Positioning
Unit E/F Type
-
Features
Features (E Type)
1. High-speed instruction pulse of up to 200k
pulse/s
Positioning can be performed in stepping and servo
motors because the positioning unit allows you to specify a
high-speed instruction pulse of max. 200k pulse/s.
2. Built-in EEPROM removes the trouble of
maintenance
EEPROM is adopted as memory to eliminate the
trouble of replacing the backup battery.
Features (F Type)
1. Highly accurate positioning at up to 400k
pulse/s
Positioning can be performed at a high speed when
combining with a high resolution type encoder, because the
Positioning Unit allows you to specify a high-speed instruction
pulse.
2. Linear and circular interpolation functions
(2-axis, 3-axis types)
These functions ensure smooth and continuous
movement without stopping when 2-axis or 3-axis operation is
performed.
Product Types
|
Product name
|
Specifications
|
Part number
|
|
FP3 Positioning Unit E type
|
Positioning points: 50 points per axis
Speed command: Max. 200k pulse/s
A connector is attached.
|
1-axis type
|
AFP3431E |
|
2-axis type (stand alone)
|
AFP3432E |
|
FP3 Positioning Unit F type
(for combination transistor
output and line driver output)
|
Line driver output for positioning unit F
type
Performance: transistor output type
equivalent
A connector is attached.
|
1-axis type
|
AFP3434 |
|
2-axis type
|
AFP3435 |
|
3-axis type
|
AFP3436 |
|
FP Teaching Unit II
|
Positioning unit F/E type common
|
AFP5133 |
|
Connection cable for between Teaching unit
II and FP3 Positioning unit E type
|
AFP5520 |
|
Connection cable for between Teaching unit
II and FP3 Positioning unit F type
|
AFP1523 |
Regarding selection
When controlling the E type positioning unit with
a stepping motor, depending on the characteristics of the unit,
loss of synchronism may occur under the following conditions:
1) The speed command pulse number is a few
kilohertz too low.
2) The load is too large.
3) The acceleration or deceleration time is too
short.
For use under these conditions, choose the FP2
positioning unit.
Configuration
-
Specifications
Performance Specifications
E type
|
Item
|
1-axis module
(AFP3431E)
|
2-axis module
(AFP3432E)
|
|
Number of axes
|
1-axis
|
2-axis (independent)
|
|
Interpolation function
|
Not available
|
|
Control method
|
Automatic trapezoidal acceleration and
deceleration
PTP (point to point)
|
|
Positioning points
|
50 points per axis
|
|
Positioning drive function
|
Positioning command
|
Both increment (I) and absolute (A)
Equivalent to ±8388607 pulses max.
|
|
Speed command
|
200k pulse/s max.
|
|
Acceleration and deceleration
|
0 to 4,999 ms
|
|
Auxiliary code
|
1 to 255 per axis in start mode (W) and
end mode (A).
|
|
Backlash correction
|
Not available
|
|
Error correction
|
Not available
|
|
Home return function
|
Mechanical home return function
|
Home return method
|
Home searching method (using near home and
limit inputs)
|
|
Stopping method
|
1. Near home ON method (using near home
and home inputs)
2. Near home OFF method (using near home
and home inputs)
3. Near home ON/OFF method (using near
home input)
|
|
Software home return function
|
Homing to 0 position from present position
|
|
JOG function
|
Available: JOG speed control
|
|
Teaching function
|
Absolute motion span can be stored by
specifying data number after JOG operation
|
|
Other functions
|
Positioning point data and parameter
settings, actual position read, actual position change,
memory clear and self-diagnostic function
|
|
Auxiliary functions
|
Auxiliary code, I/F logic selection, home
return position offset and pulse output selection (pulse
train and sign or CW and CCW)
|
|
Built-in memory and backup
|
RAM
Transfer RAM to EEPROM by the operation of
the teaching unit or sequence program.
|
|
Connection to external drivers
|
Pulse command output 1, pulse command
output
2, deviation counter clear output,
driver abnormal input, home return input,
near
home input, limit-over (+) input,
limit-over (-) input, external input for JOG operation.
