Positioning
Unit
-
Features
High-speed pulse and startup for great
performance in compact package and even supports linear servos
Max. output frequency: 4 Mpps,
Startup speed: 0.005 ms
Supports indexed feeding with JOG positioning
function
Able to support indexed feed processing
applications with high-speed startup and repeated control.
Count of feedback pulse possible
Since feedback pulses from encoders, etc., can be
counted, control is possible while detecting the out of step and
verifying the current position in step motors.
Product types
|
Product name
|
Specifications
|
Product number
|
Part number
|
|
FP SIGMA Positioning unit
|
1 axis, Transistor output
|
FPG-PP11
|
AFPG430
|
|
1 axis, Line driver output
|
FPG-PP12
|
AFPG432
|
|
2 axis, Transistor output
|
FPG-PP21
|
AFPG431
|
|
2 axis, Line driver output
|
FPG-PP22
|
AFPG433
|
Specifications
Performance Specifications
|
Part number
|
AFPG430
|
AFPG432
|
AFPG431
|
AFPG433
|
|
Product number
|
FPG-PP11
|
FPG-PP12
|
FPG-PP21
|
FPG-PP22
|
|
Output type
|
Transistor
|
Line driver
|
Transistor
|
Line driver
|
|
Occupied I/O points
|
Input: 16 points, Output: 16 points
|
Input: 32 points, Output: 32 points
|
|
Position command
|
Command units
|
Pulse unit (The program specifies whether
Increment or Absolute is used.)
|
|
Max. pulse count
|
Signed 32 bits (-2147483648 to +2147483647
pulses)
|
|
Speed command
|
Command range
|
1 pps to 500 kpps
(can set in 1 pps.)
|
1 pps to 4 Mpps
(can set in 1 pps.)
|
1 pps to 500 kpps
(can set in 1 pps.)
|
1 pps to 4 Mpps
(can set in 1 pps.)
|
|
Acceleration/deceleration command
|
Acceleration/deceleration method
|
Linear acceleration/deceleration, S
acceleration/deceleration (this takes the form of an
"S")
|
|
"S" Acceleration/deceleration
|
Can select from Sin curve, Secondary
curve, Cycloid curve and Third curve.
|
|
Acceleration/deceleration time
|
0 to 32767 ms (can set in 1 ms)
|
|
Home return
|
Home return speed
|
Speed setting possible (changes return
speed and search speed)
|
|
Input terminals
|
Home input, Near home input, Over limit
input (+), Over limit input (-)
|
|
Output terminals
|
Deviation counter clear output signal
|
|
Operation mode
|
· E point control (Linear and S
accelerations/decelerations selecting possible)
· P point control (Linear and S
accelerations/decelerations selecting possible)
· Home return function (Home search)
· JOG operation function note 1)
· JOG positioning function
· Pulser input function note 3)
Transfer multiplication ratio
-
(× 1, × 2, × 5, × 10, × 50, ×
100, × 500, × 1000 selecting possible)
· Real-time frequency change function
· Infinity output function
|
|
Startup time
|
0.02 ms or 0.005 ms possible note 2)
|
|
Output interface
|
Output mode
|
1-pulse output (Pulse/Sign), 2-pulse
output (CW/CCW)
|
|
Feedback
counter function *3
|
Countable range
|
Signed 32 bits (-2147483648 to +2147483647
pulses)
|
|
Input mode
|
2-phase input, Direction distinction
input, Individual input (transfer multiple available for
each.)
|
|
Other functions
|
· The flag to compare the elapsed value
is built in.
(The timing signal outputs at the optional
position during an operation.)
|
|
Internal current consumption (at 5 V DC)
|
150 mA max.
|
220 mA max.
|
|
External power supply
|
Voltage
|
21.6 V DC to 26.4 V DC
|
|
Current consumption
|
20mA
|
35mA
|
|
Weight
|
Approx. 75 g max.
|
Approx. 80 g max.
|
Notes
1) When selected Linear acceleration/ deceleration
operation, the target speed can be changed during an operation.
2) The startup time can be changed by the control
code setting in the shared memory.
The factory setting (default setting) is 0.02 ms.
The startup time is the time from the start
request to the first pulse output.
3) Pulser input function and feedback counter
function use the same pulse input terminal, so the both cannot
function simultaneously.
