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PROGRAMMABLE CAM

List of KOYO Programmable Cam ・・・・・・・・・・・・・・・・・・・・・E-2


FC-81F-C/FC-161F-C/FC-321F-C ・・・・・・・・・・・・・・・・・・・・・・E-3
FC-80-C/FC-160/FC-320 ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・E-12
FC-21 ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・E-24

E-1
Programmable Cam
List of KOYO Programmable Cam
Resolution Number of Source Reference
Model number Appearance Encoder Response time Sensor power
(number of digits) output points voltage page

Absolute 300rpm/360 resolution


FC-81F-C 360/720 8 E-3
150rpm/720 resolution DC12/24V

95W×80H×60.5D

1600rpm/360 resolution
800rpm/720 resolution
Absolute AC12/24V
FC-161F-C 360/720 16 E-3
(No dynamic CAM
setting available)
140W×90H×60.5D

1600rpm/360 resolution
800rpm/720 resolution
DC12/24V
FC-321F-C Absolute 360/720 32 E-3
(No dynamic CAM
setting available)
Programmable Cam

140W×90H×60.5D

Absolute 300rpm/360 resolution DC12/24V


FC-80-C 360/720 8 E-12
150rpm/720 resolution

105W×100H×66D
/320 161F-C/321F-C
FC-81F-C

1600rpm/360 resolution Encoder power


FC-160 360/720 16 AC85∼ source
Absolute 800rpm/720 resolution E-12
264V +12V 70mA
FC-80-C/160

140W×100H×66D

1600rpm/360 resolution
800rpm/720 resolution
FC-21

FC-320 360/720 32 AC85∼ Encoder power


Absolute E-12
(No dynamic CAM 264V source
setting available) +12V 70mA

195W×100H×66D

360/515/ AC100/ Encoder power


FC-21 Absolute 24 3600rpm/360 resolution E-24
720/1024 200V source
+12V 70mA

210W×162H×80D

E-2
FC-81F-C/FC-161F-C/FC-321F-C
An embedded installation type, so confirmation
can be done in a normal operating state with
the control panel screen.
Various functions are provided such as timing,
irregularity detection, and a multi-purpose
communication port.

Surface sheet in Japanese:


FC-81F-C
FC-161F-C
FC-321F-C
Surface sheet in English:
FC-81F-C-1
FC-161F-C-1
FC-321F-C-1

Merits
●Easy operation ●Pulse output setting function
Simple key operations with the operating panel installed. This determines the number of pulse per revolution. (divided
output).

Programmable Cam
●Setting changes are possible in Run mode
Fine adjustment of the ON/OFF position of output can be ●Applicable in a broad variety of industries
performed via adjustment mode without stopping the device. This series is best suited for timing control of individual types of
injectors, packaging machines, applicators, bottling, etc., in the
●Independent setup food product, packaging, and printing fields.
The FC-161F-C can register 8 types of programs and the FC-
321F-C can register 10. Any programs can be selected via ●Also provided as an wall-mounting type

/320 161F-C/321F-C
switching bank input during setup. Wall-mounting types of the FC-80-C/FC-320 cam switches are

FC-81F-C
also provided.
●Multi-purpose communication port
With use of the PLC and a PC, allows reading of operating ●Automatic timing function (FC-161F-C/FC-321F-C)
commands from the PLC, changes in setting values, angles for the When controlling timing with a cam switch for a machine so as to

FC-80-C/160
PLC, output state, and the like. change the speed of revolution, the lag in work timing due to a
delay in actuator operation becomes a problem.
●Quick change to a tachometer after completion This function, an automatic timing function, corrects the lag in
of adjustment timing. This is done with quick output of only the angle portion
Switching of the display for the angle/number of revolutions can calculated from the speed of revolution at the point when the angle
FC-21

be easily performed with the sheet key switches on the front panel. corresponds to the lag time for actuator operation.
Advanced portion Advanced portion
●Home position adjustment Setting angle
Any angle can be the home position (0) via 2 methods, applying Low-speed
external home position input or key operation. Mid-speed
This eliminates the troublesome adjustment of the home position. High-speed
0˚ 30˚ 60˚ 90˚ 120˚
●Angle setting is easy with the teaching function
Cam output of On and Off angle settings is performed while the
Uses
machine is operating. ●Speed changes during start-stop
Users that found program settings for key operation to be a hassle ●A device with a speed that changes
will be able to enjoy setting with the teaching function. ●A device where speed adjustment is needed

E-3
FC-81F-C/FC-161F-C/FC-321F-C

General Specifications
Item FC-81F-C FC-161F-C FC-321F-C
Source voltage DC12/24V
Permitted power fluctuation DC10.8∼26.4V
Power consumption 5W 8W
Ambient temperature −10∼+50℃
Storage temperature −20∼+70℃ (with no freezing)
Ambient/Storage humidity 35∼85%RH(with no dewing)
Ambient environment No corrosive gas or the like
Vibration resistance Durability: displacement amplitude 0.5 mm 10-55 Hz 3 directions
Impact resistance Impact resistance Durability: 500 m/s 3 directions
1.0 kV between power terminals 1.5 kV between power terminals
Noise resistance
Pulse width 1μs/rise 1μs/ square wave pulse
Protective structure IP54: Rear panel sheet only
Dimensions (W/H/D) 95×80×60.5(mm) 140×90×60.5(mm) 40×90×60.5(mm)
Weight 300g 420g 420g

Mechanical and Performance Specifications


Item FC-81F-C FC-161F-C FC-321F-C
Programmable Cam

Start:1 Protect: 1 Start:1 Bank entry: 3 Protect: 1 Start:1 Bank entry: 4 Protect: 1
Number of input points
Home position: 1 Home position: 1 Home position: 1
H:7.5V(OFF)/L:0∼2V(ON) H:7.5∼30V(OFF)/L:0∼2V(ON)
Encoder input
Resolution: 360 or 720 per revolution (output code: gray binary)
Control input H:7.5∼30V(OFF)/L:0∼2V(ON)
Output points 8 16 32
Output specifications NPN open collector Withstand voltage: Less than 35 V/current less than 0.1 A
/320 161F/321F-C

Total number of output areas 16 64 128


FC-81F-C

Number of revolutions for response 300 at resolution of 360 1600 at resolution of 360 1600 at resolution of 360
r/min(rpm) 150 at resolution of 720 800 at resolution of 720 800 at resolution of 720
Max. 550 μs Max. 250 μs Max. 250 μs
Output response time Max. 2 s
FC-80-C/160

Source start time 8 (Banks 0∼7) 10 (Banks 0∼9)


Number of banks ―
Memory EEPROM
Resolution 360 or 720 per revolution (selected with a dip switch)
FC-21

CW/CCW directional switching Switching with a dip switch


RUN output Normally on in Run/Adjustment mode (switched with a dip switch)
Display Angle or rotation speed(selected with a dip switch)
Home position adjustment Home position as arbitrary position Protect, copy, pulse output, and communication
Special functions Protect RS-232C FC designated protocol
Communication ―
Timing function None Present Present
Accessories Metal fittings for installation

E-4
FC-81F-C
Panel Layout and Description
[Front panel] Display status
Setup status
Angle/Speed of revolution (indicates what is displayed)

Operating
Output status keys

Start input
External home
position

Normal

Programmable Cam
Mode Dip switch

[Rear Panel]

/320 161F-C/321F-C
FC-80-C/160 FC-81F-C
Encoder connector Terminal (cover attached)
FC-21

Wiring
DC+ DC− HOME I.C 1 3 5 7
ST PRO 0 2 4 6 O.C

Fuse

Output common
Power source for
cam switch Load power
Load

(less than 35V)


Start input

DC12/24V
power source
0 1 2 3 4 5 6 7

Output
External home
position input

Protection input
(connected for protection)
1. The external starting point input is connected for DC output with no chattering.
2. Output common (0.C), input common (1.C), and power source-(DC-) terminals are short-circuited internally.

E-5
FC-161F-C/FC-321F-C
Panel Layout and Description
[Front panel]
Display status
(Indicates what is displayed)

Angle/speed of revolution Setup status

Bank/FUN

Operating
keys

Start input
External home
position FC-161F-C
Normal ※FC-321F-C has 32-point
output display.
Programmable Cam

Mode Dip switch

[Rear Panel]
/320 161F-C/321F-C
FC-80-C/160 FC-81F-C
FC-21

Encoder connector
Output connector Transmission connector

Terminal block (with cover attached)

E-6
FC-161F-C/FC-321F-C

Wiring
DC+ DC− ST B0 B1 B2 B3 HOME PRO I.C

Input common
Power source for Protection input
cam switch (connected for protection)

DC12/24V
Start input

power source
0 1 2 3
Bank input

External home position

1. Bank input 3 is for FC-321F-C only.


2. The external starting point input is connected for DC output with no chattering.
3. Output common (0.C), input common (1.C), and power source-(DC-) terminals are short-circuited internally.

