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1. Set value ces Parameter No Pulse ran direction S ee pulse Negative logic Negative logic MR J3 13 0011 0010 MR J2 MR J2S 21 0011 0010 MR C 7 011 010 MR H 21 011001 0100 1 MR J 7 11 0 1 1 O is for the setting except command pluse output form For details refer to Servo amplifier manual FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 6 Setting of Various Items on Servo Amplifier Drive Unit Side 4 6 2 Setting of Electronic Gear For MELSERVO Series Use the electronic gear of the servo motor to set the transfer distance per pulse For details on electronic gear setting refer to the manual of your servo motor or servo amplifier and set the optimum value considering the application o o 3 3 o 2 g 3 n Setting example 1 To set the transfer distance per pulse to 10 um if the machine uses a ball screw Machine specifications Servo amplifier MRC Series n NUNM 1 2 77 Rated rotational speed of servo motor 3000r min NL Lw Ww Apx Lead of ball screw Pb Tomm 0 47 ili Po tommio4 EB Reduction ratio mechanical gear n 1 2 H i NM 2s Resolution of servo motor Pt 4000pls rev Servo motor ER S Pt 4000 pls rev CMX _ Pt 2 3 42000 _ 8 f Command pulse frequency Hz CDV al nxPb 1019X 12x10 1 Open collector syst
2. go cO 1 Devices related to Y003 pulse output destination are valid only if two FXsu 2HSY ADP adapters are S connected to the FXsu PLC Caution The current value will be counted in the range of 2 147 483 648 to 2 147 483 647 If the current value exceeds this range the following value will be indicated Be careful not to exceed the later range f the current value is increased past the maximum value the minimum value will be indicated fthe current value is decreased below the minimum value the maximum value will be indicated Necessity of zero return If the specified forward rotation pulse or the reverse rotation pulse is output the current value register will increase or reduce the current value Upon turning off the power of the PLC however the current value stored in the current value register will be erased For this reason after turning the power on again be sure to adjust the current value of the current value register to the current position of the machine For this adjustment use the zero return instruction or the Absolute Current Value Read instruction absolute position detection system shown below For details on DSZR instruction refer to Section 6 2 For details on ZRN instruction refer to Section 6 3 For details on ABS instruction refer to Chapter 7 Instruction Description DSZR FNC150 Zero return instruction with DOG search function ZRN FNC156
3. MITSUBISHI DEI EHHHHIL o ipei OOOO 6666 E 1 2 4 Special Function Unit Block Connect special function unit block to the FX3sU FXsuc PLC to control the positioning operation Note that special function unit can individually control the positioning operation 1 System configuration for FXsu PLC Up to 8 special function units blocks can be connected to the FX3u PLC FX3u PLC Special function block Servo motor Special function unit Servo amplifier MITSUBISHI lH ECEHTHTHEEHETIE diddiB u T li T to CHSB Up to 8 units For details on system configuration refer to the FX3u Hardware Edition 2 System configuration for FXsuc PLC Up to 7 special function units blocks can be connected to the FXsuc PLC FX2NC CNV IF or FX3uc 1PS 5V is needed to connect special function units blocks FX3UC 1PS 5V Special function block Servo motor FXsue PLG FXONCCNV IF Special function unit Servo amplifier xy MITSUBISHI TUS exe E i kS c zz g e EB to Up to 7 units For details on system configuration refer
4. 1 Devices related to YOOS pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 2 2 Special data registers The following table shows the related special data registers Note that YOOO YOO1 YO02 and Y003 are devices that determine the pulse output destinations Cleaned when PLC switches from RUN to STOP Device number Data Default Function Refer to Yooo Y001 Y002 Y003 length value Low Low Low Low D8340 D8350 D8360 D8370 order order order order Current value register 32 bit 0 Subsection ns 4 4 1 D8341 9 peasy High pgag High pgs High PIS order order order order D8342 D8352 D8362 D8372 Bias speed Hz 16 bit peo d D8343 posl D8353 ane D8363 e D8373 m HIE Bo ET High Maximum speed Hz 32 bit 100 000 22 d igh igh igh igh 2 DRM order Deos order D8364 order D8974 order D8345 D8355 D8365 D8375 Creep speed Hz 16 bit 1000 25 psection Low Low Low Low D8346 Sger D8356 ror D8366 ior 28376 order Bubsstiin High High High High Zero return speed Hz 32 bit 50 000 423 D8347 9 D8357 9 pg367 9 pga77 79 us order order order order D8348 D8358 D8368 D8378 Acceleration time ms 16 bit 100 JE D8349 D8359 D8369 D8379 Deceleration time ms 16 bit 100 jp 1 Devices related to YOOS pulse output destination are valid only i
5. eere Apx 2 Appendix 1 MELSERVO J3 Series Apx 3 Appendix 1 1 Main Unit Transistor Output sssssseseseeeeeneeennen nennen Apx 3 Appedix 1 1 1 Sink Input and Sink Output ssssssssssseeeeeeeneeeneen nennen nennen Apx 3 Appendix 1 2 High Speed Output Special Adapter ssssssssseseeene Apx 5 Appedix 1 2 1 Sink Input Sink Output Transistor and Differential Line Driver Output Apx 5 Appendix 1 3 Absolute Position Detection Transistor Output sssessssss Apx 6 Appendix 1 3 1 Sink Input and Sink Output nennen nennen Apx 6 Appendix 2 MELSERVO J2 Super Series Apx 8 Appendix 2 1 Main Unit Transistor Output sssssssseeeeeneneeen nnne Apx 8 Appendix 2 1 1 Sink Input and Sink Output nennen nennen Apx 8 Appendix 2 2 High Speed Output Special Adapter ssesssseseese Apx 10 Appendix 2 2 1 Sink Input Sink Output Transistor and Differential Line Driver Output Apx 10 Appendix 2 3 Absolute Position Detection Transistor Output ssessssssss Apx 11 Appendix 2 3 1 Sink Input and Sink Output ssssssseseseeeeeneeeeenenenneneee nennen Apx 11 Appendix 3 MELSERVO H Series Apx 13 Appendix 3 1 Main Unit Transistor Output ssssssssseeseeeneeeeenen nnns Apx 13 Appendix 3 1 1 Sink Input and Sink Output ssssssesse
6. For a detailed description of the input output specifications refer to Section 2 4 and Ega LESE Ega Section 2 5 For the examples of connection refer to the Appendix e f FX3U 2HSY ADP adapters are connected to the FX3u PLC 4 axes maximum Number of controllable axes Servo amplifier drive unit etc refer to Section 1 3 ape For a detailed description of the DE positioning instruction refer to E Chapters 6 to 11 ii j input output specifications refer CCHSS CHSB gP to Section 2 4 and Section 2 5 A For the examples of connection refer to the Appendix zu JE For a detailed description of the FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Outline Built in Positioning Function 1 2 Setup Procedure for Positioning Control 1 2 Setup Procedure for Positioning Control DESIGN PRECAUTIONS D ANGER Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs Otherwise malfunctions or output failures may result in an accident An emergency stop circuit a protection circuit an interlock circuit for opposite movements such as normal and reverse rotations and an interlock circuit
7. Application Input number Remarks Stop command All input Connect the line to any input points If the line connected input is turned on turn off the positioning instruction signal Zero return All input Connect the line to any input command points If the line connected input is turned on turn on DSZR or ZRN instruction signal Connect the line to the input of the near point signal DOG specified by DSZR or ZRN instruction For details on the near point signal of DSZR instruction refer to Section 6 2 For details on the near point signal of ZRN instruction refer to F Section 6 3 Near point signal All input ENS DOG points Point Touse DSZR instruction If X000 to X017 of the main unit are set for the near point signal DOG the near point signal DOG will be monitored at 1ms intervals Touse ZRN instruction If X000 to X007 of the main unit are set for the near point signal DOG the interruption function will be used for processing of the near point signal DOG Zero phase X Connect the line to the input X000 X007 specified for the zero phase signal this 000 to 007 f m 1 signal input is specified by DSZR instruction All input Connect the line if it is necessary to use the absolute position detection system ABS read f Connect the line to the input specified by the ABS instruction points U Md se 3 consecutive input points for this function 1 Outline 1 5 Assignment of Input Outp
8. MR HOA Series servo coupler LL 24 PF ped EX s L Si 1 E Speed zero Positioning completed INP 4 Torque being controlled Servo error ALM Servo ON Reset Emergency stop EDS eae 38 LSP 39 LSN Forward rotation limit 2 Reverse rotation limit 2 4 Connected to FXsuc if ABS instruction FNC CN1 155 is used zs ze gt 25 TL FX2n 16EX ES UL 3 e a FXon 16EYT 1 Refer to Appendix 8 H2 SON je 3 244 D e Immediate stop command Zero return command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF 8 Reverse rotation limit LSR Stop command Apx 13 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 3 MELSERVO H Series Example Connection Appendix 3 2 Absolute Position Detection Transistor Output 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 To ensure safety adopt the forward rotation limit switch and the reverse rotation limit switch on both sides the PLC side and the servo amplifier side Note that the limit switches on the PLC side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse rotation limit 2 Reverse rotat
9. sseeeenen nennen B 147 12 4 1 Setting Using GX Developer esesessesseseseeeeeenn nennen nennen nnne nnne nennen nens B 147 12 4 2 Operation Programs ess cnr de recedente fm le etse dina B 149 12 5 Program for Reading Current ABS Value Using ABS Instruction esses B 152 13 Troubleshooting B 153 19 1 LED Indicator Lamp Check assinei eene qe edet egredere nte te Pete ie eds B 153 13 1 1 POWER Indicator Lamp Statuses ON flashing OFF sese B 153 13 1 2 RUN Indicator Lamp Statuses ON OFF nennen nennen B 153 13 1 3 BATT Indicator Lamp Statuses ON OFF ssesssesseseeeeenenneeen eene nennen B 154 13 1 4 ERROR indicator lamp Statuses ON flashing OFF seeeeeee B 154 13 1 5 Pulse Output Destination Device and Rotation Direction Output Indicator Lamp B 155 13 2 Error AE itte PP pedet Muere ctetur tire hodie dua e aede Ke aie B 157 13 2 1 Error Code Check Method i s nieron irnn ener ner entretenir B 157 13 2 2 Etror STe EAE enituit erre UE t NR TAE B 158 13 3 If the Servo Motor or the Stepping Motor Does Not Operate eeeeeeene B 159 13 4 If Operation Is Stopped at a Wrong Position seen B 160 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Table of Contents Appendix Example Connection Description of Manual Example of Connection
10. CN1 Servo ON f Reset Emergency stop Photo E f aed Zero Point Forward rotation limit 2 signal PGO EM EON Te Reverse rotation limit 2 47 bocoM y Connected to FXsuc if ABS instruction FNC CN1 155 is used EON 22 ABSBO 23 ABSB1 FX2N 16EX ES UL FXan 16EYT T 46 bocoM R I CLEAR signal 1 3 ABSR o 9 alo es ja lda sisal s Immediate stop command X021 Zero return command X022 JOG 4 command Photo coupler JOG command 024 Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF 027 Reverse rotation limit LBR Stop command 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG Apx 5 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 1 MELSERVO J3 Series Example Connection Appendix 1 2 High Speed Output Special Adapter 3 To ensure safety adopt the forward rotation limit switch and the reverse rotation limit switch on both sides the PLC side and the servo amplifier side Note that the limit switches on the PLC side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable Programmable Servo amplifier side eee side ee side Se
11. M100 Zero return being performed c performed 2 Zero return instruction Apx with DOG search om Ceana MEN EAR si YO2 Near point Zero Pulse Rotation signa cms a3 signal phase output direction o Signal destination signal E number M8029 Zero return Execution completion flag completion flag tor Normal end of zero return M8329 nog Abnormal end of Aenomal zero return X022 M8348 M104 end Resets forward rotation positioning JOG Positioning Completes completion flag being the JOG Resets reverse performed operation RST M13 rotation positioning Y000 completion flag M103 JOG operation is being performed JOG operation is being performed X030 FNC 158 Performs the jogging FNC 158 Ioooooo K30000 Y000 Y004 operation in Stop DDRVI direction using the command Number of Output Pulse Rotation drive to Increment output pulses pulse output direction instruction maximum value frequency destination signal Y004 ON in direction number E X022 uto Completes the 2 JOG JOG operation D M8329 S Abnormal Resets forward D 4 X023 M8348 end rotation positioning S JOG Positioning Completes completion Meg being the JOG Resets reverse 2 performed operation rotation positioning completion flag M105 JOG operation is being performed JOG operation is being performed Performs the jogging operation in
12. FX 16E 500CAB S FX 16E CAB FX 16E represents 150 300 or 500 CAB R FX A32E CAB Input output connector Power cable Peripheral unit Peripheral unit Programming tool FX2c I O CON FX2c I O CON S FX2c I O CON SA FX2Nc 100MPCB FX2Nc 100BPCB FX2Nc 10BPCB1 Generic name for programming software handy programming panel and indicator Programming tool Generic name for programming software and handy programming panel Programming software Generic name for programming software GX Developer D5C GPPW J SW Generic name for SW package D5C GPPW E programming software FX PCS WIN E Handy programming panel HPP Indicator Generic name for FX PCS WIN or FX PCS WIN E programming software package Generic name for FX 20P E and FX 10P E GOT1000 series Generic name for GT15 and GT11 GOT 900 series Generic name for GOT A900 series and GOT F900 series GOT A900 series Generic name for GOT A900 series GOT F900 series Generic name for GOT F900 series ET 940 series Drive unit for servo motor and Generic name for ET 940 series Only manuals in Japanese are available for there products stepping motor Servo motor Generic name for servo motor or stepping motor Including pulse input type servo amplifier and drive unit Servo amplifier dri
13. MELSOFT series GX Developer Unset project LD Edit mode MAIN 1 Step Project Edit Find Replace Convert View Online Diagnostics Tools Window Help nsa S selle e sf Program x x Sf t TEHETE wp o IT 4t Ate HH HLH FS sF5 F6 sF6 F F8 m slo k P3 sF7 sF8 aF7 aF8 zm Ao kA sa afe AL se ls BBG l e e s es ss zaa eal El I X d Unset project 0 E Program Device comment sf Parameter sf PLC parameter E Device memory 2 Click Memory Capacity and then enter a check in Positioning Instruction settings check box FX parameter Memory capacity Device PLC name o assignment Puc system 1 Puc system 2 Positioning Memory capacity 16000 v 1 Comments capacity 0 Block 0 block to 31 block Points File register capacity 0 Block 0 block to 14 block Points Program capacity 7000 Steps Special Function Memory capacity 18 Block Special Function Block Settings 8 Blocks Cancel 1 9 000 steps are needed to set the positioning data If there is not enough capacity for programming set memory capacity to 16 000 steps B 147 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 12 Examples of Programs 12 4 Positioning Using Batch Setting Method 3 Click Positioning tab and then set Y000 pulse output destination as follows Before clicking Pos
14. 1 Terminal or less 6 0mm 0 24 or more 3 2 European Terminal Board The European terminal board is adopted for the high speed output special adapter and the FX2Nc Series input output extension block 3 2 1 Cable Applicable cables and tightening torques Wire size stranded single wire riders Termination Single wire 0 3 mm to 0 5 mm AWG22 to 20 e To connect a stranded cable peel the sheath off the cable and then twist the core before connection 2 wires 0 3 mm2 AWG22 e To connect a single wire cable just peel the sheath ipao d off the cable before connection SS OO o Rod 2 2 0 25 Nem Rod terminal with insulation sleeve terminal 0 3mm to 0 5 mm ed recommended terminal Al 0 5 8WH with Refer i is tee ati of rod Manufactured by Phoenix Contact insulation pale SNOWN IN ie TOROwINg e Caulking tool sleeve igure CRIMPFOX UD6 Manufactured by Phoenix Contact 3 2 2 Termination of Cable End Directly terminate the end of each stranded cable or single wire cable without a tool or use the rod terminal with insulation sleeve for termination Directly terminate end of stranded single wire cable Terminate the end of the stranded cable so that barbed wires cannot protrude Do not solder plate the end of the cable 3 0 36 e Bar terminal with insulating sleeve Insulating sleeve e Stranded wire solid wire Terminate cable end using rod terminal with insulation sleeve If t
15. a pulse train RP Y4 6 Kept at the OFF status 2 Current value register D8340 D8341 check Monitor the current value register D8340 D8341 of the FX3u FX3uc PLC using the programming tool and confirm that increase in the value is stopped For details on the current value register refer to Subsection 4 4 1 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 5 Operation Test Built in Positioning Function 5 1 Test Procedure 9 Check the operation of the forward rotation limit switch During operation in the forward rotation direction at step 8 turn off the forward rotation limit switch 1 X010 and confirm that the operation in the forward rotation direction is stopped o o 3 3 o 2 g 3 n The LED indicator lamps and the current value register D8340 D8341 will enter the same statuses as the stop statuses described in step 8 In addition Instruction execution abnormal end flag M8329 will be turned on For details on the current value register refer to Subsection 4 4 1 1 0 Check the operation in the reverse rotation direction Apx Check the output indicator lamp LED lamp and the current value register to check the operation om The status of the LED indicator lamp and the value indicated on the current value register depend 23 on the pulse output destination or rotation direction set on the positioning instruction However if S the pulse output destination or the rotation
16. A O o 3 o 9 zx o x Actual output pulse frequency ejdurex3 Interrupt input e If there is possibility that the interruption instruction is turned on during acceleration specify the number of pulses so that the relation can be set to number of output pulses gt number of pulses needed for acceleration number of pulses needed for deceleration If the relation is set to number of output pulses number of pulses needed for acceleration number of pulses needed for deceleration the operation will be as shown in the following figure Number of output pulses specified bY Gis Output pulse frequency specified by Interrupt input e If interrupt input turns ON before execution of the instruction the operation will be performed in the same way as DRVI instruction Evenifthe operand is subject to change during execution of the instruction the operation will be continued while ignoring the change To reflect the change on the operation turn off the command contact of the instruction and then turn it on again If the instruction activation contact is turned off during operation the speed will be reduced and then the operation will be stopped In this case Instruction execution complete flag M8029 will not be turned on Input the interruption signal before the number of output pulses is increased to 4 294 967 296 Only If the number of pulses is increased to 4 294 967 296 before inpu
17. 9 D8357 9 D8367 9 D8377 9 a order order order order Acceleration Subsection D8348 D8358 D8368 D8378 time ms 16 bit 100 427 Deceleration Subsection D8349 D8359 D8369 D8379 time ms 16 bit 100 428 Clear signal S bsecti n D8464 D8465 2 D8466 D8467 device 16 bit AA specification S 1 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FX3u PLC 2 This function will be valid if Ver 2 00 or later is used FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 2 DOG Search Zero Return DSZR Instruction 6 2 3 Function and Operation 9 o Command input 3 For details on the maximum speed bias speed acceleration time and deceleration time refer to Subsection 4 2 5 to Subsection 4 2 8 Zero return speed Initial value 50 000Hz Deceleration Acceleration l time l l time Initial value 1 Initial value I 00ms Jk J 100ms i x I Maximum speed N Apx Initial value 100 000Hz 5 l I 4 ly om I ois I 33 EE I S i I Current value register 0 Greop speod PEE Lc mc a EK iE E Initial value Bias speed 1 000Hz Initial value OHz I I Zero phase signal i Rear end Front end I I I I l CLEAR signal 1 ms or less k 20 ms
18. Analog special adapter Extension unit Generic name for analog special adapter Extension unit Generic name for input output extension unit and special extension unit The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Editon of main unit to be used for your system Input output extension unit Generic name for input extension unit and output extension unit The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Editon of main unit to be used for your system Input extension unit Generic name for FX2N Series input output powered extension unit input extension block FX2Nc Series input extension block and FXoN Series input extension block The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Editon of main unit to be used for your system Output extension unit Generic name for FX2N Series input output powered extension unit output extension block FX2Nc Series output extension block and FXoN Series output extension block The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Editon of main unit to be used
19. FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Outline Built in Positioning Function 1 5 Assignment of Input Output Numbers 1 5 3 Connection of High Speed Output Special Adapter 1 When FX3U 16MR ES uses an instruction that needs the high speed inputting operation the main unit should have enough input terminals Before selecting main unit be sure to check the number of input points needed for operation Specify the rotational direction signal of the positioning instruction depending on the setting of each pulse output destination as shown in the following table Pulse output destination Rotation direction signal Y000 Y004 1st Y001 Y005 Y002 Y006 2nd Y003 Y007 To output the CLEAR signal using DSZR ZRN instruction The CLEAR signal output initially set for DSZR ZRN instruction is the same output as the direction signal reverse pulse train rotation direction signal Be sure to specify the output number of the other transistor output using the CLEAR signal designation function For details on the CLEAR signal designation method refer to Subsection 4 3 4 If high speed output special adapter is connected to the FX3U Series main unit the output numbers will be assigned in the same way as the main unit If an output number assigned to high speed output special adapter is turned on by the sequence program the corresponding output of the main unit will also be turned on
20. The Built in positioning function cannot correct the mechanical backlash clearance play If itis necessary to correct the backlash preliminarily set the number of output pulses considering the backlash that may be caused while reversing the transfer direction N Table Nw Feed screw Backlash clearance play 4 7 4 Instruction execution complete Flag of Positioning Instruction and Completion of Positioning If the Instruction execution complete flag M8029 or the Instruction execution abnormal end flag M8329 is turned on judge that execution of the instruction pulse outputting operation etc is completed In this case however it is not certain whether the servo motor is stopped Check positioning completion signal or servo ready signal of the servo amplifier drive unit to check whether the servo motor is stopped For details on Instruction execution complete flag and Instruction execution abnormal end flag refer to Subsection 4 4 2 A C o 3 C 9 zx o SUJ9 UOWWOD p gt a ejdurex3 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 Before Programming 4 7 Items To Be Observed in Programming Programming using Instruction execution complete flag and Instruction execution abnormal end flag 1 If two or more positioning instructions are used in a program Instruction execution complete flag M8029 or Instruc
21. input signal M8336 V3 J rc device D8336 i dn change 7 3 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 5 Setting of Various Items on PLC Side Setting Setting device Instruction m Refer to item Yooo YOO1 YOO2 Yoo3 DSZR ZRN ABS TBL PLSV DVIT DRVI DRVA User interrupt Subsec input M8460 M8461 M8462 M8463 3 v tion command 4 3 7 device Logic of Subsec interruptinput M8347 M8357 M8367 M8377 s v v tion signal 4 3 8 Forward limit reverse limit and immediate stop of pulse output Subsec Forward limit M8343 M8353 M8363 M8373 v v V Me Baar M tion 4 3 1 Subsec Reverse limit M8344 M8354 M8364 M8374 v v V LLI LIL tion 4 3 1 Immediate Subsec stop of pulse M8349 M8359 M8369 M8379 v Y X rs A ss Dg tion output 4 3 2 1 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FXau PLC 2 32 bits are adopted for the maximum speed setting device and the zero return speed setting device 3 Set this item using the PC parameter positioning of GX Developer Ver 8 23Z or later and the FXsu FXsuc PLC of Ver 2 00 or later The data set by the parameter will be stored in the corresponding device 4 To accelerate or decelerate the operation using the variable speed pulse output PLSV instruction of
22. 1 scan time ms 1 For S12 specify the near point signal DOG input device number To specify the logic of this near point signal DOG turn on or off DOG signal logic reverse flag as shown in the following table Pulse output DOG signal logic D ee Nt i escription destination device reverse flag Dr Y M8345 pr e OFF Positive logic Turning on the input will turn on the Y001 M8355 near point signal Y002 M8365 ON Negative logic Turning off the input will turn on the near point signal Y003 M8375 When an input X000 to X017 of the main unit is specified for the near point signal DOG specified by S12 the rear end of the near point signal DOG will be monitored detected at the 1 ms intervals interruption Under the following condition however monitoring detection of the near point signal DOG rear end will be affected by the input constant or the scan time of the sequence program An input number of X020 or below or the other device auxiliary relay etc is specified 1 Specify X000 to X007 for FX3u 16M FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 2 DOG Search Zero Return DSZR Instruction 2 For specify the zero phase signal input number in the range of X000 to X007 To specify the logic of this zero phase signal turn on or off Zero point s
23. 2 Operation error latch Error flag Error code storage device Error detected step number storage device 32 bit D8313 D8312 If an operation error occurs the M8068 will be turned on and the error detected step number will be stored in the D8313 and D8312 1 If the operation error detected step number is 32767 or less the error step number can be also checked using the D8068 16 bit e If anew error is caused by the other instruction the error data will not be updated and the operation will be continued until forced reset command is input or the power is turned off 4 7 6 Write during RUN Do not change program if a positioning instruction FNC150 FNC151 FNC156 to FNC159 is being executed pulses are being output in the RUN mode Operations will be performed as shown in the following table if program is change during execution of instruction in RUN mode insimiEHoH If program is change in circuit block including currently activated instruction DSZR FNC150 Decelerates and stops pulse output DVIT FNC151 TBL FNC152 Program cannot be change in the RUN mode ZRN FNC156 Decelerates and stops pulse output PLSV During operation with acceleration deceleration Decelerates and stops pulse output FNC157 During operation without acceleration deceleration Immediately stops pulse output DRVI FNC158 DRVA FNC159 Decelerates and stops pulse output 1 This instruction is compatible with
24. B 113 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 9 One speed Interrupt constant quantity feed DVIT Instruction 9 3 Function and Operation Setting value Description of setting Specifies a user interruption command device for the interrupt emp zt input signal Pulse output destination device Pulse output destination device g YO000 M8460 Y001 M8461 Y002 M8462 Y003 2 M8463 9 E 3 Do not specify these values F3 Set F for a pulse output destination device if the device is not used for the Interrupt Positioning DVIT instruction 1 The device can be specified if the FX3u FX3uc PLC of Ver 2 00 or later is used Using the FX3uc PLC of below Ver 2 00 if 8 is set and then the specified Interrupt Positioning DVIT instruction turns ON an operation error error code K6763 will occur and the instruction will not cause any operation 2 Y003 can be specified as the pulse output destination only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 3 After setting a number in the range of 9 to F for the interrupt input signal if the corresponding Interrupt Positioning DVIT instruction turns ON an operation error error code K6763 will occur and the instruction will not cause any operation B 114 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 9 One speed Interrupt constant quantity f
25. Cline 5s enoB n 53 info elinc ru 7 812 7 028 029 Changes for the Better www elinc ru Transistor Output FXsuc Main Unit Japanese Model Sink Output Line Driver Output FX3U 2HSY ADP GHEE Sety Precautions EN Read these precautions before using Before installing operating maintenance or inspecting this product thoroughly read and understand this manual and the associated manuals Also pay careful attention to handle the module properly and safety This manual classifies the safety precautions into two categories gt DANGER and CAUTION DANGER Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous conditions resulting in CAU TIO N medium or slight personal injury or physical damage Depending on circumstances procedures indicated by may also be linked to serious results In any case it is important to follow the directions for usage Store this manual in a safe place so that you can take it out and read it whenever necessary Always forward it to the end user 1 DESIGN PRECAUTIONS O DANGER sting Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs Otherwise malfunctions or output failures may result in an accident An emergency stop circuit a protection circuit
26. Current error No Detail Error message Error step_ Year Mon 1 6617 Ladder error 1 2004 12 The help function of GX Developer opens and you can check the details of the error code The PLC error is displayed 16 PLC diagnostics d xj PLC panel m Monitor start stop LED status zz Start monitor EE RUN BATTV Stop monitor C PROGE j Help PLC error Error indication Current error No Detail Ermormessaee Error step_ Year Mon No error Example of screen displayed in normal state B 157 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 13 Troubleshooting 13 2 Error Check 13 2 2 Error Codes Error code This section describes error codes related to the positioning instructions For details of the error codes refer to the following manual Operation after detecting error Description of error Operation error M8067 D8067 Refer to the programming manual Troubleshooting 0000 6705 6706 6760 6763 6764 Operation will be continued No error detected The device specified by the operand of the applied instruction is a wrong device The device number or the data specified by the operand of the applied instruction is o
27. Evenif data communication with the servo amplifier is not performed properly no error will be detected For this reason it is necessary to monitor the handshaking operation using the time out error detection timer to detect a handshake error For the example programs refer to Section 12 5 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 8 1 Speed Positioning DRVI DRVA Instruction Built in Positioning Function 8 1 Incremental Method and Absolute Method ENN 1 8 1 Speed Positioning DRVI DRVA Instruction The Built in positioning function uses the drive to increment DRVI instruction or the drive to absolute DRVA instruction to perform 1 speed positioning Note that these two instructions use different target position setting methods Instruction Target position setting method Incremental method Divetodhererene ORM instruction Uses a relative address to specify the target position Absolute method Driv to Absolute DRVA instrument Uses an absolute address to specify the target position For the important items common to all the positioning instructions refer to Section 4 7 For example programs refer to Chapter 12 8 1 Incremental Method and Absolute Method There are two target position setting methods for positioning operation as described below 1 Incremental method relative address setting method While regarding the current position as the start point
28. lvalvlvlv v pod Apx speed D8343 D8353 D8363 D8373 4 2 5 Sg m SE Que Subsec S Bias speed D8342 D8352 D8362 D8372 v v vs v v v v tion 4 2 6 Acceleration Subsec D8348 D8358 D8368 D8378 Vv v V3 v4 vy Y v tion time 1259 Deceleration Subsec D8349 D8359 D8369 D8379 v v ne oe on a v tion time poa Zero return D8347 D8357 D8367 D8377 y i i l i l l ind speed D8346 D8356 D8366 D8376 455 Subsec Creep speed D8345 D8355 D8365 D8375 v tion 4 2 4 Items specially needed for DSZR zero return instruction with DOG search function and ZRN zero return instruction Zero return i vid iade M8342 M8352 M8362 M8372 Vv v 5 tion direction 4 3 3 Subsec CLEAR M8341 M8351 M8361 M8371 V v tion signal output 4 3 4 CLEAR Subsec signal device M8464 M8465 M8466 M8467 y y I in 6 D8464 D8465 D8466 D8467 change 4 3 4 Logic of Subsec near point M8345 M8355 M8365 M8375 v v tion signal 4 3 5 Logic of Subsec zero phase M8346 M8356 M8366 M8376 v tion signal 4 3 6 Items specially needed for variable speed pulse output PLSV instruction Acceleration Subsec deceleration M8338 E i 4 z tion Operation 4 3 9 Items specially needed for interrupt positioning DVIT instruction Interrupt
29. pulse tain NP L ae fo Forward rotaion Reverse rotation Kaa i Pulse train H4 i PLS DIR side Pulse train RRR Rm Negative direction I 11 logic Y I I I Direction l ON OER HIGH status and the LOW status of the waveform For details on the relation between the PLC output and the waveform refer to Subsection 4 6 1 Caution Operate Output Form Setting Switch while PLC is STOP or the power is OFF Do not operate Output Form Setting Switch while pulse is being generated 2 Setting of rotation direction signal for positioning instruction If high speed output special adapter FX3U 2HSY ADP is used the rotation direction signal will be assigned to each pulse output destination device as shown in the following table Set the rotation direction signal of the positioning instruction as shown in the following table Position of pulse output Name of Output number method setting switch of high Signal positioning The 1st adapter The 2nd adapter speed output special adapter instruction 1st axis 2nd axis 3rd axis 4th axis i Pul pulse train FP destination Y202 Yoo Yoo2 voos FP RP side uia iiS Reverse rotation Rotation direction Y004 Yo05 Yo06 Y007 pulse train RP signal Pulse train P yooo YOOi YOO2 YO03 PLS DIR side ERE Direction MUT YOO4 YOO5 Yoos YO07 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Posi
30. 2 00 or later only 4 This function will be valid if Ver 2 00 or later is used FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 2 Setting of Various Items Regarding Speeds 4 2 Setting of Various Items Regarding Speeds Specify the output pulse frequency using the operand of each instruction or the related device to determine the output pulse frequency zero return speed or creep speed o o 3 3 o 2 g 3 n 4 2 1 Setting of Various Items Regarding Instructions and Speeds 1 Interrupt Positioning DVIT instruction drive to increment DRVI instruction and drive to absolute DRVA instruction For these instructions it is necessary to specify the maximum speed bias speed acceleration time and deceleration time using the related devices in addition to the output pulse frequency specified by the operand of the instruction ADX For operation of DVIT instruction refer to Chapter 9 px For operation of DRVI or DRVA instruction refer to Chapter 8 oe For details on each setting item refer to Subsection 4 2 2 and Subsection 4 2 5 to Subsection 4 2 8 88 Maximum speed 9 Initial value 100 000 Hz Output pulse frequency Bias speed Actual Aue T Actual acceleration time P EN deceleration time I I I Number of S1 Bias speed output pulses I l Initial value 0 Hz Current aoa pus oi ud N Target positi
31. 7 Absolute Position Detection System Absolute Current Value Read ABS 7 4 Initial Zero Return 1 Detection of absolute position 1 If DABS FNC155 instruction turns ON the PLC will activate the servo ON output andthe Servo ON SON ABS transfer mode output ABS data transfer ABM 1 mode 2 3246 bit data communication will be performed while mutually checking the data sending receiving condition using send data ready Send data ready TLC Amplifier output signal ABS data request ABSR IN PLC output ignal o o 3 3 o 2 g 3 n signal and ABS data request signal signa ae ABS bit 1 ZSP X X Amplifier output 3 The 2 bit line line for ABS bit O and bit 1 will be used for data transmission ABS bit 0 DO X Amplifier output 4 Atthe completion on ABS data reading Apx Instruction execution complete flag M8029 Current position data 32 bits will be turned on check data 6 bits Se For details of Instruction execution 2s complete flag refer to S Subsection 4 7 4 7 4 Initial Zero Return When your system is established even if your servo motor is equipped with the absolute position detection function it is necessary to perform zero return at least once to send the CLEAR signal to the servo motor Use one of the following methods for the initial zero return 1 Execute DSZR FNC150 with DOG search zero return instruction or ZRN FNC156 zero return in
32. H E D P A CE n viv A1 Specify YOOO Y001 or YOO2 transistor output of main unit or specify YOOO YOO1 Y002 2 or Y003 2 of the high speed output special adapter 1 High speed input output special adapter cannot be connected to FX3UC 32MT LT 2 To use Y002 and Y003 of the high speed output special adapter connect the second high speed output special adapter Point To use the FX3U Series main unit of relay output type be sure to connect the high speed output special adapter The differential line drive will be used for the outputs of the high speed output special adapter B 126 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 11 Batch Data Positioning Mode TBL Instruction Built in Positioning Function 11 2 List of Related Devices 11 2 List of Related Devices o o 3 3 o 2 g 3 n 1 Special auxiliary relays The following table shows the related special auxiliary relays Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations Device number z Function Attribute Refer to yooo YOO YOO2 voos3 M8029 Instruction execution complete flag Read only a M8329 Instruction execution abnormal end flag Read only ou Apx f g Subsection 9E M8338 2 Acceleration deceleration operation Drivable 339 ad a a3 x TM Subsection M8
33. If input relay X010 or below is specified for the near point signal the input filter 10 ms will be adopted If DSZR instruction is used Since the zero phase signal of the servo motor is used adjust the relation between the rear end of the DOG and the zero phase signal as shown in the following figure If fine adjustment of the origin position is needed adjust the position of the near point signal DOG Rear end DOG Zero phase signal l If reciprocating operation operation in the forward rotation direction and then reverse rotation direction is not stopped at the specified position The built in positioning function cannot correct the mechanical backlash clearance play during positioning operation If it is necessary to correct the backlash preliminarily set the number of output pulses considering the backlash that may be caused when changing the transfer direction N Table Nw Feed screw Backlash clearance play B 160 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Example Connection TI c m o Q o a zi o iz o E e um out a os 3 i Q FXsu FXsuc Series Programmable Controllers User s Manual Positioning Control Edition Appendix Example Connection Foreword To use the positioning function of the MELSEC F FX3U FX3uc Series PLC described in this manual the PLC should be connected to a servo amplifier drive unit The Appendix the
34. Maximum speed Initial value 100 000 Hz SEEN 7 BY 4 4 Ey Bias speed Bias speed Initial value 0 Hz Acceleration Eum c me time Deceleration time Initial value 100 ms Initial value 100 ms Caution To enable acceleration deceleration turn on the M8338 first and then activate the variable speed pulse output PLSV instruction If acceleration deceleration is enabled the variable speed pulse output PLSV instructions of all the pulse output destination devices will accelerate decelerate the operation This means that acceleration deceleration cannot be specified for each pulse output destination device FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 4 Current Value and Flag for Monitoring of Operation 4 4 Current Value and Flag for Monitoring of Operation o o 3 3 o 2 gd 3 e 4 4 1 Current Value During positioning operation use the current value register to check the current value The current value will be increased or decreased depending on the rotation direction The following table shows the current value register 32 bit of each pulse output destination device YOOO YOO1 Y002 Y003 Pulse output destination device Current value register 32 bit Y000 D8341 D8340 Y001 D8351 D8350 Apx Y002 D8361 D8360 D Yo03 D8371 D8370 38
35. catch input input of SPD FNC67 instruction and other interrupt inputs of DVIT FNC151 instruction 4 If the FX3uc PLC is used this item cannot be set Note that this item can be set only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 3 Click Individual Setting button to display Positioning instruction setting window In this window set the positioning table of each pulse output destination device Apx om Positioning instruction settings 9 m a3 w CREW fe qs e Rotation direction signal Y010 HeadAddess RO 9 Positioning table No Positioning Instruction Pulse Frequency Hz lt Up DDVIT Interrupt positioning instruction 5000 30000 DPLSV Variable speed output pulse instruction 20000 Down DDRVI Relative positioning instruction 50000 40000 DDRVA Absolute positioning instruction 50000 c m 2 Insert Delete c o om Delete all lines a alalalalalalalata IV Positioning table settings will not be initialized when the PLC is powered on Setting item Description of setting Setting range YO Click this tab to set the positioning table for YOOO pulse output destination Y1 Click this tab to set the positioning table for YOO1 pulse output destination Y2 Click this tab to set the positioning table for YOO2 pulse output destination v3 Click this tab to set the positioning tab
36. device specified by If the number of output pulses specified by is a positive number the operation will ON be performed in the forward rotation direction Forward rotation Outputting the pulse will increase the current value If the number of output pulses specified by is a negative number the operation OFF will be performed in the reverse rotation direction Reverse rotation Outputting the pulse will reduce the current value Apx gm 10 3 2 Operation with Acceleration Deceleration M8338 ON id 0 S After turning on the acceleration deceleration function M8338 if the output Sie frequency value is changed acceleration or deceleration will be performed first and then the variable speed pulse output PLSV instruction will change the output frequency If the FX3uc PLC of below Ver 2 00 is used operation will be performed without acceleration deceleration M8000 Command input FNC 157 For details on the maximum speed bias speed acceleration time and deceleration time refer to Subsection 4 2 5 to Subsection 4 2 8 Maximum speed Initial value 100 000 Hz UG ey ee Speed pulse frequency al I l l l l I I N I Output l I I I I I 1 Deceleration time Bias speed Acceleration time Initial value 0 Hz T Initial value 100 ms Initial value 100 ms 1005 250 X 500 X 250 Instruction Activation contact ON OFF 1 For CS specify the output pulse frequen
37. direction using the Number of Output Pulse Rotation albert E output pulses pulse output direction YOOA4 OFF maximum value frequency destination signal in direction number Completes the JOG operation Abnormal y end Y 1 The maximum transfer distance for each jogging operation is 999 999 pulses pulse output range of FNC158 DRVI instruction To further move the workpiece execute the JOG command again B 141 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 2 Programs for Forward Reverse Rotation Relay Ladder Program V x X024 M8348 MIO M108 M109 Brahe al I M 3 a T RST M12 completion flag Position Position Zero Normal Abnormal ing in ing return end of end of Reverse rotation forward operation compl positioning positioning RST M13 positioning rotation being etion in forward in forward completion flag direction performed flag rotation rotation Positioni M107 direction direction ositioning operation being Mto7 performed in Positioning operation being Pris rotation irection performed in forward rotation ENG di n direction oves to absolute im DDRVA K500000 K100000 YOOO Y004 position 500000 using the absolute command Designation Output Pulse Rotation positioning of absolute pulse output direction instruction position frequency erii sad signal Y004 ON number F
38. flag M8340 M54 Ends the positioning operation in the reverse Y000 Waiting for 1 scan time rotation direction Outputting Self reset M8000 RUN monitor To stop the positioning operation be sure to insert the stop contact before the positioning instruction so that STL instruction cannot be turned off reset until pulse output monitor flag M8340 for YOOO is turned off To prevent simultaneous activation of positioning instructions the instruction activation timing should be delayed by 1 scan time B 146 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 4 Positioning Using Batch Setting Method 12 4 Positioning Using Batch Setting Method Positioning operation will be performed using the absolute positioning method as shown in the following chart For details on input output assignment refer to Section 12 1 o o 3 3 o 2 g 3 n 500 000 Output pulse frequency _ 100 100 000 Hz Origin Acceleration deceleration time Apx 100 ms om i5 z 5 Que 12 4 4 Setting Using GX Developer 3 This section describes how to set the positioning parameters using GX Developer of Ver 8 23Z 1 On the project tree displayed on the left side of the screen double click Parameter and then PLC parameter If the project tree is not displayed on the screen click View on the menu bar and then click Project Data List
39. 0 1710 or less of Max speed Max speed Hz 100000 Creep speed Hz 100000 100000 100000 10 200 000 1000 10 32 767 1000 Zero retum speed Hz Acceleration time ms 1000 1000 50000 50000 50000 50000 10 200 000 50 5 000 Deceleration time ms 50 5 000 Interruption input of DVIT instruction X3 X0 X7 Special M Individual setting Default Setting item Description of setting pening range 1 10 or less Bias speed Hz Sets the bias speed for each pulse output number Initial value 0 of maximum speed Maximum speed Hz Sets the maximum speed for each pulse output number Initial value 100000 ub Sets the creep speed of DSZR FNC150 instruction for each pulse output 10 to Creep speed Hz imber Initial value 1000 32767 Zero return speed Sets the zero return speed of DSZR FNC150 instruction for each pulse 4 Hz output number Initial value 50000 Acceleration time ms Sets the acceleration time for each pulse output number Initial value 100 50 to 5000 Deceleration time ms Sets the deceleration time for each pulse output number Initial value 100 50 to 5000 Sets the interrupt input for each pulse output number to activate DVIT FNC151 instruction If a pulse output destination device does not use DVIT instruction specify a user interruption command device M Interrupt input of Initial setting Setting range Shown on D
40. 1 10 of the Voog D8372 maximum speed 1 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 4 2 7 Setting of Acceleration Time Set the time required for acceleration from the bias speed to the maximum speed If the output pulse frequency is less than the maximum speed the actual acceleration time will be shorter than the set acceleration time If the variable speed pulse output PLSV instruction is used the set acceleration time will be valid during acceleration deceleration M8338 ON only Use the devices shown in the following table to determine the acceleration time for each pulse output destination device RUE Acceleration Initial value Setting range destination device Time Y000 D8348 50 to 5 000 ms Y001 D8358 If the value is set to 49 ms or less the acceleration time will Yoo2 D8368 100ms be automatically set to 50 ms If the value is set to 5 001 ms or more the acceleration time will be automatically set to Y003 D8378 5 000 ms 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FXau PLC 4 2 8 Setting of Deceleration Time Set the time required for deceleration from the maximum speed to the bias speed If the output pulse frequency is less than the maximum speed the actual deceleration time will be shorter than the set deceleration t
41. 3 Setthe parameter No 21 at servo amplifier to 020 Apx 17 FX8U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 4 MELSERVO C Series Example Connection Appendix 4 2 High Speed Output Special Adapter 4 To ensure safety adopt the forward rotation limit switch and the reverse rotation limit switch on both sides the PLC side and the servo amplifier side Note that the limit switches on the PLC side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable Programmable Servo amplifier side controller side controller side LSR LSF Servo motor m ve EM Ex Reverse rotation lt gt Forward rotation 5 Setthe pulse output method using the pulse output method setting switch Pulse output method setting switch Pulse output method FP RP side Forward reverse pulse train PLS DIR side Pulse train direction Apx 18 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Warranty SEU Warranty Please confirm the following product warranty details before using this product Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be r
