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1. B 38 4 3 3 Designation of Zero Return Direction DSZR ZRN Instruction seseeeeeeeeeee e B 38 4 3 4 CLEAR Signal Output DSZR ZRN Instruction seseesssseeeeeeeeem eee B 40 4 3 5 Change in Logic of Near Point DOG Signal DSZR Instruction eeeeeeessssssse B 41 4 3 6 Change in Logic of Zero Phase Signal DSZR Instruction eeseeeeeeeeeessess B 41 4 3 7 Designation of interrupt input Signal for DVIT Instruction eeeeseeeeeeeeeeeeeeeeee B 42 4 3 8 Change in Logic of interrupt input Signal DVIT Instruction seeeeesseeeeeeeeeees B 43 4 3 9 Acceleration Deceleration by PLSV Instruction ccc ceccceecseeeeeeceeeeeeeaeeeeeeesaeeeeeeseaeeeeeeaeeeeeeeas B 44 4 4 Current Value and Flag for Monitoring of Operation ssessssseseeeenne B 45 Z4 Touren Valle x eoe et tussi Masi ID Fu I M M Mi E UI iM m B 45 4 4 2 Completion of Execution of Instruction Instruction execution complete Flag Instruction execution abnormal end Flag B 46 4 4 3 Pulse Output Monitor BUSY READY Flag sese B 46 4 4 4 Positioning Instruction Activation Flag ssssssessssseseeeeneeemeneennn mne B 46 4 5 Setting of Various Items on PLC Side seeesssesssssesssseseee nennen nnn B 47 4 5 1 Setting of
2. Photo L Class D coupler COM grounding MR CLIA E h Zero Point Series servo TI c Q O gt O O 3 o 2 3 o U UD oc o os z 2 signal PGO amplifier jdwex4 Uonoeuuo9 Pulse train Forward rotation limit 2 4 LSP Reverse rotation limit 2 4 SON Servo ON coupler P Immediate stop command Zero return command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command mean Forward rotation limit LSF Reverse rotation limit LSR 4 Stop command 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 Set the parameter No 21 at servo amplifier to 020 4 To ensure safety use 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 LSF LSR Servo motor i ze s E H ms Reverse rotation lt gt Forward rotation Apx 19 F X3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 4
3. 100ms N Maximum speed 3 Initial value 100 000Hz x Zero return speed Initial value 50 000Hz Current value register O Creepspeod EE EI Ecc i pe c Ri Initial value Bias speed Initial value OHz Zero phase signal Rear end Front end l l l l X000 X007 l l CLEAR signal k gt 1 ms or less k 20 ms 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 M UIS n Description destination device reverse flag Y000 M8345 l l 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 e When an input X000 to X017 of the main unit is specified for the near point signal DOG specified by S1 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 Aninput number of X020 or below or the other device auxiliary relay etc is specified 1 Specify X000 to X007 for FX3u 16ML I FX3U FX3UC Seri
4. 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 NCAUTION 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 F X3UC 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 Refer to Chapter 2 Specifications on incorporated o positioning function Refer to Division A Common Items System configuration and unit select
5. 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 X010 Activation of the forward rotation limit switch 1 will turn off the LED indicator lamp of X010 turn off X010 Reveret mis 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 Forward rotation limit 1 FX3U FX3UC Series PLC User s 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
6. MITSUBISHI ELECTRIC MELSEC FX Series Programmable Logic Controllers User s Manual Positioning Control FX3U FX3UC Positioning Art no 168593 01 02 2006 MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION Version B GHEE S2fety Precautions INED 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 XPDANGER and NCAUTION 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 CAUTION 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 D ANGER Reference e 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
7. DSZR 7 Continuous ZERO RETURN 9 steps execution ADX WITH DOG type px SEARCH EM 5 Oo Command DS E input 2 Data setting Operandtype Despo Si Specifies the near point signal DOG input device number So Specifies the zero phase signal input number i Specifies the pulse output number 988 E Specifies the rotation direction signal output destination number 3 Devices Bideke Word device thor Real Char nd System user Digit designation System user apes Index Con nen bed Pointer ype cial unit stant ber string ES Ruf LS RU d Ed EE arco NaS UA E Rd ssa 2 ean he S DN nie TP tt EEE TE TE ol 2 Dl TE EEE EEE Ty LLL LLL TT EEE LL lll fle llli LLL Ll A1 The DLJ 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 YOO3 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 high speed output special adapter connect the second 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 2 DOG Search Zero Return DSZR Instruction Note To use the FX3U Series main unit of relay output type be sure to connect high s
8. If the 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 Reverse Forward j Reverse rotation rotation rotation rotation E m um m CII e ET 7 l l l Pulse output l ies H Pulse output destination YOOO L NES m TT destination Y002 I Rotation direction p ON 1 OFF Rotation direction L designation Y004 designation YOOG ETIL O Z O TI TI A l l l l l l Pulse output Pulse output destination Y001 N FY pw FF destination YOO3 E mm umm m L Rotation direction H ON OFF Rotation direction designation YOO5 designation YOO 7 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 F X3UC 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 E 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
9. Y003 M8371 ON M8467 ON D 8467 7 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 lt maximum speed If zero return speed gt maximum speed operation will be performed at the maximum speed mule output Bias speed Zero return speed Maximum speed Initial value destination device 8 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 x maximum speed Y000 D8342 D8345 D8344 D8343 Y001 D8352 D8355 D8354 D8353 1 000 Hz Z Y002 D8362 D8365 D8364 D8363 Y003 D8372 D8375 D8374 D8373 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 YOO2 or Y003 is specified it is necessary to change the output number of each related flag For details of related flags refer to Section 4 1 to Section 4 4 or Subsection 6 2 2 Q o 3 o 2 T 3 o 1 Specify the zero return direction Turn on or off zero return direction
10. m er MS E Execution condition M css Execution condition DPLSV FA Continuous PLSV 77 Continuous PULSE V 9 steps zs onn 17 steps Continuo type type 2 Data setting Specifies the pulse output device number i D2 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 destination Setting range FX3u PLC High speed output special adapter 200 000 to 1 to 1 to 200 000 Hz ee Main unit transistor output 100 000 to 1 to 1 to 100 000 Hz 3 Devices Real Char Sene System user Digit designation system special Index num acter Pointer type user unit d ber string HTTP dee rri 1 pee ee ae ee Sette ILL ejpjirellyliii Vie l A1 Specify YOOO Y001 or YOO2 transistor output of the 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 YOO3 of the high speed output special adapter connect the second high speed output special adapter 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 1 Instruction Format
11. 2 _ 3 Subsection M8338 Acceleration deceleration operation Drivable 439 4 ET 3 Subsection M8336 Interrupt input specification function enabled Drivable 437 M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only oil M8343 M8353 M8363 M8373 Forward limit 20 mn 3 5 Subsection M8347 M8357 M8367 M8377 Interrupt signal logic reverse gt Drivable 38 M8348 M8358 M8368 M8378 Positioning instruction activation Read only ro 3 Subsection M8349 M8359 M8369 M8379 Pulse output stop command Drivable 432 M8460 2 M8461 2 M84627 M84637 User interrupt input command jd Ts 72 9 4 5 B 130 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC This function will be valid if Ver 2 20 or later is used Cleaned when PLC switches from RUN to STOP This function will be valid if Ver 1 30 or later is used The logical NOT function will not be valid for the user interrupt input command device 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 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 To set the constants shown in the shaded area
12. 2 FX3UC PLC Apx 14 MR J2 S DA Series servo CN1B amplifier pe ee Class D grounding 9 Photo coupler 4 o 2 Z ABS transfer mode ABSM ABS request Photo coupler ABS bit0 DO1 4 ABS bit1 zsp 19 Send data ready 4 r O Plate D g 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 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 c Q o 2 Q o 3 3 o 2 3 o UW Ec o LI 2S 3 2 et d Photo E Class D j coupler Eu 8 ia X000 Zero Point TXA XXT I Servo ready NUM RD EXE n s Zero speed LAXIS 0X XUL EB apes Positioning completed INPy Torque being controlled Servo error ALM fro cA v POLOT A Servo ON Reset Y004 NPO Emergency stop Y017 Forward rotation limit 2 9 LN S Revers
13. 4 3 3 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 the 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 uem ES E Reverse rotation lt gt Forward rotation 1 If DSZR 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 BescHpUonofseHin destination device designation flag P g Y wed is To perform zero return in the normal Y001 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 F
14. 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 input 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 ERR 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 Adopta 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 The PLC has one of the following Diagnose the PLC PC or check the programs using the errors programming tool Flashing Parameter error For countermeasures refer to the following manual of the applied e Syntax error PLC e Circuit error Programming manual The watchdog timer error may be ON detected or the hardware of the PLC m
15. FX3U F X3UC 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 4 9 Pulse output destination devices Use Y00O 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 YOO3 is used for a positioning instruction PLC failure may occur 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 For details on the servo amplifier drive unit refer to the manual of the product used in your system For details on the pulse output method of the main unit refer to Subsection 4 6 1 Output pulse frequency including zero return speed If more than 100 000 Hz pulse is output from the transistor output terminal of the main unit to perform operation it may cause PLC failure 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 Load current To use a posi
16. 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 When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output shown in the following table for rotation direction signals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use transistor output for signals rotation direction High speed output special n Pulse output Rotation direction output adapter connection position Y000 De Y004 The 1st adapter Y001 De Y005 Di Y002 De Y006 The 2nd adapter Y003 De Y007 A3 The DLJ b cannot be indexed by index registers V and Z B 123 SUl9 uOUJUJO gt lt jdwex4 Q O 2 D 2 O 5 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 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 YOO2 and Y003 are devices that determine the pulse output destinations Device number Refer to Y000 Y001 Y002 Y003 M8029 Instruction execution complete flag Read only Subsection 4 4
17. Positioning Control Edition 13 Troubleshooting Built in Positioning Function 13 2 Error Check 13 2 Error Check 13 2 1 Error Code Check Method This section describes 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 FX3uc Hardware Edition 1 Connect the personal computer to the PLC 2 Diagnose the PLC On the tool menu bar click Diagnostics and then click PLC diagnostics to diagnose the programmble controller PMELSOFT series GX Developer Unset project LDCEdit mode MAIN 1 Step Project Edit Find Replace Convert View Online Diagnostics Toole Window Help u ig n rg i PLO diagnostics 32 1l r7 z Dea a A Be a ed MEESECNETODPZTBZH digerncetic n T mm Ethernet diagnostics Program x i Be DES Emi A eunte dT dteEn BTE AX Sy stem manita inline module shanee HE Device comment Parameter E Device memory 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 PLG diagnostics x FLG panel Monitor start stop Display of Start montar conditions of Stop monitor LEDs on FX Hel PROGE P PLC EN
18. This area shows the reference document the reference document is shown next to If the reference is in Buucmgeng vane a suauu Jo iago Example of program The following program Specification af interrupt input signal for each pulse output destination device as X x n shown in the following table as A Common items Pulse output Interrupt input mango B IVISI destra dace Setting value FNC 12 F nius i division the chapter Y000 3 RUN monitor section or subsection Yoo number will only be shown Y002 F vong next to gt elf the reference is in another division the chapter 1 Devices related to YOO3 pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FXsu PLC Shows the version number vaoa interrupt input sigrial of the compatible PLC 1 Devices related to YOO3 pulse output destination are valid only if two FXsu 2HSY ADP adapters are connected to the FXsu PLC 4 3 8 Change in Logic of interrupt input Signal DVIT Instruction section or subsection Turn Interrupt signal logic reverse flag ON or OFF to specify the logic of the interrupt input signal of e l number will be shown Intemupt positioning WIT instruction next to gt together with l For operation of DVIT instruction refer to Chapter 9 i Mou For details an the interrupt input signal designation me
19. number Pulse output destination device enable flag function enable flag Y000 M8341 ON M8464 OFF Y004 Y001 M8351 ON M8465 OFF Y005 Apx C ITI O x Y002 M8361 ON M8466 OFF Y006 E Y003 M8371 ON M8467 OFF Y007 ge 1 Use the FX3U FX3UC PLC of Ver 2 20 or later to use Clear signal device specification function enable flag b 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 For the example of a program refer to Subsection 4 3 4 or Subsection 4 5 1 Status of CLEAR Status of Clear signal signal output function device specification Clear signal device specification device Pulse output destination device enable flag function enable flag FX3U F X3UC 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 D For this reason if YOO1 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 Secti
20. Built in positioning function Interrupt stop linear interpolation Interrupt During direct connection stop operation to the target posi Ignoring tion x y at a vector speed if ne oe interrupt input turns ON the v Y axis position Speed will be reduced and x y then the positioning opera Interrupt input tion will be stopped Start point X axis Interrupt stop Start command will start Speed Operation speed operation and the operation will be stopped at the target position During operation if interrupt Speed Interrupt Target input turns ON the speed will input position be reduced and then the operation will be stopped Interrupt 1 speed positioning Interrupt 1 speed constant quantity feed If interrupt input turns ON the work piece will go the specified transfer distance at the same speed the speed will be reduced and then the Start Interruption command operation will be stopped Transfer distance Speed Operation speed The operation starts at oper ation speed 1 by start com mand During operation if pied the speed reduction com mand is input the speed will 2 speed positioning with speed reduction speed 2 be reduced to operation speed 2 After that the Start Speed reduction Stop operation will be continued at command command operation speed 2 until the stop command is input Interrupt 2 speed positioning f interrupt input 1 turns ON Interrup
21. Current A ES efeuoN Acceleration ime ime position Initial value 100 ms Initial value 100 ms 2 When acceleration deceleration is not performed M8338 OFF Maximum speed Initial value 100000 Hz N Output pulse frequency S l l If the frequency value is less than the bias speed I value the frequency will not be output Bias speed Initial value 0 Hz Bias speed FX3U F X3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning 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 Eaa l Initial value j Initial value 1 100 ms P 100 ms Maximum speed X F Initial value x 100 000 Hz Zero return speed Initial value 50 000 Hz Current value register O Creep speed m esq SII EK m mimm Initial value Bias speed Initial value O Hz l DOG Current position E4 Rear end Front end l l Zero phase signal X000 X007 l CLEAR
22. Description of setting Y001 M8356 phase signal Y002 M8366 Negative logic Turning off the input will turn on the zero Y003 M8376 phase signal 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC F X3U 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 FX3U FX3uc PLC of Ver 2 20 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 itis necessary to use the interrupt input designation device M8336 OFF or if the FX3uc PLC of function M8336 ON below Ver 1 30 is used L Interrupt input for YOOO pulse output destination device TM ADU Interrupt input for YOO1 pulse output destination device Y002 X002 Interrupt input for Y002 pulse output destination device Y003 X003 Interrupt input for YOO3 pulse output destination device 1 Devices
23. However the user interruption command device can be specified only if Ver 2 20 or later is used 3 This function will be valid if PLSV instruction turns ON during acceleration deceleration using Ver 2 20 or later B 131 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 Specifies the pulse output destination device for the positioning table to be A activated vo vi ve va Co mman d Positioning table input ENC452 DTBL D n Specifies the positioning table number to be activated Positioning instruction settings ies Write Read DK Cancel Constant setting FX parameter niia soe _ oo 0 O ORUarkeso Man speed TUETETUS Treep sved He Zarb rtu speed Emm Dace ime
24. M105 JOG operation is being being performed Executes No 2 of jus Y000 the positioning table of YOOO pulse output destination command Pulse Table output number destination number M106 Completes the JOG JOG operation M8329 Abnormal V end V B 153 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 12 Examples of Programs 12 4 Positioning Using Batch Setting Method V X024 M8348 t Position Position ing in ing forward rotation being M107 direction Positioning in forward rotation direction ae M8348 Position Position ing in ing reverse rotation direction M110 Y000 being Positioning in reverse rotation direction B 154 operation M10 Zero return Operation compl etion direction performed flag Positioning operation being performed in forward rotation M10 Zero return compl etion performed flag Positioning operation being performed in reverse rotation direction M108 M109 Normal Abnormal end of end of positioning positioning in forward in forward rotation rotation direction direction M111 M112 Normal Abnormal end of end of positioning positioning in reverse in reverse rotation rotation direction direction V K3 Stop command Pulse Table output number destination number M8029 SET M12 Execution completion im M8329 C109 Abnormal end FNC 152
25. To assign the inputs outputs refer to the following section Refer to Section 12 1 of B Built in Positioning Function TTI c Q o 2 Q o 3 3 o 2 3 o UW SEG o LI 2S 3 2 Appedix 1 1 1 Sink Input and Sink Output 1 FXau PLC 100 to 240V AC E at T He MR J30A Series servo CN1 p Class D 24V DC amplifier grounding DICOM 20 CN1 EL Zero speed SC Positioning completed INP Pa pu Torque being controlled Li Servo error ALM Photo couper 5471 a Zero Point signal PGO CN1 Servo ON ee MATE Emergency stop mk wt 43 LSP Forward rotation limit 2 3 A EN Reverse rotation limit 2 A oO gt A wj CQ gt gt C1 oO ce e NIO 47 DOCOM 4 Connected to FX3u if 55 Mid ud FNC is used CN1 22 k5S80 723 RBSBi FX2N 16EX ES UL 46 pocom Refer D pum HENSE 131 8 ABSR je UO V E e ols vlo Zz r a v O Ng O z Immediate stop command Photo Zero return command coupler X022 JOG command JOG command 24 Forward rotation positioning command Reverse rotation positioning command 026 T Forward rotation limit LSF Reverse rotation limit LSR 030 Stop command Apx 3 F X3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 1 MELSERVO J3 Series Example Connection Appendix 1 2 High Speed Output S
26. 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 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 Apx rotation limit 1 LSR with the reverse limit flag If the forward limit flag or the reverse limit flag turns ON the dH motor will perform operation depending on the output instruction as shown in the following table o S Reverse rotation limit 2 Reverse rotation limit 1 Forward rotation limit 1 Forward rotation limit 2 2 5 Servo amplifier side Programmable Programmable Servo amplifier side 5 controller side controller side SF P D Servo motor TCS Hl 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 Corresponding instruction and stop F limi R limi orward limit everse limit PLSV instruction DSZR DVIT ZRN Pulse output destination
27. Troubleshooting 13 4 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 Refer to the FX3U Hardware Edition Refer to the FX3uc Hardware Edition FX3U PLC FX3auc PLC n m Lf MITSUBISHI set E B L bs POWER POWER Green Green M Green TIER d ERROR Red L RUN Green L ERR Red 13 1 1 POWER Indicator Lamp Statuses ON flashing OFF Lamp Status of PLC Troubleshooting status The specified voltage is properly l n supplied to the power supply terminal The power is being properly supplied The PLC may be at one of the following statuses e Check the power supply voltage e Excluding the power cable disconnect all the other cables and then turn on the power again Check the lamp status If the lamp flashes again please contact the nearest office of Mitsubishi Electric distributor e he specified voltage current is not supplied to the power supply Flashing terminal An external line is not properly connected The PLC has a problem The PLC may be at one of the following statuses The power is off n power is on check the power supply unit and the power supply OFF The specified vo
28. Y Stop command Pulse Table output number destination number M8029 SET M13 Execution completion flag UD M8329 Abnormal end M112 END Forward rotation positioning completion flag Reverse rotation positioning completion flag Positioning operation being performed in forward rotation direction Executes No 3 of the positioning table of YOOO pulse output destination Forward rotation positioning completion flag Forward rotation positioning normal end flag Forward rotation positioning abnormal end flag Forward rotation positioning completion flag Reverse rotation positioning completion flag Positioning operation being performed in reverse rotation direction Executes No 4 of the positioning table of YOOO pulse output destination Reverse rotation positioning completion flag Reverse rotation positioning normal end flag Reverse rotation positioning abnormal end flag 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 GO G9 amp M8000 FNC155 x034 vo24 D8340 Reads out the ABS data to current value registers RUN
29. Y003 M8379 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 YOOO YOO1 YOO2 Y003 Corresponding instruction and stop Pulse output T DNE ce Forward limit Reverse limit f DSZR DVIT ZRN destination PLSV instruction PEN flag flag M8338 OFF PLSV M8338 ON DRVI and DRVA instructions YOOO MRR NOT If the corresponding rotation If the corresponding rotation Y001 M8353 M8354 limit flag is turned on pulse limit flag is turned on the Y 002 M8363 M8364 output operation will be speed will be reduced and Y003 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 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
30. 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 q 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 NC 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 100 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 sa
31. 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 ion tester special adapter and grounding terminal of PLC 2 2 Power Supply Specifications For the power supply specifications of the FX3U FX3uc 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 FXsuc Hardware Edition Item Specifications Output circuit drive 24V DC 60 mA power supply The service power of the main unit will be supplied internally Adapter drive power VDG UMS P supply P The adapter driver power will be internally supplied from the 5V DC power supply unit of the main unit sula uouluo gt lt jdwex4 Q O 2 D e O 5 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Specifications Built in Positioning Function 2 3 Performance Specifications 2 3 Performance Specifications 4 Model Medical gains Mons FX3u 2HSY ADP 2 main unit transistor output Number of control axes 3 independent axes 2 independent a
32. specified by CS1 is set to a positive ON number the operation will be performed in the forward rotation direction Forward rotation Outputting the D1 pulse will increase the current value If the number of pulses to be output after interruption specified by S12 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 5 The interrupt input signal depends on the pulse output of as shown in the following table Use the FX3uc PLC of Ver 1 30 or later to specify the interrupt input signal Use the FX3U FX3uc PLC of Ver 2 20 or later to set the user interruption command device Interrupt input signal Pulse output If it is not necessary to use the destination interrupt input designation function device M8336 OFF or if the FX3uc PLC of below Ver 1 30 is used Y000 X000 D8336 HO OO O L Interrupt input for YOOO Y 001 X001 pulse output destination device If it is necessary to use the interrupt input designation function M8336 ON Interrupt input for YOO1 pulse output destination device Y002 X002 Interrupt input for YOO2 pulse output destination device F Interrupt input for Y003 1 Y003 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 u
33. the pulse output signals will be as shown in the following figure Pulse output destination YOOO Forward rotation pulse train Rotation direction designation Y004 Reverse rotation pulse train Pulse output destination YOO1 Forward rotation pulse train Rotation direction designation YOOS Reverse rotation pulse train H i OFF L E Reverse rotation Forward rotation C N OT Pulse output destination Y002 Forward rotation pulse train Rotation direction designation YOOG Reverse rotation pulse train Pulse output destination YOOS3 Forward rotation pulse train Rotation direction designation YOO 7 Reverse rotation pulse train HIGH status and the LOW status of the waveform For details on the relation between high speed output special adapter output and the waveform Reverse rotation ON and OFF represent the statuses of the PLC output H and L respectively represent the refer to the next page FX3U F X3UC 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 When a FX3U Series PLC sink output is used it is connected as shown below SUl9 uOUJUJO MR J3LJA servo
34. y Ful Start point s specifying center coordinate o 7 Radius r or radius Solid line cw Dotted line ccw gt uoneuuo C3 ejduex3 gt lt v Table operation X Y XY Position Speed TE a The positioning control pro oan gram can be set in the table so 7000 points 2 7000 wo maxi mum Manual pulse generator operation Input pulse 30 kHz or less L ase A Manual operation can be per formed by manual pulse gen 100 kHz erator maxi mum Servo amplifier drive unit Magnification lt fv Dividing ratio 1 Drive to Increment instruction is in substitution 2 Drive to Increment Absolute instructions are in use 3 Pulse train function of linear interpolation instruction will perform this operation 4 Pulse train function of direct connection instruction will perform this operation Operation of only one axis is possible 5 The table operation continuous operation function will perform this operation 6 Interrupt positioning instruction performs this operation 7 Variable speed pulse output instruction will be input to perform this operation Available at Ver 2 20 or later 8 Operations with acceleration deceleration performs 9 When interpolation instructions are consecutively set in the program it will immediately shift to the next operation continuous pass operation 10 When the interpolation operatio