Connector Pin-out

Programmable Cam
FC-161F-C 4 5 6 7 12 13 14 15 20 21 22 23 28 29 30 31 FC-321F-C
Working range 0 1 2 3 O.C 8 9 10 11 O.C 16 17 18 19 O.C 24 25 26 27 O.C Working range
Fuse
Load
power
(less than 35 V)
Load

/320 161F-C/321F-C
FC-81F-C
0 7 8 15 16 23 24 31

Output Output Output Output


※Switching cam switch output/RUN output is possible only for 31.
Only pin-31 can be selected for either CAM output or RUN output.

FC-80-C/160
Connector for Connection (optional)
Acceptable for use in rose-wire types and terminal unit
types to effectively reduce wiring.
FC-21

Cam switch Terminal unit

U- JT Cable connecting the cam switch


TF-32D and terminal unit TF-32D

FC-161F-C U-30JH (3-m cable)


FC-321F-C LC-013 (1-m cable)
Fujitsu Ltd.
(40 P connector) Connector:FCN-361J040-AU
LC-010 Cover :FCN-360C040-J1

E-7
FC-81F-C/FC-161F-C/FC-321F-C

Initial Settings

Initial settings
Switch 1: Select the direction of rotation.
CW: Angle increase when encoder shaft is rotated in *Determine CW or CCW
CW direction.  by facing the encoder shaft.
Power CCW: Angle increase when encoder shaft is rotated in
OFF    CCW direction.

Switch 2: Select encoder resolution.


Setting dip switches 360: When using resolution of 360/revolution for the encoder
720: When using resolution of 720/revolution for the encoder

Switch 3: Select when using RUN output.


CCW 720 RUN Cam: When using all output as cam output
ON RUN: When using specified output as RUN output*
※Possible output for RUN output
OFF FC-81F-C: Output 7
CW 360 cam FC-161F-C: Output 15
Setting for FC-321F-C: Output 31
shipment RUN output is ON during normal operation when in
from factory
Run/Adjustment mode; when an error occurs, it goes
Power
OFF.
ON

Clear all output ●Clear all output settings in setup or teaching mode.
settings
CLR ON ENT
OFF

Clear home position ●Clear home position adjustment in


Programmable Cam

adjustment  teaching mode. FC-161F-C: Banks 0-7


FC-321F-C: Banks 0-9
CLR HOME ENT

Initial settings Note) Each bank must be cleared.


complete

●Setups for output and setups, changes and clearance


Setting
 for teaching mode can be done.
/320 161F-C/321F-C

NG
FC-81F-C

Verify that output area settings/home position adjustment values are correct.
OK
●Adjustment mode
Adjustment  Performs fine adjustment of output area settings in trial
 operation (When not needed, Run in Run mode).
NG
FC-80-C/160

Verity that output is appropriate.


OK
●Run mode
Run  Runs the device.
FC-21

E-8
FC-81F-C/FC-161F-C/FC-321F-C

List of Operations
Operating mode

Adjustment
Teaching

Run
Setting
Function Operating procedures

MODE key selects the Mode. Selection is in sequence from the current mode
1 Selecting operating Setting Teaching Adjustment Run ● ● ● ●
mode.
ENT  key enters into the selected mode.

2 Selecting display SELECT key alternates the angle and rotational speed in the display. × × ● ●

3 Selecting bank number BANK (*)The bank number. ● ● × ×


Note

Select the output number with the push of the    →
4 Selecting output number OUT key or the   
OUT key.
● ● ● ●
(*)The lamp position for output display changes with each push of the key.

Read-out of output area After specifying the bank number(※) and output number, the READ↑ key
5 ● ● ● ●
settings (※)or READ↓ key is pushed. Alternates ON and OFF angle.

Clear 1 output area Clear an output area setting that has been read-out with operation of the CLR ENT keys
6 ● ● × ×
settings when output area to be erased has been read-out.

Clear all output area After selecting the bank number(※)and output number, clear output area settings with
7 ● ● × ×
settings → ←
operation of the CLR OUT   (or OUT
  (※)) ENT keys.

Programmable Cam
Clear all output area After selecting the bank number(※)
, clear settings with operation of the CLR BANK
8 settings within the ● ● × ×
specified bank ENT keys. However, home position adjustment settings are not cleared.
Note

Clear all output area Clears settings with operation of the  CLR ON
   OFF ENT keys. However, home position
9 settings ● ● × ×
adjustment settings are not cleared.

/320 161F-C/321F-C
Select the bank number* and output number. After displaying the angle to set with the
10 Writing output area

FC-81F-C
● × × ×
settings ON
  +   or  −  keys, written with the    key
OFF (ON angle and OFF angle are set in sequence).

Select the bank number(※) and output number. After turning the encoder, the position to
Wrting output area
ON
11 Settings set is halted and written with the     key × ● × ×

FC-80-C/160
OFF
(teaching) (ON angle and OFF angle are set in sequence).

Set the bank number(※) and stop rotating the encoder at the machinery starting point.
Setting of home
12 The home position angle is selected with the HOME key. × ● × ×
position adjustment
The home position becomes the written zero angle with ON
the     key.
FC-21

OFF

Clear home position Set the bank number(※)


. Home position adjustment is erased with operation of the
13 × ● × ×
adjustment
CLR  HOME  ENT keys and the encoder output angle is displayed as-is.

Read-out values for the ON angle or OFF angle to set. Push the  +  key or  −  key
Change output area
14 settings and values to change will be displayed. ● × × ×
ON
Then, press the    key
OFF to write values that changed.

Fine adjustment of the Read-out values for the ON angle or OFF angle to set. The angle is increased via the
output area settings
15 during operation   +  key and decreased via the   −  key. × × ●×
(only effective when
Start input is ON)) Changes are complete (fine adjustment) and output operations change at the same time.

Note) Corresponds only to FC-161F-C/FC-321F-C.



An(※)means that the FC-81F-C does not have BANK ,     
OUT , or  READ↑ keys.
For setting operation of special functions, refer to the Operations Manual.

E-9
FC-81F-C/FC-161F-C/FC-321F-C

Error Codes
Error code Details Explanation Cause/Corrective Action
●Dipswitch settings are incorrect.
Rotary encoder Rotary encoder resolution and cam switch resolution
E18 ●Verifyrotary endocer resolution.
connection error specifiecations do not match.
●Rotary enocder malfunction.

E19 Output of a rotary encoder that is not present is detected. ●Rotary enocder malfunction (not connected).
Rotary encoder ●Cut or short of the connection cable for the rotary encoder.
E20 code error Rotary encoder code not continous. ●Affected by external noise.

Contents of setting values (output, home position ●Affected by excessive noise.


E21 Memory change error
adjustment, or timing) have changed ●All clear and then re-input all settings.
Programmable cam cannot repsond to the rotary ●Verfity rotational speed for the rotary encoder.
E30 Rotational speed error ●Verfity
encoder rotational speed. rotary encoder resolution.
●Erase overlapping setting values or reset after
Output area settings overlap.
Setting  changing.
Setting value error
LED blinking
Ouput area settings are protected. ●Verify protection input.

Bank Display ●Verify bank input.


Bank error Bank input for a bank thta is not present is specified.
A ∼F

Timing function for the FC-161F-C/FC-321F-C


Programmable Cam

●This function adnavces via setting of the output ON/OFF angle in proportion with the encoder's rotational speed. Effective for correction of
machinery system delays.

(1)Settings/Operation
① Enter setting mode.

② Push the FUN key and specify 0.

③ Set the output number with OUT or OUT keys.


/320 161F-C/321F-C
FC-81F-C

ON
④ Set the timing rotational speed with  +  or  −  keys. Write with the    key.
OFF

ON
⑤ Set the timing rotational angle with  +  or  −  keys. Write with the    key.
OFF

⑥ Push the BANK key and return to setting mode.


FC-80-C/160

(2)Timing operation
Timing angle Notes:
θr= × r (rotational speed that the endoder is actiually turning at)
Timing rotational speed ●OFF angle should set to at 2 degrees or more. With a short
Cam output
delay, any change in revolution speed is reflected to the
(Timing at which output is advancing)

B
FC-21

θr B OFF angle for the selected output.