42. 4 IDDRVA Absolute positioning instruction Ol 50000 5 Insert ai au F 6 ksl Specifies the positioning 7 Delete A 8 table number to be activated 5 TU 10 all ines C on st ant S etti n g Positioning table settings will not be initialized when the PLC is powered on Write Read pa ete OK Cancel Memory capacity Device Puc name vo assignment PLC system 1 PLC system 2 Y1 Y2 Y3 Setting Range Bias speed Hz 0 0 0 1 10 or less of Max speed 100000 100000 100000 100000 10 200 000 Creep speed Hz 1000 1000 1000 1000 50000 50000 50000 50000 100 100 100 100 50 5 000 100 100 100 100 505 000 Zero retum speed Hz Acceleration time ms Deceleration time ms xO Xl x2 X3 v XUX7 SpecialM Interruption input of DVIT instruction Individual setting Defaut Check End Cancel As shown in the following table each positioning instruction consists of the positioning type 4 types in total number of pulses pls frequency Hz etc For further information on the operation of each instruction refer to the description of each instruction Instruction to be activated and its operand Operand Positioni ositioningitype Instruction E Refer to wed Number of Output pulse Pulse output Rotation output pulses frequency destination direction device signal DDVIT Interrupt P
43. 57 4 7 1 Positioning Instruction Activation Timing nee nemen B 57 4 7 2 STOP instr cti n cicer Li tee uten aie Ae rite en c d gen Pate a ene B 59 4 7 3 Correction of Backlash ansins tereti de ee e s eT P REOR guste B 59 4 7 4 Instruction execution complete Flag of Positioning Instruction and Completion of POSINONING preciser e ccs c erect etti eee ro t eee Doe tbt dee done a tle B 59 4 7 5 Operation Error Flag eei ee C oe DEED ASU ea B 62 4 7 6 Writing Data in RUN Mode 4 egre petere e e E D re eu Eon ete Rios B 62 4 8 Items To Be Observed in Use of Main Unit Transistor Output B 63 4 9 Caution for Using the High Speed Output Special Adapter FX3U 2HSY ADP B 63 4 10 Format and Execution of Applied Instruction eeeeenen B 65 5 Operation Test B 67 5 1 Test Procedure eee ees ele lowe eed aee dea Eco E e o ete Orta ae eaae oa ke Ee De ee dae anoo ah B 69 5 2 Creation of Test Program eese enne enne nennen nnne nennen enne B 73 6 Mechanical Zero Return DSZR ZRN Instruction B 75 6 1 Types of Mechanical Zero Return Instructions B 75 6 2 DOG Search Zero Return DSZR Instruction B 76 6 2 1 Instructiori Fortmriat u ai e cete ie dee nadie lebe x Pe eges B 76 6 2 2 List of Related devices moder ltd eei Mie deed ie desee B 77 6 2 3 Function and Op ration e edet oerte ett RES B 79 6 2 4 Important Points roe epenebe tp
44. I Direction output i I I I 2 High speed output special adapter set to pulse train direction a Connection of PLC to servo amplifier FXsu 2HSY ADP b Image of PLC output and output waveform The output waveform shown below is based on the SGA terminal of high speed output special adapter If the SGB side of high speed output special adapter is used the output waveform will be that of the SGB terminal Forward rotaion Reverse rotaion I Pulse train signal i Y000 l I I I I I I I I I I I I Image of output ON A 7 7 7 i iA 7 7 7 ON OFF operationOFF 4 T 1 i m m m m HEROS RU Output Low oa I waveform High NE L1 94284 CN UU 0 C T TN I I I I I I I I I I I I I I I I I I I I I I I I I I I I Direction output Y004 Image of output ON 5 ON OFF operation OFF High o O 0 8 O Output Low waveform High O C Low a FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 Before Programming 4 6 Setting of Various Items on Servo Amplifier Drive Unit Side 3 a Connection of PLC to servo amplifier FX3U 2HSY ADP Forward rotation pulse train High speed output special adapter set to forward reverse rotation pulse TRAIN i crt ca Reverse rotation V _ pulse train _ S NG 36 L1 Image of PLC output and output waveform The output waveform shown below is based on the SGA terminal
45. Interrupt input signal Pulse output If it is not necessary to use the destination interrupt input designation function device M8336 z OFF or if the FXsuc PLC If it is necessary to use the interrupt input designation function of below Ver 1 30 is used MODI Y000 X000 D8336 HO OO O i Interrupt input for YOOO pulse output destination device Y001 X001 Interrupt input for YOO1 pulse output destination device Y002 X002 Interrupt input for YOO2 pulse output destination device z Interrupt input for YOOS Yoo3 X003 pulse output destination device 1 Y003 can be specified as the pulse output destination only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC Designation of interrupt input using M8336 rem FX3u 1 Turn on the M8336 2 Set the interrupt input number X000 to X007 in the D8336 or specify the user interruption command device For details on the designation method refer to Subsection 4 3 7 or Subsection 4 5 1 D8336 HO O O O E Interrupt input for YOOO pulse output destination device Interrupt input for YOO1 pulse output destination device Interrupt input for YOO2 pulse output destination device Interrupt input for YOOS pulse output destination device Setting value Description of setting 0 Specifies X000 for the interrupt input signal 1 Specifies X001 for the interrupt input signal 7 Specifies X007 for the interrupt input signal
46. Manual Positioning Control Edition 5 Operation Test Built in Positioning Function 5 1 Test Procedure 8 Check the operation in the forward rotation direction Check the output indicator lamp LED lamp and the current value register to check the operation The status of the LED indicator lamp and the value indicated on the current value register depend on the pulse output destination or rotation direction set in the positioning instruction However if the pulse output destination or the rotation direction is changed in the test program carefully read the status of the output indicator lamp LED lamp and the value indicated on the current value register marking the change in the test program Operation in forward rotation direction Turn on the forward rotation JOG switch X012 and check that operation is performed in the forward rotation direction For this check set the other inputs in the following statuses Input signal Status X010 ON X011 ON X013 OFF 1 LED indicator lamp check Check the LED indicator lamps of the PLC or the display module to see whether or not the outputs are turned on The status of each output should be as shown in the following table du RE Secure oi Status of LED lamp output If transistor outputs of main Pulse train direc Y000 Turned on and off at a high speed unit are used tion method Y004 Kept at the ON status Pulse train 4 direc Yo 2 Turned on and off at a hig
47. Mode TBL Instruction Built in Positioning Function 11 1 Instruction Format ENN 1 11 Batch Data Positioning Mode TBL Instruction 11 1 If GX Developer Ver 8 23Z or later is used the positioning instructions shown below can be preliminarily set in the positioning tables After that orz o0 aa vonztones if a table is specified the positioning operation of the specified table will eee be performed i mela Pe Instruction Description DVIT FNC151 One speed interrupt constant quantity feed Interrupt positioning PLSV FNC157 Variable speed operation Variable Speed Pulse Output DRVI FNC158 1 speed Drive to Increment DRVA FNC159 positioning Drive to Absolute Instruction Format 1 Instruction Format FNC 152 16 bit Instruction E m 32 bit Instruction m instruction BS Execution condition instruction EVT Execution condition s DTBL 77 Continuous TABLE 17 steps exec lion i type Command input FNC152 ne Data setting Operand type Description Data type CD Specifies the pulse output number Bit n Specifies the table number 1 to 100 to be executed BIN 32 bit Devices Bit device Word device Others Real Char eee ane System user Digit designation System user m Index d num acter Pointer type slant per string XIYIM TIC S DO b KnX KnY KnM KnS T C D R UDGO V Z Modify K
48. Operation will be stopped 1 speed po DVIT instruction Variable speed operation sitioning with Interruption positioning interruption Operation speed Speed Start Interrupt input ON If DVIT instruction turns ON the operation will be started at the operation speed If interrupt input turns ON the workpiece will go the specified transfer distance but just before stop the speed will be reduced Chapter 9 PLSV instruction Variable positioning Variable Speed Pulse Output Operation without Acceleration Deceleration Operation speed Start Speed Speed Instruction change change Deactivated Operation with Acceleration Deceleration Operation speed Start Speed Speed Instruction change change Deactivated If PLSV instruction turns ON the operation will be started at the specified operation speed If the operation speed varies the speed will accelerate decelerate and the operation will be continued at the varied speed If PLSV instruction is deactivated the speed will decelerate and then the operation will stop Chapter 10 TBL instruction 1 1 This instruction is compatible with Ver 2 00 or later Positioning using batch setting method No Position Speed Instruction 1 1000 2000 DRVI 2 200005000 DRVA 3 50 1000 DVIT 4 800 10000 DRVA Preliminarily set the positioning point by parameters If TBL instr
49. Positioning Control Edition 5 Operation Test Built in Positioning Function 5 Operation Test o o 3 3 o 2 g 3 n This chapter describes the operation test of positioning instructions During forward rotation JOG operation and reverse rotation JOG operation the test checks whether positioning instructions are properly activated DESIGN PRECAUTIONS O DANGER Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even Apx when external power supply trouble or PLC failure occurs om Otherwise malfunctions or output failures may result in an accident ad 1 An emergency stop circuit a protection circuit an interlock circuit for opposite movements such as normal z2 and reverse rotations and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the PLC When the PLC CPU detects an error such as a watch dog timer error during self diagnosis all outputs are turned off When an error that cannot be detected by the PLC CPU occurs in an input output control block output control may be disabled Design external circuits and mechanisms to ensure safe operations of the machine in such a case When some sort of error occurs in a relay triac or transistor of the output unit output may be kept on or off For output signals that may lead to serious accidents design external circuits and m
50. Pulse output stop Operation device command flag Yo00 M8349 During pulse outputting operation if the pulse output stop Y001 M8359 command flag of corresponding pulse output destination Y002 M8369 device is turned on the pulse outputting operation will be Y003 M8379 immediately stopped 5 Check that the limit switch forward or reverse rotation limit switch is not activated For details on the normal and reverse rotation limits refer to Subsection 4 3 1 The following table shows the forward and reverse limit flags of each pulse output destination device YOOO0 YOO1 YO02 Y003 Corresponding instruction and stop Pulse output DR heer lue Forward limit Reverse limit DSZR DVIT ZRN destination 1 PEW Leon PLSV M8338 ON DRVI flag flag and DRVA instructions device M8338 OFF Y000 M8343 M8344 If the corresponding rotation If the corresponding rotation Y001 M8353 M8354 limit flag is turned on pulse _ limit flag is turned on the Y002 M8363 M8364 output operation will be speed will be reduced and Yo03 M8373 M8374 immediately stopped then operation will be stopped 6 Check the operation timing of the positioning instruction If pulse output monitor BUSY READY flag is on and if the positioning instruction excluding the ABS instruction or the pulse output instruction PLSR PLSY uses the same pulse output destination device the instruction cannot be executed After the
51. To check the error refer to the following section Refer to Subsection 13 2 1 Error Code Check Method B 155 x lt ejdurex3 C o 3 o 9 zx o FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 13 Troubleshooting 13 1 LED Indicator Lamp Check 2 If the high speed output special adapter FX3U 2HSY ADP is used for positioning Status of pulse output method setting switch PLS DIR side FP RP side Signal Pulse output destination device pulse train Rotation direction output direction Pulse output destination device Forward pulse train Rotation direction output Reverse pulse train LED status during execution of positioning instruction Turned on and off at high speed Description The pulse outputting operation is controlled by the positioning instruction OFF ON The PLC may be at the following status 1 The operation of the positioning instruction is completed 2 Anoperation error occured in positioning instruction The instruction therefore is not being executed To check the error refer to the following section Refer to Subsection 13 2 1 Error Code Check Method Forward operation is in execution OFF Turned on and off at high speed The PLC may be at the following status 1 The positioning instruction turns ON and operation is being performed in the reverse rotation di
52. Ver 2 00 or later If the FX3UC PLC is used and its version is below Ver 2 00 operation will be performed without acceleration deceleration FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 8 Items To Be Observed in Use of Main Unit Transistor Output 4 8 Items To Be Observed in Use of Main Unit Transistor Output o o 3 3 o 2 gd 3 e 1 Pulse output destination devices Use Y000 Y001 and Y002 transistor outputs of the main unit as the pulse output destination devices Do not use Y003 transistor output of the main unit for the positioning instructions If YOOS is used for a positioning instruction the PLC may be damaged 2 Pulse output method Adjust the pulse output method of the transistor output of the main unit so that the pulse output method can conform to the command pulse input method of the servo amplifier drive unit If the pulse output method is not properly adjusted the servo amplifier drive unit may not perform the intended operation Apx For details on the servo amplifier drive unit refer to the manual of the product used in your om system 34 For details on the pulse output method of the main unit refer to Subsection 4 6 1 ad 3 Output pulse frequency including zero return speed If the transistor output YOOO YOO1 Y002 of main unit uses the pulse frequency of more than 100 000 Hz to perform operation the PLC
53. Zero return instruction without DOG search function ABS FNC155 2 Absolute Current Value Read instruction 2 The absolute position detection function is adopted for the MR HLIA MR J2L1A MR J2SL1A or MR J3LJA servo amplifiers If one of these servo amplifiers is adopted and mechanical zero return is performed only once just before turning off the power the current value will not be erased even after power off After turning on the power again read out the stored current value using ABS FNC155 instruction of the PLC This means that the current value can be obtained without performing zero return just after turning on the power again FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 4 Current Value and Flag for Monitoring of Operation 4 4 2 Completion of Execution of Instruction Instruction execution complete Flag Instruction execution abnormal end Flag Use Instruction execution complete flag or Instruction execution abnormal end flag to check whether execution of the positioning instruction is completed properly Instruction execution complete flag and Instruction execution abnormal end flag can be turned on or off for each instruction Use these flags just after execution of each instruction For details on programming refer to Subsection 4 7 4 Instruction execution complete fl
54. accessory to the product before turning on the power or starting the operation after installation or wiring work Failure to do so may cause electric shock WIRING PRECAUTIONS AC AUTION Connect the AC power supply wiring to the dedicated terminals described in this manual If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will be burnt out Connect the DC power supply wiring to the dedicated terminals described in this manual If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will be burnt out Do not wire vacant terminals externally Doing so may damage the product Perform class D grounding grounding resistance 1000 or less to the grounding terminal in the FX3u Series main unit with a 2mm or thicker wire Do not connect the grounding terminal at the same point as a heavy electrical system refer to the manual of the PLC main unit Perform class D grounding grounding resistance 100 or less to the grounding terminal in the FX3uc Series main unit with a wire as thick as possible Do not connect the grounding terminal at the same point as a heavy electrical system refer to the manual of the PLC main unit When drilling screw holes or wiring cutting chips or wire chips should not enter ventilation slits such an accident may cause fire failures or malfunctions Use the product in such a status that excessive force is
55. activated before forward rotation limit 2 or reverse rotation limit 2 of the servo amplifier As shown in the following figure interlock forward rotation limit 1 LSF with the forward limit flag and reverse rotation limit 1 LSR with the reverse limit flag If the forward limit flag or the reverse limit flag turns ON the motor will perform operation depending on the output instruction as shown in the following table A O o 3 o 9 zx o a ejdurex3 Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable Programmable Servo amplifier side controller side controller side LSR LSF Servo motor E e PA C Reverse rotation lt gt Forward rotation Forward rotation limit 1 Forward limit flag for YOOO Reverse rotation limit 1 M8344 Reverse limit flag for YOOO Use the flag shown in the following table to determine the forward rotation limit and the reverse rotation limit for each pulse output destination device YOOO YOO1 Y002 Y003 pH e Corresponding instruction and stop ulse outpu Mw UE DE TT IU DATI ET UE destination juge limit pan limit PLSV instruction E NAT device co ON MERES E EE and DRVA instructions a a If the corresponding rotation If the corresponding rotation Y001 M8353 M8354 limit flag is turned on pulse limit flag is turned on the Y002 M8363 M8364 output operation will be speed will be
56. an interlock circuit for opposite movements such as normal and reverse rotations and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the PLC When the PLC CPU detects an error such as a watch dog timer error during self diagnosis all outputs are turned off When an error that cannot be detected by the PLC CPU occurs in an input output control block output control may be disabled Design external circuits and mechanisms to ensure safe operations of the machine in such a case When some sort of error occurs in a relay triac or transistor of the output unit output may be kept on or off For output signals that may lead to serious accidents design external circuits and mechanisms to ensure safe operations of the machine in such cases NCAUTIO N Reference Do not bundle the control line together with the main circuit or power line Do not lay the control line near them As a rule lay the control line at least 100mm 3 94 or more away from the main circuit or power line Noise may cause malfunctions Install in a manner which prevents excessive force from being applied to the built in connectors dedicated to programming power connectors and I O connectors Failure to do so may result in wire breakage or failure of the PLC GHEE Sect Precautions EENID Read these precautions before using 2 WIRING PRECAUTIONS OD ANGER ERES Cut of
57. attached to the output pulse frequency Apx value CS us If itis necessary to change the sign stop the servo motor first by setting the output pulse frequency value 8 to KO After checking stop of the servo motor using the SERVO READY signal change the sign 25 attached to the output pulse frequency value CS If the sign attached to the output pulse frequency value is changed during pulse outputting operation the operation may be changed as follows and the machine therefore may be damaged 1 The pulse outputting operation may be stopped 2 Pulse output monitor BUSY READY flag may be turned off The pulse outputting operation may be stopped but the motor may not be stopped immediately 3 Operation may be performed in the specified direction at the frequency specified by the output pulse frequency value CS e Ifthe acceleration deceleration function turns ON turning off the instruction activation contact during pulse outputting operation will reduce the speed first and then stop the operation If the acceleration deceleration function is not activated turning off the instruction activation contact during pulse outputting operation will immediately stop the operation In this case Instruction execution complete flag M8029 will not be turned on If the limit flag forward limit flag or reverse rotation limit flag in the operation direction is turned on the operation will be immediately stopped In this case Instruc
58. can be specified only if Ver 2 00 or later is used 3 This function will be valid if PLSV instruction turns ON during acceleration deceleration using Ver 2 00 or later B 128 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 11 Batch Data Positioning Mode TBL Instruction Built in Positioning Function 11 3 Function and Operation 11 3 Function and Operation Preliminarily set the positioning parameters using GX Developer and then specify the pulse output destination CD and the positioning table number n for DTBL instruction to carry out positioning Use GX Developer of Ver 8 23Z or later to set the positioning parameters Number of pulses and frequency set by positioning parameters in each positioning table can be changed using the program display module or indicator For details on positioning parameters refer to Section 11 4 Positioning table setting o o 3 3 o 2 g 3 n Specifies the pulse output destination device for the positioning table to be p activated vo v lv ivs Rotation direction signal yo10 HeadAddress RO Apx Command Posting able Om input ox FNC152 No Positioning Instruction Puse Frequencia Up 38 D Ti B L n 1 DDVIT Interrupt positioning instruction 5000 30000 Jie LL o 5 2 DPLSV Variable speed output pulse instruction 20000 Down 0 3 DDRVI Relative positioning instruction bi 50000 40000 S
59. direction is changed in the test program carefully read the status of the output indicator lamp LED lamp and the value indicated on the current value register considering on the change in the test program 1 Operation in reverse rotation direction Turn on the reverse rotation JOG switch X013 and check that the operation is performed in the reverse rotation direction Input signal Status X010 ON X011 ON X012 OFF 1 LED indicator lamp check Check the LED indicator lamps of the PLC or the display module to check whether the outputs are turned on The status of each output should be as shown in the following table Pulse output LED lamp method of output Status of LED lamp output If transistor outputs of main Pulse train direc Y000 Turned on and off at a high speed unit are used tion method Y004 Kept at the OFF status Pulse train direc Y0 2 Turned on and off at a high speed tion method Y4 6 Kept at the OFF status If high speed output Forward rotation Y0 2 Kept at the OFF status special adapter is used pulse train FP Reverse rotation Y4 6 Turned on and off at a high speed pulse train RP 2 Current value register D8340 D8341 check Monitor the current value register D8340 D8341 of the FX3u FX3uc PLC using the programming tool and confirm that the value is being reduced For details on the current value register refer to Subsection 4 4 1 FX3U FX3UC Series PLC Us
60. either the terminal board or the MIL connector 20 pin Note Use FX3uc 1PS 5V extension power supply unit only if the 5V DC power supply unit incorporated in the FXauc PLC does not have enough capacity Refer to the FX3uc Hardware Edition For details of the connectable special extension blocks and system configuration refer to the following manual Refer to the FXsuc Hardware Edition FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Unit Connection Common Items 2 3 Individual Operation of Special Function Unit FX2N 10GM FX2N 20GM 2 3 Individual Operation of Special Function Unit FX2N 10GM FX2N 20GM Servo motor or Stepping motor MIL connector 20 pin controlled FX2N 10GM Only one axis can be MIL connector 20 pin FX2N 20GM ko amp Cc o o o Q E fos is wn o xs Gs e Note For details of connection of FX2N 10GM or FX2N 20GM and system configuration refer to the following manual Refer to FX2N 10GM FX2N 20GM HARDWARE PROGRAMMING MANUAL FX3U FX3UC Series PLC User s Manual Positioning Control Edition Common Items 3 Comparison of Specifications 3 1 Comparison of Performance Specifications 3 Comparison of Specifications Buiuonisod ul ying J SuJgj uouluo 3 1 Comparison of Performance Specifications The specifications of each product needed for positioning are shown below S
61. grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 To ensure safety adopt the forward rotation limit switch and the reverse rotation limit switch on both sides the PLC side and the servo amplifier side Note that the limit switches on the PLC side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable Programmable Servo amplifier side controller side controller side gl LSR LSF a z C e 3 3 o E o 3 e UU oc gp OS a3 ea Servo motor v X Ex Reverse rotation lt gt Forward rotation 4 Todetect absolute positions connect this line to the PLC Apx 9 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 2 MELSERVO J2 Super Series Example Connection Appendix 2 2 High Speed Output Special Adapter Appendix 2 2 High Speed Output Special Adapter To assign the inputs outputs refer to the following section Refer to Section 12 1 of B Built in Positioning Function Appendix 2 2 1 Sink Input Sink Output Transistor and Differential Line Driver Output A 7 a 1 MR J2 S FX3u 2HSY ADP Pulse train Series servo Forward rotation pusetanye CNIA Eu refi Rho fe ae 6 TLC t
62. instruction activation contact is turned off if pulse output monitor BUSY READY flag is still on do not execute the positioning instruction including PLSR and PLSY instructions having the same output number Before activating such an instruction check that pulse output monitor BUSY READY flag is off and then wait until at least 1 scan time is completed Pulse output destination device Pulse output monitor flag Y000 M8340 Y001 M8350 Y002 M8360 Y003 M8370 B 159 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 13 Troubleshooting Built in Positioning Function 13 4 If Operation Is Stopped at a Wrong Position 13 4 If Operation Is Stopped at a Wrong Position If operation is stopped at a wrong position check the following items 1 2 3 Check whether the electronic gear of the servo amplifier drive unit is set properly For the electronic gear setting method of the MELSERVO Series refer to Subsection 4 6 2 Check whether the origin is set properly e Properly set the DOG so that the near point signal DOG can be kept at the ON status until the speed is reduced to the creep speed This instruction will start speed reduction at the front end of the DOG and will stop the operation at the rear end of the DOG or at detection of the first zero phase signal after passing the rear end of the DOG After that the current value register will be cleared reset to 0 If the speed
63. is not reduced to the creep speed before detecting the rear end of the DOG the operation may not be stopped at the specified position The creep speed should be low enough The zero return instruction will not reduce the speed before stop For this reason if the creep speed is not low enough the operation may not be stopped at the specified position due to inertia Devices for near point signal DOG DSZR instruction If an input X000 to X017 of main unit is specified for the near point signal DOG the rear end of the near point signal DOG will be monitored detected at 1 ms intervals interruption Under the following condition however monitoring detection of the near point signal DOG rear end may be affected by the time constant at input or the scan time of the sequence program and the operation may not be stopped at the specified position a An input number of X020 or below or the other device auxiliary relay etc is specified 1 To use FX3U 16ML1 specify an input in the range of X000 to X007 ZRN instruction If an input X000 to X007 of the main unit is specified for the near point input signal the interruption function will be adopted to stop the operation Under the following condition however operation may be affected by the scan time of the sequence program and the operation may not be stopped at the specified position a An input number of X010 or below or the other device auxiliary relay etc is specified
64. lay the control line near them As a rule lay the control line at least 100mm 3 94 or more away from the main circuit or power line Noise may cause malfunctions Install in a manner which prevents excessive force from being applied to the built in connectors dedicated to programming power connectors and I O connectors Failure to do so may result in wire breakage or failure of the PLC DISPOSAL PRECAUTIONS AC AUTION Please contact a company certified in the disposal of electronic waste for environmentally safe recycling and disposal of your device TRANSPORTATION PRECAUTIONS NCAUTION Before transporting the PLC turn on the PLC to check that the BATT LED lamp is off and check the battery life If the PLC is transported with the BATT LED lamp on or the battery exhausted the backed up data may be unstable during transportation The PLC is precision equipment During transportation avoid impacts larger than that is specified in the manual of the PLC main unit Failure to do so may cause failures in the PLC After transportation check the operations of the PLC FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Specifications Built in Positioning Function 2 1 General Specifications 2 1 General Specifications For the general specifications on the FX3U FX3uc PLC refer to the following manuals Note that the general specifications on the high speed output special adapter are the same as the PL
65. load f items 16 points should be 1 6 A or 9E Y004 to YO17 0 1A 1point less 2d 20 Maximum load 7 2W 1 point S Y000 to Y003 24V DO The total load of the common items Inductive load 16 points should be 38 4 W or less at Yo04 to Yoiz 24W 1point 24V DC 24V DC Open circuit leakage current All outputs 0 1 mA or less at 30V DC ON voltage All outputs 1 5V Y000 to Y003 5 us or less at 10 mA or more 5 to 24V DC OFF ON Y004 to YO17 0 2 ms or less at 100 mA at 24V DC Response time Y000 to YOO3 5 us or less at 10 mA or more 5 to 24V DC ON OFF Y004 to YO17 0 2 ms or less at 100 mA at 24V DC Circuit insulation All outputs Photo coupler insulation Indication of output motion Monitored using display module Pulse output terminals YOOO YOO1 and Y002 are high speed response output terminals To use the positioning instruction adjust the load current of the NPN open collector to 10 to 100 mA 5 to 24V DC Item Description Operation voltage range 5 to 24V DC Operation current range 10mA to 100mA Output frequency 100 kHz or less 1 Internal output circuit 5 to 24V DC Servo amplifier Drive unit FX3uc Series main unit Pulse train signal Grounding 1 To ground the unit refer to the servo amplifier drive unit manual If the grounding method is not specified carry out class D grounding FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Sp
66. may be damaged The output pulse frequency and the zero return speed should be equal to or less than the maximum frequency of the servo amplifier drive unit 4 Load current To use a positioning instruction for YOOO Y001 or YOO2 transistor output of the main unit adjust the load current of the open collector transistor output to 10 to 100 mA 5 to 24V DC Item Description Operation voltage range 5 to 24V DC Operation current range 10 to 100mA Output pulse frequency 100 kHz or less 4 9 Caution for Using the High Speed Output Special Adapter FX3u 2HSY ADP 1 Output terminals to be used If the high speed output special adapter is connected output numbers will be assigned in the same way as the main unit as shown in the following table Use the output terminals of one side main unit side or high speed output special adapter side and do not connect lines to the output terminals of unused side The outputs of high speed output special adapter and the main unit will operate as follows Assignment of output numbers Position of pulse output method Name of Output number setting switch of high speed Signal positioning The 1st adapter The 2nd adapter output special adapter instruction 1st axis 2nd axis 3rd axis 4th axis Forward rotation Pulse output Yo00 Yo01 Y002 Y003 pulse train FP destination FP RP side a iali Rotal Gverse rotatoni Potation yoo4 YOO5 Yooe Y007 pulse train RP directi
67. of high speed output special adapter If the SGB side of the high speed output special adapter is used the output waveform will be that of the SGB terminal I Forawrd rotation pulse Forward rotation train YOOO I I I I I Image of output ON OFF operatio T High 4 i Output Low I waveform I I I I I I I palm Reverse rotation pulse i train Y004 Image of output ON ON OFF operation OFF High 3 no Low High i Low 4 l Output wavefor Reverse rotaion ON orr 4 O o o D 2 Setting of command pulse input method for servo amplifier drive unit Set the following parameter of the servo amplifier drive unit so that the pulse train input method of the servo amplifier drive unit can be adjusted to the pulse output method of the PLC as shown in the following tables Pulse output method of main unit Servo amplifier drive unit Transistor output sink output Pulse output method of high speed output special adapter Differential line driver Pulse train direction Command pulse input method Pulse train sign Logic of command pulse Negative logic Pulse train Forward rotation pulse train direction reverse rotation pulse train Pulse train 4 Forward rotation pulse train sign reverse rotation pulse train Negative logic Negative logic Parameter setting for each series of MELSERVO servo amplifier
68. of interrupt input Signal for DVIT Instruction seeeeeeenene B 40 4 3 8 Change in Logic of interrupt input Signal DVIT Instruction eeeeene B 41 4 3 9 Acceleration Deceleration by PLSV Instruction sssseeseeeeenen nennen B 42 4 4 Flag for Monitoring of Current Value and Operation eenene B 43 4 4 1 G rrent Values c Saved dive aie cere ne vie ate ete Pepe it ep vest ear vega B 43 4 4 2 Completion of Execution of Instruction Instruction execution complete Flag Instruction execution abnormal end Flag B 44 4 4 3 Pulse Output Monitor BUSY READY Flag eese B 44 4 4 4 Positioning Instruction Activation Flag eseeeeeennn mre B 44 4 5 Setting of Various Items on PLC Side seseeeeeeeennen nennen B 45 4 5 1 Setting of Common Items Using Program seems B 45 4 5 2 Setting of High Speed Output Special Adapter sse B 49 4 6 Setting of Various Items on Servo Amplifier Drive Unit Side sss B 51 4 6 1 Setting of Command Pulse Input Method ssseseeeeeeeeeeenneenene nennen nennen B 51 4 6 2 Setting of Electronic Gear For MELSERVO Series B 55 4 6 3 Setting of Servo Ready Signal MELSERVO MR C Series ssssseeeeee B 56 4 7 Items To Be Observed in Programming eese nennen enne B
69. off Interrupt signal logic reverse flag see the following table to specify the logic of this interrupt input signal However if the user interruption command device is set for the pulse output destination device the interrupt input signal logical NOT function cannot be used Pulse output Interrupt signal logic Description destination device reverse flag Di Y000 M8347 OFF Positive logic Turning on the input will turn on Y001 M8357 the interrupt input signal Y002 M8367 ON Negative logic Turning off the input will turn on the interrupt input signal Y003 M8377 1 Y003 can be specified as the pulse output destination only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC B 115 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 9 One speed Interrupt constant quantity feed DVIT Instruction Built in Positioning Function 9 3 Function and Operation 1 Interruption positioning operation Interruption positioning operation is described below assuming that YOOO is specified as the pulse output destination device by Dr For this reason if YOO1 YOO2 or Y003 is specified it is necessary to change the output number of each related flag For details on related flags refer to Section 4 1 to Section 4 4 or Section 9 2 Acceleration Deceleration i time i i time 1 D8349 Kl POSE EENE E EAE A A E EE 4 Speed Maximum speed X D8344 D8343 Output pu
70. parameters For details on the positioning parameters refer to Section 11 4 Device number Data Initial Function Refer to Y000 Y001 Y002 Y003 length value Specification of Subsection 2 Y D8336 interrupt input 16bit 4 3 7 Low Low Low Low D8340 D8350 D8360 D8370 order order order order Current value register SEX o Subsection High High High High pls 4 4 1 D8341 Aer D8351 order D8361 A 28371 order D8342 D8352 D8362 D8372 Bias speed Hz 16 bit 0 o Low Low Low Low D8343 D8353 D8363 D8373 order order order order Maximum speed Subsection HE ERG BS Son Hz 32 bit 100 000 gt 5 D8344 IY Dg354 9 pase 9 pgaz4 I E order order order order D8345 D8355 D8365 D8375 Creep speed Hz 16 bit 1000 eas D8346 LOW pgasc LOW pases 9 pgazg Low order order order order Zero return speed Subsection High High High High Hz a a od igh igh igh igh 2 Deon order D8397 order D8367 order DIRAN order Acceleration ti i D8348 D8358 D8368 pss MEE 16 bit 100 Section ms 4 2 7 Deceleration time i D8349 D8359 D8369 D8379 i 16 bit jog S uPssellon ms 4 2 8 1 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FX3u PLC 2 This function will be valid if Ver 1 30 or later is used However the user interruption command device
71. reduced and 7003 M8373 M8374 immediately stopped then operation will be stopped 1 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 2 The M8338 is compatible with Ver 2 00 or later If the FX3uc PLC is used and its version is below Ver 2 00 PLSV instruction will perform operation in the M8338 OFF mode will perform operation without acceleration deceleration Note If the forward rotation limit LSF and the reverse rotation limit LSR cannot be set observe the following items Even if forward rotation limit 2 or reverse rotation limit 2 turns ON and the servo motor is automatically stopped the positioning instruction currently activated cannot recognize the stop of the motor So the pulse will be continuously output until the instruction is deactivated The DOG search function of DSZR instruction zero return instruction with DOG search function cannot be used FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 3 Various Flags for Operation Commands 4 3 2 Immediate Stop of Pulse Output Pulse Output Stop Command Flag During execution of positioning instruction if the pulse output stop command flag is turned on the pulse outputting operation will be immediately stopped To output the pulse again turn off the pulse output stop command flag After tha
72. return instruction is executed zero return will be started b Transfer operation will be started in the zero return direction at the zero return speed c If the reverse rotation limit 1 reverse rotation limit is detected the speed will be reduced and then the operation will be stopped d Transfer operation will be started in the opposite direction of the zero return direction at the zero return speed e If the front end of the DOG is detected the speed will be reduced and the operation will be stopped The workpiece will detect the DOG and then come out of the DOG area f Transfer operation will be restarted in the zero return direction at the zero return speed The workpiece will enter the DOG area again If the front end of the DOG is detected the speed will be reduced to the creep speed After detecting the rear end of the DOG if the first zero phase signal is detected the operation will be stopped 2 QO gt FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 2 DOG Search Zero Return DSZR Instruction 4 If the limit switch in the zero return direction turns ON if the start position is at forward rotation limit 1 or reverse rotation limit 1 a When the zero return instruction is executed zero return will be started b Transfer operation will be started in the opposite direction of the zero return direction at
73. set Note that this item can be set only if two FXsu 2HSY ADP adapters are connected to the FXsu PLC 2 To use FXsu 2HSY ADP set the rotation direction signal depending on the pulse output destination device as shown in the following table Pulse output destination device Rotation direction signal Y000 Y004 Y001 Y005 Y002 Y006 Y003 Y007 3 Refer to the description of the selected instruction positioning type Positioning type Refer to DDVIT Interrupt positioning Chapter 9 DPLSV Variable Speed Pulse Output Chapter 10 DDRVI Drive to Increment Section 8 2 DDRVA Drive to Absolute Section 8 3 4 Transfer the parameters sequence program to the PLC 1 Select Online from the tool menu and then select Write to PLC Write to PLC window will appear Write to PLC Connecting interface COM3 PLC Connection lt gt PLC module Station No Host PLC type FX3U C ze f File selection Device data Program Commen fPaamsProg Select all Cancel all selections E Program 4 MAIN Device comment COMMENT Parameter EA PLC parameter Close Related functions Transfer setup Keyword setup Remote operation Clear PLC memory 1 Depending on the version of GX Developer the PC type may be set to FX3UC 2 Enter a check in PLC parameter check box and then click Execute button The selected paramet
74. so may damage the product Perform class D grounding grounding resistance 1000 or less to the grounding terminal in the FX3u Series main unit with a 2mm or thicker wire Do not connect the grounding terminal at the same point as a heavy electrical system refer to the manual of the PLC main unit FX3U FX3UC Series PLC User s Manual Positioning Control Edition 5 Operation Test Built in Positioning Function WIRING PRECAUTIONS AC AUTION Perform class D grounding grounding resistance 100 or less to the grounding terminal in the FX3uc Series main unit with a wire as thick as possible Do not connect the grounding terminal at the same point as a heavy electrical system refer to the manual of the PLC main unit When drilling screw holes or wiring cutting chips or wire chips should not enter ventilation slits such an accident may cause fire failures or malfunctions Use the product in such a status that excessive force is not applied on I O connectors Failure to do so may result in wire breakage or failure of the PLC Fit the I O cables securely to the designated connectors Contact failures may cause malfunctions Perform wiring properly to the FX3U Series main unit and FXoN FX2N Series extension equipment of the terminal block type in accordance with the following precautions Failure to do so may cause electric shock short circuit wire breakage or damages to the product The disposal size of the cable end sho
75. specify the transfer direction and the transfer distance relative address to determine the target position Transfer Transfer distance e Start point distance 100 End point lt _ Transfer distance 100 T l Transfer distance 100 Transfer distante 150 f 7 Transfer distance 100 Transfer distance 50 T T T 0 100 150 300 Origin Point A Point B Point C r For example 20km OMM Relative address Current position Target position CLIMA Lii To Ueno 1 Tokyo I Shinyokohama MI Odawara JH Atami WM Mishima Fill Shizuoka To go from Odawara current position to Atami target position set the distance 420 7 km from Odawara to Atami FX3U FX3UC Series PLC User s Manual Positioning Control Edition 8 1 Speed Positioning DRVI DRVA Instruction Built in Positioning Function 8 1 Incremental Method and Absolute Method 2 Absolute method absolute address setting method 9 Specify the distance absolute address from the origin to the target position In this case any position can be 3 the start point current position zi D 3 l Address e Start point e Address k 100 End point 100 Address i 150 5 Address 4 300 K Address 150 i gt Address 100 i Address 150 i i 0 100 150 300 Origin Point A Point B Point C Apx For example gm Curr
76. terminal blocks following the precautions below in order to prevent electrical shock short circuit breakage of wire or damage to the product The disposal size of the cable end should follow the dimensions described in this manual Tightening torque should be between 0 5 to 0 8 Nem GHEE S2fcty Precautions END Read these precautions before using 3 STARTUP AND MAINTENANCE PRECAUTIONS OD ANGER SENE Do not touch any terminal while the PLC s power is on Doing so may cause electrical shock or malfunctions Before cleaning or retightening terminals externally cut off all phases of the power supply Failure to do so may expose you to shock hazard Before modifying the program under operation or performing operation for forcible output running or stopping carefully read the manual and sufficiently ensure the safety An operation error may damage the machine or cause accidents NCAUTION Im Do not disassemble or modify the PLC Doing so may cause failures malfunctions or fire For repair contact your local Mitsubishi Electric distributor Before connecting or disconnecting any extension cable turn off power Failure to do so may cause unit failure or malfunctions Before attaching or detaching the following devices turn off power Failure to do so may cause device failure or malfunctions Peripheral devices expansion boards and special adapters I O extension blocks units and terminal blocks 4
77. terminal in the FX3u Series main unit with a 2mm or thicker wire Do not connect the grounding terminal at the same point as a heavy electrical system refer to the manual of the PLC main unit Perform class D grounding grounding resistance 100 or less to the grounding terminal in the FX3uc Series main unit with a wire as thick as possible Do not connect the grounding terminal at the same point as a heavy electrical system refer to the manual of the PLC main unit When drilling screw holes or wiring cutting chips or wire chips should not enter ventilation slits such an accident may cause fire failures or malfunctions Use the product in such a status that excessive force is not applied on I O connectors Failure to do so may result in wire breakage or failure of the PLC Fit the I O cables securely to the designated connectors Contact failures may cause malfunctions Perform wiring properly to the FX3U Series main unit and FXoN FX2N Series extension equipment of the terminal block type in accordance with the following precautions Failure to do so may cause electric shock short circuit wire breakage or damages to the product The disposal size of the cable end should follow the dimensions described in this manual Tightening torque should be between 0 5 to 0 8 Nem Observe the following items to wire the lines to the European terminal board Ignorance of the following items may cause electric shock short circuit d
78. the FXsu FXsuc PLC of Ver 2 00 or later it is necessary to set this item If the operation is not accelerated or decelerated or if the FXsuc PLC of below Ver 2 00 is used this instruction will not use this item even if this item is set 5 ZRNinstruction will not use any zero return direction setting devices Using the program adjust the rotation direction output to the zero return direction 6 This item can be set using the FXsu FXsuc PLC of Ver 2 00 or later 7 This item can be set using the FX3u FX3uc PLC of Ver 1 30 or later The user interrupt input command device however can be set using the FXsu FXsuc PLC of Ver 2 00 or later 8 Usethis function only if immediate stop is absolutely needed to avoid danger FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 5 Setting of Various Items on PLC Side Example of program In the following program the zero return instruction with DOG search function DSZR variable speed pulse output PLSV instruction and interrupt positioning DVIT instruction are used for the pulse output destination YOOO under the conditions shown in the following table 1 Set conditions Setting item Description of setting OEE seiling ELIO device or condition Items related to speed D8344 Maximum speed 30000Hz D8343 K30000 32 bit Bias speed 10Hz D8342 K10 Acce
79. to determine the direction signal or the reverse rotation pulse train for the 2nd axis of each high speed output special adapter Y005 Y007 For the 1st adapter specify Y005 as the rotation direction signal output of the positioning instruction For the 2nd adapter specify Y007 as the rotation direction signal output of the positioning instruction Connect the line if it is necessary to use DSZR ZRN instruction to output the CLEAR signal Using the CLEAR signal designation function specify the output number for transistor output In this case do not specify a device if the device is already specified as the rotational direction signal output for a pulse output destination by the clear signal device specification register For details on the CLEAR signal designation method refer to Subsection 4 3 4 The clear signal device specification register depends on the pulse output destination as shown in the following table Clear signal device specification register Y000 D8464 Y001 D8465 Y002 D8466 Y003 D8467 CLEAR signal Pulse output destination All output points 1 Point The CLEAR signal output initially set for DSZR ZRN instruction is the same output as the direction signal rotation direction signal reversed pulse train Be sure to specify the output number of the other transistor output using the CLEAR signal designation function 1 Specify the output number for transistor output
