Panasonic FP (Sigma) User manual

FPΣ(Sigma)

Programmable Controller

20060227_FP_Sigma.qxd 20.02.2006 15:27 Uhr Seite 1

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Other Highlights

Communication

Four quick and easy snap-on cassettes are available to add different

serial ports to the FPΣ(Sigma). All ports are capable of communicating

at speeds of up to 115.2Kbps.

Positioning

In addition to a host of handy Panasonic functions,

the FPΣ(Sigma) also offers circular and linear interpolation.

Circular interpolation can be used for applications that apply glue, linear

interpolation for pick & place applications, for example.

By combining the FPΣ(Sigma) with servo motors, you can perform real

2-axis motion control.

Temperature Control

With the thermocouple input units and our accurate unique PID and

IPD algorithms, temperature can be controlled more easily and

accurately than ever.

FPΣ(Sigma)

The next generation compact PLC

Highlights

State-of-the-art PLC technology in the most compact size plus the ability to communicate via all important modern media

characterize the FPΣ(Sigma). With its two 100kHz pulse outputs, four hardware counters that function at up to 50kHz for

positioning applications, a programming memory capable of storing 32,000 steps, a real-time clock, and communication interfaces

for RS232 and RS485, FPΣ(Sigma) is one of the most flexible PLCs on the market. Remarkably, it is also one of the smallest!

1-channel RS232C type.

2-channel RS232C type.

1-channel RS485 type.

1-channel RS232C + 1-channel RS485 type.

High expansion capability with up to 384 I/Os

Fastest processing time, 0.32µsec/basic command

Compact design (W 30 x H 90 x D 60mm)

Short circuit protected transistor outputs

Built-in analogue volume with two points

Backup battery

Fast PID but

it overshoots

No overshoots

but slow

FPΣ(Sigma) example

fast and no overshoot

FPΣ(Sigma)

Driver Minas A series Motor Minas A series

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FPΣ(Sigma)

CPUs

Outstanding performance in a compact design

FPΣ(Sigma)

Relay output type

Terminal type

FPG-C24R2H

24 points

Input

16 points

Output

8 points

FPΣ(Sigma)– Transistor output type

FPΣ(Sigma)– Transistor output type with thermistor input FPΣ(Sigma)– Relay

output type with ther-

mistor input

Connector type

FPG-C32T2H

32 points

Input

16 points

Output (NPN)

16 points

Connector type

FPG-C28P2H

28 points

Input

16 points

Output (PNP)

12 points

2 Thermistor inputs

FPG-C24R2HTM

24 points

Input

16 points

Output

8 points

2 Thermistor inputs

FPG-C32T2HTM

32 points

Input

16 points

Output

16 points

2 Thermistor inputs

FPG-C28P2HTM

28 points

Input

16 points

Output

12 points

Temperature

Control

High Expansion Capability

FPΣ(Sigma) can use the expansion units of the FP0 on the right-hand side. New FPΣ(Sigma) units can be added to the left-hand

side.

Max. 4 Expansion Units

each 64 I/Os = 256 I/Os

Parallel

Expansion

BUS

Serial

Expansion

BUS

CPU

max. 32 I/Os

Max. 3 Expansion Units

each 32 I/Os = 96 I/Os

…up to 384 I/O!

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FPΣ(Sigma)

Expansion Units – Left Side Expansion

Wide variety of expansion units

FPΣ(Sigma)

I/0 Expansion Unit

MIL Connector type

FPG-XY64D2T

64 points

Input

32 points

Output (NPN)

32 points

FPΣ(Sigma)

Memory Expansion Unit

FPG-EM1

Memory: 256k words

FPG-EM1

FPΣ(Sigma) Positioning Expansion Units

Communication Cassettes FP Memory Loader

1-axis

Transistor output

FPG-PP11

1-axis

Line driver output

FPG-PP12

2-axis

Transistor output

FPG-PP21

1-channel

RS232C type

FPG-COM1

2-channel

RS232C type

FPG-COM2

1-channel

RS485 type

FPG-COM3

2-channel

RS232C & RS485 type

FPG-COM4

2-axis

Line driver output

FPG-PP22

• Read or write

programs from or

to a PLC

• Personal

computer is not

required

• Applicable with

FP0, FPΣ(Sigma),

FP-M, FP2 and

FP2SH

AFP8670

FPΣ(Sigma)

I/0 Expansion Unit

MIL Connector type

FPG-XY64D2P

64 points

Input

32 points

Output (PNP)

32 points

FPΣ(Sigma)

S-Link Expansion Unit

S-Link Master

128 Inputs or outputs

FPG-SL

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FPΣ(Sigma) Expansion Units – Right Side Expansion

Wide variety of expansion units

Transistor output type

Digital I/O Units

Relay output type Input only type

FP0-E16RSA FP0-E8XA FP0-E16XAFP0-E8RSA

FP0-E8YRSA

8 points

Input

8 points

16 points

Input

16 points

8 points

Input

4 points

Option:

Output 8 points

Output

4 points

16 points

Input

8 points

Output

8 points

FP0-E8YPA (PNP)

FP0-E8YTA (NPN)

FP0-E16YPA (PNP)

FP0-E16YTA (NPN)

FP0-E16PA (PNP)

FP0-E16TA (NPN)

8 points

Output

8 points

16 points

Input

8 points

Output

8 points

16 points

Output

16 points

A maximum of 3 FP0 expansion units can be added to the CPU unit.