35. 000 000Hz Er frequency 9 x 33 Acceleration Automatic trapezoidal acceleration deceleration og deceleration type approximate S pattern acceleration deceleration S Unit pulse um 10 inch mdeg 2 147 483 648 to 2 147 483 647 pulse 2 147 483 648 to 2 147 483 647 x Position data magnification um 2 147 483 648 to 2 147 483 647 x Position data magnification x107 inch 2 147 483 648 to 2 147 483 647 x Position data magnification mdeg Positioning range Program language Sequence program FROM TO instruction BFM direct designation 4 Position data 1 point set in sequence program Connection of manual pulse Connectable Differential line driver generator Detection of absolute position Reads out the Set in parameters current value of ABS e PLC input output 8 points occupied Others Points can be either input or output points During positioning operation the operation speed and or target address can be changed 1 Do not exceed the maximum rotation speed of the servo motor 2 The position data magnification sets the 1 10 10 or 10 in parameters 3 The positioning range can be set in the range from 2 147 483 648 to 2 147 483 647 pulses 4 The set data table information of the table operation can be set up with FX Configurator FP Setting monitor tool 5 Up to 300 points table can be set for the table operation of the X Y XY axis FX3U F X3UC Series PLC User s Manual Positi
36. 100 ZRN PLSV 428 ms DRVLDRVA Clear signal SUBSSCHOR D8464 4 D8465 4 D8466 4 D8467 device 16 bit DSZRZRN 4 specification 20 1 Devices related to YOO3 pulse output destination are valid only if two FX3U 2HSY ADP adapters are connected to the FX3U PLC Ts 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 20 or later is used 3 This instruction will be valid during acceleration deceleration using Ver 2 20 or later only 4 This function will be valid if Ver 2 20 or later is used FX3U F X3UC 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 Q o 3 o 2 T 3 o 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 Avy Fo
37. 20124 Malm Phone 46 0 40 35 86 00 Fax 46 0 40 35 86 02 e mail infoGbeijer se ECONOTEC AG Postfach 282 CH 8309 N rensdorf Phone 41 0 1 838 48 11 Fax 41 0 1 838 48 12 e mail info econotec ch GTS Dar laceze Cad No 43 Kat 2 TR 80270 Okmeydani Istanbul Phone 90 0 212 320 1640 Fax 490 0 212 320 1649 e mail gts turk net SWITZERLAND TURKEY CSC Automation Ltd UKRAINE 15 M Raskova St Fl 10 Office 1010 UA 02002 Kiev Phone 380 0 44 494 3355 Fax 380 0 44 494 3366 e mail csc a csc a kiev ua Systems Siberia Shetinkina St 33 Office 116 RU 630088 Novosibirsk Phone 7 3832 119598 Fax 7 3832 119598 e mail info eltechsystems ru Elektrostyle Poslannikov Per 9 Str 1 RU 107005 Moscow Phone 7 095 542 4323 Fax 7 095 956 7526 e mail info estl ru Elektrostyle RUSSIA Krasnij Prospekt 220 1 Office No 212 RU 630049 Novosibirsk Phone 7 3832 106618 Fax 7 3832 106626 e mail infoGestl ru ICOS RUSSIA Industrial Computer Systems Zao Ryazanskij Prospekt 8A Off 100 RU 109428 Moscow Phone 7 095 232 0207 Fax 7 095 232 0327 e mail mail icos ru NPP Uralelektra Sverdlova 11A RU 620027 Ekaterinburg Phone 7 34 32 532745 Fax 4 7 34 32 532745 e mail elektra etel ru STC Drive Technique Poslannikov Per 9 Str 1 RU 107005 Moscow Phone 7 095 790 7210 Fax 7 095 790 7212 e mail info privod ru AFRICAN REP
38. 500000 Apx L top using the absolute command Designation Output Pulse Rotation positioning om of absolute pulse output direction instruction SS position frequency destination signal YO04 ON OG D number S D Forward rotation 5 M8029 SET M12 positioning K i completion flag o Execution oO ee Forward rotation g M108 positioning normal end flag M8329 Forward rotation positioning Abnormal end abnormal end flag X025 M8348 M10 M111 M112 Forward rotation th RST M12 positioning Position Position Zero Normal Abnormal completion flag ing in ing return end of end of isusres rotation reverse operation compl positioning positioning vide rotation being etion in reverse in reverse RST M13 P fl direction performed flag rotation rotation Bos ioning ag M110 performed in P reverse rotation Positioning operation being direction performed in reverse Moves to absolute rotation direction o K100 K100000 YOOO Y004 position 100 using Stop the absolute Positioning in reverse rotation direction command Designation Output Pulse Rotation positioning of absolute pulse output direction instruction position frequency destination signal Y004 0FF number Reverse rotation M8029 positioning SET M13 completion flag oe MD positioning normal g end flag M8329 M12 Reverse rotation Abnormal end positioning abnormal end flag B 145 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Built
39. 5V is needed to connect special function units blocks FX3UC 1PS 5V Special function block Servo motor Paver ee EXONCCCNV IE Special function unit Servo amplifier FXsuostP EB to Up to 7 units For details on system configuration refer to the FX3uc Hardware Edition FX3U F X3UC 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 uolnoun Buiuonisog ung W SUJ8 UOUJUJO m Servo motor Servo motor Servo motor P m Servo amplifier Servo amplifier Servo amplifier i Apx o O m fm O x ii o 22 2 2 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 combinat
40. 7 812 1183 238 Fax 31 0 20 587 76 05 Fax 7 8121183 239 e mail info koningenhartman com e mail as avtsev spb ru Beijer Electronics A S NORWAY Consys Teglverksveien 1 Promyshlennaya St 42 RUSSIA N 3002 Drammen RU 198099 St Petersburg Phone 47 0 32 24 30 00 Phone 7 812 325 3653 Fax 47 0 32 84 85 77 Fax 7 812 147 2055 e mail info beijer no e mail consys consys spb ru MPL Technology Sp zo o POLAND Electrotechnical RUSSIA ul Sliczna 36 PL 31 444 Krakow Phone 48 0 12 632 28 85 Fax 48 0 12 632 47 82 e mail krakow mpl pl Sirius Trading amp Services srl ROMANIA Str Biharia No 67 77 RO 013981 Bucuresti 1 Phone 40 0 21 201 1146 Fax 40 0 21 201 1148 e mail sirius siriustrading ro CRAFT SERBIA AND MONTENEGRO Consulting amp Engineering d o o Branka Krsmanovica Str 43 V SCG 18000 Nis Phone 381 0 18 531 226 Fax 381 0 18 532 334 e mail craft bankerinter net INEA SR d o o SERBIA AND MONTENEGRO Karadjordjeva 12 260 SCG 113000 Smederevo Phone 381 0 26 617 163 Fax 381 0 26 617 163 e mail viadstoj yubc net AutoCont Control s r o SLOVAKIA Radlinsk ho 47 SK 02601 Dolny Kub n Phone 421 435868 210 Fax 421 435868 210 e mail infoGautocontcontrol sk INEA d o o Stegne 11 SI 1000 Ljubljana Phone 386 0 1 513 8100 Fax 386 0 1 513 8170 e mail inea inea si SLOVENIA Beijer Electronics AB SWEDEN Box 426 S
41. Built in Positioning Function 4 7 Items To Be Observed in Programming 4 7 5 Operation Error Flag If an applied instruction including positioning instructions of the FX3u 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 Q o 3 o 2 T 3 o 1 Operation error Error flag Error code storage device Error detected step number storage device 32 bit M8067 D8067 D8315 D8314 e 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 Apx 1 If the error detected step number is 32767 or less the error step number can be also checked using S E the D8069 16 bit DS e If an operation error occurs at the other step the error code and the error step number of the instruction will g be sequentially updated If the error status is canceled the error flag will be turned off e 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 2 Operation error latch Error flag Error code storage device Error detected step number storage device 32 bit M8068 D8
42. Cable length 10 m maximum 1 Internal output circuit elo connect to photo coupler Servo amplifier special adapter Pulse train Drive unit FX3U 2HSY ADP forward rotation pulse train ESSEN NN Vel ee YO 2 AM26C31 amp da D XUL y YO 2 Direction signal reverse rotation pulse train Y4 6 R dal C Y YAI6 High speed output 1 Grounding SGA Servo amplifier Drive unit eTo connect to differential line receiver Pulse train forward rotation pulse train Equivalent to P E F AM26C31 Y1 3 Direction signal reverse rotation pulse train 1 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 2 The line between the SGA and the SGB is insulated FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Specifications Built in Positioning Function 2 6 List of Functions 2 6 List of Functions The instructions needed for the positioning function built in in the FX3U F X3uc PLC are shown in the following table Mechanical zero return Q o 3 o 2 T 3 o zero return If DSZR ZRN instruction turns ON DSZR with DOG Creep erotetiin mechanical zero return will be started at instruction search speed speed the specified zero return speed If the dog function sensor is turned on the speed will be reduced to the creep speed If th
43. D8361 D8360 cum Y003 D8371 D8370 3 8 oD 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC Caution The current value changes between 2 147 483 648 and 2 147 483 647 However if an overflow or underflow occurs the value changes as shown below Check the value carefully e If the current value is increased past the maximum value the minimum value will be indicated If the 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 Zero return instruction without
44. FX3uc PLC of below Ver 2 20 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 117 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 Example of program The following program shows that the interrupt input for YOOO is set in the user interruption command device M8460 Specifies the M8002 FNC 12 HFFF8 D8336 interrupt input for ipitabeutse MOV Y00OO in the user P interruption com mand device Interrupt input SET M8336 F specification function enabled Command input Positioning Normal Abnormal DVIT instruction being end of end of performed positioning positioning YOOO M100 Interruption positioning is being performed Interruption M8029 mE positioning being M101 Positioning performed Instruction execution complete flag operation normal
45. 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 120 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 sula uouluo gt lt jdwex4 Q O 2 D 2 O 5 B 121 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 1 Instruction Format 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction 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 20 or later is used this instruction can change the speed using the acceleration deceleration speed 10 4 Instruction Format Outline 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 Instruction Format
46. Main Unit Transistor Output 00 0 0 ccc ccccceeeceeeeseeeee esse eeseeeseeeaeeesaeesaeeeaees Apx 3 Appedix 1 1 1 Sink Input and SINK OUIDUL rsss ett aceti onec qr ee gau dU wala ess suma d odas s aea Pd Suum Apx 3 Appendix 1 2 High Speed Output Special Adapter eeeeeseeseeeerenen Apx 6 Appedix 1 2 1 Sink Input Sink Output Transistor and Differential Line Driver Output Apx 6 Appendix 1 3 Absolute Position Detection Transistor Output eeeeeeesseesee Apx 7 Appendix 1 3 T Sink Input and Sink Output 2 2 1 ied deese eee a ea tones dece voii octavus baes Apx 7 Appendix 2 MELSERVO J2 Super Series Apx 9 Appendix 2 1 Main Unit Transistor Output 0 00 ccc ccccceeeceeeeseeeae esse ease eeseeeaeeesaeeeaeeeaees Apx 9 Appendix 2 1 1 Sink Input and Sink Output ccc cceecceeceeeeeseeeeeseeeeeseeeeeseeeeeseeeeeseaeeesseeeeeeaaees Apx 9 Appendix 2 2 High Speed Output Special Adapter ccccecccecceeeseeeeeeeeseeseeeseeesaeeeaes Apx 12 Appendix 2 2 1 Sink Input Sink Output Transistor and Differential Line Driver Output Apx 12 Appendix 2 3 Absolute Position Detection Transistor Output sseeeseesssese Apx 13 Appendix 2 3 1 Sink Input and Sink Output seesssssssesssssseseeeneennnnennnn nennen nnns Apx 13 Appendix 3 MELSERVO H Series Apx 15 Appendix 3 1 Main Unit Transistor Outpu
47. 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 FXauc PLC MR HLIA Series servo amplifier T l 24V DC a T z L Class D grounding Photo coupler 4 BE l Servo ON l E ABS transfer mode AB E ABS bitO ABS bit1 Send data ready V N U gs Lr O op E 1 Be sure to use the class D grounding method grounding resistance 100 Q or less Apx 16 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 Function Appendix 4 1 1 Sink Input and Sink Output TI c Q o 2 Q o 3 3 o 2 3 o UW Ec o LI 2S 3 2 1 FXau PLC 100 to 240V AC TELL N L 24V DC e duex4 Uonoeuuo9 MR CLIA Series servo amplifier Photo coupler Poa lL l p a Zero Point signal PGO Servo error ALM Forward rotation limit 2 4 Reverse rotation limit 2 4 Servo ON o O Z Sale lefsa
48. PROG The help function of GX Developer opens and you can check the details of the error code PLC error Errar indicatian Tourrent error T aa Ladder error s004 12 The PLC error is displayed PL diagnostics X PLG panel LED status E RUN BATT PROGE Monitor start stop Start mantar Stop monitor Error indication Current error Ma error Example of screen displayed in normal state B 160 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 13 Troubleshooting Built in Positioning Function 13 2 Error Check 13 2 2 Error Codes This section describes error codes related to the positioning instructions For details of the error codes refer Q o 3 o 2 to the following manual a n Refer to the programming manual Operation Error after code detecting error Operation error M8067 D8067 Description of error Troubleshooting 0000 No error detected Apx The device specified by the operand of the This error occurs during operation Check the program or Om applied instruction is a wrong device the operand of the applied instruction Ss 6705 l di 33 Even if no syntax error or circuit error is detected an QS Operation error may occur for the following reason S 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 spec
49. 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 NCAUTION 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 becomes exhausted the data held by the battery may become unstable during transportation B 14 The PLC is precision equipment During transportation avoid impacts larger than that 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 F X3UC Series PLC User s Manual Positioning Control Edition FXsu FXsuc Series Programmable Controllers User s Manual Positioning Control Edition LLL NL NN 2 2006 Foreword This manual describes positioning function of the MELSEC F FXs3u 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 problems involving industrial property rights which may occur as a resul
50. Positioning table settings will not be initialized when the PLC is powered on check box Q o 3 o 2 T 3 o Positioning instruction settinps YO oda jw jv Fiotation direction gna femia HesdAdde Rn Pitong Labs OCT frian positioning atrachion GPS Manabi speed odgur pulse instraction Duiuonisog 50000 uonoeuuo9 C5 gt lt jdwex4 Hpaionrg lable samngs eal ror ba rshaleed when fa PLC i poseened oni 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 w lve v3 Fiotation direction signs 010 Head Adder AO Preitierarag labis 50000 Click the Read button be Positioning bable settings eal not be indialived when fe PLC i powered on 3 Atthe completion of register data reading the data file will be stored B 139 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 examples of connection shown in t
51. 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 table During execution of this instruction however do not use the output specified by CD2 ON OFF status of n Rotation direction increase reduction of current value 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 10 3 2 Operation with Acceleration Deceleration M8338 ON After turning on the acceleration deceleration function M8338 if the 9 e 2 m va output pulse 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 20 is used operation will be performed without acceleration deceleration M8000 UU iei Command i FNC 157 WW S gt For details on the maximum speed bias speed acceleration time and deceleration time refer to Subsection 4 2 5 to Subsection 4 2 8 M
52. STARTUP AND MAINTENANCE PRECAUTIONS NCAUTION 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 Test Procedure 1 2 oO at Q 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 For details on the forward rotation limit and the reverse rotation limit refer to Subsection 4 3 1 Signal Input number 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
53. Series a PLC are excerpted from the A with the JY997D12701 User s Manual for FX3uc Series for HARDWARE MANUAL product Hardware For details refer to the User s Manual for FX3uc Series for Hardware Provides detailed information on the Separate FX3UC Series hardware such as the input output d cument User s Manual JY997D11601 specifications and the detailed wiring 09R513 Hardware Edition installation and maintenance methods for the FX3uc PLC Mi Programming FX3uU FX3uUc Series Describes the basic instructions applied Separate Programming Manual instructions and various devices of the document Basic amp Application A FX3u FX3uc PLC to provide the detailed MA information on sequence programming Instruction Edition Note FX3uc Series PLC Manuals are available only in Japanese Manuals for positioning control WCommon FX3U F X3uc Series Provides the detailed information on the User s Manual JY997D16801 positioning functions incorporated in the 09R620 FX3U F X3uc Series document Positioning Control Edition this document 10 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Related Manuals Indispensable manual v Manual that may be indispensable depending on the purpose of use AWith separate document that describes the details number liPuise output positioning To use each product also refer to the user s manual for hardware of the PLC
54. Software model compatible GX Developer e Supports FX3U PLCs Ver 2 20 or later Ver 2 20 or later GX Developer Ver 8 23Z or later E SER E SWLID5C GPPW J l C Ver 2 30 or later SWLIDSC GPPW E Ver 8 29F or later S SUPPONE Ae pee eke QUII Model selection FX3U C 1 For Ver 8 23Z or 8 24A of GX Developer the model to be selected is FX3UC 2 FX3uc PLC Version number Model Version number of RIS of FX3uc PLC Software model compatible GX Developer e Supports FX3UC PLCs Ver 1 00 or later Ver 1 00 or later Ver 813P or later Model selection FX3UC e Supports FX3UC PLCs Ver 1 30 or later Ver 1 30 or later EU NM Ver 8 18U or later Model selection EXGUG g i e S orts FX3UC PLCs Ver 2 20 or later Ver 2 20 or later SWLIDSC GPPW E Ver 8 23Z or later SPP H Model selection FX3U C e Supports FX3UC PLCs Ver 2 30 or later Ver 2 30 or later Ver 8 29F or later Model selection FX3U C 1 For Ver 8 23Z or 8 24A of GX Developer the model to be selected is FX3UC Assignment of Input Output Numbers 1 5 1 Assignment of Input Numbers Assign the input numbers of the FX3u FX3uc PLC as follows Application Input number Remarks 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
55. T 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 FX3u F Xauc PLC of Ver 2 20 or later 8 Use this function only if immediate stop is absolutely needed to avoid danger FX3U F X3UC 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 pum pees prices Items related to speed Maximum speed 30000Hz K5000 K30000 Zero return speed 5000Hz 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 IN E 3 E Output to YO10 M8464 ON CLEAR signal device change 9 D8464 D8464 H0010 Sets the positive logic turning on the input will M8345 OFF turn on the near point signal Logic of near point signal Sets the positive logic turning on the input will turn on the zero phase signal M8346 OFF Logi
56. YOO1 YOO2 2 or YOO3 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 YOO3 of the high speed output special adapter connect the second high speed output special adapter Note 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 101 FX3U F X3UC 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 When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output shown in the following table for rotation direction signals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use transistor output for signals rotation direction For the outputs applicable with High speed output special adapter refer to section 4 9 High speed output special i Pulse output Rotation direction output adapter connection position Y000 De Y004 The 1st adapter Y001 De YOO5 Di Y002 De Y006 The 2nd adapter Y003 De Y007 A3 The DLJ b cannot be indexed by index registers V and Z 8 2 2 List of Related Devices 1 Special auxiliary relays The fo
57. YOOO pulse output destination device 4 3 5 Change in Logic of Near Point DOG Signal DSZR Instruction uonoeuuo9 C5 Turns on CLEAR signal output enable flag Turn on or off DOG signal logic reverse flag to specify the logic of the near point DOG signal of DSZR instruction zero return instruction with DOG search function Use the operand S1 of the instruction to specify the near point DOG signal For operation of DSZR instruction refer to Section 6 2 Pulse output DOG signal logic destination device reverse flag 000 one OFF Positive logic Turning on the input will turn on the near Y001 M8355 point signal Y002 M8365 ON Negative logic Turning off the input will turn on the near Y003 M8375 point signal 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC Description of setting 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 CS2 of the instruction to specify the zero phase signal For operation of DSZR instruction refer to Section 6 2 Pulse output Zero point signal destination device logic reverse flag Y M8346 l iris OFF Positive logic Turning on the input will turn on the zero ON
58. ZRN instruction is the same output device as direction signal reverse pulse train rotation direction signal of high speed output special adapter Be sure to specify the output number of the other transistor output using the CLEAR signal designation function F X3U 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 Y010 When setting H0008 an operation error occurs because Y008 does not exist Q o 3 o 2 T 3 o 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 A pulse output destination device gt lt jdwex4 M8000 FNC 12 Specifies the Y010 as the CLEAR signal output device for the RUN MOVP H0010 D8464 Y000 pulse output destination device BIOS Turns on CLEAR signal device designation function enable BEEN ow flag of the
59. a check positioning data can be set Use the FX3u FX3uc PLC of Ver 2 20 or later to use Positioning Q o 3 o 2 T 3 o iaaii PLC system Postionng Setting item Setting value Bias speed Hz 500 Maximum speed Hz 100 000 Creep speed Hz 1000 Apx Zero return speed Hz 50 000 9E Acceleration time ms 100 Bs Deceleration time ms 100 E Interrupt input for DVIT instruction X000 4 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 Setting item Setting value Rotation direction signal Y 004 First device RO drive to increment Edi aie drive to increment Frequency Hz 30 000 drive to absolute drive to absolute Frequency Hz 100 000 B 151 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 6 On the bar click Online and then Write to PLC Write to PLC window will appear Write to PLC Connecting interface COM3 C PLC module PLC Connection io Station No Host PLC type FX3U C File selection Device data Program Common i i Selectal Cancel all selections Close Related functions zies m Device comment Transfer s
60. amplifier FX3U 32MT ES Transistor output sink output gt lt jdwex4 Q O 2 D 2 O 5 b Image of PLC output and output waveform ee Forward rotaion Pulse train signal Y000 Image of output N 141 T M D TN ON OFF operation OFF 4 l Direction output Y004 l l l l l l l l l l Image of output on i ON OFF operation OFF High l i Output waveform Lowa i i OW FX3U F X3UC 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 2 High speed output special adapter set to pulse train direction a Connection of PLC to servo amplifier FX3U 2HSY ADP b Image of PLC output and output waveform MR J3LJA servo 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 n Forward rotaion Pulse train signal YOOO Image of output oak q q ON OFF operationOFF 7 High 4 Output Low Low 4 Direction output i Y004 Image of output ON i ON OFF operation OFF High Lo ee Output Low waveform High O 0 Low i Reverse rotaion l l l l l l I l l l waveform High i l l l l l l l l l l l 3 High speed o
61. and Section 4 9 of B Built in Positioning Function A 11 FX3U F X3UC Series PLC User s Manual Positioning Control Edition 3 Comparison of Specifications Common Items 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 1 independent axes axes USE ouput Open collector system Differential line driver system system Pulse output Pulse train direction method method Forward reverse rotation pulse train method Maximum 4 100 000Hz 1 000 000Hz frequency Automatic trapezoidal Acceleration decel Automatic trapezoidal acceleration deceleration approximate eration type acceleration deceleration S pattern acceleration fase eration Unit pulse um 10inch mdeg 999 999 to 999 999 x Position data magnifi 2 147 483 648 to 42 147 483 647 pul cation pulse Es OMA One ed eee K _ 2 147 483 648 to 2 147 483 647 x Position 999 999 to 999 999 x Position data magnifi dots magnification iis UK 7 H Positioning range cole UI 2 147 483 648 to 2 147 483 647 x Position 999 999 to 999 999 Position data magnifi a oie x data magnification x104 inch TEL 4 cation x10 inch __ 2 147 483 648 to 2 147 483 647 x Position 999 999 to 999 999 x Position data magnifi ea 2 3 data magnification mdeg cation mdeg Program language Sequence program FROM TO i
62. 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 Q o 3 o 2 T 3 o 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 ew px commanda This instruction transfers the data from the D21 and D20 to F DMOV the D23 and D22 38 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 specify any 32 bit counters 2 Pulse execution type instructions and continuous execution type instructions Pulse execution type instructions The program sh
63. 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 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
64. current value register to the current position of the machine The built in positioning function will use DSZR ZRN instruction zero return instruction to adjust the value of the current value register to the current mechanical position Compared with ZRN instruction DSZR instruction has some more functions DSZR instruction ZRN instruction DOG search function DOG signal logical NOT Zero return using zero phase signal 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 If the PLC reads out the current position value of the servo motor by FNC 155 DABS instruction and then zero return is performed once it is not necessary to perform zero return erery time 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 6 2 6 2 1 DOG Search Zero Return DSZR Instruction Using the FX3U FX3uc PLC of Ver 2 20 or later use this instruction to change the CLEAR signal output destination Q o 3 o 2 T 3 o Instruction Format 1 Instruction format FNC 150 16 bit Instruction D 32 bit Instruction l DSZR instruction BES kaaa instruction BE baii
65. designation flag M8342 to specify the zero return direction 2 Execute DSZR instruction to carry out zero return 3 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 4 Ifthe near point signal DOG specified by is turned on the speed will be reduced to the creep Apx speed D8345 om 5 After turning off the near point signal DOG specified by S1 if the zero phase signal specified by 25 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 6 Ifthe 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 7 The current value register D8341 D8340 will be reset to 0 will be cleared 8 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 Deceleration Acceleration time time D9943 M u
66. end flag M8329 Instruction execution abnormal end flag Positioning operation abnormal end flag Interruption Interruption pointer ILOLO condition Interrupt input signal ON 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 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 destination device reverse flag Y000 M8347 OFF Positive logic Turning on the input will turn on ON Description Y001 M8357 the interrupt input signal Dr Y002 M8367 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 118 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 9 One speed Interrupt constant quantity fee
67. flag flag PLSV M8338 ON DRVI device es t M8338 OFF and DRVA instructions i ing rotat ing rotat 000 dad m If the corresponding rotation If the corresponding rotation Y 001 M8353 M8354 limit flag is turned on pulse limit flag is turned on the Y 002 M8363 M8364 output operation will be speed will be reduced and Yo03 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 20 or later If the FX3uc PLC is used and its version is below Ver 2 20 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 Imm
