these bits to 0. Therefore, after the Clear Command is submitted, reading address 0100 allows the user to check whether the command is being executed or completed. Note 2. When these bits are turned ON (set to 1) at the same time, Program Clear, Parameter Clear, and Parameter Update will be processed in this order. (The specified commands will be all processed.) Note 3. Executing Program Clear erases all cam programs. (If there is even one cam for which cam data protect has been set, Program Clear will not be executed.) Note 4. Executing Parameter Clear initializes all parameters. 5. Executing Parameter Update enables the parameters that are made valid after the power is turned OFF and then ON. (Therefore, if Parameter Update is used, there will be no need to turn the power OFF and then ON when making the parameters valid.) Function level selection data: 2-digit BCD 01 Note 0102 4000 Function Level Selection Data 00: Function level 0 (for monitor only) 01: Function level 1 (for basic operations and monitor only) 02: Function level 2 (for all functions) 4-17 Communications Address 1000 to 12CF Parameter Name area code 4000 Cam Programs for Cams 1 to 8 of Bank 1 Chapter 4 Explanation Default All 00 Program status 0: Output OFF 1: Output ON b7 b0 Address 1000 Cam 1 angle 0 state Cam 2 angle 0 state Cam 8 angle 0 state Address 12CF Cam 1 angle 719 state Cam 2 angle 719 state Cam 8 angle 719 state 1300 to 15CF 4000 Cam Programs for Cams 9 to 16 of Bank 1 All 00 Program status 0: Output OFF 1: Output ON b7 b0 Address 1300 Cam 9 angle 0 state Cam 10 angle 0 state Cam 16 angle 0 state Address 15CF Cam 9 angle 719 state Cam 10 angle 719 state Cam 16 angle 719 state 1600 to 18CF 4000 Cam Programs for Cams 17 to 24 of Bank 1 All 00 Program status 0: Output OFF 1: Output ON b7 Address 1600 b0 Cam 17 angle 0 state Cam 18 angle 0 state Cam 24 angle 0 state Address 18CF Cam 17 angle 719 state Cam 18 angle 719 state Cam 24 angle 719 state 4-18 Communications Address 1900 to 1BCF Parameter Name area code 4000 Cam Programs for Cams 25 to 32 of Bank 1 Chapter 4 Explanation Default All 00 Program status 0: Output OFF 1: Output ON b7 b0 Address 1900 Cam 25 angle 0 state Cam 26 angle 0 state Cam 32 angle 0 state Address 1BCF Cam 25 angle 719 state Cam 26 angle 719 state Cam 32 angle 719 state 2000 to 2BCF 4000 Cam Programs of Bank 2 Same as for bank 1 All 00 3000 to 3BCF 4000 Cam Programs of Bank 3 Same as for bank 1 All 00 4000 to 4BCF 4000 Cam Programs of Bank 4 Same as for bank 1 All 00 5000 to 5BCF 4000 Cam Programs of Bank 5 Same as for bank 1 All 00 6000 to 6BCF 4000 Cam Programs of Bank 6 Same as for bank 1 All 00 7000 to 7BCF 4000 Cam Programs of Bank 7 Same as for bank 1 All 00 8000 to 8BCF 4000 Cam Programs of Bank 8 Same as for bank 1 All 00 Note 1. The 3F88L-160 (16-point type) has an area for storing cam programs for cams 17 to 32, but the contents of these programs cannot be displayed from the Unit. Note 2. Even if the resolution is set to 360 divisions per revolution, there is an area for storing the state of cam angles 360 to 719. 4-3-3 Controller Data Read (RUN, PRGM, SET) Reads the model and version of the Controller. H Structure of FINS-mini Command Text (PDU) MRC “0” No. of bytes “5” 2 SRC “0” “1” 2 4-19 Communications Chapter 4 H Structure of FINS-mini Response Text (PDU) MRC “0” No. of bytes SRC “5” “0” 2 MRES “1” “0” 2 SRES “0” “0” 2 Model Version 20 20 “0” 2 Note 1. The model is returned as “3F88L-160_ _ _ _ _ _ _ _ _ _ _” (16-point type) or “3F88L-162_ _ _ _ _ _ _ _ _ _ _” (32-point type). “_” represents a space code (20 Hex). Note 2. The version is returns as “Ver.j.j _ _ _ _ _ _ _ _ _ _ _ _ _.” 4-3-4 Unit Attribute Read (RUN, PRGM, SET) Reads the model and communications buffer size (either send or receive buffer size, whichever smaller). H Structure of FINS-mini Command Text (PDU) MRC “0” No. of bytes SRC “5” “0” 2 “3” 2 H Structure of FINS-mini Response Text (PDU) MRC “0” No. of bytes “5” 2 SRC “0” MRES “3” 2 “0” SRES “0” “0” 2 Model “0” Buffer size “0” 2 10 “5” “B” “E” 4 Note 1. The model is returned as “3F88L-160_” (16-point type) or “3F88L-162_” (32-point type). “_” represents a space code (20 Hex). Note 2. The communications buffer size of the Cam Positioner is “05BE” (1,470 bytes). 4-3-5 Controller Status Read (RUN, PRGM, SET) Reads the error codes and executing status of the Controller. H Structure of FINS-mini Command Text (PDU) MRC “0” No. of bytes 4-20 “6” 2 SRC “0” “1” 2 Communications Chapter 4 H Structure of FINS-mini Response Text (PDU) MRC “0” No. of bytes “6” SRC “0” 2 MRES “1” “0” 2 “0” SRES “0” Status Error data “0” 2 2 2 2 Note 1. ”Status” is returned as the following one-byte data that is converted into ASCII code. b7 b0 Executing status 0: When an error occurs in RUN mode, or PRGM or SET mode is entered 1: When there is no error in RUN mode 1: When the communications function is being executed to change the operating state 1: When an error occurs Bit 0 (executing status) is also set to 1 when the communications function is being executed to change the operating state (such as parameter settings) in RUN mode. For example, when the operating state is changed in RUN mode and there are no errors, “Status” will be set to “41.” Note 2. “Error data” is returned as an error code (** of E-**). 4-3-6 Operation Command (RUN) • Executing the Operation Command (Operating State Change Command) with command code “01” allows parameters to be changed while in RUN mode. • The Operation Command can be used to change parameters only when the Cam Positioner is in RUN mode, the START signal is OFF, and there are no errors. • Execute the Operation Command with command code “00” to return from the state in which parameters can be changed to RUN mode. This command is valid only when the Cam Positioner is in RUN mode, the START signal is OFF, and there are no errors. • If the mode selection switch on the Cam Positioner is operated in the state in which parameters can be changed, communications will be interrupted and the mode specified by the switch will be entered. H Structure of FINS-mini Command Text (PDU) MRC “3” No. of bytes “0” SRC “0” 2 Command code “5” 2 2 Note The meaning of the command code is as follows: “01”: Start (Switches from RUN mode to the state in which parameters can be changed) “00”: Stop (Switches from the state in which parameters can be changed to RUN mode) H Structure of FINS-mini Response Text (PDU) MRC “3” No. of bytes “0” 2 SRC “0” MRES “5” 2 “0” “0” 2 SRES “0” Command code “0” 2 2 4-21 Communications Chapter 4 4-3-7 Internode Echo Test (RUN, PRGM, SET) Performs an internode echo test between the host CPU and the Cam Positioner. H Structure of FINS-mini Command Text (PDU) MRC “0” No. of bytes SRC “8” 2 “0” Test data “1” 2 Note Any data except 02 Hex (start) and 03 Hex (stop) can be used for internode echo tests. H Structure of FINS-mini Response Text (PDU) MRC “0” No. of bytes 4-22 “8” 2 SRC “0” MRES “1” 2 “0” “0” 2 SRES “0” “0” 2 Test data Communications 4-4 Chapter 4 Executing CompoWay/F Commands with Protocol Macros CompoWay/F communications can be easily performed by using the protocol macros of the CS1-series Serial Communications Boards and Units. The Serial Communications Boards and Units are provided with standard CompoWay/F communication protocol called “CompoWay/F Master,” which allows the Programmable Controller to execute CompoWay/F commands for the 3F88L-160/162 Cam Positioner without having to be aware of CompoWay/F protocols. H Configuration S SYSMAC CS1-series Programmable Controller (CompoWay/F Master) Serial Communications Board or Unit CPU Unit Executes send/receive sequences of standard system protocol “CompoWay/F Master.” CompoWay/F command Response S 3F88L-160/162 Cam Positioner (CompoWay/F Slave) H System Components Item CS1-series Programmable Controller Model High-speed type: CS1H-CPU67/CPU66/CPU65/CPU64/CPU63 Serial Communications Board Standard type: CS1G-CPU45/CPU44/CPU43/CPU42 CS1W-SCB21 (RS-232C × 2 ports) Serial Communications Unit Programming Device Connecting Cables (for RS-232C port) CS1W-SCB41 (RS-232C × 1 port, RS-422/485 × 1 port) CS1W-SCU21 (RS-232C × 2 ports) XW2Z-200S-CV (2 m) XW2Z-500S-CV (5 m) Note The following support tool is required to trace the executing status of protocol macros. WS02-PSTC1-E CX-Protocol 4-23 Communications Chapter 4 H Manuals for Related Devices and Support Tools Title SYSMAC CS1-series Programmable Controllers Operation Manual SYSMAC CS1-series Programmable Controllers Programming Manual SYSMAC CS1-series Serial Communications Boards/Unit Operation Manual CX-Protocol Operation Manual Number W339 W340 W336 W344 H Standard System Protocols (Sequence Numbers) • To execute a CompoWay/F command for the Cam Positioner, execute sequence No. 600 (#0258) or sequence No. 602 (#025A) within the standard system protocol by using a PMCR instruction. • The following table shows a relationship between sequence numbers and CompoWay/F commands for the Cam Positioner. Standard system protocol Sequence No. 600 (#0258): Data transfer with ASCII code conversion With response CompoWay/F commands for Cam Positioner • Memory Area Read (0101 Hex) • Parameter Area Write (0202 Hex) • Parameter Area Read (0201 Hex) • Controller Status Read (0601 Hex) Sequence No. 602 (#025A): Data transfer without ASCII code conversion With response • Operation Command (3005 Hex) • Controller Data Read (0501 Hex) • Unit Attribute Read (0503 Hex) • Internode Echo Test (0801 Hex) H Using CompoWay/F Standard System Protocol • To send CompoWay/F commands from a CS1-series Programmable Controller to a Cam Positioner by using protocol macros, execute the send-receive sequences of the CompoWay/F Master protocol provided as a standard system protocol by using protocol macro (PMCR) instructions within the ladder program of the CS1-series CPU Unit. • Use the following procedure to specify PMCR instructions. 1. Specify the sequence number as a hexadecimal value in the second operand of the PMCR instruction. 2. The first table Send Data Word Allocations (Third Operand of PMCR Instruction) on the following page shows the data format of operand S and subsequent operands in the PMCR instruction. Specify this format of data in operand S and subsequent operands. 