Analogue I/O Units Temperature Control Units

4 points3 points

Output

4 points

FP0-A04I

4 points

Output

4 points

FP0-A04V FP0-A80A

8 points

Input

8 points

• Input (12 bit):

± 10V, 0 – 5V,

0 – 20mA

• Output (12 bit):

± 10V, 0 – 20mA

FP0-A21A

AC Power Supply

FP0-PSA2

Input

85 to 265VAC

Terminal type

Output

24VDC/0.7A

FP0-E32RS

32 points

Input

16 points

Output

16 points

Input

2 points

Output

1 point

4 points

Input

4 points

FP0-TC4

8 points

Input

8 points

FP0-TC8

6 points

Input

6 points

FP0-RTD6

–

4 – 20mA

–

± 10V

± 10V, ± 100mV

0 – 5V, 0 – 20mA

• K, J, T, R type thermocouples

can be used

• Resolution: 0.1°C

• Accuracy: 0.8°C (R type: 3°C)

• Temperature range:

-100 to 1500°C

• Pt100, Pt1000,

Ni1000

• Temperature range:

-200 to 500°C

MEWNET-F

FP0-IOL

(MEWNET-F Slave)

PROFIBUS

FP0-DPS2

(DP Slave)

Ethernet

FPWEB

(Web-Server Unit)

Networking Units

FP0-E32PA (PNP)

FP0-E32TA (NPN)

32 points

Input

16 points

Output

16 points

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FPΣ(Sigma)

Optimised communication functions

With the RS485 type communication cassette...

Despite being compact you can create powerful PLC links!

More links than you imagined a compact PLC could achieve

(2,048 link relays / 256-word link data registers)

Can be used to share product type between different machines.

Can be used for interlocking between different machines.

Easy wiring between PLCs with twin-core cabling.

Masterless communication method

(when PLC linkage is achieved with link relays and link data registers)

The masterless communication method means that even if a connected device (station) goes into power off, operations to

automatically switch the master station continue. Start up is smooth and the recovery from malfunctions is also potentially faster.

If the master station is not on,

communication cannot take place.

Errors occur when devices are not

turned on in sequence.

Use of insulated RS485

Uses the insulated RS485, which is highly reliable and largely impervious to noise.

High-speed communication over long distances are enabled.

Transmission speed: Max. 115.2kbits/s Transmission distance: Max. 1.200m

Even if a station goes into a power-

off state, communications between

the other stations continue.

RS485

Link data register

Product type data

Process

machine

Link data register

Product type data

Assembly

machine

Link data register

Product type data

Inspection

machine

Previous models

Usual master-slave communication

With the FPΣ(Sigma)

Masterless communication using the FPΣ(Sigma)

Slave

station

Master

station

Slave

station

Slave

station

Slave

station

Link

station

Link

station

Link

station

Link

station



1-channel RS232C type.

2-channel RS232C type.

1-channel RS485 type.

1-channel RS232C + 1-channel RS485 type.

Four types of communication cassettes enable:

efficient connection to serial devices

transmission speeds of up to 115.2kbits/s

long transmission distance of up to 1200m

In addition, the green screw terminal is removable

for easy wiring.

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FPΣ(Sigma)

Optimised communication functions

Convenient station no. setting function enables flexible use, even when there are product type

changes.

Station no. switchability allows the use of unified programming and program switching.

Because even the communications parameters can be changed in the program, connection is enabled with

external devices that have different communication parameters.

Great for these applications, too...

Computer linkage with up to 99 stations enabled (max. 32 stations when using C-NET adapter).

Ability to gather data from multiple stations means greater design freedom.

Can also be connected to external devices that are equipped with RS485 interface

Enables connection to external devices, such as temperature regulators,

that are equipped with RS485 interface.

Applicable with data gathering or setting adjustment.

With the RS232C type communications cassette

Efficient connection with other control devices helps to save space!

Enables connection to devices with RS232C interface, such as a

programmable display panel, image processing device and other devices.

When used as a tool port, up to 3 external devices can be connected.

FPΣ(Sigma) Station

No. setting switch

Communication parameters changed by instructions

Commercial

adapter

Commercial

adapter

FP0

RS485

RS232C

Computer

FP0

FP0 Commercial

adapter FPΣFPΣ

RS485

RS232C

Computer

FPΣ

RS485

RS232C

FPΣ

Temperature

regulator, etc.

Temperature

regulator, etc.