68. 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 10 Format and Execution of Applied Instruction 4 10 Format and Execution of Applied Instruction Instruction and operand Function numbers FNCOO FNCLILILJ 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 ou id An operand that will not be affected by execution of the instruction is referred to as a source This symbol represents a source 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 S1 S2 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 01 D2 and so on m n The operands 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
69. 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 Exclusion of loss in opportunity and secondary loss from warranty liability R
70. in Positioning Function 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 Em Forward rotation limit 1 NC contact X010 Limit switch Reverse rotation limit 1 NC contact X011 l 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 Yo00 destination Direction signal or reverse rotation pulse train signal output specified for rotation Yo04 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 For setting items of the related devices refer to Subsection 4 5 1 Setting item Description of setting bon DUE 2 Items related to speed Maximum speed 100 000Hz pu t K100000 Initial value Acceleration time D8348 K100 Initial value Deceleration time 100ms D8349 K100 Initial value Forward reverse rotation speed 30 000Hz Lol K30000 E Forward limit reverse limit and immediate stop of pulse output If X010 is turned off if the NC contact is M8343 ON If X010 OFF M8344 ON If X011 OFF turned on the limit s
71. instruction FNC 150 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 gt FNC158 DRVI FX3U F X3UC 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 Pulse output destination device Pulse stop instruction Operation YOOO M8349 l ae 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 Y003 M8379 immediately stopped 1 Y003 can be specified as the pulse output destination only if 2 high speed output special adapters are connected to the FX3u PLC 4 7 3 Correction of Backlash The built in positioning fun
72. instruction however is not compatible with the Excuse HE When being executed relay output For this reason do not use this Will be turned of relay output type assigned outputs turn instruction Operation will not be performed n ON LED is ON properly due to delay in response output chattering of the contact aged contact etc For this reason do not use this instruction FX3U Series main unit of transistor output Will be turned on 1 Will be turned on Ad PEAREN type nigh speed ouput Will be turned on Will be turned on s special adapter on 1 The output frequency limit of the main unit transistor output is 100 kHz When operating a load with a pulse frequency exceeding 100 kHz PLC failure may occur FX3U F X3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 1 Outline 1 5 Assignment of Input Output Numbers Block diagram FX3U 2HSY ADP FX3U 2HSY ADP FX3U Series main unit Sequence program 1st FNC 158 DRVI K30000 K20000 FNC 158 DRVA K15000 K10000 2nd FNC 159 DRVA K10000 K10000 YOOO Y001 Y002 Y003 Y004 YOO5 Y006 Y007 FNC 159 DRVI K1000 K5000 Q o 3 o 2 T 3 o ung uonoun4 Buiuonisog I uonoeuuo9 SS gt lt jdwex4 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Specifications
73. limit YOOO Reversed rotation limit M8000 FNC 12 Hoo20 D8464 MOVP RUN monitor Performs origin return in the normal rotation direction M8002 i FNC 12 190000 D8343 Sets the maximum speed Initial pulse DMOV 100 000 Hz D8344 D8343 FNC 12 k4000 D8345 Sets the creeping speed EE MOV i 1 000 Hz gt D8345 FNC 12 k50000 D8346 Sets the origin return speed po DMOV FNC 12 K100 D8348 Sets the acceleration time MOV 100 ms D8348 FNC 12 Sets the deceleration ti K1 D834 ets the deceleration time peg e one 100 ms D8349 Enables the origin return operation with CLEAR signal outputting function CLEAR signal YO20 RUN monitor 1 Ifthe 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 B 143 FX3U F X3UC Series PLC User s Manual Positioning Control Edition 12 2 Programs for Forward Reverse Rotation Relay Ladder Program Built in Positioning Function 12 Examples of Programs X021 M8348 M101 M102 7 Zero X Positioning Normal Abnormal return being end of end of performed zero zero YOOO return return M100 Zero return being performed 2 E e D N X022 M8348 M104 JOG Peositioning Completes being the JOG performed operation Y000 M103 JOG operation is being per
74. main unit Transistor Output seessssssssssesseseeeeen eene B 19 2 5 2 FX3UC Series main unit Transistor Output ssssessssssssseeeeeeennnenen nennen B 21 2 5 3 High Speed Output Special Adapter FX3U 2HSY ADP eeeeeeeeeseseeeeeeenrre B 22 2 0 LISWON ipee x cA B 23 3 Connection of Input Output Lines and Tightening Torques B 24 9 1 Serminal Board M3 3 9 zeie iae edebat quteed tae quat quoe o aoo Veglae tcu ee uu de ole ee iub els B 25 Oiled Terminal SCreW SIZE iac Gen piece node co nep c acc wan uates mud EAqute uud taris e ence e ae usine B 25 S2 Femna UON NONE EN P B 25 29 2 European Terminal BOd amp rd t ia eut needed ixex bases ud ezen Vesdtqesest sxven iet du uuu B 26 MEC Tn c M B 26 2 2 2 Termination ol Cable ED ueseooecit e eee 12d chet aes tu ope Ee beso cite acus ert eletcusuet ub dotada erede a cieand B 26 329 OOM MP B 26 ome COMME ipee cH B 27 3 3 1 Cable Connection To Input Output Connector eeseessesssssseeereneenene nennen B 27 3 3 2 Setup of Input Output Connection Connector esssseeesssssssssesseeeenen enne nnns B 27 4 Before Programming B 29 4 1 List of Related Bec mm B 29 4 1 1 Speclal Ataliary Relay S odi eO a a E tudo eee e E du aedes B 29 4 1 2 Special Data Registe S244 6 ide cine reptua no tede eod alere aus cec io s
75. manual the following formats are used for description of the examples of connection 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 f FXSUIFXSUC Series PLC User s Manual Positioning Control Edition UT M Belore Programming PET EENE O Fem di a a pe i The device can be specified if the FXau FXauc PLC of Ver 2 20 ar later is used Using the FXsuc PLC of below Ver 2 20 if B 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 Devices related to YOO3 pulse output destination are valid only if two FXau 2HSY ADP adapters are connected to the FXsu 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 OM an operation error emor code KB763 will occur and the instruction will not cause any operation Shows the reference
76. o 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 For details on PLSY FNC57 PWM FNC58 and PLSR FNC59 instructions refer to the programming manual Device number Refer t eTer to Y000 Y001 Y002 Yv003 M8029 Instruction execution complete instruction execution complete fag Read only 22 c Apx Om O x 5 W 33 M8329 Instruction execution abnormal end Read only 21 Sg o 1 Devices related to YOO3 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 YOO1 Y002 and YOO3 are devices that determine the pulse output destinations Device number Data Initial Refer to Y000 Y001 Y002 vos length value ow min sni D8340 D8350 D8360 D8370 NND dl value Subsection Hiah High Hiah High register PEDE 4 4 1 Ig Ig IQ IQ 1 Devices related to Y003 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 absolute position ABS data The data will be
77. of YOOO to Y003 4 For D2 specify the rotation direction signal output device number When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output shown in the following table for rotation direction signals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use transistor output for signals rotation direction Mdgicspeed output Special agapier Pulse output destination device Rotation direction output connection position for YOOO Y004 The 1st adapter for YOO1 Y005 for Y002 Y006 The 2nd adapter for YOO3 De Y007 B 109 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 table During execution of this instruction however do not use the output specified by ON OFF status of device specified by D gt ON Forward rotation Outputting the pulse will The rotation direction normal or reverse increase the current value rotation depends on which value is larger l the number of output pulses specified by OFF Reverse rotation Outputting the pulse will absolute address or the value reduce the current value indicated on the current value register Rotation direction incre
78. 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 NC AUTION Donot 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 nstall 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 q 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 NC 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
79. 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 Data register 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 F X3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 10 Format and Execution of Applied Instruction Format and execution of instruction Depending on the sizes of the numeric values to be processed
80. output number 2 Initial setting Y010 for YOOO pulse output destination YOOO to Y357 YO11 for YOO1 pulse output destination MO to M7679 Y012 for YOO2 pulse output destination SO to 84095 Y013 for YOO3 pulse output destination Set the first device number to store the set data number of pulses frequency DO to D6400 Starting from the set device 1600 points will be occupied Initial setting RO RO to R31168 Rotation direction signal Head Address Table number i Data can be set for tables 1 to 100 Bositisnin Select a positioning type from the following types diosa 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 Up button Click this button to move up the cursor by 1 line f P to select the line just later the cursor positioned line Down butten Click this button to move down the cursor by 1 line to select the line just below the cursor positioned line Insert button Click this button to insert a line at the specified position Delete button Click this button to delete the selected line B 136 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 11 Batch Data P
81. 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 F X3UC Series PLC User s Manual Positioning Control Edition Revised History Revised History Date Revision Discription 7 2005 A First Edition The transistor output for FXsu Series was added A Common items Subsection 1 2 1 and 1 2 2 Section 2 1 and Subsection 3 1 1 B Bullt in positioning function Section 1 1 Subsection 1 5 2 and 1 5 3 Section 2 3 Subsection 2 5 1 Section 4 9 Subsection 6 3 1 8 2 1 and 8 3 1 Section 9 1 and 10 1 Appendix Example connection Appendix 1 1 1 1 3 2 1 1 and 4 1 1 e FX3U 20SSC H was added A Common items Subsection 1 2 1 Section 2 1 Section 2 2 Subsection 3 1 3 and Section 3 2 Other Section number changed Revision A Revision B A Common items Subsection 3 1 3 3 1
82. r r O mln T 5 S 2 Viz lt O amp CLEAR signal Immediate stop command Zero return command JOG command JOG command 24 Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF 27 E Reverse rotation limit LSR X030 Stop command coupler Apx 17 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 4 MELSERVO C Series Example Connection Appendix 4 1 Main Unit Transistor Output l Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 Set the parameter No 21 at servo amplifier to 020 4 To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the PLC side and Apx 18 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 7 ra H HI Reverse rotation lt Forward rotation FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 4 MELSERVO C Series Example Connection Appendix 4 1 Main Unit Transistor Output 2 FXsuc PLC
83. related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC Designation of interrupt input using M8336 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 example of specifying program refer to the following description X3uc X3u D8336 HO OO 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 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 l l 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 git YO00O M8460 Y 001 M8461 Y 002 M8462 Y003 2 M8463 9 to E 3 Do not specify these values F 3 Set F for a pulse output destination device if the device is not used for the interrupt positioning DVIT instruction F X3U 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 FX3u FX3uc PLC of Ver 2 2
84. rotation direction output direction OFF 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 OFF FF uonoeuuo9 C5 Turned on and off Forward operation is in execution by positioning at high speed instructions Reverse pulse train is OFF The PLC may be at the following status Pulse output 1 The positioning instruction turns ON and operation destination device is being performed in the reverse rotation direction Forward pulse train 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 FP RP side Check Method Turned on and off Reverse operation is in execution by positioning at high speed instructions Forward pulse train is OFF The PLC may be at the following status notation direction 1 The positioning instruction turns ON and operation output Reverse is being performed in the forward rotation direction 2 An operation error occured in positioning instruction pulse train O l i i i 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 159 FX3U F X3UC Series PLC User s Manual
85. 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 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 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 on 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 considering on the change in the test program 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 outp
86. set the positioning parameters Q o 3 o 2 T 3 o For details on the positioning parameters refer to Section 11 4 Device number Data Initial Refer to YO000 Y001 Y002 Y003 length value Specification of l Subsection 2 E D8336 interrupt input vena EN 4 3 7 D8340 9W D8350 W pgago 9W D8370 Low order order order order Current value register l Subsection A High High High High PLS a 4 4 1 d D8341 9 D8354 9 pg364 9 pgaz4 9 P tiui order order order order 5 D8342 D8352 D8362 D8372 Bias speed Hz 16 bit EE 3 D8343 10W D8353 b pgag3 Ww pgaza LOW order order order order Maximum speed Subsection op e Sana Hz 32 bit 100 000 7 gt D8344 9 D8354 9 D8364 S pgag4 I9 order order order order D8345 D8355 D8365 D8375 Creep speed Hz 16 bit 1000 P dE D8346 9 pg35g 4 pg3gg 6 pg3zg LO order order order order Zero return speed Subsection High High High High Hz 52 bit 39 0904 2 3 D8347 9 D8357 9 D8367 9 D8377 9 E order order order order Acceleration time i D8348 D8358 D8368 D8378 e 16 bit on ms 4 2 7 Deceleration time i D8349 D8359 D8369 D8379 in 16 bit 06 er ms 4 2 8 1 Devices related to YOO3 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
87. shown next to f the reference is in A Common items division the chapter section or subsection number only will be shown next to gt e 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 This manual describes the positioning control for the FX3u FX3uc PLC In this chapter various products needed for positioning are described uonoun4 Buiuonisog ui yng WwW SUJ8 UOLULUOD 1 1 Outline The FX3u FX3uc PLC outputs the pulse signal to the servo motor and the stepping motor to control the Apx positioning operation an Increase the pulse frequency to increase the motor speed Increase the number of pulses to increase the S S number of motor revolutions In other words set the pulse frequency to determine the workpiece transfer as positioning speed E Set the number of pulses to determine the workpiece transfer distance Servo motor or FX3u FX3uc PLC stepping motor ILILI LILI LI Pulse train signal Pulse frequency Number of pulses Transfer speed Transfer distance Positioning command Workpiece item to be positioned VALI LLULLAN FX3U F X3UC Series PLC User s Manual Positioning Control Editio
88. speed for each pulse output destination device i Setting range Pulse output Maximum initial vallis destination device speed Transistor output of main High speed output special unit adapter T Pa 10 to 100 000 Hz 10 to 200 000 Hz Y001 D8354 D8353 400 000Hz f the value is set to 9 Hz or Ifthe value is set to 9 Hz or Y 002 D8364 D8363 less the maximum speed will less the maximum speed will 003 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 of the main unit to perform operation it may cause PLC failure e Set the 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 s
89. stop the operation at the rear end of the DOG After that the current value register will be cleared reset to O 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 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 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 he 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 e 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 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 P
90. then wait until at least 1 scan time is completed Pulse output destination device Pulse output monitor flag YOOO M8340 YO001 M8350 Y 002 M8360 Y003 M8370 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 Q o 3 o 2 T 3 o 1 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 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 O If the speed is not reduced to the creep speed before detecting the rear end of the DOG the operation Apx may not be stopped at the specified position dH e he creep speed should be low enough The zero return instruction will not reduce the speed before E 5 stop For this reason if the creep speed is not low enough the operat
91. 0 1 mm 357 J 4674D main unit cable 10 parts FRC2 A020 30S 1 27 pitch 20 cores 357J 4664N attachment Housing HU 200S2 001 FX2c l O CON S for c sets Crimp style contact HU AWG22 0 3mm2 35715538 non stranded cable 411S 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 recommended cable UL 1061 AXW1204A AWG22 0 3mm aer AWG24 0 2mmz2 AXW62001A Crimping tool Connector model Housing Contact AXY52000 Semi cover FX3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 1 List of Related Devices 4 Before Programming Q o 3 o 2 T 3 o 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 e tems to be set on PLC side tems to be set on servo amplifier drive unit side gt lt e tems to be observed in programming A 4 1 List of Related Devices jdwex4 uonoeuuo9 C5 For details on related de
92. 0 or later is used Using the FX3uc PLC of below Ver 2 20 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 Devices related to Y003 pulse output destination are valid 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 Example of program The following program Specification of interrupt input signal for each pulse output destination device as shown in the following table FNC 12 MOVP HFF83 D8336 Pulse output Interrupt input M8000 destination device signal YOOO X003 3 RUN monitor Y001 M8461 8 F 1 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC Setting value 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 operation of DVIT instruction refer to Chapter 9 For details on the interrupt input signal designation method refer to Subsection 4 3 7 P
93. 012 M8348 M101 eem NO158 lsosooo k30000 vooo voos H Inthe foward rotation direction JOG Positioning JOG DDRVI g instruction YOOO operation completed M101 M100 Completes the JOG operation JOG operation being Instruction execution performed abnormal completion JOG operation is being performed X013 M8348 M103 FNC158 Performs jogging operation in the FNCIS K oosooo K30000 YOOO Y004 reverse rotation direction using the JOG Positioning JOG DDRVI drive to Increment instruction YOOO operation completed M103 M102 Completes the JOG operation JOG operation being Instruction execution performed abnormal completion M102 JOG operation is being performed END FX3U F X3UC Series PLC User s 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 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
94. 07 FNC 50 Y000 E c Executes ZRN instruction FNC156 Y000 DZRN d Resets the rotational direction M8029 signal Y004 using the instruction Origin data reading completion flag M8329 Resets the rotational direction signal Y004 Y004 using the instruction a 3 execution abnormal end flag Abnormal end of zero return F X3U 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 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 itis 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 YOOO YOO1 Y002 Y003 Use the FX3U FX3uc PLC of Ver 2 20 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 20 is used Pulseoutput Status of CLEAR Status of Clear signal destination signal output device specification device function en
95. 10 ms No voltage contact input NPN open collector transistor Photo coupler insulation 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 Sus X006 X007 50us 1 Internal input circuit Main unit ATY e 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 Q o 3 o 2 T 3 o 2 5 1 FXs3u Series main unit Transistor Output This section describes the transistor output specifications of the FX3u Series main unit Please note that the simultaneous turning on rate is restricted for the output extension units and the main unit For details on the restriction refer to the following manual For MELSERVO Series amplifiers use a sink input sink output type PLC Refer to the FX3u Hardware Edition Item Transistor output specifications External voltage All outputs 5 to 30V DC A The total load current of resistance loads per common termi nal should be the following value or less l Resistance load All outputs 1 point output common 05A Maximum load 4 points output common 0 8A 8 points output common 1 6A Inductive load All outputs 12W 24V
96. 1756 Sofia Phone 359 0 2 97 44 058 Fax 359 0 2 97 44 06 1 e mail AutoCont CZECH REPUBLIC Control Systems s r o Nemocnicni 12 CZ 702 00 Ostrava 2 Phone 420 59 6152 111 Fax 420 59 6152 562 e mail consys autocont cz louis poulsen DENMARK industri amp automation Geminivej 32 DK 2670 Greve Phone 45 0 70 1015 35 Fax 45 0 43 95 95 91 e mail Ipiaelpmail com UTU Elektrotehnika AS P rnu mnt 160i EE 11317 Tallinn Phone 372 0 6 51 7280 Fax 372 0 6 51 72 88 e mail utu utu ee Beijer Electronics OY Ansatie 6a FIN 01740 Vantaa Phone 358 0 9 886 77 500 Fax 358 0 9 886 77 555 e mail infoGbeijer fi ESTONIA FINLAND UTECO A B E E 5 Mavrogenous Str GR 18542 Piraeus Phone 302 0 10 42 10 050 Fax 302 0 10 42 12 033 e mail sales uteco gr Meltrade Ltd Fert Utca 14 HU 1107 Budapest Phone 36 0 1 431 9726 Fax 36 0 1 431 9727 e mail office8meltrade hu GREECE HUNGARY SIA POWEL Lienes iela 28 LV 1009 Riga Phone 371 784 22 80 Fax 371 784 2281 e mail utu utu lv LATVIA UAB UTU POWEL Savanoriu pr 187 LT 2053 Vilnius Phone 370 0 52323 101 Fax 370 0 52322 980 e mail powel utu lt LITHUANIA Koning amp Hartman B V NETHERLANDS Avtomatika Sever Ltd RUSSIA Donauweg 2 B Lva Tolstogo Str 7 Off 311 NL 1000 AK Amsterdam RU 197376 St Petersburg Phone 31 0 20 587 76 00 Phone
97. 2 M8329 ai execution abnormal end Read only Subsection 4 4 2 M83382 Acceleratio deceleration Drivable Subsection 4 3 9 M8340 M8350 M8360 M8370 iban output monitor Sone ahaa ROR Read ut Subsection 4 4 3 M8342 M8352 M8362 M8372 Zero return direction specification Subsection 4 3 3 M8343 M8353 M8363 M8373 l Forward limit Subsection 4 3 1 M8344 M8354 M8364 M8374 Subsection 4 3 1 M8348 M8358 M8368 M8378 Positioning instruction activation Read only Subsection 4 4 4 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 20 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 Y002 and Y003 are devices that determine the pulse output destinations Device number Data Initial Refer to Y000 von Y002 voo length value D8340 m D8350 ener D8360 acne D8370 is order Current value register Subsection High High High High Pls aii 4 4 1 p8341 9 pg351 9 D8361 9 pgaz4 9 order order order order D8342 D8352 D8362 D8372 Bias speed Hz 16 bit BED D8343 LO pga53 LOW pgaga LO D8373 Low order order order order l i Subsection TEN E Re T Maximum speed Hz 32 bit 100 000 425 p8344 90 D8354 9 Dg364 9 D8
98. 2nd adapter Y 001 Y 005 E Y005 1 FX3U F X3UC 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 4 6 1 Setting of Various Items on Servo Amplifier Drive Unit Side Setting of Command Pulse Input Method 1 Pulse output method on PLC side 1 N 2 d For details on the servo amplifier drive unit refer to the manual of the product used in your system Q o 3 o 2 T 3 o If the main unit transistor output sink output is used the pulse output signals pulse output destination and rotation direction will be as shown in the following figure Forward Reverse Forward Reverse rotation rotation rotation rotation Apx E om Pulse output H m m E mH Pulse output m m m 38 destination YOOO L destination YO02 L 22 Any output YOOO Hi ON 7 OFF Any output YOOO n ON i OFF S l l l l l l Rotation direction designation Rotation direction I designation l Pulse output destination Y001 l Any output YODO p ON OFF Rotation direction l designation IrL 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
99. 313 D8312 e f 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 changes during execution of instruction in RUN mode If program is change in circuit block natrucheon 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 Ver 2 20 or later If the FX3uc PLC is used and its version is below Ver 2 20 operation will be performed without acceleration deceleration
100. 340 me RST End of zero return Y000 Waiting for PRIRTESEN Outputting 1 scan time M8000 M50 Waiting for 1 scan time RUN monitor STL 10 JOG X022 M5 X030 3 Performs the jogging FNC 158 operation in direction OG 3 Stop DDRVI K999999 K30000 YOOO Y004 using the drive to Increment for 1 scan command Number of output Output Pulse Rotation MUNN CORTON time pulses maximum pulse output direction value in frequency destination signal direction number dis a ak RST S10 Ends the JOG operation YOOO Waiting for 1 scan time Rogirtese s Outputting T Io M8000 D M51 Waiting for 1 scan time RUN monitor 8 STL S11 JOG p X23 M52 X030 Performs the jogging FNC 158 K 999999 K30000 Y 000 Y 00A operation In direction JOG Waiting for Stop DDRVI using the drive to Increment 1 scan time command Number of Output Pulse X Rotation instruction YOO4 OFF output pulses pulse output direction maximum value frequency destination signal M8340 M52 in direction number RST 841 Ends the JOG operation YOOO Waiting for PIETERS Outputting 1 scan time M8000 M52 Waiting for 1 scan time RUN monitor V 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 positioning instructions the instruction act
101. 374 9 d order order order order Acceleration time j D8348 D8358 D8368 D8378 2 16 bit i0 oe i aa Deceleration time i D8349 D8359 D8369 D8379 B 16 bit joo eee 1 Devices related to YOO3 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 PLSV instruction turns ON during acceleration deceleration using Ver 2 20 or later 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 3 Function and Operation 10 3 Function and Operation 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 itis possible to specify whether acceleration deceleration should be performed If the FX3uc PLC of below Ver 2 20 is used operation will be performed without acceleration deceleration 10 3 1 Operation without Acceleration Deceleration M8338 OFF Q o 3 o 2 T 3 o After turning off the acceleration deceleration function M8338 if the i Della Pe output pulse frequency value is changed the variable speed pulse Apx output PLSV instruction will change the output frequency without B acceleration deceleration E M8001 Command E
102. 4 B Built in positioning function Subsection 2 5 1 2 5 2 to 2 5 2 2 5 3 Correction of errors 2 2006 MITSUBISHI ELECTRIC EUROPE B V German Branch Gothaer Stra e 8 D 40880 Ratingen Phone 49 0 2102 486 0 Fax 49 0 2102 486 1120 e mail megfamail meg mee com MITSUBISHI ELECTRIC FRANCE EUROPE B V French Branch 25 Boulevard des Bouvets F 92741 Nanterre Cedex Phone 33 1 55 68 55 68 Fax 33 155 68 56 85 e mail factory automation fra mee com MITSUBISHI ELECTRIC IRELAND EUROPE B V Irish Branch Westgate Business Park Ballymount IRL Dublin 24 Phone 353 0 1 419 88 00 Fax 353 0 1 419 88 90 e mail sales info meir mee com MITSUBISHI ELECTRIC ITALY EUROPE B V Italian Branch Via Paracelso 12 1 20041 Agrate Brianza MI Phone 39 039 6053 1 Fax 39 039 6053 312 e mail factory automation itmee com MITSUBISHI ELECTRIC SPAIN EUROPE B V Spanish Branch Carretera de Rub 76 80 E 08190 Sant Cugat del Vall s Phone 34 9 3 565 3131 Fax 34 9 3 589 2948 e mail industrial sp mee com MITSUBISHI ELECTRIC UK EUROPE B V UK Branch Travellers Lane GB Hatfield Herts AL10 8 XB Phone 44 0 1707 27 61 00 Fax 44 0 1707 27 86 95 e mail automation meuk mee com MITSUBISHI ELECTRIC JAPAN CORPORATION Office Tower Z 14 F 8 12 1 chome Harumi Chuo Ku Tokyo 104 6212 Phone 81 3 6221 6060 Fax 81 3 6221 6075 MITSUBISHI ELECTRIC USA AUTOMATIO