3. The second table Receive Data Word Allocations (Fourth Operand of PMCR Instruction) on the following page shows the data format of operand D and subsequent operands in the PMCR instruction. This format of data will be set in operand D and subsequent operands. Normally, set 0000 Hex as the default value in D+0. Control data: Communications port No., serial port No., destination unit address Control data: Send-receive sequence No. (0258 Hex for sequence No. 600, 025A Hex for sequence No. 602) First word No. of send data First word No. of received data storage 4-24 Communications Chapter 4 D Control Data C1 Destination unit address Serial Communications Unit: Unit number + 10 Hex Serial Communications Board: E1 Hex Serial port No. (physical port) Communications port (internal logical port): 0 to 7 Hex D Send Data Word Allocations (Third Operand of PMCR Instruction) Word No. S+0 Data format No. of send data words (4-digit Hex) S+1 Reserved S+2 S+3 Data Set the number of words of data to be sent (from S+0 to the end of the data). Setting range: 0005 Hex to 00FA Hex (5 to 250 in decimal) Node No. The node number of the Cam Positioner is 00 Hex. (2-digit BCD) Set 0000 Hex in S+1. MRC SRC Set the command code of the service to be used. (Refer to (2-digit Hex) (2-digit Hex) 4-2-1 Command Frame.) No. of send data bytes Set the amount of data that follows the command code (MRC, (4-digit Hex) SRC) and ends immediately before ETX. Setting range: 0000 Hex to 0492 Hex (0 to 984 in decimal) For sequence No. 600, set the number of bytes of data that has been converted into ASCII code (that is, the number of bytes set in S+4 and subsequent operands multiplied by 2). S+4 onwards Send data (4-digit Hex) For sequence No. 602, set the number of bytes set in S+4 and subsequent operands. Set the data to be sent. For sequence No. 600, data that has been converted from hexadecimal to ASCII code is sent. For sequence No. 602, data is sent without being converted. D Receive Data Word Allocations (Fourth Operand of PMCR Instruction) Word No. Data format D+0 No. of received data words (4-digit Hex) D+1 D+2 Response code (4-digit Hex) Received data (4-digit Hex) Data The number of received data words (from D+0 to the end of received data) is stored. Range: 0003 Hex to 00FA Hex (3 to 250 in decimal) Response code (MRES, SRES) is stored as a 4-digit hexadecimal value. Data that follows the response code (MRES, SRES) and ends immediately before ETX is stored. For sequence No. 600, data that starts from the largest word number of the received data words (D + number of received data words + 1) and continues until D+2 in descending order is stored. For sequence No. 602, data is stored sequentially starting from D+2. 4-25 Communications Chapter 4 H Examples of Executing CompoWay/F Commands with Protocol Macros D Examples of Monitoring Resolver Speed and Present Cam Angle Always ON Protocol Macro Executing FLag Communications Port Enabled Flag PMCR Protocol macro instruction #01E1 Control data: Communications port No. 0, serial port No. 1, and inner board are used. #0258 Control data: Send-receive sequence No. 600 (with ASCII code conversion and response) is set. D00000 First word No. of send data: DM00000 is set. D00500 First word No. of received data storage: DM00500 is set. Send Data Word Allocations DM address Data D00000 0007 No. of send data words: There are seven words from D00000 to D00006, so 0007 Hex is set. D00001 0000 D00002 0101 D00003 000C D00004 8000 D00005 0000 Node No.: The node number of Cam Positioner is 00, so 000 Hex is set. MRC, SRC: Memory Area Read is used, so MRC = 01 Hex and SRC = 01 Hex are set. (Hexadecimal settings are converted into ASCII code during communications.) No. of send data bytes: If send data from D00004 to D00006 (6 bytes) are converted into ASCII code, it will become 12 bytes. So, 000C Hex is set. Data part of FINS-mini command text (PDU): Data is set in Hex. The settings will be converted into ASCII code during communications. Same as above. D00006 0002 Same as above. Note Data part of FINS-mini command text (PDU) Memory area code Beginning address No. of items “0” No. of bytes after ASCII conversion 2 6 “0” 4 Memory area code: The memory area code for Resolver speed and present cam angle is “80.” Beginning address: The address for Resolver speed is “0000.” No. of items: There are two items (Resolver speed and present cam angle), so “0002” is set. Receive Data Word Allocations DM address Data D00500 0004 D00501 0000 D00502 0359 D00503 0800 4-26 No. of received data words: There are four words from D00500 to D00503, so 0004 Hex is stored. Response code: MRES = 00 and SRES = 00 are stored at normal completion. Received data: The present cam angle (359 in this example) is stored after being converted from ASCII code into a hexadecimal value. Received data: The cam speed (800 r/min in this example) is stored after being converted from ASCII code into a hexadecimal value. Communications Chapter 4 Note For sequence No. 600, received data is stored from the largest word number sequentially to D+2. In the above example, Resolver speed data “08” and “00” and present cam angle data “03” and “59” are received as ASCII data in this order, and D00503 and D00502 are converted into hexadecimal values in this order. D Examples of Monitoring Errors Always ON Protocol Macro Communications Executing Flag Port Enabled Flag PMCR Protocol macro instruction #01E1 Control data: Communications port No. 0, serial port No. 1, and inner board are used. #0258 Control data: Send-receive sequence No. 600 (with ASCII code conversion and response) is set. D00000 First word No. of send data: DM00000 is set. D00500 First word No. of received data storage: DM00500 is set. Send Data Word Allocations DM address Data D00000 0004 No. of send data words: There are four words from D00000 to D00003, so 0004 Hex is set. D00001 0000 Node No.: The node number of Cam Positioner is 00, so 0000 Hex is set. D00002 0601 MRC, SRC: Controller Status Read is used, so MRC = 06 and SRC = 01 are set. D00003 0000 No. of sent data bytes: There is no data to be sent, so 0000 Hex is set. Receive Data Word Allocations DM address Data D00500 0003 D00501 0000 D00502 8010 No. of received data words: There are three words from D00500 to D00502, so 0003 Hex is stored. Response code: MRES = 00 and SRES = 00 are stored at normal completion. Received data: “Status” (80 in this example) and “error data” (10 in this example) are stored after being converted from ASCII code to hexadecimal values. Note 1. The content of “Status” is as follows: b7 b0 Executing status 0: While in error status or in PRGM or SET mode 1: When there is no error in RUN mode 1: When the communications function is being executed to change the operating status 1: When an error occurs In this example, “status” = 80 indicates that an error has occurred. 4-27 Communications Chapter 4 Note 2. An error code is stored when an error has occurred. In this example, “error data” = 10 indicates a Resolver disconnection error. 4-28 5 Chapter 5 Operation 5-1 5-2 5-3 5-4 5-5 Diagnosis using Error Codes CompoWay/F Communications Errors Troubleshooting Inspection and Maintenance Cam Positioner Replacement Operation 5-1 Chapter 5 Diagnosis using Error Codes If the 3F88L-160/162 Cam Positioner detects an error, the error code (E-**)will appear in the SPEED/ON display. All control outputs (RUN, M⋅DET, ERROR) will turn OFF. The cam output will vary depending on the output hold function settings. The Cam Positioner errors will be detected during the following processes. S At power ON: Hardware check, program check, and power interrupt check during program write/save. S During operation: Error check in RUN mode. S During programming: ON region duplication errors in PRGM mode, cam data protect input prohibit checking, etc. S While setting parameters: Communications error checks in SET mode. If an error code is displayed, determine the cause and take appropriate countermeasures. H Errors Codes and Countermeasures Note The “F” mark in the cam output column indicates that cam outputs are turned OFF regardless of the output hold settings. The “f” mark indicates that if output hold is set, the output status immediately before the error was generated will be maintained. If output hold is not set, cam outputs will be turned OFF. (Refer to 3-6-9 Output Hold Function for information.) Error code E-00 Error name Hardware failure Description Memory read/write check error when power turned ON. Cam Probable output cause F Malfunction due to noise (system recovers when power is turned ON again.) The Cam Positioner is malfunctioning (system does not recover when power is turned ON again.) 