YOKOGAWA FA-M3 positioning module (with analog voltage output)

External contact outputs 3 external contact outputs (servo ON, brake OFF, driver reset), triggered by corresponding commands, polarity can be set separately, and status can be read through the application program-

The SEN signal output is only used to connect the Yokogawa Motor absolute encoder and request the transmission of absolute value data. Other drivers need to be suspended when connected-

The origin search operation writes parameters such as search direction, speed, mode (contact input detection action), Z-phase edge selection, etc., triggering the "origin search" relay. After detecting the preset external contact input or Z-phase signal, it decelerates and stops. The detection position can be used as the origin (or origin offset value) to adjust parameters in multiple cycles to achieve complex search; In the absolute encoder system, the Yokogawa method can be searched with the incremental encoder, while the Sanyo method cannot be searched

The interrupt function supports "position detection interrupt" (interrupts the CPU when the instruction/encoder position reaches the set value) and "positioning end interrupt" (interrupts the CPU when positioning is completed). Please refer to the CPU manual for handling interrupts-

After triggering the "Manual Pulse Generator Mode ON" in manual pulse generator mode, the motor is controlled by the manual pulse generator, and the ratio of pulse input to motor movement is set by the "Manual Pulse Generator Proportional Value"; Dual axis can be set to this mode simultaneously, and the shared pulse input cannot control the motor through CPU instructions in this mode; Restore position control after mode OFF

Linear interpolation operation simultaneously writes target speed, position, acceleration and deceleration parameters in both axes (with the same acceleration and deceleration time, speed ratio=movement ratio), synchronously triggers the "start operation command" relay, and after each axis completes positioning, the corresponding "positioning end" relay acts-

Starting a new positioning operation during the operation of positioning in the path, the new operation is initiated before the end of the current operation, forming a path overlap (interval in the path), without the need to stop at the middle target position, and supporting direction changes requires determining the start timing through the "remaining deceleration time" status to avoid operation conflicts

The arc interpolation operation writes parameters such as the center position, radius, starting angle, and angle movement in both axes, synchronously triggering the "start operation command" relay. The module generates the arc path through trigonometric functions to ensure that the X/Y axis parameters are consistent (starting angle, angle movement, etc.); When a single axis error occurs, the other axis continues to run, and the program needs to detect the error and stop it

Parameter settings

The module parameters are divided into entrance parameters (usually set only once after power on), startup parameters (reference for instructions such as positioning/speed control execution), origin search related startup parameters, extended instruction parameters, control mode switching parameters, and arc interpolation parameters. The core parameters are as follows:

1. Entrance parameters (key items)

Parameter Name Axis 1 Data Position Axis 2 Data Position Initial Value Range/Description

Positive limit value 001/002 201/202 134217727-134217728~134217727 pulse, set the position limit within the physical stroke

Negative limit value 003/004 203/204-134217728-134217728- (positive limit value -1) pulse

Speed limit value 005/006 205/206 131072000~131072000 (1/65536) pulse/ms, limit path generation speed

Overspeed detection value 007/008 207/208 131072000~131072000 (1/65536) pulse/ms, detecting the actual speed of the motor exceeding the limit

Super acceleration detection value 009/010 209/210 131072000~131072000 (1/65536) pulse/ms/ms, detecting actual motor acceleration exceeding the limit

Deviation error detection value 011/012 211/212 134217727 1~134217727 pulses, detecting that the deviation between the instruction position and the encoder feedback position exceeds the limit

Motor rotation direction 013 213 0 0: Positive speed command voltage corresponds to forward rotation; 1: Positive speed command voltage corresponds to reverse rotation

Encoder specification 018 218 0 0: Universal incremental type; 1: Sanyo Manchester encoding absolute formula; 2: Yokogawa Serial Absolute Formula

Speed/voltage ratio 020/021 220/221 10240 1~2000000 pps/V, calculation formula: (rated motor speed x encoder pulses/minute) ÷ rated voltage

2. Other parameters (core items)

Startup parameters: including target speed, target position, target position mode (absolute/relative), acceleration and deceleration time/mode/parameters, positioning judgment range, timeout time, interpolation mode, startup mode, position detection mode/set value, etc. There is no initial value, which needs to be written before instruction execution.