* Only transistor output is available for
the pulse command output. The home input also supports the
line driver.
|
|
Weight
|
Approx. 350 g 12.346
oz
|
Note: Interpolation speed is speci ed by the
long-axis speed and tracking speed of parameter.
In case of simultaneous 3-axis operations, the
circular interpolation is executed on the X and Y axes, with the Z
axis acting at a constant-time interpolation.
F type
|
Item
|
1-axis module
(AFP3434)
|
2-axis module
(AFP3435)
|
3-axis module
(AFP3436)
|
|
Number of axes
|
1-axis (independent)
|
2-axis
(simultaneous or independent)
Axis mode:
-Simultaneous 2-axis
-Independent 2-axis
|
3 axis (simultaneous or independent)
Axis mode:
-Simultaneous 3-axis
-Simultaneous 2-axis
and independent 1-axis
-Independent 3-axis
|
|
Interpolation function
|
Not available
|
Linear and circular interpolation
(See note.)
|
Linear and circular interpolation
(See note.)
|
|
Control method
|
Automatic trapezoidal
acceleration/deceleration
PTP (point to point)
|
Automatic trapezoidal
acceleration/deceleration
PTP (point to point)
CP (continuous path)
|
Automatic trapezoidal
acceleration/deceleration
PTP (point to point)
CP (continuous path)
|
|
Positioning points
|
400 points per axis
|
|
Positioning drive function
|
Positioning command
|
Both increment (I) and absolute (A)
Equivalent to ±8388607 pulses max.
±83886.07 mm (with a conversion unit of
0.01 mm per pulse)
±8388.607 inches (with a conversion unit
of 0.001 inch per pulse)
±8388.607 degrees (with a conversion unit
of 0.001 degree per pulse)
|
|
Speed command
|
Equivalent to 400k pulse/s max.
±4000 mm/s (with a conversion unit of
0.01 mm per pulse)
±400 inches/s (with a conversion unit of
0.001 inch per pulse)
±400 degrees/s (with a conversion unit of
0.001 degree per pulse)
|
|
Acceleration and deceleration
|
0 to 4999 ms
|
|
Auxiliary code
|
1 to 255 per JOB in start mode (W) and end
mode (A).
|
|
Backlash correction
|
Available
|
|
Error correction
|
Available
|
|
Home return function
|
Mechanical home return function
|
Home return method
|
Home searching method (using near home and
limit inputs)
|
|
Stopping method
|
1. Near home ON method (using near home
and home inputs)
2. Near home OFF method (using near home
and home inputs)
3. Near home ON/OFF method (using near
home input)
|
|
Software home return function
|
Homing to 0 position from present position
|
|
JOG function
|
Using teaching unit
For either forward or reverse rotation,
both operation in 1-axis and simultaneous operation in
both the x and y-axes are possible.
Using user's program
For either forward or reverse rotation,
both simultaneous operation in 3-axis and speed changing
during operation are possible.
|
|
Teaching function
|
Absolute motion span can be stored by
specifying data number after JOG operation
|
|
Other functions
|
Positioning point data and parameter
settings, actual position read, actual position change,
memory clear and self-diagnostic function
|
|
Auxiliary functions
|
Auxiliary code, I/F logic selection, home
return position offset and pulse output selection (pulse
train and sign or CW and CCW)
|
|
Built-in memory and backup
|
RAM
Backup with lithium battery: Approx. 5000
hours
Backup with capacitor without battery: 15
minutes or more
|
|
Connection to external drivers
|
Pulse command output 1, pulse command
output 2, deviation counter clear
output, driver abnormal input, home return
input, near home input, limit-over input.
* Line driver and transistor output are
available for the pulse command output. The home input
also supports the line driver.
|
|
Weight
|
Approx. 450 g 15.873
oz
|
Note: Interpolation speed is speci ed by the
long-axis speed and tracking speed of parameter. In case of
simultaneous 3-axis operations, the circular interpolation is
executed on the X and Y axes, with the Z axis acting at a
constant-time interpolation.
|