5-2 Possible solution Check if noise has been generated when or after the power was turned ON and take appropriate countermeasures against the noise. Replace the Cam Positioner. Error reset method Turn the power ON again. --- Operation Error code E-01 Error name Power interruption during programming Chapter 5 Description Cam Probable output cause Power turned F Power turned OFF while OFF while program being program being edited. edited. RESET input turned ON while program being edited. RESET input turned ON due to noise while program being p g g edited. di d E-02 Power failure during write to non-volatile memory Power turned OFF during data save to non-volatile memory. F Power turned OFF while writing to memory. RESET input turned ON while writing to memory. RESET input turned ON due to noise while writing g to memory. E-10 Resolver disconnection error Resolver cable F disconnected during teaching g or trial i l operation i in RUN mode or error in Resolver interface circuit. Resolver connector has been disconnected. Resolver connector connection imperfect. Resolver cable disconnected. Resolver detection circuit error. Possible solution Check that the voltage supplied to the Cam Positioner meets the specifications (85 to 264 V AC) and adjust if necessary. Adjust the RESET input sequence. Error reset method Change to PRGM or SET mode and press the Clear Key to clear the error. Then re-input p the cam program. Find the source of the noise and take appropriate countermeasures. Check and adjust the wiring for control input signals. Check that the voltage supplied to the Cam Positioner meets the specifications (85 to 264 V AC) and adjust if necessary. Adjust the RESET input sequence. Change to PRGM or SET mode and press the Clear Key to clear the error. Then re-input p the cam program. Find the source of the noise and take appropriate countermeasures. Check and adjust the wiring for control input signals. Check that the Resolver connector is connected securely. y Replace the Resolver cable. Replace the Cam Positioner. Change to PRGM or SET mode and press the p Cl Clear Key K to clear the error. --- 5-3 Operation Error code E-11 E-12 E-13 E-22 5-4 Error name Sum check error in program memory System program sum check error Memory error Cam data protect input prohibited Chapter 5 Description Memory sum check error when power turned ON. System program sum check error when power turned ON. Cam Probable output cause F Malfunction due to noise (system recovers when power is turned ON again.) F Access to f non-volatile memory not completed within set time. Attempt made f to edit cam-protected cam data. The Cam Positioner is malfunctioning (system does not recover when power is turned ON again.) Malfunction due to noise (system recovers when power is turned ON again.) The Cam Positioner is malfunctioning (system does not recover when power is turned ON again.) Write to non-volatile memory not completed due to noise. Read from non-volatile memory not completed due to noise. Attempt made to edit cam-protected cam data. Possible solution Check if noise has been generated when or after the power was turned ON and take appropriate countermeasures against the noise. Replace the Cam Positioner. Error reset method Turn ON the power again. --- Check if noise occurs when or after the power is turned ON and take appropriate countermeasures against the noise. Replace the Cam Positioner. Turn ON the power again. Find the source of the error and take appropriate countermeasures. Change to PRGM or SET mode and press the Clear Keyy to clear the error. Find the source of the error and take appropriate countermeasures. --- Once the error has Press the been cleared, either Clear Key to remove the cam data clear the error. protect, or edit different cam data that has not been cam data protected. Operation Error code E-23 Error name Cam program duplication error E-31 Communications error E-33 Verification error Chapter 5 Description Cam Probable output cause Attempt made f Attempt made to write to write program to the program to the ON section of ON section of an existing an existing program program (including (including attempt with attempt with the teaching the teaching function) function) No response f Different baud from the Slave rate to Slave Unit; commuUnit. nications data error; different diff Slave Unit not baud rate to operating. Slave. Slave and Master data do not match. f Possible solution Error reset method Once the error has Press the been cleared, write Clear Key to the correct steps that clear the error. are not duplicated. Align the Master and Press the Clear Key to Slave Unit baud clear the error. rates (Function No. b, Parameter No. 6). Check the display on the Slave Unit (Bank/Function display: “t”; Cam/Parameter display: “0”) and re-transmit the data from the Master Unit. Slave Unit Clear the errors on error. both the Master and Slave Units and re-transmit the data. Slave Unit not Check the display on in communica- the Slave Unit tions mode. (Bank/Function display: “t”; Cam/Parameter display: “0”) and re-transmit the data from the Master Unit. CommunicaCheck and adjust the tions cable communications wired incorcable wiring. rectly. Press the Different Check that the cam Clear Key to programs or program and clear the error. parameters parameters are are verified. correct for each Cam Positioner. Data corrupted Find the source of due to noise the noise and take during comappropriate munications. countermeasures. 5-5 Operation Error code (Error indicator not lit) Error name Power OFF watchdog error Chapter 5 Description Power is not turned ON; RESET input has been turned ON; software error Cam Probable output cause F Power has turned OFF. RESET input has been turned ON. RESET input has been turned ON due to noise. The Cam Positioner is malfunctioning (system does not recover when power is turned ON again.) 5-6 Possible solution Check that the voltage supplied to the Cam Positioner meets the specifications (85 to 264 V AC) and adjust if necessary. Adjust the RESET input sequence. Error reset method Turn ON the power again. Find the source of the noise and take appropriate countermeasures. Check and adjust the wiring for control input signals. Replace the Cam --Positioner. Operation 5-2 Chapter 5 CompoWay/F Communications Errors If the 3F88L-160/162 Cam Positioner detects an error when data is being transferred using the CompoWay/F, it will return an end code other than “00” indicating a communications error. If an end code indicating a communications error has been returned, determine the cause and take the appropriate countermeasures. Communications errors may be caused by incorrect wiring of the communications cable or noise during transmission. Therefore, always check the following points first. S Check that communications cables are correctly wired. S Check that communications cable connectors are securely connected. S Check that there is no source of noise in the vicinity and that data has not been corrupted by noise during transmission. H Communications Errors End code Error name “0F” FINS command error “10” “11” “12” “13” Parity error Framing error Overrun error BCC error Description The specified FINSmini command cannot be executed. A parity error has occurred for one of the characters during g data reception. A framing error has occurred at the response frame. An overrun error has occurred. BCC for response frame is incorrect. Probable cause A command not supported by the Cam Positioner has been issued. The Cam Positioner has an error. The Cam Positioner is in a different mode (not in a mode for which the issued command is enabled). The communications cable is wired incorrectly. Data has been corrupted due to noise during communications. The communications cable is wired incorrectly. Data has been corrupted due to noise during transmission. The communications cable is wired incorrectly. Data has been corrupted due to noise during communications. Data has been corrupted due to noise during communications. The BCC operation is incorrect. Probable solution Check the communications command. Check the Cam Positioner. Check the Cam Positioner mode. Check the cable wiring. Check the cause of the noise. Check the cable wiring. Check the cause of the noise. Check the cable wiring. Check the cause of the noise. Check the cause of the noise. Check the communications protocol. 5-7 Operation End code Error name “14” Format error “16” “18” 5-8 Description Probable cause FINS frame is incorrect. The communications cable is wired incorrectly. The frame has been corrupted due to noise during communications. The incorrect frame has been transmitted. Subaddress error Subaddress for reData has been corceived frame is incorrupted due to noise rect ((not supported). pp ) during communications. The transmitted subaddress is not “00.” Frame length er- Received frame exThe received frame exror ceeds available (supceeds the number of ported) number of bysupported bytes. tes. Chapter 5 Probable solution Check the cable wiring. Check the cause of the noise. Check the communications protocol. Check the cause of the noise. Check the communications protocol. Check the communications protocol. Operation 5-3 Chapter 5 Troubleshooting Problem Nothing appears on the display. The ERROR terminal is H. H Nothing appear on the display. The ERROR terminal is L. There are no cam outputs. Probable cause Power supply error. RESET signal has been input. Circuit error. Watchdog timer error. Display circuit error. A cam program has not been input. Cam output power supply error. BANK selection fault. START signal input fault. Control signal power supply fault. A specific p cam output p does not turn ON. ON Unprogrammed outputs are being made. Circuit error. Wiring error. Externally-connected part error. Output transistor error. A new cam program has been input without clearing the existing cam program. When copying a cam program from a 3F88L-160 Cam Positioner to a 3F88L-162 Cam Positioner, a cam program containing CAM17 to 32 has been input to the 3F88L-160 Cam Positioner (when a cam program has been copied to the 3F88L-160 from a 3F88L-162 beforehand.) Program memory error. Possible solution Supply the correct power supply voltage. Check the connected wiring. Replace p the Cam Positioner. Replace the Cam Positioner. Check the cam program. Check the power supply voltage. Check the connected wiring. Replace the Cam Positioner. Check the connected wiring. Replace the externally-connected part. Replace the Cam Positioner. Check the cam program. Check the cam program and delete any unnecessary cam programs. Replace the Cam Positioner. 