Dimensions
FPG-PP11/FPG-PP12/FPG-PP21/FPG-PP22
-
External dimensions
Terminal layout
Output terminals (Transostor Output type)
|
Pin number
|
Circuit
|
Signal name
|
|
Item
|
Description
|
|
1-axis
|
2-axis
|
|
A1
|
A10
|
 |
Pulse output A:
5V DC output
|
Output Specifications
|
Output format
|
Open collector
|
|
B1
|
B10
|
Pulse output A:
Open collector
|
Operating voltage range
|
4.75 to 26.4V DC
|
|
A2
|
A11
|
Pulse output B:
5V DC output
|
Max. load current
|
15mA
|
|
B2
|
B11
|
Pulse output B:
Open collector
|
ON Max. voltage drop
|
0.6A
|
Output terminals (Line driver output type)
|
Pin number
|
Circuit
|
Signal name
|
|
Item
|
Description
|
|
1-axis
|
2-axis
|
|
A1
|
A10
|
 |
Pulse output A:
Line driver(+)
|
Output Specifications
|
Output format
|
Line driver output
Equivalent to AM26C31
|
|
B1
|
B10
|
Pulse output A:
Line driver(-)
|
|
A2
|
A11
|
Pulse output B:
Line driver(+)
|
|
B2
|
B11
|
Pulse output B:
Line driver(-)
|
Output terminals (common)
|
Pin number
|
Circuit
|
Signal name
|
|
Item
|
Description
|
|
1-axis
|
2-axis
|
|
A7
|
A16
|
 |
Deviation counter clear (+)
|
Output Specifications
|
Output format
|
Open collector
|
|
Operating voltage range
|
4.75 to 26.4V DC
|
|
B7
|
B16
|
Deviation counter clear(-)
|
Max. load current
|
10mA
|
|
ON Max. voltage drop
|
1V
|
Note: The deviation counter clear signal is output
when the power supply is turned ON (about 1 ms) and when the power
supply recovery is complete. Its ON time can be selected using the
control code of the shared memory, from 1 ms (factory setting) to
10 ms.
Power supply terminals and Earth termials
(common)
|
Pin number
|
Circuit
|
Signal name
|
|
Item
|
Description
|
|
A19/B19
|
 |
F.E.
|
Power specifications
|
-
|
-
|
|
A20
|
 |
External power supply: 24V DC(+)
|
Power supply voltagerange
|
21.4 to 26.4V DC
|
|
B20
|
 |
External power supply: 24V DC(+)
|
Current consumption
|
1-axis type: 20mA or less
2-axis type: 35mA or less
|
Input terminals (common)
|
Pin number
|
Circuit
|
Signal name
|
|
Item
|
Description
|
|
1-axis
|
2-axis
|
|
A3
|
A12
|
 |
Home input 24V DC(+)(Z24)
|
Input specifications
|
Operating voltage range
|
21.6 to 26.4V DC
|
|
Min. ON voltage/current
|
19.2V DC/5.5mA
|
|
Max. OFF voltage/current
|
2V DC/2mA
|
|
Input impedance
|
Approx 3k ohm
|
|
A4
|
A13
|
Home input 5V DC(+)(Z5)
|
Input specifications
|
Operating voltage range
|
3.5 to 5.25V DC
(5V DC, Line driver specifications)
|
|
Min. ON voltage /current
|
3V DC/4mA
|
|
Max. OFF voltage/current
|
1V DC/0.5mA
|
|
Input impedance
|
Approx 390k ohm
|
|
B3
|
B12
|
Home input(-)
|
|
Min. input pulse width
|
100µs
|
|
B4
|
B13
|
 |
COM
|
Input specifications
|
Operating voltage range
|
21.6 to 26.4V DC
|
|
A5
|
A14
|
Near home input (DOG)
|
Min. ON voltage/current
|
Near home input (DOG): 19.2 V DC/5.0mA
Over limit input (+) (Limit +)
Over limit input (-) (Limit -)
Positioning control start input (Timing
input): 19.2 V DC/2.6mA
|
|
A6
|
A15
|
Over limit (+) input
(Limit +)
|
Max. OFF voltage/current
|
2V DC/1.5mA
|
|
B6
|
B15
|
Over limit (+) input
(Limit -)
|
Input impedance
|
Near home input (DOG): Approx. 3.6 k ohm
Over limit input (+) (Limit +)
Over limit input (-) (Limit -)
Positioning control start input (Timing
input): Approx. 6.8 k ohm
|
|
B5
|
B14
|
Positioning Control start input
(Timing input)
|
Min. input pulse width
|
500µs or less
|
|
A8
|
A17
|
 |
Pulse input A(+)
|
Input/Output Specifications
|
Operating voltage range
|
3.5 to 5.25V DC
(5V DC, Line driver specifications)
|
|
B8
|
B17
|
Pulse input A(-)
|
Min. ON voltage/current
|
3V DC/3.2mA
|
|
A9
|
A18
|
Pulse input B(+)
|
Max. OFF voltage/current
|
1V DC/0.5mA
|
|
B9
|
B18
|
Pulse input B(+)
|
Input impedance
|
Approx 390k ohm
|
|
Min. input pulse width
|
0.5µs or less (max. 1MHz each phase)
|
|