Timing operation angle

ON
●Revolution speed is reset to zero if angle is not incremented
for 170 ms.
●As shown in the following table, response speed and time
A
A OFF depend on how many dynamic angle are set. Up to eight
ON
angles can be set for the outputs 0 to 7.
0 r θr θr
Rotational speed

Timing setting points 1 2 3 4 5 6 7 8


Output response time (ouptuptu 0-) μs 305 315 330 350 370 385 415 420
Responserotational 360 resolution 1 0 0 0 900 800 700 600 500 500 400
speed (revoltons/min.) 720 resoltion 500 450 400 350 300 250 250 200

E-10
FC-81F-C/FC-161F-C/FC-321F-C

External Dimensions (in mm)

95 9.5 51

FC-81F-C ANGLE r/min PRG MON

SELECT

WRITE
80

ON OFF
HOME FC-81F-C-1

0 1 2 3 4 5 6 7

START PRG OUT READ


TCH
HOME TEST MODE CLR ENT
GOOD RUN

140 9.5 51

Programmable Cam
FC-161F-C
FC-321F-C
BANK FUN ANGLE r/min PRG MON

ON
SELECT
OFF
WRITE
90

BANK FUN HOME FC-321F-C-1

/320 161F-C/321F-C
READ

FC-81F-C
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 OUT OUT READ


START PRG TEST
HOME MODE CLR ENT
GOOD TCH RUN

Boring Dimensions for Installation FC-80-C/160


FC-21

FC-81F-C FC-161F-C / FC-321F-C


Panel thickness 90±0.5 135±0.5

0.5-4 mm
75±0.5

85±0.5

2.5
R0∼
2.5
R0∼

E-11
FC-80-C/FC-160/FC-320
With their convenience and efficiency, the cam-
operated switches improve your productivity. The
small body allows easy installation and movement.

Surface sheet in Japanese:


FC-80-C
FC-160
FC-320
Surface sheet in English:
FC-80-C-1
FC-160-1
FC-320-1

Merits
●Easy operation ●Quick response
With simple key operation, you can set or check values on the The switches respond to cam revolving as fast as 1,600 rpm, or
digital display. 800 rpm at 720 resolution.
Programmable Cam

●RUN time change ●Protection against errors


You can reposition the switches during runtime. You can prevent potential errors by short circuiting the protect
terminal.
●Easy setup
All you need for setup is simply choose programmed procedures. ●Revolution status at a glance
Ten program banks are included in the FC-320, and eight banks in The circular window displays both the direction and the position
/320 161F-C/321F-C

the FC-160 models. of the revolving axis.


FC-81F-C

●Dynamic CAM ●Home position calibration


The FC-320 models provides eight dynamic CAM switch The position and angle of the encoder is automatically adjusted.
FC-80-C/160

automatically tune the ON/OFF timing of the CAM switch.


Switching timing is automatically controlled according to the ●Applicable to DIN rails
actuator response and the cam rotation. The switch can be installed on DIN standard rails, or fixed with
screws.
●Multi-purpose communication port
FC-21

Except FC-80-C, all models integrate a port for connection to a ●Battery-less


PC. Programs and data can be transferred to and from your The counter uses an EEPROM to eliminate the use of cells.
desktop. On the FC-160 and 320 models, programs can be copied
between two corresponding banks.

●The absolute encoders for sensor


Three models of rotary encoders are available: TRD-NA, TRD-
KL and TRD-K. The TRD-NA encoder is 35 mm thick, with
external diameter of 50 mm. Also available are TRD-K reinforced
series and TRD-KL adaptive series.

●Precise positioning
The absolute encoders provides higher precision and linearity than
resolvers. They are fully compatible to one another to allow easy
replacement.

E-12
FC-80-C/160/320

General Specifications
    Item FC-80-C FC-160 FC-320
Source voltage DC10.8∼26.4V AC85∼264V
Power consumption 5W 20VA
Ambient temperature −10∼+50℃
Storage temperature −20∼+70℃ (with no freezing)
Ambient/Storage humidity 35∼85%RH(with no dewing)
Withstand voltage N/A because no insulation is provided AC 2kV for one minute for each of AC input, I/O and frame interconnections
Insulation resistance between DC power and I/O terminals. 20MΩ for one minute for each of AC input, I/O and frame interconnections
Vibration resistance Durable for along three axes at 10 to 55 Hz with 0.5 mm amplitued No error along three axes at 10 to 55 Hz with 0.35 mm amplitude
Shock resistance Durable along three axes at 490 m/s2(50 G) No error along three axes at 98 m/s2 (10 G)
1.0kV between power terminals 1.5kV between power terminals
Noise resistance*
(square wave pulse with 1μs width and 1 ns rise time)
Dimensions 105×100×66(mm) 140×100×66(mm) 195×100×66(mm)
Weight 300g 450g 550g
Accessary None

Mechanical and Performance Specifications


Item FC-80-C FC-160 FC-320

Programmable Cam
Number of input points Start: 1 Protect: 1 Start: 1 Bank entry: 3 Protect: 1 Start: 1 Bank entry: 4 Protect: 1

Resolution 360 or 720 per revolution(selected by dip switch)


Encoder voltage H: 7.5V(OFF)/L: 0∼2V(ON)(open collector withstand voltage: Min. 14V)
Control voltage H: 7.5∼30V(OFF)/L: 0∼2V(ON)
Output type 8 16 32 (8 points for Dynamic CAM)
Withstand voltage NPN open collector Withstand voltage: Max. 35V/Current: Max. 0.1A/Residual voltage: Max. 1.5V

/320 161F-C/321F-C
Total number of Total 16 CAMS for 8 outputs Total 32 CAMS for 16 outputs Total 64 CAMS for 32 outputs

FC-81F-C
output areas (If could be 16 CAMS for 1 output) (32 times per Bank) (64 times per Bank)
Number of revolutions 300 at 360 resolution 1600 at 360 resolution 1600 at 360 resolution (without Dyna-
for responser/min(rpm) 150 at 720 resolution 800 at 720 resolution 800 at 720 resolution mic CAM)
Output reseponse Max. 550μs Max. 250μs Max. 250μs (without Dynamic CAM)

FC-80-C/160
Response to power input Max. 2s
Number of banks 1 8 (banks 0 to 7) 10 (banks 0 to 9)
Display Angle or rotation speed (selected by dip switch)
Direction CW/CCW (selected by dip switch)
RUN output ― Normally ON(selected by dip switch): TEST mode※
FC-21

Home position calibration Any position can be selected as home.


Memory EEPROM
Program storage ― SRAM memory card
Dynamic CAM ― Outputs 0 to 7 only
Any value allowable for currently selected
Output pulse frequency ― resolution(one value for each output)

Use dip swich to select CAM or RUN as current output.

Memory card for FC-320, M-01F has discontinued its production.

E-13
FC-80-C
Front Panel Description and External Dimensions (Unit: mm)

Output indicators: Indicate the currently selected output. Press the OUTPUT key to select the output number.

Angle or revolution speed (RPM) display


Mode indicators: Angle, RPM, ON/OFF, Setup, Start, and Teaching
Revolution direction and angle: Angle is displayed in units of 30 degrees.
105 66

2.3
Out form center

100
DIN rail center
Keys

Dip switches Switch 1:Selects revolution direction. Switch 2: Select encoder resolution.
Terminal block Switch 3:Select angle or revolution speed.
Programmable Cam

Mode switch: PRG, TEST or RUN

Rotary encoder connector


Home position calibrator Bore dimensions for installation
(105)
94 Two M4 screws

Wiring Diagram
/320 161F-C/321F-C

DC+ DC– PRO 0 2 4 6

(100)
FC-81F-C

ST I.C 1 3 5 7 O.C 89
FC-80-C/160

Cam switch power Source

Common Output

Load power source


(Max. DC35V)
DC10.8∼26.4V

Load
FC-21

Start input

0 1 2 3 4 5 6 7

Output
Protect input (activated when short circuited)

List of Error Codes


Error code Description/Possible cause(s) Cause/Corrective Acfion
Rotary encoder connector error ● Change the resolution of the rotary encoder or the cam switch.
E18 ● Resolution is different between the rotary encoder and ● Check Dip switch 2 to confirm the encoder resolution.
  the cam switch. ● Repair the rotary encoder.
Rotary encoder error or code discontinuity ● Eliminate the sources of noise.
● The rotary encoder has counted a false signal. ● Check Dip switch 2 to confirm the encoder resolution.
E19
● The cam switch does not respond to the rotary encoder. ● Repair or re-connect the rotary encoder.
● The rotary encoder has generated non-sequential codes. ● Repair or re-connect the rotary encoder cables.
Memory error ● Eliminate the sources of noise.
E21 ● Home position or other setting has been changes. ● Clear all settings then re-enter the correct values.
Value of LED The value is out of allowable range ● Re-enter the correct value.
blinking ● Same output has been selected more than once. ● Cancel the selection then re-select the output number.