5-9 Operation Problem Cam outputs are strange. Exiting of a cam program that shouldn’t be there (CAM17 to 32). Origin compensation has been performed but the origin p g does not return to 0. The origin g position p is displaced. p The present angle is displaced. The operation keys do not work. 5-10 Chapter 5 Probable cause A new cam program has been input without clearing the existing cam program. When using the advance angle compensation function, a cam program containing changing cam outputs has been input near the advance angle compensation position/the position where the advance angle will be compensated (during acceleration, cam outputs may be missed or output twice). When using the copy function, data has been mistakenly copied from another Cam Positioner when reading data from that Cam Positioner. When using the copy function, data has been mistakenly written to another Cam Positioner when reading data from that Cam Positioner. Program memory error. When copying a cam program from a 3F88L-160 Cam Positioner to a 3F88L-162 Cam Positioner, a cam program containing CAM17 to 32 has been input to the 3F88L-160 Cam Positioner (when a cam program has been copied to the 3F88L-160 from a 3F88L-162 beforehand.) An origin compensation value has been set. The Resolver is rotating. Circuit error. A TRIG signal has been input. The coupling is displaced. The temperature variation is great. Possible solution Check the cam program. Set advance angle compensation value 3 (advance angle compensation position) to a section where the cam outputs do not change. Do not use cam outputs during acceleration as operation signals. Check the parameters and cam programs of the source Cam Positioner and then perform the copy operation. Set the parameters for the source Cam Positioner, and, once all cam programs have been re-input, perform the copy operation. Replace the Cam Positioner. Check the cam program and delete any unnecessary cam programs. Check the origin compensation value. Check the machinery operation. Replace the Cam Positioner. Check the connection wiring. Check the Resolver coupling. Check the ambient temperature variation. Check the Resolver cable. The Resolver cable is corrupted and shorted with the frame ground (FG). Circuit error. Replace the Cam Positioner. The functions are limited by the Check and, if necessary, adjust function level selection. the function level selection (Function No. U) and turn OFF the power and then turn it ON again. Circuit error. Replace the Cam Positioner. Operation Problem The cam output position is different to the one set using the teaching g function. When the speed increases, the timing of peripheral device operation is late. Chapter 5 Probable cause Backlash compensation has been enabled after teaching has been performed. With backlash compensation enabled, the load side (driven side) instead of the Resolver axle (drive side) has been manually rotated and teaching performed. (Backlash compensation will work in reverse.) Teaching has been performed while the Resolver is rotating (less than 4 r/min). The advance angle compensation function is not used. The advance angle compensation function is not enabled. Possible solution With the backlash compensation already enabled, perform the teaching operation again. Manually rotate the Resolver axle (drive side) and perform teaching again. Perform teaching again with the Resolver stationary. Use the trial operation and adjustment operation functions to adjust the cam program (ON/OFF angle data). Set the advance angle compensation function (Function No. b, Parameter No. 3 to 5 and Function No. H and Parameter No. 2) and turn OFF the power and turn it ON again. Enable the advance angle compensation function (Function No. H, Parameter No. 2) and turn OFF the power and turn it ON again. 5-11 Operation 5-4 Chapter 5 Inspection and Maintenance H Regular Inspections There are no parts that need to be constantly maintained for the Cam Positioner equipment operation but the following items should be checked during regular inspections to maintain performance. • Check that the connectors are firmly connected. • Check that there is no excessive strain on or any damage to the cables. • Check that the Resolver rotates smoothly. Check that the axle is not displaced. • Check that there is no excessive force on the couplings. Check that they are securely fastened. • Check that the screws for all the terminals on the Unit are securely fastened. H Replacement Couplings If a Coupling has been lost, purchase the following replacement items. Product name Coupling for 3F88L-RS17 Resolver Coupling for 3F88L-RS15 Resolver 5-12 Model 3F88L-RL10 3F88L-RL6 Operation 5-5 Chapter 5 Cam Positioner Replacement H Procedure Perform the following procedure when replacing the Cam Positioner Unit. This procedure is applicable when the data (cam programs and parameters) in the original Cam Positioner is normal and the copy function is operating normally. If the data has been corrupted or the copy function does not operate normally, use the operation keys on the new Cam Positioner to input the data and make the settings based on the original cam program data and parameter settings. 1. Preparation a) Check that the original Cam Positioner data (cam programs and parameters) is correct. (Refer to 3-5-3 Cam Program Creating and Checking and 3-6 Applied Functions.) b) Set the CW/CCW setting switch on the new Cam Positioner to the same position as on the original Cam Positioner. (Refer to 3-5-2 Initial Settings.) c) Delete all cam data protects on the new Cam Positioner and then turn OFF the power supply and turn it ON again to enable this setting. (Refer to 3-6-7 Cam Protect.) d) Use the copy function and copy the data (cam programs and parameters) from the original Cam Positioner to the new Cam Positioner. (Refer to 3-6-13 Copy Function.) e) Check that the data (cam programs and parameters) on the new Cam Positioner is correct. (Refer to 3-5-3 Cam Program Creating and Checking and 3-6 Applied Functions.) 2. Replacement Replace the Cam Positioner and check the wiring. (Refer to Chapter 2 Design). 3. Compensation Move the machinery to the origin compensation value position and perform origin compensation. (Refer to 3-6-4 Origin Compensation and Origin Shift.) 4. Confirmation Start operation using the new Cam Positioner. Make adequate checks to ensure that the machinery is operating without any problem. Adjust the cam programs if necessary. (Refer to 3-5-6 Start Operation, 3-5-7 I/O Monitor Function, and 3-5-8 Control I/O Signals.) Note If the machinery cannot be moved to the origin compensation position from when the original Cam Positioner was set up, perform origin compensation at a different position as outlined below. The settings can be changed to the same as the original Cam Positioner by re-writing the origin compensation value parameters. a) Write the origin compensation value for the original Cam Positioner (Function No. b, Parameter No. 1). b) After the Cam Positioner has been replaced, move the machinery to the position where origin compensation will be performed. c) Set the origin compensation value for that position and turn OFF the power supply and turn it ON again to enable this setting. 5-13 Operation d) Perform origin compensation. e) Change the origin compensation value to that of the original Cam Positioner. 5-14 Chapter 5 6 Chapter 6 Specifications 6-1 6-2 6-3 6-4 Cam Positioner Specifications Resolver Specifications I/O Block Specifications Display Specifications Specifications 6-1 Chapter 6 Cam Positioner Specifications H General Specifications Model Power supply voltage Allowable power supply voltage Current consumption Inrush current I/O power supply Allowable I/O power supply voltage Insulation resistance Dielectric strength Noise immunity Vibration resistance Shock resistance Ambient operating temperature Ambient operating humidity Ambient operating environment Ambient storage temperature Terminal screws Momentary power interruption detection time External dimensions Weight Degree of protection Mounting method 6-2 3F88L-160 100 to 240 V AC, 50/60 Hz 85 to 264 V AC 3F88L-162 18 VA max. 40 A/10 ms max. 24 V DC/145 mA 20.4 to 26.4 V DC 20 MΩ min. between all AC power supply external terminals and the protective ground terminal (500 V) 2,300 V AC, 50/60 Hz for 1 minute between all AC power supply external terminals and the protective ground terminal (leakage current of 10 mA max.) 1,500 Vp-p, pulse width of 0.1 to 1 µs, 1-ns rising pulse (noise simulator) 10 to 57 Hz, 0.075-mm single amplitude 57 to 150 Hz with an acceleration of 9.8 m/s2 for 80 minutes each in X, Y, and Z directions (8 minutes x 10 times = 80 minutes) 147 m/s2, 3 times each in X, Y, and Z directions 0 to 55°C 10 to 90% (with no condensation) No corrosive gases --20 to 75°C Power supply input section: M3.5 screws Control I/O section: M3 screws Power interruptions of 15 ms or less are not detected. 110 × 100 × 82.5 mm (W × H × D) 1 kg max. Panel-mounting M4 screws (2 points) or DIN track mounting Specifications Chapter 6 H Performance Specifications Model Number of outputs Output performance Number of banks Display Response revolutions Detection cycle Repeatability Memory backup Control resolution Origin compensation Backlash compensation Advance angle compensation 3F88L-160 3F88L-162 16 32 Open collector output Maximum switching capacity: 300 mA at 26.4 V DC (1.6 A max. per connector) 8 banks (at the resolution of 360), 4 banks (at the resolution of 720) 7-segment LED (execution bank, number of revolutions, and present cam angle) 1,600 r/min (at the resolution of 360), 800 r/min (at the resolution of 720) 100 µs max. 0.2° Non-volatile memory (EEPROM), number of write operations: 100,000 1/360 (at the resolution of 360), 1/720 (at the resolution of 720) 1 to 359 (at the resolution of 360), 1 to 719 (at the resolution of 720) 1 to 179 (at the resolution of 360), 1 to 359 (at the resolution of 720) Advance angle input range: 1 to 359 (at the resolution of 360), 1 to 719 (at the resolution of 720) Control input Speed input range: 1 to 1,600 (at the resolution of 360), 1 to 800 (at the resolution of 720) Note When the speed input is set to 0, the advance angle input must be 0. START, TRIG, BANK1 to BANK3, RESET Control output Photocoupler input with an input impedance of 4.7 kΩ RUN, ERROR, M-DET Speed detection accuracy Open collector output, maximum switching capacity of 300 mA at 26.4 V DC 5 r/min max. 6-3 Specifications 6-2 Chapter 6 Resolver Specifications H Specifications Type Model Axial diameter Axial load Total length Mounting method Friction torque Vibration resistance Shock resistance Degree of protection Frequency Primary voltage Electrical malfunction Maximum speed Coupling Wiring method Applicable cable Color Ambient operating temperature Large diameter 3F88L-RS17 10 dia. Thrust: 196 N max. High torque 3F88L-RS17T Connector 3F88L-RS15 6 dia. Thrust: 98 N max. Lead wire 3F88L-RS15W Radial: 196 N max. Radial: 