103. 4 Before Programming Built in Positioning Function 4 6 Setting of Various Items on Servo Amplifier Drive Unit Side Setting example 2 To set the transfer distance per pulse to 0 01 if a turntable is used Q o 3 o 2 T 3 o Machine specifications Servo motor Servo amplifier MR J2S Series Pt 131072 PLS REV Rated rotational speed of servo motor 3000r min Timable Turntable 360 REV Reduction ratio mechanical gear n bp 8 64 Timing belt Resolution of servo motor Pt 131072PLS REV Timing belt 8 64 f Command pulse frequency Hz Apx O CMX _ Allox Pt E4402 131072 32768 open collector system S m CDV nx360 8 64x360 1125 CMX Electronic gear E numerator of command pulse X multiplying factor CDV Electronic gear denominator of command pulse Set the electronic gear as follows CMX 32768 CDV 1125 In this case when the main unit outputs the maximum output 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 No GMX 60 fo CDV Pt 32768 60 4425 131072 100000 1333 33 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 4 6 3 Setting of Servo Ready Signal MELSERVO MR C Series If the following
104. 61 M8462 M8463 tion command 4 3 7 device Logic of Subsec interruptinput M8347 M8357 M8367 M8377 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 v v tion 4 3 1 Subsec Reverse limit M8344 M8354 M8364 M8374 Y v v v v tion 4 3 1 Immediate Subsec stop of pulse M8349 M8359 M8369 M8379 v v v tion output 9 4 3 2 1 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u 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 FX3u FX3uc PLC of Ver 2 20 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 the FX3u FX3uc PLC of Ver 2 20 or later it is necessary to set this item If the operation is not accelerated or decelerated or if the FX3uc PLC of below Ver 2 20 is used this instruction will not use this item even if this item is set 5 ZRN instruction 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 FX3u FX3uc PLC of Ver 2 20 or later
105. 8343 9 pga53 L9W p8363 10 pgaza LO om iud order order order Maximum P DM 39 High Hiah EE Sano speed Hz 22 bit 100 000 id D8344 9 pg354 9 peasc4 9 D8374 9 order order order order D8345 D8355 D8365 D8375 Creep speed 16 bit 4000 Subsection Hz 4 2 4 D8346 9 D8356 10 pga3gg W pgazg LOW order order order order Zero return Subsection High Hiah ich Nich speed Hz 32 bit 50 000 423 D8347 9 D8357 9 pgag7z 9 pggz7 9 e order order order order D8348 D8358 D8368 D8378 Acceleration 16 pt 000 o Subsection time ms 100 99 D8349 D8359 D8369 D8379 Deceleration 16 bit 100 Subsection time ms 4 2 8 See ional Subsection D8464 2 D8465 2 D8466 2 D8467 2 device 16 bit 434 specification ids 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 20 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 Command input For details on the maximum speed bias speed acceleration time and deceleration time refer to Subsection 4 2 5 to Subsection 4 2 8 Deceleration Acceleration time time Initial value t Initial value 100ms x
106. 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 FX3uc PLC of below Ver 2 20 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 141 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 CLIA servo amplifier for servo ready signal set parameter 21 as follows Series Setting value T To ensure safety use 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 s
107. Apx rotation direction signal Ve ROS ARMS oo connected to MELSERVO Series Om 3 d servo amplifier S8 CLEAR signal Y020 F Y024 YO30 YO34 22 Zero phase signal X004 X005 X006 X007 S Servo ready signal X014 X015 X016 X017 Immediate stop command X020 X040 X050 X070 Zero return command X021 X041 X051 x lt O N N x lt O I NO x lt O O1 NO X x O N NI Jog command x lt NO C2 x lt ER Q x lt O1 Q x lt O N So Jog command Forward rotation positioning Connected to external switches A command X054 X074 H O N K x lt ER lt 2 lt O S WIS N Q R c D R 5 S S Oj O Oo TOB Reverse rotation positioning 2 lt O N oO 5 X055 X075 command Stop command X064 Near point signal DOG i X013 Interrupt signal 7 Connected to sensors and limit switches Forward rotation limit LSF X076 a Reverse rotation limit LSR ABS bitO ABS bit1 Send data ready To use absolute signal position detection Servo ON signal f YO21 system mos RAA raneier vo22 4 Y026 Y032 vo mode signal ABS data request signal 2 lt O oO N 2L O Q2 ev 2L O w Connected to Mitsubishi MELSERVO Series servo amplifier A J2 MR J2S MR J3 MR H oO O Y023 f YO27 YO33 YO37 1 To use forward rotation pulse train signal and reverse rotation pulse train signal of FX3u 2HSY
108. Built in Positioning Function 2 Specifications DESIGN PRECAUTIONS O DANGER e 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 2 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 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 lin
109. Common Items Using Program cccceecccceeeeeeeeeeeeeeeeseaeeeeeseeeeeeesseeeeesaaeeeeseaaeeeeeeas B 47 4 5 2 Setting of High Speed Output Special Adapter c cc cecccccccccceeeceeeeeeeeseeeeeseeseesaeeeeseeeeeseeeeeees B 51 4 6 Setting of Various Items on Servo Amplifier Drive Unit Side sseeeeeeeessssssss B 53 4 6 1 Setting of Command Pulse Input Method ssssssssseeseseeneneennenennnnn B 53 4 6 2 Setting of Electronic Gear For MELSERVO Series eeeeeesseeeeeeee nennen nennen B 58 4 6 3 Setting of Servo Ready Signal MELSERVO MR C Series sse B 59 4 7 Items To Be Observed in PrograMmMing csccccseseecceeeeecceeeeecceueeeecseseeecsaueessseeeeesseseesseegeeeeas B 60 4 7 1 Positioning Instruction Activation Timing sseesseeseseeeeeeennn menn B 60 42 STOR WSUUCUON ui eios ueteres tete esc ome tex auxi uds rab r Se cse teet c LI res B 62 A NES COMmecuon Of BACKIASIN RN E UE B 62 4 7 4 Instruction execution complete Flag of Positioning Instruction and Completion Ol PoSIUORIngQg i iiu posui xe eese ooo Tos d a usan ctun e pexv cou Mule esas ebur apec C dais B 62 4 5 5 Operatuon Emor Pla x45 aa tad toda adus Ratte usta uet UE SE ctc RO euis B 65 d 65 5 VIE CHER PSULTN ao cers Anis ce a ph Uoc Men vase Eo Peu Es RR caseo adds todas Sittin ecce idas Gad B 65 4 8 Items To Be Observed in Use of Main Unit Transistor Outp
110. DABS D8341 and D8340 Q o 3 o 2 T 3 o monitor ABS bitO Servo ON signal Read time limit 5 sec ABS data reading completed Apx ABS data read error os Read time error detected eo 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 FNC155 x034 vo21 D100 Reads out the ABS data to the D101 and D100 EUN DABS monitor ABS bitO 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 ULG26 HE sau current value registers 27 and 26 of ABS data DMOV reading is Block No L completed BFM 26 27 M1 FNC12 D100 UD G39 Writes data data converted into pulse data in current ABS data DMOV value registers 40 and 39 of FX2n 10PG 2 reading is Block No 0 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 39 to store the converted pulse data B 155 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 13 Troubleshooting Built in Positioning Function 13 1 LED Indicator Lamp Check 13
111. 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 NC 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 100 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 s
112. DC Open circuit leakage current All outputs 0 1 mA or less at 30V DC ON voltage All outputs 1 5V OFF SON Y 000 to Y002 5 us or less at 10 mA or more 5 to 24V DC gt Y003 and more 0 2 ms or less at 200 mA at 24V DC ONOFF Yo00 to Y002 5 us or less at 10 mA or more 5 to 24V DC Y003 and more 0 2 ms or less at 200 mA at 24V DC Circuit insulation All outputs Photo coupler insulation Indication of output motion LED is lit when the photo coupler is driven Pulse output terminals YOOO Y001 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 gt lt uonoeuuo C jdwex4 Response time Item Description Operation voltage range 5 to 24V DC Operation current range 10mA to 100mA Output frequency 100 kHz or less 1 Sink internal output circuit 5 to 24V DC FX3u Series main unit Servo amplifier Drive 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 Specifications Built in Positioning Function 2 5 Output Specifications 2 Source internal output circuit 5 to 24V DC Servo amplifier Drive unit EE AN FXs3U Series main unit Pulse tra
113. DOG search function ABS FNC155 Absolute Current Value Read instruction 2 The absolute position detection function is adopted for the MR HLIA MR J2LJA MR J2SLJA or MR J3LIJA 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 F X3UC 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 flag Will be turned on if the instruction is executed properly e Instruction execution abno
114. FNC 157 AS S G For details on the maximum speed and bias speed refer to Subsection 4 2 5 and Subsection 4 2 6 Speed Time 5 Xoxan 5 800 X 280 Instruction Activation contact ON OFF 1 For CS specify the output pulse frequency 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 When t ist fot Grima it en transis or s or mam Un 100 000 to 1 Hz 1 to 100 000 Hz 2 For D12 specify the pulse output number in the range of YOOO to Y003 3 For D22 specify the rotation direction signal output device number When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output shown in the following table for rotation direction signals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use transistor output for signals rotation direction High speed output special Pulse output Rotation direction adapter number destination device output Y000 De Y004 The 1st adapter Y001 De Y005 Dr Y002 De Y006 The 2nd adapter Y003 De Y007 B 125 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 10 Variable Speed Operation Variable Speed
115. 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 GHEE S2fety Precautions INED Read these precautions before using 3 STARTUP AND MAINTENANCE PRECAUTIONS 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 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 blocks units and terminal blocks 4 DISPOSAL PRECAUTIONS
116. IDSIEHe OD s testo evt etes oec eiieh oer rubato a etes tuto ae este tentat B 106 8 3 1 Instruction FORMA curves seus entente ca Grc rm AR Er ER Ced nun ka Ups E ERE Se Put Er bar cra C ho SER V ed cx gd B 106 o 9 2 HIS Ol Related DEVICE S edet cuta usnosia concu secs Ui teas Ra eM E er sS ERE MM LU Gahamadeshuaees B 108 8 3 3 Function ANG Operation x inr iren Le n ern Ea Ute Adan te opu bones on ati Upon iure baden Eua i lese RR duce B 109 o 9T Importabt POIDS n eundi ee eee pepe eee um ater B 110 9 One speed Interrupt constant quantity feed DVIT Instruction B 111 9 1 JDSIHCUOR lek gg r usos Delon tua din SE Ao SERT pA Sar aoe I DM ALD a B 111 9 2 HiSEOFTSelatedDeVIG8S iisdem oth E sa adonde aod daa atate RS B 113 93 FUNCUOMN ANd Opera loM e RM B 115 9 4 IMPOM ARE POI Someta catum nehem nese ie tete aet tumet csse olii totes mace tnt tele cere en Alte dias B 120 10 Variable Speed Operation Variable Speed Pulse Output PLSV Instruction B 122 1021 WASTEUICTION Ir OFM octies tacts ctene stains cetaa bo osea us Dae tisea etes Loa bee in boe en Eat at Gin boc eu Febre ins Libet det B 122 10 2 List of Related Devices sssssssssssesseeeeeeee nennen nnne nennen nnne nasse naria ansa nnns B 124 10 9 Function and Operaio odit ena dics ure Det iei ert ave da Feo vetat aD et Pd at e ket dee DOS Heu UM ties B 125 10 3 1 Operation without Acceleration Deceleration M8338 OFF ccccccseeeeeeseeeeeeeeeeeeeeeeae
117. JY997D21101 oduc Installation Manual Manual E For details refer to FX3U 20SSC H User s Manual Separate FX3U 20SSC H JY997D21301 Describes FX3U 20SSC H Positioning 09R622 document User s Manual block details Separate FX Configurator FP JY997D21801 Describes operation details of FX 09R916 document Operation Manual Configurator FP Setting Monitoring Tool 11 FX3U F X3UC 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 poscripupn PLC FX3U series Generic name for FX3U Series PLC Generic name for FX3u Series PLC main unit FX3UC series Generic name for FX3uc Series PLC Generic name for FX3uc Series PLC main unit This series of products comes with Japanese manuals only FX2N Series Generic name for FX2N Series PLC FX2NC Series Generic name for FX2NC Series PLC Expansion board 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 Expansion board Special adapter Generic name for high speed input output special adapter communication special adapter and analog special adapter Special adapter The number of connectable units however depends on the type of main unit To check the nu
118. LSR and PLSY instructions having the same output number e 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 forward limit flag or the reverse limit flag 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 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 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 1 Instruction Format T Absolute Position Detection System Absolute Current Value Read ABS Instruction 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 programmin
119. M8345 M8355 M8365 M8375 DOG signal logic reverse Drivable 435 TN 2 Subsection M8346 M8356 M8366 M8376 Zero point signal logic reverse Drivable 43 6 M8348 M8358 M8368 M8378 Positioning instruction activation Read only pl 2 Subsection M8349 M8359 M8369 M8379 Pulse output stop command Drivable 432 Clear signal device specification function i M8464 3 M8465 3 M8466 3 M846773 z P vabe HeSSeHoD enabled 4 3 4 1 Devices related to YOO3 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 20 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 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 Data Initial Refer to Y000 Y001 Y002 Yoo 1 length value D8340 D8350 D8360 D8370 Sante order order order order Current value Subsection High High High High register PLS eon 4 4 1 D8341 9 D8351 9 pese1 9 D8371 9 a order order order order D8342 D8352 D8362 D8372 Bias speed 46 bit Subsection Hz 4 2 6 A Q o 3 o 2 T 3 o px D
120. 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 FX3U 2HSY ADP ABRE MR CLIA Pulse train Series servo Forward rotation pulse train Epuivalent to AM26C31 Direction signal Reverse rotation pulse train Photo coupler x Zero Point signal PGO Forward rotation limit 2 4 Reverse rotation limit 2 4 Servo ON X020 Immediate stop command Zero return command JOG command 023 JOG command Forward rotation positioning command 025 Reverse rotation positioning command KE Forward rotation limit LSF 4 Reverse rotation limit LSR Stop command coupler 1 Be sure to use the class D grounding method grounding resistance 100 Qor less 2 Near point signal DOG 3 Set the parameter No 21 at servo amplifier to 020 Apx 20 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 4 To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the PLC side and the servo amplifier si
121. N 500 Corporate Woods Parkway Vernon Hills IL 60061 Phone 1 847 478 21 00 Fax 1 847 478 22 83 MIDDLE EAST REPRESENTATIVE llan amp Gavish Ltd ISRAEL Automation Service 24 Shenkar St Kiryat Arie IL 49001 Petah Tiqva Phone 972 0 3 922 18 24 Fax 972 0 3 924 07 61 e mail iandg internet zahav net TEXEL Electronics Ltd ISRAEL Box 6272 IL 42160 Netanya Phone 972 0 9 863 08 91 Fax 972 0 9 885 24 30 e mail texel me netvision net il EUROPE GEVA Wiener Stra e 89 AT 2500 Baden Phone 43 0 2252 85 55 20 Fax 43 0 2252 488 60 e mail office geva at AUSTRIA MITSUBISHI ELECTRIC HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES EURASIAN REPRESENTATIVES INTEHSIS SRL Bld Traian 23 1 MD 2060 Kishinev Phone 373 0 22 66 4242 Fax 373 0 22 66 4280 e mail intehsis mdl net MOLDOVA Kazpromautomatics Ltd KAZAKHSTAN 2 Scladskaya Str KAZ 470046 Karaganda Phone 7 3212501150 Fax 7 3212501150 e mail info kpakz com TEHNIKON Oktjabrskaya 16 5 Ap 704 BY 220030 Minsk Phone 375 0 17 210 4626 Fax 375 0 17 210 4626 BELARUS e mail tehnikon belsonet net Koning amp Hartman B V BELGIUM Researchpark Zellik Pontbeeklaan 43 BE 1731 Brussels Phone 432 0 2 467 17 51 Fax 32 0 2 467 17 45 e mail infoGkoningenhartman com AKNATHON BULGARIA Andrej Ljapchev Lbvd Pb 214 BG
122. N1 155 is used jdwex4 Uonoeuuo9 FX2N 16EX ES UL SEE FX2N 16EYT 46 p OCOM Refer to Appendix 15 Son 1 3 1 18 TEER Photo coupler 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 Besure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 To ensure safety use 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 iue side controller side LSF Servo motor 2 IL E H ms Reverse rotation lt gt Forward rotation 4 To detect absolute positions connect this line to the PLC 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 Appendix 1 2 High Speed Output Special Adapter To assign the inputs outputs refer to the following section Refer t
123. O 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 attached to the output pulse frequency value CS If itis necessary to change the sign stop the servo motor first by setting the output pulse frequency value to KO After checking stop of the servo motor using the SERVO READY signal change the sign 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
124. PM MIU MIC IU B 91 6 94 IbpOPEtanE Fe OMS ades och se sedate kelsey aaatede din a dees det osi o oce Soo ete a B 95 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Table of Contents T Absolute Position Detection System Absolute Current Value Read ABS Instruction B 96 7 3 VS ELI CTION FOMA t ou cde ats set ede aetas na amos ada ike su Eta M p PME A M D E LM UP NU B 96 7 2 Bisbol Related DEVICES iso tates eoi a Fee Cops ei ebd ci Eva ara ORC UGG su ca ra rata Cela B 97 1 3 F ncton andcperallODlaesios etc be te once techn pia aite eae ete geile epee tees B 97 E Mu A Ke3RicTITI UL m m B 98 Ho IMPON Tel Rice E DO oS ote B 98 8 1 Speed Positioning DRVI DRVA Instruction B 99 8 1 Incremental Method and Absolute Method ccc cece eeccseeteeeceeeceeeseeeseeeeeeeeeeteeeteeeseeeseeenees B 99 8 2 Drive to Increment DRVI Instruction lseeeseeseessesseesseenneennnenne nnne B 101 O 251 TBst aco FORMAL se steopod qose ov Oro Le Dae ne Nata RUcdos Iu domna doris eus E dotwrbes e Nu sMbIE A prs eU MpAUS dod B 101 0 2 2 isto Related DEVICES iut eusasce ee ux onere bec brat Max bee e on Od Cr FE PAD DOE HP HE E asta Deus arcane B 102 8 2 3 Function and Operation sselsseessssssssssssssseeee nennen nnne nenas nnna nns sna ns sss a rns s asa sa rsen aas B 104 9 2 2 Imboltablb POIDS nerra ete ceres ads sert aUa amen Di e eter DU d EE DUE B 105 8 3 Drive To Absolute DISVA
125. R1206 Y003 R1209 R1208 R1211 R1210 R1597 R1596 R1599 R1598 Y002 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 To use pulses and frequency changed by Positioning instruction settings oy e e the display module or the indicator even after Rotwiondreclion dn Wm Helden ao 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 aD check box in Positioning instruction Setting ANDO 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 dinig Fable semngs eal ror ba instale when te PLC ir poevened en Enter a check B 138 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
126. RESENTATIVE CBI Ltd SOUTH AFRICA Private Bag 2016 ZA 1600 Isando Phone 27 0 11 928 2000 Fax 27 0 11 392 2354 e mail cbi amp cbi co za RUSSIA RUSSIA RUSSIA MITSUBISHI ELECTRIC NDUSTRIAL AUTOMATION Gothaer Strasse 8 D 40880 Ratingen Phone 49 2102 486 0 Hotline 49 1805 000 7650 Fax 49 2102 486 7170 megfa mail meg mee com www mitsubishi automation de www mitsubishi automation com PLC 04 06 Printed in Germany
127. Transfer Transfer distance Start point ns 100 End point Transfer distance 100 i l Transfer distance 100 Transfer distante 150 Transfer distance 100 Transfer distance 50 0 100 150 300 Origin Point A Point B Point C For example SORS as Relative address Current position Target position 7 TT TTT TES o d d b barg CHH To Ueno W Tokyo m Shinyokohama W Odawara m Atami I To go from Odawara current position to Atami target position set the distance 20 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 Specify the distance absolute address from the origin to the target position In this case any position can be the start point current position Address e Start point Address lt 1 100 gt End point 00 Address i 150 Address o 0 100 150 300 Origin Point A Point B Point C Current position Target position bre 5 5 d 83 9km gt gt 104 6km gt gt 120 7km gt gt 180 2km To go from Odawara current position to Atami target position set the distance 104 6 km from Tokyo origin to Atami B 100 FX3U F X3UC Series PLC User s Manual Positioning Control Edition 8 1 Speed Positioning DRVI DRVA Instructi
128. UTIONS 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 NCAUTION 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 100Q 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
129. VI 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 e Ifthe 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 inputting 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 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 e 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
130. VPS WIN E Positioning module FX PCS VPSI WINCE software package for the FX2N 10GM and FX2N 20GM Indicator 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 Generic name for ET 940 series EIU Series Only manuals in Japanese are available for there products 13 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or abbreviation Description Drive unit for servo motor and stepping motor Generic name for servo motor or stepping motor SENO MOIH Including pulse input type servo amplifier and drive unit Servo amplifier drive unit Generic name for pulse input type servo amplifier drive unit MELSERVO series Generic name for MELSERVO J3 J2 Super J2 H and C series Other unit Manual pulse generator Generic name for manual pulse generator prepared by user Manual FX3u Hardware Edition FX3u Series User s Manual Hardware Edition FX3uc Hardware Edition This manual is available only in Japanese Programming manual FX3u FX3uc Series Programming Manual Basic and Applied Instructions Edition Communication Control Edition Analog Control Edition FX3U F X3uc Series User s Manual Analog Control Edition FX Series User s Manual Data Communication Edition Positioning Co
131. X3U 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 3 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 Q o 3 o 2 T 3 o Command Input ENC 159 9 amp amp 6 DRVA OOO Acceleration Deceleration i MEM Apx Speed i eu l 3 8g l Oo l 2 l l Output pulse i frequency Sze l l Number of output v pulses Time l Instruction execution 4 l l Instruction l execution complete flag ON M8029 1 For S12 specify the number of output pulses absolute address value Setting range 16 bit operation 32 68 to 32 767 32 bit operation 999 999 to 999 999 2 For CS2 specify the output pulse frequency Setting range 16 bit operation 10 to 32 767 Hz l l When high speed output special adapter is used 10 to 200 000 Hz 32 bit operation var When transistor output of main unit is used 10 to 100 000 Hz 3 For 01 specify the pulse output number in the range
132. X3u PLC F X3U 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 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 Q o 3 o 2 T 3 o 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 YLILIL rotational direction signal 2 Refresh YLILIL output using REF FNC50 instruction A 3 Execute ZRN instruction zero return instruction pr 4 Using the execution completion flag M8029 of ZRN instruction zero return instruction reset 38 YLJLJLJ rotational direction signal 2 5 Example of program The following program uses Y004 as the rotational direction signal for YOOO Command input T RST M10 M8340 a Turns on sets YOOA as the oe rotational direction signal of YOOO pulse monitor pulse output destination ES dim b Refreshes Y000 to Y0
133. 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 B 4 2 When the PLC CPU detects an error such as a watch dog timer error during self diagnosis all B 14 outputs are turned off When an error that cannot be detected by the PLC CPU occurs in an B 67 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 3 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 NCAUTION E 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 5255 Precautions NEED Read these precautions before using 2 WIRING PRECA
134. able flag function enable flag YOOO M8341 ON M8464 OFF Y004 Y001 M8351 ON M8465 OFF YOO5 YOO2 M8361 ON M8466 OFF Y0O06 Y003 2 M8371 ON M8467 OFF Y007 1 Use the FXsu FX3uc PLC of Ver 2 20 or later to use Clear signal device specification function enable flag 2 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC CLEAR signal device number 2 If itis necessary to use the Clear signal device specification PeT a y g P Pat Fa COM 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 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 YOOO0 M8341 ON M8464 ON D8464 Y001 M8351 ON M8465 ON D8465 YOO2 M8361 ON M8466 ON D8466 Y003 1 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 it is necessary to use the high speed output special adapter The output device initially set for CLEAR signal of DSZR
135. able units refer to the User s Manual Hardware Editon of main unit to be used for your system Generic name for FX2N Series input output powered extension unit output extension block FX2Nc Series output extension block and FXoN Series output extension block 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 12 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or abbreviation Description Extension unit Generic name for special function unit and special function block Special function unit block or The number of connectable units however depends on the type of main unit Special extension 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 opecial function unit Generic name for special function unit 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 Generic name for the following models function unit FX2N 10GM FX2N 20GM Positioning special Generic name for the following mo
136. act SZS 0 4x2 5 O dmim P BR 0 02 0 1 Vor soper o y FX3U F X3UC Series PLC User s Manual Positioning Control Edition 3 Connection of Input Output Lines and Tightening Built in Positioning Function 3 3 Connector 3 3 Connector 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 sula uouluo 3 3 1 Cable Connection To Input Output Connector Prepare the input output cables while referring to the next Subsection gt lt e duex4 Q O 2 D 2 O O000000000 OoO00000 0000 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 interference 2 Input output cables optional cables manufactured by our company Our company can provide input output cables already equipped with a connector The 20 pin connector is attached to FX 16E 500CAB S TUA General purpose input output cable one end of the non stranded cable Green red 1 5m FX 16E 150CAB 411 am The 20 pin connector is attached to FX 16E 300CAB 9 10 Cable for connection of FX Series both end of the flat cable with tube terminal block to inp
137. al data registers Note that YOOO Y001 Y002 and YOO3 are devices that determine the pulse output destinations Device number Device Data Initial Refer to Y000 Y 001 Y 002 yoo number length value a a ae D8340 D8350 D8360 D8370 cns Current value Subsection Hiah Hiah Hiah Hiah register PLS Seale 4 4 1 D8341 9 D8351 9 D8361 9 D8371 9 U order order order order D8342 D8352 D8362 D8372 PIO PRO 16 bit SHDSPCHOR Hz 4 2 6 D8343 9 pga53 pgaga L pgaza LOW order order order order Maximum Subsection High High High High Speed Hz mens dev EO p8344 9 pag354 9 p8364 9 pgaz4 9 E order order order order D8348 D8358 D8368 D8378 uus uo ME em ED time ms o D8349 D8359 D8369 D8379 Dece eraton 1 cipsi osecuon time ms 0428 2 2 Clear signal Subsection D8464 D8465 2 D8466 2 D8467 device 16 bit 434 specification P 1 Devices related to YOO3 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 20 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 x For details on the maximum speed bias speed acceleration time and deceleration time refer to Subsection 4 2 5 to Subsection 4 2 8 Decelerati
138. al pulse FNC 12 Bias speed for Y000 FNC 12 Acceleration time for YOOO mm NEO i 200 ms D8348 FNC 12 Deceleration time for YOOO No K200 D8349 200 ms gt D8349 FNC 12 Zero return speed for Y000 DSZR instruction aa Dove oe eee j 5000 Hz D8347 D8346 FNC 12 Creep speed for Y000 DSZR instruction K500 D8345 500 Hz D8345 M8000 T Zero return direction for YOOO DSZR instruction Reverse rotation direction RUN monitor CLEAR signal output for YOOO H0010 D8464 RUN MOVP Y010 monitor 18345 Logic of near point signal for YOOO Positive logic RUN monitor Logic for zero phase signal M8346 for YOOO DSZR instruction Positive logic X012 Acceleration deceleration operation M8338 PLSV instruction Enabled if X012 ON oe FNC 12 MOVP HFFF7 D8336 Interruption input signal device RUN for YOOO DVIT instruction monitor TO X007 Y001 to Y003 will not be used M8000 e347 Logic of interruption input RUN monitor signal Negative logic X010 18343 Forward rotation limit for YOOO X011 n M8344 Reverse rotation limit for YOOO FX3U F X3UC 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 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 t