E-14
FC-80-C

Initializing Start
Dip switches
Switch 1: Revolution direction(viewed from the rotary encoder)
Set the switch to ON to select CCW, or OFF to select CW.
Turn the power off.
Switch 2: Encoder resolution.
Set the switch to ON to select 720, or OFF to select 360.
Set the dip switches.
Switch 3: Angle or revolution speed(RPM)
Set the switch to ON to select RPM, or OFF to select angle.

Turn the power on. The settings are written to the memory. Dip swich
ON

OFF
Press the following keys to clear all settings. 1 2 3
Select PRG mode
ON
or Teach mode. CLEAR OFF

Press the following keys to cancel the currently selected home position..
Select Teach mode HOME Position ON
CLEAR

End

Operating procedures
Available modes

PROG
Teach
TEST
Step Procedure

RUN

Programmable Cam
PRG
1 Selecting mode Using the Mode switch, select PRG, TEST or RUN. TEST ● ● ● ●
RUN

2 Selecting PRG or Teach Press the MODE key to switch the mode between PRG and Teach. ● ● × ×

3 Selecting output Press the OUTPUT key to select the output number. Pressing the key once moves to the next output. ● ● ● ●

4 Reading angle Select the output number then press the READ key. ON angle and OFF angle are read out alternately. ● ● ● ●

/320 161F-C/321F-C
FC-81F-C
Clearing individual Select the output number for the settings to be cleard, and press the CLEAR key then the
5 ON ● ● × ×
settings     key.

Clearing all output ON


● ● × ×
6 Press the following keys in the order listed: CLEAR OFF
selections

FC-80-C/160
Clearing all settings ON This does not delete the ● ● × ×
7 Press the following keys in the order listed: CLEAR OFF
(except the home position) home positioning set up.
Select the output number for settings to be written. Using the +  − keys, select the ON angle and the
ON
OFF angle. Press the     key to write the ON angle, then press the OFF key to write the OFF angle.
8 Writing settings ● × × ×
Writing all possible ON angles
FC-21

ON
Select the "0" (or "0.0") degree, and press the      key then the OFF key.

Teaching the current Select the output number for settings to be written. Start the rotary encoder then stop it at the desired position.
9 ON ● × × ×
settings Press the      key to write the ON angle, then press the OFF key to write the OFF angle.

10 Setting the home position Stop the rorary encoder at the desired home position, then press the ○ key. × ● × ×

ON
Clearing the home Press the CLEAR ○ key then the     key to clear the home position.
11 × ● × ×
position Current angle displayed.

Select the ON angle or OFF angle to be changed. Using the + − keys, change the angle
ON
12 Changing settings selected. Press the     key to write the new ON angle, or press the OFF  key to write ● × × ×

the new OFF angle. The ON/OFF indicator turns on then turns off.

Select the ON angle or OFF angle to be adjusted. Using the + − keys, adjust the angle
Adjusting settings
13 during operation selected. The new value becomes effective upon adjustment, and is reflected to the current × × ● ×
operation. The ON/OFF indicator flashes during adjustment.

E-15
FC-160
Front Panel Description and External Dimensions (in mm)

Bank indicators: Indicates the currently selected bank. Press the BANK key to select the bank number.

Angle or revolution speed (RPM) display


Status indicators: Angle, RPM, ON/OFF, Setup, Start, and Normal
Revolution direction and angle: 66
140 Angle is displayed in units of 30 degrees.
8

2.3
Communication
port connector
(RS232C) Out form center
100 DIN
Keys rail center

Terminal block

Dip switches: Switch 1: Selects revolution direction. Switch 2: Select encoder resolution.
Switch 3: Select angle or revolution speed. Switch 4: Select RUN or CAM.
Programmable Cam

Mode indicators: PRG and Teach

Mode selector: PRG, TEST or RUN


Bore dimensions for installation
Rotary encoder connector (140) Four M4 screws
129
Output indicators: Indicate the output number and its ON/OFF status selected
by depressing OUTPUT key.
/320 161F-C/321F-C

(100)
89
FC-80-C/160 FC-81F-C

Wiring Diagram

AC G B0 B2 I.C 1 3 5 7 8 10 12 14 O.C
FC-21

AC ST B1 PRO 0 2 4 6 O.C 9 11 13 15 RUN


Cam switch power source

Common output
Load power source

(Max. DC35V)
START
AC85∼264V

Load

0 1 2 0 1 2 3 4 5 6 7 8 9 1011 1213 1415 (RUN)


Common

BANK Outputs Outputs


input

PROTECT (activated when short circuited)

E-16
FC-320
Front Panel Description and External Dimensions (in mm)
Bank indicators: Indicates the bank number selected by bank input/The bank number selected by BANK key/Record, Replay or
verify selected by + key.
Angle or revolution speed(RPM) display: Indication of angle or revolution speed/dynamic CAM angle or
revolution speed/Record, Replay or Verify
Status indicators: Angle, RPM, ON/OFF, Setup, Start, and Normal
Angle is displayed in units of 30 degrees.
Revolution direction and angle: This window also displays the SAVE,
COPY or COMPARE status.
195 66
8

Communication

2.3
port connector
(RS232C) Center

100
DIN
Keys rail center

Terminal
block

Dip switches:

Programmable Cam
Switch 1: Selects revolution direction. Switch 2: Select encoder resolution.
Switch 3: Selects angle or revolution speed. Switch 4: Select RUN or CAM.

Mode indicators: PRG/Teach/Dynamic CAM/Save

Bore dimensions for installation


Rotary encoder Mode selector: PRG, TEST or RUN (195)
connector 184

Output indicators: Indicate the currently selected output. Press the OUTPUT key to select

/320 161F-C/321F-C
the output number.

FC-81F-C
Four M4 screws

(100)
89

FC-80-C/160
Wiring Diagram FC-21

AC G B0 B2 PRO 0 2 4 6 O.C 9 11 13 15 16 18 20 22 O.C 25 27 29 31 RUN


AC ST B1 B3 I.C 1 3 5 7 8 10 12 14 O.C 17 19 21 23 24 26 28 30 O.C
Cam switch power source

Common output
Common output

Common output

Common output

Load power
∼ source
(Max. DC35V)
START
AC85∼264V

Load

0 1 2 3 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 (RUN)
Common

BANK Output Output Outputs Outputs


input

PROTECT (activated when short circuited)

E-17
FC-160/FC-320

Initializing Start Switch 1: Revolution direction(viewed from the rotary encoder)


Set the switch to ON to select CCW, or OFF to select CW.

Switch 2: Encoder resolution.


Turn the power off. Set the switch to ON to select 720, or OFF to select 360.
Switch 3: Angle or revolution speed(RPM)
Set the switch to ON to select RPM, or OFF to select angle.
Set the dip switches.
Switch 4: RUN or CAM
Set the switch to ON to select RUN, or OFF to select CAM.

Turn the power on. The settings are written to the memory. Dip switch
ON

OFF
Press the following keys to clear all settings. 1 2 3 4
Select PRG mode or
ON
Teach mode. CLEAR OFF

Press the following keys to cancel the home position for the currently
Select Teach mode. selected bank. (FC-160: Banks 0 to 7 FC-320: Banks 0 to 9)
Home position ON
CLEAR

End

Operating procedures
Available modes

TEACH
ANGLE
SAVE
TEST
Step Procedure
Programmable Cam

PRG

RUN
Model
MODE FC-160 − −
1 Selecting mode Using the Mode switch, select MODE, TEST or RUN TEST ● ● ● ●
RUN FC-320 ● ●
(FC-320 ONLY)) (FC-320 ONLY) FC-160 − −
2 Selecting PRG or Teach Press the MODE key to switch the PRG TEACH D.CAM SAVE ● ● × ×
mode in the following sequence: FC-320 ● ●
FC-160 − −
3 Selecting bank Press the BANK key to select the bank number. ● ● × ×
FC-320 ● ×
/320 161F-C/321F-C
FC-81F-C

Press the OUTPUT key to select the output number. Pressing the key once moves FC-160 − −
4 Reading angle ● ● ● ●
to the next output. FC-320 ● ×

Select the output number then press the READ key. ON angle and frequency FC-160 − −
Clearing individual are read out alternately.
5 ● ● ● ●
FC-80-C/160

settings Select the output number for the settings to be cleared, and press the CLEAR key
ON FC-320 × ×
then the    key.