80. to the FX3uc Hardware Edition FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Introduction Common Items 1 2 Introduction of Products Needed for Positioning 3 Individual operation FX2N 10GM FX2N 20GM Without connecting special function units FX2N 10GM FX2N 20GM to the PLC you can operate them individually e FX2N 10GM can control one 1 axis servo motor or stepping motor e FX2N 20GM can control two 1 axis servo motors or stepping motors In addition up to 48 I O points can be added FX2N 10GM FX2N 20GM Servo motor Servo motor Servo motor Servo amplifier Servo amplifier Servo amplifier Buiuonisod ul ying J SuJgj uouluo uoioun J gt uonoeuuo C3 ajdwexy gt lt FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Unit Connection Common Items 2 1 FX3U PLC 2 Unit Connection This chapter shows various block diagrams to show various combinations of units needed for positioning control 2 1 FX3U PLC FX3u Series RR and 8 show the unit positions For details of installation refer to the manuals of special adapter and l special function units blocks Servo motor or Stepping motor European terminal board connected B FX3u 2HSY ADP Up to 2 u
81. will be transferred to the PLC To enable the transferred parameters stop the PLC and then restart it 12 4 2 Operation Program An example of relay ladder program is shown below Stops outputting YOOO pulses Immediate stop Refer to Subsection 4 7 2 X020 18343 Immediate stop a Resets origin return Servo ready completion flag Resets normal rotation positioning completion flag Resets reversed rotation positioning completion flag 18343 Normal rotation limit YOOO X027 M8344 Reversed rotation limit YOOO Reversed rotation limit ii d FNC 12 Hoo20 D8464 RUN monitor MOVP Enables the origin return operation with CLEAR signal outputting function CLEAR signal Y020 Performs origin return in the RUN monitor normal rotation direction B 149 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 12 Examples of Programs 12 4 Positioning Using Batch Setting Method Origin return Jogging operation Zoa M8348 Origin Positioning return being performed M100 Origin return being performed X022 JOG M8348 Positioning being performed Y000 M103 being performed X023 M8348 JOG Positioning being performed Y000 M105 being performed JOG operation is JOG operation is M101 M102 Abnormal end of origin return Normal end of origin return M104 Comp
82. zero return speed so that these values can be less than the maximum frequency value of the servo amplifier driver unit B 64 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 10 Format and Execution of Applied Instruction 4 10 Format and Execution of Applied Instruction o o 3 3 o 2 gd 3 e Instruction and operand Function numbers FNCOO FNCIIII and symbols mnemonic codes are assigned to the applied instructions of this PLC For example a symbol of SMOV shift is assigned to the FNC13 Some applied instructions consist of the instruction area only but many applied instructions consist of the instruction area and the operand Command input FNC158 a cis Ge Ge ml px om An operand that will not be affected by execution of the instruction is referred to as a 38 source This symbol represents a source 25 If the device number is modified by the index register e will be added and S will be modified into CS If there are two or more sources the modified sources will be St S and so on CD An operand that will be affected by execution of the instruction is referred to as a destination This symbol represents a destination If the device numbers can be indexed by index registers and if there are two or more destinations the modified destinations will be CDi D2 and so on m n The ope
83. 00 direction direction operation being M110 performed in reverse rotation Positioning operation being direction performed in reverse rotation direction FNC 152 Yo00 K4 Executes No 4 of Stop DTBL the positioning table command Pulse Table of Y000 pulse output number output destination destination number M8029 Reverse rotation SET M13 positioning Positioning in reverse rotation direction completion flag Execution completion Reverse rotation flag Miti positioning normal end flag M8329 D f Ab bimal end everse rotation positioning abnormal end flag END B 151 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 5 Program for Reading Current ABS Value Using ABS Instruction 12 5 Program for Reading Current ABS Value Using ABS Instruction 1 Program for storing ABS data in current value registers specified by positioning instruction for YOOO pulse output destination Die M8000 FNC155 x031 YO21 D8340 Reads out the ABS data to current value registers RUN DABS D8341 and D8340 monitor ABS bit0 Servo ON signal Read time limit 5 sec ABS data reading completed TO ABS data read error Read time error detected M8029 ABS data reading is completed Execution completion flag 2 Program for storing ABS data in current value registers of FX2N 1PG E or FX2N 10PG M8000 Reads out the ABS d
84. 1 Y002 YOO3 Y004 Yo05 Y006 Y007 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Specifications Built in Positioning Function 2 Specifications DESIGN PRECAUTIONS DANGER Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs Otherwise malfunctions or output failures may result in an accident 1 An emergency stop circuit a protection circuit an interlock circuit for opposite movements such as normal and reverse rotations and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the PLC When the PLC CPU detects an error such as a watch dog timer error during self diagnosis all outputs are turned off When an error that cannot be detected by the PLC CPU occurs in an input output control block output control may be disabled Design external circuits and mechanisms to ensure safe operations of the machine in such a case When some sort of error occurs in a relay triac or transistor of the output unit output may be kept on or off For output signals that may lead to serious accidents design external circuits and mechanisms to ensure safe operations of the machine in such cases DESIGN PRECAUTIONS AC AUTION Do not bundle the control line together with the main circuit or power line Do not
85. 2 D8364 D8363 less the maximum speed will less the maximum speed will Yo03 D8374 D8373 be automatically set to 10 Hz be automatically set to 10 Hz 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC Caution Touse the main unit transistor output set the output pulse frequency absolute value to 100 000 Hz or less If more than 100 000 Hz pulse is output from the transistor output terminal YOOO YOO1 Y002 of the main unit to perform operation the PLC may be damaged Setthe output pulse frequency so that the output pulse frequency value can be less than the maximum frequency value of the servo amplifier driver unit FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 2 Setting of Various Items Regarding Speeds 4 2 6 Setting of Bias Speed To control the stepping motor using each instruction set the bias speed considering the resonance range of the stepping motor and the automatic start frequency Use the devices shown in the following table to determine the bias speed for each pulse output destination device pulse output Bias speed Initial value Setting range destination device p 9 g TUY Po 1 10 or less of maximum speed Y001 D8352 OHz If the value is set to more than 1 10 of the maximum speed Y002 D8362 the bias speed will be automatically set to
86. 3 TT FeSt leS 1 2 ed e e AE REL Feo Er HEP T RE Ege ede e PU e und B 3 1 2 Setup Procedure for Positioning Control esesssesseeeeeeeennennnen nennen B 4 1 3 Version Numbers of Compatible PLCS sse rennen nennen B 7 1 4 Version Numbers of Compatible Programming Tools eee B 8 1 5 Assignment of Input Output Numbers essen nennen nee nennen nnne B 8 1 5 1 Assignment of Input Numbers esssssseeeeeeeeeee nennen nennen enne nennen nennen B 8 1 5 2 Assignment of Output Numbers sssssesesseeseeeneeneen nee nennen rennen nne B 10 1 5 3 Connection of High Speed Output Special Adapter ssseeen B 12 2 Specifications B 14 2 1 General Specifl atioris 15 eU De ed ie ed Den ied B 15 2 2 Power Supply Specifications eese nnne enne B 15 2 3 Performance Specifications essent nennen B 16 2 4 Input Specifications spui eens Sek red peer reino pet eco Ape ee et deter Re etd REL ed B 17 2 4 1 FX3U Series main unit 24V DC Input sse nennen nennen nennen enne nnns B 17 2 4 2 FX3UC Series main unit 24V DC Input nennen nennen nnns B 18 2 5 Outp t Specification S eig cc oca tete re tete De re PD cr RR e oae ed eL eect B 19 2 5 1 FX3UC Series main unit Transistor Output ssssseeeeeeeeeenneneen eene B 19 2 5 2 High Speed Output Special Adap
87. 3 1 M8348 M8358 M8368 M8378 Positioning instruction activation Read only Subsection 4 4 4 1 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FX3u PLC 2 This function will be valid if Ver 2 00 or later is used 3 Cleared when PLC switches from RUN to STOP 2 Special data registers The following table shows the related special data registers Note that YOOO YOO1 YO02 and Y003 are devices that determine the pulse output destinations Device number Data Initial Function Refer to Y000 Y001 Y002 yoo3 length value D8340 9 D8350 9 pgago LOW D8370 Low order order order order Current value register gbi o Subsection High High High High pls 4 4 1 D8341 er D8351 orger D8361 order 28371 order D8342 D8352 D8362 D8372 Bias speed Hz 16 bit 0 o um Low Low Low Low Beer order D8959 order Denga order pee order f Subsection Hiah High High High Maximum speed Hz 32 bit 100 000 425 D8344 9 pg354 9 pgse4 9 pgaz4 I9 e order order order order Acceleration time D8348 D8358 D8368 D8378 ETE 16 bit 100 Subsection ms 4 2 7 Deceleration ti a D8349 D8359 D8369 D8379 doma 16 bit 100 Subsection ms 4 2 8 1 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the
88. 336 4 Interrupt input specification function enabled Drivable 43 7 M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only ail M8343 M8353 M8363 M8373 Forward limit Drivable 2 uM M8344 M8354 M8364 M8374 Reverse limit Drivable xm M8347 M8357 M8367 M8377 Interrupt signal logic reverse gt 5 Drivable rie aaa M8348 M8358 M8368 M8378 Positioning instruction activation Read only Susection M8349 M8359 M8369 M8379 Pulse output stop command Drivable Ho mE M8460 M8461 M84627 M8463 2 User interrupt input command Drivable PDA 1 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FX3u PLC 2 This function will be valid if Ver 2 00 or later is used 3 Cleaned when PLC switches from RUN to STOP 4 This function will be valid if Ver 1 30 or later is used 5 The logical NOT function will not be valid for the user interrupt input command device B 127 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 11 Batch Data Positioning Mode TBL Instruction 11 2 List of Related Devices 2 Special data registers The following table shows the related special data registers Note that YOOO YOO1 YO02 and Y003 are devices that determine the pulse output destinations To set the constants shown in the shaded area set the positioning
89. 48 to 2 147 483 647 mm 2 147 483 648 to 2 147 483 647 inch 2 147 483 648 to 2 147 483 647 deg struction BFM direct designation Position data 1 point set in sequence program 1 point set in sequence program Connection of manual pulse generator Connectable Differential line driver open collector Detection of absolute position Reads out the current value of ABS Using the ABS ins truction of the PLC Others PLC input output 8 points occupied Each point can be used as either the input or output point PLC input output 8 points occupied Each point can be used as either the input or output point The length of the shortest pulse train output from the dedicated start terminal is 1 ms During positioning operation the operation Speed can be freely changed 1 The positioning range can be set in the range of 2 147 483 648 to 2 147 483 647 pulses 2 200 points table can be set for the table type positioning operation FX3U FX3UC Series PLC User s Manual Positioning Control Edition Common Items 3 Comparison of Specifications 3 1 Comparison of Performance Specifications 3 1 3 Positioning Special Function Unit FX2N 10GM FX2N 20GM Model FX2N 10GM FX2N 20GM Mio E 1 independent axis 2 independent simultaneous axes Interpolation 2 axes liner interpolation circular interpolation Pulse output system Open collector
90. 6 3 Zero Return ZRN Instruction 6 3 4 Important Points For the important points of programming refer to Section 4 7 If an input X000 to X007 of the main unit is specified for the near point input signal specified by Ss the interruption function will be adopted to stop the operation Under the following condition however operation may be affected by the input constant or the scan time of the sequence program Aninput number of X010 or below or the other device auxiliary relay etc is specified If input relay X010 or below is specified for the near point signal the input filter 10 ms will be adopted If an input X000 to X007 is specified for the near point signal CSs the input cannot be used for the following items High speed counter Input interruption Pulse catch SPD instruction DSZR instruction DVIT instruction Properly set the DOG so that the near point signal DOG can be kept at the ON status until the speed is reduced to the creep speed This instruction will start soeed reduction to the creep speed at the front end of the DOG and will stop the operation at the rear end of the DOG After that the current value register will be cleared reset to 0 If the speed is not reduced to the creep speed before detecting the rear end of the DOG the operation may not be stopped at the specified position The creep speed should be low enough The zero return instruction will not r
91. 7 OFF Y007 1 Use the FX3u FX3uc PLC of Ver 2 00 or later to use Clear signal device specification function enable flag 2 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 2 If itis necessary to use the Clear signal device specification function Turn on Clear signal device specification function enable flag to specify the CLEAR signal output Y for the pulse output destination device using the Clear signal device specification device Pulse output Status of CLEAR Status of Clear signal FX3uc FX 3u CLEAR signal device number destination signal output function device specification Clear signal device Initial value CLEAR device enable flag function enable flag specification device signal device Y000 M8341 ON M8464 ON D8464 Yoo M8351 ON M8465 ON D8465 Y002 M8361 ON M8466 ON D8466 Y003 M8371 ON M8467 ON D8467 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC For the Clear signal device specification method refer to the next page If itis necessary to use the high speed output special adapter The output device initially set for CLEAR signal of DSZR ZRN instruction is the same output device as direction signal reverse pulse train rotation direction signal of high speed output special adapter Be
92. 9 999 to 999 999 2 For Ce specify the output pulse frequency Setting range 16 bit operation 10 to 32 767 Hz When high speed output special adapter is used When transistor output of main unit is used 10 to 200 000 Hz 32 bit operation 10 to 100 000 Hz 3 For Dt specify the pulse output number in the range of YOOO to Y003 4 For 2 specify the rotation direction signal output device number If the high speed output special adapter is not used for the FX3U PLC or if the FX3uc PLC is used specify a transistor output number If the high speed output special adapter is used for the FX3U PLC specify the following output numbers High speed output special Pulse output Rotation direction adapter connection position destination device output for YOOO De Y004 The 1st adapter for YOO1 De Y005 for Y002 Y006 The 2nd adapter for Y003 Y007 B 101 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 8 1 Speed Positioning DRVI DRVA Instruction Built in Positioning Function 8 2 Drive to Increment DRVI Instruction 8 2 4 The rotation direction depends on the ON OFF status of the specified device as shown in the following table During execution of this instruction however do not use the output specified by ON OFF status of device Rotation direction increase reduction of current value specified by If the number of output pu
93. 9 R8 R11 R10 a3 S 100 R397 R396 R399 R398 Positioning table settings will not be initialized when the PLC is powered on Write Read 1 R401 R 400 R403 R402 oe Leer 2 R405 R404 R407 R406 Y001 3 R409 R408 R411 R410 100 R797 R796 R799 R798 1 R801 R800 R803 R802 2 R805 R804 R807 R806 Y002 3 R809 R808 R811 R810 100 R1197 R1196 R1199 R1198 1 R1201 R1200 R1203 R1202 2 R1205 R1204 R1207 R1206 Y003 3 R1209 R1208 R1211 R1210 100 R1597 R1596 R1599 R1598 Caution If positioning type is set to DPLSV Variable Speed Pulse Output frequency Hz value set on the screen will be stored as the set number of pulses and the device for frequency will be KO To use pulses and frequency changed by the display module or the indicator even after turning off and then on the power again Positioning instruction settings yo vw v2 vs Rotation direction signal vo10 Positioning table HeadAddress RQ z Positioning Instruction DDVIT Interrupt positioning instruction DPLSV Variable speed output pulse instruction DDRVI Relative positioning instruction DDRVA Absolute positioning instruction FrequencylH2 30000 20000 40000 50000 Insert Delete we oo o m 8 s Delete all lines Positioning table settings wil not be initialized when the PLC is powered on Enter a check Write Read
94. Built in Positioning Function 13 3 If the Servo Motor or the Stepping Motor Does Not Operate 13 3 If the Servo Motor or the Stepping Motor Does Not Operate If the servo motor or the stepping motor does not operate check the following items o o 3 3 o 2 gd 3 e 1 Check the wiring condition For output specifications refer to Section 2 5 To connect the MELSERVO Series refer to the examples of connection shown in the Appendix For details on the servo amplifier drive unit refer to the manual of your unit 2 Execute the positioning instruction and then check the statuses of the following LED indicator lamps For details on lamp statuses refer to Subsection 13 1 5 LED indicator lamp of the output specified as the pulse output destination LED indicator lamp of the output specified as the rotation direction output device Apx 3 Check that the same pulse output method is adopted for both the PLC and the servo amplifier drive unit om For details on the pulse output method refer to Subsection 4 6 1 ad For details on high speed output special adapter setting method refer to Subsection 4 5 2 20 4 Check that the pulse output stop command flag is off For details on the pulse output stop command flag refer to Subsection 4 3 2 The following table shows the pulse output stop command flag of each pulse output destination device Y000 YOO1 Y002 Y003 Pulse output destination
95. C 2 Cleared when PLC switches from RUN to STOP 9 This function will be valid if Ver 2 00 or later is used swa UOWWOD x ejdurex3 O o 3 o 9 zx o FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 6 Mechanical Zero Return DSZR ZRN Instruction 6 2 DOG Search Zero Return DSZR Instruction 2 Special data registers The following table shows the related special data registers Note that Y000 YOO1 Y002 and Y003 are devices that determine the pulse output destinations Device number Data Initial Function Refer to Y000 Y001 Y002 Y003 length value Low Low Low Low D8340 D8350 D8360 D8370 order order order order Current value 5 pit g Subsection iah iah iah iah register pls 4 4 1 p8341 HI9h pgag High pgag High 557 High gister pis order order order order Bias speed Subsection D8342 D8352 D8362 D8372 16 bit 0 Hz 4 2 6 D8343 9 pgggg LOW pggga LOW pgazg Low l l order order order order Maximum Subsection High High High Highspeed Hz 32 bit 100 000 35 igh igh igh igh e D8344 pena D8354 order D8364 Sede D8374 Sree D8345 D8355 D8365 D8375 Creep speed 16 bit 1000 Subsection Hz 4 2 4 Low Low Low Low D8346 arden D8356 arder D8366 oider D8376 Srde Zen edt pps an High High High High Speed Hz PA DN ero lag D8347
96. C excluding the specifications shown in the following table For the general specifications on the FX3u PLC refer to the FX3u Hardware Edition For the general specifications on the FX3uc PLC refer to the FX3uc Hardware Edition Item Specifications Withstand voltage 500V AC for 1 minute In accordance with JEM 1021 5M Q or more using 500V DC Between output terminal of high speed output Insulation resistance o tester special adapter and grounding terminal of PLC 2 2 Power Supply Specifications For the power supply specifications of the FX3u FXsuc PLC refer to the following manuals The power supply specifications of the high speed output special adapter are shown in the following table For the power supply specifications on the FX3u PLC refer to the FX3u Hardware Edition For the power supply specifications on the FX3uc PLC refer to the FX3uc Hardware Edition Item Specifications Output circuit drive 24V DC 60 mA power supply The service power of the main unit will be supplied internally 5V DC 30 mA PURIS drive POWE The adapter driver power will be internally supplied from the 5V DC power supply unit of the supply main unit A O o 3 D 9 zx o SWd UOWWOD p gt x lt ajdwex3 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 2 Specifications 2 3 Performance Specifications 2 3 Performance Speci
97. C158 Drive to Increment A DRVA FNC159 Drive to Absolute Y Y v A B 57 SUJ9 UOWWOD A C o 3 o 9 zx o x ejdurex3 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 7 Items To Be Observed in Programming Use with PLSY FNC57 and PLSR FNC59 instructions In addition to the later described positioning instructions there are other instructions that need outputting of pulses They are pulse output instructions FNC57 PLSY and FNC59 PLSR Do not use the same output number for both the positioning instruction FNC150 FNC159 and the pulse output instruction FNC57 or FNC59 Use of a positioning instruction together with PLSY or PLSR instruction will complicate the operation of the register that controls the number of output pulses see the following table For this reason it is recommended that a positioning instruction should be used in place of PLSY or PLSR instruction For details on the related devices refer to Section 4 1 to Section 4 4 Pulse output Current value register destination device For FNC150 FNC159 instructions For FNC57 and FNC59 instructions Y000 D8341 D8340 D8141 D8140 Y001 D8351 D8350 D8143 D8142 Y002 D8361 D8360 Yo03 D8371 D8370 1 YO003 can be specified as the pulse output destination only if two FX3u 2HSY ADP adapters are connected to the FXau PLC e If it is n
98. D8341 9 pgas4 797 pgsg 9 D8371 9 PLS DRVLDRVA order order order order Bias speed DSZR DVIT Subsection D8342 D8352 D8362 D8372 Hz P 16 bit 0 ZRN PLSV 4 2 6 DRVI DRVA 1 Low Low Low Low D8343 der D9393 forger D8363 ag D8373 Jorder Maximum DSZR DVIT Subsection High High Hiah High speed 32 bit 100 000 ZRN PLSV 425 D8344 9 pgas4 9 pga3e4 9 pg374 99 Hz DRVLDRVA order order order order D8345 D8355 D8365 D gz5 Creep speed eph 1000 pszr Subsection Hz 4 2 4 Low Low Low Low D8346 order P8356 order D8366 order P8376 order Zero return Subsection High High High High speed 32 bit 50 000 DSZR 4 2 3 D8347 9 pg3s7 9 psse7 9 pggz 9 Hz c order order order order Acceleration DSZR DVIT Subsection D8348 D8358 D8368 D8378 time 16 bit 100 ZRN PLSV 3 427 ms DRVLDRVA Deceleration DSZR DVIT a ene ae D8349 D8359 D8369 D8379 time 16 bit 100 ZRN PLSV 428 ms DRVLDRVA Gisersigital Subsection D8464 D8465 4 D8466 4 D8467 device 16 bit DSZRZRN Ja 34 specification v 1 Devices related to YOOS pulse output destination are valid only if two FX3U 2HSY ADP adapters are connected to the FX3U PLC 2 This function will be valid if Ver 1 30 or later is used However the user interruption command device can be specified only if Ver 2 00 or later is used 3 This instruction will be valid during acceleration deceleration using Ver
99. DISPOSAL PRECAUTIONS NCAUTION mm Please contact a company certified in the disposal of electronic waste for environmentally safe B 14 recycling and disposal of your device 5 TRANSPORTATION PRECAUTIONS NCAUTIO N Reference Before transporting the PLC turn on the PLC to check that the BATT LED lamp is off and check the battery life If the PLC is transported with the BATT LED lamp on or the battery exhausted the backed up data may be unstable during transportation B 14 The PLC is precision equipment During transportation avoid impacts larger than that is specified in the manual of the PLC main unit Failure to do so may cause failures in the PLC After transportation check the operations of the PLC FX3U FX3UC Series PLC User s Manual Positioning Control Edition FXsu FXsuc Series Programmable Controllers User s Manual Positioning Control Edition Manual number JY997D16801 Manual revision A 7 2005 Foreword This manual describes positioning function of the MELSEC F FX3u FX3uc Series PLC and should be read and understood before attempting to install or use the unit Store this manual in a safe place so that you can take it out and read it whenever necessary Always forward it to the end user This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any pr
100. Developer can set the positions using parameters PLSV instruction function is added Ver 2 20 or later After May 2005 Acceleration deceleration function DVIT instruction function is added Userinterruption mode DSZR ZRN instruction function is added Designation of destination for CLEAR signal to be output 1 Version number check Monitor the D8001 special data register to know the PLC version number D8001 PLC type and um Version information Example Ver 1 00 version PLC type Example 24 FX2N FX2Nc FXsu FXsuc PLC 2 Description of production number A label is affixed to the right side viewed from the front of the PLC The serial number is written on this label The control number included in the serial number shows the date of production Example FX3U 48MR ES manufacturer s serial number 570001 MITSUBISHI TOTROLEER Right side MODEL FXsu 48MR ES 100 240VAC 50 60Hz 40W OUT 30VDC 240VAC 2A COS6 1 SERIAL i 570001 us LISTED 80M1 IND CONT EQ CE AM MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN TT E Control number Month Example July 1 to 9 January to September X October Y November Z December Year Example 2005 Last digit of year FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Functi
101. Do not connect the line to both output terminals Connect the line to one of the output terminals The outputs of the high speed output special adapter and the main unit will be turned on as shown in the following table Output operation Unit PLSY PLSR DSZR Other DVIT TBL ZRN PLSV D PWM instruction instruction RVI DRVA instruction Will be turned on and off PWM FNC 58 f instruction however is not compatible with the When those instructions xls relay output For this reason do not use this FX3u Series main unit in execution assigned f Will be turned instruction Operation will not be performed of relay output type outputs turn ON LED is on ON properly due to delay in response output chattering of the contact aged contact etc For this reason do not use this instruction High speed output Will be turned on Will be turned on Wipe tumed special adapter on FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Outline Built in Positioning Function 1 5 Assignment of Input Output Numbers Block diagram FX3u Series main unit O o 3 3 S Sequence program D 3 e FX3U 2HSY FX3U 2HSY ADP ADP FNC 158 iet DRVI K30000 K20000 FNC 158 DRVA K15000 K10000 FNC 159 16009 K10000 2nd DRVA Apx FNC 1 pA K1000 K5000 t og YO002 S Y 003 YO006 Y007 Yo00 Y00
102. FXsu PLC 2 This function will be valid if PLSV instruction turns ON during acceleration deceleration using Ver 2 00 or later B 121 SUJ9 UOWWOD x ejdurex3 O o 3 o 9 zx o FX3U FX3UC Series PLC User s Manual Positioning Control Edition 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction Built in Positioning Function 10 3 Function and Operation 10 3 Function and Operation 10 3 1 This instruction is the variable speed pulse output instruction equipped with the rotation direction designation function The acceleration deceleration function is adopted for the variable speed pulse output PLSV instruction So it is possible to specify whether acceleration deceleration should be performed If the FX3uc PLC of below Ver 2 00 is used operation will be performed without acceleration deceleration Operation without Acceleration Deceleration M8338 OFF After turning off the acceleration deceleration function M8338 if the Pes Pe output pulse frequency value is changed the variable speed pulse output PLSV instruction will change the output frequency without acceleration deceleration M8001 M8338 ae inpu FNC 157 PLSV For details on the maximum speed and bias speed refer to Subsection 4 2 5 and Subsection 4 2 6 Speed Time CTO 280 800 X 280 Instruction Activation contact ON OFF 1 For CS specify the output pulse frequency Even if pul
103. H G PLSV 32768 to 1 200 000 to 1 instruction 1 to 32767 41 to 200 000 DRVI DRVA A 1 If FX3u 2HSY ADP is not used note that the frequency value cannot be more than 100 000 Hz 2 f FXau 2HSY ADP is not used note that the frequency value cannot be less than 100 000 Hz Caution e Touse the main unit transistor output set the output pulse frequency absolute value to 100 000 Hz or less If more than 100 000 Hz pulse is output from the transistor output terminal YOOO YOO1 Y002 of the main unit to perform operation the PLC may be damaged Setthe output pulse frequency so that the output pulse frequency value can be less than the maximum frequency value of the servo amplifier driver unit FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 2 Setting of Various Items Regarding Speeds 4 2 3 Setting of Zero Return Speed DSZR ZRN Instruction Use the related device or the operand of the instruction to set the zero return speed The zero return speed setting range is shown in the following table Be sure to set the zero return speed so that the relation with the other speeds can be bias speed lt zero return speed lt maximum speed If the set value of the zero return speed is more than the maximum speed value operation will be performed at the maximum speed For operation of DSZR in
104. LOOK cma To use pulses and frequency changed by the display module or the indicator even after turning off and then on the power again enter a check in Positioning table settings will not be initialized when the PLC is powered on check box in Positioning instruction Setting window of the positioning parameters To use this function use the uninterruptible power supply type devices If this function is not set the data set by the positioning parameters will be initialized B 135 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 11 Batch Data Positioning Mode TBL Instruction Built in Positioning Function 11 4 Positioning Parameter Setting To read out and store pulse and frequency changed by the display module or the indicator 1 In Positioning instruction setting window of positioning parameters enter a check in Positioning table settings will not be initialized when the PLC is powered on check box Positioning instruction settings LU c EN Rotation direction signal V010 HeadAddess RO Positioning table ee oom o m 8 Positioning Instruction Frequency 4 DDVIT Interrupt positioning instruction 30000 DPLSV Variable speed output pulse instruction 20000 DDRVI Relative positioning instruction 40000 DDRVA Absolute positioning instruction 50000 Insert Delete Delete all lines
105. Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 1 Types of Mechanical Zero Return Instructions 6 Mechanical Zero Return DSZR ZRN Instruction SUJg UOWWOD p gt 6 1 Types of Mechanical Zero Return Instructions If the specified forward rotation pulse or the reverse rotation pulse is output the positioning instruction of the PLC will increase or reduce the current value of the current value register When turning off the power of the PLC however the current value stored in the current value register will be erased For this reason after turning on the power again be sure to adjust the current value of the current Apx value register to the current position of the machine Om The Built in positioning function will use DSZR ZRN instruction zero return instruction to adjust the value of E 5 the current value register to the current mechanical position 25 Compared with ZRN instruction DSZR instruction has some more functions DSZR instruction ZRN instruction DOG search function v DOG signal logical NOT vV Zero return using zero phase signal v v Zero point signal logic reverse Absolute position detection system If the MR H MR J2 MR J2S or MR J3 servo amplifier with absolute position detection function manufactured by Mitsubishi is used the current position value will be retained even after power off Perform zero return
106. OO Y004 The 1st adapter for YOO1 Y005 for Y002 Y006 The 2nd adapter for YOO3 Y007 6 2 2 List of Related devices 1 Special auxiliary relays The following table shows the related special auxiliary relays Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations Device number Y000 Y001 YO02 voo3 Function Attribute Refer to M8029 Instruction execution complete flag Read only oe M8329 Instruction execution abnormal end flag Read only E o M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only p m M8341 M8351 M8361 M8371 Clear signal OUTPUT function enable Drivable Subsection M8342 M8352 M8362 M8372 Zero return direction specification Drivable Subsection M8343 M8353 M8363 M8373 Forward limit Drivable 2 m M8344 M8354 M8364 M8374 Reverse limit Drivable ao M8345 M8355 M8365 M8375 DOG signal logic reverse Drivable Pr M8346 M8356 M8366 M8376 Zero point signal logic reverse Drivable ee aaa M8348 M8358 M8368 M8378 Positioning instruction activation Read only wr M M8349 M8359 M8369 M8379 Pulse output stop command 2 Drivable o M8464 3 M8465 3 MB466 3 M8467 3 B een Seneca amen Drivable Subsection 1 Devices related to YOOS pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PL
107. OO DVIT instruction X007 Y001 to Y003 will not be used Logic of interruption input signal Negative logic Forward rotation limit for YOOO Reverse rotation limit for YOOO FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 Before Programming 4 5 Setting of Various Items on PLC Side 4 5 2 Setting of High Speed Output Special Adapter If high speed output special adapter FX3U 2HSY ADP is used the pulse output method can be selected from pulse train direction method and forward reverse rotation pulse train method o o 3 3 o 2 g 3 n 1 Setting of pulse output method Using the pulse output method setting switch of the high speed output special adapter FX3U 2HSY ADP set the pulse output method as shown in the following table The set pulse output method should conform to the command pulse input method set for the servo amplifier drive unit For details on the servo amplifier drive unit refer to the manual of the product used in your system Position of Apx ulse output HERES gr p Pulse output method command 38 method setting lsa aS switch p e l Forward rotaion ot Reverse rotation Forward rotation Forward rotation Hi Fog I E mit t EP RP side pulse train FP pulse train FP L vy lv lv Ia OFF Negative Reverse rotation i he i i logic ulse train RP Reverse rotaion H4 _ _ L i RP
108. OOO YOO2 specified for the pulse output destination YO02 designation this output is specified by the positioning instruction Direction signal All output Connect the line to any output Rotational Connect the line to the output specified for the rotation direction signal this signal direction signal points is specified by the positioning instruction Connect the line if it is necessary to use DSZR ZRN instruction to output the CLEAR signal The CLEAR signal output depends on the pulse output destination specified by DSZR ZRN instruction If PLC version is later than the following number the CLEAR signal can be specified Pulse output destination CLEAR signal Y000 Y004 Y001 Y005 Y002 Y006 FX3UC PLC Ver 2 00 or later CLEAR signal a Mn If the CLEAR signal designation function is used the clear points signal device specification register can specify an output for EHI each pulse output destination For details on the CLEAR signal designation method refer to Subsection 4 3 4 The clear signal device specification register depends on the pulse output destination as shown in the following table Pulse output destination Clear signal device specification register Y000 D8464 Y001 D8465 Y002 D8466 1 Specify the output number for transistor output FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Outline Built in Positioning Function 1 5 Assignment of Input Output Numbers 2 High speed out
109. Rotation direction Hi ON Orn Rotation direction ON OFF designation YOO5 i designation YOO7 i 2k Toe 1 ON and OFF represent the statuses of the PLC output H and L respectively represent the HIGH status and the LOW status of the waveform For details on the relation between high speed output special adapter output and the waveform refer to the next page B 51 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 6 Setting of Various Items on Servo Amplifier Drive Unit Side 4 Before Programming 3 High speed output special adapter Forward Reverse Pulse Train setting When setting Operate Output Form Setting Switch of the high speed output special adapter to FP RP side the pulse output signals will be as shown in the following figure Pulse output destination YOOO Forward rotation pulse train Rotation direction I I I I I I l I designation Y004 Hf OFF designation YOO6 Ha 1 Reverse rotation L VT Reverse rotation L SER LIVI pulse train pulse train I I I I Pulse output i Pulse output i destination Y001 n Tl i OFF 1 destination YOO3 n 4 OFF zi Forward rotation L I Forward rotation L i pulse train Rotation direction designation Y005 L Reverse rotation Forward rotation TA oR Pulse output destination YOO2 Forward rotation pulse train Rotation direction pulse
110. Series PLC User s Manual Positioning Control Edition I 1 Appendix 1 MELSERVO J3 Series Appendix 1 1 Main Unit Transistor Output l Example Connection ENNH 3 Appendix 1 MELSERVO J3 Series Appendix 1 1 Main Unit Transistor Output grounding Zero Point f signal PGO i CD X XUL 1 1 n l I Servo ready lj RD CX Immediate stop command Zero return command JOG command JOG command 34 T RD 49 Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command Emergency stop FL LSP Forward rotation limit 2 sn Reverse rotation limit 2 poco 4 Connected to FXauc if ABS instruction FNC 155 fess FX2N 16EX ES UL I I I I I I I I I I I I I I I I I I I I I I I I I I I I l I I l I I l I J Shows the reference This area shows the reference document the reference document is shown next to If the reference is in Appendix Examples of Connection the chapter section or item number only will be shown next to gt Apx 2 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 1 MELSERVO J3 Series Example Connection Appendix 1 1 Main Unit Transistor Output Appendix 1 MELSERVO J3 Series Appendix 1 1 Main Unit Transistor O
111. Series PLC User s Manual Positioning Control Edition Related Manuals Related Manuals Refer to this document to perform positioning operation using the FXsu FX3uc Series For the hardware information on the PLC and for details on special function units blocks refer to the respective manuals If you want to know what manuals are needed for your system please contact your dealer Indispensable manual Y Manual that may be indispensable depending on the purpose of use AAWith separate document that describes the details Document number Manuals for PLC lrxsu Series PLC Title of manual Description Model code The input output specifications and the wiring and installation methods for the A ia FX3u Series JY997D18601 FX3u PLC are excerpted from the FX3u product HARDWARE MANUAL Series User s Manual Hardware Edition For details refer to the FX3u Series User s Manual Hardware Edition Provides detailed information on the Separate FX3u Series hardware such as the input output 9 P User s Manual JY997D16501 specifications and the detailed wiring 09R516 document n Hardware Edition installation and maintenance methods for the FX3u PLC H Fxsuc Series PLC The input output specifications and the wiring and installation methods for the Enclosed FX3uc Series FX3uc PLC are excerpted from the A with the JY997D12701 User s Manual for FX3uc Series for HARDWARE MANUAL product Hardware For de
112. Sk 4 38 Qs Subsection 20 M8341 M8351 M8361 M8371 Clear signal OUTPUT function enable Drivable i34 i EU M8343 M8353 M8363 M8373 Forward limit Drivable oo M8344 M8354 M8364 M8374 Reverse limit Drivable jeu al M8348 M8358 M8368 M8378 Positioning instruction activation Read only aoe M8349 M8359 M8369 M8379 Pulse output stop command 2 Drivable ey aia Clear signal device specification function i M8464 3 M8465 3 M8466 3 M8467 3 i OE CLA Drivable SUbsection enabled 4 3 4 1 Devices related to YOOS pulse output destination are valid only if two FX3U 2HSY ADP adapters are connected to the FX3U PLC 2 Cleared when PLC switches from RUN to STOP 3 This function will be valid if Ver 2 00 or later is used 2 Special data registers The following table shows the related special data registers Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations Device number Device Data Initial Refer to Yooo Y001 Y002 Y003 number length value Low Low Low Low D8340 D8350 D8360 D8370 order order order order Current value 32 pit o Subsection iah iah iah igh register pls 4 4 1 p8341 9h pgag High pgsg High pgs High gister pls order order order order D8342 D8352 D8362 D8372 Bias speed 46 bit o Subsection Hz 4 2 6 ps343 b pgas3 l pggga LOW D8373 Low l order order or
113. Specify the zero return direction Turn on or off zero return direction designation flag M8342 to specify the zero return direction Execute DSZR instruction to carry out zero return Transfer operation will be performed in the direction specified by Zero return direction designation flag M8342 at the speed specified by zero return speed designation device D8347 D8346 If the near point signal DOG specified by is turned on 1 the speed will be reduced to the creep speed D8345 After turning off the near point signal DOG specified by CS1 if the zero phase signal specified by is turned on 2 the pulse outputting operation will be immediately stopped If the same input is specified for both the near point signal and the zero phase signal turning off the near point signal DOG will immediately stop the pulse outputting operation just like ZRN instruction the zero phase signal will not be used If the CLEAR signal output function M8341 is enabled set to ON the CLEAR signal Y004 will be turned on within 1 ms after stopping the pulse outputting operation and will be kept at the ON status for 20 ms 1 scan time ms The current value register D8341 D8340 will be reset to 0 will be cleared Instruction execution complete flag M8029 will be turned on and the zero return operation will be completed For details on Instruction execution complete flag refer to Subsection 4 7 4 Decel
114. Tightening torque FX3uU Series main unit FX2N Series input output powered extension M3 unit FX2N FXoN Series input output extension block 0 5 to 0 8N m Apx FX Series terminal block M3 5 om 2g 33 3 1 2 Termination 25 The size of each crimp style terminal depends on the size of the terminal screw and the wiring method Refer to the following description to select a crimp style terminal of optimum size 1 FX3U Series main unit FX2N Series input output powered extension unit and FXoN Series input output extension block When one wire is connected to one terminal Terminal Crimp 3 2 0 13 screw terminal 6 2mm 0 24 or less 3 2 0 13 6 2mm 0 24 Terminal or less When two wires are connected to one terminal 3 2 0 13 6 2mm 0 24 Terminal Crimp Se Screw terminal or Hes EA A 6 2mm 0 24 Terminal or less S 6 3mm 0 25 or more 2 FX Series terminal block When one wire is connected to one terminal Terminal Crimp 3 7 0 15 screw terminal 6 8mm 0 27 or less o 3 7 0 15 6 8mm 0 27 Terminal or less FX3U FX3UC Series PLC User s Manual Positioning Control Edition 3 Connection of Input Output Lines and Tightening Built in Positioning Function 3 2 European Terminal Board When two wires are connected to one terminal 6 3 7 0 15 6 8mm 0 27 Terminal Crimp C IP screw terminal or lens e 6 0mm 0 24 or more A m 3 7 0 15 4 LN 6 8mm 0 27
115. Torque being controlled CIN oH Servo error ALM 19 ZSP m Speed zero CN1B Servo ON Reset Epuivalent to Direction signal Reverse rotation pulse train Emergency stop ES Forward rotation limit 2 17 SN Reverse rotation limit 2 i OP 14 Connected to PLC if ABS instruction EX CNIB FNC 155 is used mlz FXon 16EX ES UL 6 epe 16EYT i FO SG eter to Append E Zero Point signal PGO Photo coupler Servo ready a pesk o ABSR li CLEAR signal l COM Immediate stop o INP command Lg N Zero return command Positioning Photo JOG 4 command completed INP coupler X023 JOG command Forward rotation positioning command 025 Reverse rotation positioning command e Forward rotation limit LSF Reverse rotation limit LBR 8 Stop command 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG Apx 10 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 2 MELSERVO J2 Super Series Example Connection Appendix 2 3 Absolute Position Detection Transistor Output 3 To ensure safety adopt the forward rotation limit switch and the reverse rotation limit switch on both sides the PLC side and the servo amplifier side Note that the limit switches on the PLC side should be activated slightly earlier than the limit swi
116. Upto 100 points table can be set to perform the table type positioning operation A 13 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Common Items 3 Comparison of Specifications 3 2 Comparison of Operation Modes 3 2 Comparison of Operation Modes Built in positioning Positioni function SURE Description FXsuc PLC jns FX2N 10PG FX2N 10GM FX2N 20GM main unit FX3U 2HSY ADP FX3u Jogging operation Speed Jogging speed If forward reverse v rotation command is Drive to input the motor will Increment 4 4 4 v Start rotate in the forward instruction is in JOG g 3 Y reverse direction substitution command Mechanical zero return Mechanical zero return start command will start Zero return the zero return speed i speed operation at the specified speed At the completion of v Y v 4 4 Origin DOG input ON Start mechanical zero return OLEAR CLEAR signal will be a e output DOG search function is adopted for each unit Electric zero return SETR instruction will Speed Maximum speed return the workpiece to the set electric origin at E vV 4 the maximum speed set Electric origin Start by parameters 1 speed positioning Start command will start Speed Operation speed operation at the specified operation Drive to E N speed and the Increment v v v v Start Target operanan wil be A are Transfer distance position stopped at the tar
117. User s Manual Hardware Edition Separate U document FxX3uc Series Regarding sequence program See TR ET Separate e Programming manual document Regarding positioning function Separate e FX3u FX3uc Series PLC EN User s Manual Positioning Control Edtion document This This document describes built in positioning function NW setting method examples of connection examples of programs details of troubleshooting etc m Products needed for positioning FX3u 2HSY ADP Either INSTALLATION MANUAL or USER S MANUAL is R enclosed with each product al For details refer to User s Manual Positioning Control i Edition this document or the manual of the product Fn HB Regarding installation and parts names oz e INSTALLATION MANUAL The separate document however is RS CUu needed to know the details of programming Regarding installation parts names operation and programs e USER S MANUAL Supplied with Separate This manual provides the the product document necessary information e HARDWARE PROGRAMMING MANUAL Separate This manual provides the necessary information document Servo motor stepping motor Obtain the instruction manual of the servo motor to be connected to your system This manual will be needed to set the parameters for the servo amplifier drive ifi as unit or wire the servo amplifier cmgp FX3U FX3UC
118. VIT instruction Y000 pulse output destination X000 X000 to X007 M8460 left side Y001 pulse output destination X001 Y002 pulse output destination X002 X000 to X007 M8462 Y003 pulse output destination X003 X000 to X007 M8463 X000 to X007 M8461 YO Sets data in this area if YOOO is specified as the pulse output destination device Y1 Y2 Sets data in this area if YOO1 is specified as the pulse output destination device Sets data in this area if YOO2 is specified as the pulse output destination device Y3 4 Sets data in this area if Y003 is specified as the pulse output destination device Individual setting Displays Individual Setting window for TBL FNC152 instruction table setting For details on data setting refer to the next page B 132 11 Batch Data Positioning Mode TBL Instruction 11 4 Positioning Parameter Setting FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 1 If the FX3uc PLC is used the setting range will be 10 to 100000 Hz If the FX3u PLC is used and if the pulse output destination is FX3U 2HSY ADP the setting range will be 10 to 200000 Hz 2 Setthe creep speed so that the relation with the other speeds can be set to bias speed lt creep speed lt maximum speed o o 3 3 o 2 g 3 n 3 The set interrupt input cannot be commonly used for the high speed counter input interruption pulse
119. X3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 4 Positioning Using Batch Setting Method Q o 3 V Y 8 X024 M8348 M10 M108 M109 Aci aed z T RST M12 completion flag a Position Position Zero Normal Abnormal ing in ing return end of end of Reverse rotation forward operation compl positioning positioning RST M13 positioning rotation being etion in forward in forward completion flag direction performed flag rotation rotation Positioni M107 direction direction operation being performed in Positioning operation being forward rotation performed in forward rotation direction direction p B Y000 Executes No 3 of Stop the positioning table Apx command Pulse Table of YOOO pulse m output number output destination Sx destination zi number 2g Forward rotation S M8029 positioning Positioning in forward rotation direction SET M12 ion Execution completion flag completion Forward rotation ag Mto8 positioning normal end flag M8329 Forward rotation positioning Abnormal end abnormal end flag X025 M8348 M10 M111 M112 Forward rotation tah RST M12 positioning Position Position Zero Normal Abnormal Borpietion ted ing in ing return jendo end o i reverse operation compl positioning positioning RST M13 GEAR rotation being etion In reverse in reverse E tation fla direction performed flag rotation rotation ositioning 9 M110 Y0