139. allation of PLC d HERE e Hardware manual Enclosed with ws COR inim The hardware manual is enclosed with the product the product Sn M l e fa NM e User s Manual Hardware Edition Separate Ls document FX3uc Series Regarding sequence program es oe l Separate e Programming manual document Regarding positioning function e FX3u FX3uc Series PLC iind User s Manual Positioning Control Edtion This This document describes built in positioning function ewe n setting method examples of connection examples of programs details of troubleshooting etc Products needed for positioning FX3u 2HSY ADP Either INSTALLATION MANUAL or USER S MANUAL is RE enclosed with each product T For the details refer to User s Manual Positioning Control this document or the product manual G Regarding installation and parts names d l e INSTALLATION MANUAL Special function unit block The separate document however is Enclosed with needed to know the details of programming the product 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 steppi
140. alue Read ABS Instruction 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 and the ABS transfer mode output 2 32 6 bit data communication will be performed while mutually checking the data sending receiving condition using send data ready signal and ABS data request signal The 2 bit line line for ABS bit O and bit 1 will be used for data transmission At the completion on ABS data reading Instruction execution complete flag M8029 Servo ON SON OO ABS data transfer ABSM CSY mode Send data ready TLC Amplifier output signal ABS data request ABSR PLC output signal ABS bit 1 ZSP X X Amplifier output ABS bit 0 DO X Amplifier output IS Current position data 32 bits will be turned on check data 6 bits For details of Instruction execution complete flag refer to 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 FNC 156 zero return instruction using the CLEAR signal function to complete zero return 2 Carry out zero r
141. ase reduction of current value 8 3 4 Important Points For the important points of programming refer to Section 4 7 e 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 e Ifthe 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 e 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 110 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 9 One speed Interrupt constant qua
142. ation deceleration time For operation of PLSV instruction refer to Chapter 10 Maximum speed Initial value 100 000 Hz na B pulse frequency Bias speed Initial value 0 Hz jee speed Acceleration time L 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 e f 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 F X3UC 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 Q o 3 o 2 T 3 o 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 Pulse output destination device Current value register 32 bit Y 000 D8341 D8340 Y 001 D8351 D8350 Apx Y 002
143. ation 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 FX3u FXauc PLC Main unit transistor output 10 to 100 000 Hz B 111 sula uouluo gt lt jdwex4 Q o 2 D a o 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 Real Char Operana System user Digit designation System user apoda Index num acter Pointer type unit sian ber string YIM TTC Oa ex ev Row ess e o R user v z wes KTR or E dip qeeilkBe i lbeeeeel LLL TS pv vm pt fet A1 Specify YOOO Y001 or YOO2 transistor output of the main unit or specify YOOO Y001 Y002 2 or Y0037 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 YOO3 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 adapter A2 When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output s
144. aximum speed Initial value 100 000 Hz Fs Speed l l l l l l l pulse frequency N l l l Output l l l l l l l l l Bias speed Acceleration time Deceleration time Initial value 0 Hz Initial value 100 ms Initial value 100 ms S X 100x ax 800 X Instruction Activation contact ON OFF 1 For CS specify the output pulse frequency 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 68 to 1 Hz 1 to 32 767 Hz When high speed output special 406 999 to 4 Hz 4 to 200 000 Hz adapter is used 32 bit operation WR buta ma en transistor output of main unit 100 000 to 1 Hz 1 to 100 000 Hz 2 For D1 specify the pulse output number in the range of YOOO to Y003 B 126 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 De specify the rotation direction signal output device number When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output shown in the following table for rotation direction signals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use Q o 3 o 2 T 3 o transist
145. ay be damaged If an operation error is detected on the PLC diagnose the PLC Errors that can stop the PLC are not PC or check the programs using the programming tool There detected is a strong possibility that I O configuration error parallel link communication error or operation error has been detected OFF B 157 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 B 158 Signal Pulse output destination device pulse train signal Rotation direction output direction signal LED status during execution of Ag Description positioning instruction Turned on and off at TW TERTNT high speed The pulse outputting operation is controlled by the positioning instruction The PLC may be at the following status 1 The operation of the positioning instruction is completed 2 The positioning instruction turns ON but an operation error is detected 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 po OFF ON Operation is being performed in the forward rotation direction FF The PLC may be at the following status 1 The positionin
146. c of zero phase signal Items specially needed for variable speed pulse output PLSV instruction If X012 is turned on the variable speed pulse output PLSV instruction will be activated to accelerate or decelerate the operation ON MEUS If X012 ON Acceleration deceleration Operation Items specially needed for interrupt positioning DVIT instruction Sets X007 for interrupt inputs Interrupt positioning DVIT instruction will not be used for the pulse output destinations Y001 YOO2 and Y003 User interrupt input command device M8460 Sets the negative logic turning off the input M8347 ON will turn on the interruption signal M8336 ON Interrupt input signal device change d Mi D8336 HFFF7 Logic of interrupt input signal Forward limit reverse limit and immediate stop of pulse output If X010 is turned off if the NC contact is ON Tena turned on the limit switch will be activated 9 9 if X040 OFF If X011 is turned off if the NC contact is ON Sero nlt turned on the limit switch will be activated 9944 Itx014 OFF sula uouluo gt lt jdwex4 Q O 2 D 2 O FX3U F X3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 4 5 Setting of Various Items on PLC Side 2 Set program M8002 Maximum speed for YOOO e K30000 D8343 H 30000 Hz gt D8344 D8343 Initi
147. can be either input or output points Without main unit this unit can perform Others Without main unit this unit can perform individual operation individual operation This unit can perform teaching operation This unit can perform teaching operation 1 O points can be added 48 points maximum 1 Do not exceed the maximum rotation speed of the servo motor or the stepping motor 2 The minimum command unit sets the 1 10 10 or 10 in parameters 3 The minimum command unit sets the 1 10 10 or 10 in parameters 4 Up to 100 points table can be set for the table operation FX3U F X3UC 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 Positioning operation pattern Jogging operation Speed Jogging speed Start JOG oY command Mechanical zero return Zero return Speed Creep speed speed Origin DOG input ON Start CLEAR signal Electric zero return Speed Maximum speed Electric origin Start 1 speed positioning Speed Operation speed Target position Start Transfer distance 2 speed positioning Operation Speed sneed 1 Operation speed 2 Start Transfer distance 1 Transfer distance 2 Multi speed operation P1 P2 P3 Speed Description If forward reverse rotation command is input the motor Will rotate in th
148. cluding 0 2 For specify the output pulse frequency Setting range 16 bit operation 10 to 32 767 Hz l l When high speed output special adapter is used 10 to 200 000 Hz 32 bit operation TU When transistor output of main unit is used 10 to 100 000 Hz 3 For D1 specify the pulse output number in the range of YOOO to Y003 4 For D2 specify the rotation direction signal output device number When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output shown in the following table for rotation direction signals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use transistor output for signals rotation direction High speed output special adapter number Rotation direction output Y000 B Y004 Y001 Y005 Y002 z Y006 Y003 z Y007 The 1st adapter The 2nd adapter 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 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 Rotation direction increase reduction of current value If the number of pulses to be output after interruption
149. connected to the FX3u 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 time 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 MU Se OUfpUt S A E value Setting range destination device Time g g Yo00 D8349 50 to 5 000 ms Y001 D8359 If the value is set to 49 ms or less the deceleration time will 100ms be automatically set to 50 ms If the value is set to 5 001 ms Y002 D8369 DROS l l 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 F X3U 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 Q o 3 o 2 T 3 o 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
150. converted into the pulse value before being read out Command input ENC 455 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 CS CS 1 CS 2 2 For D1 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 1 D1 1 D1 2 3 For 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 Y003 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 UL AGLI in D FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 7 Absolute Position Detection System Absolute Current V
151. crew 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 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
152. ction PE Va ai 2 D xd 75 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC This function will be valid if Ver 1 30 or later is used Cleared when PLC switches from RUN to STOP The logical NOT function will not be valid for the user interrupt input command device This function will be valid if Ver 2 20 or later is used B 113 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 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 Data Initial Refer to Y 000 Y001 Y 002 Y003 length value x Specification of l Subsection 2 D8336 interrupt input alt EN Low Low Low Low D8340 D8350 D8360 D8370 order order order order Current value register 39 bit Subsection ane oh oh iah PLS 4 4 1 D8341 HI9h pgas4 High aaa High 53974 High PLS order order order order D8342 D8352 D8362 D8372 Bias speed Hz 16 bit NE a D8343 9W pg353 5 D8363 LOW pgaz3 LOW order order order order l Subsection EE EIC ERG ms Maximum speed Hz 32 bit 100 000 425 D8344 9 pg354 9 pg364 9 pgaz4 IG order order order ord
153. ction 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 AN Table Ns 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 F X3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 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 Instruction execution abnormal end flag M8329 will be turned on or off after execution of each instruction However if Instru
154. ction 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 example shown on the next page Q o 3 o 2 T 3 o Duiuonisog Good example Apx 9m 5 Oo FNC158 28 J DDRVI S o M8029 Completion of instruction The M8029 will function execution as instruction execution complete flag of DRVI instruction RST MO Abnormal completion of instruction execution M1 The M8029 will function as instruction execution complete rod agit of instruction flag of DRVA instruction ean Abnormal completion of instruction execution Bad example The M8029 will function S Program for upper DPLSV as instruction execution Completion of instruction complete flag of the instruction lower DPLSV instruction execution 4 The M8029 will function as instruction execution complete flag of the lower DSW instruction w The M8029 will function as instruction execution complete flag of the upper DPLSV instruction M8000 FNC 72 X10 Y10 K1 FAE X000 MO FNC157 DPI SV K1000 Y002 Upper DPLSV instruction Y006 Program for DSW instruction etion of instruction
155. d DVIT Instruction Built in Positioning Function 9 3 Function and Operation frequency 1 Interruption positioning operation O Interruption positioning operation is described below assuming that YOOO is specified as the pulse output 3 destination device by D1 For this reason if YOO1 YOO2 or YOO3 is specified it is necessary to change the output number of each 3 related flag For details on related flags refer to Section 4 1 to Section 4 4 or Section 9 2 Acceleration Deceleration i time time D8348 1 D8349 1 4 dcn 1 Maximum speed N D8344 D8343 i Apx e T Output pulse 20 i S l l l l l l Number of output Bias speed pulses D8342 Time l Instruction execution SO l l l l Interrupt input X000 Io Instruction LI execution complete flag lon 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 S1 at the speed specified by the output pulse frequency specified by 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 S1 and then the operation will be stopped 4 Instruction execution complete flag M8029 will be turned on and the interruption positioning operation will be comple
156. de 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 A ue H a n 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 21 TI c Q O gt O O 3 o 2 3 o U UD oc o os z 2 e duex4 Uonoeuuo9 F X3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 4 MELSERVO C Series Example Connection Appendix 4 2 High Speed Output Special Adapter MEMO Apx 22 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Warranty 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 repaired at no cost via the sales representative or Mitsubishi Service Com
157. dels function block FX3U 20SSC H Pulse output special Generic name for the following models function block FX2N 1PG E FX2N 1PG FX2N 10PG Generic name for the following models NIECE FX2N 1PG E FX2N 1PG Special function block Optional unit Extension power supply unit FX3uc 1PS 5V Memory cassette FX3U FLROM 16 FX3U FLROM 64 FX3u FLROM 64L Battery FX3u 32BL FX 16E TB FX 32bE TB FX 16EX A1 TB FX16EYR TB FX 16EYS TB FX Series terminal block FX 16EYT TB FX 16E 500CAB S FX 16E LIULICAB FX 16E LILILICAB R FX A32b LILILICAB Input output cable COO represents 150 300 or 500 Input output connector FX2C I O CON FX2c I O CON S FX2c I O CON SA Power cable FX2NC 100MPCB FX2NC 100BPCB FX2Nc 10BPCB1 Peripheral unit Peripheral unit Generic name for programming software handy programming panel and indicator Programming tool Programming tool Generic name for programming software and handy programming panel Programming software Generic name for programming software Generic name for SWOD5C GPPW J SWOD5C GPPW E programming software package Generic name for FX PCS WIN or FX PCS WIN E programming software package Handy programming panel HPP Setting Monitoring Tool Generic name for FX 20P E and FX 10P E Setting monitoring tool Generic name for setting monitoring tool FX Configurator FP Generic name for SWLID5C FXSSC J SWLID5C FXSSC E Setting monitoring tool Generic name for FX PCS VPS WIN or FX PCS
158. e Interruption input of DVIT 43 roe Acceleration lime ms 505 000 1 T Individual setting Default 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 Positioning type Refer to Rotation Instruction E Number of Output pulse Pulse output destination device word direction signal DDVIT Interrupt Positioning Chapter 9 DPLSV Variable Speed Pulse Output DPLSV G QD Chapter 10 DDRVI Drive to Increment Section 8 2 DDRVA Drive to Absolute Section 8 3 Command input EmDD D D 1 PLSV FNC157 has only 3 operands It has no operand of number of output pulses B 132 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 ref
159. e Noise may cause malfunctions nstall 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 NC 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 becomes exhausted the data held by the battery may become unstable during transportation The PLC is precision equipment During transportation avoid impacts larger than that 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 PLC excluding the specifications shown in the following table For the general specifications on the FX3u PLC
160. e forward reverse direction Mechanical zero return start command will start the zero return operation at the speci fied speed At the completion of mechanical zero return CLEAR signal will be output DOG search function is adopted for each unit SETR instruction will return the work piece to the set electric origin at the maxi mum speed set by parame ters Start command will start operation at the specified operation speed and the operation will be stopped at the target position Start command will transfer the work piece to the dis tance 1 at operation speed 1 and then to the distance 2 at operation speed 2 The work piece will change the speed by the specified transfer distance The left figure shows an example of 3 speed opera tion E eo X 5 LL Ea Sm o q T Du p o E Scy feum eo Pd LL E C E O zj A O oD gt lt fa oD gt lt f Built in positioning function uonoun Buiuonisog ui yng WwW SUJ8 UOLULUOD FX3U 20SSC H gt uonoeuuo9 C3 2 e duex4 FX3U F X3UC Series PLC User s Manual Positioning Control Edition 3 Comparison of Specifications Common Items 3 2 Comparison of Operation Modes Positioning operation pattern Description FX3U 20SSC H 3 m X ae sO oO wc oO NA Oe mH o TE S m m eo x lt LL amp C 3 O zj a O 5 oD gt lt f 5 e gt lt fh
161. e 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 e 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 oO 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 F X3UC Series PLC User s Manual Positioning Control Edition Table of Contents Table of Contents SAFETY PRECAUTIONS ucsisscuieeic eu eodd i co eaten iv ut cca cena SER ive dua Functions and Use of This Manuaal eee eere rennen nnne nnn Related M n dlS ooo isso ceeds a acess cadences shoe Generic Names and Abbreviations Used in Manuals A Common Items Description of Manual Common Items eese 1 Introduction im NEST T E 1 2 Introduction of Products Needed for POSitiOning cccccceseeeeeeseeeeeeaeeeeeaee
162. e output monitor flag YOOO0 M8340 Y0O01 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 F X3U 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 e 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 Q o 3 o 2 T 3 o Pulse output Current value register destination device For FNC57 and FNC59 instructions Apx Y 002 D8361 D8360 Y003 D8371 D8370 1 Y003 can be specified as the pulse output destination only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC e If it is necessary to use a positioning
163. e 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 CLEAR signal m Pulse output destination specification register Y 000 D8464 Y 001 D8465 Y 002 D8466 Y 003 D8467 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 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 inp
164. e rotation limit 2 40 SG af SG Connected to FX3uc if ABS instruction FNC CN1 155 is used a PE 1 5 25 TLC 5 FX2n 16EX ES UL 6 so 3 FX2N 16EYT FEE Refer to Appendix 3 2 1 45 Dt4 K Photo coupler Immediate stop command Zero return command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command LEM Forward rotation limit LSF 3 Reverse rotation limit LSR Stop command Apx 15 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 or less 2 Near point signal DOG 3 To ensure safety use 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 T Tm H E E H Reverse rotation lt gt Forward rotation 4 To detect absolute positions connect this line to the
165. e train sig YO 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 Q o 3 o 2 T 3 o 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 Apx destination Y1 3 v001 vooa SPecial adapter eH Y 1 3 For the 1st adapter specify YOO1 as the pulse output destination 5 of the positioning instruction For the 2nd adapter specify Y003 Sg as the pulse output destination of the positioning instruction S Connect the line to determine the direction signal or the reverse rotation pulse train for the 1st axis of each high speed output YAJG special adapter E l Y004 YOO6 For the ist adapter specify Y004 as the rotation direction signal Direction sig PU of the positioning instruction For the 2nd adapter specify YOO6 nal reverse as the rotation direction signal output of the positioning rotation pulse instruction train rotation Connect the line to determine the direction signal or the reverse direction rotation pulse train for the 2nd axis of each high speed output signal Y5 74 special adapter mE Y5 7 Y 005 YOO7 For the 1st adapter specify Y005 as the rotation direction signal output of the positioning instruction For the 2nd adapter specify Y007 as th
166. e zero Chapter phase signal is input the operation will be 6 Apx Zero point ON DOG ON Start stopped and the zero return will be ZRN sero return Dog OFF when ZRN completed Sk instruction instruction is used If ZRN instruction is used the dog sensor DS will be turned off to stop the operation o Absolute position detection system Absolute value detec udis s PME xu If ABS instruction turns ON the current tion system D Reading of Pr motor address will be read out from the c rrent jou servo amplifier value ABS instruction Chapter T Reads out the current value 1 speed positioning DRVI Relative instruction positioning If DRVI DRVA instruction turns ON the Operation speed o operation will be started at the operation D l Chapter g Transfer distance speed If the workpiece comes to the 8 DRVA Absolute d target position the operation will be instruction positioning Start Target position Stopped 1 speed positioning with interruption Operation speed If DVIT instruction turns ON the operation i o Transfer will be started at the operation speed If DVIT Interruption 2 Chapter an N distance interrupt input turns ON the workpiece will instruction positioning z 9 go the specified transfer distance but just S
167. ec D8348 D8358 D8368 D8378 v v V3 4 Y v v tion time 2 Deceleration Subsec D8349 D8359 D8369 D8379 Vv v V3 V4 v v V tion time 155 Zero return D8347 D8357 D8367 D8377 eod speed D8346 D8356 D8366 D8376 2s 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 Subsec und M8342 M8352 M8362 M8372 v v 5 tion direction 4 3 3 Subsec PED M8341 M8351 M8361 M8371 vV v tion signal output 4 3 4 CLEAR Subsec a D8464 D8465 D8466 D8467 change 4 3 4 Logic of Subsec near point M8345 M8355 M8365 M8375 Y 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 v tion Operation 4 3 9 Items specially needed for interrupt positioning DVIT instruction Interrupt input signal M8336 3 dd device D8336 2 change EN FX3U F X3UC 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 M c 7 9 tem Yono voot Yoo voor DSzR zen ABS vat PLsv pvir pmi prva P User interrupt Subsec input M8460 M84
168. eck the following items 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 3 Check that the same pulse output method is adopted for both the PLC and the servo amplifier drive unit For details on the pulse output method refer to Subsection 4 6 1 For details on high speed output special adapter setting method refer to Subsection 4 5 2 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 YOOO YOO1 Y002 Y003 Pulse output destination Pulse output stop immediately stopped device command flag Operation N Mone During pulse outputting operation if the pulse output stop Y001 M8359 command flag of corresponding pulse output destination Y 002 M8369 device is turned on the pulse outputting operation will be
169. ediate 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 that 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 Pulse output destination Pulse output stop Operation device command flag Yo00 M8349 During pulse outputting operation if the pulse Y 001 M8359 output stop command flag of the corresponding Y002 M8369 pulse output destination device is turned on the pulse outputting operation will be immediately Y003 M8379 stopped 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u 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
170. edure for Positioning CONTIOL cccccccseeeeeeeeeeeeeeeeeeeeseeeeesseeeeeseeeeeeseeeeesseeeeesseeenseas B 4 1 3 Version Numbers of Compatible PLCS essseesssessseseseeeeennenenenenn nennen nennen B 7 1 4 Version Numbers of Compatible Programming Tools eese B 8 1 5 Assignment of Input Output Numbers sssesssssssssesssseeen nennen enean nnns earns rss na snas B 8 15 1 Assignment of Input NutriDers ucciso eva ou iet sto a pee ER oae ee oe etate sace Eesti pu ea od tears osos ate as agate B 8 1 5 2 Assignment of Output Numbers isseire dimiet eaa aa a a iia a aN B 10 1 5 3 Connection of High Speed Output Special Adapter eessessseeeseeeeennee B 12 2 Specifications B 14 2 1 General Specifications ouciintasedidaetendcide dicente iuda hdd E EE us esie dccus cs EE CU ua et B 15 22 POWer SUDDIY SPECITICATIONS i ooi riot Repi M Ron east obedit noie teditodes d eats cedi o qUsd cus B 15 2 3 Performance SPECINCALIONS 25 52 5 929920 5 0 5 9 302000 2 50 09 68 5 90 0 222 9 20 800609202402 cS og D2RvE Oo eod CROP gU PIDE B 16 24 INDUS DE CHIC ANION 6 acai T ILI UEM B 17 2 4 1 FX3U Series main unit 24V DC Input eesssessssssseseeeeneeenn nennen nennen nen B 17 2 4 2 FX3UC Series main unit 24V DC MpD eaeoe n aa Ea nennen nnn nnn ia B 18 2 5 COUIDUL SDSCITICallOFiS ariete odit d brieido R hago dts ads c be zo tal adimere B 19 2 5 1 FX3U Series
171. eed 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 YOO2 and Y003 are devices that determine the pulse output destinations Device number pon sad M8029 Instruction execution complete flag Read only ror m M8329 Instruction execution abnormal end flag Read only lj M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only a eae Subsection M8341 M8351 M8361 M8371 Clear signal OUTPUT function enable 7 Fee M8343 M8353 M8363 M8373 Forward limit 21 5008 M8348 M8358 M8368 M8378 Positioning instruction activation Read only Subsection 2 Subsection M8349 M8359 M8369 M8379 Putse output stop command Putse output stop command stop command Drivable 432 Clear signal device specification function i M8464 3 M8465 3 M8466 3 M8467 3 p Drivable Subsection enabled 4 3 4 1 Devices related to YOO3 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 20 or later is used 2 Special data registers The following table shows the related speci
172. eeeens T2 TUBSUOENMOdOIS stade cati tdt e ic LL E Exe Ma eM traits 1 2 2 Main Unit Transistor Output oo remi re itc oe Debates o Une e tei eso sede 1 2 9 Special Adale uos dun ea pte meo dt nc mtv Lem dE dessus dnt exe ouem a 1 24 Special Function Unit BIOGK uc oio eani eto prede eec merde e ooa e bod Eae eese roc eu m us 2 Unit Connection zT MUP FEO tissu sd RI Ett dont tid eri aisi PAY PASO s entender LEE EL LI MEL DE Eis 2 3 Individual Operation of Special Function Unit FX2N 10GM FX2N 20GM 3 Comparison of Specifications 3 1 Comparison of Performance Specifications cccceccccseeeeceeceeseeeeseseeeseeeesaeeeees 3 1 1 Built in Positioning Function Main Unit Transistor Output High Speed Output Special Adapter FX3U 2HSY ADP 3 1 2 Pulse Output Special Function Block FX2N 1PG E FX2N 10PG 3 1 3 Positioning Special Function Block FX3U 20SSC H eeeeesesses 3 1 4 Positioning Special Function Unit FX2N 10GM FX2N 20GM 3 2 Comparison of Operation Modes essesssssssssseseeeeneenenee nennen nnns FX3U F X3UC Series PLC User s Manual Positioning Control Edition Table of Contents B Built in Positioning Function Description of Manual Built in Positioning Function B 2 1 Outline B 3 UNLESS TE REEL B 3 1 2 Setup Proc