Press the following keys in the order listed: FC-160 − −


Clearing all output ● ● × ×
6 ON
selections CLEAR FC-320 × ×
FC-21

Clearing individual Select the bank number and output number, then ON FC-160 − −
7 CLEAR OUTPUT ● ● × ×
bank setting preess the following keys in the order listed: FC-320 × ×
Clearing all settings for ON FC-160 − −
8 Preess the following keys in the order listed: CLEAR OUTPUT ● ● × ×
selected bank FC-320 × ×
Clearing all settings ON FC-160 − −
9 Preess the following keys in the order listed: CLEAR OUTPUT ● ● × ×
(except the home position) FC-320 × ×
Select the bank number and the output number. Using the + − keys, select the
ON
ON angle and the OFF angle. Press the    key to write the ON angle,
FC-160 − −
then press the OFF key to write the OFF angle.

Writing ON angle and pulse frequency


10 Writing settings ● × × ×
Select the bank number and the output number. Using the + − keys, select the
ON
ON angle. Press the    key to write the angle.
FC-320 × ×
ON
Using the + − keys, select the pulse frequency. Press the    key to

write the frequency.

E-18
FC-160/FC-320

Available modes

TEACH
ANGLE
SAVE
TEST
Step Procedure

PRG

RUN
Model

Select the bank number and input number. Start the rotary encoder then stop it at FC-160 − −
Teaching the current
ON
11 settings the desired position. Press the    key to write the ON angle, then × ● × ×
press the OFF key to write the OFF angle. FC-320 × ×

Stop the rotary encoder at the desired home position, then press the FC-160 − −
12 Setting the home position HOME
× ● × ×
    key. FC-320 × ×
Select the bank number then preess the following keys in the order listed: FC-160 − −
Clearing the home
13 ON × ● × ×
position CLEAR HOME
            Current angle is displayed. FC-320 × ×
Select the ON angle or OFF angle to be changed. Using the     key,
+  − chang
ON FC-160 − −
the angle selected. Press the    key to write the new ON angle, or press
14 Changing settings ● × × ×
the OFF key to write the new OFF angle. The ON/OFF indicator turns on then turns
FC-320 × ×
off.

Adjusting settings Select ON angle OFF angle to be adjusted. Using     keys,


+  − adjust the angle selected. FC-160 − −
15 × × ● ×
during operation The new value becomes effective upon adjustment, and is reflected the current operation. × ×
FC-320
Select the bank number and the output number then press the READ key. Dynamic
16 Reading dynamic CAM FC-320 × × ● × × ×
CAM angle and revolution speed are read out altemately.

Programmable Cam
+  −
Select the bank number and the output number. Using the     keys, select the
17 Writing dynamic CAM ON
FC-320 × × ● × × ×
angle control angle and revolution speed. Press the    key to write the settings.

Select the bank number and the output number, and prees the CLEAR key then the
Clearing dynamic CAM ON
18     key. Both the dynamic CAM angle and the revolution speed are set to zero. FC-320 × × ● × × ×
angle
Dynamic CAM angle is cleared also by the CLEAR procedures 6,8 and 9.

/320 161F-C/321F-C
FC-81F-C
19

20

FC-80-C/160
21

Transferring data Using the communication port, connect two FC-160(or FC-320) units.
between memories
FC-21

Select the COPY c0py is diplayed on the circular window.


Press the CLEAR key then the MODE key."    "
mode. ON
Press the    key again to proceed. FC-160

Using the     key,
+  − select one of the following operations.
Operation Bank indicator Circular window

Select SAVE, LOAD


f fc-e SAVE: Saving data from the current unit.

or COPY. l e-fc LOAD: Restoring data to the current unit.


22 COPY: Copying data between two banks of the ● × × × × ×
-fc- current unit.
ON
Press the    key again to proceed.
ON
Press the BANK key to display all banks. Using the    key, select the
source and the destination. "1" or "2" flashes on the circular window to indicate source FC-320
Select source and or destination as follows: SAVE LOAD COPY
destination banks. Angle/revolution speed display ① Source Destination Source
①−② ② Destination Source Destination
ON
Press the    key again to execute the selected operation.

E-19
FC-160/FC-320

List of Error Codes


Error code Description Description/Possible cause(s) Cause/Corrective Action Note
● Change the resolution of the rotary encoder or the cam
Rotary encoder Resolution is different between the   switch.
E18
connector error rotary encoder and the cam switch ● Verify the dip switch 2 to confirm the encoder resolution.
● Repair the rotary encoder.
E19 The rotary encoder has counted a false signal. ● Repair or re-connect the rotary encoder.
Rotary encode error ● Repair or re-connect the rotary encoder cables.
Code discontinuity The rotary encoder has generated nonsequential ● Eliminate source of noise
E20
codes.
Home position or other setting has been ● Eliminate sources of noise.
E21 Memory error ● Clear all settings then re-enter the correct values.
changed.

The programmable cam does not respond


E30 Revolution speed error
to the rotary encoder.

E70 ● Verify the mode and data for errors.


Communication failed. ● Verify that the PROTECT terminal is
E90∼99
  connected.
Communication error
● Check the communication cable, and repair
E80∼89 COPY operation failed.   if necessary.
● Eliminate sources of noise.
Value of Value error The flashing values is out of allowable range ● Re-enter the correct value.
LED flashing
One of the Same bank has been selected more than once. ● Cancel the selection then re-select the bank
bank codes Bank error
A to flashing Selected bank does not exist.   number.
Programmable Cam

Dynamic CAM Angle and Speed (specific to FC-320)


(1) Setting the dynamic CAM angle
Follow the procedure "17. Writing dynamic CAM angle" described earlier.
Dynamic CAM angle determines the ON and OFF angles in relation to current revolution speed.
Dynamic CAM speed is used for setting the dynamic CAM angle, and specified in 10 rpm.
(2) Relation of Dynamic Angle and Speed
/320 161F-C/321F-C

Dynamic speed Notes:


FC-81F-C

θr =       × r (where r is the current revolution speed.)


Dynamic angle ●OFF angle should be set to at least 2 degrees. With a short delay,
CAM signal
any change in revolution speed is reflected to the angle for the
B selected output.
θr B point OFF
Angle incremented

ON ●Revolution speed is reset to zero if angle is not incremented for


FC-80-C/160

170 ms.
●As shown in the following table, response speed and time

A A point OFF depend on how many dynamic angles are set. Up to eight angles
ON can be set for the outputs 0 to 7.
O r θr θr
Revolution speed
FC-21

Number of settings 1 2 3 4 5 6 7 8
Response time (μs) 345 365 380 400 420 435 465 470
Response speed At 360 resolution 1 1 0 0 1000 900 800 700 600 500 500
(rpm) At 720 resolution 5 5 0 500 450 400 350 300 250 250

Recommended application
Blank Roller
paper
1. An FC series programmable cam is used to control the OFF angle
of the rotary press. When mounting the master, use the clamp as the
Master
reference position.
2. A rotary encoder is used to control color densities and to position
the the drive shaft of the rotary press. It can be positioned to the
Printed paper precision of ±1.00 mm in horizontal direction.

・The system helps minimize adjustments.


Absolute rotary encoder Motor
・Other applications include control and management of conveyors,
multilayered parking lots, and manufacturing processes.

E-20
TRD KOYO Rotary Encoders

These absolute encoders are ideal for angle control. Combined with the FC series programmable cam, they
improve precision and efficiency.
TRD-NA360NWF 15 5 35

10 2.5
120°
TRD-NA720NWF
Small encoders

0.5
with diameter of

Φ50
Φ45
Φ30
Φ8
50 mm
40

17 mm or less
D
PC

Surface of installation
Oil seal Three M3 screw holes
(5 mm log)

TRD-K360-YC2 33
10 3 3
66 13MAX.

TRD-K720-YC2 90° Four M4 screw holes


5
15 1
(Diameter: 0.7, Length: 12)
Robust
encoders
1
Φ78
Φ72
Φ56
Φ42
Φ10

20
6
D6
PC

Servo mounting is available.