120. ag Will be turned on if the instruction is executed properly Instruction execution abnormal end flag Will be turned on if the instruction is not executed properly Caution If Instruction execution complete flag or Instruction execution abnormal end flag is turned on then the execution of the instruction pulse outputting operation etc is completed However it is not certain whether the servo motor is stopped Check positioning completion signal or servo ready signal of the servo amplifier drive unit to check whether the servo motor is stopped 4 4 3 Pulse Output Monitor BUSY READY Flag Use pulse output monitor BUSY READY flag to check whether the pulse is being output to the pulse output destination device The following table shows pulse output monitor BUSY READY flag of each pulse output destination device Y000 YOO1 Y002 Y003 Pulse output Pulse output monitor Siatuses of flag and pulse destination device BUSY READY flag ganap Y000 M8340 Y001 M8350 Outputting pulse BUSY Flag ON Y002 M8360 Pulse outputting stopped READY Flag OFF Y003 M8370 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 4 4 44 Positioning Instruction Activation Flag Use positioning instruction activation flag of each pulse output destination device to check whether or not the positioning instruction is being exec
121. amples of connection shown in the Appendix Refer to the FX3u Hardware Edition Refer to the FX3uc Hardware Edition Refer to the manual of your servo amplifier Examples of programs Description Operation Instruction Relay ladder Step ladder Of program program instruction Mechanical zero DOG Search Zero DSZR FNC150 Subsection 12 2 1 Subsection 12 3 1 Section 6 2 return Return Absolute value Reading of current detectiori ABS value ABS FNC155 Section 12 5 Chapter 7 a Drive to Increment DRVI FNC158 Subsection 12 2 1 Subsection 12 3 1 Section 8 2 1 speed positioning Drive to Absolute DRVA FNC159 Subsection 12 2 1 Subsection 12 3 1 Section 8 3 Batch data positioning mode TBL FNC152 Section 12 4 Chapter 11 B 137 swa UOWWOD A O o 3 z o 9 zx o x lt ejduex3 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 12 Examples of Programs 12 1 Input Output Assignment 12 1 Input Output Assignment The programs shown in this chapter use 1 axis for YOOO pulse output destination device If other pulse output destination device are used change various device numbers when reading the description Note that Y003 pulse output destination device can be used only if two FX3u 2HSY ADP adapters are connected to the FX3U PLC Input out
122. ance system is required such as for Railway companies or Public service purposes shall be excluded from the programmable logic controller applications In addition applications in which human life or property that could be greatly affected such as in aircraft medical applications incineration and fuel devices manned transportation equipment for recreation and amusement and safety devices shall also be excluded from the programmable logic controller range of applications However in certain cases some applications may be possible providing the user consults their local Mitsubishi representative outlining the special requirements of the project and providing that all parties concerned agree to the special circumstances solely at the users discretion FX3U FX3UC Series PLC User s Manual Positioning Control Edition Revised History Revised History NENNEN 0 1 000000000 0 00 0000 s Date Revision Discription 7 2005 A First Edition USER S MANUAL Positioning Control Edition FXsu FXsuc SERIES PROGRAMMABLE CONTROLLERS s MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 HIMEJI WORKS 840 CHIYODA CHO HIMEJI JAPAN MODEL FX3U U POS E MODEL CODE 09R620 JY997D16801A Effective July 2005 MEE Specifications are subject to change without notice
123. anual Positioning Control Edition Built in Positioning Function 12 Examples of Programs 12 3 Programs for Forward Reverse Rotation Step Ladder STL Program M8002 Initial pulse Zero Operation return stopped Positioning Operation Zero return in forward stopped completion flag rotation direction V X022 M5 m JOG Operation 9 stopped X023 M5 E 3 JOG Operation 5 stopped X024 M5 D8343 i D8345 D D 4 4 alle eo S 2 RST M13 SET S0 RST M12 RST 13 SET 10 RST M12 RST M13 SET S11 RST M12 RST 13 SE 12 V Sets the maximum speed 100 000 Hz D8344 D8343 Sets the creep speed 1 000 Hz D8345 Sets the zero return speed 50 000 Hz D8347 D8346 Sets the acceleration time 100 ms D8348 Sets the deceleration time 100 ms D8349 Resets zero return completion flag Resets forward rotation positioning completion flag Resets reverse rotation positioning completion flag Enters the zero return state SO Resets forward rotation positioning completion flag Resets reverse rotation positioning completion flag Enters the JOG state S10 Resets forward rotation positioning completion flag Resets reverse rotation positioning completion flag Enters the JOG state S11 Resets forward rotation positioning completion fla
124. assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided d Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced e Relay failure or output contact failure caused by usage beyond the specified Life of contact cycles f Failure caused by external irresistible forces such as fires or abnormal voltages and failure caused by force majeure such as earthquakes lightning wind and water damage g Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi h Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ Exclusi
125. ata to the D101 and D100 RUN monitor ABS bit0 Servo ON signal Read time limit 5 sec ABS data reading completed TO ABS data read error Read time error detected M8029 ABS data reading is completed Execution completion flag FNC12 D100 UD G26 ee faa current value registers 27 and 26 of ABS data DMOV reading is Block No completed BFM 26 27 FNC12 Writes data data converted into pulse data in current Es D100 UCAG39 p ABS data DMOV D100 uneso value registers 40 and 39 of FX2n 10PG 2 reading is Block No completed BFM 39 40 Caution 1 The ABS data will be read out as a pulse coverted value For this reason be sure to specify motor system when setting parameters BFM 3 for FX2n 1PG E 2 When writing the ABS data into FX2N 10PG be sure to use the current value registers BFM 40 BFM 3139 to store the converted pulse data B 152 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 13 Troubleshooting Built in Positioning Function 13 1 LED Indicator Lamp Check Sd UOWWOD gt 13 Troubleshooting 13 1 LED Indicator Lamp Check If an error occurs check the ON OFF status of LED indicator lamps on the PLC to know the outline of the error This section however does not describe all the LED indicator lamps of the main unit For details of LED indicator lamp refer to the following manuals of the PLC Refe
126. ation limit Operation in reverse rotation I I I i I i direction I gt uonoeuuo SS x ejdurex3 Operation in forward rotation direction 1 Ifthe start position is before the DOG a When the zero return instruction is executed zero return will be started b Transfer operation will be started in the zero return direction at the zero return speed C If the front end of the DOG is detected the speed will be reduced to the creep speed d After detecting the rear end of the DOG if the first zero phase signal is detected the operation will be stopped 2 If the start position is in the DOG area a When the zero return instruction is executed zero return will be started b Transfer operation will be started in the opposite direction of the zero return direction at the zero return Speed If the front end of the DOG is detected the speed will be reduced and then the operation will be stopped The workpiece will come out of the DOG area Transfer operation will be restarted in the zero return direction at the zero return speed and the workpiece will enter the DOG area again If the front end of the DOG is detected the speed will be reduced to the creep speed f After detecting the rear end of the DOG if the first zero phase signal is detected the operation will be stopped 3 Ifthe start position is in the near point signal OFF area after the DOG we amp o 2 2 a When the zero
127. be continued while ignoring the change To reflect the change on the operation turn off the command contact of the instruction and then turn it on again Ifthe instruction activation contact is turned off during zero return operation the speed will be reduced and then the operation will be stopped In this case Instruction execution complete flag M8029 will not be turned on e If pulse output monitor BUSY READY flag is on the positioning instruction including PLSR and PLSY that uses the same output cannot be executed After the instruction activation contact is turned off if pulse output monitor BUSY READY flag is still on do not execute the positioning instruction including PLSR and PLSY instructions having the same output number Inthe following case Instruction execution abnormal end flag M8329 will be turned on and execution of the instruction will be completed For details on Instruction execution abnormal end flag refer to Subsection 4 7 4 If the DOG search function cannot detect the near point signal DOG the speed will be reduced and then the operation will be stopped In this case Instruction execution abnormal end flag M8329 will be turned on and execution of the instruction will be completed FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 3 Zero Return ZRN Instruction 6 3 Zero Ret
128. ber If the high speed output special adapter is used for the FX3u PLC specify the following output numbers High speed output special adapter connection position Pulse output Rotation direction output Y000 Y004 The 1st adapter Y001 Y005 Y002 Y006 The 2nd adapter Y003 Y007 A3 The DU b cannot be indexed by index registers V and Z B 120 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction 10 2 List of Related Devices 10 2 List of Related Devices 1 Special auxiliary relays The following table shows the related special auxiliary relays Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations Device number z Function Attribute Refer to Y000 Y001 yoo2 Yo03 M8029 Instruction execution complete flag Read only Subsection 4 4 2 M8329 ai execution abnormal end Read only Subsection 4 4 2 M8338 2 Acceleration deceleration 9 Drivable Subsection 4 3 9 M8340 M8350 M8360 M8370 Ha output monitor BUSY READY Read only Subsection 4 4 3 M8342 M8352 M8362 M8372 Zero return direction specification 9 Drivable Subsection 4 3 3 M8343 M8353 M8363 M8373 Forward limit Drivable Subsection 4 3 1 M8344 M8354 M8364 M8374 Reverse limit Drivable Subsection 4
129. bles the origin return M8344 Reversed rotation limit Y000 operation with CLEAR signal outputting function CLEAR FNC 12 MOVP H0020 D8464 signal Y020 RUN monitor C M8002 FNC 12 k109990 D8343 H Sets the maximum speed Initial pulse DMOV 100 000 Hz D8344 D8343 FNC 12 1000 D8345 Sets the creeping speed MOV 1 000 Hz D8345 1 FNC 12 Ks0000 D8346 Sets the origin return speed DMOV 50 000 Hz D8347 D8346 FNC 12 K100 D8348 Sets the acceleration time MOV 100 ms D8348 1 FNC 12 S ion ti K100 D8349 ets the deceleration time MOV 100 ms D8349 1 If the initial values maximum speed acceleration deceleration time zero return speed creep speed can be used it is not necessary to create the program For the related devices refer to Section 4 1 to Section 4 4 Performs origin return in the normal rotation direction B 140 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 2 Programs for Forward Reverse Rotation Relay Ladder Program X021 M8348 M101 M102 T Resets zero return completion flag o o 3 3 o 2 g 3 n Normal Abnormal endof end of zero zero return return Zero Positioning return being performed Y000 Resets forward rotation positioning completion flag Resets reverse rotation positioning completion flag Zero return is being
130. celeration time Acceleration time Initial value 4 Initial value 100 ms 7 N re ee s 100 ms Maximum speed of Initial value 100 000 Hz Zero return speed D Bias speed Initial value 0 Hz Creep speed I i DOG Current position a CLEAR signal Rear end Front end 1 ms or less 20 ms 1 scan time ms FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 2 Setting of Various Items Regarding Speeds 4 2 2 Setting of Output Pulse Frequency DVIT PLSV DRVI and DRVA Instructions Set the output pulse frequency using the operand of each instruction In this case the setting range depends on the instruction see the following table However even in the setting range of each instruction if the set value of the output pulse frequency is more than the maximum speed value operation will be performed at the maximum speed If the set value of the output pulse frequency is less than the bias speed value operation will be performed at the bias speed For operation of DVIT instruction refer to Chapter 9 For operation of PLSV instruction refer to Chapter 10 For operation of DRVI or DRVA instruction refer to Chapter 8 o o 3 3 o 2 g 3 n Setting range Instruction Operand 16 bit operation 32 bit operation Instruction format Apx Hz Hz om SS DVIT ge 1 eO XX pese Deme Lor elo l
131. cted to the FXau PLC Designation of interrupt input using M8336 1 Turn on the M8336 2 Setthe interrupt input number X000 to X007 in the D8336 or specify the user interruption command device For example of specifying program refer to the following description D8336 HO OO O L Interrupt input for YOOO pulse output destination device Interrupt input for YOO1 pulse output destination device Interrupt input for Y002 pulse output destination device Interrupt input for YOO3 pulse output destination device Setting value Description of setting 0 Specifies X000 for the interrupt input signal 1 Specifies X001 for the interrupt input signal 2 2 7 Specifies X007 for the interrupt input signal Specifies the user interruption command device for the interrupt input signal Pulse output destination device User interruption command device g Y000 M8460 Y001 M8461 Y002 M8462 Yo03 2 M8463 9 to E 3 Do not specify these values F3 Set F for a pulse output destination device if the device is not used for the interrupt positioning DVIT instruction FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 3 Various Flags for Operation Commands 1 The device can be specified if the FXsu FXsuc PLC of Ver 2 00 or later is used Using the FX3uc PLC of below Ver 2 00 if 8 is set and then the specified interrupt p
132. cter Pointer type stant per string X Y M T C S DO b KnX KnY KnM KnS T C D R UO GO V Z Modiy K H E AI P v viviv A1 X A 5 Y A a d aly at 4 A1 The DU b cannot be indexed by index registers V and Z A2 Specify a device in the range of X000 to X007 A3 Specify YOOO Y001 or YOO2 transistor output of main unit or specify YOOO Y001 Y002 2 or Y003 of high speed output special adapter C5 High speed input output special adapter cannot be connected to FX3UC 32MT LT To use Y002 and Y003 of high speed output special adapter connect the second high speed output special adapter po FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 2 DOG Search Zero Return DSZR Instruction Note To use the FX3U Series main unit of relay output type be sure to connect high speed output special adapter The differential line drive will be used for the outputs of the high speed output special adapter AA If high speed output special adapter is not used for the FX3U PLC or if the FX3u PLC is used specify a transistor output number If high speed output special adapter is used for the FX3uc PLC specify the following output numbers For the outputs applicable with High speed output special adapter refer to Section 4 9 Seve ean Poach Pulse output Rotation direction output for YO
133. ction however do not use the output specified by De ON OFF status of device S specified by ON Forward rotation Outputting the pulse will increase the current value The 1st adapter The 2nd adapter Rotation direction increase reduction of current value OFF Reverse rotation Outputting the pulse will reduce the current value 5 Zero return direction To specify the zero return direction turn on or off zero return direction designation flag as shown in the following table Pulse output Zero return direction Description destination device designation flag P M8342 run To perform zero return in the Y001 M8352 forward rotation direction Turn on the flag To perform zero return in the Dr Y002 M8362 SUUN reverse rotation direction Turn off the flag Y003 M8372 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 6 Mechanical Zero Return DSZR ZRN Instruction 6 2 DOG Search Zero Return DSZR Instruction 6 A 7 8 CLEAR signal output This instruction can output the CLEAR signal after stop at the origin If it is necessary to output the CLEAR signal at the completion of zero return turn on CLEAR signal output function enable flag see the following table Use the FXsu FXsuc PLC of Ver 2 00 or later to specify the CLEAR signal output device a Ifit is not necessary to use the Clear signal d
134. cy Even if pulses are being output the output pulse frequency can be changed freely Acceleration deceleration however will not be performed Setting range 16 bit operation 32 768 to 1 Hz 1 to 32 767 Hz When high speed output special 200 000 to 1 Hz 1 to 200 000 Hz adapter is used 32 bit operation Wh d mem On Transistor output of mal unit 100 000 to 1 Hz 1 to 100 000 Hz 2 For Dt specify the pulse output number in the range of YOOO to Y003 B 123 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction Built in Positioning Function 10 3 Function and Operation 3 For 2 specify the rotation direction signal output device number If the high speed output special adapter is not used for the FX3U PLC or if the FX3uc PLC is used specify a transistor output number If the high speed output special adapter is used for the FX3U PLC specify the following output numbers High speed output special Pulse output Rotation direction adapter number destination device output Y000 Be Y004 The 1st adapter Y001 2 Y005 Y002 De Y006 The 2nd adapter Y003 Y007 The rotation direction depends on the ON OFF status of the specified device as shown in the following table During execution of this instruction however do not use the output specified by D2 ON OFF status of device Rotation dir
135. d 1 1 Outline The FXsu FX3uc PLC outputs the pulse signal to the servo motor and the stepping motor to control the positioning operation Increase the pulse frequency to increase the motor speed Increase the number of pulses to increase the number of motor revolutions In other words set the pulse frequency to determine the workpiece transfer positioning speed Set the number of pulses to determine the workpiece transfer distance Servo motor or FXsu FXsuc PLC stepping motor A LFLELI LE LE 1 Pulse train signal Pulse frequency Transfer speed brad bl Transfer distance Positioning command i i SI Of Sor Sr Je Workpiece item to be positioned LLL ZUUI uonoun4 gt uonoeuuo C3 ejduex3 gt lt FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Introduction Common Items 1 2 Introduction of Products Needed for Positioning 1 2 Introduction of Products Needed for Positioning To control the positioning operation use the positioning function incorporated in main unit including special adapters and also the special function units blocks The function however depends on the unit Select units optimum for the purpose of use 1 2 1 List of Models The products needed for positioning are shown in the following table 1 Main unit transistor outp
136. d parts of electric wires are not directly stressed Properly perform wiring to the FX Series terminal blocks following the precautions below in order to prevent electrical shock short circuit breakage of wire or damage to the product The disposal size of the cable end should follow the dimensions described in this manual Tightening torque should be between 0 5 to 0 8 Nem STARTUP AND MAINTENANCE PRECAUTIONS lt DANGER Do not touch any terminal while the PLC s power is on Doing so may cause electrical shock or malfunctions Before cleaning or retightening terminals externally cut off all phases of the power supply Failure to do so may expose you to shock hazard Before modifying the program under operation or performing operation for forcible output running or stopping carefully read the manual and sufficiently ensure the safety An operation error may damage the machine or cause accidents STARTUP AND MAINTENANCE PRECAUTIONS CAUTION Do not disassemble or modify the PLC Doing so may cause failures malfunctions or fire For repair contact your local Mitsubishi Electric distributor Before connecting or disconnecting any extension cable turn off power Failure to do so may cause unit failure or malfunctions Before attaching or detaching the following devices turn off power Failure to do so may cause device failure or malfunctions Peripheral devices expansion boards and special adapters O e
137. d special auxiliary relays Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations For details on PLSY FNC57 PWM FNC58 and PLSR FNC59 instructions refer to the programming manual Device number Function Attribute Refer to Yooo Y001 yoo2 yoo3 M8029 Instruction execution complete flag Read only re a M8329 Instruction execution abnormal end flag Read only jer n 1 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 2 Special data registers The following table shows the related special data registers Note that YOOO Y001 Y002 and Y003 are devices that determine the pulse output destinations Device number Data Initial Function Refer to Y000 Y001 Y002 Y003 length value Low Low Low Low D8340 ordei D8350 arder D8360 Sider D8370 order Current Suhascnsn High High Hiah High value 32 bit 0 4441 D8341 9 pgas 9 psse1 97 pga7z 9 register pls s order order order order 1 Devices related to YOOS pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 7 3 Function and Operation Connect the MR H MR J2 or MR J3 servo motor with absolute position detection function manufactured by Mitsubishi to your system and use this instruction to read out the absolu
138. der order Maximum i Subsection High High High High speed Hz foe ETC D8344 ord r D8354 arder D8364 order D8374 rder D8348 D8358 D8368 D8378 Acceleration 46 bit 100 Subsection time ms 4 2 7 Deceleration Subsection D8349 D8359 D8369 D8379 time ms 16 bit 100 428 Clear signal s n Subsection D8464 D8465 2 D8466 D8467 device 16 bit mn a specification i 1 Devices related to YOOS pulse output destination are valid only if two FX3U 2HSY ADP adapters are connected to the FX3U PLC 2 This function will be valid if Ver 2 00 or later is used FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 3 Zero Return ZRN Instruction 6 3 3 Function and operation Command input H For details on the maximum speed bi Deceleration Acceleration l time l I time lt lt S2e Creep speed 1 For S12 specify the zero return speed as speed acceleration time and deceleration time refer to Subsection 4 2 5 to Subsection 4 2 8 Zero return speed Gis Bias speed CLEAR signal Rear end Front end 1 ms or less Instruction complete flag M8029 a If the instruction is turned off If the set zero return speed value is more than the maximum speed value the operation will be performed at the maximum speed Setting range 16 bit operation 32 bit operat
139. destination Setting range FX3u PLC High speed output special adapter 200 000 to 1 to 1 to 200 000 Hz FX3uc PLC Main unit 100 000 to 1 to 1 to 100 000 Hz 3 Devices Bit device Word device Others Real Char cals System user Digit designation mom cin Index rod num acter Pointer ype stanti per string X Y MIT C S Di b KnX KnY KnM KnS TIC DI R UO GO V Z Modfy K H E o P vivivi ivivivivivi v j v vi v jviy A j Y 2 d s 2 A1 Specify YOOO Y001 or YOO2 transistor output of the main unit or specify YOOO YOO1 Y002 2 or Y003 of the high speed output special adapter 1 High speed input output special adapter cannot be connected to FX3UC 32MT LT 2 To use YOO2 and Y003 of the high speed output special adapter connect the second high speed output special adapter B 119 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction 10 1 Instruction Format Point e To use the FX3U Series main unit of relay output type be sure to connect the high speed output special adapter The differential line drive will be used for the outputs of the high speed output special adapter A2 f the high speed output special adapter is not used for the FX3u PLC or if the FXsuc PLC is used specify a transistor output num
140. e controller side LSR LSF Servo motor a 2n EX Es Reverse rotation lt gt Forward rotation Apx 16 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 4 MELSERVO C Series Example Connection Appendix 4 2 High Speed Output Special Adapter Appendix 4 2 High Speed Output Special Adapter To assign the inputs outputs refer to the following section Refer to Section 12 1 of B Built in Positioning Function Appendix 4 2 1 Sink Input Sink Output and Differential Line Driver Output 24V DC TI c m o C e 3 3 o E o 3 e UU oc gp OS a3 ea FX3uU 2HSY ADP LL a er MR C A Pulse train Series servo CN1 amplifier Forward rotation Epuivalent to pulse train 5 AM26C31 Direction signal Reverse rotation pulse train Photo coupler E24V moe Servo error ALM Zero Point signal PGO AY ES X e e o 14 LSN Forward rotation limit 2 4 15 LSP Reverse rotation limit 2 17 SON Servo ON Immediate stop command Zero return command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command 1 Be sure to use the class D grounding method grounding resistance 100 Qor less 2 Near point signal DOG
141. e Programming 4 10 Format and Execution of Applied Instruction Format and execution of instruction Depending on the sizes of the numeric values to be processed applied instructions can be classified into two types 16 bit instructions and 32 bit instructions In addition depending on the execution type these instructions can be also classified into two types continuous execution type and the pulse execution type Regarding applied instructions some of them have all the combinations and others do not 1 16 bit instructions and 32 bit instructions Depending on the bit length of the numeric data to be processed applied instructions can be classified into two types 16 bit type and the 32 bit type Command 1 NG D10 D12 the D10 to the D12 command FNC 12 D20 D22 This instruction transfers the data from the D21 and D20 to DMOV the D23 and D22 For the 32 bit instruction the instruction name will be DMOV D will be added to MOV Either the even number devices or the odd number devices can be specified If a device is specified the specified device will be combined with the device having the next number for the word devices such as devices T C and D To prevent confusion it is recommended that the operand of a 32 bit instruction should use even numbers to specify the low order devices Each 32 bit counter C200 to C255 needs only one device to set 32 bits For this reason the operand of a 16 bit instruction cannot
142. e instruction For operation of DSZR instruction refer to Section 6 2 For operation of ZRN instruction refer to Section 6 3 Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable Programmable Servo amplifier side controller side controller side LSR LSF Servo motor a s ER C Reverse rotation lt gt Forward rotation 1 IfDSZR instruction zero return instruction with DOG search function is used zero return will be performed in the direction of the first operation 1 Zero return instruction with DOG search function DSZR instruction Turn on or off the zero return direction designation flag shown in the following table to specify the zero return direction Pulse output Zero return direction Deserpnom of Sem destination device designation flag P 9 Y000 M8342 To perform zero return in the normal Yoo M8352 rotation direction Turn on the flag Y002 M8362 To perform zero return in the reversed Yo03 M8372 rotation direction Turn off the flag 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 3 Various Flags for Operation Commands 2 Zero return instruction ZRN instruction Zero return will be performed
143. e neei neee e ee nennen nennen nnnm nnne nennen B 122 10 3 1 Operation without Acceleration Deceleration M8338 OFF sese B 122 10 3 2 Operation with Acceleration Deceleration M8338 ON seen B 123 10 4 Important Points reno edet eee edet erar ta des B 125 11 Batch Data Positioning Mode TBL Instruction B 126 11 1 INSTRUCTION Format dede mde lite te eid dedi dm B 126 11 2 bist of Related Devices ite ee netu edendi edi Ee EL Mead B 127 11 3 Function and Operatlon 3 ert ertet e ie dente ee einen B 129 11 4 Positioning Parameter Setting eese nennen B 130 11 4 1 Positioning Parameter Setting Using GX Developer se B 130 11 4 2 Changing of Set Positioning Parameters Number of Pulses and Frequency B 135 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Table of Contents 12 Examples of Programs B 137 12 1 Input Output Assignmenhlt 2 n iei e eive Pe die e iad d etg B 138 12 2 Programs for Forward Reverse Rotation Relay Ladder Program sss B 140 12 2 1 Example of Program en ORCHARD ERU REPRE B 140 12 3 Programs for Forward Reverse Rotation Step Ladder STL Program B 143 12 31 Example of Program aiii eter ro tne ied ted uite eie ct ctt eda B 143 12 4 Positioning Using Batch Setting Method
144. e rotation limit refer to Subsection 4 3 1 Apx om Signal Input number 38 on Ale Forward rotation limit 1 NC contact X010 ae Limit switch Reverse rotation limit 1 NC contact X011 Forward rotation JOG NO contact X012 Manual switch Reverse rotation JOG NO contact X013 Create the test program For details on the test program refer to Section 5 2 Turn on the power to the PLC Transfer the test program to the main unit For details refer to the manual of the programming tool Check the input indicator lamp LED lamp When the programming controller is stopped activate the temporarily connected input terminals and check the status of each input indicator lamp LED lamp If the FX3uc PLC is used check the input statuses using the display module Signal Input signal Status of LED indicator lamp ae Activation of the forward rotation limit switch 1 will turn off the LED Forward rotatonidimiti X010 indicator lamp of X010 turn off X010 Reverse rotation limiti X011 Activation of the reverse rotation limit switch 1 will turn off the LED indicator lamp of X011 turn off X011 Forward rotation JOG X012 Turning on the forward rotation JOG switch will turn on the LED indicator lamp of X012 Reverse rotation JOG X013 Turning on the reverse rotation JOG switch will turn on the LED indicator lamp of X013 Switch the PLC into RUN mode FX3U FX3UC Series PLC User s
145. e valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC A O o 3 o 9 zx o SUJ9 UOWWOD p gt x ejdurex3 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 3 Various Flags for Operation Commands 4 3 7 Designation of interrupt input Signal for DVIT Instruction The interrupt input signal of the interrupt positioning DVIT instruction depends on the pulse output destination device as shown in the following table Use the FX3uc PLC of Ver 1 30 or later to specify the interrupt input signal Use the FXsu FXsuc PLC of Ver 2 00 or later to set the user interruption command device For operation of DVIT instruction refer to Chapter 9 Interrupt input signal Pulse output If it is not necessary to use the destination interrupt input designation function If it is necessary to use the interrupt input designation device M8336 OFF or if the FXsuc PLC of function M8336 ON below Ver 1 30 is used YO00 X000 D8336 HO O O z Interrupt input for YOOO pulse output destination device Yoo X001 Interrupt input for Y001 pulse output destination device Y002 X002 Interrupt input for Y002 pulse output destination device Y003 X003 Interrupt input for Y003 pulse output destination device 1 Devices related to Y003 pulse output destination are valid only if two FXsu 2HSY ADP adapters are conne
146. eaeeeeeeeaeeeeesaeeeeeseeeesesneeeesennees B 98 82 1 Inistruction Formal eni cet cit te eode eet uice d a d e pete ea saa d B 98 8 2 2 List of Related Devices oec e t e ien dete tp d Ur ie ed rece o Te stereo fete B 99 8 2 9 FUNCTION aNd Operations ss eii eb o Bee PERPE oet ERR e AEEA B 101 8 2 4 Important POM S ined eR Er DR A E ORE ER Tene Er nd euin ta e dp n ape drca B 102 8 3 Drive To Absolute DRVA Instruction enne enne enne B 103 8 3 1 Instruction FEOrmal 2 zb Ico diem ni CE E RS DD Pea ead B 103 8 3 2 List of Related Devices odes dfe a a qf nee d e ever B 105 9 3 3 Function aNd Operatioh ideo aer te eie C RR ER RR B 106 8 3 4 Important POINTS i nine liste iep a ited Ma Aenea eine fepe ve aie B 107 9 One speed Interrupt constant quantity feed DVIT Instruction B 108 9 1 Instruction Formal 2 1 rne dere ned aiee ei ero Det ee erae reo aae rera a dances B 108 9 2 List of Related Devices eii cicer eite niega ete Ee uo ee exea sea Ee e dn ao de B 110 9 3 Function and Operation eese nennen nenne nnne nter nenne nnne B 112 9 4 Important POINTS socio soc idee etr ar aed ea at aa n o EE edited B 117 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction B 119 10 T Instr ction EOEIal irit REIR E REORE etae Oe e P eid en B 119 10 2 Listsof Related DEVICES tun EN nc cedet A E A co ee Recien B 121 10 3 Function and Operations seng
147. ecessary to use a positioning instruction FNC150 to FNC159 together with a pulse output instruction FNC57 or FNC59 use the following positioning instruction in place of the pulse output instruction FNC57 PLSY FNC59 PLSR SFNC158 DRVI FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 7 Items To Be Observed in Programming 4 7 2 STOP instruction For the normal stop of operation stop after speed reduction use instruction OFF function or forward reverse limit flag If immediate stop is absolutely needed to avoid danger use the pulse output stop command flag During execution of positioning instruction however if the pulse output stop command flag is turned on the pulse outputting operation will be immediately stopped This means that the motor will be immediately stopped which may damage the system For this reason carefully use the pulse output stop command flag BLED output destination Pulse stop instruction Operation device 000 M8349 During pulse outputting operation if the pulse output stop Y001 M8359 command flag of the corresponding pulse output destination Y002 M8369 device is turned on the pulse outputting operation will be 7003 M8379 immediately stopped 1 YO003 can be specified as the pulse output destination only if 2 high speed output special adapters are connected to the FXau PLC 4 7 3 Correction of Backlash
148. echanisms to ensure safe operations of the machine in such cases DESIGN PRECAUTIONS NC AUTION Do not bundle the control line together with the main circuit or power line Do not lay the control line near them As a rule lay the control line at least 100mm 3 94 or more away from the main circuit or power line Noise may cause malfunctions Install in a manner which prevents excessive force from being applied to the built in connectors dedicated to programming power connectors and I O connectors Failure to do so may result in wire breakage or failure of the PLC WIRING PRECAUTIONS DANGER Cut off all phases of the power source externally before installation or wiring work in order to avoid electric shock or damage of product Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work Failure to do so may cause electric shock WIRING PRECAUTIONS AC AUTION Connect the AC power supply wiring to the dedicated terminals described in this manual If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will be burnt out Connect the DC power supply wiring to the dedicated terminals described in this manual If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will be burnt out Do not wire vacant terminals externally Doing
149. ecifications Built in Positioning Function 2 5 Output Specifications 2 5 2 High Speed Output Special Adapter FX3su 2HSY ADP This section describes the output specifications of high speed output special adapter FX3U 2HSY ADP Item High speed output special adapter FX3u 2HSY ADP Output system Differential line driver system equivalent to AM26C31 Load current 25 mA or less Maximum output frequency 200KHz Photo coupler and transformer insulate PLC from external lines of its outputs and Insulation transformer insulates each SG Cable length 10 m maximum 1 Internal output circuit To connect to photo coupler Servo amplifier Pulse train Drive unit forward rotation pulse train High speed output special adapter FXsu 2HSY ADP Equivalent to G 5V AM26C31 Direction signal reverse rotation pulse train i Grounding Servo amplifier Drive unit eTo connect to differential line receiver Pulse train forward rotation pulse train Equivalent to TaMMERUZCURUSUE UK ca RET CDS DRM ORC G AM26C31 Direction signal reverse rotation pulse train 1 To ground the unit refer to the servo amplifier drive unit manual If the grounding method is not specified carry out class D grounding 2 The line between the SGA and the SGB is insulated FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 2 Specif
150. ection increase reduction of current value specified by If the number of output pulses specified by is a positive number the operation ON will be performed in the forward rotation direction Forward rotation Outputting the pulse will increase the current value If the number of output pulses specified by is a negative number the OFF operation will be performed in the reverse rotation direction Reverse rotation Outputting the pulse will reduce the current value B 124 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction Built in Positioning Function 10 4 Important Points 10 4 Important Points For the important points of programming refer to Section 4 7 o o 3 3 o 2 g 3 n During pulse output operation if the output pulse frequency is changed to KO the PLC will reduce the speed and then stop the pulse outputting operation if the acceleration deceleration function turns ON However if the acceleration deceleration function is not activated the PLC will immediately stop the pulse outputting operation Before outputting the pulses again check that pulse output monitor BUSY READY flag is off and then wait until 1 or more cycles of operation have been completed After that set change the output pulse frequency to a value other than KO During pulse outputting operation do not change the sign
151. ed Drivable 43 7 M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only P ams M8343 M8353 M8363 M8373 Forward limit Drivable 2upsection M8344 M8354 M8364 M8374 Reverse limit Drivable 2 M8347 M8357 M8367 M8377 Interrupt signal logic reverse 94 Drivable 2 rd M8348 M8358 M8368 M8378 Positioning instruction activation Read only 2110 M8349 M8359 M8369 M8379 Pulse output stop command 3 Drivable oum M8460 5 M8461 5 M8462 5 M8463 5 User interrupt input command 3 Drivable ao M8464 5 M8465 5 M8466 5 M8467 5 Clear signal device specification function Drivable Subsection enabled 3 4 3 4 1 Devices related to YOOS pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 2 This function will be valid if Ver 1 30 or later is used 3 Cleared when PLC switches from RUN to STOP 4 The logical NOT function will not be valid for the user interrupt input command device 5 This function will be valid if Ver 2 00 or later is used B 110 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 9 One speed Interrupt constant quantity feed DVIT Instruction Built in Positioning Function 9 2 List of Related Devices 2 Special data registers 9 The following table shows the related special data registers Note that YOOO YOO1 YO02 and Y003 are 3 devic
152. educe the speed before stop For this reason if the creep speed is not low enough the operation may not be stopped at the specified position due to inertia The DOG search function is not adopted for this instruction For this reason start the zero return operation on the front side of the near point signal If it is necessary to use the DOG search function use the DSZR instruction The zero phase signal of servo motor cannot be used For this reason if fine adjustment of the origin position is needed adjust the position of the near point signal DOG If the instruction activation contact is turned off during zero return operation the speed will be reduced and then the operation will be stopped In this case Instruction execution complete flag M8029 will not be turned on While pulse output monitor BUSY READY flag is on the positioning instruction including PLSR and PLSY that uses the same output cannot be executed After the instruction activation contact is turned off if pulse output monitor BUSY READY flag is still on do not execute the positioning instruction including PLSR and PLSY instructions having the same output number In the following case Instruction execution abnormal end flag M8329 will be turned on and execution of the instruction will be completed For details on Instruction execution abnormal end flag refer to Subsection 4 7 4 If the forward limit flag or the reverse limit flag is tur
153. eed DVIT Instruction Built in Positioning Function 9 3 Function and Operation Example of program The following program shows that the interrupt input for YOOO is set in the user interruption command device M8460 FNC 12 HFFF8 D8336 Command l Ge vooo Positioning Normal Abnormal DVIT being end of end of performed positioning positioning a GH M100 M8029 Mor Instruction execution complete flag M8329 Instruction execution abnormal end flag o o 3 3 o 2 g 3 n Specifies the interrupt input for Y000 in the user interruption com mand device M8002 Initial pulse Interrupt input specification function enabled Executes DVIT instruction A x lt Interruption positioning is being performed uonoeuuo C3 ejdurex3 Interruption positioning being performed Positioning operation normal end flag Positioning operation abnormal end flag Interruption Interruption pointer 400 condition Mun Input Interrupt input signal OFF After specifying a user interruption command device for the interrupt input signal if the specified device is turned on the number of pulses specified by will be output and then the operation will be stopped Before activating the Interrupt Positioning instruction again be sure to turn off the user interruption command device 6 Interrupt input signal logical NOT Turn on or
154. eeeeeneeeeeneeen nennen nennen Apx 13 Appendix 3 2 Absolute Position Detection Transistor Output ssesessssss Apx 14 Appendix 3 2 1 Sink Input and Sink Output sssssssesseseeeeneeeeenenen nennen nennen Apx 14 Appendix 4 MELSERVO C Series Apx 15 Appendix 4 1 Main Unit Transistor Output sssssssssseeeeennnen nnns Apx 15 Appendix 4 1 1 Sink Input and Sink Output sssssssesseeeeeeneeeenneeen nennen Apx 15 Appendix 4 2 High Speed Output Special Adapter ssssssseeses Apx 17 Appendix 4 2 1 Sink Input Sink Output and Differential Line Driver Output sssss Apx 17 Warranty iiie enel bere iiia cc uda po DEI aao ed noO CE T SCa aliod CR ROG cc c gae dade i FREVISOG FISCONY ATT TT C TER ii FX3U FX3UC Series PLC User s Manual Positioning Control Edition Functions and Use of This Manual Functions and Use of This Manual The FXsu FX3uc PLC outputs transistor signals from the main unit and also outputs pulses from the high speed output adapter and the positioning special function unit block to the servo motor and stepping motor to properly control the positioning operation PLC FX3u Series Regarding wiring and installation of PLC e Hardware manual Enclosed with The hardware manual is enclosed with the product the product e
155. elect products optimum for your system uoljoun4 3 1 1 Built in Positioning Function Main Unit Transistor Output High Speed Output Special Adapter FX3U 2HSY ADP gt uonoeuuo C3 ejduex3 gt lt FXsuc PLC Z Mode Main unit transistor output d Number of control 3 independent axes alndependentaes axes Interpolation 3 Pulse output Open collector system Differential line driver system system Pulse output eee Pulse train direction method method Pulse sain direction pmeihog Forward reverse rotation pulse train method Meum 100 000Hz 200 000Hz frequency Acceleration deceleration type Automatic trapezoidal acceleration deceleration Unit Positioning range Program language pulse 999 999 to 999 999 pulse Sequence program Position data 1 point set in sequence program Connection of manual pulse generator Detection of absolute position Reads out the current value of ABS instruction of the PLC ABS Connect 2 adapters to main unit to control 4 axes independently Connect this adapter to main unit to use the Pulses can be output from the general differential line driver type pulse train This Others purpose outputs YOOO YOO1 and Y002 of is because main unit cannot output this type main unit of pulse train Usethis adapter in place of the general purpose outputs Y000 YO07 of main unit 1 Canonly be connected to
156. em CMX Electronic gear Set the electronic gear as follows numerator of command pulse CMX 8 CDV 1 multiplying factor In this case when the main unit outputs the maximum output CDV Electronic gear pulse frequency 100 kHz the servo motor rotational speed denominator of command pulse will be as follows multiplying factor NO Servo motor rotational speed r min ALO Transfer distance per pulse mm _ CMX 60 No CDV x Pt x fo 8 60 1 1 x 4000 x 100000 12000r min gt 3000r min Rated rotational speed of servo motor It is not necessary to restrict the maximum speed on the PLC side because the servo motor rotational speed is less than the rated rotational speed Pulse output destination device Maximum speed setting device Y000 D8344 D8343 Y001 D8354 D8353 Y002 D8364 D8363 Y003 D8374 D8373 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 6 Setting of Various Items on Servo Amplifier Drive Unit Side Setting example 2 4 6 3 To set the transfer distance per pulse to 0 01 if a turntable is used Machine specifications Servo motor Servo amplifier MR J2S Series Pt 131072 pls rev Rated rotational speed of servo motor 3000r min Turntable T
157. endix 2 MELSERVO J2 Super Series Example Connection Appendix 2 1 Main Unit Transistor Output Appendix 2 MELSERVO J2 Super Series Appendix 2 1 Main Unit Transistor Output To assign the inputs outputs refer to the following section Refer to Section 12 1 of B Built in Positioning Function Appendix 2 1 1 Sink Input and Sink Output Class D grounding Zero Point MR J2 S LIA Series servo coupler m za ug ZH 6 TLC Torque being controlled 18 ALM Servo error ALM 19 ZSP Speed zero CN1B Servo ON Reset ES Bene Emergency stop ECTS d RM Forward rotation limit 2 LSN px Reverse rotation limit 2 Conne ted to FXsuc if ABS instruction FNC CLEAR signal CN1B 155 is used porte ee San 19 Drg K FXean 16EX ES UL citi Fol Sa FX2N 16EYT Refer to Appendix ge EN 5 SON e 251 Positioning ppp occa 8 ABSM completed INP INP 18 9 ABSR Immediate stop command Zero return command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command Apx 8 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 2 MELSERVO J2 Super Series Example Connection Appendix 2 1 Main Unit Transistor Output 1 Be sure to use the class D
158. ent position Target position 3 E Origin CLE Ga 25 To Ueno W Tokyo I Shinyokohama INL Odawara NINC Atami Em Mishima I Shizuoka WI Absolute address 0 gt 288mm gt 83 9km 104 6km 120 7km 180 2km To go from Odawara current position to Atami target position set the distance 104 6 km from Tokyo origin to Atami FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 8 1 Speed Positioning DRVI DRVA Instruction 8 2 Drive to Increment DRVI Instruction 8 2 Drive to Increment DRVI Instruction 8 2 1 Instruction Format 1 Instruction Format FNC 158 16 bit AA 32 bit Staite re B DRVI E instruction BEVA Execution condition instruction BEVE Execution condition DRIVE TO INCREMENT Command input 2 Data setting DRVI 7 Continuous DDRVI execution 17 steps type 9 steps Continuous execution type Operand type Description Data type Sr Specifies the number of output pulses relative address p ae BIN16 32 bit Specifies the output pulse frequency 2 Specifies the pulse output number B I Specifies the rotation direction signal output destination device number 1 Setting range 32 768 to 32 767 excluding 0 for 16 bit operation 999 999 to 999 999 excluding 0 for 32 bit operation 2 Setting range 10 to 32 767 Hz for 16 bit o
159. epaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases a Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design b Failure caused by unapproved modifications etc to the product by the user c When the Mitsubishi product is
160. equence program is being ON exec ted The RUN indicator lamp indicates the operation status of the PLC E i Fh Note that the RUN indicator lamp will go out depending on the status OFF rod oF tne sequence program IS of the ERROR indicator lamp refer to Subsection 13 1 4 B 153 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 13 Troubleshooting 13 1 LED Indicator Lamp Check 13 1 3 BATT Indicator Lamp Statuses ON OFF Lamp status Status of PLC Troubleshooting ON The voltage of the battery is too low Immediately replace the battery refer to the manual of the PLC OFF The battery supplies the voltage specified by the D8006 or more The PLC has no problems 13 1 4 ERROR indicator lamp Statuses ON flashing OFF Lamp status Status of PLC Troubleshooting ON The watchdog timer error may be detected or the hardware of the PLC may be damaged 1 Stop the PLC and then turn on the power again If the ERROR indicator lamp goes out check if a watchdog timer error has been detected and take one of the following measures Review the program The maximum value of the scanning time D8012 should not be larger than the set value of the watchdog timer D8000 The interrupt input and the pulse catch input should not be turned on and off too frequently during 1 scan time The frequency of the pulse in