98 N max. 101 mm 110 mm 154 mm 97 mm Flange-mounting (Flange strength: 245 N) Servo-mount (mounting hooks included) 12 mN • m max. 49 to 147 mN • m 2.9 mN • m max. Frequency range: 10 to 500 Hz Total amplitude: 1.5 mm or 98 m/s2, whichever is less Test time: 3 directions: X, Y, Z (2 hrs each) 2 4,900 m/s in X, Y, and Z directions, 3 times each Drip-proof, oil-proof, IP52F (JEM) 5 kHz 10 V 10 minutes 3,000 r/min (Mechanical) 3F88L-RL10 Cable (3 m, end connector included) 3F88L-CRjjjC Munsell 5Y3/1 --10 to 80°C 3F88L-RL6 Connector 3F88L-CRjjjNA Munsell N1.5 Lead wire (350 mm) 3F88L-CRjjjSA H Connection between Resolver and Cam Positioner D Cam Positioner Connector Use the Resolver Cable (sold separately) for connecting the Resolver to the Cam Positioner connector. Using the Cable will eliminate soldering effort and improve noise immunity. D-sub Connector (15 pin) (15-pin) Viewed from the wiring i i side id 6-4 Pin No. Signal name 1 2 3 4 5 6 7 8 S1 (sin+) S3 (sin--) FG S2 (cos+) S4 (cos --) FG ----- Cable color on Resolver side Red Black Yellow Blue Pin No. Signal name 9 10 11 12 13 14 15 Shield R1 (OUT+) R2 (OUT--) --------- Cable color on Resolver side Red/White Yellow/White Specifications Chapter 6 D 3F88L-RS15 Connector RM15WTP-10S-(8) Pin No. 1 2 3 4 5 6 7 8 9 10 Signal name S1 (sin+) S3 (sin--) --S2 (cos+) S4 (cos --) --R1 (OUT+) R2 (OUT--) ----- D 3F88L-RS15W Resolver Connect the lead wires to the 3F88L-CRjjjSA Resolver Cable. Wire color Red Black Yellow Blue Red/White Yellow/White Signal name S1 (sin+) S3 (sin--) S2 (cos+) S4 (cos --) R1 (OUT+) R2 (OUT--) 6-5 Specifications 6-3 Chapter 6 I/O Block Specifications G7TC-OC16 I/O Block H Specifications Item Resistive load (cosφ=1) Rated load Rated carry current Maximum contact voltage Maximum contact current Maximum switching capacity Minimum applicable load (P-level reference value) Coil load current (per one relay) Electrical life expectancy Mechanical life expectancy Contact form Contact resistance Operating time Release time Maximum Mechanical switching Rated load frequency Insulation resistance Dielectric Between coil and strength g contact Between contacts of same polarity Between connectors Malfunction vibration resistance Malfunction shock resistance Noise immunity Operating ambient temperature Operating ambient humidity Tightening torque of external connections Coil surge absorption Weight 5 A at 24 V DC, 2 A at 220 V AC 5A 250 V AC, 125 V DC 5A 120 W (DC), 440 V AC 10 mA at 5 V DC 6-6 Resistive load (cosφ=0.4, L/R=7 ms) 2 A at 24 V DC, 1 A at 220 V AC 2A 48 W (DC), 220 V AC Coil: 21 mA + LED: 4 mA 1,000,000 times 50,000,000 times SPST-NO × 16 50 mΩ max. 15 ms max. 15 ms max. 18,000 times/hour 1,800 times/hour 100 MΩ (at 500 V) 2,000 V AC at 50/60 Hz for one minute 1,000 V AC at 50/60 Hz for one minute 250 V AC at 50/60 Hz for one minute 10 to 55 Hz, double amplitude of 1.0 mm 200 m/s2 Noise level: 1.5 kV, pulse width: 100 ns to 1 µs 0 to 55°C 35 to 85% 0.78 to 11.8 N • m Diode (1 A, 400 V) Approx. 670 g Specifications Chapter 6 H Internal Connection Diagram Connect or Pin No. G7T-1112S Output Relay Screw terminals 6-7 Specifications 6-4 Chapter 6 Display Specifications M7E Digital Display H Specifications Item Rated voltage Current consumption (per display) Input level Positive logic Operating ambient temperature Operating ambient humidity Storage temperature Insulation resistance Dielectric strength Noise immunity Vibration resistance Shock resistance Degree of protection Compatible connector Display accuracy 6-8 Specifications Variable voltage between 12 and 24 V DC Red LED: 35 mA max. (at 24 V DC) 45 mA max. (at 12 V DC) Green LED: 40 mA max. (at 24 V DC) 55 mA max. (at 12 V DC) H: 4 V to power supply voltage L: 0 to 1.5 V --10 to 55°C (with no icing) 35 to 85% (with no condensation) --25 to 70°C (with no icing) 100 MΩ min. (at 500 V DC) between each terminal and mounting panel 500 V AC, 50/60 Hz for 1 min between each terminal and mounting panel Power terminal: ±500 V Input terminals: ±500 V (normal mode) ±1,500 V (common mode) 10 to 55 Hz, 0.75-mm double amplitude 300 m/s2 IEC IP40 (portion on panel surface) OMRON NRT-C/NRT-CP 5 r/min max. Specifications Chapter 6 H Terminal Arrangement D Decimal/Hexadecimal Display D Unit Display Power (+) Zero blanking output Zero blanking input Signal input Power (+) Data Decimal point Latch Power (0 V) Power (0 V) Note Values in circles apply to the NRT Connector’s pin numbers. Terminal symbol V PBO PBI A B C D DP LE G Name Function Power supply Positive side (+) power-supply terminal. Zero blanking output The output will be open if PBI is open and the display is “0.” The output will be 0V if PBI is 0V or if the display is other than “0.” Zero blanking input “0” will not be displayed if DP is open and PBI is open. If connected to 0V, “0” will be displayed. If DP is set to 0V, the display will not be affected by the state of PBI. Data input A (20) Decimal/hexadecimal display B (21) • Displays a digit or symbol corresponding to the value of the binary code signal. C (22) • Decimal display uses 0 to 9; nothing will be displayed for higher values. D (23) Decimal point The decimal point lights. Operates independently from the LE terminal. Latch When this signal is present, the immediately preceding display condition is retained. Power supply 0 V power-supply (ground) input terminal (GND). 6-9 Specifications Chapter 6 M7F Digital Display H Specifications Item Rated voltage Current consumption (per display) Input level Positive logic Operating ambient temperature Operating ambient humidity Storage temperature Insulation resistance Dielectric strength Noise immunity Vibration resistance Shock resistance Degree of protection Compatible connector Display accuracy Specifications Variable voltage between 12 and 24 V DC 14 mm: 200 mA max. (at 12 V DC) 100 mA max. (at 24 V DC) 25 mm: 300 mA max. (at 12 V DC) 200 mA max. (at 24 V DC) H: 4 V to power supply voltage L: 0 to 1.5 V --10 to 55°C (with no icing) 35 to 85% (with no condensation) --25 to 70°C (with no icing) 100 MΩ min. (at 500 V DC) between each terminal and mounting panel 1,000 V AC, 50/60 Hz for 1 min between each terminal and mounting panel Power terminal: ±500 V (normal mode) Input terminals: ±1,500 V (common mode) I/O cable: ±800 V (when the specified cable is used) 10 to 55 Hz, 1.5-mm double amplitude 300 m/s2 IEC IP40 OMRON XG5M-2035-N/XG5S-1001 or 2012 5 r/min max. H Terminal Arrangement Case mark Terminal symbol Name A B C D Data input S0 S1 S2 S3 S4 Control input +V 0V Power supply Power supply 6-10 Function A (20) B (21) C (22) D (23) The numeral or symbol corresponding to the binary code signal will be displayed. S0 (100) S1 (101) S2 (102) S3 (103) S4 (104) Designates the digit to be displayed. Each digit will maintain the previous value when this signal is input. Power supply and output terminal Power supply 0-V output terminal (GND) 7 Chapter 7 Appendix 7-1 7-2 7-3 7-4 7-5 7-6 7-7 7-8 Application Examples Performance Resolver Life Expectancy Standard Models Displays by Mode Error Codes Cam Programming Sheet Parameter Settings Log Chart Appendix 7-1 Chapter 7 Application Examples H Reading Present Value Output Signals with an OMRON PC D System Configuration • Cam Positioner: 3F88L-160 (16-point type) • Present angle value output setting (Function No. H, Parameter No. 4): “1” (4-digit present angle, no units) • CIO bits: a, b, c, d, e • Data memory used to store present value data: D01000 (work), D01001 (present value data storage) • Wire cam outputs 1 to 16 to IN0 to IN15 on the Input Unit allocated to word 0 in the PC. Input Unit Cam output CAM16 Bit 15, word 0 CAM15 Bit 14, word 0 Display data CAM14 Bit 13, word 0 CAM13 Bit 12, word 0 CAM12 (1-digit LE signal) Bit 11, word 0 CAM11 (2-digit LE signal) Bit 10, word 0 CAM10 (3-digit LE signal) Bit 9, word 0 CAM9 (4-digit LE signal) Bit 8, word 0 CAM8 (Cam No. 8 output signal) Bit 7, word 0 ... ... D Points to Consider The 3F88L-160/162 Cam Positioner present value outputs have been adjusted to suit the M7E Display Unit. The displayed data is, therefore, the reverse of the normal signal. M7E display Item 0 Display p y data CAM16 1 ( i (signal l status)) CAM15 1 CAM14 1 CAM13 1 1 1 1 1 0 2 1 1 0 1 3 1 1 0 0 4 1 0 1 1 5 1 0 1 0 6 1 0 0 1 7 1 0 0 0 8 0 1 1 1 For PRGM/SET mode 9 0 1 1 0 0 1 0 1 If errors occur 0 0 0 1 Note 1. On this table, “0” indicates OFF and “1” indicates ON. Note 2. The data on this table is for 3F88L-160 Cam Positioners. For 3F88L-162 Cam Positioners, CAM16 to 13 will be CAM32 to 29. (Refer to 3-6-10 Present Value Output Function.) Note 3. In PRGM/SET mode, a code that gives “A” will be output when the bit is reversed (all digits). The following cases, however, are exceptions to this rule. During trial operation or teaching: The display data will be output according to the present value output settings. During origin compensation: Display data is output with the origin compensation absolute angle flashing. (For approximately one second, “the code (all digits) that will give “E” when origin compensation absolute angle changed to bit reversal” will be repeatedly output. 