173. ees B 125 10 3 2 Operation with Acceleration Deceleration M8338 ON sseeeeseee B 126 10A arRDOFtE DE PIOILIESPaes see tec enS otoos cach age a teet uat hoe set eec ec f a B 128 11 Batch Data Positioning Mode TBL Instruction B 129 TAZ TSTPUGUTION le ON AG o etie Etre eris eso veda etudub db buenas a ondes tndesios vanis ies B 129 11 2 Listor Related DeViCeS oneri o Eat Eee eee rerom t e fot E EH Ca B 130 TS Funcion and ODE LAUON er B 132 11 4 Positioning Parameter Setting cccccccccsseecceseeceeeecseseecseneesseseeceueessaeeeseueesseeeseaeesseeeeeseas B 133 11 4 1 Positioning Parameter Setting Using GX Developer cecccccceseeeeeeeeeeeeeeaseeeeeesaeeeeeesaaeeees B 133 11 4 2 Changing of Set Positioning Parameters Number of Pulses and Frequency B 138 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Table of Contents 12 Examples of Programs 12 1 Input Output AS SIGMMC I occides orto qe toto ro bis DES bead eter ooa be ubt as bounds 12 2 Programs for Forward Reverse Rotation Relay Ladder Program 122 1 Example OF PrOGrain seuctioieu dere acta he ntor taut Yosut doom cae cia S 12 3 Programs for Forward Reverse Rotation Step Ladder STL Program 12 31 vExample of RTO SET sudden aiias rte en ce Ced Ut etae bb teaa E 12 4 Positioning Using Batch Setting Method seeeseee
174. eeseeeeenreeeennen 12 4 1 Setting Using GX Developer sees 124 2 Operation Progra questa sed css tees etc tese et E des eint Pain vido e Oed ede does d ed eaten 12 5 Program for Reading Current ABS Value Using ABS Instruction 13 Troubleshooting T9 T LED Indicator tamp CTigek uat esee ee ceo buc e ecu ee I aee Heu cat 13 1 1 POWER Indicator Lamp Statuses ON flashing OFF ccccceccceeseseeeeseeeeeeeens 13 1 2 RUN Indicator Lamp Statuses ON OFF sseseeessseeseeeeeene nnne 13 1 3 BATT Indicator Lamp Statuses ON OFF cccccccseeceeeeeeeeeeeeeeeeeeeseeeeeeeaeaeeeeeaas 13 1 4 ERROR indicator lamp Statuses ON flashing OFF ccccseceeeesseeeeeeeeeeeeeeens 13 1 5 Pulse Output Destination Device and Rotation Direction Output Indicator Lamp GZ IOC E S E ER NEE ETTET FNSEA ETETE ETETA 13 21 Error Code CHECK Methoni aaa an a CREE EO COGS ERE E AE T EE A A AA A AEAEE ETE 13 3 If the Servo Motor or the Stepping Motor Does Not Operate 13 4 If Operation Is Stopped at a Wrong Position seeeeeeeeseeeeeeeeeee FX3U F X3UC Series PLC User s Manual Positioning Control Edition Table of Contents Appendix Example Connection Description of Manual Example of Connection eere Apx 2 Appendix 1 MELSERVO J3 Series Apx 3 Appendix 1 1
175. egardless 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 assurance system is required such as for Railway companies or Public service
176. end of end of Resets inem rf d igi igi P ut pone dh SUE RST M12 rotation positioning completion flag M100 Resets reversed A RST M13 rotation positioning Origin return completion flag being performed M100 Origin return is Duiuonisog C 5 being performed o X030 Origin return FNC 150 xo419 xoo4 vooo Yoo4 4 instruction with om Stop DSZR DOG search 38 command Near point Zero point Pulse Rotation eae Sg signal signal output direction iU EL 3 destination signal number M8029 Origin return ET M1 S 0 1 W Execution J completion flag completion flag Mor Normal end of origin return M8329 Abnormal end of Abnormal origin return X022 M8348 M104 end Resets normal T M12 rotation positioning RS JOG Positioning Completes completion flag being the JOG R n esets reversed OASIS Spetauon RST M13 rotation positioning YOOO ean pletion flag M103 103 JOG operation m is being performed JOG operation is being performed FNC 152 Executes No 1 of rotation positioning JOG Positioning Completes completion flag being the JOG Resets reversed performed operation rotation positioning the positioning Big EU TNT table of YOOO use able ulse output DS S adi P destination number 104 Completes the c lt JOG JOG operation D M8329 o Ab norma amp i X023 M8348 M106 end Resets normal e O 9 YOO0 completion flag
177. ep 77 Project Edit Find Replace Convert View Online Diagnostics Tools Window Help cias e S 8 e eee amp amp ele Ble mem A zb fee ssl ss eSI HE laglo o eo ae Zool Fal se a efe een s s als Bele lE ce e edes n X Unset project BS Program Device comment Parameter a PLC parameter E Device memory 2 Click Memory Capacity and then enter a check in Positioning Instruction settings check box FX parameter Memary capacity Device PEE name 1 C assignment PLC system 1 PLE system 2 _ Positioning Memory capacity t1 15000 Comments capacity Y Block 0 block to 31 block o Points File register capacity fo Block 0 block to 14 block Points Program capacity 7000 Steps Special Function Memory capacity 18 Block Special Function Block Settings 8 Blocks Enter a check 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 150 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 3 Click Positioning tab and then set Y000 pulse output destination as follows Before clicking Positioning tab click Memory Capacity tab and then enter a check in Positioning check box After entering
178. er D8348 D8358 D8368 D8378 Acceleration time ms 16 bit E get D8349 D8359 D8369 D8379 Deceleration time ms 16 bit onu Specifies the CLEAR Subsection 3 3 3 3 z 1 Devices related to YOO3 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 to specify the user interruption command device Ver 2 20 or later should be used 3 This function will be valid if Ver 2 20 or later is used B 114 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 9 3 Function and Operation Command input 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 time sula uouluo gt lt Spaey Maximum speed jdwex4 Q O 2 D 2 O Output pulse frequency S2e Number of output pulses Time l l Instruction execution A l l l l l Interrupt input M Instruction execution complete flag lon M8029 1 For S1 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 ex
179. er to Subsection 11 4 2 Q o 3 o 2 T 3 o 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 Apx 1 Open parameter setting window gm is On the project tree displayed on the left side of the screen double click Parameter and then PLC By Parameter If the project tree is not displayed click View on the menu bar and then click Project data list La MELSOFT series GX Developer Unset project LD Edit mode MAIN 1 Step 77 Project Edit Find Replace Convert View Online Diagnostics Tools Window Help peal amp amp B3 e 4 ee Ble Program x Sft Ml EE it sepe seo tr HR ate ean ESSI C3 sF5 F sF6 F Fo f F9 sFS cF9 FIG sr sF8 aF7 aF8 iaf F10 aF9 JE al eft een s s slee e BG zz ep e edlen Unset project E RES Program Device comment i Parameter PLC parameter E Device memory B 133 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 FX parameter Memory capacity Device PEC name ia assignment PLC system 1 PLE syste
180. ero phase signal after through the rear end of the DOG After that the current value register will be cleared reset to O 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 SPD instruction DVIT instruction ZRN instruction e 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 l l l Zero phase signal 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 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 e Ifthe instruction activation contact is turned off during zero return operation the speed will be reduced and then the operation
181. erse 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 available in all products from the first version release Compatible PLC Compatible version Date month and year Remarks number of production Ver 2 20 initial Q o 3 o 2 T 3 o Equivalent to FX3uc PLC Ver 2 20 After May 2005 Functions specified as Ver 2 20 or FX3u PLC product or later later in this manual are applicable Ver 2 30 or later After November 2005 Ver 1 00 initial product or later AIUTO Apx e DVIT instruction function is added S E Ver 1 30 or later After August 2004 Designation of interrupt input DS signal o Functions specified as Ver 2 20 or later in this manual are applicable e TBL instruction is added GX Developer can set the positions using parameters e PLSV instruction function is added Ver 2 20 or later After May 2005 Acceleration deceleration function DVIT instruction function is added User interruption mode e DSZR ZRN instruction function is added Designation of destination for CLEAR signal to be output FX3suc PLC Ver 2 30 or later After November 2005 1 Version check The D8001 special data register contains information for determining the PLC ve
182. es 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 CS2 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 signal 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 Q o 3 o 2 T 3 o Pulse output Zero point signal logic D TN B Description destination device reverse flag Dr Y000 M8346 Dr OFF Positive logic Turning on the input will turn on the Y001 M8356 near point signal Avx Y002 M8366 ON Negative logic Turning off the input will turn on the pr near point signal O x Y003 M8376 ad 2 0 o 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 When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output shown in the following table for rotation direction s
183. ethod of high speed output special adapter Serve amp nien Transistor output sink output Differential line driver drive unit Pulse train 4 direction Pulse train Forward rotation pulse train Q o 3 o 2 T 3 o direction reverse rotation pulse train Command pulse input n l qM Pulse train Forward rotation pulse train Pulse train sign o method sign reverse rotation pulse train Logic of command pulse Negative logic Negative logic Negative logic A Parameter setting for each series of MELSERVO servo amplifier gt lt jdwex4 Set value uonoeuuo9 C5 forward reverse rotation pulse train Negative logic 1 O is for the setting except command pluse output form For details refer to Servo amplifier manual Series Parameter No Pulse train direction Negative logic FX3U F X3UC 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 Setting example 1 To set the transfer distance per pulse to 10 um if the machine uses a ball screw Machine specifications Servo a
184. etup J COMMENT a Parameter Keyword setup M Fija pasty Remote operation Clear PLC memory 1 For Ver 8 13P to 8 24A of GX Developer the PLC type is FX3uc T Click Param Prog buttons and then click Execute button The parameters and the created program 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 X020 Stops outputting YOOO pulses M8349 Immediate stop Immediate stop Refer to Subsection 4 7 2 are Resets origin return Servo ready completion flag Resets normal rotation positioning completion flag Resets reversed rotation positioning completion flag 18343 Normal rotation limit YOOO Normal rotation limit X027 We M8344 Reversed rotation limit YOOO Reversed rotation limit M8000 FNC 12 Enables the origin return i3 H0020 D8464 operation with CLEAR signal RUN monitor MOVP outputting function CLEAR signal Y020 Performs origin return in the normal rotation direction RUN monitor B 152 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 Q o 3 o 2 T 3 o X021 M8348 M101 M102 Resets origin 7 T M1 RS 0 return completion Origin Positioning Normal Abnormal flag return being
185. eturn 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 LIA f 29 Important Points Set the 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 Leave the drive contact of the DABS FNC155 instruction ON after reading the ABS value 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 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 39 to store the converted pulse data Even if data communication with the servo amplifier is not performed properly no error will be detected For this reason it is necessary
186. execution ABSOLUTE type type Command input FNC 159 2 Data setting S1 Specifies the number of output pulses absolute address i ES BIN16 32 bit Specifies the output pulse frequency 2 Specifies the pulse output number T i D2 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 Setting range FX3u PLC High speed output special adapter 10 to 200 000 Hz FX3u FXauc PLC Main unit transistor output 10 to 100 000 Hz 3 Devices type user unit stant ber string ER Ld E d ds Lis id c sd E d Ed Li cs ed Re E H D GA Re PA E ea ae er a ee ee FAMAE c TPE HIEHIET eisin ej iri jill A1 Specify YOOO Y001 or YOO2 transistor output of main unit or specify YOOO Y001 Y002 2 or YOO3 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 YOO3 of the high speed output special adapter connect the second high speed output special adapter Caution 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 fo
187. execution M1 pur K1000 YOO1 Y005 Lower DPLSV instruction FX3U F X3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 Before Programming 4 7 Items To Be Observed in Programming 2 To use at a 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 it is 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 Switches instruction execution complete M100 Switches instruction execution complete flag of DDRVI instruction from the M8029 to the M200 flag of DSW instruction from the M8029 to the Completion of instruction execution MO Fd FNC158 K10000 K10000 1 Yooo Yo04 DDRVI bs M8029 Td Completion of instruction execution 7 execution complete flag of r d DSW instruction p d FNC 22 K10 D20 uc o e om M100 x Functions as the instruction execution complete flag of DDRVI instruction F X3U FX3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming
188. f the manual 2nd line Shows the title of the division l FX3u F X3uc Series PLC User s Manual Positioning Control Edition i Common Items 2 2 iseneral purpose output of E nit Up ta 7 units can be connected FX3uc PLC FXauc Mim b d Series Hin 3 and H show the unit positions Fer detads of installation refer to ihe manuals of special adapter and special Meus units blocks Special function block Special function uil MIL connector 20 pin 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 o z Unit Connection l 2 2 FX3UL PLC UU sunu P d vogoun Burubimead uryng Seno motor ar Stepping motor I E LE aye We 1l Depending an the product connect either the terminal board or the MIL cannector 20 pin Note FX3uc PLC does not have enough capacity manual Use FXauc 1PS 5V extension power supply unit only if the 5Y DC power supply unit incorporated in the Far details of the connectable special extension blocks and system configuration refer ta the following Refer to the FXauc Hardware Edition Indexes the title of division The right side of each page indexes the title of the division for the page currently opened Shows the reference This area shows the reference document the reference document is
189. fa il Bl Ee as i E For a detailed description of the positioning instruction refer to Chapters 6 to 11 l For a detailed description of the input output specifications refer to Section 2 4 and Section 2 5 A i For the examples of connection refer to the Appendix 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 DANGER e 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 2 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
190. formed Cc Q D Q O g X023 M8348 M106 O JOG Positioning Completes E being the JOG 4 performed operation Y00O JOG operation is being performed ME P FNC 150 DSZR X010 X004 Y000 Y004 Stop command Near point signal M8029 Execution completion flag M8329 Abnormal end FNC 158 K K Y Y004 JOG M8329 Abnormal end Pa FNC 158 1 999999 K30000 Yooo Y004 i Abnormal end Number of output pulses Zero phase signal Output pulse RST Pulse output destination number SET M10 Rotation direction signal M10 epe e Pulse output maximum value frequency destination in direction DDRVI output pulses Number of Output pulse number Rotation direction signal CI Pulse output maximum value frequency destination in direction number Rotation direction signal T Resets zero return completion flag Resets forward rotation positioning completion flag Resets reverse rotation positioning completion flag Zero return is being performed Zero return instruction with DOG search function CLEAR signal Y020 Zero return completion flag Normal end of zero return Abnormal end of zero return Resets forward rotation positioning completion flag Resets reverse rotation positioning completion flag JOG operation is being performed Performs
191. 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 rotation limit All input Y000 M8343 LSF points Y001 M8353 Y 002 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 l Pulse output destination Reverse limit flag Reverse rota All input tion limit LSR points Y000 M8344 Y001 M8354 Y002 M8364 Y003 2 M8374 2 Y003 can be specified as the pulse output destination only if 2 high speed output special adapters are connected to the FX3U PLC 3 Ver 2 20 is assigned to the initial product of the FX3U PLC 1 5 2 Assignment of Output Numbers 1 FXsu FXsuc Series main unit transistor output Application F3 Remarks ea a Mae Connect the line to the output YOOO YOO2 specified for the pulse output destination Y002 designation this output is specified by the positioning instruction Direction signal Connect the line to any output All output Rotational oe points direction signal Connect the line to the output specified for the rotation direct
192. g M8340 M54 Ends the positioning operation in the reverse Y 000 Waiting for 1 scan time rotation direction Outputting Self reset 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 149 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 1 500 000 Output pulse frequency 100 100 000 Hz Origin Acceleration deceleration time 00 ms 12 4 1 Setting Using GX Developer 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 E MELSOF T series GX Developer Unset project LD Edit mode MAIN 1 St
193. g refer to Section 4 7 For the servo amplifier and connection of the MELSERVO Series refer to the Appendix and the examples of connection 7 1 Instruction Format 1 Instruction Format 16 bit fatsigvretteya 32 bit Instruction instruction Execution condition instruction Execution condition FNC 155 ABS i 7 bd DABS ontinuous ABSOLUTE 19 steps execution type Command input ENC 455 P 2 Data setting Operand type 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 BIN16 bit bi Specifies the first number of the device that outputs the absolute position ABS data control signal to the servo amplifier Number of occupied points 3 first point for CDi De Specifies the absolute position ABS data 32 bit value storage device number BIN32 bit 3 Devices ype ber string PB eR A xe mew ogcmpp qpuqeppr Tq XL LIS Tr rop qTUIIVIII T Go rr pope rnrivivnn v vn tir po A The DLJ 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 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 Q o 3 o 2 T 3
194. g instruction turns ON and operation is being performed in the reverse rotation direction O 2 The positioning instruction turns ON but an operation error is detected 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 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 13 Troubleshooting Built in Positioning Function 13 1 LED Indicator Lamp Check 2 If the high speed output special adapter FX3U 2HSY ADP is used for positioning LED status during Status of pulse execution of output method setting switch Description Q o 3 o 2 T 3 o positioning instruction Turned on and off The pulse outputting operation is controlled by the at high speed positioning instruction The PLC may be at the following status Pulse output 1 The operation of the positioning instruction is ge destination device completed o 2 An operation error occured in positioning instruction pulse train l l The instruction therefore is not being executed To check the error refer to the following section A Refer to Subsection 13 2 1 Error Code PLS DIR side Check Method gt lt jdwex4 Forward operation is in execution OFF ON The PLC may be at the following status 1 The positioning instruction turns ON and operation R fation direction is being performed in the reverse
195. g table will not be adopted Pulse output destination device Zero return speed Y000 D8347 D8346 Y001 D8357 D8356 Y002 D8367 D8366 Y003 D8377 D8376 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 4 Important Points For the important points of programming refer to Section 4 7 e Ifan 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 An input 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 Ss the input cannot be used for the Q o 3 o 2 T 3 o following items Apx High speed counter om Input interruption i 2 Pulse catch d 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 speed reduction to the creep speed at the front end of the DOG and will
196. ging motion All input points JOG command 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 A X Y 000 X000 D e E Y 001 X001 gt HN er Y 002 X002 S P Y003 2 X003 FX3uc PLC Ver 1 30 or later If the interrupt input designation function is used the D8386 AK X3uc 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 3 FX3uU FX3uc PLC Ver 2 20 or later 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 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 depends on the pulse output destination as shown in the following table I Pel 3UC Pulse output destination User interrupt input command YOOO M8460 Y 001 M8461 Y 002 M8462 Y003 2 M8463 Connect the line to any input If the line connected input is turned on turn on the
197. h 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 Name of Output number positioning The 1st adapter The 2nd adapter Forward rotation Pulse output Y000 007 YOO2 YO03 pulse train FP destination FP RP side l Reverse rotation Rotation direction YO04 Y005 Y006 Y007 pulse train RP signal Pulse train Pulse output vooo yoo1 voo2 Yooa destination PLS DIR side Direction ME oid YOO4 YOO5 YOOG YO07 Position of pulse output method setting switch of high speed output special adapter FX3U F X3UC Series PLC User s Manual Positioning Control Edition 4 Before Programming Built in Positioning Function 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 Rotation direction signal Pulse output CLEAR signal device reverse rotation pulse train direction destination device initially set The
198. he Appendix Refer to the FX3u Hardware Edition Refer to the FX3uc Hardware Edition Refer to the manual of your servo amplifier Examples of programs of programs Ea ISTO Cra E GE Me Operation Relay ladder Step ladder program program om Mechanical zero DOG Search Zero pe e FNC150 Subsection 12 2 1 Subsection 12 3 1 Section 6 2 return Return Absolute position Reading of current l deteduon ABS value ABS FNC155 Section 12 5 Lx 2 Chapter 7 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 Oo a Chapter 11 B 140 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 12 Examples of Programs Built in Positioning Function 12 1 Input Output Assignment 12 4 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 YOO3 pulse output destination device can be used only if two FX3U 2HSY ADP adapters are connected to the FX3u PLC Q o 3 o 2 T 3 o Si Input output number C T igna onnected to Y000 YOO1 YOO2 Y003 TEL ruere u vooo voo1 voo2 Yo03 pulse output destination Direction 9
199. he maximum frequency value of the servo amplifier driver unit FX3U F X3UC 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 to set the creep speed so that the relation with the other speeds can be bias speed x creep speed lt Q o 3 o 2 T 3 o 32767 Hz For operation of DSZR instruction refer to Section 6 2 For operation of ZRN instruction refer to Section 6 3 Setting range Operador Instruction related T Instruction format operation operation device Apx Y000 D8345 9E 33 DSZR B Y001 D8355 Sg l E 10 to 32767 o ike iti mah GO GO ction Dr Y002 D8365 Initial value 1000 oszn Sie Y003 2 D8375 1 If the 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 Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u 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
200. hown in the following table for rotation direction signals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use transistor output for signals rotation direction 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 Y000 De Y004 The 1st adapter Y001 De Y005 Di Y002 De Y006 The 2nd adapter Y003 D2 Y007 A3 The DLJ b cannot be indexed by index registers V and Z 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 2 List of Related Devices 9 2 List of Related Devices 1 Special auxiliary relays Q o 3 o 2 T 3 o The following table shows the related special auxiliary relays Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations pose M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only 2 m Device number M8029 Instruction execution complete flag Read only PY M8329 Instruction execution abnormal end flag Read only Pe Apx CIT i Subsection ox M83362 Interrupt input specification function enabled Drivable 37 E ud 20 o TM IM m DM IM an M8464 5 Sud ow device specification fun
201. icit gt Zero return JA o EA direction M8342 OFF Maximum speed D8344 D8343 Zero return speed Greep speed D8347 D8346 D8345 Current value register 0 D8341 oN Zero phase signal l CLEAR signal k gt YOO4 1 ms or less E kK 20 ms 1 scan time ms execution amwe M flag M8029 When the instruction is turned off M8029 is turned off 1 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 Bias speed D8342 l Rear end Front end l l l 2 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 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 Rear end Front end Zero return Reverse rotation direction Forward rotation limit 1 DOG limit 1 Reverse rotation limit 1 Forward rotation limit Operation in reverse rotation direction Ope
202. ide 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 LSF Servo motor vam O x m hil Reverse rotation lt gt Forward rotation B 142 F X3U 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 sula uouluo 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 gt lt A Origin jdwex4 Q O 2 D e O 5 Acceleration deceleration time 100 ms The following program is a relay ladder program Stops outputting YOOO pulses Immediate stop RST M10 Resets origin return completion flag X020 Immediate stop X014 Servo ready Resets normal rotation positioning completion flag Resets reversed rotation positioning completion flag X026 TP 18343 Normal rotation limit YOOO X027 TC M8344 Reversed rotation
203. ified range and an operation error will be detected The device number or the data specified by the operand of the applied instruction is out of 6706 the specified range 6760 Operati Sum error of ABS data sent from servo aee amplifier the set data continued 1 The input X specified by DSZR DVIT or 1 Check that the input X specified by DSZR DVIT or ZRN instruction is already used for the ZRN instruction is not used for the following items other instruction Input interruption including delay function 2 The interruption signal device number High speed counter C235 to C255 specified by DVIT instruction is out of the Pulse catch M8050 to M8057 setting range SPD instruction 2 Check the data set in the D8336 interruption signal designation device for DVIT instruction Check the servo amplifier for disconnection Also check 6763 The pulse output number is already used for a Check that the output specified as the pulse output 6764 positioning instruction or pulse output destination is not activated by the other positioning instruction PLSY PWM etc instruction B 161 FX3U F X3UC Series PLC User s Manual Positioning Control Edition 13 Troubleshooting 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 B 162 If the servo motor or the stepping motor does not operate ch
204. ignals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use transistor output for signals rotation direction High speed output special Rotation direction Pulse output adapter connection position output YOOO De Y004 The 1st adapter Y001 De Y005 Di Y002 De Y006 The 2nd adapter Y003 De 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 Dez ON OFF status of device i i n Rotation direction increase reduction of current value specified by D ON Forward rotation Outputting the pulse will increase the current value Reverse rotation Outputting the pulse will reduce the current value OFF 5 Zeroreturn 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 reverse rotation direction Turn off the flag destination device designation flag Description Di M8342 Mus M832 To perform zero return in the Y001 M8392 forward rotation direction Turn on the flag Y002 M8362 To perform zero return in the Y003 M8372 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 Re