Programmable Cam
TRD-KL360-YC2 33 66
10 33
TRD-KL720-YC2 15° Four M4 screw holes 5
15 1

(21)
(Diameter: 0.7, Length: 6)
Adaptive to all
°

environments PC
90

D6
6
1
Φ78
Φ72
Φ56
Φ42
Φ10

(7)

/320 161F-C/321F-C
FC-81F-C
Servo mounting is available. (27.7)

Terminal connection

FC-80-C/160
FC-80-C/FC-160/FC-320 FC-81F-C (Rear face) FC-161F-C/FC-321F-C (Rear face)
Unlock

FC-21

Lock
Ring

Pin Assignment of Connector Pin Bit location and value Pin Bit location and value
No. 720 360 No. 720 360
13
1 0V ← 8 bit6 (25) bit5 (24)
9 10 11 12
2 12V ← 9 bit7 (26) bit6 (25)
5 6 7 8
1 2 3 4 3 bit1 (20) Not connected 10 bit8 (27) bit7 (26)
GND
4 bit2 (21) bit1 (20) 11 bit9 (28) bit8 (27)
Viewed from the cam switch 5 bit3 (22) bit2 (21) 12 bit10(29) bit9 (28)
6 bit4 (23) bit3 (22) 13 Not connected ←
7 bit5 (24) bit4 (23)
Note: 720 and 360 indicate resolution.

E-21
FC-80-C/160/320

Connectors for the rotary encoders


Absolute rotary encoder Connector and cable
Model Appearance Appearance Cable length Model Note

Models with
standard connectors With connectors for
TRD-NA□NWF FC connection − − − −
TRD-NA□NWF5M

2m/5m

3m F-30GF

Models with relays


and connectors 360/720
5m F-50GF
TRD-NA□NWE resolution
     (NPN)

2m 10m F-100GF

2m F-20ANC2 360
Models with built-in 5m F-50ANC2 resolution
connectors
TRD-K□-YC2 2m F-20BNC2 720
5m F-50BNC2 resolution
Programmable Cam

2m F-20ANC2A 360
Models with built-in 5m F-50ANC2A resolution
connectors
TRD-KL□-YC2 2m F-20BNC2A 720
5m F-50BNC2A resolution
/320 161F-C/321F-C
FC-81F-C

名  称 形  番 価 格 名  称 形  番 価 格


TRD-NA360NWF ¥30,000 エンコーダ(TRD-NA)用フランジ NF-55 ¥800
TRD-NA720NWF ¥30,000 F-30GF ¥4,450
TRD-NAと F-50GF ¥5,350
TRD-NA360NWF5M ¥31,200
FC-80-C/160

小型 FC間用
TRD-NA720NWF5M ¥31,200 F-100GF ¥7,650
ロータリエンコーダ TRD-NA360NWE ¥30,000 F-20ANC2 ¥7,400
(アブソリュート形)
TRD-NA720NWE ¥30,000 F-50ANC2 ¥8,700
TRD-K360-YC2 ¥45,000 コネクタ付 F-20BNC2 ¥7,400
堅牢形 ケーブル
FC-21

TRD-K720-YC2 ¥50,000 TRD-K / F-50BNC2 ¥8,700


TRD-KLと
TRD-KL360-YC2 ¥50,000 FC間用 F-20ANC2A ¥8,700
全環境形
TRD-KL720-YC2 ¥55,000 F-50ANC2A ¥9,850
F-20BNC2A ¥8,700
F-50BNC2A ¥9,850

E-22
FC-21
Using an absolute encoder, these switches can turn
twenty four devices on and off at specified angles.

Merits

●Easy to operate programmer


Using the E-15PJ cable, the FC-20P programming unit allows
both local and remote operations.

●Up to ten banks for program storage

Bank 0 Bank 1 Bank 9


for program 0 for program 1 for program 9

Resolution Times of programmed switching


360 180/device

Programmable Cam
512 256/device
720 360/device
1024 512/device

● Angles can be controlled to a precision of one degree.


● Resolution can be set to 360, 512, 720 or 1,024.

/320 161F/321F-C
●Battery-less

FC-81F-C
The switches use an EEPROM to eliminate the use of cells.

●Dynamic programming
You can re-program procedures during runtime.

FC-80-C/160
●Tape storage
The FC-models support tapes for storage of programs.

●Home position calibration


FC-21

The position and angle of the encoder is automatically adjusted.

●Write-protected programs
You can protect your programs from writing, modification and
removal. 価格表
名称 型番 価格
●Teach option プログラマブルカムスイッチ FC-21 ¥51,000
During setup, you can customize your programs according to your プログラマブルカムスイッチ(輸出仕様) FC-21-1 ¥51,000
needs. プログラマ FC-20P ¥11,000
プログラマ用ケーブル(1.5m) E-15PJ
E-15 ¥2,400
●Self diagnosis
During operation, any errors are reported with displayed codes.

E-23
FC-21

Front Panel Layout and Description

Position display Output status display


●ON or OFF angle, home position, selected key or mode ●Cam numbers and status (PRG, TEST or RUN mode)
 (PRG, TEST or RUN mode) ●Output status after angle input (TEST or RUN mode)
●Angle after home position calibration(TEST or RUN mode)
●Revolution speed (TEST or RUN mode)

Use SHF key to switch cams between 1 to 16 and 17


Bank display to 24.
●Bank selected by BANK key(PRG or RUN
 mode)
●Bank selected by BANK SELECT signal(TEST
 or RUN mode)
●4th digit of position value

FC-20P Programmer
Programmable Cam
/320 161F/321F-C
FC-81F-C

ON/OFF : Lights when ON angle is displayed.


Decimal
point key
Flashes when OFF angle is displayed.
Ten keys
FC-80-C/160

RUN : Lights in TEST or RUN mode.

SHF : Flashes when SHF key is pressed.


Increments angle by one degree in TEST mode.
POWER : Lights when power is on.
+ key: Increments angle by one degree during output status
display in all modes.
CPU : Lights when an error occurred on CPU.
Decrements angle by one degree in TEST mode.
FC-21

− key: Decrements angle by one degree during output


status display in all modes.
key: Displays ON/OFF angle in PRG, TEST or RUN mode.
BNK key: Selects a bank in PRG or run mode.

key: Executes a program.


OUT key: Selects a cam in PRG, TEST or RUN mode.

C key: Clears a setting, error, cam selection, or previous


REF key: Reads angle in PRG, TEST or RUN mode. operation in PRG mode, or clears readout value in
TEST or RUN mode.

Reads home position in PRG, TEST or RUN mode. SAVE


TCH key: Select Teach option in PRG mode.
SHF + : Saves program in PRG mode.
LOAD
Selects a cam range, or selects a specific operation in
SHF key:
combination with another key. SHF − : Restores program in PRG mode. 

VERIFY
F key: Selects a function specific to FC-21.
SHF : Checks program with tape.

E-24
FC-21

Output status display


●Cam numbers and status
 (PRG, TEST or RUN mode)
●Output status after angle input(TEST or RUN mode)

START
BANK CAM
0V

Lights in RUN mode


Lights when an
error occurred on CPU
Lights when
power is on

Programmer connector

Programmable Cam
0V G
CAM AC power

CAM or RUN

/320 161F/321F-C
AM or BANK 4

FC-81F-C
Bank display Position or revolution speed display
●ON/OFF angle, home position or key status (PRG mode)
●Bank selected by BANK key
●Angle after home position calibration (TEST or RUN mode)
 (PRG mode)

FC-80-C/160
●Revolution speed (TEST or RUN mode)
●Bank selected by BANK SELECT signal
 (TEST or RUN mode)

FC-21

Dip switches
CW

FC-21 CCW

Switch number 1 2 3 4 5 6 7 8
Select Direction Resolution Resolution Number of CAM 24 Write protect Allowable range at 720 resolution Reserved
output points
ON CCW* 512・1024/revolution 720・1024/revolution 24 RUN Enable 0∼359.5 −
Position

OFF CW 360・720/revolution 360・512/revolution 16 CAM Diable 0∼719 −
*CW means the current value increases when the switch turns clockwise, viewed from the encoder axis and CCW means the current value increases
 when the switch turns counter clockwise, viewed from the encoder axis.