161. er data will be transferred to the PLC When the PLC is started enters the RUN mode the transferred parameter data will be enabled If the communication conditions set on PLC system 2 Screen are changed be sure to turn off the power of the PLC and then turn it on again B 134 11 Batch Data Positioning Mode TBL Instruction 11 4 Positioning Parameter Setting FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 11 4 2 Changing of Set Positioning Parameters Number of Pulses and Frequency Pulses and frequency set by positioning parameters in a positioning table will be stored in the devices starting from the specified first device as shown below The set pulses and frequency can be changed 9 3 3 g zi using the display module or the indicator Positioning instruction settings vo vw v2 vs PUE EE If the Head Address is set to RO No Positioning Instruction FrequencylHa _ ulse 3 DDVIT interrupt positioning instruction 30000 TU 2 DPLSV Variable speed output pulse instruction 20000 output Positioning Number of 3 DDRVI Fa positioning render 40000 destination table No pulses Frequency DDRVA Absolute positioning instruction 50000 lewis R3 R2 Apx R5 R4 R7 R6 oe E Y000 3 R
162. er s Manual Positioning Control Edition 5 Operation Test Built in Positioning Function 5 1 Test Procedure 2 Stop of operation Turn off the reverse rotation JOG switch X013 to stop the operation in the reverse rotation direction 1 LED indicator lamp check Check the LED indicator lamps of the PLC or the display module to see whether or not the outputs are turned on The status of each output should be as shown in the following table rider SU Status of LED lamp output If S of main nM i kia off at a high speed will be turned off unit are use i Y004 Kept at the OFF status Yo 2 The LED indicator lamp turned on and Pulse train dirog off at a high speed will be turned off tion method If high speed output Y4 6 Kept at the OFF status special adapter is used Forward rotation Y0 2 Kept at the OFF status pulse train FP Reverse rotation Y4 6 The LED indicator lamp turned on and pulse train RP off at a high speed will be turned off 2 Current value register D8340 D8341 check Monitor the current value register D8340 D8341 of the FX3u FX3uc PLC using the programming tool and confirm that decrease in the value is stopped For details on the current value register refer to Subsection 4 4 1 1 1 Check the operation of the reverse rotation limit switch During operation in the reverse rotation direction at step 10 turn off the reverse rotation limit switch 1 X011 and confirm that t
163. eration Acceleration time time D8349 ts D8348 i Zero return eS K 3 eo I aARy 7 4 I M SER y 1 M8342 Fe Maximum speed D8344 D8343 Zero return speed D8347 D8346 Creep speed D8345 Current value register 0 Bias speed D8342 D8341 D8342 DOG Rear end Front end Zero phase signal E EE I CLEAR signal lt gt Y004 l 1 ms or less k 20 ms 1 scan time ms Instruction execution complete ON flag M8029 This step is described assuming that DOG signal logic reverse flag M8345 is off If this flag is on it is necessary to change the expression on to off and off to on This step is described assuming that Zero point signal logic reverse flag M8346 is off If this flag is on it is necessary to change the expression on to off and off to on B 82 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 2 DOG Search Zero Return DSZR Instruction 2 DOG search function If the forward rotation limit and the reverse rotation limit are set the DOG search function can be used for zero return The zero return operation depends on the zero return start position o o 3 3 o 2 g 3 n Rear end Front end Zero return Reverse rotation direction Forward rotation limit 1 limit 1 I Reverse rotation limit lt Forward rot
164. eries Description Generic name for FXau Series PLC FXsu PLC or main unit Generic name for FX3u Series PLC main unit FX3uc series FX3uc PLC or main unit Generic name for FX3uc Series PLC Generic name for FX3uc Series PLC main unit Only manuals in Japanese are available for these products FX2N Series Generic name for FX2N Series PLC FX2NC Series Expansion board Generic name for FX2NC Series PLC Expansion board Special adapter Generic name for expansion board The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Editon of main unit to be used for your system Special adapter Generic name for high speed input output special adapter communication special adapter and analog special adapter The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Editon of main unit to be used for your system High speed input output special adapter Generic name for high speed input output special adapter High speed output special adapter Generic name for high speed output special adapter 2HSY ADP FX3U 2HSY ADP High speed input special adapter Generic name for high speed input special adapter Communication special adapter Generic name for communication special adapter
165. es that determine the pulse output destinations D Device number Data Initial amp Function Refer to Yooo Yoo1 Y002 Y003 length value Specification of Subsection 2 i D8336 interrupt input ant 4 3 7 D8340 LOY pgaso LOW pago L0 pgazo Low order order order order Current value register 32 bit o Subsection High High High High pls 4 4 1 D8341 order D8351 sider D8361 ander D8371 cir Apx D8342 D8352 D8362 D8372 Bias speed Hz 16 bit 0 o o gm L L L L a3 ow ow ow ow O D8343 ordei D8353 order D8363 order D8373 order l S bseaiion S Hiah High High High Maximum speed Hz 32 bit 100 000 425 D8344 9 pgasa 9 pggg4 9 pggz4 9T ia order order order order D8348 D8358 D8368 D8378 Acceleration time ms 16 bit 100 e i D8349 D8359 D8369 D8379 Deceleration time ms 16 bit 100 Py Specifies the CLEAR Subsection 3 3 3 3 D8464 D8465 D8466 D8467 signal device 16 bit 434 1 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FX3u PLC 2 This function will be valid if Ver 1 30 or later is used However to specify the user interruption command device Ver 2 00 or later should be used 3 This function will be valid if Ver 2 00 or later is used B 111 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 9 One speed Interrupt constant quantity feed DVIT Instruction Buil
166. ets the rotational direction signal Y004 using the instruction execution abnormal end flag Abnormal end of zero return FX8U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 Before Programming 4 3 Various Flags for Operation Commands 4 3 4 CLEAR Signal Output DSZR ZRN Instruction DSZR instruction zero return instruction with DOG search function and ZRN instruction zero return instruction can stop the workpiece at the origin and can output the CLEAR signal If it is necessary to output the CLEAR signal to perform zero return turn on CLEAR signal output function enable flag The following table shows CLEAR signal output function enable flag of each pulse output destination device Y000 YOO1 YOO2 Y003 Use the FX3u FX3uc PLC of Ver 2 00 or later to specify the device that outputs the CLEAR signal For operation of DSZR instruction refer to Section 6 2 For operation of ZRN instruction refer to Section 6 3 1 If itis not necessary to use the clear signal device specification function or if the FX3uc PLC of below Ver 2 00 is used Pulseoutput Status of CLEAR Status of Clear signal A destination signal output device specification CLEAN Signal device 3 E d 4 number device function enable flag function enable flag Y000 M8341 ON M8464 OFF Y004 Y001 M8351 ON M8465 OFF Y005 Y002 M8361 ON M8466 OFF YO006 Y00372 M8371 ON M846
167. evice specification function or if the FX3uc PLC of below Ver 2 00 is used Pulse output Status of CLEAR signal output function Status of Clear signal device specification function CLEAR signal device destination device enable flag a flag number Y000 M8341 ON M8464 OFF Y004 Y001 M8351 ON M8465 OFF Y005 Y002 M8361 ON M8466 OFF Y006 Y003 M8371 ON M8467 OFF Y007 Use the FX3u FX3uc PLC of Ver 2 00 or later to use Clear signal device specification function enable flag b If it is necessary to use the Clear signal device specification function Turn on Clear signal device specification function enable flag to specify the CLEAR signal output Y for the pulse output destination device using the Clear signal device specification device For the example on a program refer to Subsection 4 3 4 or Subsection 4 5 1 Pulse output destination device Status of CLEAR signal output function Status of Clear signal device specification function I Mela Pa Clear signal device specification device enable flag enable flag Y000 M8341 ON M8464 ON D 8464 Y001 M8351 ON M8465 ON D 8465 Y002 M8361 ON M8466 ON D 8466 Y003 M8371 ON M8467 ON D 8467 Zero return speed Use the devices shown in the following table to set the zero return speed Be sure to set the zero return speed so that the relation with the other speeds can be bias speed lt zero return speed
168. f DVIT instruction refer to Chapter a l For details on the interrupt input signal designation method refer to Subsection 4 3 7 Interrupt signal logic reverse flag OFF Positive logic Tuming on the input will turn on the M8357 interrupt input signal M8367 ON Negative logic Turning off the input will turn on the M8377 interrupt input signal 1 Devices related to Y003 pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FXsu PLC Pulse output destination device Description Caution If a user interruption command device M8360 to M8463 is specified in the interrupt input signal the logic of the user interruption command device cannot be specified This is because turning on the user interruptiop command device will turn on the interrupt input signal Acceleration Deceleration by PLSV Instruction Using the FX3u FX3uc PLC of Ver 2 00 or later if the M8338 acceleration deceleration operation is turned l on the variable speed pulse output PLSV instruction will be activated to accelerate decelerate the operation l This means that if the command value of the output pulse frequency is changed the operation will be I accelerated or decelerated to the changed output pulse frequency depending on the specified acceleration deceleration time l For operation of PLSV instruction refer to Chapter 10 Maximum speed Initial v value 100 000 Hz AON Output 1
169. f FX3u 2HSY ADP change the name of this signal to forward rotation pulse train signal when reading the description 2 To use forward rotation pulse train signal and reverse rotation pulse train signal of FX3u 2HSY ADP change the name of this signal to reverse rotation pulse train signal when reading the description 3 If the FXauc PLC of below Ver 2 00 is used exchange the direction signal output number with the CLEAR signal output number 4 Ifthe absolute position detection system is used and if DSZR instruction and ZRN instruction are not used for the first zero return this signal is not needed To use the absolute position detection system refer to the following chapter and manual Refer to Chapter 7 and the manual of your servo amplifier 5 To use ZRN instruction for zero return assign the input number of the near point signal DOG to the zero phase signal This is because ZRN instruction will not use the zero phase signal B 138 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 1 Input Output Assignment 6 Touse pin 3 of the CN1 connector of the MR CLA servo amplifier for servo ready signal set parameter 21 as follows Series Parameter number Setting value MR C 21 020 o o 3 3 o 2 g 3 n 7 To ensure safety adopt the forward rotation limit switch and the reverse rotation limit switch on bo
170. f all phases of the power source externally before installation or wiring work in order to avoid electric shock or damage of product Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work Failure to do so may cause electric shock NCAUTIO N Reference Connect the AC power supply wiring to the dedicated terminals described in this manual If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will be burnt out Connect the DC power supply wiring to the dedicated terminals described in this manual If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will be burnt out Do not wire vacant terminals externally Doing so may damage the product Perform class D grounding grounding resistance 100 2 or less to the grounding terminal in the FX3u Series main unit with a 2mm or thicker wire Do not connect the grounding terminal at the same point as a heavy electrical system refer to the manual of the PLC main unit Perform class D grounding grounding resistance 100 2 or less to the grounding terminal in the FX3uc Series main unit with a wire as thick as possible Do not connect the grounding terminal at the same point as a heavy electrical system refer to the manual of the PLC main unit When drilling screw holes or wiring cutting chi
171. f two FX3u 2HSY ADP adapters are connected to the FX3u PLC B 105 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 8 1 Speed Positioning DRVI DRVA Instruction 8 3 Drive To Absolute DRVA Instruction 8 3 8 Function and Operation This instruction is a 1 speed positioning instruction and uses the absolute drive method For this instruction the distance from the origin zero point to the target position should be specified For details on Instruction execution complete flag refer to Subsection 4 7 4 For details on the maximum speed bias speed acceleration time and deceleration time refer to Section 4 2 Command input FNC 159 x Acceleration Deceleration time i time M 35 K 3 I Speed Output pulse frequency Number of output Time I Instruction execution ff i I l Instruction execution complete flag M8029 On 1 For CSt specify the number of output pulses absolute address value Setting range 16 bit operation 32 768 to 432 767 32 bit operation 999 999 to 999 999 2 For Ce specify the output pulse frequency Setting range 16 bit operation 10 to 32 767 Hz 32 bit operation When high speed output special adapter is used 10 to 200 000 Hz When transistor output of main unit is used 3 For 1 specify the
172. familiar with documentation which is connected with the actual operation of the completed equipment Note the term completed equipment refers to a third party constructed device which contains or uses the product associated with this manual This product has been manufactured as a general purpose part for general industries and has not been designed or manufactured to be incorporated in a device or system used in purposes related to human life Before using the product for special purposes such as nuclear power electric power aerospace medicine or passenger movement vehicles consult with Mitsubishi Electric This product has been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system When combining this product with other products please confirm the standard and the code or regulations with which the user should follow Moreover please confirm the compatibility of this product to the system machine and apparatus with which a user is using e f in doubt at any stage during the installation of the product always consult a professional electrical engineer who is qualified and trained to the local and national standards If in doubt about the operation or use please consult the nearest Mitsubishi Electric distributor Since the examples indicated by this manual technical bulleti
173. ference 2 Input output cables optional cables manufactured by our company Our company can provide input output cables already equipped with a connector Model Length Description Connector type 5m The 20 pin connector is attached to FX 16E 500CAB S 16 4 General purpose input output cable one end of the non stranded cable Green red 1 5m FX 16E 150CAB 411 3m The 20 pin connector is attached to FXCTOETSUDAB 910 Cable for connection of FX Series both end of the flat cable with tube 5m terminal block to input output connector FX 16E 500CAB 16 4 For details of connection to the FX Series terminal block refer to the FX 16E 150CAB R wan following manuals am pictus Sadia ER The 20 pin connector is attached to FX 16E 300CAB R gae TF Auc Hardware Edition oth ends of the round multi core 910 cable 5m FX 16E 500CAB R 16 4 1 5m Two 20 pin connectors unit 16 n AE 411 points are attached to the PLC side Cable for connection of A Series f the fl ith h 3m A6TBXY36 connector terminal board of the fat cable with tbe and Ule FX A32E 300CAB 40 dedicated connector is attached to 9 10 conversion unit to input output acanecion woe the terminal board side of the flat FX A32E 500CAB zm d cable 32 points for each input 16 4 output common FX3U FX3UC Series PLC User s Manual Positioning Control Edition 3 Connection of Input Output Lines and Tightening Built in Pos
174. fications Model FX3uc PLC main unit transistor output FX3u 2HSY ADP Number of control axes 3 independent axes 2 independent axes Interpolation Pulse output system Open collector system Differential line driver system Pulse output method Pulse train direction method Pulse train direction method Forward reverse rotation pulse train method Maximum frequency 100 000Hz 200 000Hz Acceleration deceleration type Automatic trapezoidal acceleration deceleration Unit pulse Positioning range 999 999 to 999 999 pulse Program language Sequence program Position data 1 point set in sequence program Connection of manual pulse generator Detection of absolute position Reads out the current value of ABS ABS instruction Others Pulses can be output from the general purpose outputs Y000 Y001 and Y002 of the main unit Connect 2 adapters to the main unit to control 4 axes independently Connect this adapter to the main unit to use the differential line driver type pulse train This is because the main unit cannot output this type of pulse train Use this adapter in place of the general purpose outputs Y000 Y007 of the main unit 1 Canonly be connected to the FX3u PLC Up to 2 adapters can be connected 2 f 2 adapters are connected YOOO to Y007 will be used If only one adapter is con
175. for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the PLC When the PLC CPU detects an error such as a watch dog timer error during self diagnosis all outputs are turned off When an error that cannot be detected by the PLC CPU occurs in an input output control block output control may be disabled Design external circuits and mechanisms to ensure safe operations of the machine in such a case When some sort of error occurs in a relay triac or transistor of the output unit output may be kept on or off For output signals that may lead to serious accidents design external circuits and mechanisms to ensure safe operations of the machine in such cases DESIGN PRECAUTIONS C AUTION Do not bundle the control line together with the main circuit or power line Do not lay the control line near them As a rule lay the control line at least 100mm 3 94 or more away from the main circuit or power line Noise may cause malfunctions Install in a manner which prevents excessive force from being applied to the built in connectors dedicated to programming power connectors and I O connectors Failure to do so may result in wire breakage or failure of the PLC WIRING PRECAUTIONS O DANGER Cut off all phases of the power source externally before installation or wiring work in order to avoid electric shock or damage of product Make sure to attach the terminal cover offered as an
176. for the sequence programs File register capacity Program capacity Special Function Memory Set whether the special unit initial data setting function and the capacity positioning data setting function should be enabled Enter a check in the check box to enable the special functioin unit block initial data setting function Use I O Assignment Setting tab to set the initial value of a special unit Enter a check in the check box to enable TBL FNC152 instruction setting function Use Positioning Data Setting tab to set the positioning data Special Function Block Settings Positioning Instruction settings 1 The initial value is 8000 steps for GX Developer of below Ver 8 22Y B 131 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 11 Batch Data Positioning Mode TBL Instruction 11 4 Positioning Parameter Setting 3 Set the positioning data Positioning data can be set if the FX3u FXsuc PLC of Ver 2 00 or later is used Click Positioning tab On Memory Capacity tab preliminarily enter a check in Positioning Instruction Setting check box to set the positioning data setting table on Positioning tab 2 Set the positioning constants to be used for TBL FNC152 instruction FX parameter Memory capacity Device PLC name 1 0 assignment PLC system 1 PLC system 2 Bias speed Hz v1 Y2 ia Setting Range i 0 0
177. for your system FX3U FX3UC Series PLC User s Manual Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or abbreviation Extension unit Description Special function unit block or Special extension unit Generic name for special function unit and special function block The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Edition of main unit to be used for your system Special function unit Generic name for special function unit Special function block Generic name for special function block The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Edition of main unit to be used for your system Positioning special function unit Pulse output special function block Generic name for the following models FX2N 10GM FX2N 20GM Generic name for the following models FX2N 1PG E FX2N 1PG FX2N 10PG FX2N 1PG E Optional unit Generic name for the following models FX2N 1PG E FX2N 1PG Extension power supply unit FX3uc 1PS 5V Memory cassette FX3U FLROM 16 FX3U FLROM 64 FXsu FLROM 64L Battery FX Series terminal block FXsu 32BL FX 16E TB FX 32E TB FX 16EX A1 TB FX16EYR TB FX 16EYS TB FX 16EYT TB Input output cable
178. forward reverse 1 10 inch system E rotation pulse train mdeg method Pulse train ulse 2 axes prs Open tolector direction method or FX2N 20GM independent 1 to 200 000 e P forward reverse 1 interpolation 10 inch Syam rotation pulse train mdeg method 1 For details on each special function unit block refer to the manual of the unit block FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Introduction Common Items 1 2 Introduction of Products Needed for Positioning 1 2 2 Main Unit Transistor Output The FX3uc PLC incorporates the positioning function This PLC can output the open collector type pulse train of up to 100 kHz from the general purpose outputs Y000 to YOO2 and can simultaneously control 3 axes Seu Pi Servo motor Servo motor Servo motor Servo amplifier Servo amplifier Servo amplifier Y000 Y001 Y002 n miee Direction signal Direction Direction signal signal HH gt n ili Fiuc S2MTLT LI i i m 1 2 8 Special Adapter Special adapter can output the differential line driver type pulse train of up to 200 kHz using the positioning function incorporated in the FX3u PLC and can simultaneously control 4 axes Up to 2 high speed output special adapters FX3U 2HSY ADP can be connected to the FX3u PLC The fi
179. g Resets reverse rotation positioning completion flag Enters the forward rotation positioning state S12 1 If the initial values maximum speed acceleration deceleration time zero return speed creep speed can be used it is not necessary to create the program For the related devices refer to Section 4 1 to Section 4 4 2 The maximum transfer distance for each jogging operation is 999 999 pulses pulse output range of FNC158 DRVI instruction To further move the workpiece execute the JOG command again B 144 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 3 Programs for Forward Reverse Rotation Step Ladder STL Program M M X025 M5 M10 R Resets forward rotation 1 m ST M12 els atio Positioning Operation Zero return E i positioning completion flag in reverse stopped completion flag rotation RST M13 Resets reverse rotation direction ERE i positioning completion flag SET S13 Enters the reverse rotation positioning state S13 STL Zero return A o o 3 3 o 2 g 3 n X M50 X030 p FNC 1 Zero return instruction with om 1 ira X010 X004 YOOO Y004 DOG search function S5 Waiting for Stop CLEAR signal Y020 ae 1 scan time command Near Zero Pulse Rotation s o point phase output direction 5 signal signal destination signal E number 2 D M8029 SET M10 Zero return comp
180. g item Setting value Rotation direction signal Y004 First device RO Positioning type DDRVI drive to increment No 1 Number of pulses pls 999 999 Frequency Hz 30 000 Positioning type i a PARNA drive to increment No 2 Number of pulses pls 999 999 Frequency Hz 30 000 Positioning type DDRVA drive to absolute No 3 Number of pulses pls 500 000 Frequency Hz 100 000 Positioning type in dh drive to absolute Nus Number of pulses pls 100 Frequency Hz 100 000 B 148 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 4 Positioning Using Batch Setting Method 5 Create a program o o 3 3 o 2 g 3 n 6 On the bar click Online and then Write to PLC Write to PLC window will appear Write to PLC Connecting interface COM3 lt gt PLE module 4 PLC Connection Station No Host PLC type FX3U C Device data Program Common j Select all Cancel all selections lose 3 pnm Apx M MAN Related functions Device comment Ee 9 m COMMENT S Parameter Keyword setup 3 E MI PLC parameter Remote operation S o Clear PLC memory 1 Depending on the version of GX Developer the PLC type may be set to FX3UC T Click Param Prog buttons and then click Execute button The parameters and the created program
181. get in use k position oN positioning Start command will Operation Speed speed 1 Operation _ transfer the workpiece A speed 2 to the distance 1 at Pulse train operation speed 1 v 4 7 ici i unction of and then to the distance Pulse train direct StartTransfer Transfer 2 at operation speed e Keen distance 1 distance 2 2 function of connection direct instruction 7 connection will perform Multi speed operation The workpiece will The tabl instruction this p4 P2 Pa change the speed by etable will perform operation Speed the specified transfer operation this Operation of distance continuous operation only one The left figure shows an operation axis is example of 3 speed function will possible Start operation perform this operation FX3U FX3UC Series PLC User s Manual Positioning Control Edition Common Items 3 Comparison of Specifications 3 2 Comparison of Operation Modes Positioning operation pattern Description Built in positioning function FX3uc PLC main unit FX3U 2HSY ADP FX3u FX2n 1PG E FX2N 10PG FX2N 10GM FX2N 20GM Stop with interruption Ignoring remaining distance Target position x y Interrupt input X axis Y axis Start point During direct connection operation to the target position x y at a vector speed if interrupt input turns ON the speed will be reduced and then the positioning operation w
182. gh speed output special adapter is not used for the FX3u PLC or if the FX3uc PLC is used 9 specify a transistor output number If the high speed output special adapter is used for the FX3u PLC specify the following output numbers 3 For the outputs applicable with High speed output special adapter refer to section 4 9 g Lions Hood output spect Pulse output Rotation direction output adapter connection position for YOOO De Y004 The 1st adapter for YOO1 De Y005 for Y002 De Y006 The 2nd adapter for Y003 De Y007 A X A3 The DL1 b cannot be indexed by index registers V and Z D S8 33 25 8 2 2 List of Related Devices 25 1 Special auxiliary relays The following table shows the related special auxiliary relays Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations Device number Function Attribute Refer to yooo YOO1 YOO2 voo3 M8029 Instruction execution complete flag Read only re a M8329 Instruction execution abnormal end flag Read only 21 008 M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only Mcd M8343 M8353 M8363 M8373 Forward limit Drivable E M8344 M8354 M8364 M8374 Reverse limit Drivable jid M8348 M8358 M8368 M8378 Positioning instruction activation Read only Horde M8349 M8359 M8369 M8379 Pulse output stop command Drivable AT 1 Device
183. gnal DOG can be kept at the ON status until the speed is o o 3 3 o 2 g 3 n reduced to the creep speed Apx This instruction will start speed reduction at the front end of the DOG and will stop the operation at the rear inis end of the DOG or at detection of the first zero phase signal after through the rear end of the DOG After S that the current value register will be cleared reset to 0 ae If the speed is not reduced to the creep speed before detecting the rear end of the DOG the operation may not be stopped at the specified position The input device specified for the near point signal or the zero phase signal cannot be used for the following items High speed counter Input interruption Pulse catch SPDinstruction DVIT instruction ZRNinstruction Since the zero phase signal of the servo motor is used adjust the relation between the rear end of the DOG and the zero phase signal as shown in the following figure If fine adjustment of the origin position is needed adjust the position of the near point signal DOG Rear end DOG I Zero phase signal l The creep speed should be slow enough The zero return instruction will not reduce the speed before stop For this reason if the creep speed is not low enough the operation may not be stopped at the specified position due to inertia Evenifthe operand is subject to change during execution of the instruction the operation will
184. h speed tion method Y4 6 Kept at the ON status If high speed output f special adapter is used LIE Y0 2 Turned on and off at a high speed Reverse rotation pulso train RP Y4 6 Kept at the OFF status 2 Current value register D8340 D8341 check Monitor the current value register D8340 D8341 of the FX3u FX3uc PLC using the programming tool and confirm that the value is being increased For details on the current value register refer to Subsection 4 4 1 Stop of operation Turn off the forward rotation JOG switch X012 to stop the operation in the forward rotation direction 1 LED indicator lamp check Check the LED indicator lamps of the PLC or the display module to check whether the outputs are turned on The status of each output should be as shown in the following table Pulse output LED lamp method of output Status of LED lamp output i The LED indicator lamp turned on and If transistor outputs of main Pulse train direc Y000 off at a high speed will be turned off unit are used tion method Y004 Kept at the ON status a Yo 2 The LED indicator lamp turned on and Pulse train direc off at a high speed will be turned off ewes Y4 6 Kept at the ON stat If high speed output ept at the status special adapter is used Forward rotation Yo 2 The LED indicator lamp turned on and pulse train FP off at a high speed will be turned off Reverse rotation
185. he PLC side and the servo amplifier side Note that the limit switches on the PLC side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable Programmable Servo amplifier side controller side controller side LSR LSF Servo motor Fa 2 cc a E Reverse rotation lt gt Forward rotation 4 To detect absolute positions connect this line to the PLC Apx 4 FX8U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 1 MELSERVO J3 Series Example Connection Appendix 1 2 High Speed Output Special Adapter Appendix 1 2 High Speed Output Special Adapter To assign the inputs outputs refer to the following section B Refer to Section 12 1 of Built in Positioning Function Appedix 1 2 1 Sink Input Sink Output Transistor and Differential Line Driver Output MR J30A Series servo 24V DC CN1 amplifier OPC Buiuonisod using UU sweyvowwog J gt TI c m o FXsu 2HSY ADP l Pulse train l Forward rotation Epuivalent to pulse train CN1 LS Speed zero LE Positioning completed INP C54 Torque being controlled EST Servo error ALM n 10 99 oa Pia ALA w w co a o o o ABS o z Q Direction signal Reverse rotation pulse train
186. he cable sheath is too thick it may be difficult to insert the cable into the insulation sleeve For this reason select an appropriate cable while referring to the external view Manufacturer Model Caulking tool Phoenix Contact AI 0 5 8WH CRIMPFOX UD6 3 2 3 Tool Totighten terminals use a purchased small sized screwdriver whose tip is straight and is not widened as shown in the right figure With Manufacturer Model straight tip Phoenix Contact SZS 0 4x2 5 0 4mm 2 5mm 0 02 0 1 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 3 Connection of Input Output Lines and Tightening 3 3 Connector 3 3 Connector 3 3 o Connectors conforming to the requirements of the MIL C 83503 are adopted for the FX3uc Series main unit and some types of FX2Nc Series input output extension blocks z 3 3 1 Cable Connection To Input Output Connector Prepare the input output cables while referring to the next page Input X Output Y Input Output X HL px TE 1 e means that the terminal is not used 3 3 2 Setup of Input Output Connection Connector 1 Applicable connector connector purchased at store Use a 20 pin 1 key socket that conforms to the requirements of the MIL C 83503 Preliminarily check that the peripheral parts such as the connector cover will not cause any inter
187. he operation in the reverse rotation direction is stopped The LED indicator lamps and the current value register D8340 D8341 will enter the same statuses as the stop statuses described in step 10 In addition Instruction execution abnormal end flag M8329 will be turned on For details on the current value register refer to Subsection 4 4 1 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 5 Operation Test 5 2 Creation of Test Program 5 2 Creation of Test Program 1 Input output assignment Inputs outputs are assigned as shown in the following table Signal Input output number i Forward rotation limit 1 NC contact X010 Limit switch TENTE Reverse rotation limit 1 NC contact X011 Forward rotation JOG NO contact X012 Manual switch Reverse rotation JOG NO contact X013 Pulse train signal or forward rotation pulse train signal output specified for pulse output Y000 destination Direction signal or reverse rotation pulse train signal output specified for rotation YOO4 direction signal Setting of related devices The related devices depend on the pulse output destination device set for the positioning instruction If the pulse output destination device set for the positioning instruction is changed it is necessary to change the related devices Setting item For setting items of the related devices refer
188. i deett ut rra dece B 85 6 3 Zero Return ZRN INStruction cccccececeeeseceeeeeeeceeeeeeaeeeeceaeeeeeceaeeceseaaeeseaeeeeeeeaeeeeseeeeeeeeeneeeess B 86 6 3 T Instr ctiori Format ee eee ae OU RUP DRE B 86 6 3 2 List of Related devices hte Gels ert te Ai deseo poo e bite a a e e aeai B 87 6 3 3 Function and operation etenim eene seine dhe seeded sieved e dock e VE To TE De eines B 88 6 3 4 Important POINTS wes oue cedet ccrte ebat neta red t Ee erbe e vete edge OMS EY c dp E EXE en den B 92 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Table of Contents 7 Absolute Position Detection System Absolute Current Value Read ABS Instruction B 93 7 1 Instruction Format E eves B 93 7 2 List of Related Devices 00 2 2 eececcceccsccceeeceeeeeeceeeeeeneeeeeeaeeeeeeaeeeeeeaaeeeeesaceeeeeeaeeeesscaeeseseneeeeeesneeeess B 94 7 3 Function and Operation cessisse eene enne nennen nnne nnne nennen B 94 7 4 Initial Zero Ret rn crie eee idle iilii to ede cateccdan ete cedewevsccteects ede atkeccabes B 95 7 5 Important POInts i Dei e eat ea attt I aer tetro lori te deed B 95 8 1 Speed Positioning DRVI DRVA Instruction B 96 8 1 Incremental Method and Absolute Method ccceececceeeeeeeeeeeeeeeeeeeeneeeeeeeneeeeesneeeeesneeeetennees B 96 8 2 Drive to Increment DRVI Instruction ccceeeeceeeeeeeceeeeeeeeeeee
189. ications 2 6 List of Functions 2 6 List of Functions The instructions needed for the positioning function Built in in the FX3uU FX3uc PLC are shown in the following table Positioning instruction Operation Description Refer to Mechanical zero return If DSZR ZRN instruction turns ON DSZR xum Bec mechanical zero return will be started iristructi h Creep Zero return at the specified zero return speed If a ia speed speed the dog sensor is turned on the speed uncuon F will be reduced to the creep speed If a the zero phase signal is input the Chapter 6 operation will be stopped and the zero RN Zero point ON DOG ON Start ssa will be amea Dog OFF when ZRN Mie instruction 750 UM struction is used If ZRN instruction is used the dog sensor will be turned off to stop the operation Absolute position detection system Absolute ABS ened ened IL ji If ABS instruction turns ON the current y ye motor address will be read out from the Chapter 7 instruction Reading of T a sewo ciipliick current ABS Reads out the panigi value current value TP 1 speed positioning DRVI Relative Operation speed If DRVI DRVA instruction turns ON instruction positioning 3 the operation will be started at the D operation speed If the workpiece Chapter 8 DRVA Absolute 2 comes to the target position the instruction positioning Start Target position
190. igin data reading completion flag Resets the rotational direction signal Y004 using the instruction execution abnormal end flag Abnormal end of zero return A O o 3 o 9 zx o j SUJ9 UOWWOD x ejdurex3 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 6 Mechanical Zero Return DSZR ZRN Instruction 6 3 Zero Return ZRN Instruction 6 CLEAR signal output This instruction can output the CLEAR signal after stop at the origin If it is necessary to output the CLEAR signal at the completion of zero return turn on CLEAR signal output function enable flag see the following table Use the FX3u FX3uc PLC of Ver 2 00 or later to specify the CLEAR signal output device a Ifit is not necessary to use the Clear signal device specification function or if the FX3uc PLC of below Ver 2 00 is used Pulse output Status of CLEAR signal output function Status of Clear signal device specification CLEAR signal device Boece enable flag function enable flag pum pet Y000 M8341 ON M8464 OFF Y004 Y001 M8351 ON M8465 OFF Y005 Y002 M8361 ON M8466 OFF YO06 Y003 M8371 ON M8467 OFF Y007 1 Use the FX3U FX3UC PLC of Ver 2 00 or later to use Clear signal device specification function enable flag b If it is necessary to use the Clear signal device specification function Turn on Clear signal device specifica
191. ignal logic reverse flag as shown in the following table If the same input is specified for both the near point signal and the zero phase signal the logic of the zero phase signal will be specified by the device of the near point signal DOG not the following device In this case in the same way as ZRN instruction operation will be performed at the front and rear ends of the near point signal DOG without using the zero phase signal Pulse output Zero point signal logic Description destination device reverse flag Di Y000 M8346 pr OFF Positive logic Turning on the input will turn on the Y001 M8356 near point signal Y002 M8366 ON Negative logic Turning off the input will turn on the near point signal Y003 M8376 3 For specify the pulse output number in the range of YOOO to Y003 4 For D2 specify the rotation direction signal output device number If the high speed output special adapter is not used for the FX3u PLC or if the FX3uc PLC is used specify a transistor output number If high speed output special adapter is used for the FX3U PLC specify the following output numbers High speed output special Rotation direction aie Pulse output adapter connection position output for YOOO Y004 for Y001 Y005 for Y002 Y006 for YO03 Y007 The rotation direction depends on the ON OFF status of the specified device as shown in the following table During execution of this instru
192. ill be stopped F uogoun4 UIUOIISOg ul yINg w SW9 UOWWOD gt uonoeuuo C3 e duex3j gt lt Stop with interruption Speed Operation speed Speed Interrupt input Target position Start command will start operation and the operation will be stopped at the target position During operation if interrupt input turns ON the speed will be reduced and then the operation will be stopped 1 speed positioning with interruption Speed Operation speed Start Interruption command Transfer distance If interrupt input turns ON the workpiece will go the specified transfer distance at the same speed the speed will be reduced and then the operation will be stopped v Interrupt positioning instruction performs this operation 2 speed positioning with speed reduction Operation Speed speed 1 Operation speed 2 Start Speed reduction Stop command command The operation starts at operation speed 1 by start command During operation if the speed reduction command is input the speed will be reduced to operation speed 2 After that the operation will be continued at operation speed 2 until the stop command is input 2 speed positioning with interruption Transfer distance 2nd speed I Speed 1st speed Start Interrupt input 1 Interrupt input 2 If interrupt input 1 turns ON the speed will be reduced to the 2nd speed After that if interrupt i
193. ime If the variable speed pulse output PLSV instruction is used the set deceleration time will be valid during acceleration deceleration M8338 ON only Use the devices shown in the following table to determine the deceleration time for each pulse output destination device SES EEE Seale TIS Initial value Setting range destination device Time YO000 D8349 50 to 5 000 ms Y001 D8359 If the value is set to 49 ms or less the deceleration time will Yoo2 D8369 100ms be automatically set to 50 ms If the value is set to 5 001 ms or more the deceleration time will be automatically set to Y003 D8379 5 000 ms 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 3 Various Flags for Operation Commands 4 3 Various Flags for Operation Commands SUJ9 UOWWOD p gt 4 3 1 Forward Rotation Limit and Reverse Rotation Limit When using the servo motor the forward rotation limit and the reverse rotation limit can be set for the servo amplifier To use the DOG search function for zero return or to set the forward rotation limit or the reverse rotation limit for operation other than zero return using the PLC set forward rotation limit 1 LSF and reverse rotation limit 1 LSR for the PLC so that these limit switches can be
194. in the reverse rotation direction only During zero return the value indicated by the current value register will be reduced To perform zero return in the forward rotation direction using ZRN instruction zero return instruction o o 3 3 o 2 gd 3 e To perform zero return in the forward rotation direction create a program to control the output Y relay set as a rotational direction signal as follows For details on programming refer to Section 4 7 To use main unit transistor output refer to Section 4 8 To use high speed output special adapter refer to Section 4 9 1 Turn on Y rotational direction signal 2 Refresh Y output using REF FNC50 instruction Apx 3 Execute ZRN instruction zero return instruction is 4 Using the execution completion flag M8029 of ZRN instruction zero return instruction reset 38 Y rotational direction signal 25 Example of program The following program uses Y004 as the rotational direction signal for YOOO a Turns on sets Y004 as the rotational direction signal of YOOO pulse output destination Y000 output pulse monitor b Refreshes Y000 to Y007 FNC 50 REFP Y000 K8 E FNC156 DZRN Ge Y000 M8029 c Executes ZRN instruction d Resets the rotational direction signal Y004 using the instruction execution complete flag Origin data reading completion flag Res
195. ing Function 5 Operation Test 5 2 Creation of Test Program 3 Example of program X012 X013 Forward rotation limit 1 X011 Reverse rotation limit 1 M8348 M101 JOG Positioning JOG YOOO operation completed M100 H JOG operation being performed M8348 M103 JOG Positioning JOG YOOO operation completed M102 JOG operation being performed M8002 EE M MC K100000 D8343 Initial pulse 2 FNC 12 FNC 12 Moy K100 D8348 FNC 12 Mov K100 D8349 X010 i FNC158 DDRVI K999999 K30000 Y000 Y004 X012 JOG M8329 Instruction execution abnormal completion Ganon dines FNC158 Kk DDRVI K 999999 K30000 Y000 Y004 X013 JOG M8329 Instruction execution abnormal completion To noa END Maximum speed for Y000 100 000Hz D8344 D8343 Bias speed for Y000 O0HzD8342 Acceleration time for YOOO 100ms D8348 Deceleration time for YOOO 100ms D8349 Forward limit for YOOO Reverse limit for YOOO Performs jogging operation in the forward rotation direction using the drive to Increment instruction Completes the JOG operation JOG operation is being performed Performs jogging operation in the reverse rotation direction using the drive to Increment instruction Completes the JOG operation JOG operation is being performed FX3U FX3UC Series PLC User s
196. ion Appendix 4 1 1 Sink Input and Sink Output TI 2 o 9 e 3 3 o E E 3 7 UU oc Gn E OS a3 a IL Class D 7 grounding J Zero Point signal PGO Photo coupler MR CLIA Series servo amplifier xn COMO S eon MO i Forward rotation limit 2 4 Reverse rotation limit 2 4 Servo ON Immediate stop command Zero return command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 Setthe parameter No 21 at servo amplifier to 020 Apx 15 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 4 MELSERVO C Series Example Connection Appendix 4 1 Main Unit Transistor Output 4 To ensure safety adopt the forward rotation limit switch and the reverse rotation limit switch on both sides the PLC side and the servo amplifier side Note that the limit switches on the PLC side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable Programmable Servo amplifier side controller sid
197. ion When high speed output special 10 to 32 767 Hz adapter is used TOO 200 00082 When Note that the zero return speeds shown in Pulse output destination device transistor output of main unit ised 10 to 100 000 Hz the following table will not be adopted Zero return speed Y000 D8347 D8346 Y001 D8357 D8356 Y002 D8367 D8366 Y003 D8377 D8376 2 For amp 2 specify the creep speed Setting range 10 to 32 767 Hz FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 3 Zero Return ZRN Instruction 3 For S32 specify the near point signal DOG input device number NO contact Turning on the near point signal will reduce the speed to the creep speed Turning off the near point signal will complete the zero return operation For details refer to 1 Zero return operation e If an input X000 to X007 of the main unit is specified for the input signal the interruption function will be adopted to stop the operation To output the CLEAR signal turn on CLEAR signal output function enable flag Under the following condition however operation may be affected by the input constant or the scan time of the sequence program and the operation therefore may not be stopped exactly at the origin An input number of X010 or below or the other device auxiliary relay etc is specified If i
198. ion 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction Built in Positioning Function 10 1 Instruction Format 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction SWd UOWWOD p gt The built in positioning function uses the variable speed pulse output PLSV instruction to perform variable speed operation If the FX3u FX3uc PLC of Ver 2 00 or later is used this instruction can change the speed using the acceleration deceleration speed 10 1 Instruction Format Apx om Outline Bo This instruction is the variable speed pulse output instruction equipped with the rotation direction designation function For the items to be observed in programming refer to Section 4 7 1 Instruction Format m jo aca ibunt Execution condition NUM n Execution condition PLSV Continuous DPLSV 77 Continuous PULSE V 9 steps execution 17 steps execution type type 2 Data setting Operandtype Bescipion Datatype Specifies the output pulse frequency designation device number BIN 16 32 bit Specifies the pulse output device number Wi De Specifies the rotation direction signal output destination device number 1 Setting range 32 768 Hz to 1 Hz and 1 Hz to 32 767 Hz for 16 bit operation For the 32 bit operation however the setting range should be as shown in the following table Pulse output
199. ion limit 1 Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable Programmable Servo amplifier side controller side controller side LSR LSF Servo motor au rad E Ex Reverse rotation lt gt Forward rotation 4 Todetect absolute positions connect this line to the PLC Appendix 3 2 Absolute Position Detection Transistor Output To assign the inputs outputs refer to the following section Refer to Section 12 1 of B Incorporated Positioning Appendix 3 2 1 Sink Input and Sink Output 1 FXsuc PLC MR HLIJA Series servo CN1 amplifier VIN pee m 5G VIN SG Class D Photo grounding coupler Cd TF mem i l Servo ON SO ES 40 z ABS transfer mode ABS request 9g e 9g E ABS bit0 ABS bit1 Send data ready U T N n U AININ N Aajlaj oja A ol AINO J ola EB 1 Be sure to use the class D grounding method grounding resistance 100 Q or less Apx 14 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 4 MELSERVO C Series Example Connection Appendix 4 1 Main Unit Transistor Output Appendix 4 MELSERVO C Series Appendix 4 1 Main Unit Transistor Output To assign the inputs outputs refer to the following section Refer to Section 12 1 of B Built in Positioning Funct
200. ion of DVIT instruction refer to Chapter 9 For details on the interrupt input signal designation method refer to Subsection 4 3 7 Pulse output Interrupt signal logic TRA npe Description destination device reverse flag YOQ0 M8347 OFF Positive logic Turning on the input will turn on the Y001 M8357 interrupt input signal Y002 M8367 ON Negative logic Turning off the input will turn on the Y003 M8377 interrupt input signal 1 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC Caution Pl Pa If a user interruption command device M8360 to M8463 is specified in the interrupt input signal the logic of the user interruption command device cannot be specified This is because turning on the user interruption command device will turn on the interrupt input signal 4 3 9 Acceleration Deceleration by PLSV Instruction Pets Pe Using the FX3u FX3uc PLC of Ver 2 00 or later if the M8338 acceleration deceleration operation is turned on the variable speed pulse output PLSV instruction will be activated to accelerate decelerate the operation This means that if the command value of the output pulse frequency is changed the operation will be accelerated or decelerated to the changed output pulse frequency depending on the specified acceleration deceleration time For operation of PLSV instruction refer to Chapter 10