205. ilt in transistor output the setting range is 10 to 100 000 Hz If the FX3U PLC is used and if the pulse output destination is FX3U 2HSY ADP the setting range will be 10 to 200 000 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 3 The set interrupt input cannot be commonly used for the high speed counter input interruption pulse 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 Click Individual Setting button to display Positioning instruction setting window In this window set the positioning table of each pulse output destination device Positioning instruction settings Yo as e Rotation direction signal vor 0 Head ddress RO Positioning table Positioning Instruction Puse Frequency Hz 1 DDVIT Interrupt positioning instruction 2 PLSV Variable speed output pulse instruction hw 14 Sabon E DDRYI Relative positioning instruction DRVA Absolute positioning instruction He a Insert Delete Delete all lines v Positioning table settings will not be initialized when the PLC is powered on Y3 1 Click this tab to set the positioning table for YOO3 pulse output destination Set the rotation direction
206. in Positioning Function 12 Examples of Programs 12 3 Programs for Forward Reverse Rotation Step Ladder STL Program 12 3 Programs 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 1 00 000 Hz Origin Acceleration deceleration time 0 ms The following program uses the step ladder STL instruction M8349 X020 Immediate stop X014 Servo ready X026 Forward rotation limit 8343 X027 M8344 Reverse rotation limit M8000 RUN monitor RUN monitor SO 10 11 12 13 M8349 Zero JOG JOG Positioning Positioning in Stoppage of YO return in forward reverse pulse rotation rotation outputting direction direction operation B 146 Stops outputting YOOO pulses Immediate stop Refer to Section 4 7 2 Resets zero return completion flag Resets forward rotation positioning completion flag Resets reverse rotation positioning completion flag Forward limit YOOO Reverse limit YOOO Enables the zero return operation with CLEAR signal outputting function CLEAR signal YO20 Performs zero return in the forward rotation direction Operation is stopped FX3U F X3UC Series PLC User s Manual Pos
207. in 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 2 ForMELSERVO Series amplifiers use a sink output type FX3U Series main unit FX3U FX3UC Series PLC User s Manual Positioning Control Edition 2 Specifications Built in Positioning Function 2 5 Output Specifications 2 5 2 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 Q o 3 o 2 T 3 o Refer to the FX3uc Hardware Edition Item Transistor output specifications External voltage All outputs 5 to 30V DC Y 000 to YOO3 0 3 A point The total load current of the common Resistance load items 16 points should be 1 6 A or Y004 to YO17 0 1A 1point lace Maximum load 7 2W 1point Y000 to Y003 24V D The total load of the common items Apx Inductive load 2 AWA paint 16 points should be 38 4 W or less at om poin 24V DC S Y004 to YO17 24V DC is 2 Open circuit leakage current All outputs 0 1 mA or less at 30V DC ON voltage All outputs 1 5V OFESON Y000 to Y003 5 us or less at 10 mA or more 5 to 24V DC Y004 to YO17 0 2 ms or less at 100 mA at 24V DC 5 us or less at 10 mA
208. ing 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 3 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 Ns Feed screw Backlash clearance play B 163 F X3U 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 MEMO B 164 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Example Connection Buiuonisog ui yng WwW SUJ8 UOWLUOD gt TI c Q O gt 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 therefore describes how to connect the PLC to a servo amplifier drive unit and should be read and understood before attempting to install o
209. ion may not be stopped at the 2o specified position due to inertia e 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 16ML I 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 If input relay X010 or below is specified for the near point signal the input filter 10 ms will be adopted e 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 follow
210. ion n Refer to Chapter 2 and Appendix Refer to Chapter 4 Setting of PLC side o Setting of servo amplifier parameters Refer to Chapter 4 Related devices Refer to Chapter 5 Operation test Refer to Chapter 6 to 11 Programming If the motor does not operate or does not operate properly refer to Chapter 13 Troubleshooting Refer to Chapter 12 Examples of practical programs Motor specifications Outline of system eVersion numbers of compatible PLCs eVersion numbers of compatible programming tools eAssignment of input output numbers Specifications eGeneral specifications power supply specifications performance specifications elnput output specifications Refer to the manual of each motor e Motor specifications ePerformance specifications eMotor capacity System configuration eUnit selection Wiring eWiring of power supply input and output lines eExample of connection to servo 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 rev
211. ion signal this signal 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 YOOO Y004 Y001 Y005 Y002 YO0O06 FX3U FX3UC PLC transistor output Ver 2 20 or later All output If the CLEAR signal designation function is used the clear FX 3u points signal device specification register can specify an output for each pulse output destination F X 3uc 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 Pulse output destination Clear signal device specification register YOOO D8464 YOO1 D8465 YOO2 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 output special adapter M I Application Terminal Remarks Connect the line to determine the pulse train signal or the forward rotation pulse train for the 1st axis of each high speed output YO 2 Yo00 Y002 special adapter o Puls
212. ions of units needed for positioning control 2 1 FX3u PLC B and s show the unit positions oa oe For details of installation refer to the manuals of special adapter and mM special function units blocks Stepping motor woo JP 3050 3 Transistor output Terminal block M3 Sano doter e c OQ ci QS ine European terminal co BE board 2E HE bl N B EXE O 2 FX3U 2HSY ADP i ox En Ez EX EA Q Terminal board M3 MIL connector 20 pin SSCNET dedicated connector Ke oO m ab c 19 Special function block Special function unit ab O 14 O 2 c co i9 m Q 1 The relay output type PLCs do not have pulse output 2 The product connects with the servo amplifier via the terminal block MIL connector 20 pins or the SSCNET dedicated connector 3 FX3U 20SSC H only connects with the servo amplifier MR J3B applicable to SSCNET III Note e To connect high speed output special adapter select main unit with enough input points for high speed inputting operation Fordetails 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 P
213. irection method Pulse train direction method mE method Forward reverse rotation pulse train method Maximum 12 100 000Hz 200 000Hz frequency 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 cur rent value of ABS ABS instruction of the PLC e Connect 2 adapters to the main unit to control 4 axes independently e To be used when a servo amplifier with a differential line receiver method is connected To be used when positioning control is performed with a FX3U Series relay output type main unit Usedin place of the general purpose outputs YOOO to YOO7 of the main unit Pulses can be output from the general Others purpose outputs YOOO Y001 and Y002 of main unit 1 Can only be connected to the FXsu PLC Up to 2 adapters can be connected 2 Do not exceed the maximum rotation speed of the servo motor or the stepping motor 3 If 2 adapters are connected YOOO to YOO7 will be used If only one adapter is connected YOOO Y001 Y 004 and YO05 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
214. itioning 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 X022 M5 m JOG Operation 9 stopped X023 M5 m JOG Operation 9 stopped in forward stopped rotation direction V Positioning Operation Zero return completion flag D8343 D8345 D8346 D8348 D8349 x RST M10 af RS M12 RS M13 E SO ST M13 E S10 ST M13 OD 4 OD E 11 RST M12 RS M13 SET 12 lt Sets the maximum speed 100 000 Hz 5D8344 D8343 Sets the creep speed 1 000 Hz 5D8345 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 S0 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 flag Resets reverse rotation positioning completion f
215. ivation timing should be delayed by 1 scan time 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 e 3 3 S STL 12 Positioning in forward rotation sj direction o M53 X030 FNC 199 K5999900 K100000 Yooo Yoo4 H Moves to absolute position Waiting for Stop DDRVA 900000 using the drive to 1 scan time command Designation Output Pulse Rotation Absolute instruction EI of absolute pulse output direction YO04 ON position frequency destination signal S number M8029 n SET M12 Forward rotation positioning e completion flag Execution completion flag Apx Ends the positioning om ue ae d operation in the forward 5 YOOO Waiting for 1 scan time Lo LLL d E ener 2 5 Positioning in forward rotation direction Positioning in reverse rotation direction O 6 Outputting M8000 6 C M53 Waiting for 1 scan time RUN monitor STL 13 Positioning in reverse rotation direction M54 X0305 oF FNC 159 K100 K100000 Yooo Y004 Moves to absolute position Waiting for Stop DDRVA 100 using the drive to Absolute instruction 1 scan command Designation Output Pulse Rotation L time of absolute pulse output direction Y004 0FF position frequency destination signal number M8029 i C SET M13 Reverse rotation positioning T completion flag Execution completion fla
216. l Terminal Crimp b 3 2 0 13 screw _ terminal 6 2mm 0 24 Cn or less On 3 2 0 13 6 2mm 0 24 3m Terminal or less e When two wires are connected to one terminal Ih 3 2 0 13 6 2mm 0 24 Terminal Crimp p IL ST screw _ terminal 6 3mm 0 25 J Vf or more a p 3 2 0 13 6 2mm 0 24 E E Terna or less 6 3mm 0 25 or more 2 FX Series terminal block e When one wire is connected to one terminal Terminal Crimp b 3 7 0 15 screw terminal 6 8mm 0 27 Cre d or less b 3 7 0 15 6 8mm 0 27 ST Terminal or less Om sula uouluo gt lt jdwex4 Q O 2 D 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 2 European Terminal Board e When two wires are connected to one terminal p 3 7 0 15 6 8mm 0 27 TA Terminal Crimp RN CO JM F2 screw terminal 6 0mm 0 24 or more b 3 7 0 15 6 8mm 0 27 Terminal or less is E 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 psp 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 co
217. l function unit block Frequenc Model det ala j 4 Output Output method Reference axes Hz system Special function block Pulse train direction n method or forward FX2N 1PG E 1 axis 10 to 100 000 collector l 2 reverse rotation pulse system ve train method Pulse train direction Differential method or forward FX2N 10PG 1 axis 1 to 1 000 000 line driver 52 reverse rotation pulse system train method 2 axes FX3U 20SSC H independent 1 to 50 000 000 interpolation SSCNET III 2 Special function unit pulse Pulse train direction um open method or forward FX2N 10GM 1 axis 1 to 200 000 4 collector l 52 10 inch reverse rotation pulse system a mdeg train method pulse Pulse train direction um pd method or forward 10inch CPSI reverse rotation pulse system 2 axes FX2N 20GM independent 1 to 200 000 interpolation mdeg train method 1 Do not exceed the maximum rotation speed of the servo motor or the stepping motor 2 For details on each special function unit block refer to the manual of the unit block FX3U F X3UC 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 FX3uU FX3uc PLC incorporates the positioning function This PLC can output the open collector type pulse train of up to 100 kHz from the general purp
218. lag Enters the forward rotation positioning state S12 1 Ifthe 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 147 SUl9 uOUJUJO gt lt e duex4 Q o 2 D e o 5 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 B 148 V V X025 M5 M10 RST M12 Resets forward rotation i m l S rO au Positioning Operation Zero return mE i positioning completion flag in reverse stopped completion flag rotation RST M13 Resets reverse rotation direction EE 1 positioning completion flag SET S13 Enters the reverse rotation positioning state S13 STL Zero return M50 X030 FNC 150 Zero return instruction with u DSZR X010 X004 Y000 Y004 DOG search function Waiting for Stop CLEAR signal Y020 1 scan time command Near Zero Pulse Rotation point phase output direction signal signal destination signal number gt D M8029 SET M10 Zero return completion flag Execution completion flag N M8
219. ll be turned off unit are used tion method Y 004 Kept at the OFF status YO 2 The LED indicator lamp turned on and Pulse train direc off at a high speed will be turned off nop anne Y4 6 Kept at the OFF stat If high speed output Ooo Me PAn SE special adapter is used Forward rotation Y0 2 Kept at the OFF status pulse train FP Reverse rotation YA G 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 FX3uU 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 the 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 SUl9 uOUJUJO gt lt jdwex4 Q O 2 D 2 O FX3U FX3UC Series PLC User s Manual Positioning Control Edition 9 Operation Test Built
220. llowing table shows the related special auxiliary relays Note that YOOO YOO1 Y002 and Y003 are devices that determine the pulse output destinations Device number M8029 Instruction execution complete flag Read only re aaa M8329 Instruction execution abnormal end flag Read only ree mas M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only eta M8343 M8353 M8363 M8373 Forward limit a M8348 M8358 M8368 M8378 Positioning instruction activation Read only ve NE M8349 M8359 M8369 M8379 9 Subsection Pulse output stop command Drivable 432 1 Devices 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 B 102 FX3U F X3UC 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 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 Data Initial Refer to Y000 von Yo Yoo3 length value D8340 D8350 NUN D8360 NUM D8370 NN order order order order Current value register qs Subsection PLS 44 1 D8341 I9 53354 High pg361 High 53974 High PES order order order orde
221. ltage is not If the power is properly supplied please contact the nearest office of Mitsubishi Electric distributor supplied to the power supply terminal The power cable is disconnected 13 1 2 RUN Indicator Lamp Statuses ON OFF ane Status of PLC Troubleshooting status The sequence program is bein ON ae ncs 9 The RUN indicator lamp indicates the operation status of the PLC l Note that the RUN indicator lamp will go out depending on the status OFF mn of the sequence program iS Sf the ERROR indicator lamp refer to Subsection 13 1 4 B 156 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 13 Troubleshooting Built in Positioning Function 13 1 LED Indicator Lamp Check 13 1 3 BATT Indicator Lamp Statuses ON OFF Q ap Status of PLC Troubleshooting status g ON The voltage of the battery is too low Immediately replace the battery refer to the manual of the PLC The battery supplies the voltage On specified by the D8006 or more TAES NaS NO PrODIEMG 13 1 4 ERROR indicator lamp Statuses ON flashing OFF Lamp sialis Status of PLC Troubleshooting A 1 Stop the PLC and then turn on the power again If the pr ERROR ERR indicator lamp goes out check if a watchdog od timer error has been detected and take one of the following BS measures o Review the program The maximum value of the scanning time D8012 should not be larger than the set value of the watchdog timer
222. mber 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 2HSY ADP FX3U 2HSY ADP High speed input special adapter Generic name for high speed output special adapter Generic name for high speed input special adapter Communication special Generic name for communication special adapter adapter Analog special adapter 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 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 output 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 Input extension unit The number of connectable units however depends on the type of main unit To check the number of connect
223. me 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 NC AUTION Q o 3 o 2 T 3 o Perform class D grounding grounding resistance 100Q 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 Apx Perform wiring properly to the FX3u Series main unit and FXoN FX2N Series extension equipment of the terminal om block type in accordance with the following precautions 3 3 Failure to do so may cause electric shock short circuit wire breakage or damages to the product S 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 b
224. mf2 Positioning Memory capacity 11 15000 Comments capacity m 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 Enter a check 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 Device comment 50 points block 500 steps meer le dis programming Set the capacity for the file registers Initial value O manual File register capacity File registers 500 points block 500 steps Displays the number of steps that can be used for the sequence Program capacity programs 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 Special Function Block Settings Enter a check in the check box to enable TBL FNC152 instruction setting function Use Positioning Data Setting tab to set the positioning data 1 Theinitial value is 8000 steps for GX Developer of below Ver 8 22Y Positioning I
225. mple Connection J Appendix 1 1 Main Unit Transistor Output J MELSERVO J3 Series Appendix 1 DJ sway unu b ee 8 X Buungs g u qng Appedix 1 1 1 Sink Input and Sink Output 1 FXsu PLC UEM TUE 100 to 240 AC Shows the reference This area shows the reference document the reference document is shown next to gt If the reference is in Appendix Examples of Connection the chapter section or item number only will be shown next to CXass D Y grounding El EJ Lx Fesitoning completed INF mz Tarque being controled Ez Seren erroe ALM Rast LL 42 EMG g Emergency stop zs s I 44 47 poco Reverse rotation limit 2 Connected t FAauc I ABS iresiructear d F NC 155 r amp used Forward rotation Erit 2 m ES m ES MG GN Irmmexdiata stop command Zero relurm eormemand JOG command JOG command Forward rotation positioning command Reverse rotation positioning command coupler Forward rotation lira L SF Reversa rotation limit LSRY Stop command 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 Output
226. mplifier MR C Series n NL NM 1 2 T Rated rotational speed of servo motor 3000r min NL i l l Lead of ball screw Pb 10mm 0 4 l T NM Pb 10 mm 0 4 Reduction ratio mechanical gear n 1 2 zx Resolution of servo motor Pt 4000PLS REV Servo motor Pt 4000 PLS REV CMX _ Pt 4000 _ 8 fO Command pulse frequency Hz YMA ALG Beg GEM VAM Eu KE p q y CDV a nxPb Une 1 2x10 1 Open collector system 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 No CMX 60 x fO A 1 0 Transfer distance per pulse mm CDV Pt 8 60 100000 1 4000 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 YO0OO D8344 D8343 Y 001 D8354 D8353 Y 002 D8364 D8363 Yo03 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 F X3UC Series PLC User s Manual Positioning Control Edition
227. n 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 output and special adapter Frequenc Model numberof 4 Output Output method Reference axes Hz system Main unit transistor output Open B Built in FX3u F X3UC 3 axes 10 4 to 100 000 ee Pulse train direction Positionin PLC independent 9 i method Ang system Function Special adapter Pulse train direction TAR FX3U 2HSY 2 axes 4 ener nial method or forward B UL ADP independent 10 to 200 000 pulse line driver reverse rotation pulse Positioning P system Function train method 1 Do not exceed the maximum rotation speed of the servo motor or the stepping motor 2 Can only be connected to the FX3U PLC 3 Connection of 1 adapter can control 2 axes Connection of 2 adapters can control up to 4 axes 4 The minimum frequency set by PLSY instruction or PLSV instruction is 1 Hz For details on PLSY instruction refer to the programming manual 2 Specia
228. n is continuously set in the table operation it will immediately shift to the next operation Continuation pass function A 17 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Common Items 3 Comparison of Specifications 3 2 Comparison of Operation Modes MEMO FX3U F X3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function SUl9 uOUJUJO2 FXsu FXsuc Series Programmable Controllers gt lt User s Manual Positioning Control Edition B Built in Positioning Function jdwex4 Q o 2 D 2 o 5 Foreword B Built in Positioning Function describes positioning function incorporated in the MELSEC F FX3U F X3UC 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 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 F X3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function Description of Manual Built in Positioning Function In this
229. nal 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 Sus X006 X007 50us 1 Internal input circuit e Sink input line connection e Source input line connection Main unit Main unit Fuse NDES 24V wa hav ya FERME Input impedance Class D grounding Class D grounding impedance FX3U FX3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 2 Specifications 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 Item Input signal voltage Input impedance X010 to X017 TDI All inputs current Input response time All inputs All inputs All inputs Input signal current Input ON Input sensitivity Current current Input signal type Circuit insulation Indication of input motion Refer to the FX3uc Hardware Edition 24V DC input specifications 24V DC 20 15 Ripple p p 5 or less 3 9kO 3 3kO 4 3kQ 6mA 24V DC 7mA 24V DC 5mA 24V DC 3 5 mA or more 4 5mA or more 3 5mA or more 1 5mA or less Approx
230. ng 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 l If the instruction turns ON the corresponding output will l man AnI TE ay OLIPU YDE be turned on the corresponding LED will be turned on van pg acivatae FX3U PLC main unit of transistor output type High speed output special adapter Can be activated Can be activated e 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 Q o 3 o 2 T 3 o Can be activated Can be activated 3 e f an output number of the main unit is used if an output of the main unit is connected do not use Apx connect the corresponding output terminal of the high speed output special adapter om 1 The output frequency of limit the main unit transistor output is 100 kHz When operating a load with a pulse DS frequency exceeding 100 kHz PLC failure may occur 9 2 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 posi
231. ng 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 unit or wire the servo amplifier FX3U FX3UC Series PLC User s Manual Positioning Control Edition Related Manuals Related Manuals Refer to this document to perform positioning operation using the FX3U F X3uc Series For the hardware information on the PLC and for details on special function units blocks refer to the respective manuals Indispensable manual v Manual that may be indispensable depending on the purpose of use AWith separate document that describes the details Manuals for PLC Title of manual Pec Description number lrxsu Series PLC The input output specifications and the Endissed wiring and installation methods for the A withthe FX3u Series JY997D18601 FX3U PLC are excerpted from the FX3U i product HARDWARE MANUAL Series User s Manual Hardware Edition For details refer to the FX3u Series Model code User s Manual Hardware Edition Provides detailed information on the Ganar FX3U Series hardware such as the input output p User s Manual JY997D16501 specifications and the detailed wiring 09R516 document P l l Hardware Edition installation and maintenance methods for the FX3u PLC W Fxsuc Series PLC The input output specifications and the wiring and installation methods for the Enclosed FX3Uc
232. nitial 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 DVIT instruction Y000 pulse output destination X000 X000 to X007 M8460 left side Y 001 pulse output destination X001 X000 to X007 M8461 Y 002 pulse output destination X002 X000 to X007 M8462 Y003 4 pulse output destination X003 X000 to X007 M8463 YO Sets data in this area if YOOO is specified as the pulse output destination device Y1 Sets data in this area if YOO1 is specified as the pulse output destination device Y2 Sets data in this area if YOO2 is specified as the pulse output destination device Y34 Sets data in this area if YOO3 is specified as the pulse output destination device Displays Individual Setting window for TBL FNC152 instruction table Individual setting setting For details on data setting refer to the next page 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 3 1 When the destination for pulse output on a FX3u or FX3uc PLC is a bu
233. nnection 2 wires 0 3 mm AWG22 e To connect a single wire cable just peel the sheath T off the cable before connection O Rod 03 2 to 0 5 mm AWG22 20 0 25 Nem Rod terminal with insulation sleeve terminal eee recommended terminal Al 0 5 8WH with Refer is oe e ui of rod eum di by Mert Contact insulation RS Snow GL UL NETO OWING 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 e Directly terminate end of stranded single wire cable iS randednireicoid wte Terminate the end of the stranded cable so that barbed wires cannot protrude aan EN Do not solder plate the end of the cable PIE 0 36 Terminate cable end using rod terminal with insulation sleeve e Bar terminal with insulating sleeve If the cable sheath is too thick it may be difficult to insert the cable Insulating sleeve into the insulation sleeve For this reason select an appropriate cable Contact portion while referring to the external view D y Manufacturer Moded Caulking tool 8mm Phoenix Contact Al 0 5 8WH CRIMPFOX UD6 oti 3 2 3 Tool e To tighten 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 Cont
234. nstruction BFM direct designation Position data 1 point set in sequence program 1 point set in sequence program Connection of Connectable manual pulse eo l o Differential line driver open collector Detection of absolute position l Reads out the cur Using the ABS instruction of the PLC rent value of ABS e PLC input output 8 points occupied Points can be either input or output points e PLC input output 8 points occupied From the dedicated start the high speed Points can be either input or output points start by 1 ms at shortest is enabled During positioning operation the operation speed can be changed Others 1 Do not exceed the maximum rotation speed of the servo motor or the stepping motor 2 The position data magnification sets the 1 10 10 or 10 in parameters 3 The positioning range can be set in the range from 2 147 483 648 to 2 147 483 647 pulses 4 Up to 200 points table can be set for the table operation FX3U F X3UC Series PLC User s Manual Positioning Control Edition 3 Comparison of Specifications Common Items 3 1 Comparison of Performance Specifications 3 1 3 Positioning Special Function Block FX3uU 20SSC H S j 3 S Model FX3U 20SSC H a PEE ROMO 2 independent simultaneous axes axes B Interpolation 2 axes linear interpolation 2 axes circular interpolation nU C o e Pulse output 255 system SSCNET III 2 Pulse output method Maximum Apx 50
235. nstruction settings B 134 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 3 Set the positioning data Positioning data can be set if the FX3U FX3uc PLC of Ver 2 20 or later is used 1 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 sula uouluo 2 Set the positioning constants to be used for TBL FNC152 instruction FX parameter gt lt E O c OS a Te E roo roo 1 1088933 Interruption input of DYIT i wae jdwex4 Q O 2 D za O 5 Individual setting Default Check End Cancel Setting item Description of setting aes 1 10 or less Bias speed Hz Sets the bias speed for each pulse output number Initial value O of maximum speed Maximum speed Hz Sets the maximum speed for each pulse output number Initial value 100000 1 i i 10 to Creep speed Hz Sets the creep spoeg of DSZR FNC150 instruction for each pulse output number Initial value 1000 32767 Zero return speed Sets the zero return speed of DSZR FNC150 instruction for each pulse Hz output number Initial value 50000 Acceleration time ms Sets the acceleration time for each pulse output number I
236. ntity 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 F X3uc PLC of Ver 2 20 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 N FNC 151 16 bit Besinfeifes l 32 bit EET I pvit instruction ISON ban nu instruction Evan kaai DVIT 77 Continuous DDVIT 7 7 Continuous DRIVE INTERRUPT 9 steps JL execution 17 steps TA execution type type Command input ENC 151 B 2 Data setting Operand type Description Data type S1 Specifies the number of pulses relative address to be output after interruption i ee E BIN16 32 bit Specifies the output pulse frequency 2 Specifies the pulse output number i D2 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 operation For the 32 bit oper