E-25
FC-21

General Specifications
Items Specification
FC-21 : AC90∼120V/180∼240V 50/60Hz
Source voltage
FC-21-1: AC93∼126V/195∼264V 50/60Hz
Power consumption 30VA
Ambient temperature 0∼+50℃
Storage temperature −20∼+70℃ (with no freezing)
Ambient/Storage humidity 35∼85%RH (with no dewing)
Withstand voltage AC 2kV 1min. Each of AC input, I/O and
Insulation resistance Min. 20MΩ DC500V frame interconnections
Durable for along three axes at 10 to 55 Hz with 0.5 mm amplitude
Vibration resistance
No error along three axes at 10 to 55 Hz with 0.35 mm amplitude
Shock resistance Durable along three axes at 98 m/s2 (10 G)
1kV between power terminals(square wave pulsa with 1μs width, 1 ns rise
Noise resistance
time, positive/negative polarity, source synchronization and 0 to 360゜phase)
Weight 2kg

●Storage tape interface


Item Specification
Programmable Cam

Baud rate 830


Modulation FSK "1" : 2kHz / "0" : 1kHz
Head/
End Mark 2kHz

File numbers 0 to 999 arbitrarily

Note: Use data recorder designed for personal computers.


Music tape recorder are not recommended.
/320 161F/321F-C
FC-80-C/160 FC-81F-C
FC-21

E-26
FC-21

Mechanical and Performance Specifications


Specification
Item
FC-21

Number of input RUN: 1


points BANK: 4
10-bit Gray binary codes
Encoder inut Use connector specific to the encoder.
Resolution 360, 512, 720 or 1,024 per revolution (selected by dip switch)
Number of output points 24 or 16 (selected by dip switch)
Photo-isolated transistor open collector
Output type Voltage: 30V 0.1A (outputs 1∼24)

RUN Normally ON in TEST or RUN mode


May be switched to CAM 24 by dip switch.

180 at 360 resolution


Times of ON/ 256 at 512 resolution
Max.
OFF switching 360 at 720 resolution
512 at 1,024 resolution
ON-OFF interval 3 2 1
resolution 360 3600rpm 2400rpm 1200rpm
Response
resolution 512 2520rpm 1680rpm 840rpm
revolution speed
resolution 720 1800rpm 1200rpm 600rpm
resolution 1024 1260rpm 840rpm 420rpm

Programmable Cam
Number of banks Resolution Number of outputs
10 16
360
7 24
7 16
512
Number of 4 24
banks/programs 5 16
720
3 24
3 16
1024

/320 161F/321F-C
2 24

FC-81F-C
Direction CW or CCW(viewed from encoder)(selected by dip switch)

FC-80-C/160
ON or OFF (selected by dip switch)
Write-protect Select ON to disable write, modification and removal.

0∼359 at 360 resolution


0∼511 at 512 resolution
Home position 0∼719 at 720 resolution
0∼1023 at 1024 resolution
FC-21

Program memory EEPROM


Programmer panel: Red LED for 16 outputs from 1 to
Output status
16 or 17 to 24
display
Main panel: Red LED for 24 outputs)
Programmer panel: Red LED for 1-digit numbers with height of 8 mm
Bank status display
Main panel: Red LED for 1-digit numbers with height of 8 mm

Programmer panel: Red LED for 3- or 4-digit numbers with


         height of 8 mm
Position display
Main panel:     Red LED for 4-digit numbers with
         height of 8 mm

E-27
FC-21

FC-21
I/O Circuits
BANK CAM outputs

START 1 2 3 1 2 3 4 5 6 7 8 9 10 11 12 DC24V

L L L L L L L L L L L L

Terminal number1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17

12V
Specified connector

C11(C12)
1Ω Load current: 0.1A 2.2Ω Load current: 0.1A
1kΩ Withstand voltage 30V Withstand voltage 30V
C6 20

C5 21
300Ω
C4 22

C3 23

C2 24
0V 12V 0V 0V
C1 25
0V 0V 0V
C10 26 0V 12V
Absolute
encoder
C9 27
12V
C8 28
1.2kΩ
Same as the
C7 29 circuit on the left
Programmable Cam

4.7kΩ Load current: 0.1A


C15
2.2Ω Withstand voltage 30V
2.2Ω
C16
Shield
Encoder connector
C11 C12 C13 C14 C15 C16 Terminal 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34
number
0V
C7 C8 C9 C10 L L L L L L L L L L L L

DC24V
13 14 15 16 17 18 19 20 21 22 23 24 + − G COM 100 200
C1 C2 C3 C4 C5 C6
(Viewed from the FC-21 cam switch) CAM outputs DC24V AC power source
/320 161F/321F-C
FC-81F-C

BANK4

Terminal Assignment Input Specification


FC-80-C/160

No. Name Function Description START input Input voltage


No. Name Function
1 0V Negative common Terminal common to negative I/O ON OFF ON OFF
2 START START input Disables all CAM outputs when turned off (except in RUN mode) C1
Encoder
3 BANK1
BANK ∼ 20∼28 3mA Max. 0.2mA Max. 2V Min. 10V
input
FC-21

4 BANK2 SELECT Selects a bank. C10


input
5 BANK3 2 START START input 12mA Max. 2mA Max. 4V Min. 8V
6 OUT1 Turn corresponding outputs on or off 3 BANK1
according to current settings.
∼ ∼ CAM outputs 4 BANK2
NPN open collector output: DC24V 0.1A BANK input 12mA Max. 2mA Max. 4V Min. 8V
27 OUT22 Withstand voltage: Max. 30V 5 BANK3
OUT23 CAM/BANK Selects BANK 4 when resolution is 360 and number 23 BANK4
28
BANK4 switch of outputs is 16. Otherwise, selects CAM 23.

29 OUT24 CAM/RUN OUT 24 can be switched to CAM


RUN switch or RUN
●Encoder power source
30 0V Negative common Terminal common to negative I/O
31 G GND Grounds chassis or transformer shielded cable. No. Name Function Output voltage tolerance Output capacity

32 COM C11
100V +12V Encoder power source DC10.8∼13.2V Max. 70mA
(C12)
33 100 200V AC power source
34 200

E-28
FC-21

I/O signals
ENCODER "L" active BANK SELECT "L" active

ENCODER signal is used to control the absolute encoder and the BANK SELECT signals are used to select a bank (i.e. program).
cam switch. To enter this signal, connect the encoder connector to Banks are selected as shown in Tables A below. Tables B show
the cam switch connector. Using Dip switches 2 and 3, set the the number of available banks in relation to resolution and the
resolution to 360, 512, 720 or 1,024. This resolution determines number of outputs.
the number of banks. For details, refer to the description of the
BANK SELECT signal. FC-21
Number Number
BANK SELECT signal 1 2 3 4* of banks Resolution of banks
FC-21 0 OFF OFF OFF OFF 10 360 16
Dip switches
1 ON OFF OFF OFF 7 360 24
2 OFF ON OFF OFF 7 512 16

BANK SELECT
3 ON ON OFF OFF 4 512 24
2 3 4 OFF OFF ON OFF 5 720 16
5 ON OFF ON OFF 3 720 24
Resolution 360 512 720 1024 6 OFF ON ON OFF 3 1024 16
7 ON ON ON OFF 2 1024 24
Dip switch 2 OFF ON OFF ON
8 OFF OFF OFF ON Table B
Dip switch 3 OFF OFF ON ON
9 ON OFF OFF ON Table A

●Applicable models of absolute encoders *


BANK 4 is used as an output terminal when the number of outputs is 24.

Programmable Cam
TRD-K□-YCS (Resolution: 360, 512, 720 or 1,024)
TRD-K□-YPS (Resolution: 360, 512, 720 or 1,024) As shown below, a bank should be selected before the START
TRD-K□-YC2 (Resolution: 360, 512, 720 or 1,024) signal is turned on.
TRD-KL□-YC2 (Resolution: 360, 512, 720 or 1,024)
START OFF ON
TRD-NA□NW (Resolution: 360, 512, 720 or 1,024)
BANKS SELECT

10ms MIN.

/320 161F/321F-C
FC-80-C/160 FC-81F-C
START "L" active

The START signal controls the CAM output signals according to


FC-21

programmed instructions. All CAM outputs are turned off when


the START signal turns to the HIGH level.

Run input OFF ON OFF

CAM output OFF ON OFF

200ms MAX. 10ms MAX.