Control is possible using

commercially available

RS485 devices.

A 2-channel type communication

cassette is used.

RS232C

GT11/GT30 Example: Connection with

commercially available

temperature regulator



RS232C RS232C

FPΣ

GT11/GT30

Image

processing device

Previous models

Relay stations required for linking medium-scale PLCs

With the FPΣ(Sigma)

Computer linkage with up to 99 stations

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Max. 100kHz pulse output performance is now standard.

Powerful device capable of linear interpolation and circular interpolation.

Pulse output max. 100kHz

Because command processing at speeds up to 100kHz is available, high-

speed, high-precision positioning is enabled. Along with stepping motor

control, the specs also ensure plenty of scope for controlling servomotors.

FPΣ(Sigma)

Positioning

Specially designed for positioning applications

Possible to combine with pulse-train input drivers

Single unit enables two-axis control

Stepping motor

Servo motor

Motor

driver

Pulse output CW

Pulse output CCW

Pulse output CW

Pulse output CCW Motor

driver



Rapid 0.02ms start (when JOG operation controls are executed)

The time taken to execute the JOG operation, from the instant the trigger (execution condition) goes on to the time of pulse output,

is 0.02ms and 0.2ms even with trapezoidal control. Control time is reduced even for machines that quickly and repeatedly restart.

Adhesive

Motor

driver

Motor

driver

And there’s more...

Smooth acceleration/deceleration

You can choose to set either 30 or 60 steps of acceleration/

deceleration. This feature means you can achieve smoother

movement during long acceleration/ deceleration periods of

stepping motors.

The settings are there for a maximum 60

accelaration/deceleration steps.

Support for CW/CCW method

Reduce overall costs by designing systems that combine with

servomotors and small stepping motors without support for

Pulse and Sign method.

Linear interpolation and circular interpolation are built in (FPG-C32T2H and FPG-C28P2H)

Interpolation functions enable simultaneous control of two axes.

Applications that a compact PLC couldn't previously cope with are no

longer a challenge.

Linear Interpolation Circular Interpolation

CW / CCW

method

Pulse / Sign

method

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Programming with convenient and

easy-to-understand instructions

Uses a preset value table for starting speed, target speed,

acceleration/ deceleration time, and other factors. Easy-to-

understand programming is possible since numbers can be

specified intuitively.

Comes with dedicated instructions for each mode: trapezoidal

control, home return, JOG operation, free table operation,

linear interpolation, and circular interpolation.

Selectable home return mode

The home return method may be specified even in situations

such as when only a single sensor is being used, depending

on the design.

When the home position return is completed, a deviation

counter clear signal can also be output.

FPΣ(Sigma)

Positioning

High-speed, high precision positioning

Home sensor

XA ON

2000Hz

100Hz

0Hz

150ms

Home position return

Pulse output diagram

(when the home position proximity input is not used).

OFF

300Hz

0Hz

XB (JOG command)

Y0 (Pulse)

JOG operation

Pulse output diagram

Home search automatically reverses the motor rotation when

Over limit input(+) or Over limit input (-) is input and their

searches for the home position or near home position in order

to return to it automatically.

This refers to an operation in which the motor is rotated only

while operation commands are being input. This is used to

forcibly rotate the motor using input from an external switch, for

instance when making adjustments. Depending on the

circumstances, unlimited feeding can be accomplished with the

JOG operation in some cases.

X-axis

(CH0)

Y-axis

(CH2)

5000

2000

Linear interpolation

Positioning Iocus.

Pass position P

(X 9396, Y -3420)

Target position E

(X 8660, Y -5000)

Current position S

(X 5000, Y 8660)



Center position O

(Xo,Yo)

Circular interpolation

Positioning Iocus.

Center-radial

setting methods are

also available.

A control function that automatically defines the continuum of

points in a straight line based on only two co-ordinate positions.

Allows points to be smoothly traversed by arced paths for which

the user specifies the orientation plane, the radius of curvature,

motion path profile, and direction of motion.

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FPΣ(Sigma)

Positioning Expansion Units

Precise positioning

The FPΣ(Sigma) positioning unit can handle simultaneous startup of multiple axes, enabling

simultaneous control of linear interpolation and other elements through user programs.

Transistor output type (open collector) and line driver output type are available.

Features

Fast startup of 0.02 or 0.005ms makes cycle time reduction possible.

Feedback pulse count function makes output pulse counting from external encoders possible.

JOG positioning control supports a wide range of applications.

4 types of S-curve acceleration/ deceleration control makes smooth startup and stopping possible:

Sine curve, quadratic curve, cycloid curve and cubic curve.

Unit type and product number

Type Output type Part number

1 - axis type Transistor output type FPG-PP11

2 - axis type Transistor output type FPG-PP21

1 - axis type Line driver output type FPG-PP12

2 - axis type Line driver output type FPG-PP22

FPG-PP11 FPG-PP12 FPG-PP21 FPG-PP22

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