201. ion time ms 16 bit 100 cm D8349 D8359 D8369 D8379 Deceleration time ms 16 bit 100 real 1 Devices related to YOOS pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC B 100 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 8 1 Speed Positioning DRVI DRVA Instruction Built in Positioning Function 8 2 Drive to Increment DRVI Instruction 8 2 3 Function and Operation This instruction is a 1 speed positioning instruction and uses the relative drive method For this instruction the transfer distance from the current position to the target position should be specified together with a plus or minus sign This method is also referred to as the incremental relative drive method For details on Instruction execution complete flag refer to Subsection 4 7 4 For details on the maximum speed bias speed acceleration time and deceleration time refer to Section 4 2 SUJg UOWWOD Command input H ga i Acceleration Deceleration time time a Speed ejdurex3 O o 3 o 9 zx o Sj Output pulse frequency Number of output Time Instruction execution l Instruction l execution complete flag ON M8029 1 For CSt specify the number of output pulses relative address value o T Setingrage 16 bit operation 32 768 to 432 767 32 bit operation 99
202. is on and if the positioning instruction excluding the ABS instruction or the pulse output instruction PLSR PLSY uses the same pulse output destination device the instruction cannot be executed Even after turning off of the instruction activation contact if pulse output monitor BUSY READY flag is still on do not execute the positioning instruction including PLSR and PLSY instructions for the same output number Before activating such an instruction check that pulse output monitor BUSY READY flag is off and then wait until 1 cycle or more of operation has been completed For examples of programs refer to Chapter 12 Pulse output destination device Pulse output monitor flag _ Y000 M8340 Y001 M8350 Y002 M8360 Y003 M8370 1 YO003 can be specified as the pulse output destination only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC Description EP a Sr AE NO A a ey CUP PEU Rpqell L DSZR DVIT TBL ABS ZRN PLSV DRVI DRVA Zero return instruction with BSZA PING TRUE DOG search function d lt y 5 d d s d Interrupt Positioning y 7 z p DVITENG1S1 interruption fixed feed 2 F mE 2 TBL FNC152 Positioning by batch setting p 3 method a Current ABS value read out 2 ABS FNC155 ae 6 from servo amplifier 9 Zero returnzero return without 2 v v v v v v v E ZRNIFNG Se DOG search function PLSV FNC157 Variable speed Pulse Output A DRVI FN
203. isconnection or damage of the product The disposal size of the cable end should follow the dimensions described in this manual Tightening torque should be between 0 22 to 0 25 Nem Twist the end of strand wire and make sure there is no loose wires Do not solder plate the electric wire ends Do not connect electric wires of unspecified size or beyond the specified number of electric wires Fix the electric wires so that the terminal block and connected parts of electric wires are not directly stressed prea perform wiring to the FX Series terminal blocks following the precautions below in order to prevent electrical shock short circuit breakage of wire or damage to the product The disposal size of the cable end should follow the dimensions described in this manual Tightening torque should be between 0 5 to 0 8 Nem FX3U FX3UC Series PLC User s Manual Positioning Control Edition 3 Connection of Input Output Lines and Tightening Built in Positioning Function 3 1 Terminal Board M3 M3 5 3 1 Terminal Board M3 M3 5 A terminal board is adopted for the FXs3u Series main unit FX2N Series input output extension unit excluding some types and FXoN Series input output extension block o o 3 3 o 2 g 3 n 3 1 1 Terminal Screw Size The terminal screw size of each product is shown in the following table For details on the crimp style terminals refer to Subsection 3 1 2 Product Terminal screw
204. itioning tab click Memory Capacity tab and then enter a check in Positioning check box After entering a check positioning data can be set FX parameter Memory capacity Device PLC name 1 0 assignment PLC system 1 PLE system 2 Positioning Setting item Setting value Bias speediHz 0 Vc e um Bias speed Hz 500 Max speed Hz 100000 100000 10 200 000 Cheep speed Ha 1032767 Maximum speed Hz 100 000 Zero retum speediHz 10 200 000 SRE oam Creep speed Hz 1000 adn pu Zero return speed Hz 50 000 Acceleration time ms 100 Deceleration time ms 100 India sting Interrupt input for DVIT instruction X000 Check Click Individual setting button Individual setting setting window will appear In this window click Y000 tab to display the positioning table for Y000 pulse output destination Set the data in the potioning table as follows d ami Rotation direction sional V020 HeadAddress RO Positioning table No Postioning Instuction Pulse Frequency H2 Up 1 DDRV Rel 399399 30000_ 2 DDRW Rel 399895 30000 m 3 DDRVA A 00000 300000 4 DDRVA Absolut 300 700000 Inset 5 E 6 7 Delete 8 3 Delete 10 allines Positioning table settings wil not be initialized when the PLC is powered on ok Cancel Settin
205. itioning Function 3 3 Connector 3 Input output cable connectors prepared by purchaser optional connectors manufactured by our company The purchaser should prepare the cables and press fitting tools Input output connector model and number Applicable cable of connectors included in one set recommended cable UL 1061 and tool Description of parts Crimping tool Our model Manufactured by Daiichi Cable size Manufactured by Daiichi Denshi Kogyo Co Ltd Denshi Kogyo Co Ltd FX2c l O CON for flat Set of Crimp style connector AWG28 0 1 mm 357J 4674D main unit cable 10 parts FRC2 A020 30S 1 27 pitch 20 cores 357J 4664N attachment FX2c l O CON S for Housing HU 200S2 001 imp i 2 x n n stranded cable 5 sets E style contact HU AWG22 0 3mm2 357J 5538 FX2c I O CON SA Housing HU 200S2 001 for non stranded 5 sets Crimp style contact HU AWG20 0 5mm 357J 13963 cable 411SA 4 Connector already confirmed as applicable sold at store Connectors manufactured by Daiichi Denshi Kogyo Co Ltd shown in 3 and connectors manufactured by Matsushita Electric Works Ltd shown in following table Applicable cable Connector model recommended cable UL 1061 Crimping tool Housing AXW1204A 3 Contact AXW7221 dI AXY52000 Semi cover AXW62001A AWG24 0 2mm2 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Fu
206. itivity Current current X010 to X017 3 5mA or more Ma eda All inputs 1 5mA or less Input response time All inputs Approx 10 ms nut trae Aint eae Circuit insulation All inputs Photo coupler insulation Indication of input motion Monitored using display module 1 If inputs X000 to X007 are assigned to the zero phase signal of DSZR instruction or the interrupt input of DVIT instruction the input response time will be as shown in the following table Input Input response time X000 to X005 5us X006 X007 50us 1 Internal input circuit Main unit Fuse 24V DC EL Class D grounding OWH Q O Input impedance FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Specifications Built in Positioning Function 2 5 Output Specifications 2 5 Output Specifications o o 3 3 o 2 gd 3 e 2 5 4 FX3uc Series main unit Transistor Output This section describes the transistor output specifications of the FX3uc Series main unit Note that the simultaneous turning on rate is restricted for the output extension units and the main unit For details on this restriction refer to the following manual Refer to the FX3uc Hardware Edition Item Transistor output specifications External voltage All outputs 5 to 30V DC N Y000 to YOO3 0 3 A point The total load current of the common px Resistance
207. le for YOO3 pulse output destination Set the rotation direction output number Rotation direction Initial setting Y010 for YOOO pulse output destination Y000 to Y357 sianal Y011 for YOO1 pulse output destination MO to M7679 9 Y012 for YOO2 pulse output destination SO to 4095 Y013 for Y003 pulse output destination Set the first device number to store the set data number of pulses frequency DO to D6400 Head Address Starting from the set device 1600 points will be occupied Initial setting RO RO to R31168 Table number No Data can be set for tables 1 to 100 g Positionin Select a positioning type from the following types Senator DDVIT Interrupt positioning DPLSV Variable Speed Pulse Output DDRVI Drive to Increment DDRVA Drive to Absolute Pulse Set the number of pulses to be output to perform the specified type of positioning operation instruction Frequency Hz Set the speed output pulse frequency to perform the specified type of positioning operation instruction 8 Up button Click this button to move up the cursor by 1 line to select the line just later the cursor positioned line Down button Click this button to move down the cursor by 1 line to select the line just below the cursor positioned line Insert button Delete button Click this button to insert a line at the specified position Click this button to delete the selected
208. le high speed Enclosed output special adapter A with the B I JY997D16401 To use this adapter also refer to the product User s Manual for FX3u FX3uc Series for positioning Control A ce FX2N FX 1PG JY992D65301 Describes how to handle the 1 axis pulse 09R610 product User s Manual output special function block Enclosed Describes how to handle the 1 axis pulse f FX2N 10PG output special function block A Mie Installation Manual JY 992D31301 To use this block also refer to FX2N P 10PG USER S MANUAL Provides the detailed information on the v ina eed Mera JY992D93401 1 axis pulse output special function 09R61 1 block Describes how to handle the 1 axis Enclosed FX2N 10GM positioning special function unit A with the User s Guide JY992D77701 To use this unit also refer to FX2N product 10GM FX2N 20GM HARDWARE PROGRAMMING MANUAL Describes how to handle the 2 axis Enclosed positioning special function unit A with the jos eats JY992D77601 To use this unit also refer to FX2N product 10GM FX2N 20GM HARDWARE PROGRAMMING MANUAL FX2N 10GM FX2N 20GM Provides the detailed information on the v pup ia ede JY992D77801 1 axis 2 axis positioning special function 09R612 MANUAL S 11 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic Names and Abbreviations Used in Manuals Generic name or abbreviation PLC FX3u s
209. leration time 200ms D8348 K200 Deceleration time 200ms D8349 K200 D8347 Zero return speed 5000Hz D8346 K5000 32 bit Creep speed 500Hz D8345 K500 Items specially needed for DSZR instruction zero return instruction with DOG search function and ZRN instruction zero return instruction Zero return direction Reverse rotation direction M8342 OFF CLEAR signal output M8341 ON Output to YO10 M8464 ON CLEAR signal device change 9 STET EDO Logic of near point signal i cM psit on thie Input wil M8345 OFF Logic of zero phase signal T R the input will M8346 OFF Items specially needed for variable speed pulse output PLSV instruction If X012 is turned on the variable speed pulse ON Acceleration deceleration Operation output PLSV instruction will be activated to M8338 accelerate or decelerate the operation AUTOS ON Items specially needed for interrupt positioning DVIT instruction Sets X007 for interrupt inputs M8336 ON interrubt input sidnalideviceicharnid Interrupt positioning DVIT instruction will not PUB 9 be used for the pulse output destinations D8336 HFFF7 Y001 Y002 and Y003 User interrupt input command device Do not use M8460 Logic of interrupt input signal Se th negative logic turning off the input M8347 ON will turn on the interruption signal Forward limit reverse limit and immediate stop of pulse output er If X010 is turned off if the NC contact is ON For
210. letes the JOG operation M106 Completes the JOG operation Hos FNC 150 f DSZR X010 X004 Y000 Y004 Stop command Near point Zero point Pulse Rotation signal signal output direction destination signal number M8029 Execution completion flag M8329 L Le Abnormal CoD end FNC 152 command Pulse Table output number destination number JOG inoa M8329 Abnormal end FNC 152 Stop command Pulse Table output number destination number Abnormal end Resets origin return completion flag Resets normal rotation positioning completion flag Resets reversed rotation positioning completion flag Origin return is being performed Origin return instruction with DOG search function CLEAR signal Y020 Origin return completion flag Normal end of origin return Abnormal end of origin return Resets normal rotation positioning completion flag Resets reversed rotation positioning completion flag JOG operation is being performed Executes No 1 of the positioning table of YOOO pulse output destination Completes the JOG operation Resets normal rotation positioning completion flag Resets reversed rotation positioning completion flag JOG operation is being performed Executes No 2 of the positioning table of YOOO pulse output destination Completes the JOG operation B 150 FX3U F
211. letion flag 5 Execution completion flag N M8340 M50 End of zero return Y000 Waiting for peelrigsel Outputting 1 scan time M8000 4 M50 Waiting for 1 scan time RUN monitor JOG M51 Performs the jogging FNC 158 operation in direction OG Wai W dmm DDRVI K999999 K30000 Y000 Y004 using the drive to Increment for 1 scan command Number of output Output Pulse Rotation instruction 00420N time pulses maximum pulse output direction value in frequency destination signal direction number M8340 id Ends the JOG operation YOOO Waiting for 1 scan time Self res t S Outputting I M8000 D Waiting for 1 scan time 2 RUN monitor E STL St JOG c 9 X23 M52 X030 Performs the jogging FNC 158 K 999999 K30000 Y000 Y004 operation in direction JOG Waiting for Stop DDRVI using the drive to Increment 1 scan time command Number of Output Pulse Rotation instruction YO04 OFF output pulses pulse output direction maximum value frequency destination signal in direction number RST 11 M8340 Mae Ends the JOG operation YOOO Waiting for Self reset Outputting 1 scan time M8000 4 M52 Waiting for 1 scan time RUN monitor Y V y y 3 Tostop the positioning operation be sure to insert the stop contact before the positioning instruction so that STL instruction cannot be turned off reset until pulse output monitor flag M8340 for YOOO is turned off 4 To prevent simultaneous activation of p
212. line Delete All button Click this button to delete all the data from the positioning table of the selected pulse output destination device B 133 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 11 Batch Data Positioning Mode TBL Instruction 11 4 Positioning Parameter Setting Setting item Positioning table setting will not be initialized when the PLC is powered on Description of setting If this check box is checked the positioning data will not be initialized at turning on the power of the PLC Enter a check in this check box to retain the changed data pulses and frequency changed by the program display module or indicator even after power off and to use the changed data after turning on the power again To use this function set an uninterruptible power supply type device as the first device Setting range Write button Read button Click this button to write 1600 points of data pulses and frequency set on the positioning table using GX Developer starting from the first device of the PLC Click this button to read out 1600 points of data pulses and frequency set on the positioning table currently used from the PLC starting from the first device At the completion of data reading the data numbers will appear only if Positioning Instruction is set for the data 1 If the FXsuc PLC is used this item cannot be
213. lse frequency Number of output pulses Time I Instruction execution FO I I I I Interrupt input X000 1 ot Instruction execution complete flag ON M8029 1 Execute the Interrupt Positioning DVIT instruction 2 Transfer operation will be performed in the direction specified by the sign attached to the number of output pulses specified by CS1 at the speed specified by the output pulse frequency specified by g 3 If interrupt input X000 is turned on pulses will be output until the number of output pulses is increased to the number specified by CS1 and then the operation will be stopped 4 Instruction execution complete flag M8029 will be turned on and the interruption positioning operation will be completed For details on Instruction execution complete flag refer to Subsection 4 7 4 B 116 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 9 One speed Interrupt constant quantity feed DVIT Instruction Built in Positioning Function 9 4 Important Points 9 4 Important Points For details on the instruction activation timing refer to Section 4 7 swa UOWWOD p gt Ifthe number of pulses specified by is not large enough to reduce the speed the frequency will be reduced so that the speed can be reduced within the specified number of output pulses Number of output ERREUR pulses specified by Sie Output pulse frequency specified by
214. lses specified by is a positive number the operation will be ON performed in the forward rotation direction Forward rotation Outputting the pulse will increase the current value If the number of output pulses specified by is a negative number the operation will OFF be performed in the reverse rotation direction Reverse rotation Outputting the pulse will reduce the current value Important Points For the important points of programming refer to Section 4 7 Even if the operand is subject to change during execution of the instruction the operation will be continued while ignoring the change Note that the changed operand will be enabled at next activation of the instruction If the instruction activation contact is turned off during execution of the instruction the speed will be reduced and then the operation will be stopped In this case Instruction execution complete flag M8029 will not be turned on If the limit flag forward limit flag or reverse limit flag in the operation direction is turned on the speed will be reduced and then the operation will be stopped In this case Instruction execution abnormal end flag M8329 will be turned on when completing execution of the instruction For details on Instruction execution abnormal end flag refer to Subsection 4 7 4 While pulse output monitor BUSY READY flag is on the positioning instruction including PLSR and PLSY that uses the same out
215. lt maximum speed lf zero return speed gt maximum speed operation will be performed at the maximum speed p Edo Bias speed Zero return speed Maximum speed Initial value Y000 D8342 D8347 D8346 D8344 D8343 Y001 D8352 D8357 D8356 D8354 D8353 50 000 Hz z Y002 D8362 D8367 D8366 D8364 D8363 Y003 D8372 D8377 D8376 D8374 D8373 Creep speed Use the devices shown in the following table to set the creep speed Be sure to set the creep speed so that the relation with the other speeds can be bias speed lt creep speed lt maximum speed Pulse output destination device Bias speed Creep speed Maximum speed Initial value Y000 D8342 D8345 D8344 D8343 Y001 D8352 D8355 D8354 D8353 4 000 Hz Y002 D8362 D8365 D8364 D8363 Y003 D8372 D8375 D8374 D8373 SWd UOWWOD p gt x ejdurex3 C o 3 o 9 zx o FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 2 DOG Search Zero Return DSZR Instruction 1 Zero return operation Zero return operation is described below assuming that YOOO is specified as the pulse output destination device by Dt For this reason if YOO1 Y002 or Y003 is specified it is necessary to change the output number of each related flag me 2 For details of related flags refer to Section 4 1 to Section 4 4 or Subsection 6 2 2
216. ly DVIT ZRN PLSV naa DRVI DRVA d M8341 M8351 M8361 m8371 Cea Signal OUTPUT function Drivable DSZAZAN Subsection enable 3 4 3 4 M8342 M8352 M8362 M8372 Zero return direction specification 3 Drivable DSZR PE M8343 M8353 M8363 M8373 Forward limit Drivable PLSY PLSR DSZR p DVIT ZRN PLSV D M8344 M8354 M8364 M8374 Reverse limit Drivable DRVI DRVA iem M8345 M8355 M8365 M8375 DOG signal logic reverse Drivable DSZR o M8346 M8356 M8366 M8376 Zero point signal logic reverse Drivable DSZR oo M8347 M8357 M8367 M8377 Interrupt signal logic reverse 5 Drivable DVIT Fr 1 Devices related to Y003 pulse output destination are valid only if two FX3U 2HSY ADP adapters are connected to the FX3U PLC 2 This function will be valid if Ver 2 00 or later is used 3 Cleared when PLC switches from RUN to STOP 4 This function will be valid if Ver 1 30 or later is used 5 Forthe user interrupt input command devices the logical NOT function will not be activated SUJ9 UOWWOD 2s ejduex3 O o 3 o 9 zx o FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 Before Programming 4 1 List of Related Devices 4 1 2 Device number i z Function Attribute correspon dmy Refer to Yooo YOO1 Y002 yoo3 instructions PLSY PWM PLSR Subsection M8348 M8358 M8368 M8378 Posi
217. mp eje Bla Poa z se zel l PETAT TE alalla EE SEE ER ERE ET a se fe ex e s sale ameo 1 1 Falz EEREN Device comment Parameter E Device r memory B 130 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 11 Batch Data Positioning Mode TBL Instruction Built in Positioning Function 11 4 Positioning Parameter Setting 2 Set the memory capacity Click Memory capacity tab and then click Positioning Instruction Setting check box to enter a check in the box o o 3 3 o 2 g 3 n FX parameter Memory capacity Device PLE name 1 0 assignment PLE system PLC system 2 Positioning Memory capacity 18000 i Comments capacity 0 Block 0 block to 31 block File register capacity Apx 0 Block 0 block to 14 block 9 mm af 2 Program capacity oU ELO 7000 Steps 2 Special Function Memory capacity 18 Block Special Function Block Settings 8 Blocks Enter a check Cancel Setting item Description of setting Setting range Memory capacity Set the capacity of the program memory Initial value 16000 Set the capacity for the comments to be stored in the PLC Initial Comment capacity value 0 Refer to th Device comment 50 points block 500 steps ere programming Set the capacity for the file registers Initial value 0 manual File registers 500 points block 500 steps Displays the number of steps that can be used
218. n catalog etc are used as a reference please use it after confirming the function and safety of the equipment and system Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples This manual content specification etc may be changed without a notice for improvement The information in this manual has been carefully checked and is believed to be accurate however if you have noticed a doubtful point a doubtful error etc please contact the nearest Mitsubishi Electric distributor Registration Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries The company name and the product name to be described in this manual are the registered trademarks or trademarks of each company FX3U FX3UC Series PLC User s Manual Positioning Control Edition Table of Contents Table of Contents SAFETY PRECAUTIONS ioi it ees atest eee ieee ted 1 Functions and Use of This Manual 2 ccccccceseeeeeeeeeeeneeeeeeeeneeeaeeeeeseasseeneeeeesaneeseeeeeseesenesnees 9 iru arriere 10 Generic Names and Abbreviations Used in Manuals eee 12 A Common Items Description of Manual Common Items eeeeeeeeeeeeeeees esses nennen enne A 2 1 Introduction A 3 NEG TT A 3 1 2 Introduction of Product
219. nction 4 1 List of Related Devices 4 Before Programming This chapter describes several items that should be known before programming They are Operation of related devices such as output pulse frequency operation command flag current value and operation monitor flag tems to be set on PLC side tems to be set on servo amplifier drive unit side tems to be observed in programming 4 1 List of Related Devices For details on related devices refer to Section 4 2 to Section 4 4 4 1 1 Special Auxiliary Relays The following table shows the related special auxiliary relays Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations For details on PLSY FNC 57 PWM FNC 58 and PLSR FNC 59 instructions refer to the programming manual Device number i Function Attribute CETTE ding Refer to Yooo YOO1 YOO2 Yo03 instructions PLSY PLSR DSZR Instruction execution complete DVIT ZRN PLSV Subsection Monas flag Read only DRVIDRVA l4 4 2 and so on PLSY PLSR DSZR M8329 eras execution abnormal Read only DVIT ZRN PLSV vs ene mag DRVI DRVA is Acceleration deceleration Subsection M 2 x Drivable PLSV EN Operation 3 n 4 3 9 M8336 4 Interrupt input specification function Drivable DVIT Subsection enabled 3 4 3 7 n PLSY PLSR DSZR M8340 M8350 M8360 M8370 EINRED S flag Read on
220. nds on the pulse output destination as shown in the following table Pulse output destination User interrupt input command Y000 M8460 Y001 M8461 Y002 M8462 Yo03 M8463 Connect the line to any input If the line connected input is turned on turn on the forward limit flag The forward limit flag depends on the pulse output destination as shown in the following table Forward Pulse output destination Forward limit flag ion limi All input rotation limit points Y000 M8343 LSF Y001 M8353 Y002 M8363 Y003 M8373 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Outline Built in Positioning Function 1 5 Assignment of Input Output Numbers Application Input number Remarks Connect the line to any input If the line connected input is turned on turn on the reverse limit flag The reverse limit flag depends on the pulse output destination as shown in the following table Pulse output destination Reverse limit flag Reverse rota All input tion limit LSR points Y000 M8344 Y001 M8354 Y002 M8364 Y003 M8374 1 Y003 can be specified as the pulse output destination only if 2 high speed output special adapters are connected to the FX3U PLC 2 Ver 2 20 is assigned to the initial product of the FX3U PLC 1 5 2 Assignment of Output Numbers 1 FXsuc Series main unit transistor output Application El Remarks eon ve Connect the line to the output Y
221. nected YOOO Y001 Y004 and Y005 will be used The relation between the output of FX3U 2HSY ADP and the output of main unit is described in the following sections To use high speed output special adapters refer to Subsection 1 5 3 and Section 4 9 of B Built in Positioning Function FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 2 Specifications 2 4 Input Specifications 2 4 Input Specifications 2 4 1 FX3U Series main unit 24V DC Input This section describes the input specifications of the FX3U Series main unit By the way the simultaneous turning on rate is restricted for the input extension units and the main unit For details on this restriction refer to the following manual Refer to the FX3u Hardware Edition o o 3 3 o 2 g 3 n Item 24V DC input specifications Input signal voltage All inputs 24V DC 10 X000 to X005 3 9kQ apx Input impedance X006 X007 3 3kQ 3 5 X010 or later 4 3kQ 25 X000 to X005 6mA 24V DC Input signal current X006 X007 7mA 24N DC X010 or later 5mA 24V DC X000 to X005 3 5 mA or more T Input ON X006 X007 4 5mA or more Input sensitivity Current current X010 or later 3 5 mA or more ons All inputs 1 5mA or less Input response time All inputs Approx 10 ms Input signal type All inputs ENa SUE Manso Circuit insulation All inputs Photo coupler insulation Indication of inpu
222. ned on the speed will be reduced and then the operation will be stopped In this case Instruction execution abnormal end flag M8329 will be turned on when completing execution of the instruction If the limit flag forward limit flag or reverse limit flag on the opposite side of the operation direction is turned on the speed will be reduced and then the operation will be stopped In this case Instruction execution abnormal end flag M8329 will be turned on when completing execution of the instruction B 92 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 7 Absolute Position Detection System Absolute Current Value Read ABS Built in Positioning Function 7 1 Instruction Format 7 7 1 Absolute Position Detection System Absolute Current Value Read ABS Instruction o o 3 3 o 2 g 3 n Since the absolute position detection system is adopted the built in positioning function uses the current ABS value read out ABS instruction to read out the current value absolute position ABS data from the MELSERVO H J2 S or J3 servo amplifier For the items to be observed in programming refer to Section 4 7 For the servo amplifier and connection of the MELSERVO Series refer to the Appendix and the Apx examples of connection inis S 28 Instruction Format 3 1 Instruction Format FNC 155 16 bit RIT iti 32 bit ute i iti _ instruction BEYA Execution condition instr
223. nits can be Terminal board M3 MIL connector 20 pin me 9 fod iS Q 5 o Ke em 1 S 2 sz E E loo je en Special function block Special function unit 1 Depending on the product connect either the terminal board or the MIL connector 20 pin Note To connect high speed output special adapter select main unit with enough input points for high speed inputting operation For details on the connectable special function units blocks and system configuration refer to the following manual Refer to the FX3u Hardware Edition FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Unit Connection Common Items 2 2 FX3UC PLC 2 2 FX3uc PLC For details of installation refer to the manuals of special adapter and special function units blocks E ana 8 show the unit positions uoljoun4 Buiuonisod ung J swa UOWLUOD gt uonoeuuo C3 ejduex3 gt lt Servo motor or MIL connector 20 pin Stepping motor main unit General purpose output of Terminal board M3 MIL connector 20 pin Special function block FXenc CNV IF Special function SS unit ko o amp o o Cc Cc o o o Re e Gg s 2 N o 2 o 1 Depending on the product connect
224. not applied on I O connectors Failure to do so may result in wire breakage or failure of the PLC FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Outline Built in Positioning Function 1 2 Setup Procedure for Positioning Control WIRING PRECAUTIONS AC AUTION Fit the I O cables securely to the designated connectors Contact failures may cause malfunctions Perform wiring properly to the FX3U Series main unit and FXoN FX2N Series extension equipment of the terminal block type in accordance with the following precautions Failure to do so may cause electric shock short circuit wire breakage or damages to the product The disposal size of the cable end should follow the dimensions described in this manual Tightening torque should be between 0 5 to 0 8 Nem Observe the following items to wire the lines to the European terminal board Ignorance of the following items may cause electric shock short circuit disconnection or damage of the product o o 3 3 o 2 g 3 n The disposal size of the cable end should follow the dimensions described in this manual Apx Tightening torque should be between 0 22 to 0 25 Nem on Twist the end of strand wire and make sure there is no loose wires z 3 Do not solder plate the electric wire ends 20 Do not connect electric wires of unspecified size or beyond the specified number of electric wires Fix the electric wires so that the terminal block and connecte
225. nput 2 turns ON the operation will be stopped after moving the specified transfer distance at the 2nd speed but the speed will be reduced just before stop FX3U FX3UC Series PLC User s Manual Positioning Control Edition Common Items 3 Comparison of Specifications 3 2 Comparison of Operation Modes Built in positioning m T function FX2N 1PG osi Am lon Description FXsuc PLC E FX2N 10PG FX2N 10GM FX2N 20GM main unit FX3U 2HSY ADP FX3u v Variable speed Variable speed operation pulse output Y Speed Operation will be instruction will Operations performed at the be input to v with operation speed perform this acceleration Start Speed Speed Stop SPECIfed by PLC operation deceleration change change Available at performs Ver 2 00 or later Direct connection v T Target The workpiece will go to If interpolat position x y the target position at the ian yp m M ifi specified vector speed instructions interpolation are Start point Kani operation consecut ively set in Circular interpolation ine p The workpiece will go to program Sw Target position x y the specified target the next E Radius r position x y along the motion will Stat aCCW Target arc at the specified B be automati point position circumferential speed cally started oN y This ope
226. nput relay X010 or below is specified for the near point signal the input filter 10 ms will be adopted 4 For CD specify the pulse output number in the range of YOOO to Y003 5 Zero return direction For this instruction the zero return direction is set to the reverse rotation direction During zero return operation the value indicated on the current value register will be reduced For details on programming refer to Section 4 7 To use main unit transistor output refer to Section 4 8 To use high speed output special adapter refer to Section 4 9 a To perform zero return in the forward rotation direction follow the procedure shown below and control Turn on Y rotational direction signal b Refresh Y output using REF FNC50 instruction c Execute ZRN instruction zero return instruction d By execution completion flag M8029 of ZRN instruction zero return instruction reset Y rotational direction signal Example of program Regarding the program shown below Y004 is specified as the rotation direction signal output device for Y000 Command input Q M8340 Y000 output pulse monitor a Turns on sets Y004 as the rotational direction signal of YOOO pulse output destination b Refreshes Y000 to Y007 c Executes ZRN instruction d Resets the rotational direction signal Y004 using the instruction execution complete flag Or
227. ntrol Edition 9 One speed Interrupt constant quantity feed DVIT Instruction Built in Positioning Function 9 1 Instruction Format 9 One speed Interrupt constant quantity feed DVIT Instruction The Built in positioning function uses the Interrupt Positioning DVIT instruction to perform one speed interrupt constant quantity feed If the FX3uc PLC of Ver 1 20 or later is used this instruction can change the interruption signal input destination If the FX3u FX3uc PLC of Ver 2 00 or later is used the interruption signal can be controlled using the user program For the items to be observed in programming refer to Section 4 7 9 1 Instruction Format 1 Instruction Format FNC 151 ie bit Rain iti 32 bit asters AM E instruction IMAM iC instruction MMAR ei DVIT Continuous DDVIT 7 Continuous DRIVE INTERRUPT 9 steps execution 17 steps execution type type Command input H 2 Data setting Operand type Description Data type Si Specifies the number of pulses relative address to be output after interruption i PHRES CORN E P BIN16 32 bit Specifies the output pulse frequency Specifies the pulse output number bi I Specifies the rotation direction signal output destination device number 1 Setting range 32 768 to 32 767 excluding 0 for 16 bit operation 999 999 to 999 999 excluding 0 for 32 bit operation 2 Setting range 10 to 32 767 Hz for 16 bit opera
228. o set the creep speed so that the relation with the other speeds can be bias speed lt creep speed lt o o 3 3 o 2 g 3 n 32767 Hz For operation of DSZR instruction refer to Section 6 2 For operation of ZRN instruction refer to Section 6 3 operando Seting range Instruction related 16 bit 32 bit Instruction format device operation operation Hz H2 Apx Y000 D8345 9E 28 S oO DSZR Gr Yo01 D8355 i E 10 to 32767 pon ti NT BOH ction OD Y002 D8365 Initial value 1000 OSzR Gie YO0032 D8375 ZRN instruction 10 to 32767 E 1 Ifthe maximum speed is set to less than 32767 Hz note that this value 32767 Hz should be changed to the maximum speed 2 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FXau PLC 4 2 5 Setting of Maximum Speed Set the maximum speed to determine the upper limit value for the output pulse frequency and the zero return speed Use the devices shown in the following table to determine the maximum speed for each pulse output destination device z Setting range Pulse output Maximum initial valu AAAren n a T destination device speed Transistor output of main High speed output special unit adapter Mus Poe 10 to 100 000 Hz 10 to 200 000 Hz Y001 D8354 D8353 100 000Hz If the value is set to 9 Hz or If the value is set to 9 Hz or Y00
229. oblems involving industrial property rights which may occur as a result of using the contents noted in this manual 2005 MITSUBISHI ELECTRIC CORPORATION FX3U FX3UC Series PLC User s Manual Positioning Control Edition Outline Precautions e This manual provides information for the use of the FX3U Series Programmable Controllers The manual has been written to be used by trained and competent personnel The definition of such a person or persons is as follows 1 Any engineer who is responsible for the planning design and construction of automatic equipment using the product associated with this manual should be of a competent nature trained and qualified to the local and national standards required to fulfill that role These engineers should be fully aware of all aspects of safety with regards to automated equipment 2 Any commissioning or service engineer must be of a competent nature trained and qualified to the local and national standards required to fulfill that job These engineers should also be trained in the use and maintenance of the completed product This includes being completely familiar with all associated documentation for the said product All maintenance should be carried out in accordance with established safety practices 3 All operators of the completed equipment should be trained to use that product in a safe and coordinated manner in compliance to established safety practices The operators should also be
230. ollowing figure Forward Reverse Forward Reverse rotation rotation i rotation rotation Apx lt gt lt gt I 1 ot Om I I ol Ww Pulse output H nn oa Pulse output ee ae 3 3 destination YOOO L destination YOO2 L E go Any output Y ON OFF Any output Y n I ON OFF 5 I I l I I Rotation direction designation Pulse output H destination Yoo1 LiT to IT H L Rotation direction designation Any output Y Rotation direction l designation 1 ON and OFF represent the statuses of the PLC output H and L respectively represent the HIGH status and the LOW status of the waveform For details on the relation between the PLC output and the waveform refer to the next page 2 Ifthe pulse output method setting switch of the high speed output special adapter is set to PLS DIR position the pulse output signals pulse output destination signal and rotation direction signal will be as shown in the following figure Forward rotation I Pulse output 1 nat UR JTS gestasion voo DEF FELT TI destination YOOO L destination YOO2 I Rotation direction jy ON OFF Rotation direction E ON One L designation YOO4 designation YOOG Forward Reverse rotation rotation Reverse l rotation Pulse output RRR gavos CIR N E N FE destination Y001 destination YOO3
231. omplete flag of DDRVI instruction M200 lt FX8U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 Before Programming 4 7 Items To Be Observed in Programming 4 7 5 Operation Error Flag If an applied instruction including positioning instructions of the FXsu FX3uc PLC has an error construction error device designation error numbering range error etc an operation error may occur during operation If an operation error occurs the following flag will be turned on and the error data will be stored 1 Operation error Error flag Error code storage device Error detected step number storage device 32 bit M8067 D8067 D8315 D8314 f an operation error occurs the M8067 will be turned on and the operation error code will be stored in the D8067 and the error detected step number will be stored in the D8315 and D8314 32 bit 1 If the error detected step number is 32767 or less the error step number can be also checked using the D8069 16 bit e Ifan operation error occurs at the other step the error code and the error step number of the instruction will be sequentially updated If the error status is canceled the error flag will be turned off Ifthe PLC once stopped is restarted without canceling the error status the error status will be automatically canceled but immediately after that the error flag will be turned on again
232. on 1 Outline 1 4 Version Numbers of Compatible Programming Tools 1 4 Version Numbers of Compatible Programming Tools The Built in positioning function depends on the version of the FX3u FXsuc PLC Select a PLC having optimum version number to create programs For details on version numbers of compatible PLCs refer to Section 1 3 1 FXsu PLC Version A number of FX3u pode Mersien DUmbenot Remarks PLC Software model compatible GX Developer GX Developer FX3U PLCs Ver 2 00 or lat Ver 2 00 or later SWLID5C GPPW J Ver 8 23Z or later Pa di set d PERR SWLID5C GPPW E odel selection C 1 Depending on the version of GX Developer the model selection may be set to FX3UC 2 FXsuc PLC Version number Model Version number of Remarks of FX3uc PLC Software model compatible GX Developer Supports FX3UC PLCs Ver 1 00 or later Ver 1 00 or later Ver 813P or later Model selection FXaUc GX Developer Supports FX3UC PLCs Ver 1 30 or later Ver 1 30 or later SWLIDBC GPPW J Ver 818U or later Model selection FX3uc ie ee Supports FX3UC PLCs Ver 2 00 or later s u ae Ver 2 00 or later Ver 8 23Z or later Model selection FX8U C 1 Depending on the version of GX Developer the model selection may be set to FX3UC 1 5 A Assignment of Input Output Numbers 1 5 4 Assignment of Input Numbers Assign the input numbers of the FX3u FX3uc PLC as follows
233. on of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user or third person by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice Product application 1 In using the Mitsubishi MELSEC programmable logic controller the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable logic controller device and that backup and fail safe functions are systematically provided outside of the device for any problem or fault 2 The Mitsubishi programmable logic controller has been designed and manufactured for applications in general industries etc Thus applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies and applications in which a special quality assur
234. on ren aad position Initial value 100 ms Initial value 100 ms 2 Variable speed Pulse Output PLSV instruction For the variable speed pulse output PLSV instruction it is necessary to specify the maximum speed bias speed acceleration time and deceleration time using the related devices in addition to the output pulse frequency specified by the operand of the instruction However note that the acceleration time and the deceleration time are valid during acceleration deceleration M8338 ON only For operation of PLSV instruction refer to Chapter 10 For details on each setting item refer to Subsection 4 2 2 and Subsection 4 2 5 to Subsection 4 2 8 1 When acceleration deceleration is being performed M8338 ON Maximum speed Initial value 100 000 Hz Actual i acceleration time yino te Ps gt Output pulse 1 frequency CS Actual deceleration time Bias speed Initial value 0 Hz Current A SEGUI Ban Acceleration ime ime position Initial value 100 ms Initial value 100 ms Bias speed 2 When acceleration deceleration is not performed M8338 OFF Maximum speed Initial value 100 000 Hz Output pulse I frequency CS I I If the frequency value is less than the bias speed l value the frequency will i not be output Bias speed Initial value 0 Hz Bias speed FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Posi
235. on signal Pulse train Puse output Yooo voot Yoo2 Yoos PLS DIR side EGG Direction PE yoo4 YOO5 YOO6 Yo07 irection signal FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 9 Caution for Using the High Speed Output Special Adapter FX3U 2HSY ADP Operation of output Operation of output Instruction for outputting pulse train at high speed Other instructions If the instruction turns ON the corresponding output will be turned on the corresponding LED will be turned on Carpe activated Main unit of relay output type High speed output special adapter Can be activated Can be activated f an output number of the high speed output special adapter is used if an output of high speed output special adapter is connected do not use connect the corresponding output terminal of the main unit f an output number of the main unit is used if an output of the main unit is connected do not use connect the corresponding output terminal of the high speed output special adapter Rotation direction signal of positioning instruction If FX3U 2HSY ADP high speed output special adapter is used the rotational direction signal will be assigned to each pulse output destination device as shown in the following table Do not assign any other outputs to these devices using positioning instructions etc For details
236. only once After turning on the power again just read out the current position value of the servo motor to the PLC by FNC155 DABS instruction This means that it is not necessary to perform zero return just after power on FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 2 DOG Search Zero Return DSZR Instruction 62 DOG Search Zero Return DSZR Instruction Using the FX3u FX3uc PLC of Ver 2 00 or later use this instruction to change the CLEAR signal output destination 6 2 1 Instruction Format 1 Instruction format E AAA E AAAAALLDLLLL SASO UEA Kiy FNC 150 i6 bit heel ag DSZR instruction Execution condition zie LM DSZR Continuous ZERO RETURN execution WITH DOG type SEARCH c SOF 32 bit PARA T instruction Execution condition 9 steps Command input is 2 Data setting Operand type Description Data type Specifies the near point signal DOG input device number Specifies the zero phase signal input number 5 I Specifies the pulse output number pe Specifies the rotation direction signal output destination number 3 Devices Bit device Word device Others Real Char gegana System user Digit designation System user oa Index eee num a
237. operation for forcible output running or stopping carefully read the manual and sufficiently ensure the safety An operation error may damage the machine or cause accidents STARTUP AND MAINTENANCE PRECAUTIONS CAUTION Do not disassemble or modify the PLC Doing so may cause failures malfunctions or fire For repair contact your local Mitsubishi Electric distributor Before connecting or disconnecting any extension cable turn off power Failure to do so may cause unit failure or malfunctions Before attaching or detaching the following devices turn off power Failure to do so may cause device failure or malfunctions Peripheral devices expansion boards and special adapters O extension units blocks and terminal blocks FX3U FX3UC Series PLC User s Manual Positioning Control Edition 5 Operation Test Built in Positioning Function 5 1 Test Procedure 5 1 az oO or GC Test Procedure Turn off the power to the PLC Temporarily connect the limit switches forward rotation limit 1 reversed rotation limit 1 and the manual switches forward rotation reverse rotation Connect the limit switches and the manual switches to the following input terminals of the PLC Do not connect the servo amplifier drive unit For details on connection refer to Chapter 3 of the Hardware Edition of the PLC o o 3 3 o 2 g 3 n For details on the forward rotation limit and the revers
238. ore this manual in a safe place so that you can take it out and read it whenever necessary Always forward it to the end user This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2005 MITSUBISHI ELECTRIC CORPORATION FX3U FX3UC Series PLC User s Manual Positioning Control Edition Common Items Description of Manual Common Items In this manual the following formats are used for the description of common items Shows the title of the manual and the title Shows the title of the chapter Indexes the title of of the division and the title of the section division This area shows the title of the manual and the title This area shows the title of the The right side of each of the division for the page currently opend chapter and the title of the page indexes the title 1st line Shows the title of the manual section for the page currently of the division for the 2nd line Shows the title of the division opened page currently opened b mmm FX3u FX3UC Series PLC User s Manual Positioning Control Edition r 2 Unit Connection Common Items l 2 2 FXSUC PLC 2 2 FXsuc PLC FXsuc Series and S show the unit positions For details of installation refer
239. orward rotation M8029 positioning Positioning in forward rotation direction SET M12 ion Execution completion flag completion Forward rotation ag Mto8 positioning normal end flag M3929 Forward rotation positioning Abnormal end abnormal end flag X025 M8348 M10 M111 M112 Forward rotation tmh RST M12 positioning Position Position Zero Normal Abnormal completion flag ing in ing return end of end of reverse operation compl positioning positioning RST M13 neverseToration rotation being etion in reverse In reverse Sel lotion fla direction performed flag rotation rotation gon ioning 9 M110 Y000 direction direction operation being M110 performed in Positioning operation being reverse rotalion performed in reverse rotation direction FNC 159 ki 00 K100000 Yooo Yo04 ur aS Stop DDRVA the absolute command Designation Output Pulse Rotation positioning of absolute pulse output direction instruction position frequency destination signal YOO42OFF number Reverse rotation M8029 positioning SET M13 completion flag Positioning in reverse rotation direction e p Mir positioning normal ag end flag M8329 CD Reverse rotation Abnormal end positionin 9 abnormal end flag END B 142 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 3 Programs for Forward Reverse Rotation Step Ladder STL Program 12 3 Prog
240. ositionin DDVIT Chapter 9 DPLSV Variable Speed Pulse Output DPLSV Chapter 10 DDRVI Drive to Increment DDRVI Section 8 2 DDRVA Drive to Absolute DDRVA Section 8 3 Command input e p 1 PLSV FNC157 has only 3 operands It has no operand of number of output pulses B 129 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 11 Batch Data Positioning Mode TBL Instruction Built in Positioning Function 11 4 Positioning Parameter Setting 11 4 Positioning Parameter Setting Use GX Developer of Ver 8 23Z or later to set the positioning parameters Number of pulses and frequency set by positioning parameters in a positioning table can be changed using the program display module or indicator To change the set number of pulses or frequency refer to Subsection 11 4 2 11 4 1 Positioning Parameter Setting Using GX Developer Assuming that GX Developer of Ver 8 23Z is used this section describes how to set the positioning parameter 1 Open parameter setting window On the project tree displayed on the left side of the screen double click Parameter and then PLC Parameter If the project tree is not displayed click View on the menu bar and then click Project data list MELSOFT series GX Developer Unset project LD Edit mode MAIN 1 Step Project Edit Find Replace Convert Yiew Online Diagnostics Tools Window Help Dg S sael amp amp e a