7-2 Appendix Chapter 7 Note 4. When an error occurs, a code that gives “E” will be output when the bit is reversed. Note 5. For M7E Display Units, codes that give “A” to “F” when bits are reversed will not be displayed. For M7F Display Units, however, “A” to “F” will be displayed. D Ladder Program Bit 11, word 0 Bit 10, word 0 Bit 9, word 0 Bit 8, word 0 Bit 11, word 0 7-3 Appendix 7-2 Chapter 7 Performance This section shows the performance values of the Cam Positioner. Note This performance data is for reference only and cannot be guaranteed. H Initial Processing Time The diagram shows the times from when the START input is turned ON and the power supply to the Cam Positioner is turned ON until cam outputs, RUN outputs, and ERROR outputs are made. Power supply RUN output Cam output Enabled Disabled ERROR output Data RUN output delay time Cam output delay time ERROR output delay time 7-4 Symbol Td1 Td2 Td3 Standard time 2 s max. 2 s max. 2 s max. Appendix Chapter 7 H Time from START Input to Start of Operation The diagram shows the time from when the START input is turned ON until cam outputs can be controlled. START input RUN output Enabled Cam output Disabled Data RUN output p delayy time Cam output p delayy time Symbol Td1 Td2 Td3 Td4 Standard time 10 ms max. 8 ms max. 10 ms max. 8 ms max. H Origin Shift Processing Time The diagram shows the time from when TRIG input is turned ON until cam outputs and RUN outputs change. TRIG input RUN output Cam output Enabled Disabled Data RUN output delay time RUN output OFF time Cam output delay time Cam output OFF time Min. TRIG input enabled time Symbol Td1 Td2 Td3 Td4 Td5 Standard time 15 ms max. 0.8 to 1.2 s 15 ms max. 0.8 to 1.2 s 10 ms min. 7-5 Appendix Chapter 7 H M-DET ON/OFF Time The diagram shows the time from when the Resolver speed is greater or less than 4 r/min until the M-DET output changes. Resolver speed M⋅DET output Data M-DET output ON delay time M-DET output OFF delay time Symbol Td1 Td2 Standard time 100 ms max. 200 ms max. H Bank Switching Time The diagram shows the time taken to switch bank numbers during operation. BANK input RUN output Cam output Enabled Disabled Data RUN output delay time RUN output OFF time Cam output delay time Cam output OFF time 7-6 Symbol Td1 Td2 Td3 Td4 Standard time 10 ms max. 0.8 to 1.2 s 10 ms max. 0.8 to 1.2 s Appendix Chapter 7 H Cam Output Delay Time The diagram shows the time taken while the Resolver is rotating from when the machinery arrives at the position where the cam output turns ON (ON angle in the cam program) until the cam output is actually turned ON. ON angle reached Machinery position Cam output (CAM 1) Cam output (CAM 32) Data Cam 1 output delay time Cam 32 output delay time Symbol Td1 Td2 Standard time 0.35 ms max. 0.35 ms max. Note The times shown include all the following times. S Time taken by the Cam Positioner to detect the Resolver angle. S Time taken to perform various compensation processing. S Time taken to change cam outputs according to the cam program. H Differences between Cams This diagram shows the differences between different cam outputs when the same cam program is set for a different cam. Cam output (CAM 1) Cam output (CAM 32) Data ON time difference OFF time difference Symbol Td1 Td2 Standard time --10 to 10 µs --10 to 10 µs 7-7 Appendix 7-3 Chapter 7 Resolver Life Expectancy This section shows the life expectancy of the Resolver and couplings. Note This performance data is for reference only and cannot be guaranteed. H Resolvers The life of the Resolver is determined by the life of the Resolver axle bearings. Life expectancy for rated wear (h) D 3F88L-RS17/RS17T Resolvers (Axle End Load: Radial and Thrust both 19.6 N) Speed (r/min) Life expectancy for rated wear (h) D 3F88L-RS15/RS15W Resolvers (Axle End Load: Radial and Thrust both 19.6 N) Speed (r/min) 7-8 Appendix Chapter 7 H Couplings The life expectancy of couplings is determined by tightening torque, bend angle, and axle core displacement volume. Rotation life expectancy (No. of rotations) D Tightening Torque and Rotation Life Tightening torque (%) Note Tightening torque is given as a percentage of allowable tightening torque. (Refer to 2-2-3 Mounting the Resolver.) Rotation life expectancy (No. of rotations) D Bend Angle and Rotation Life Bend angle (%) Note Bend angles are given as a percentage of allowable bend angles. (Refer to 2-2-3 Mounting the Resolver.) 7-9 Appendix Chapter 7 Rotation life expectancy (No. of rotations) D Axle Core Displacement and Rotation Life Axle core displacement (%) Note Axle core displacement is given as a percentage of allowable axle core displacement. (Refer to 2-2-3 Mounting the Resolver.) 7-10 Appendix 7-4 Chapter 7 Standard Models Product name Cam Positioner Resolver I/O Block Display p y Unit Specifications 16-point type 32-point type Large-diameter type High-torque type Connector type Lead type 16-point relay unit Numeric display p y 2m 5m 10 m 20 m 50 m 3m 5m 10 m 15 m 20 m 3m 5m 10 m 0.5 m 1m 1m Model 3F88L-160 3F88L-162 3F88L-RS17 3F88L-RS17T 3F88L-RS15 3F88L-RS15W G7TC-OC16 M7E-01DRD2 (red, decimal) M7E-01DGD2 (green, decimal) M7E-01UR2-V (red, r/min) M7E-01UG2-V (green, r/min) M7E-01UR2-A (red, no display) M7E-01UG2-A (green, no display) M7F-4D1R (red) M7F-4D1G (green) M7F-4D1RT (red) M7F-4D1GT (green) M7F-1 (not displayed) M7F-RPM-1 (r/min) M7F-4D2R (red) M7F-4D2G (green) M7F-4D2RT (red) M7F-4D2GT green) M7F-2 (not displayed) M7F-RPM-2 (r/min) 3F88L-CR002C 3F88L-CR005C 3F88L-CR010C 3F88L-CR020C 3F88L-CR050C 3F88L-CR003NA 3F88L-CR005NA 3F88L-CR010NA 3F88L-CR015NA 3F88L-CR020NA 3F88L-CR003SA 3F88L-CR005SA 3F88L-CR010SA 3F88L-CG0R5N 3F88L-CG001N 3F88L-CG001S 3m 3F88L-CG003S Units display p y 4-digit g numeral display, p y, character h height h i h off 14 mm 4-digit g numeral display p y + units,, character h height h i h off 14 mm Units nameplate, p , character h i h off 14 mm height 4-digit g numeral display, p y, character h height h i h off 25 mm 4-digit g numeral display p y + units,, character h height h i h off 25 mm Unit nameplate, p , character h i h off 25 mm height Resolver Extension Cable (for ( 3F88L-RS17/17T F L RS / T Resolvers) R l ) With connectors at b h ends both d Resolver Cable (for ( 3F88L-RS15 R Resolvers) l ) With connectors at b h ends both d Resolver Cable (for ( 3F88L-RS15W F L RS W Resolvers) R l ) With connector at one end d Cam Output p Cable (for ( connection i to I/O Block) Bl k) With connectors at b h ends both d Cam Output Cable (for connection to other devices and Display Units) With connector at one end 7-11 Appendix 7-5 Chapter 7 Displays by Mode D SET Mode Bank/Func- Cam/ParameFunction tion ter 1 to 8 0 Origin (1 to 4) compensation ((see note 2)) absolute angle 1 to 32 Program (1 to 16) number (see note 1) checking A (a) b (b) 1 Resolution selection Data range ----- 0, 1 1 Origin compensation value 0 to 359 (0 to 719) (see note 2) 2 Backlash compensation value 0 to 179 (0 to 359) (see note 2) 3 Advance angle compensation value 1 0 to 1600 (0 to 800) (see note 2) 0 to 359 (0 to 719) (see note 2) 4 Advance angle compensation value 2 0 to 1600 (0 to 800) (see note 2) 0 to 359 (0 to 719) (see note 2) SPEED/ON Displays the absolute angle for origin compensation. Displays the number of steps for the displayed bank or cam number. 0: 360 divisions/ revolution (factory setting) 1: 720 divisions/ revolution Sets origin compensation value (angle data). Factory setting “0.” Sets backlash compensation value (angle data). Factory setting “0.” Sets speed data for advance angle compensation value 1. Factory setting “0.” --- Sets speed data for advance angle compensation value 2. Factory setting “0.” --- 5 Advance angle compensation value 3 0 to 359 (0 to 719) (see note 2) --- 6 Baud rate 1, 2 1: 9,600 bps (factory setting) 2: 19,200 bps 7-12 POSITION/OFF ----- --- --- --- --- Sets angle data for advance angle compensation value 1. Factory setting “0.” --- Sets angle data for advance angle value 2. Factory setting “0.” Sets angle data for advance angle compensation value 3 (advance angle compensated position). Factory setting “0.” --- Appendix Chapter 7 Bank/Func- Cam/ParameFunction tion ter --Cam protect c (c) Data range --- d (d) --- Teaching --- F (f) --- One-direction function setting 0 to 2 SPEED/ON POSITION/OFF Protection can be set or released for each cam number or for all cams in a bank number. (Factory setting: “unprotected”) Present Resolver angle can be input as ON angle data. --- Protect can be set or released for each cam number or for all cams in a bank number (Factory setting “unprotected”) Present Resolver angle can be input as OFF angle data. 0: One-direction function disabled (factory setting) 1: Enabled in forward direction H (h) 1 2 3 Backlash compensation enable/disable setting Advance angle compensation enable/disable setting Output hold 0, 1 0, 1 0, 1 0: Backlash compensation disabled (factory setting) 1: Backlash compensation enabled 0: Advance angle compensation disabled (factory setting) 1: Advance angle compensation enabled 0: Output hold disabled (factory setting) 2: Enabled in reverse direction --- --- --- 1: Output hold enabled 7-13 Appendix Chapter 7 Bank/Func- Cam/ParameFunction tion ter 4 Present value H (h) output setting Data range 0 to 4 SPEED/ON 0: No present value output function (factory setting) POSITION/OFF --- 1: 4-digit present angle (no units) 2: 4-digit number of rotations (no units) 3: Automatic switching of 3-digit present angle and number of rotations (with units) P (p) (see note 4) --- Pulse output setting --- t (t) (see note 4) 0 Data transfer (Slave setting) --- 1 Data transfer 0 to 3 (Master setting) 4: Automatic switching of 4-digit present angle and number of rotations (with units) Writes pulse output program to any bank or cam number (sets pulse number). (Operates on a command issued from Master Unit.) 0: Disabled (factory setting) (Sets pulse start position.) ----- 1: Read data 2: Write data U (u) 1 Function level selection 0 to 2 3: Verify data 0: Function level 0 (monitor only) --- 1: Function level 1 (basic operation/monitor only) (factory setting) --- --- Error display --- 2: Function level 2 (all functions) E--** (error display) --- Note 1. The data for the 3F88L-160 (16-point model) Cam Positioner is shown in parentheses. Note 2. The data for 720 resolution (divisions/revolution) is shown in parentheses. The angles will be set and displayed as “1” for 0.5°. Note 3. Functions A, b, C, F, H, and U will be enabled after the power has been turned OFF and then ON again. Note 4. Functions P and t are special operations that are not stored as parameters. 