E-29
FC-21

CAM "L" active RUN "L" active

CAM signal turns on or off according to programmed angle. RUN signal turns on or off to indicate the status in different modes
Using Dip switch 3 or 4, set the number of outputs to 16 or 24. as follows:

Mode
Status
FC-21 PRG TEST RUN
Dip swich CPU error OFF OFF OFF
Memory error OFF OFF OFF
Low voltage OFF OFF OFF
Other errors* OFF OFF OFF
4
Normal OFF ON ON
*Depending on the error, RUN may not turn off.
The following table shows the output numbers selected:

Number of outputs Output numbers Terminal numbers CAM 24 can be switched to RUN by the dip switch 4 or 5. In this
OFF 16 1∼16 6∼21
case, the number of outputs is reduced to 23.
ON 24 1∼24 6∼29

FC-21
In response to ENCODER signal, CAM signal delays as follows: Dip switch
ON : RUN
ENCODER input OFF : CAM 2

5
CAM output
Programmable Cam

130μs MAX.
RUN turns on within 35 seconds after PRG mode is switched to
RUN mode or TEST mode.
/320 161F/321F-C
FC-80-C/160 FC-81F-C

Connecting the encoder and the programmable cam


Programmable cam FC-21
Absolute encoder
TRD-K□□□-Y□S
12 Encoder power
source(12V)
FC-21

0V 12V
1∼10
Angle

15
0V
16

Connector

30 31 32 33 34
COM

100

200

A 0V B
G
AC power source

●Keep the encoder cable away from power lines of motors and ●Connect the 0 V terminal 30 to the ground terminal 31.
clutches. ●Using a cable with a section area of 3 to 5.5 mm2 connect the
●The shielded cable of the encoder is not connected to its ground points A and B as shown.
cable or the frame. Using the specified connector, connect it to
the 0 V terminal.

E-30
FC-21

Initializing the programmable cam


Turn the power off. Connect the FC-20P programmer and the encoder to the cam switch. Set the dip switches to the desired positions.
1
Write protect should be set to OFF.

2 Select the PRG mode, then turn the power off.

According to the dip swich setting, memory allocation.


3
●For the code output setting end origirl calibration valve vary. Perform Step 20.

Programming procedures
Available modes
Step Procedure FC-21
PRG TEST RUN
1 Selecting PRG mode Using the Mode switch, select the PRG mode. ● ●
2 Selecting TEST mode Using the Mode switch, select the TEST mode. ● ●
3 Selecting RUN mode Using the Mode switch, select the RUN mode. ● ●

BNK ● ● ●
4 Selecting bank
Press the BANK key to select the bank number.

Clearing all settings Press the following keys in the order listed: C 3 4 8 ● ●
5
for selected bank
Except the home position, all settings for the specified bank are cleared.

Programmable Cam
Intializing the home
6 position Press the following keys in the order listed: REF 0 ● ―

OUT

Cam number ON angle OFF angle ● ●


7 Writing cam settings
Output number

Omit the cam number if it is already selected.

/320 161F/321F-C
FC-81F-C
Run the Run the
OUT TCH ←machine→ TCH ←machine→
being controlled being controlled
Teaching the cam Cam number Current ON angle Current OFF angle ● ●
8
settings

FC-80-C/160
Omit the cam number if it is already selected.

OUT

Cam number ON angle(may be omitted)


FC-21

ON angle closest to the entered value is read out.


9 Reading ON angle If the value is omitted, positive ON angle closest to zero is read out. ● ● ● ●

Using the keys, specify other ON angles to be read.

OUT

Angle (may be omitted)

Cam status at the entered angle is read out.


10 Reading cam status ● ● ● ●
If the angle is omitted, status at the angle zero is read out.

Cam number + −
Use the keys to increment or decrement angles.
Cam status + −

E-31
FC-21

Available mode
Step Procedure FC-21
PRG TEST RUN
Follow the step 9 above to read ON angle or OFF angle to be cleared.

11 Clearing angle settings C


Press the following keys:      The specified ON or OFF angle is cleared, ● ●
together with the corresponding OFF angle or ON angle.
Follow the step 9 above to read ON angle or OFF angle to be adjusted.

Adjusting settings
12 + −
Using the      keys, adjust the angle selected. ● ●
during operation

+ −
Using the      keys to increment or decrement the angle by one degree. 

13 Reading current angle Press the    key


REF to read the current angle of the cam.  ● ● ● ●

Stop the machine at its home position.


Press the following keys in the order listed:

Programming the REF TCH


14 home position ● ●
Angle(may be omitted)

The entered angle is programmed as the home position of the machine.


If the angle is omitted, current angle is programmed as home position.
Programmable Cam

Follow the step 9 above to read ON angle or OFF angle to be changed.


Press the following keys in the order listed:
15 Changing settings ● ●
SHF OUT

New ON/OFF angle

Press the following keys in the order listed:


/320 161F/321F-C

16 Saving data to tape SHF + ● ●


FC-81F-C

SAVE Program number


All settings and home position are saved.
Press the following keys in the order listed:
FC-80-C/160

Restoring data from SHF +


17 ● ●
tape
LOAD Program number
Data for the specified program is restored.

Press the following keys in the order listed:


FC-21

Checking data SHF


18 ● ●
with tape
VERIFY Program number
Data for the specified program is checked.

Follow the step 16, 17 or 18 above.


Press the following keys in the order listed:
Saving, restoring or
19 checking data for a BNK ● ●
selected bank.
Bank number
Data for the specified bank is saved, restored or checked.

Press the following keys in the order listed:


Clearing all setting and
20 the home position
F 9 4 2 ● ●

All settings for all banks are cleared, and the home position is reset to zero.

E-32
FC-21

Available modes
Step Procedure FC-21
PRG TEST RUN

Press the following keys to display current position:

F 1
Displaying position
21 ● ● ● ●
or revolution speed
Press the following keys to display current revolution speed:

F 2

F BNK Press the following keys to display current bank number


Displaying bank ● ● ● ●
22
number
Press C key and F key at the same to display the previously selected bank.

Press the following keys to specify the source and destination banks:

BNK
Transferring data Source bank number ● ●
23
between banks
F 3
Destination bank number
Press the following keys:

Programmable Cam
OUT
Setting the frequency
24 (60 pulses) per Output number ● ●
revolutin
F 4 This operation is unavailable for the resolution 512 and 1,024.

/320 161F/321F-C
List of Error Codes

FC-81F-C
Error
code Name Possible cause Corrective Action

E01 Key entry error Keys were not pressed as required. Check the operating procedures.

FC-80-C/160
E11 Bank number error The entered bank number does not exist. Check the dip switches 2 and 3 to confirm the correct number.
E12 Cam number error The entered cam number does not exist. Check the dip switch 3 to confirm the correct number.
E13 Angle error The entered angle does not exist. Check the dip switch 2 to confirm the correct angle.
E14 Write protect error Write was attempted in write-protected mode. Turn the power off, then turn the dip switch 5 off to enable writing.
E15 Duplicate angle Same angle has been set more than once. Follow the step 9, 11 or 7 to clear the setting, then re-enter the value.
E16 Dip switch error A dip switch has been repositioned. Turn the power, then set the dip switch to the correct position. Select the
FC-21

E17 BNK SELECT error The selected BANK SELECT number does not exist. PRG mode then turn the power on.
E18 ENCODER error The selected ENCODER number does not exist. Check the dip switch 2 to confirm the current resolution, and check the ENCODER connection.
E21 Data memory error Data has been changed. Turn the power off, then check the dip switches. Select the PRG mode, then turn the power on.
E22 Program memory error Program has been changed. Turn the power off, then check the program. Select the PRG mode, then turn the power on
E25 Unmatched data Data in memory does not match data in tape. Clear wrong data, and save or restore correct data to memory or tape.
Unmatched data and dip Data in tape does not match the Turn the power off, then set the dip switch to the correct position.
E26 
switch setting setting of a dip switch. Select the PRG mode, then turn the power on.
Note: No error is displayed when the AC power lowers or shuts down.
Use the C key to clear error codes.

E-33
FC-21

External Dimensions (in mm)


210 (80)
200 M4 56

138
162
(24)

Encoder connector

Applicable models of rotary encoders and cables with connectors


Absolute rotary encoder Connector and cable
Model Appearance Appearance Model

Models with
standard connectors ― ―
Programmable Cam

TRD-K□-YCS 2m

F-50J:5m
F-150J:15m F-50J
Models with cables
and connectors
TRD-K□-YPS 2m
F-150J

2m
Models with built-in
/320 161F/321F-C

connectors F-20C2
FC-81F-C

TRD-K□-YC2

2m
Models with built-in
FC-80-C/160

connectors F-20C2A
TRD-KL□-YC2

MR-16L/MR-16M
Models with built-in
cables ―
FC-21

TRD-NA□NW□ 2m/5m

コネクタ付ケーブル価格表
機 器 の 名 称 形  番 価 格
コネクタ付ケーブル (5m) F-50J ¥ 6,730
コネクタ付ケーブル (15m) F-150J ¥11,230
コネクタ付ケーブル (2m) F-20C2 ¥9,650
コネクタ付ケーブル (2m) F-20C2A ¥11,000

E-34