241. ositioning DVIT instruction turns ON an operation error error code K6763 will occur and the instruction will not cause any operation 2 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FXau PLC 3 After setting a number in the range of 9 to F for the interrupt input signal if the corresponding interrupt positioning DVIT instruction turns ON an operation error error code K6763 will occur and the instruction will not cause any operation o o 3 3 o 2 g 3 n Example of program The following program Specification of interrupt input signal for each pulse output destination device as Apx shown in the following table Pul tput Int ti t SE ulse outpu nterrupt inpu F Ms000 33 destination device signal Seung rale EVE HFF83 D8336 E Y000 X003 3 RUN monitor Y001 M8461 8 Y002 Unused F Y003 Unused F 1 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FX3u PLC FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 3 Various Flags for Operation Commands 4 3 8 Change in Logic of interrupt input Signal DVIT Instruction Turn Interrupt signal logic reverse flag ON or OFF to specify the logic of the interrupt input signal of each interrupt positioning DVIT instruction For operat
242. ositioning instructions the instruction activation timing should be delayed by 1 scan time B 145 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 3 Programs for Forward Reverse Rotation Step Ladder STL Program Positioning in forward rotation direction Positioning in reverse rotation direction D 6 STL 12 Positioning in forward rotation direction M53 X030 FNC 159 k500000 K100000 Yooo Yo04 Moves to absolute position Waiting for Stop DDRVA 500000 using the drive to 1 scan time command Designation Output Pulse Rotation Absolute instruction of absolute pulse output direction Y004 ON position frequency destination signal number M8029 TE SET M12 Forward rotation positioning Execution completion flag completion flag M8340 M53 Ends the positioning operation in the forward Y000 Waiting for 1 scan time Coney ET Outputting M8000 6 M53 Waiting for 1 scan time RUN monitor STL 13 Positioning in reverse rotation direction M54 X030 5 FNC 159 400 K100000 Yooo Y004 Moves to absolute position Waiting for Stop DDRVA A using the drive to 1 scan command Designation Output Pulse Rotation souto Instruction time of absolute pulse output direction YO04 OFF position frequency destination signal number M8029 P hedik Reverse rotation positioning SET M13 completion flag Execution completion
243. outline of positioning control Note that the general outputs of the FX3uc PLC and FX3U 2HSY ADP high speed output special adapter are needed for positioning control 1 1 Features 1 The general outputs of the FX3uc PLC can control up to 3 axes for the positioning operation Apx 2 If one high speed output special adapter FX3U 2HSY ADP is connected the adapter can control up to 2 uS axes for the positioning operation If two high speed output special adapters are connected the adapters 3 5 can control up to 4 axes for the positioning operation SS o 3 The positioning instruction applied instruction of the FX3u FX3uc PLC is used for positioning control 4 The general outputs of the FX3uc PLC can output a pulse train of 100 kHz open collector system 5 FX3u 2HSY ADP high speed output special adapter can output a pulse train of 200 kHz differential line driver system 6 FXs3u 2HSY ADP high speed output special adapter can switch the output method between pulse train direction method and forward reverse rotation pulse train method Points and references e If the general outputs of the FX3uc PLC is used Number of controllable axes 3 axes maximum FXsuc PLC 2 Servo amplifier drive unit etc To check the PLC model 1 axis 2 axes 3 axes refer to Section 1 3 For a detailed description of the positioning instruction refer to Chapters 6 to 11
244. output destination device Rotation direction output Y000 Y004 The 1st adapter Y001 De Y005 Di Y002 De Y006 The 2nd adapter Y003 Y007 B 112 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 9 One speed Interrupt constant quantity feed DVIT Instruction Built in Positioning Function 9 3 Function and Operation The rotation direction depends on the ON OFF status of the specified device as shown in the following table During execution of this instruction however do not use the output specified by ON OFF status of device specified by o o 3 3 o 2 g 3 n Rotation direction increase reduction of current value If the number of pulses to be output after interruption specified by St is set to a positive ON number the operation will be performed in the forward rotation direction Forward rotation Outputting the pulse will increase the current value If the number of pulses to be output after interruption specified by Si is set to a OFF negative number the operation will be performed in the reverse rotation direction Reverse rotation Outputting the pulse will reduce the current value Apx om 5 The interrupt input signal depends on the pulse output of as shown in the following table 38 Use the FX3uc PLC of Ver 1 30 or later to specify the interrupt input signal 25 Use the FXsu FXsuc PLC of Ver 2 00 or later to set the user interruption command device
245. p speed specified by G2 4 Ifthe near point signal DOG specified by is turned off the pulse outputting operation will be Apx immediately stopped cm 5 Ifthe CLEAR signal output function M8341 is enabled set to ON the CLEAR signal Y004 will be 28 turned on within 1 ms after stopping the pulse outputting operation and will be kept at the ON status for 20 20 ms 1 scan time ms 6 The current value register D8341 D8340 will be reset to 0 will be cleared 7 Instruction execution complete flag will be turned on and the zero return operation will be completed For details on Instruction execution complete flag refer to Subsection 4 7 4 Deceleration Acceleration time i i time D8349 D8348 M 5 e a Maximum speed N D8344 D8343 Zero return speed Bias speed D8342 S2 Creep speed CLEAR signal Rear end Sz Front end Y004 1 ms or less Instruction execution 20 ms 1scan time ms complete flag ON M8029 If the instruction is turned off 1 Note that the zero return speeds shown in the following table will not be adopted Pulse output destination device Zero return speed Y000 D8347 D8346 Y001 D8357 D8356 Y002 D8367 D8366 Y003 D8377 D8376 B 91 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function
246. peration For the 32 bit operation however the setting range should be as shown in the following table Pulse output destination Setting range FX3u PLC High speed output special adapter 10 to 200 000 Hz 3 Devices Bit device Word device Others _ Real Char poe System user Digit designation xit big Index oe num acter Pointer ype stan ber string XIYIM TIC S DO b KnX KnY KnM KnS T C DIRIULNGD VIZ Modly K H E P viv v v v iv iv iv v v v viv v v v iviviv v viv v viv A v A 2 14 43 A1 Specify YOOO YOO1 or Y002 transistor output of main unit or specify YOOO YOO1 YOO2 2 or YO03 2 of high speed output special adapter 1 High speed input output special adapter cannot be connected to FX3UC 32MT LT 2 To use Y002 and Y003 of the high speed output special adapter connect the second high speed output special adapter Note Touse the FX3U Series main unit of relay output type be sure to connect the high speed output special adapter The differential line drive will be used for the outputs of the high speed output special adapter FX3U FX3UC Series PLC User s Manual Positioning Control Edition 8 1 Speed Positioning DRVI DRVA Instruction Built in Positioning Function 8 2 Drive to Increment DRVI Instruction A2 If the hi
247. pisy K1000 Yoo2 Yo06 Upper DPLSV instruction Program for DSW instruction etion of instruction execution M1 pay prie K1000 Yoo1 YOO5 Lower DPLSV instruction FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 7 Items To Be Observed in Programming 2 To use ata position other than just below the positioning instruction If two or more positioning instructions are used in a program Instruction execution complete flag M8029 or Instruction execution abnormal end flag M8329 will be turned on or off after execution of each instruction If itis necessary to use Instruction execution complete flag or Instruction execution abnormal end flag at a point other than just below the instruction turn on or off the other bit device just below the instruction and use the contact as the command contact o o 3 3 o 2 g 3 n Apx Switches instruction D execution complete SE flag of DSW instruction cun em 88 I O from the M8029 to the of instruction S a M100 execution FNC158 p Ki Ki X Y DDRVI TUM m M8029 Fd 7 RST MO Completion Jj a of instruction execution Switches instruction execution complete flag of DDRVI instruction from the M8029 to the M200 ET M Functions as the instruction N execution complete flag of DSW instruction B MED ENC 22 K1 D2 i Functions as the instruction execution c
248. ps or wire chips should not enter ventilation slits such an accident may cause fire failures or malfunctions Use the product in such a status that excessive force is not applied on I O connectors Failure to do so may result in wire breakage or failure of the PLC Fit the I O cables securely to the designated connectors Contact failures may cause malfunctions Perform wiring properly to the FX3U Series main unit and FXoN FX2N Series extension equipment of the terminal block type in accordance with the following precautions Failure to do so may cause electric shock short circuit wire breakage or damages to the product The disposal size of the cable end should follow the dimensions described in this manual Tightening torque should be between 0 5 to 0 8 Nem Observe the following items to wire the lines to the European terminal board Ignorance of the Tong items may cause electric shock short circuit disconnection or damage of the product The disposal size of the cable end should follow the dimensions described in this manual Tightening torque should be between 0 22 to 0 25 Nem Twist the end of strand wire and make sure there is no loose wires Do not solder plate the electric wire ends Do not connect electric wires of unspecified size or beyond the specified number of electric wires Fix the electric wires so that the terminal block and connected parts of electric wires are not directly stressed Properly perform wiring to the FX Series
249. pulse output number in the range of YOOO to Y003 4 For 2 specify the rotation direction signal output device number If the high speed output special adapter is not used for the FX3u PLC or if the FX3uc PLC is used specify a transistor output number If the high speed output special adapter is used for the FX3u PLC specify the following output numbers High speed output special adapter connection position 10 to 100 000 Hz The 1st adapter The 2nd adapter Pulse output destination device Rotation direction output for YOOO De Y004 for YOO1 De Y005 for Y002 De YO06 for Y003 Y007 B 106 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 8 1 Speed Positioning DRVI DRVA Instruction Built in Positioning Function 8 3 Drive To Absolute DRVA Instruction The rotation direction depends on the ON OFF status of the specified device as shown in the following 9 table 3 During execution of this instruction however do not use the output specified by s e ON OFF status of device 5 A m Rotation direction increase reduction of current value specified by ON Forward rotation Outputting the pulse will The rotation direction normal or reverse increase the current value rotation depends on which value is larger the number of output pulses specified by OFF Reverse rotation Outputting the pulse will absolute address or the value reduce the cur
250. puse frequency Bias speed 1 Initial value 0 Hz H Bias speed Deceleration time Acceleration time Initial value 100 ms Initial value 100 ms Caution To enable acceleration deceleration turn on the M8338 first and then activate the variable speed pulse output PLSV instruction If acceleration deceleration is enabled the variable speed pulse output PLSV instructions of all the pulse output destination devices will accelerate decelerate the operation This means that acceleration deceleration cannot be specified for each pulse output destination device 1 l l 1 swauowuos J gt r Shows the version number of the compatible PLC Pa lq Compatible series Shows the compatible version numbers e gt Ver 2 00 Version below 2 00 e Ver 2 00 Version 2 00 or later Shows the reference This area shows the reference document the reference document is shown next to 5 If the reference is in A Common items division the chapter section or subsection number will only be shown next to gt If the reference is in another division the chapter section or subsection number will be shown next to together with the title of the division FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Outline Built in Positioning Function 1 1 Features 1 Outline SUJ9 UOWWOD This chapter describes the
251. put cannot be executed After the instruction activation contact is turned off if pulse output monitor BUSY READY flag is still on do not execute the positioning instruction including PLSR and PLSY instructions having the same output number B 102 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 8 1 Speed Positioning DRVI DRVA Instruction Built in Positioning Function 8 3 Drive To Absolute DRVA Instruction 8 3 Drive To Absolute DRVA Instruction o o 3 3 o 2 g 3 n 8 3 1 Instruction Format 1 Instruction format D ics ideis EN Execution condition Aai Tai Execution condition DRVA Continuous DDRVA Continuous DRIVE TO 9 steps execution 17 steps execution ABSOLUTE D S type Apx Command gm input ENG 159 i8 M S S B 2 Data setting Operand type Description Data type Si Specifies the number of output pulses absolute address E PPM BIN16 32 bit Specifies the output pulse frequency 2 Specifies the pulse output number Bn I Specifies the rotation direction signal output destination device number 1 Setting range 32 768 to 32 767 for 16 bit operation 999 999 to 999 999 for 32 bit operation 2 Setting range 10 to 32 767 Hz for 16 bit operation For the 32 bit operation however the setting range should be as shown in the following table Pulse output destination Se
252. put number Signal Connected to Y000 f YOO1 YOO2 Y003 AU asec n yooo Yo01 Yo02 vooa pulse output destination Direction 9 rotation direction signal MORE Y006 V007 Connected to MELSERVO Series CLEAR signal 4 YO24 Yo30 YO34 Serve amplifier Zero phase signal X005 X006 X007 Servo ready signal X015 X016 X017 Immediate stop command X040 X050 X070 Zero return command X041 X051 X071 Jog command X042 X052 X072 Jog command X043 X053 X073 i itioni Connected to external switches Forward rotation positioning x024 lxo44 x054 x074 command Reverse rotation positioning command X025 f X045 X055 X075 Stop command X030 X034 X060 X064 Near point signal DOG 9 X010 X011 X012 X013 Interrupt signal X001 X002 X003 r Connected to sensors and limit switches Forward rotation limit LSF 7 X046 X056 X076 Reverse rotation limit LSR 7 X047 X057 X077 ABS bitO X035 X061 X065 ABS bit1 X032 X036 X062 X066 Send data ready f X033 f x037 xo63 x067 WEN l To use absolute signal Connected to Mitsubishi MELSERVO Series position detection Servo ON signal Y021 Y025 Y031 Yo35 servo amplifier system MR J2 MR J2S MR J3 MR H ABS data transfer vo55 f Yo26 Y032 Yo36 mode signal ABS data request signal Y023 Y027 YO33 Y037 1 To use forward rotation pulse train signal and reverse rotation pulse train signal o
253. put special adapter Y S Output number Application Terminal Remarks 1st 2nd o o 3 3 o 2 g 3 n Connect the line to determine the pulse train signal or the forward rotation pulse train for the 1st axis of each high speed output Y0 2 Y000 Y002 special adapter Pulse train sig Y0 2 For the 1st adapter specify YOOO as the pulse output destination nal forward of the positioning instruction For the 2nd adapter specify YOO2 rotation pulse as the pulse output destination of the positioning instruction train Connect the line to determine the pulse train signal or the forward pulse output rotation pulse train for the 2nd axis of each high speed output A destination Y1 3 Yodi voog Special adapter Y1 3 For the 1st adapter specify YOO1 as the pulse output destination of the positioning instruction For the 2nd adapter specify YOO3 as the pulse output destination of the positioning instruction x uonoeuuo C3 ejdurex3 Connect the line to determine the direction signal or the reverse rotation pulse train for the 1st axis of each high speed output Y4 6 special adapter l TOM YAIG Y004 Yo06 For the 1st adapter specify YOO4 as the rotation direction signal Direction sig of the positioning instruction For the 2nd adapter specify Y006 nal reverse as the rotation direction signal output of the positioning rotation pulse instruction train rotation direction signal Y5 7 Y5 7 Connect the line
254. put to the high speed counter should not exceed the specified range duty 50 Add several WDT instructions Set several WDT instructions in the program so that the watchdog timer can be reset several times during 1 scan time Change the set value of the watchdog timer Using the program change the set value of the watchdog timer D8000 so that the set value of the watchdog timer D8000 can be larger than the maximum value of the scanning time D8012 2 Remove the PLC and put it on a workbench Supply another source of power to the PLC If the ERROR indicator lamp does not light the cause of the problem may be noise In this case take the following measures Check the grounding line and change the wiring route and the installation place Adopt a noise filter for the power supply line 3 If taking measures 1 and 2 does not turn off the ERROR indicator lamp please contact the nearest office of Mitsubishi Electric distributor Flashing The PLC has one of the following errors e Parameter error e Syntax error e Circuit error Diagnose the PLC PC or check the programs using the programming tool For countermeasures refer to the following manual of the applied PLC Programming manual OFF Errors that can stop the PLC are not detected If an operation error is detected on the PLC diagnose the PLC PC or check the programs using the programming tool There is a strong possibility
255. r A2 If the high speed output special adapter is not used for the FX3u PLC or if the FX3uc PLC is used specify a transistor output number If the high speed output special adapter is used for the FX3u PLC specify the following output numbers For the outputs applicable with High speed output special adapter refer to section 4 9 High speed output special adapter connection position Pulse output Rotation direction output rr for YOOO De Y004 The 1st adapter for YOO1 De Y005 for YO02 De Y006 The 2nd adapter Di for YOO3 De Y007 A3 The DL1 b cannot be indexed by index registers V and Z B 109 A C o 3 o 9 zx o Sj swa UOWWOD p gt x ejdurex3 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 9 One speed Interrupt constant quantity feed DVIT Instruction 9 2 List of Related Devices 9 2 1 Special auxiliary relays The following table shows the related special auxiliary relays Note that YOOO YOO1 YOO2 and Y003 are devices that determine the pulse output destinations Device number List of Related Devices Function Attribute Refer to yooo Yoo1 YO02 yoo3 M8029 Instruction execution complete flag Read only 2 um M8329 Instruction execution abnormal end flag Read only 2 2 m 3 Subsection M8336 Interrupt input specification function enabl
256. r to the FX3U Hardware Edition Refer to the FX3uc Hardware Edition FX3uc PLC 2s ejduex3 FX3u PLC uonoeuuo SS POWER POWER Green Green RUN Green RUN Green BATT Red ERROR Red L RUN Green L ERR Red 13 1 1 POWER Indicator Lamp Statuses ON flashing OFF male Status of PLC Troubleshooting The specified voltage is properly ee 7 ON supplied to the power supply terminal The power is being properly supplied The PLC may be at one of the following statuses e The specified voltage current is not e eeek thg power supply voltage l supplied to the power supply Excluding the power cable disconnect all the other cables Flashing iermihal and then turn on the power again Check the lamp status If s An external lineis not crane the lamp flashes again please contact the nearest office of Kt propery Mitsubishi Electric distributor e The PLC has a problem The PLC may be at one of the following statuses e The power is off OFF e The specified voltage is not supplied to the power supply terminal e The power cable is disconnected If the power is on check the power supply unit and the power supply line If the power is properly supplied please contact the nearest office of Mitsubishi Electric distributor 13 1 2 RUN Indicator Lamp Statuses ON OFF kamp Status of PLC Troubleshooting status The s
257. ramming Built in Positioning Function 4 7 Items To Be Observed in Programming 4 7 Items To Be Observed in Programming This section describes various programming items that will not be affected by any pulse output destination devices hardware In other sections the programming items that will be affected by the pulse output destination devices are described Also refer to these sections To use the transistor output of the main unit also refer to Section 4 8 To use the high speed output special adapter also refer to Section 4 9 4 7 1 Positioning Instruction Activation Timing The following positioning instruction can be programmed as much as needed However observe the items shown in the following table to determine the instruction activation timing Instruction to be used Vv If the pulse output destination device is now outputting pulses the instruction cannot be activated Refer to Note below A For absolute position detection system activate ABS FNC155 instruction at turning on the servo amplifier at power on After execution of this instruction the current value will be read out from the servo amplifier only once Turning off this instruction will turn off the servo amplifier 1 ABS FNC155 instruction can be used for absolute position detection system of the MELSERVO J3 J2 S and H Series Caution If pulse output monitor BUSY READY flag
258. rams for Forward Reverse Rotation Step Ladder STL Program 12 3 1 Example of Program Positioning operation will be performed using the absolute positioning method as shown in the following chart For details on input output assignment refer to Section 12 1 500 000 Output pulse frequency 100 000 Hz Acceleration deceleration time 100 ms The following program uses the step ladder STL instruction X020 Immediate stop X014 O o 3 o 9 zx o Stops outputting YOOO pulses Immediate stop Refer to Section 4 7 2 Resets zero return Servo ready RSI p completion flag RST M12 Resets forward rotation positioning completion flag RST M13 Resets reverse rotation X026 Forward rotation limit positioning completion flag Forward limit YOOO X027 18344 Reverse limit YOOO Reverse rotation limit Enables th f nabies tne zero return M8000 FNC 12 H0020 pg4e4 operation with CLEAR signal RUN monitor MOVP outputting function CLEAR signal Y020 M8000 Performs zero return in the R N monitor forward rotation direction S0 S10 S11 S12 S13 M8349 2 EE HR M8 3 2 Operation is stopped Zero JOG JOG Positioning Positioning in Stoppage of YO return in forward reverse pulse rotation rotation outputting direction direction operation V B 143 gt lt ejdurex3 SUJ9 UOWWOD FX3U FX3UC Series PLC User s M
259. rands not corresponding to source and distination are indicated as m and n If the device number can be indexed by index registers and if there are two or more operands the modified operands will be m1 m2 n1 n2 and so on Regarding the program steps the instruction area of each applied instruction has 1 step The operand of each applied instruction however has 2 or 4 steps depending on the number of bits 16 or 32 bits Devices for operands Bit devices X Y M and S can be used for the operands Combination of these bit devices such as KnX KnY KnM and KnS can be used for numeric data Refer to the programming manual Current value registers such as data register D timer T and counter C can be used Dataregister D consists of 16 bit Consecutive 2 data registers 2 points therefore should be used for the 32 bit data For example if data register DO is specified for the operand of a 32 bit instruction the D1 and DO will be used for the 32 bit data D1 for 16 high order bits and DO for 16 low order bits If current value registers T and C are used as the general data registers they will be used in the same way Each 32 bit counter C200 to C255 however can use the 32 bit data without combining two counters These counters however cannot be specified for the operands of 16 bit instructions FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 Befor
260. ration performs without stop Start point Radius r PY Specifying center of operation Solid line cw Dotted line cew coordinate or radius pulse train function Table operation No Position Speed The positioning control v v 0 200 500 program can be set in 200 points 100 points T 1 500 1000 the table maximum maximum 2 1000 2000 Manual pulse generator operation Input pulse 30 kHz or less Phase Manual operation can ff i Manual pulse pies be performed by u 2 ERN 8 L manual pulse 30 kHz 2 kHz 2 kHz air generator maximum maximum maximum Servo amplifier drive unit Magnification L0 ov Dividing ratio FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function SUJg UOWWOD p gt FXsu FXsuc Series Programmable Controllers A O o 3 o 9 zx o 3 z lt User s Manual Positioning Control Edition B Built in Positioning Function ejdurex3 Foreword B Built in Positioning Function describes positioning function incorporated in the MELSEC F FX3u FX3uc Series PLC and should be read and understood before attempting to install or use the unit Also store this manual in a safe place so that you can take it out and read it whenever necessary Always forward it to the end user This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licen
261. rection 2 An operation error occured in positioning instruction The instruction therefore is not being executed To check the error refer to the following section Refer to Subsection 13 2 1 Error Code Check Method Forward operation is in execution by positioning instructions Reverse pulse train is OFF OFF Turned on and off at high speed OFF The PLC may be at the following status 1 The positioning instruction turns ON and operation is being performed in the reverse rotation direction 2 An operation error occured in positioning instruction The instruction therefore is not being executed To check the error refer to the following section Refer to Subsection 13 2 1 Error Code Check Method Reverse operation is in execution by positioning instructions Forward pulse train is OFF The PLC may be at the following status 1 The positioning instruction turns ON and operation is being performed in the forward rotation direction 2 An operation error occured in positioning instruction The instruction therefore is not being executed To check the error refer to the following section Refer to Subsection 13 2 1 Error Code Check Method B 156 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 13 Troubleshooting Built in Positioning Function 13 2 Error Check 13 2 Error Check 13 2 1 Error Code Check Method SUJ9 UOWWOD gt This section describe
262. refer to Subsection 4 5 2 Rotation direction signal Pulse output reverse rotation pulse train direction Initial setting of destination device The 1st adapter The 2nd adapter CLEAR signal 1staxis 2ndaxis 3rd axis 4th axis Y000 Y004 Y004 Y001 Y005 Y005 Y002 Y006 Y006 Y003 Y007 Y007 CLEAR signal and rotation direction signal If FX3U 2HSY ADP high speed output special adapter is used the same outputs will be used for both the CLEAR signal and rotation direction signal of DSZR FNC150 or ZRN FNC 156 instruction as shown in the table above For this reason to output the CLEAR signal change the CLEAR signal device For details on the CLEAR signal device change method refer to Subsection 4 3 4 Pulse output method for high speed output special adapter Adjust the pulse output method of the high speed output special adapter FX3U 2HSY ADP so that the pulse output method can conform to the command pulse input method of the servo amplifier drive unit If the pulse output method is not properly adjusted the servo amplifier drive unit may not perform the intended operation For details on the servo amplifier drive unit refer to the manual of the product to be used for your system For details on the pulse output method refer to Subsection 4 6 1 or Subsection 4 5 2 Output pulse frequency including zero return speed Set the output pulse frequency and the
263. refore describes how to connect the PLC to a servo amplifier drive unit and should be read and understood before attempting to install or use the unit Store this manual in a safe place so that you can take it out and read it whenever necessary Always forward it to the end user This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2005 MITSUBISHI ELECTRIC CORPORATION Apx 1 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Example Connection Description of Manual Example of Connection In this manual the following formats are used for description of the examples of connection Shows the title of the manual and the title of the division This area shows the title of the manual and the title of the division for the page currently opend Shows the title of the chapter and the title of the section This area shows the title of the chapter and the title of the section for the page currently opened Indexes the division titles The right side of each page indexes the title of the division for the page currently opened 1st line Shows the title of the manual 2nd line Shows the title of the division l l FX3U FX3UC
264. rent value indicated on the current value register 8 3 4 Important Points Apx eu 2g For the important points of programming refer to Section 4 7 2a o Even if the operand is subject to change during execution of the instruction the operation will be continued S while ignoring the change Note that the changed operand will be enabled at next activation of the instruction e If the instruction activation contact is turned off during execution of the instruction the speed will be reduced and then the operation will be stopped In this case Instruction execution complete flag M8029 will not be turned on If the limit flag forward limit flag or reverse limit flag in the operation direction is turned on the speed will be reduced and then the operation will be stopped In this case Instruction execution abnormal end flag M8329 will be turned on when completing execution of the instruction For details on Instruction execution abnormal end flag refer to Subsection 4 7 4 e If pulse output monitor BUSY READY flag is on the positioning instruction including PLSR and PLSY that uses the same output cannot be executed After the instruction activation contact is turned off if pulse output monitor BUSY READY flag is still on do not execute the positioning instruction including PLSR and PLSY instructions having the same output number B 107 FX3U FX3UC Series PLC User s Manual Positioning Co
265. rst FX3U 2HSY ADP uses Y000 and Y004 and YOO1 and YOO5 The second FX3U 2HSY ADP uses Y002 and Y006 and Y003 and Y007 FX3U 2HSY ADP 1st FXsu PLC co F by i i ne Servo motor Servo motor Servo motor Servo motor Servo amplifier Servo amplifier Servo amplifier Servo amplifier Y000 Y001 Y002 Y003 y 004 Y005 Y006 Y007 TRP ERP RP Buiuonisod ul ying J SuJgj uouluo uoioun J gt uonoeuuo C3 ejduex3 gt lt FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Introduction Common Items 1 2 Introduction of Products Needed for Positioning Cautions when connecting special adapters To use high speed input output special adapters only not to use the other special adapters it is not necessary to connect the expansion board To use the analog communication special adapters be sure to connect the expansion board e To use high speed input output special adapters together with the analog communication special adapters connect high speed output special adapters to the expansion board already connected to the FX3U PLC first and then connect the analog special adapters and the communication special adapter Analog special adapter High speed output Communication special adapter special adapter Expansion board FXsu PLC
266. rvo amplifier Setting of PLC and servo amplifier eSelection of output method high speed output special adapter eSetting of command pulse input method and electronic gear servo amplifier Related devices eMaximum speed zero return speed eAcceleration time deceleration time Operation test eCreation of program for operation test eMotion check forward rotation reverse rotation Programming eDetails of positioning instruction Examples of programs forward rotation reverse rotation zero return eRelay ladder program eStep ladder program FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Outline Built in Positioning Function 1 3 Version Numbers of Compatible PLCs 1 3 Version Numbers of Compatible PLCs The Built in positioning function is compatible with the PLCs having the following version numbers o o 3 3 o 2 g 3 n Compatible version Compatible PLC number Date of production Remarks Ver 2 20 initial Equivalent to FX3uc PLC Ver 2 20 FX3u PLC After May 2005 Functions specified as Ver 2 00 or product or later ee ace later in this manual are applicable Ver 1 00 initial After January 2004 product or later DVIT instruction function is added Apx Ver 1 30 or later After August 2004 Designation of interrupt input om signal ad Functions specified as Ver 2 00 or ae later in this manual are applicable TBL instruction is added FXauc PLC GX
267. rvo motor am D LX Ex Reverse rotation lt Forward rotation 4 To detect absolute positions connect this line to the PLC 5 Setthe pulse output form by pulse output form setting switch Pulse output method setting switch Pulse output method FP RP side Forward reverse pulse train PLS DIRside Pulse train direction Appendix 1 3 Absolute Position Detection Transistor Output To assign the inputs outputs refer to the following section Refer to Section 12 1 of B Built in Positioning Function Appendix 1 3 1 Sink Input and Sink Output 1 FX3U PLC MR J3LIA Series servo amplifier bocoM 46 E DICOM X032 ABS bit1 Senddataready 1 Be sure to use the class D grounding method grounding resistance 100 Q or less Apx 6 FX8U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 1 MELSERVO J3 Series Example Connection Appendix 1 3 Absolute Position Detection Transistor Output 2 FXsuc PLC MR J30A Series servo DICOM ies ae 46 DOCOM pocoM TI c m o C e 3 3 o E o 3 e UU oc gp OS a3 ea Photo coupler ClassD grounding ABS transfer mode ABS request ABS bitO ABS bit1 Send data read 1 Be sure to use the class D grounding method grounding resistance 100 Q or less Apx 7 FX3U FX3UC Series PLC User s Manual Positioning Control Edition App
268. s Pjitioning table settings wil not be initialized when the PLC is powered on Enter a check 2 Click Read button to read out the set data pulse and frequency from the connected main unit This is exclusively for the positioning table number with the positioning type specified Positioning instruction settings NOSE vr vom io Rotation direction signal voto Head Address R0 Positioning table z e oe o r 8 Positioning Instruction Frequency lt Up DDVIT Interrupt positioning instruction 30000 DPLSV Variable speed output pulse instruction 20000 Dm DDRVI Relative positioning instruction 40000 DDRVA Absolute positioning instruction 50000 Insert Delete Delete all lines a Click the J Positioning table settings will not be initialized when the PLC is powered on Read button 3 Atthe completion of register data reading the data file will be stored s B 136 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 Examples of Programs Assuming that the MELSERVO Series 1 axis servo amplifier is used for control this chapter shows various examples of programs For the connection examples of MELSERVO C J2 S H and J3 Series refer to the following chapters and manuals Refer to Chapter 3 and the ex
269. s Needed for Positioning seen A 4 1 2 Listot Models Lohr eed e add ee eee i etd oce aede e cree anes A 4 1 2 2 Main Unit Transistor Output i 5 to eti tr eret a t oe dt erede terque A 5 1 2 9 Special Adapter ibo VU utate eerie Rt Aer A 5 1 2 4 Special Function UniUBIOCk irent ene eter niet i rens A 6 2 Unit Connection A 8 2 EXSUIBEG xin taie moin nes cop IAS Ran Fix Horse iw erp Pup Moburte it eos A 8 2 2 4EX3UG PLG L2 at S et tam et ud A ah ia d Perf A udo dit co la Lad A 9 2 3 Individual Operation of Special Function Unit FX2N 10GM FX2N 20GM eese A 10 3 Comparison of Specifications A 11 3 1 Comparison of Performance Specifications sese A 11 3 1 1 Incorporated Positioning Function Main Unit Transistor Output High Speed Output Special Adapter FX3U 2HSY ADP cccccccsecssecsteeeseecseessneeeseeesntens A 11 3 1 2 Pulse Output Special Function Block FX2N 1PG E FX2N 10PG seeeee A 12 3 1 3 Positioning Special Function Unit FX2N 10GM FX2N 20GM eee A 13 3 2 Comparison of Operation Modes eeeeseeeeseeeeeeeeeneeenene enne A 14 FX3U FX3UC Series PLC User s Manual Positioning Control Edition B Built in Positioning Function Description of Manual Built in Positioning Function ccccseseeseeeeeeeeeeeseeeeeeeeeeeeeeee B 2 1 Outline B
270. s how to check the error codes using GX Developer If the display module FX3U 7DM is used use error check function of the display module to check the error codes For details of operation of the display module refer to the following manuals FX3u Hardware Edition FXsuc Hardware Edition 1 Connect the personal computer to the PLC A O o 3 o 2 o Sj 2s Diagnose the PLC On the tool menu bar click Diagnostics and then click PLC diagnostics to diagnose the programmble controller ejduex3 iP MELSOFT series GX Developer Ur LD Edit mode MAIN 1 Step mj Project Edit Find Replace Convert View Online Diagnostics Tools Window Help Das ta a saele ARA si Program 7 7 Sf D 10 H diagnostics 7ernet diagnostics j Link GO Link LT diagnostics stem monitor _ inline module change EI ct Imm e e nl 0 le l Unset project nj Program Device comment Parameter li Device memory F 3 Check the diagnosis result The following window will appear Check the details of the error shown on the window lt Example of error display screen gt PLC diagnostics x PLC panel m Monitor start stop LED status Start monitor Display of LL RUN ud x C BAT Stop monitor d EH PROGE p Help PLC PLC error Error indication
271. s related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 2 Cleaned when PLC switches from RUN to STOP FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 8 1 Speed Positioning DRVI DRVA Instruction 8 2 Drive to Increment DRVI Instruction 2 Special data registers The following table shows the related special data registers Note that YOO0 YOO1 YO02 and Y003 are devices that determine the pulse output destinations Device number Data Initial Function Refer to Y000 Y001 Y002 Y003 length value Low Low Low Low D8340 D8350 D8360 D8370 order order order order Current value register 32 bit 0 Subsection verc lile 4 4 1 D8341 9 pgs High pages High pgs High PIS order order order order D8342 D8352 D8362 D8372 Bias speed Hz 16 bit 0 2 D8343 2 D8353 Red D8363 v D8373 ene ee HE Hk Tes aah Maximum speed Hz 32 bit 100 000 m T igh igh igh igh 2 D8344 A D8354 A D8364 A D8374 order D8345 D8355 D8365 D8375 Creep speed Hz 16 bit 1000 upsection Low Low Low Low D8346 er D8356 ie 08368 D8376 n m High High High Hiah Zero return speed Hz 32 bit 50 000 423 D8347 9 pggs7 9 pgag7 9 pgazz 9 order order order order D8348 D8358 D8368 D8378 Accelerat
272. se flag to specify the logic of the near point DOG signal of DSZR instruction zero return instruction with DOG search function Use the operand St of the instruction to specify the near point DOG signal For operation of DSZR instruction refer to Section 6 2 pulse UIDI BESS signa liggie Description of setting destination device reverse flag X908 Mee OFF Positive logic Turning on the input will turn on the near Yo01 M8355 point signal Y002 M8365 ON Negative logic Turning off the input will turn on the near Yo03 M8375 point signal 1 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC 4 3 6 Change in Logic of Zero Phase Signal DSZR Instruction Turn on or off Zero point signal logic reverse flag to specify the logic of the zero phase signal of DSZR instruction zero return instruction with dog search function Use the operand S2 of the instruction to specify the zero phase signal For operation of DSZR instruction refer to Section 6 2 SEE output Zoo point signal Description of setting destination device logic reverse flag 1000 Meets OFF Positive logic Turning on the input will turn on the zero Y001 M8356 phase signal Y002 M8366 ON Negative logic Turning off the input will turn on the zero Voog M8376 phase signal 1 Devices related to Y003 pulse output destination ar
273. ses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2005 MITSUBISHI ELECTRIC CORPORATION FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function Description of Manual Built in Positioning Function In this manual the following formats are used for description of the examples of connection Shows the title of the manual and the title of the division This area shows the title of the manual and the title of the division for the page currently opend 1st line Shows the title of the manual 2nd line Shows the title of the division opened Shows the title of the chapter and the title of the section This area shows the title of the chapter and the title of the section for the page currently Indexes the title of division The right side of each page indexes the title of the division for the page currently opened EX3UIFXUC Series PLC User s Manual Positioning Control Edition I d 4 Before Programming n Built in Positioning Function l 4 3 Various Flags for Operation Commands 4 3 8 Change in Logic of interrupt input Signal DVIT Instruction Turn Interrupt signal logic reverse flag ON or OFF to specify the logic of the interrupt input signal of each l interrupt positioning DVIT instruction For operation o
274. ses are being output the output pulse frequency can be changed freely Acceleration deceleration however will not be performed Setting range 16 bit operation 32 768 to 1 Hz 1 to 32 767 Hz When high speed output special adapter is used 200 000 to 1 Hz 1 to 200 000 Hz 32 bit operation When transistor output of main unit 100 000 to 1 Hz 1 to 100 000 Hz is used 2 For Dt specify the pulse output number in the range of YOOO to Y003 3 For E22 specify the rotation direction signal output device number If the high speed output special adapter is not used for the FX3U PLC or if the FX3uc PLC is used specify a transistor output number If the high speed output special adapter is used for the FX3U PLC specify the following output numbers adapter number destination device output Y000 De Y004 The 1st adapter YO001 Y005 Y002 De Y006 The 2nd adapter Y003 De Y007 B 122 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction Built in Positioning Function 10 3 Function and Operation The rotation direction depends on the ON OFF status of the specified device as shown in the following 9 table 3 During execution of this instruction however do not use the output specified by D2 s e ON OFF status of zB ae Rotation direction increase reduction of current value
275. specify any 32 bit counters 2 Pulse execution type instructions and continuous execution type instructions Pulse execution type instructions The program shown in the right figure shows that when X000 is X000 turned on the instruction will be executed only once If X000 is mee ow os off the instruction will not be executed If it is not necessary to MOVE frequently execute the instruction use of the pulse execution type instructions is recommended Note that P means that the instruction is the pulse execution type This means that DMOVP is also the pulse execution type Continuous execution type instructions X001 The program shown in the right figure shows that if X001 is on Eee oo oe the continuous execution type instruction will be executed at the MOV start of each operation cycle Note that if the FNC24 INC or FNC25 DEC is used as the continuous execution type instruction the destination will be changed at the start of each operation cycle To indicate such continuous execution type instructions the symbol will be added to the title of each instruction as shown in the following figure Carefully use these instructions FNCINumber D P Note that if activation input X000 or X001 is off instructions will not be executed Also note that if the later symbol is not added to the title of an instruction the destination of the instruction will not be changed FX3U FX3UC Series PLC User s Manual
276. struction refer to Section 6 2 For operation of ZRN instruction refer to Section 6 3 Setting range Operand or f i Instruction related REOR 32 bit Instruction format device Operation operation Hz Hz Y000 D8347 D8346 DSZR pr vooi D8357 D8356 u ction Di YO02 D8367 D8366 Initial value 50000 Dr Y003 2 D8377 D8376 10 to 10 to ZRN instruction 1 f FXsu 2HSY ADP is not used note that this value cannot be more than 100 000 Hz 2 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FX3u PLC Caution When using the transistor output of main unit set the pulse frequency for zero return speed less than 100 000 Hz If the transistor output YOOO YOO1 Y002 of the main unit uses a pulse frequency of more than 100 000 Hz to perform operation the PLC may be damaged Setthe zero return speed so that the set value of the zero return speed can be less than the maximum frequency value of the servo amplifier driver unit FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 2 Setting of Various Items Regarding Speeds 4 2 4 Setting of Creep Speed DSZR ZRN Instruction Use the related device or the operand of the instruction to set the creep speed The creep speed setting range is shown in the following table Be sure t
277. struction using the CLEAR signal function to complete zero return 2 Carry out zero return of the machine using the position adjustment method in the jogging operation mode or manual operation mode and then input the CLEAR signal To input the CLEAR signal use the output of the PLC or the external switch shown in the following figure Example for MR J2 LA 7 5 Important Points Setthe timing for your system so that the power of the servo amplifier is turned on first and then the power of the PLC or that these powers are turned on at the same time Select an input so that DABS FNC155 instruction activation contact can be kept at the ON status even after reading out the ABS data If the instruction activation contact is turned off at the completion of ABS data reading the servo ON SON signal will be turned off and the operation will not be performed e If the instruction activation contact is turned off during data reading data reading will be stopped This instruction is for the 32 bit data only Be sure to input this instruction as DABS instruction Observe the following items to use FX2N 1PG E or FX2N 10PG The ABS data will be converted into the pulse value before being read out For this reason be sure to specify motor system when setting parameters BFM 3 for FX2N 1PG E When writing the ABS data into FX2N 10PG be sure to use the current value register BFM 40 BFM 3139 to store the converted pulse data
278. sure to specify the output number of the other transistor output using the CLEAR signal designation function FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 3 Various Flags for Operation Commands Clear signal device specification method 1 Write the CLEAR signal output Y device number in Clear signal device specification device by a hexadecimal number expressed octal numbers e g setting H0010 means YO10 When setting H0008 an operation error occurs because Y008 does not exist 2 Turn on CLEAR signal output enable flag and Clear signal device specification function enable flag of the pulse output designation device to specify the CLEAR signal device 3 Execute DSZR instruction zero return instruction with DOG search function or ZRN instruction zero return instruction Example of program The following figure shows a program that can specify YO10 as the CLEAR signal output device for YOOO pulse output destination device M8000 FNC 12 Specifies the YO10 as the CLEAR signal output device for the TRUN MOVP H0010 D8464 Y000 pulse output destination device monitor M8464 Turns on CLEAR signal device designation function enable EE flag of the YOOO pulse output destination device 4 3 5 Change in Logic of Near Point DOG Signal DSZR Instruction Turns on CLEAR signal output enable flag Turn on or off DOG signal logic rever
279. system uonounJ Buiuonisod ul ying J SuJej uouluo Open collector system Pulse output Pulse train direction method gt method Forward revers rotation pulse train method Maximum 200 000Hz frequency 200 Cone 100 000Hz during interpolation operation Acceleration deceleration type Automatic trapezoidal acceleration deceleration uonoeuuo C3 jdwexg gt lt Unit pulse um 10 inch mdeg Positioning range 999 999 to 999 999 pulse 999 999 to 999 999 mm 999 999 to 999 999 inch 999 999 to 999 999 deg Program language Position data Connection of manual pulse generator Cod number system table system Block designation 0 to 99 100 blocks Cod number system Block designation X axis Y axis 2 axes simultaneously 0 to 99 100 blocks Connectable Open collector system Detection of absolute position Reads out the current value of ABS Others Set in parameter PLC input output 8 points occupied Each point can be used as either the input or output point Without main unit this unit can perform individual operation This unit can perform teaching operation PLC input output 8 points occupied Each point can be used as either the input or output point Without main unit this unit can perform individual operation This unit can perform teaching operation I O points can be added 48 points maximum 1