7-14 Appendix Chapter 7 D RUN Mode Bank/Function 1 to 8 ( to 4)) (see (1 ( note 2)) 1 to 8 (1 to 4) (see note 2) o (o) ( ) --- Cam/Parameter Start input OFF ON ON --ru (rU) 1 to 32 (1 to 16) (see note 1) 1 --2 ------- SPEED/ON Number of Resolver rotations i (r/min) (/ i ) POSITION/OFF Present angle g Compensation operation ON angle Cam output monitor Control I/O monitor E--** (error display) Compensation operation OFF angle --- Note 1. The data for the 3F88L-160 (16-point model) Cam Positioner is shown in parentheses. Note 2. The data for 720 resolution (divisions/revolution) is shown in parentheses. The angles will be set and displayed as “1” for 0.5°. D PRGM Mode Bank/Function 1 to 8 (1 to 4) (see note 2) 1 to 8 (1 to 4) (see note 2) --- Cam/Parameter 1 to 32 (1 to 16) (see note 1) 1 to 32 (1 to 16) (see note 1) --- SPEED/ON ON angle POSITION/OFF OFF angle “t (t)” + ON angle (trial operation) E--** (error display) OFF angle (trial operation) --- Note 1. The data for the 3F88L-160 (16-point model) Cam Positioner is shown in parentheses. Note 2. The data for 720 resolution (divisions/revolution) is shown in parentheses. The angles will be set and displayed as “1” for 0.5°. 7-15 Appendix 7-6 Chapter 7 Error Codes Note The “F” mark in the cam output column indicates that cam outputs are turned OFF regardless of the output hold settings. The “f” mark indicates that if output hold is set, the output status immediately before the error was generated will be maintained. If output hold is not set, cam outputs will be turned OFF. (Refer to 3-6-9 Output Hold Function for information.) Error code E-00 E-01 Error name Hardware failure Power interruption during programming Description Memory read/write check error when power turned ON. Cam Probable output cause Malfunction F due to noise (system recovers when power is turned ON again.) Power turned F OFF while program being edited. The Cam Positioner is malfunctioning (system does not recover when power is turned ON again.) Power turned OFF while program being edited. RESET input turned ON while program being edited. RESET input turned ON due to noise while program being p g g edited. di d 7-16 Possible solution Check if noise has been generated when or after the power was turned ON and take appropriate countermeasures against the noise. Replace the Cam Positioner. Check that the voltage supplied to the Cam Positioner meets the specifications (85 to 264 V AC) and adjust if necessary. Adjust the RESET input sequence. Find the source of the noise and take appropriate countermeasures. Check and adjust the wiring for control input signals. Error reset method Turn the power ON again. --- Change to PRGM or SET mode and press the Clear Key to clear the error. Then re-input p the cam program. Appendix Error code E-02 Chapter 7 Error name Description Power failure during write to non-volatile memory Power turned OFF during data save to non-volatile memory. Cam Probable output cause Power turned F OFF while writing to memory. RESET input turned ON while writing to memory. RESET input turned ON due to noise while writing g to memory. E-10 E-11 Resolver disconnection error Sum check error in program memory Resolver cable F disconnected during teaching g or trial i l operation i in RUN mode or error in Resolver interface circuit. Memory sum check error when power turned ON. F Resolver connector has been disconnected. Resolver connector connection imperfect. Resolver cable disconnected. Resolver detection circuit error. Malfunction due to noise (system recovers when power is turned ON again.) The Cam Positioner is malfunctioning (system does not recover when power is turned ON again.) Possible solution Check that the voltage supplied to the Cam Positioner meets the specifications (85 to 264 V AC) and adjust if necessary. Adjust the RESET input sequence. Find the source of the noise and take appropriate countermeasures. Check and adjust the wiring for control input signals. Check that the Resolver connector is connected securely. y Replace the Resolver cable. Replace the Cam Positioner. Check if noise has been generated when or after the power was turned ON and take appropriate countermeasures against the noise. Replace the Cam Positioner. Error reset method Change to PRGM or SET mode and press the Clear Key to clear the error. Then re-input p the cam program. Change to PRGM or SET mode and press the p Cl Clear Key K to clear the error. --Turn ON the power again. --- 7-17 Appendix Error code E-12 E-13 Error name System program sum check error Memory error E-22 Cam data protect input prohibited E-23 Cam program duplication error 7-18 Chapter 7 Description Cam Probable output cause System Malfunction F program sum due to noise check error (system when power recovers when turned ON. power is turned ON again.) The Cam Positioner is malfunctioning (system does not recover when power is turned ON again.) Access to Write to f non-volatile non-volatile memory not memory not completed completed due within set time. to noise. Read from non-volatile memory not completed due to noise. Attempt made f Attempt made to edit to edit cam-protected cam-protected cam data. cam data. Attempt made f to write program to the ON section of an existing program (including attempt with the teaching function) Possible solution Check if noise occurs when or after the power is turned ON and take appropriate countermeasures against the noise. Replace the Cam Positioner. Find the source of the error and take appropriate countermeasures. Find the source of the error and take appropriate countermeasures. Once the error has been cleared, either remove the cam data protect, or edit different cam data that has not been cam data protected. Attempt made Once the error has to write been cleared, write program to the the correct steps that ON section of are not duplicated. an existing program (including attempt with the teaching function) Error reset method Turn ON the power again. --- Change to PRGM or SET mode and press the Clear Keyy to clear the error. Press the Clear Key to clear the error. Press the Clear Key to clear the error. Appendix Error code E-31 E-33 Error name Communications error Verification error Chapter 7 Description Cam Probable output cause No response Different baud f from the Slave rate to Slave Unit; commuUnit. nications data error; different diff Slave Unit not baud rate to operating. Slave. Slave and Master data do not match. f Possible solution Error reset method Press the Clear Key to clear the error. Align the Master and Slave Unit baud rates (Function No. b, Parameter No. 6). Check the display on the Slave Unit (Bank/Function display: “t”; Cam/Parameter display: “0”) and re-transmit the data from the Master Unit. Slave Unit Clear the errors on error. both the Master and Slave Units and re-transmit the data. Slave Unit not Check the display on in communica- the Slave Unit tions mode. (Bank/Function display: “t”; Cam/Parameter display: “0”) and re-transmit the data from the Master Unit. CommunicaCheck and adjust the tions cable communications wired incorcable wiring. rectly. Press the Different Check that the cam Clear Key to programs or program and clear the error. parameters parameters are are verified. correct for each Cam Positioner. Data corrupted Find the source of due to noise the noise and take during comappropriate munications. countermeasures. 7-19 Appendix Error code (Error indicator not lit) Error name Power OFF watchdog error Chapter 7 Description Power is not turned ON; RESET input has been turned ON; software error Cam Probable output cause Power has F turned OFF. RESET input has been turned ON. RESET input has been turned ON due to noise. The Cam Positioner is malfunctioning (system does not recover when power is turned ON again.) 7-20 Possible solution Check that the voltage supplied to the Cam Positioner meets the specifications (85 to 264 V AC) and adjust if necessary. Adjust the RESET input sequence. Error reset method Turn ON the power again. Find the source of the noise and take appropriate countermeasures. Check and adjust the wiring for control input signals. Replace the Cam --Positioner. Appendix 7-7 Chapter 7 Cam Programming Sheet Machine Name Cam N No. Signal g name Adjusted (date) Time chart ON OFF angle l angle l 0 30 60 (0) 90 120 150 180 210 240 270 300 330 360 7-21 Appendix 7-8 Chapter 7 Parameter Settings Log Chart D Unit Model Cam Positioner j3F88L-160 (16-point model) j3F88L-162 (32-point model) Remarks: D Switch Setting CW/CCW setting switch jCW jCCW D Parameter Settings FUN No. U (u) A (a) b (b) PRMTR No. 1 1 1 2 3 4 5 6 7-22 Function Function level selection Resolution selection Origin compensation value Backlash compensation value Advance angle compensation p value 1 Advance angle compensation p value 2 Advance angle compensation value 3 Baud rate Function level for settings Setting range 0 to 2 Settings 0: Function level 0 (monitor only) 0 1 2 1: Function level 1 (basic operation/monitor only) 1 2 2: Function level 2 (all functions) 0: 360 divisions/ revolution (factory setting) 0, 1 2 2 2 2 2 2 0 to 359 (0 to 719) (see note 1) 0 to 179 (0 to 359) (see note 1) 0 to 1600 (0 to 800) (see note 1) 0 to 359 (0 to 719) (see note 1) 0 to 1600 (0 to 800) (see note 1) 0 to 359 (0 to 719) (see note 1) 0 to 359 (0 to 719) (see note 1) 1, 2 1: 720 divisions/ revolution Sets origin compensation value (angle data). Factory setting “0.” Sets backlash compensation value (angle data). Factory setting “0.” Sets speed data for advance angle compensation value 1. Factory setting “0.” Sets angle data for advance angle compensation value 1. Factory setting “0.” Sets speed data for advance angle compensation value 2. Factory setting “0.” Sets angle data for advance angle value 2. Factory setting “0.” Sets angle data for advance angle compensation value 3 (advance angle compensated position). Factory setting “0.” 1: 9,600 bps (factory setting) 2: 19,200 bps Settings Settings when parameter setting is made. Settings when machine is operating. Appendix FUN No. H (h) PRMTR No. 1 2 3 4 Chapter 7 Function Backlash compensation enable/disable setting Advance angle compensation enable/disable setting Output hold Function level for settings Setting range 0, 1 Settings 0: Backlash compensation disabled (factory setting) 1: Backlash compensation enabled 2 0, 1 2 0: Advance angle compensation disabled (factory setting) 1: Advance angle compensation enabled 0, 1 2 Present value output setting Settings 0 to 4 0: Output hold disabled (factory setting) 1: Output hold enabled 0: No present value output function (factory setting) 1: 4-digit present angle (no units) 2: 4-digit number of rotations (no units) 2 3: Automatic switching of 3-digit present angle and number of rotations (with units) 4: Automatic switching of 4-digit present angle and number of rotations (with units) Note 1. The data for 720 resolution (divisions/revolution) is shown in parentheses. The angles will be set and displayed as “1” for 0.5°. Note 2. The power must be turned OFF and then ON again to enable these functions. 