280. t deactivate turn off the positioning instruction and then activate it again turn it on again The following table shows the pulse output stop command flag of each pulse output destination device Y000 Y001 Y002 Y003 Pulse output destination Pulse output stop Operation device command flag Y000 M8349 During pulse outputting operation if the pulse Yo01 M8359 output stop command flag of the corresponding pulse output destination device is turned on the 1007 M8369 pulse outputting operation will be immediately Y003 M8379 stopped 1 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FXau PLC Note Use this flag only if immediate stop is absolutely needed to avoid dangers Since the motor is immediately stopped use of this flag may damage the system For normal STOP operation decelerated to stop use instruction OFF function or forward reverse limit flag However note that if PLSV instruction is used together with instruction OFF function or forward reverse limit flag in the M8338 OFF mode operation without acceleration deceleration operation can be immediately stopped 4 3 8 Designation of Zero Return Direction DSZR ZRN Instruction Use DSZR instruction zero return instruction with DOG search function or ZRN instruction zero return instruction to specify the zero return direction The zero return direction depends on th
281. t Pulse Frequency DVIT PLSV DRVI and DRVA Instructions B 31 4 2 3 Setting of Zero Return Speed DSZR ZRN Instruction B 32 4 2 4 Setting of Creep Speed DSZR ZRN Instruction sseesesseeeeenenneee nennen B 33 4 2 5 Setting of Maximum Speed ssesessssseeeeeeeeeeee nennen nenne nennen nnne inserere nent B 33 4 2 6 Setting of Bias Speed ise e ede eee De rese ed Cb esce dedi pe duci ce La s ue B 34 4 2 7 Setting of Acceleration TiM Sesiinae ra e aeea a aea aa a ie inaani B 34 4 2 8 Setting of Deceleration Time ssessessessssseeeeeeeeeeeenee nennen nnne nnne nnne nnne nnns B 34 Table of Contents FX3U FX3UC Series PLC User s Manual Positioning Control Edition Table of Contents 4 3 Various Flags for Operation Commands esssseeeeene ene eene nennen B 35 4 3 1 Forward Rotation Limit and Reverse Rotation Limit B 35 4 3 2 Immediate Stoppage of Pulse Output Pulse Output Stop Command Flag B 36 4 3 3 Designation of Zero Return Direction DSZR ZRN Instruction eeeeeeee B 36 4 3 4 CLEAR Signal Output DSZR ZRN Instruction sese B 38 4 3 5 Change in Logic of Near Point DOG Signal DSZR Instruction eese B 39 4 3 6 Change in Logic of Zero Phase Signal DSZR Instruction eseeeeeeee B 39 4 3 7 Designation
282. t in Positioning Function 9 3 Function and Operation 9 3 Function and Operation Command input FS e e e e For details on the maximum speed bias speed acceleration time and deceleration time refer to Subsection 4 2 5 to Subsection 4 2 8 Acceleration Deceleration I time Speg Maximum speed Output pulse frequency Sze Number of output pulses Ste I Instruction execution 1 I 1 I 1 I l Interrupt input 1 Lad Instruction execution complete flag ON M8029 Time 1 For CSt specify the number of output pulses relative address value Setting range 16 bit operation 32 768 to 32 767 excluding 0 32 bit operation 999 999 to 999 999 excluding 0 2 For amp 2 specify the output pulse frequency Setting range 16 bit operation 10 to 32 767 Hz 10 to 200 000 Hz 10 to 100 000 Hz When high speed output special adapter is used When transistor output of main unit is used 3 For Dt specify the pulse output number in the range of YOOO to Y003 4 For D2 specify the rotation direction signal output device number If the high speed output special adapter is not used for the FX3u PLC or if the FX3uc PLC is used specify a transistor output number If the high speed output special adapter is used for the FX3u PLC specify the following output numbers 32 bit operation High speed output special adapter number Pulse
283. t motion Turning on the input will light the LED indicator lamp 1 If inputs X000 to X007 are assigned to the zero phase signal of DSZR instruction or the interrupt input of DVIT instruction the input response time will be as shown in the following table Input Input response time X000 to X005 5us X006 X007 50us 1 Internal input circuit e Source input line connection Main unit e Sink input line connection Main unit Fuse Class D S S grounding Class D grounding X1 impedance FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Specifications Built in Positioning Function 2 4 Input Specifications 2 4 2 FX3uc Series main unit 24V DC Input This section describes the input specifications of the FX3uc Series main unit Note that the simultaneous turning on rate is restricted for the input extension units and the main unit For details on this restriction refer to the following manual Refer to the FX3uc Hardware Edition Item 24V DC input specifications Input signal voltage All inputs 24V DC 20 15 Ripple p p 5 or less X000 to X005 3 9kQ Input impedance X006 X007 3 3kQ X010 to X017 4 3kQ X000 to X005 6mA 24V DC Input signal current X006 X007 7mA 24V DC X010 to X017 5mA 24V DC X000 to X005 3 5 mA or more T Input ON X006 X007 4 5mA or more Input sens
284. tails refer to the User s Manual for FXs3uc Series for Hardware Provides detailed information on the Segrate FX3uc Series hardware such as the input output eae a User s Manual JY997D11601 specifications and the detailed wiring 09R513 Hardware Edition installation and maintenance methods for the FX3uc PLC H Programming FX3u FX3uc Series Describes the basic instructions applied 9 Separate Programming Manual JY997D16601 instructions and various devices of the 09R517 document Basic amp Application FX3u FX3uc PLC to provide the detailed Instruction Edition information on sequence programming Note FX3uc Series PLC Manuals are available only in Japanese Manuals for positioning control Hicommon FXau FXsuc Series K Separate User s Manual document Positioning Control Edition this document Provides the detailed information on the JY997D16801 positioning functions incorporated in the 09R620 FXsu FX3uc Series 10 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Related Manuals Title of manual Document number Indispensable manual Y Manual that may be indispensable depending on the purpose of use AAWith separate document that describes the details Description Model code Pulse output positioning To use each product also refer to the user s manual for hardware of the PLC to be connected to your system Describes how to hand
285. tches on the servo amplifier side Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable Programmable Servo amplifier side controller side controller side LSR SF Servo motor 28 2 m Ex Reverse rotation lt gt Forward rotation 4 For details of the MR J2 S servo amplifier such as the tolerance for the internal power and operation of the servo amplifier refer to the following manual For details refer to the servo amplifier manual 5 To detect absolute positions connect this line to the PLC 6 Setthe pulse output method using the pulse output method setting switch Pulse output method setting switch Pulse output method FP RP side Forward reverse pulse train PLS DIR side Pulse train direction Appendix 2 3 Absolute Position Detection Transistor Output To assign the inputs outputs refer to the following section Refer to Section 12 1 of B Built in Positioning Appendix 2 3 1 Sink Input and Sink Output 1 FXsu PLC Class D MR J2 S DA grounding Series servo CN1B amplifier comf VDD S Ean an dein I Eso ie zZ gt A g Q E N U Plate 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 For details of the MR J2 S servo amplifier such as the tolerance for the internal po
286. te position ABS data The data will be converted into the pulse value before being read out Command input 2 1 For CS specify the first number of the device that inputs the absolute position ABS data from the servo amplifier Number of occupied points 3 CSD CS 1 CS 2 2 For Dt specify the first number of the device that outputs the absolute position ABS data control signal to the servo amplifier Be sure to use the transistor outputs as the outputs of the PLC Number of occupied points 3 CDi Di 1 Di 2 3 For D2 specify the absolute position ABS data 32 bit value storage device number to store the data read out from the servo amplifier Handle the absolute position ABS data as follows Touse the built in pulse output function be sure to specify the following current value registers for the read out ABS data Y000 Y001 Y002 Y003 D8341 D8340 D8351 D8350 D8361 D8360 D8371 D8370 1 Devices related to YOO3 pulse output destination are valid only if two FX3U 2HSY ADP adapters are connected to the FX3U PLC When using FX2N 1PG E or FX2N 10PG read out the ABS data from the data register first and then write the read out ABS data into the current value register of FX2N 1PG E or FX2N 10PG using DTO instruction Or directly specify buffer memory ULAGLI in B 94 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function
287. ter FX3U 2HSY ADP seen B 20 2 6 LISt Of Eunctiohis rite oid ep ep e EE E e rer pete eere E B 21 3 Connection of Input Output Lines and Tightening Torques B 22 3 1 Terminal Board M9 M3 5 lite eter ir li an erhalte Hebe deg B 23 341 1 Terminal Screw Size mirren a d edet dem i Bene ELE edes a decedat B 23 Sede Termlitiation 3 5 ree cere re ccc re och ete eatin ede nde I ecd ge rre ier Ded Re degens B 23 3 2 European Termirial Board eis ete ee dte teet Rege nin B 24 32 1 Cable ites B 24 3 2 2 Termination of Cable ENA etn ote Hates ee erre ah dete B 24 32 3 Roo A ANAE SEN et ESE E E EE A ID Lu ek behets UIDI UM IIT B 24 EO OTDA Toro ru B 25 3 3 1 Cable Connection To Input Output Connector esesssseeenennee nennen B 25 3 3 2 Setup of Input Output Connection Connector ssssssseeeeeeeeneen eene nnns B 25 4 Before Programming B 27 4 1 l istot Related Devic6s ei edere Cu ned re Dt ax REND LA eux EAE dde ct aee utl B 27 4 1 1 Special Auxiliary Relays 1er eie treten ee enne erret eet rere Eon tbe Lo En teen Pen eeu B 27 4 12 Special Data Registers dere ee eg Mee aE NE nA i aa e ERR RR B 28 4 2 Setting of Various Items Regarding Speeds sssseeeeeeenenne B 29 4 2 1 Setting of Various Items Regarding Instructions and Speeds ssssesss B 29 4 2 2 Setting of Outpu
288. th sides the PLC side and the servo amplifier side Note that the limit switches on the PLC side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable controller side Programmable controller side Servo amplifier side LSR LSF Servo motor a a E EX Apx om S Reverse rotation lt gt Forward rotation 3a B 139 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 2 Programs for Forward Reverse Rotation Relay Ladder Program 12 2 Programs for Forward Reverse Rotation Relay Ladder Program 12 2 1 Example of Program Positioning operation will be performed using the absolute positioning method as shown in the following chart For details on input output assignment refer to Section 12 1 500 000 Output pulse frequency _ 100 1 00 000 Hz NY Origin No x AL Acceleration deceleration time 100 ms The following program is a relay ladder program Stops outputting YOOO X020 48349 pulses Immediate stop X014 RST M10 Resets origin return Resets normal rotation Resets reversed rotation positioning completion flag Normal rotation limit YOOO Normal rotation limit X027 Reversed rotation limit M8000 RUN monitor Ena
289. that I O configuration error parallel link communication error or operation error has been detected B 154 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 13 Troubleshooting Built in Positioning Function 13 1 LED Indicator Lamp Check 13 1 5 Pulse Output Destination Device and Rotation Direction Output Indicator Lamp 1 If transistor outputs of the main unit are used for positioning Signal LED status during execution of positioning instruction Description SUJ9 UOWWOD p gt Turned on and off at The pulse outputting operation is controlled by the positioning instruction high speed Pulse output The PLC may be at the following status destination 1 The operation of the positioning instruction is completed device pulse OFF 2 The positioning instruction turns ON but an operation error is detected train signal The instruction therefore is not being executed To check the error refer to the following section Refer to Subsection 13 2 1 Error code check method ON Operation is being performed in the forward rotation direction The PLC may be at the following status Rotation 1 The positioning instruction turns ON and operation is being performed direction output in the reverse rotation direction OFF 2 The positioning instruction turns ON but an operation error is detected direction signal The instruction therefore is not being executed
290. the FXsu PLC Up to 2 adapters can be connected 2 f2 adapters are connected YOOO to Y007 will be used If only one adapter is connected YOOO Y001 Y004 and Y005 will be used The relation between the output of FX3U 2HSY ADP and the output of main unit is described in the following sections For high speed output special adapters refer to Subsection 1 5 3 and Section 4 9 of B Built in Positioning Function FX3U FX3UC Series PLC User s Manual Positioning Control Edition Common Items 3 Comparison of Specifications 3 1 Comparison of Performance Specifications 3 1 2 Pulse Output Special Function Block FX2N 1PG E FX2N 10PG Model FX2N 1PG E FX2N 10PG Number of control axes 1 independent axes Interpolation Pulse output system Open collector system Differential line driver system Pulse output Pulse train di rection method method Forward reverse rotation pulse train method SU 100 000Hz 1 000 000Hz requency Acceleration deceleration type Automatic trapezoidal acceleration deceleration Automatic trapezoidal acceleration deceleration approximate S pattern acceleration deceleration Unit Positioning range Program language pulse um 10 4inch mdeg 999 999 to 999 999 pulse 999 999 to 999 999 mm 999 999 to 999 999 inch 999 999 to 999 999 deg Sequence program FROM TO in 2 147 483 648 to 2 147 483 647 pulse 2 147 483 6
291. the zero return speed If the front end of the DOG is detected the speed will be reduced and then the operation will be stopped The workpiece will detect the DOG and then come out of the DOG area Transfer operation will be restarted in the zero return direction at the zero return speed and the workpiece will enter the DOG area again If the front end of the DOG is detected the speed will be reduced to the creep speed f After detecting the rear end of the DOG if the first zero phase signal is detected the operation will be stopped wa E 2 2 B 84 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 2 DOG Search Zero Return DSZR Instruction 6 2 4 Important Points For the important points for programming refer to Section 4 7 e If an input X000 to X017 of the main unit is specified for the near point signal DOG specified by Gr the rear end of the near point signal DOG will be monitored detected at the 1ms intervals interruption Under the following condition however monitoring detection of the near point signal DOG rear end will be affected by the constant at input or the scan time of the sequence program An input number of X020 or below or the other device auxiliary relay etc is specified 1 Specify X000 to X007 for FX3U 16ML1 Properly set the DOG so that the near point si
292. tion For the 32 bit operation however the setting range should be as shown in the following table Pulse output destination Setting range FX3u PLC High speed output special adapter 10 to 200 000 Hz FX3uc PLC Main unit 10 to 100 000 Hz B 108 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 9 One speed Interrupt constant quantity feed DVIT Instruction Built in Positioning Function 9 1 Instruction Format 3 Devices Bit device Word device Others Real Char Operand System user Digit designation System user D Index un num acter Pointer type stan ber string X Y M T C S Do b KnX KnY KnM KnS T C D R UGNGH V Z Modify K H E D P viv v vivivivi v Y v vivy viv Y v Y viv A v A 21 v 43 A1 Specify YOOO Y001 or Y002 transistor output of the main unit or specify YOOO Y001 Y002 2 or Y003 of the high speed output special adapter 1 High speed input output special adapter cannot be connected to FX3UC 32MT LT 2 To use Y002 and Y003 of the high speed output special adapter connect the second high speed output special adapter Point e To use the FX3U Series main unit of relay output type be sure to connect high speed output special adapter The differential line drive will be used for the outputs of the high speed output special adapte
293. tion execution abnormal end flag M8329 will be turned on when completing execution of the instruction For details on Instruction execution abnormal end flag refer to Subsection 4 7 4 If pulse output monitor BUSY READY flag is on the positioning instruction including PLSR and PLSY that uses the same output cannot be executed After the instruction activation contact is turned off if pulse output monitor BUSY READY flag is still on do not execute the positioning instruction including PLSR and PLSY instructions having the same output number After executing the instruction the output of the rotation direction signal will be turned off 1 Important items for FXsuc PLC of below Ver 2 00 P FX3uc Acceleration deceleration will not be performed at starting or stopping operation For this reason if it is necessary to use the cushion start function or the cushion stop function increase or reduce the output pulse frequency value using FNC67 RAMP instruction etc 2 Important items for FX3u FX3uc PLC of Ver 2 00 or later P Pat Pe e If acceleration deceleration is enabled the variable speed pulse output PLSV instructions of all the pulse output destination devices will accelerate decelerate the operation This means that acceleration deceleration cannot be specified for each pulse output destination device B 125 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 11 Batch Data Positioning
294. tion execution abnormal end flag M8329 will be turned on or off after execution of each instruction However if Instruction execution complete flag M8029 and Instruction execution abnormal end flag are used together for a program it is difficult to determine which instruction turns them ON OFF and Instruction execution complete flag will not be turned on for the intended instruction To use a positioning instruction at a position other than just below the instruction refer to the Good example Bad example X 34 The M8029 will function as instruction execution complete flag of DRVI instruction i The M8029 will function as instruction execution complete flag of DRVA instruction The M8029 will function as instruction execution complete flag of the lower DPLSV instruction 4e The M8029 will function as instruction execution complete flag of the lower DSW instruction e The M8029 will function as instruction execution complete flag of the upper DPLSV instruction L example shown on the next page Completion of instruction execution RST MO Abnormal completion of instruction execution 2 Completion of instruction execution _ completion of instruction execution Program for upper DPLSV instruction Completion of instruction execution M8000 FNC 72 X1 Y1 K1 pew ieee Os ee X000 MO FNc157 ae m p
295. tion function enable flag to specify the CLEAR signal output Y for the pulse output destination device using the Clear signal device specification device For the example of a program refer to Subsection 4 3 4 or Subsection 4 5 1 Pulse output destination device Status of CLEAR signal output function Status of Clear signal device specification Pts KX3u Clear signal device specification device enable flag function enable flag Y000 M8341 ON M8464 ON D 8464 Y001 M8351 ON M8465 ON D 8465 Y002 M8361 ON M8466 ON D 8466 Y003 M8371 ON M8467 ON D 8467 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 3 Zero Return ZRN Instruction 1 Zero return operation Zero return operation is described below assuming that YOOO is specified as the pulse output destination device by CD For this reason if Y001 YOO2 and Y003 are specified it is necessary to change the output number of each related flag special auxiliary relay special data register For details on related flags refer to Section 4 1 to Section 4 4 or Subsection 6 2 2 o o 3 3 o 2 g 3 n 1 Execute ZRN instruction to carry out zero return 2 Transfer operation will be performed at the zero return speed specified by St 3 If the near point signal DOG specified by is turned on the speed will be reduced to the cree
296. tioning Function 4 Before Programming 4 5 Setting of Various Items on PLC Side 3 CLEAR signal and rotation direction signal If high speed output special adapter FX3U 2HSY ADP is used the same output will be used for both the CLEAR signal and the rotation direction signal of DSZR FNC150 or ZRN FNC156 instruction For this reason to output the CLEAR signal change the CLEAR signal device For details on the CLEAR signal device change method refer to Subsection 4 3 4 Pulse output CLEAR signal device Rotation direction signal reverse rotation pulse train direction destination device initially set The 1st adapter The 2nd adapter 1st axis 2nd axis 3rd axis 4th axis Y000 Y004 Y004 Y001 Y005 Y005 Y002 Y006 Y006 Y003 Y007 Y007 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 6 Setting of Various Items on Servo Amplifier Drive Unit Side 4 6 Setting of Various Items on Servo Amplifier Drive Unit Side For details on the servo amplifier drive unit refer to the manual of the product used in your system o o 3 3 o 2 g 3 n 4 6 1 Setting of Command Pulse Input Method 1 Pulse output method on PLC side 1 Ifthe main unit transistor output sink output is used the pulse output signals pulse output destination and rotation direction will be as shown in the f
297. tioning Function 4 2 Setting of Various Items Regarding Speeds 3 Zero return instruction with DOG search function DSZR For this instruction it is necessary to specify the maximum speed bias speed acceleration time deceleration time zero return speed and creep speed using the related devices For operation of DSZR instruction refer to Section 6 2 For details on each setting item refer to Subsection 4 2 3 to Subsection 4 2 8 Deceleration time Acceleration time Initial value ____ j Initial value 1 100 ms K s 100 ms Maximum speed Initial value 100 000 Hz N Zero return speed Initial value 50 000 Hz I I I I I I I I I I I I I i I Current value register 0 Greep speed ie Te LEN E ssi ua ieri Initial value Bias speed Initial value 0 Hz I DOG i Current position 2 Rear end Front end I I I Zero phase signal X000 X007 I CLEAR signal l 1 ms or less k 20 ms 1 scan time ms 4 Zero return ZRN instruction For this instruction it is necessary to specify the maximum speed bias speed acceleration time and deceleration time using the related devices in addition to the zero return speed and the creep speed specified by the operand of the instruction For operation of ZRN instruction refer to Section 6 1 For details on each setting item refer to Subsection 4 2 5 to Subsection 4 2 8 De
298. tioning instruction activation Read only DSZR DVIT ZRN 444 PLSV DRVI DRVA PLSY PLSR DSZR Subsection M8349 M8359 M8369 M8379 Pulse output stop command Drivable DVIT ZRN PLSV 432 DRVI DRVA 923 M8460 2 M8461 2 M8462 2 M8463 User interrupt input command Drivable DVIT LUN Clear signal device specification i M8464 2 M8465 2 M8466 2 M8467 2 5 59 2 Drivable DSzRzRN Subsection function enabled 4 3 4 1 Devices related to YOOS pulse output destination are valid only if two FX3U 2HSY ADP adapters are connected to the FX3U PLC 2 This function will be valid if Ver 2 00 or later is used 8 Cleared when PLC switches from RUN to STOP 4 This function will be valid if Ver 1 30 or later is used 5 Forthe user interrupt input command devices the logical NOT function will not be activated Special Data Registers The following table shows the related special data registers Note that YOOO YOO1 YO02 and Y003 are devices that determine the pulse output destinations Device number Data Initial Corresponding i Function A 3 Refer to Y000 Y001 Y002 Y003 length value instructions 2 interrupt input E i Subsection D8336 designation 16 bit BVIT 4 3 7 D8340 D8350 pgago LOW D8370 Low order order order order Current value DSZR DVIT Subsection High High High High register 32 bit 0 ZRN PLSV 44 1
299. to Subsection 4 5 1 Description of setting Related device Setting value or condition Items related to speed D8344 D8343 Maximum speed 100 000Hz 32 bit K100000 Initial value Bias speed OHz D8342 KO Initial value Acceleration time 100ms D8348 K100 Initial value Deceleration time 100ms D8349 K100 Initial value Forward reverse rotation speed 30 000Hz K30000 Forward limit reverse limit and immediate stop of pulse output If X010 is turned off if the NC contact is Forward limit turned on the limit switch will be M8343 ON If X010 OFF activated If X011 is turned off if the NC contact is Reverse limit turned on the limit switch will be M8344 ON If X011 OFF activated Status check items Use this device to check whether the Turns on when Positioning YOOO positioning instruction is being M8348 positioning instruction is activated activated Turns on when the limit Instruction execution abnormal Dee this device D check whether orno el is Mn t the forward reverse rotation limit switch M8329 end flag turns ON during positioning operation Current value register YOOO Stores the current value of the positioning operation in YOOO D8340 D8241 32 bit Varies when positioning instruction turns ON SUJ9 UOWWOD 2s ejdurex3 O o 3 C 9 zx o Sj FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Position
300. to the manuals of special adapter and special function units blocks Servo motor or MIL connector 20 pin Stepping motor FXsuc 1PS 5VJ B Terminal board M3 Le MIL connector 20 pin Special function 2 r EXouc CNV IF Special function _ unit 1 Depending on the product connect either the terminal board or the MIL connector 20 pin Note O a l Use FXauc 1PS 5V extension power supply unit only if the SV DC power supply unit incorporated in the l FX3uc PLC does not have enough capacity For details of the connectable special extension blocks and system configuration refer to the following manual Refer to the FX3uc Hardware Edition Shows the reference This area shows the reference document the reference document is shown next to Ifthe reference is in A Common items division the chapter section or subsection number only will be shown next to gt f the reference is in the other division the chapter section or subsection number will be shown next to gt together with the title of the division FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Introduction Common Items 1 1 Outline 1 Introduction Buiuonisod ung UU sway uowwog This manual describes the positioning control for the FXsu FX3uc PLC In this chapter various products needed for positioning are describe
301. train Rotation direction designation YOO7 L H Reverse rotation Forward rotation H Reverse rotation OFF 4 4 pulse train l Reverse rotation i OFF i I I l I I I I I I I I l I I I l I I I I I I I i I pulse train l 1 ON and OFF represent the statuses of the PLC output H and L respectively represent the HIGH status and the LOW status of the waveform For details on the relation between high speed output special adapter output and the waveform refer to the next page FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 6 Setting of Various Items on Servo Amplifier Drive Unit Side Reference Image of PLC output and waveform for MELSERVO J3 Series servo amplifier 1 Base unit transistor output sink output a Connection of PLC to servo amplifier SUJ9 UOWWOD p gt PLC main unit Transistor output sink output x ejdurex3 O o 3 o 9 zx o 3 b Image of PLC output and output waveform n 1 Forward rotaion Pulse train signal Y000 I I I I I I SS I I I I I I I Image of output ON 7 1 4 E 4 4 1 7 l ON OFF operation OFF i Output waveform High y 1 7 R 4 T T I Low l I I I Y004 BN I I I Image of output ON mi ON OFF operation mil ig I I I I Output waveform ow Li l I
302. tting range FX3u PLC High speed output special adapter 10 to 200 000 Hz FX3uc PLC Main unit 10 to 100 000 Hz 3 Devices Bit device Word device Others Real Char Operand System user Digit designation System Special Index corr num acter Pointer type user unit stant ber string X Y M T C S DU b KnX KnY KnM KnS T C D R UO GO V Z Modfy K H E p P vViv iv iv viviviv VI v lv iv vivivtvivivivivi v j v v v viv A i Y Al v as 2 A1 Specify YOOO Y001 or YOO2 transistor output of main unit or specify YOOO Y001 Y002 2 or Y003 of the high speed output special adapter 1 High speed input output special adapter cannot be connected to FX3UC 32MT LT 2 To use Y002 and Y003 of the high speed output special adapter connect the second high speed output special adapter Caution Touse the FX3U Series main unit of relay output type be sure to connect the high speed output special adapter The differential line drive will be used for the outputs of the high speed output special adapter B 103 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 8 1 Speed Positioning DRVI DRVA Instruction Built in Positioning Function 8 3 Drive To Absolute DRVA Instruction A2 If the high speed output special adapter is not used for the FX3u PLC or if the FXsuc PLC is used specify a transistor output number If the high speed o
303. tting the interruption signal will the operation be stopped and Instruction execution complete flag M8029 will be turned on For details on Instruction execution complete flag refer to Subsection 4 7 4 If pulse output monitor BUSY READY flag is on the positioning instruction including PLSR and PLSY that uses the same output cannot be executed After the instruction activation contact is turned off if pulse output monitor BUSY READY flag is still on do not execute the positioning instruction including PLSR and PLSY instructions having the same output number If the forward limit flag or the reverse limit flag in the operation direction is turned on the speed will be reduced and then the operation will be stopped In this case Instruction execution abnormal end flag M8329 will be turned on when completing execution of the instruction For details on Instruction execution abnormal end flag refer to Subsection 4 7 4 B 117 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 9 One speed Interrupt constant quantity feed DVIT Instruction 9 4 Important Points The interrupt input cannot be used for the following items Interrupt inputs can be specified in Ver 1 30 or later High speed counter Input interruption Pulse catch SPD instruction DSZR instruction ZRN instruction B 118 FX3U FX3UC Series PLC User s Manual Positioning Control Edit
304. uction EYN Execution condition pu E DABS Continuous ABSOLUTE 13 steps execution a type Command input E 2 Data setting Operand type Description Data type Specifies the first number of the device that inputs the absolute position ABS data from the servo amplifier Number of occupied points 3 first point for S amp D Specifies the first number of the device that outputs the absolute position ABS data ae control signal to the servo amplifier Number of occupied points 3 first point for Di Specifies the absolute position ABS data 32 bit value storage device number BIN32 bit 3 Devices Bit device Word device Others eus System user Digit designation System user Mia Index eis ans aa Pointer ber string X Y M T C S DO b KnX KnY KnM KnS T C D R UD GO V Z Modify K H E O P v vi A v viv VIA v v vi iviviviviv v Si x A The DLI b cannot be indexed by index registers V and Z FX3U FX3UC Series PLC User s Manual Positioning Control Edition 7 Absolute Position Detection System Absolute Current Value Read ABS Instruction Built in Positioning Function 7 2 List of Related Devices 7 2 List of Related Devices For details on the related devices refer to Section 4 1 to Section 4 4 1 Special auxiliary relays The following table shows the relate
305. uction turns ON the workpiece will be transferred to the specified point Chapter 11 SUJ9 UOWWOD x lt ejduex3 O o 3 o 2 o FX3U FX3UC Series PLC User s Manual Positioning Control Edition 3 Connection of Input Output Lines and Tightening Built in Positioning Function 3 Connection of Input Output Lines and Tightening Torques This chapter describes how to connect the input output lines and the terminal tightening torques WIRING PRECAUTIONS O DANGER Cut off all phases of the power source externally before installation or wiring work in order to avoid electric shock or damage of product Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work Failure to do so may cause electric shock WIRING PRECAUTIONS AC AUTION Connect the AC power supply wiring to the dedicated terminals described in this manual If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will be burnt out Connect the DC power supply wiring to the dedicated terminals described in this manual If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will be burnt out Do not wire vacant terminals externally Doing so may damage the product Perform class D grounding grounding resistance 1000 or less to the grounding
306. uld follow the dimensions described in this manual Tightening torque should be between 0 5 to 0 8 Nem Observe the following items to wire the lines to the European terminal board Ignorance of the following items may cause electric shock short circuit disconnection or damage of the product The disposal size of the cable end should follow the dimensions described in this manual Tightening torque should be between 0 22 to 0 25 Nem Twist the end of strand wire and make sure there is no loose wires Do not solder plate the electric wire ends Do not connect electric wires of unspecified size or beyond the specified number of electric wires Fix the electric wires so that the terminal block and connected parts of electric wires are not directly stressed Properly perform wiring to the FX Series terminal blocks following the precautions below in order to prevent electrical shock short circuit breakage of wire or damage to the product The disposal size of the cable end should follow the dimensions described in this manual Tightening torque should be between 0 5 to 0 8 Nem STARTUP AND MAINTENANCE PRECAUTIONS DANGER Do not touch any terminal while the PLC s power is on Doing so may cause electrical shock or malfunctions Before cleaning or retightening terminals externally cut off all phases of the power supply Failure to do so may expose you to shock hazard Before modifying the program under operation or performing
307. urn ZRN Instruction Using the FX3u FX3uc PLC of Ver 2 00 or later use this instruction to change the CLEAR signal output destination 6 3 1 Instruction Format 1 Instruction Format FNC 156 16 bit Satin iti 32 bit La eus m 5 instruction BESTES Execution condition instruction SITE Execution condition ZRN Continuous Continuous ZERO RETURN 9 steps execution 17 steps Jf execution type s type Command input 2 Data setting Operand type Description Data type s ifi a Specifies zero return start speed BIN16 32 bit Specifies creep speed Setting range 10 to 32 767 Hz Specifies an input numbers for near point signal DOG 5 I Specifies pulse output number 1 Setting range 10 to 32 767 Hz for 16 bit operation For the 32 bit operation however the setting range should be as shown in the following table Pulse output destination Setting range FX3u PLC High speed output special adapter 10 to 200 000 Hz FXauc PLC main unit 10 to 100 000 Hz 3 Devices Bit device Word device Others Real Char MARE System user Digit designation System user uoc Index ati num acter Pointer ype Stant per string X YI MIT C S D i b KnX KnY KnM KnS T C D R UO GO V Z Modify K H E o P viviv lvi vivivi v v dviv v Aviv LC qwe ese me v v v viiv v Ad
308. urntable 360 rev Reduction ratio mechanical gear n ds 8 64 Timing belt Resolution of servo motor Pt 131072pls rev Timing belt 8 64 f0 Command pulse frequency Hz CMX _ Lox Pt 1x10 2x 191072 _ 32768 open collector system CDV nx360 8 64x360 1125 CMX Electronic gear numerator of command pulse Set the electronic gear as follows I multiplying factor CMX 27 CDV 112 CDV Electronic gear en 32768 s denominator of command pulse In this case when the main unit outputs the maximum output l multiplying factor pulse frequency 100 kHz the servo motor rotational speed will NO Servo motor rotational speed r min be as follows AO Transfer distance per pulse CMX 60 No x x f0 CDV Pt 32768 60 125 131072 100000 1333 33 eee r min lt 3000r min Rated rotational speed It is not necessary to restrict the maximum speed on the PLC side because the servo motor rotational speed is less than the rated rotational speed Setting of Servo Ready Signal MELSERVO MR C Series If the following parameter is set as shown in the following table for the MELSERVO MR C Series pin 3 of the CN1 connector of the servo amplifier will be changed to servo ready RD Note that the following parameter should be set for the examples of programs shown in Chapter 12 Series Parameter No Setting value MR C 21 020 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Prog
309. ut and special adapter Model Bumponol Frequency Hz Unit Sm Output method Reference axes system Main unit transistor output B Built in 3 axes Open collector Pulse train Pu 3 eee independent 10710 100 000 pulse System direction method Padi Special adapter Pulse train r Differential direction method or B Built in FX3U 2HSY E 2 SUN T 2 axes 10 to 200 000 pulse line driver forward reverse Positioning ADP independent system rotation pulse train Function method 1 Can only be connected to the FX3u PLC 2 Connection of 1 adapter can control 2 axes Connection of 2 adapters can control up to 4 axes 3 The minimum frequency set by PLSY instruction or PLSV instruction is 1 Hz For details on PLSY instruction refer to the programming manual 2 Special function unit block Number of 3 Output Model dXGS Frequency Hz Unit system Output method Reference Special function block Pulse train ulse p Open collector direction method or FX2N 1PG E 1 axis 10 to 100 000 gi P forward reverse i 10 inch system P rotation pulse train mdeg method Pulse train Ise pes Differential direction method or FX2N 10PG 1 axis 1 to 1 000 000 inch line driver forward reverse 1 Tb une system rotation pulse train mdeg method Special function unit Pulse train ulse Tuin Oben tollector direction method or FX2N 10GM 1 axis 1 to 200 000 A p
310. ut Numbers FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function Application Input number Remarks S All input Connect the line to any input 8 JOG command EL If the line connected input is turned on turn on DRVI instruction for the jogging Li p motion The interrupt input depends on the pulse output destination specified by DVIT instruction as shown in the following table If the version number of the PLC is above the following number the interrupt input can be specified Pulse output destination interrupt input Y000 X000 Y001 X001 Y002 X002 px Y003 X003 SF 28 o FX3uc PLC Ver 1 30 or later S If the interrupt input designation function is used the D8386 mela register interrupt input designation register can specify the interrupt input number X000 X007 for each pulse output destination For details on the interrupt input designation method refer to Subsection 4 3 7 Interrupt input X000 to 007 2 FX3u FX3uc PLC Ver 2 00 or later FXu If the interrupt input designation function is used the D8386 register interrupt input designation register can specify the interrupt input number X000 X007 for each pulse output mea destination or the User interrupt input command flag can be specified For details on the interrupt input designation method refer to Subsection 4 3 7 The User interrupt input command flag depe
311. ut of the specified range This error occurs during operation Check the program or the operand of the applied instruction Even if no syntax error or circuit error is detected an operation error may occur for the following reason Example T200Z is not an error However if Z 400 the result of operation will be T600 This means that the device number is out of the specified range and an operation error will be detected Sum error of ABS data sent from servo amplifier Check the servo amplifier for disconnection Also check the set data 1 The input X specified by DSZR DVIT or ZRN instruction is already used for the other instruction 2 The interruption signal device number specified by DVIT instruction is out of the setting range 1 Check that the input X specified by DSZR DVIT or ZRN instruction is not used for the following items Input interruption including delay function High speed counter C235 to C255 Pulse catch M8050 to M8057 SPD instruction 2 Check the data set in the D8336 interruption signal designation device for DVIT instruction The pulse output number is already used for a positioning instruction or pulse output instruction PLSY PWM etc Check that the output specified as the pulse output destination is not activated by the other positioning instruction B 158 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 13 Troubleshooting
312. uted for the pulse output destination Use this flag to prevent simultaneous activation of two or more positioning instructions in the same pulse output destination device Pulse output Positioning instruction Staes oia d and Duis destination device Activation flag g p Y000 M8348 ON The positioning instruction is being activated for the Y001 M8358 corresponding pulse output destination Even after completing execution of the instruction if the Yoo2 M8368 instruction is still activated the flag will not be turned off Y003 M8378 OFF The positioning instruction is not being activated for the corresponding pulse output destination 1 Devices related to YOOS pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FX3u PLC FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 5 Setting of Various Items on PLC Side 4 5 Setting of Various Items on PLC Side o o 3 3 o 2 gd 3 e 4 5 1 Setting of Common Items Using Program For each pulse output destination device Y000 Y001 Y002 Y003 set the items shown in the following table without using the operand of the instruction Setting Setting device Instruction Um n eter to item YOO0 YOO1 YOO2 yoo3 1 DSZR ZRN ABS TBL PLSV DVIT DRVI DRVA Items related to speed Maximum D8344 D8354 D8364 DB374
313. utput To assign the inputs outputs refer to the following section Refer to Section 12 1 of B Built in Positioning Function TI 2 o Q o a zi o o zi e um E a os 2 Q Appedix 1 1 1 Sink Input and Sink Output MR J30A Series servo ON amplifier ers CN1 CS Speed zero CS Positioning completed INP LS Torque being controlled LE Servo error ALM 24V DC CN1 15 SON Servo ON M Reset Forward rotation limit 2 3 eus Emergency stop LI E Reverse rotation limit 2 47 DOCOM Connected to FXsuc if ABS instruction FNC CN1 155 is used E34 22 ABSBO F23 ess FX2N 16EX ES UL FX2N 16EYT DOCOM a Refer to Appendix ABSM F6 858 je Photo coupler 020 Immediate stop command 21 Zero return command JOG command JOG command 24 Forward rotation positioning command Reverse rotation positioning command 026 Forward rotation limit LSF Reverse rotation limit LSR 030 Stop command Apx 3 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 1 MELSERVO J3 Series Example Connection Appendix 1 2 High Speed Output Special Adapter 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 To ensure safety adopt the forward rotation limit switch and the reverse rotation limit switch on both sides t
314. utput special adapter is used for the FX3u PLC specify the following output numbers High speed output special Pulse output Rotation direction adapter connection position output for YOOO Be Yo04 for YOO1 De Y005 for Y002 De Y006 for Y003 De Y007 A3 The DU b cannot be indexed by index registers V and Z The 1st adapter The 2nd adapter B 104 8 1 Speed Positioning DRVI DRVA Instruction 8 3 Drive To Absolute DRVA Instruction FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 8 3 2 List of Related Devices 1 Special auxiliary relaysx The following table shows the related special auxiliary relays Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations o o 3 3 o 2 g 3 n Device number Uo Function Attribute Refer to zas Y000 Y001 Y002 yoo3 BSE M8029 Instruction execution complete flag Read only e z M8329 Instruction execution abnormal end flag Read only uoc Apx H om M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only ree a 38 M8343 M8353 M8363 M8373 Forward limit Drivable 2 un S M8344 M8354 M8364 M8374 Reverse limit Drivable Swseetion M8348 M8358 M8368 M8378 Positioning instruction activation Read only ay um M8349 M8359 M8369 M8379 Pulse output stop command Drivable o
315. v A v Nr 2 A1 The DU b cannot be indexed by index registers V and Z A2 Specify YOOO YOO1 or Y002 transistor output of main unit or specify Y000 YOO1 Y002 2 or YOO3 of high speed output special adapter r High speed input output special adapter cannot be connected to FX3uc 32MT LT Io To use Y002 and Y003 of high speed output special adapter connect the second high speed output special adapter Note e To use the FX3uc Series main unit of relay output type be sure to connect the high speed output special adapter The differential line drive will be used for the outputs of the high speed output special adapter FX3U FX3UC Series PLC User s Manual Positioning Control Edition 6 Mechanical Zero Return DSZR ZRN Instruction Built in Positioning Function 6 3 Zero Return ZRN Instruction 6 3 2 List of Related devices 1 Special auxiliary relays The following table shows the related special auxiliary relays Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations o o 3 3 o 2 g 3 n Device number Function Attribute Refer to yooo YOO1 YOO2 voo3 M8029 Instruction execution complete flag Read only D wt M8329 Instruction execution abnormal end flag Read only Subsection 4 4 2 Apx T Subsection Om M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only 443
316. ve unit Generic name for pulse input type servo amplifier drive unit MELSERVO series Other unit Generic name for MELSERVO J3 J2 Super J2 H and C series Manual pulse generator Generic name for manual pulse generator prepared by user 13 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or abbreviation Description MERWE Manual for FX3u hardware FX3u Series User s Manual Hardware Edition Manual for FX3uc hardware Programming manual This manual is available only in Japanese FXsu FXauc Series Programming Manual Basic and Applied Instructions Edition Communication control manual Analog control manual FX Series User s Manual Data Communication Edition FXsu FXsauc Series User s Manual Analog Control Edition Positioning control manual FXsu FXauc Series User s Manual Positioning Control Edition 14 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Common Items Buiuonisod ung UU sway uowwog uoioun J FXsu FXsuc Series Programmable Controllers gt uonoeuuo c5 a User s Manual Positioning Control Edition A Common Items ejdurex3 Foreword Common Items describes the outline of positioning function incorporated in the MELSEC F FX3uU FX3uc Series PLC and should be read and understood before attempting to install or use the unit St
317. waralimit turned on the limit switch will be activated M8943 if X010 OFF Pe If X011 is turned off if the NC contact is ON Reverse limit turned on the limit switch will be activated M8944 if X011 OFF Immediate stop of pulse output Do not use M8349 SUJ9 UOWWOD a ejdurex3 O o 3 o 9 zx o FX8U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 Before Programming 4 5 Setting of Various Items on PLC Side 2 Set program Initial pulse FNC 12 K2 D834 mu ee FNC 12 DMOV K5000 D8346 Lo FNC 12 i aga essa RUN monitor Maree FNC 12 H0010 D8464 PUN MOVP monitor RUN monitor X012 RUN monitor M8000 RUN monitor X010 Maximum speed for YOOO 30000 Hz gt D8344 D8343 Bias speed for Y000 10 Hz D8342 Acceleration time for YOOO 200 ms D8348 Deceleration time for YOOO 200 ms gt D8349 Zero return speed for YOOO DSZR instruction 5000 Hz D8347 D8346 Creep speed for YOOO DSZR instruction 500 Hz D8345 Zero return direction for YOOO DSZR instruction Reverse rotation direction CLEAR signal output for YOOO Y010 Logic of near point signal for YOOO Positive logic Logic for zero phase signal for YOOO DSZR instruction Positive logic Acceleration deceleration operation PLSV instruction Enabled if X012 ON Interruption input signal device for YO
318. wer and operation of the servo amplifier refer to the following manual For details refer to the servo amplifier manual Apx 11 TI c e o Q o a zi o o zi e um E a os 2 Q FX8U FX3UC Series PLC User s Manual Positioning Control Edition Example Connection 2 FXsuc PLC i Photo coupler MR J2 S OA Series servo CN1B amplifier _ SG 10 2 quee rn Class D grounding X000 1 ABS transfer mode SON ABS transfer mode ABS request ABS bitO X031 DO1 ABSIT Send data ready Xo33L Senddataready 8 6 Be sure to use the class D grounding method grounding resistance 100 Q or less Apx 12 Appendix 2 MELSERVO J2 Super Series Appendix 2 3 Absolute Position Detection Transistor Output FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 3 MELSERVO H Series Example Connection Appendix 3 1 Main Unit Transistor Output Appendix 3 MELSERVO H Series Appendix 3 1 Main Unit Transistor Output To assign the inputs outputs refer to the following section Refer to Section 12 1 of B Built in Positioning Function Appendix 3 1 1 Sink Input and Sink Output TI 2 o C e 3 3 o E o 3 e UU oc Gp oS a ea Class D grounding Zero Point lj signal PGO
319. xtension units blocks and terminal blocks FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 1 Outline 1 2 Setup Procedure for Positioning Control Built in positioning function Refer to Chapter 1 Outline e Refer to Chapter 2 Specifications on incorporated positioning function Motor specifications Outline of system eVersion numbers of compatible PLCs Version numbers of compatible programming tools eAssignment of input output numbers Specifications eGeneral specifications power supply specifications performance specifications eInput output specifications Refer to the manual of each motor Motor specifications ePerformance Refer to Division A Common Items System configuration and unit selection Refer to Chapter 2 and Appendix Refer to Chapter 4 Setting of PLC side Setting of servo amplifier parameters e Refer to Chapter 4 Related devices Refer to Chapter 5 Operation test e Refer to Chapter 6 to 11 Programming lf the motor does not operate or does not operate properly refer to Chapter 13 Troubleshooting Refer to Chapter 12 Examples of practical programs o specifications eMotor capacity System configuration eUnit selection Wiring eWiring of power supply input and output lines eExample of connection to se

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