7-23 Appendix Chapter 7 D Cam Protect Settings (Function No. C (c), Function Level: 2 ) f: Cam protect Bank No. 1 Fill in the bit corresponding to the cam number for which cam data protect has been set. This makes it easier to display and compare the cam data protect statuses. Bank No. 1 Bank No. 2 Bank No. 2 Bank No. 3 Bank No. 3 Bank No. 4 Bank No. 4 Bank No. 5 Bank No. 5 Bank No. 6 Bank No. 6 Bank No. 7 Bank No. 7 Bank No. 8 Bank No. 8 Note The power must be turned OFF and then ON again to enable this function. 7-24 Appendix Chapter 7 Cam Protect Status Display • SPEED/ON • POSITION/OFF 7-25 Appendix Chapter 7 D One-direction Function Setting (Function No. F (f), Function Level: 2 ) 0: One-direction function disabled (factory setting) 1: Forward direction function enabled 2: Reverse direction enabled Bank No. 1 Bank No. 2 Bank No. 3 Bank No. 4 Bank No. 5 Bank No. 6 Bank No. 7 Bank No. 8 Note The power must be turned OFF and then ON again to enable this function. 7-26 Index Numbers 4-digit display, wiring, 2-27 A, B command frame, 4-5–4-6 commands, FINS commands, 4-10 communications CompoWay/F communications, 4-1–4-28 specifications, 4-3 communications error, 3-92, 5-7–5-8 adjustment operation, 3-93 communications ports, RS-232C connections, 3-88 advance angle compensation, 3-62 and teaching, 3-87 components, name and function of each part, 1-7 angle resolution, 1-2 applied functions, 1-4, 1-12, 3-44–3-96 backlash compensation, 3-60–3-62 and teaching, 3-87 bank number bank selection inputs, 3-42 deleting programs by bank number, 3-34 switching time, 7-6 bank selection inputs, 3-42 baud rate setting, 3-90 C cam number, deleting program by cam number, 3-33 cam output cam output function, 1-3 delay time, 7-4, 7-7 monitoring, 3-41 OFF time, 7-5 specifications, 2-25 wiring, 2-22 Cam Positioner installation, 2-6 replacement, 5-13 RS-232C connections, 3-88 specifications, 6-2 standard models, 7-11 cam program cam programming sheet, 7-21 checking in PRGM mode, 3-24, 3-31–3-32 checking number of steps, 3-26, 3-35–3-37 creating and checking, 3-24–3-36 creation in PRGM mode, 3-24, 3-27–3-30 deleting, 3-32 write function, 1-3 cam protect error, 3-92 cam protect function, 3-69–3-75 cam protect settings, 7-24 chains, using, 2-12 colors, cam output cable colors, 2-24 CompoWay/F Communications commands, 4-10 Controller Data Read command, 4-19 Controller Status Read command, 4-20 errors, 5-7–5-8 Internode Echo Test command, 4-22 Memory Area Read command, 4-10 Operation Command, 4-21 overview, 4-2–4-4 Parameter Area Read command, 4-12 Unit Attribute Read command, 4-20 Connection Cables, models, 2-14 connections, wiring connections, 2-13 connectors, functions, 1-9 control inputs description, 3-42–3-43 monitoring, 3-41 specifications, 2-19 wiring, 2-17 control outputs description, 3-43 monitoring, 3-41 specifications, 2-20 wiring, 2-19 copy function, 1-5, 3-88–3-92 Coupling. See Resolver Coupling crimp terminals, recommended terminals, 2-18, 2-20 CW/CCW setting switch, using, 3-21 D data output timing, 3-80 data transfer, 3-88 deleting cam program, 3-32 deleting all cam programs, 3-35 in PRGM mode, 3-25 direction of rotation one-direction function, 3-75 setting, 3-21 I-1 Index display display changes in SET mode, 3-52–3-56 displays by mode, 3-8, 7-12–7-15 functions, 1-8 nomenclature of display section, 3-2 seven-segment display patterns, 3-3 specifications, 6-8 Display Unit connecting, 2-5, 2-13, 2-25–2-29 standard models, 7-11 E EC Directives, conformance, 2-9, 2147483647f environmental conditions, 2-8 I, J, K I/O Block cam outputs for, 2-23 connecting, 2-4, 2-13 specifications, 6-6–6-7 standard models, 7-11 I/O monitor function, 3-40 initial settings descriptions, 3-21–3-23 functions, 1-4 inspection, regular inspections, 5-12 installation, 2-6 Cam Positioners, 2-6 environmental conditions, 2-8 precautions, 2147483647f Resolvers, 2-7 error codes, 5-2–5-7, 7-16–7-20 internode echo test, 4-22 error output, 3-43 delay time, 7-4 keys. See operation keys errors communications errors, 3-92 diagnosing with error codes, 5-2–5-6 displaying, 3-40 error codes, 5-2–5-7, 7-16–7-20 error codes in FINS response frames, 4-8 error output, 3-43 examples, application examples, 7-2–7-3 F M, N M-DET output OFF delay time, 7-6 ON delay time, 7-6 maintenance, 5-12 Master Cam Positioner Settings, 3-91 modes, 1-3, 3-4–3-11 changing, 3-4 monitoring operation, 3-40 noise, wiring to reduce noise, 2-14 FINS communications. See CompoWay/F communications function level, selecting, 3-44–3-45 function level 0, selecting, 3-14 function level 1 selecting, 3-14 using, 1-11, 3-12 function level 2 selecting, 3-14 using, 1-12, 3-13 functions basic functions, 1-3 by mode, 3-4 functions allowed in each function level, 3-14–3-20 program functions, 3-24–3-26 O one-direction function, 3-75–3-77 settings, 7-26 operation basic operation, 1-2 nomenclature of operation section, 3-2 procedure, 1-11, 3-12–3-13 operation keys, 1-9 functions in PRGM mode, 3-28 origin compensation, 3-56–3-59 and origin shift, 3-38 executing, 3-37–3-38, 3-58 origin compensation absolute angle, 3-58 origin compensation value, 3-57 gears, using, 2-12 origin shift, 3-56–3-59 and origin compensation, 3-38 executing, 3-59 origin shift input, 3-43 processing time, 7-5 glossary, glossary of terms, 1-10 output hold function, 3-77–3-78 host computer, communications with, 4-2 output timing, data output timing, 3-80 G, H I-2 Index P parameters advance angle compensation values, 3-62, 3-67–3-69 backlash compensation enable/disable, 3-61, 3-69 backlash compensation value, 3-60 baud rate setting, 3-90 cam protect settings, 3-70 data transfer (Master Unit settings), 3-90 data transfer (Slave Unit settings), 3-90 displaying and setting, 3-50 explanation and operation, 3-49–3-55 log chart, 7-22 one-direction function setting, 3-75 origin compensation absolute angle, 3-58 origin compensation value, 3-57 output hold, 3-77 parameter list, 3-45 present value output setting, 3-78 pulse output setting, 3-81 reading parameter area, 4-12 teaching setting, 3-83 parts, name and function of each part, 1-7 performance, 7-4 peripheral devices, reducing noise, 2-15 personal computer, communications with, 4-2 PMCR instruction, 4-24 power supply, wiring, 2-16 precautions general, 2147483647c safety, 2147483647c present angle displaying, 2-5, 2-28 monitoring, 3-40 reading from OMRON PC, 7-2 present value output, 3-78–3-80 PRGM mode displays, 3-11 function, 1-3 procedure, operation procedure, 3-12 reset input, 3-43 resolution, 1-2 setting, 3-22 Resolver Cables, 2-3 connecting, 2-3, 2-13 connection to machinery, 3-37 installation, 2-7 life expectancy, 7-8 mounting, 2-9 specifications, 6-4–6-5 standard models, 7-11 wiring, 2-21 Resolver Cables, 2-22, 6-4 Resolver Coupling connecting with, 2-10 life expectancy, 7-9 precautions, 2-11 replacement, 5-12 specifications, 2-10 Resolver speed displaying, 2-28 monitoring, 3-40 response frame, 4-7–4-10 rotation detection output, 3-43 rotation direction, setting, 3-21 RS-232C Cables Cam Positioner connections, 3-88 connection to a PC or host computer, 4-3 specifications, 4-4 RUN mode displays, 3-11 function, 1-3 starting operation, 3-38–3-39 RUN output, 3-43 delay time, 7-4 OFF time, 7-5 S processing time, 7-4 safety measures, 2-2 program. See cam program SET mode displays, 3-8 function, 1-3 selecting the function level, 3-20 program functions, outline, 3-24 Programmable Controller communications with, 4-2 connecting, 2-13 reading present value output from, 7-2 protocol macros , executing CompoWay/F commands with, 4-23 pulse output function, 3-80–3-83 R relay output, 2-4 Slave Cam Positioner Settings, 3-91 specifications, 6-1–6-10 cam output, 2-25 Cam Positioner, 6-2 communications, 4-3 control inputs, 2-19 control outputs, 2-20 display, 6-8 I/O Block, 6-6 Resolver, 2-2, 6-4 Resolver Coupling, 2-10 I-3 Index speed monitoring Resolver speed, 3-40 permissible resolver speed, 1-2 standard models, 7-11 start input, 3-42 start operation, 3-38 steps checking number of program steps, 3-26, 3-35–3-37 deleting by steps, 3-32 switches functions, 1-8 location, 1-7 system configuration, 1-6 system design, 2-2 timing belt, using, 2-12 timing compensation, 3-63 transferring cam programs and parameters, 3-91 transistor output, open collector, 2-4 trial operation, 3-93 troubleshooting, 5-9–5-11 U, V, W unpacking, 0 verification error, 3-92 warnings, general, 2147483647c terminal block, function, 1-9 wiring, 2-13 4-digit display, 2-27 cam output, 2-22 control inputs, 2-17 control outputs, 2-19 power supply input, 2-16 Resolver, 2-21 standard method, 2-14 Terminal Blocks, 2-16 terminals, 2-18, 2-20 write-protection, write-protecting cam data, 3-69 T teaching function, 3-83–3-87 Terminal Block, wiring, 2-16 time chart, example, 3-27 timing, data output timing, 3-80 I-4 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. O008-E1-1 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version. Revision code Date 1 September 1999 Revised content Original production R-1 OMRON ELECTRONICS LLC 1 Commerce Drive Schaumburg, IL 60173 USA 800.55.OMRON (66766) OMRON CANADA, INC. 885 Milner Avenue Scarborough, Ontario M1B 5V8 416.286.6465 OMRON ON-LINE Global - http://www.omron.com USA - http://www.omron.com/oei Canada - http://www.omron.com/oci 800.55.OMRON or 847.843.7900 Sao Paulo 55.11.5564.6488 Buenos Aires 54.114.787.1129 Florida 954.227.2121 O008-E1-1 ©2001 OMRON ELECTRONICS LLC Specifications subject to change without notice. Mouser Electronics Authorized Distributor Click to View Pricing, Inventory, Delivery & Lifecycle Information: Omron: 3F88L-CG001N 3F88L-CG001S 3F88L-CG003S 3F88L-CR002C 3F88L-CR003NA 3F88L-CR005C 3F88LCR005NA 3F88L-CR010NA 3F88L-CR010SA 3F88L-CR020C 3F88L-CR050C 3F88L-RL10 3F88L-RS15 3F88LRS15W