237. ntrol Edition FX3U F X3auc Series User s Manual Positioning Control Edition 14 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Common Items uonoun Buiuonisog ui yng UJ swa UOUJUJ0 2 FXsu FXsuc Series Programmable Controllers I uonoeuuo9 C3 2 User s Manual Positioning Control Edition A Common Items e duex4 Foreword Common Items describes the outline of positioning function incorporated in the MELSEC F FX3u FX3uUC 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 problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2005 MITSUBISHI ELECTRIC CORPORATION FX3U F X3UC 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 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 o
238. o Section 12 1 of B Built in Positioning Function Appedix 1 2 1 Sink Input Sink Output Transistor and Differential Line Driver Output MR J3LIA Series servo 24V DC CN1 amplifier FXsu 2HSY ADP Buket I i Forward rotation Lo Epuivalent to pulse train CN1 AM26C31 CX y PP 10 5 Zero speed ELI Positioning completed INP LE Torque being controlled H Servo error ALM um Direction signal Reverse rotation pulse train CN1 Servo ON Reset Emergency stop Photo v coupler P Zero Point EE Forward rotation limit 2 signal PGO LSN Reverse rotation limit 2 4 Connected to FX3uc if ABS instruction FNC CN1 155 is used a 5 ABSBT 5 FX2N 16EX ES UL 7 FX2N 16EYT Refer to Appendix 15 SON e 131 a ABSR Photo coupler CUIDA X gt Immediate stop command Zero return command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF IN 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 Apx 6 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 1 MELSERVO J3 Series Example Connection Appendix 1 3 Absolute Position Detection Transistor Output 3 To ensure safety u
239. oard 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 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
240. on Acceleration time time sula uouluo gt lt e duex4 Q O 2 D 2 O Zero return speed Creep speed S2e Bias speed CLEAR signal Rearend Front end 1 ms or less Instruction nnd 20 ms 1 scan time ms complete flag M8029 ON Po When the instruction is turned off M8029 is turned off 1 For S12 specify the zero return speed 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 10 to 32 767 Hz When high speed output special 10 to 200 000 Hz adapter is used 32 bit operation WERT ist DTA en transis nnus of main unit 44 to 100 000 Hz 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 2 For amp 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 S2 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
241. on reset YLJLILI rotational direction signal Example of program Regarding the program shown below Y004 is specified as the rotation direction signal output device for YOOO Command input RST M10 M8340 RST M11 a Turns on sets Y004 as the ee rotational direction signal of YOOO pulse monitor pulse output destination b Refreshes Y000 to Y007 EM c Executes ZRN instruction LJ S d Resets the rotational direction M8029 signal Y004 using the instruction Origin data reading completion flag M8329 Resets the rotational direction signal RST Y004 Y004 using the instruction LEN execution abnormal end flag Abnormal end of zero return FX3U F X3UC 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 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 20 or later to specify the CLEAR signal output device a If itis not necessary to use the Clear signal device specification function or if the FX3uc PLC of below Ver 2 20 is used Q o 3 o 2 T 3 o Status of CLEAR Status of Clear signal signal output function device specification CLEAR signal device
242. on Built in Positioning Function 8 2 Drive to Increment DRVI Instruction 8 2 Drive to Increment DRVI Instruction sula uouluo 8 2 1 Instruction Format 1 Instruction Format FNC 158 16 bit Instruction M 32 bit Instruction E m DRVI instruction BSV kaaa instruction BE bai DRVI 77 Continuous DDRVI 7 7 Continuous DRIVE TO 9 steps YA evectiticn 17 steps JL execution INCREMENT type type Apx Command om input FNC 458 T DRVI Ste 2 5 2 Data setting S1 Specifies the number of output pulses relative address E ERN BIN16 32 bit Specifies the output pulse frequency 2 Di Specifies the pulse output number T i D2 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 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 FX3u FXauc PLC Main unit transistor output 10 to 100 000 Hz 3 Devices Real Ch ype user unit stant ber string X Y M T C S DG b KnX KnY KnM KnS T C D R JUCNGE ViZ Modly K H E E P Litt aT m lj Ei ttt quunt mer A1 Specify YOOO Y001 or YOO2 transistor output of main unit or specify YOOO
243. on 4 1 to Section 4 4 or Subsection 6 2 2 1 Execute ZRN instruction to carry out zero return 2 Transfer operation will be performed at the zero return speed specified by S1 3 Ifthe near point signal DOG specified by is turned on the speed will be reduced to the creep speed specified by CG2 4 Ifthe near point signal DOG specified by is turned off the pulse outputting operation will be immediately stopped 5 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 6 The current value register D8341 D8340 will be reset to O 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 l l time D8349 D8348 en E Maximum speed N D8344 D8343 E I l l l l l l l l l l l Zero return speed l l Creep speed C29 Bias speed D8342 CLEAR signal Rear end Front end Y004 Le 1 ms or less Instruction execution 20 ms 1scan time ms complete flag ON M8029 When the instruction is turned off M8029 is turned off 1 Note that the zero return speeds shown in the followin
244. on 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 j Only one axis can be MIL connector 20 pin C FX2N 20GM 12 G 19 ab Ke Cc 14 O Q9 ab x lt 14 N 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 F X3UC Series PLC User s Manual Positioning Control Edition 3 Comparison of Specifications Common Items 3 1 Comparison of Performance Specifications 3 Comparison of Specifications The specifications of each product needed for positioning are shown below Select products optimum for your system uonoun Buiuonisog ui yng WwW swa UOLULUOD 3 1 Comparison of Performance Specifications uonoeuuo9 SS gt lt 3 1 1 Built in Positioning Function Main Unit Transistor Output High Speed Output Special Adapter FX3U 2HSY ADP FX3u FX3uc PLC 7 nos Main unit transistor output Pa AnS ADE Number of control l l Bugs 3 independent axes 2 independent axes e duex4 Interpolation PUSS OUIDBE Open collector system Differential line driver system system Pulse output a Pulse train d
245. on MN Ecc cd Execution condition ZRN Continuous DZRN ZA Continuous B RETURN 9 steps evecition 17 steps TA execution Apx type type S E 33 Command 2 O Operand type Data type S1 Specifies zero return start speed i E BIN16 32 bit Specifies creep speed Setting range 10 to 32 767 Hz opecifies an input numbers for near point signal DOG Bi 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 FX3u FX3uc PLC Main unit transistor output 10 to 100 000 Hz Devices ype Bn sian ber string ee Gf See ee a Oe it Pe eR Oe ea aioe e S TLE ee LETTE derit de eid ee ee eee hd it tit tty A1 The DLJ b cannot be indexed by index registers V and Z A2 Specify YOOO Y001 or YOO2 transistor output of main unit or specify YOOO Y001 Y002 2 or Y003 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 high speed output special adapter connect the second high speed output special adapter Note 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 sp
246. 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 v T H E n Reverse rotation lt gt Forward rotation 4 To detect absolute positions connect this line to the PLC Apx 11 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 SSS SS SS MR J2 S LIA Pulse train Series servo I Forward rotation I pulse train s 300 LO TEC 1 Torque being controlled Servo error ALM LU L FX3u 2HSY ADP Epuivalent to Direction signal Reverse rotation pulse train gt Zero speed CN1B 5 SON Servo ON H4 RES Reset ELE Emergency stop Forward rotation limit 2 LSN Reverse rotation limit 2 5 Connected to PLC Photo coupler if ABS ins
247. oning Control Edition 3 Comparison of Specifications Common Items 3 1 Comparison of Performance Specifications 3 1 4 Positioning Special Function Unit FX2N 10GM FX2N 20GM Model FX2N 10GM FX2N 20GM Haie a 1 independent axis 2 independent simultaneous axes 2 axes linear interpolation Interpolation i 2 axes circular interpolation Pulse output system Open collector system Open collector system Pulse output Pulse train direction method method Forward reverse rotation pulse train method Maximum 200 000Hz frequency pune ore 100 000Hz during interpolation operation Acceleration l Automatic trapezoidal acceleration deceleration deceleration type Unit pulse mm 10 inch deg 999 999 to 999 999 x minimum command unit pulse 999 999 to 999 999 x minimum command unit 9 mm 999 999 to 999 999 x minimum command unit 9 x107 inch 999 999 to 999 999 x minimum command unit 3 deg Program language Cod number system table system Cod number system Positioning range Block designation X axis Y axis 2 axes Position data Block designation O to 99 100 blocks simultaneously 0 to 99 100 blocks Connection of manual pulse Connectable Open collector system generator Detection of absolute position Reads out the cur rent value of ABS Set in parameters e PLC input output 8 points occupied PLC input output 8 points occupied Points can be either input or output points Points
248. ons During forward rotation JOG operation and reverse rotation JOG operation the test checks whether positioning instructions are properly activated DESIGN PRECAUTIONS Q 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 2 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 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
249. ons 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 137 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 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 using the display module or the indicator Positioning instruction settings Ed TU i aE If the Head Address is set to RO Rotshon deechon agna Pimi Foster renin Fite femen Pulse WIT Dnterugt positioning ritruction EIE DR sv Walshe word ound Dise tenai ST xen output Positioning Number of 3 DDR Relative positonng estiuction mon destination table No pulses Za DORMS iA bsokute positioning maneton Frequency device 1 R1 RO R3 R2 R5 R4 R7 R6 uu yooo 3 R9R8 R11 R10 NN EN R397 R396 R399 R398 R401 R400 R403 R402 R405 R404 R407 R406 R409 hw Posio beable setting ell not be raktad when ihe PLE i peered on Y001 NELMN L2 R411 R410 MENEINMEE E R799 R798 R803 R802 R807 R806 R811 R810 ee 0 R1197 R1196 R1199 R1198 R1201 R1200 R1203 R1202 R1205 R1204 R1207
250. or more 5 to 24V DC 0 2 ms or less at 100 mA at 24V DC Circuit insulation Photo coupler insulation Indication of output motion f Monitored using display module Pulse output terminals YOOO Y001 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 Response time 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 FX3uc Series main unit Servo amplifier Drive unit Pulse train signal GGG c QE 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 Specifications Built in Positioning Function 2 5 Output Specifications 2 5 3 High Speed Output Special Adapter FX3U 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
251. or output for signals rotation direction High speed output special Pulse output Rotation direction adapter number destination device output Y000 De Y004 The 1st adapter Y001 De Y005 Dr Y002 De Y006 The 2nd adapter A Y003 D Y007 px Om The rotation direction depends on the ON OFF status of the specified device as shown in the following E S table 2o During execution of this instruction however do not use the output specified by CD2 ON OFF status of device specified by D ON OFF Rotation direction increase reduction of current value If the number of output pulses specified by is a positive 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 output pulses specified by is a negative number the operation will be performed in the reverse rotation direction Reverse rotation Outputting the pulse will reduce the current value B 127 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 B 128 Important items for FX3u FX3uc PLC of Ver 2 20 or later FX 3uc For the important points of programming refer to Section 4 7 During pulse output operation if the output pulse frequency is changed to K
252. or reduce the output pulse frequency value using FNC67 RAMP instruction etc y rel e facceleration 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 F X3UC Series PLC User s Manual Positioning Control Edition 11 Batch Data Positioning Mode TBL Instruction Built in Positioning Function 11 1 Instruction Format 11 Batch Data Positioning Mode TBL Instruction Q o 3 o 2 T 3 o If GX Developer Ver 8 23Z or later is used the positioning instructions FX FEX shown below can be preliminarily set in the positioning tables After that if a table is specified the positioning operation of the specified table will be performed Instruction Description DVIT FNC151 One speed interrupt constant quantity feed Interrupt positioning Apx PLSV FNC157 Variable speed operation Variable Speed Pulse Output OR DRVI FNC158 Drive to Increment a3 DRVA FNC159 _ positioning Drive to Absolute 11 1 Instruction Format 1 Instruction Format FNC 152 16 bit Instruction 32 bit Instruction T instruction Smee Execution condition instruction EVAT Execution condition UU DTBL 77 i TABLE 17 steps VAL sl ia i i type Command input ENC452 DTBL D 2 Data setting CD S
253. 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 Q o 3 o 2 T 3 o 1 Operation in forward rotation direction Turn on the forward rotation JOG switch X012 and check that operation is performed in the A forward rotation direction For this check set the other inputs in the following statuses pr Input signal Status E X010 ON S 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 Pulse output LED lamp of 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 direc Y0 2 Turned on and off at a high speed tion method Y4 6 Kept at the ON status Forward rotation Y0 2 Turned on and off at a high speed pulse train FP Reverse rotation 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 the value is being increased For details on the current value register refer to Subsection 4 4 1 If high speed output
254. ose outputs YOOO to YOO2 and can simultaneously control 3 axes Buiuonisog ui yng WwW SUJ8 UOLULUOD FX3u F Xsuc PLC Servo motor Servo motor Servo motor m Transistor output Servo amplifier Servo amplifier Servo amplifier S YOOO Y001 Y002 ej t T t Direction Direction sim Direction signal Apx 6 SF ge 1 2 3 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 e The first FX3U 2HSY ADP uses YOOO and Y004 and YOO1 and YO0O05 e The second FX3U 2HSY ADP uses Y002 and Y006 and YOO3 and YOO7 FX3U 2HSY ADP ow PA ome t i B Ej E lle 3 axes 4 axes Servo motor Servo motor Servo motor Servo motor Servo amplifier Servo amplifier Servo amplifier Servo amplifier FX3U F X3UC 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 o
255. ositioning Control Edition 2 Unit Connection Common Items 2 2 FX3UC PLC 2 2 FXsuc PLC FX3uc Series i B 3 and show the unit positions 1 E W For details of installation refer to the manuals of special adapter and special ae EE function units blocks Py S uonoun Buiuonisog ung oJ sw UOWWLUOD Servo motor or 5 MIL connector 20 pin Stepping motor Apx om S 3 EI ct D o m General purpose output of Terminal board M3 MIL connector 20 pin SSCNET dedicated connector Special function block FXanc CNV IF ME 1e oO ab l9 oO ab Ne 14 oO Y I gt N Q 1 The product connects with the servo amplifier via the terminal block MIL connector 20 pins or the SSCNET dedicated connector 2 FX3U 20SSC H only connects with the servo amplifier MR J3B applicable to SSCNET III Note e Use FX3UC 1PS 5V extension power supply unit only if the 5V DC power supply unit incorporated in the FX3uc 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 FX3uc Hardware Edition FX3U F X3UC Series PLC User s Manual Positioning Control Edition 2 Unit Connection Comm
256. ositioning Mode TBL Instruction Built in Positioning Function 11 4 Positioning Parameter Setting Setting item Description of setting Setting range Click this button to delete all the data from the positioning table of the selected Delete All button mes l pulse output destination device If this check box is checked the positioning data will not be initialized at turning Positioning table on the power of the PLC Enter a check in this check box to retain the setting will not be changed data pulses and frequency changed by the program display initialized when the module or indicator even after power off and to use the changed data after PLC is powered on turning on the power again To use this function set an uninterruptible power supply type device as the first device Q o 3 o 2 T 3 o Click this button to write 1600 points of data pulses and frequency set on Write button the positioning table using GX Developer starting from the first device of the PLC A Click this button to read out 1600 points of data pulses and frequency set px Read button the positioning table currently used from the PLC starting from the first i S E device At the completion of data reading the data numbers will appear only if DS Positioning Instruction is set for the data o y 1 If the FXsuc PLC is used this item cannot be set Note that this item can be set only if two FXsu 2HSY ADP adap
257. owing 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 2 Specifications Built in Positioning Function 2 4 Input Specifications 2 4 Input Specifications Q o 3 o 2 T 3 o 2 4 1 FX3uU 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 Item 24V DC input specifications Input signal voltage All inputs 24V DC 10 A X000 to X005 3 9kQ px Om Input impedance X006 X007 3 3kQ 5 X010 or later 4 3kQ z X000 to X005 6mA 24V DC Input signal current X006 X007 mA 24V DC X010 or later 5mA 24V DC X000 to X005 3 5 mA or more o PUTON X006 X007 4 5mA or more Input sensitivity current current X010 or later 3 5 mA or more passt All inputs 1 5mA or less current Input response time All inputs Approx 10 ms Input signal type All inputs NO Vonage co eet mpu P g yP P NPN PNP open collector transistor Circuit insulation All inputs Photo coupler insulation Indication of input motion EEG Turning on the input will light the LED indicator lamp 1 If inputs X000 to X007 are assigned to the zero phase sig
258. own in the right figure shows that when X000 is X000 turned on the instruction will be executed only once If X000 is off the instruction will not be executed If it is not necessary to 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 The program shown in the right figure shows that if X001 is on ad 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 ON will be added to the title of each instruction as shown in the following figure Carefully use these instructions FNC Number N S sion name 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 Positioning Control Edition 5 Operation Test Built in Positioning Function ENEN 1 5 Operation Test This chapter describes the operation test of positioning instructi
259. p to 2 o axes for the positioning operation If two high speed output special adapters are connected the adapters can control up to 4 axes for the positioning operation 3 The positioning instruction applied instruction of the FX3U FX3uc PLC is used for positioning control 4 The general outputs of the FX3u FX3uc PLC transistor output 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 FX3U 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 f the general outputs of the FXs3u FX3uc PLC is used Number of controllable axes Servo amplifier drive unit etc e cher eine Pl Gancde j FX3u FX3uc PLC referto Section 1 3 3 axes transistor output For a detailed description of the positioning instruction refer to Chapters 6 to 11 For a detailed description of the input output specifications refer to Section 2 4 and Section 2 5 For the examples of connection refer to the Appendix e f FX3U 2HSY ADP adapters are connected to the FX3U PLC PS tee Number of controllable axes Servo amplifier drive unit etc 4 axes ADR HSY FXsuPLC To check the PLC model referto Section 1 3
260. pany 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 assembled into a user s device Failure that could have been avoided if
261. 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 Setting value FX3U F X3UC 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 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 v Zero return instruction with vA vA vA v V vA Interrupt Positioning L P y 2 Ad interruption fixed feed BER O 5 aT z 2 TBL FNC152 Positioning by batch setting 9 method o Current ABS value read out ABS FNC155 ME Zx 6 from servo amplifier 9 Zero returnzero re
262. pecial Adapter l Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 To ensure safety use 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 r z H E q H Reverse rotation lt gt Forward rotation 4 To detect absolute positions connect this line to the PLC Apx 4 FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 1 MELSERVO J3 Series Example Connection Appendix 1 1 Main Unit Transistor Output 2 FX3UC PLC MR J3LJA Series servo CN1 amplifier ens CN1 21 peo 23 zse u S Zero speed 24V DC coupler Foire TI c e E O 2 Q o 3 3 o 2 3 o UW oc o LI s E 3 2 i Positioning completed INP EC Torque being controlled LES Servo error ALM CN1 Servo ON nese EMG ka Emergency stop Forward rotation limit 2 4 LS Reverse rotation limit 2 47 4 Connected to FX3uc if ABS instruction FNC C
263. pecifies the pulse output number Bit n Specifies the table number 1 to 100 to be executed BIN 32 bit 3 Devices Real Char Operang System user Digit designation System user Specia Index ot num acter Pointer type unit stantr ber string ere Leno Led ee eee eee ee ed SIM TTT Ty ilL l eee eee A1 Specify YOOO Y001 or YOO2 transistor output of main unit or specify YOOO Y001 Y002 2 or YOO3 of the high speed output special adapter 7 1 High speed input output special adapter cannot be connected to FX3UC 32MT LT 2 To use Y002 and YOO3 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 129 FX3U F X3UC 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 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 pese Eu M8029 Instruction execution complete flag Read only P d M8329 Instruction execution abnormal end flag Read only s aaa
264. peed for each pulse output destination maximum speed device Pulse output des etn pp Initial value Setting range Yo00 D8342 1 10 or less of maximum speed Y001 D8352 0Hz If the value is set to more than 1 10 of the maximum speed Y 002 D8362 the bias speed will be automatically set to 1 10 of the Y003 D8372 1 Devices related to YOO3 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 PUSE output Acceleration seal value Setting range destination device Time g g YOOO D8348 50 to 5 000 ms Y 001 D8358 If the value is set to 49 ms or less the acceleration time will 100ms be automatically set to 50 ms If the value is set to 5 001 ms Y 002 D8368 NIE l i 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
265. peed output special adapter The differential line drive will be used for the outputs of the high speed output special adapter AA When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output shown in the following table for rotation direction signals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use transistor output for signals rotation direction For the outputs applicable with High speed output special adapter refer to Section 4 9 Mga spece SHEDUE Special Pulse output Rotation direction output adapter connection position Y000 gt Y004 Y001 D2 Y005 Y002 gt Y006 Y003 De Y007 The 1st adapter The 2nd adapter 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 buda M8029 Instruction execution complete flag Read only Pr M8329 Instruction execution abnormal end flag Read only E M8340 M8350 M8360 M8370 Pulse output monitor BUSY READY flag Read only cem Subsection M8341 M8351 M8361 M8371 Clear signal OUTPUT function enable 434 Subsection M8342 M8352 M8362 M8372 Zero return direction specification 433 M8343 M8353 M8363 M8373 Forward limit 2 i 2 Subsection
266. pt input command devices the logical NOT function will not be activated 4 1 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 Y000 instructions Corresponding Refer to Data Initial Y001 Y002 Y003 D value z interru pt input Subsection D8340 pgaso W pgagg LOW pg370 Low order order order order Current value DSZR DVIT Subsection Nich Hian ERE EE register 32 bit ZRN PLSV 441 D8341 9 D8354 9 ps3e1 9 pgaz4 9 PLS DRVLDRVA order order order order Bias speed DV Subsection D8342 D8352 D8362 D8372 Hz p 16 bit ZRN PLSV 426 DRVI DRVA un D8343 W pg353 LOM pgaga LOW ps373 LOW order order order order Maximum DSZR DVIT Subsection ERST ERG Tm i speed 32 bit 100 000 ZRN PLSV 425 D8344 9 pg3s4 9 pgag4 9 Dg37z4 9 Hz DRVLDRVA order order order order D8345 D8355 D8365 D8375 Creep speed 4G pit 1000 DSZR SHeeecton Hz 4 2 4 Low Low Low Low D8346 or pase oer Deseo rus D8376 der ero T MGE EE ak Te speed 32 bit 50 000 DSZR 423 D8347 9 pga357 9 pga6e7 9 Dg377 9 Hz order order order order Acceleration DSZR DVIT SUBEBoUR D8348 D8358 D8368 D8378 time 16 bit 100 ZRN PLSV 427 ms DRVLDRVA Deceleration DSZR DVIT ream D8349 D8359 D8369 D8379 time 16 bit
267. put monitor BUSY READY flag seem TM ad 1 Devices related to YOO3 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 Refer to 2 Special data registers The following table shows the related special data registers Note that YOOO YOO1 YOO2 and Y003 are devices that determine the pulse output destinations Device number Data Default Refer to Y000 Yo Y002 Yoo length value D8340 si D8350 E D8360 xi D8370 EM order Current value register 39 bit Subsection 44 1 D8341 D8351 D8361 D8371 9h order D8342 D8352 D8362 D8372 Bias speed Hz 16 bit BE d D8343 pg353 LO pga3 9W pgaz3 LOW order order order order Subsection E ETE EEG ERE Maximum speed Hz 32 bit 100 000 425 D8344 9 5g354 9 D8364 9 D8374 9 m order order order order D8345 D8355 D8365 D8375 Creep speed Hz 16 bit 1000 oo D8346 pg35e 4 pgag 9 pgazg LOW order order order order Subsection TI EE T EO Zero return speed Hz 32 bit 50 000 423 D8347 9 D8357 179 D8367 9 D8377 9 E order order order order D8348 D8358 D8368 D8378 Acceleration time ms 16 bit 00 D8349 D8359 D8369 D8379 Deceleration time ms 16 bit Wee 1 Devices related to YOO3 pulse output destination are valid only if two FX3U 2HSY ADP adapters are connected to the FX3u PLC B 108 F
268. r D8342 D8352 D8362 D8372 Bias speed Hz 16 bit BE a A Q o 3 o 2 T 3 o px D8343 LO pg353 9 pases 0 D8373 Low om order order order order l Subsection 289 Hian ERE ET T Maximum speed Hz 32 bit 100 000 425 DS D8344 9 D8354 9 D8364 9 D8374 I9 di order order order order D8345 D8355 D8365 D8375 Creep speed Hz 16 bit 1000 Pr RE D8346 pg356 4 pgagg PW D8376 EOW order order order order Subsection Hiah Hiah High Hian Zero return speed Hz 32 bit 50 000 423 D8347 9 D8357 9 D8367 9 D8377 I9 order order order order D8348 D8358 D8368 D8378 Acceleration time ms 16 bit BD D8349 D8359 D8369 D8379 Deceleration time ms 16 bit Bn 1 Devices related to YOO3 pulse output destination are valid only if two FX3U 2HSY ADP adapters are connected to the FX3u PLC B 103 FX3U F X3UC 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 Ins
269. r operation of DVIT instruction refer to Chapter 9 px For operation of DRVI or DRVA instruction refer to Chapter 8 S E For details on each setting item refer to Subsection 4 2 2 and Subsection 4 2 5 to Subsection 4 2 8 DS Maximum speed g Initial value 100 000 Hz Output pulse frequency Actual EE 7 455 o Actual acceleration time S deceleration time Number of S1 Bias speed output pulses Initial value 0 Hz Acceleration Deceleration N Current ime ime Target position position Bias speed 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 y acceleration time en eid uiua MEE deceleration time rt Output pulse A 1 frequency S Bias speed Initial value 0 Hz Bias speed
270. r s Manual Positioning Control Edition Appendix 1 MELSERVO J3 Series Example Connection Appendix 1 2 High Speed Output Special Adapter 2 FX3UC PLC MR J3LJA Series servo amplifier Photo coupler Class D grounding YO20 ABS bit1 Send data read V l Be sure to use the class D grounding method grounding resistance 100 Q or less 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 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 TI c Q o 2 Q o 3 3 o 2 3 o UW Ec o LI 2S 3 2 Appendix 2 1 1 Sink Input and Sink Output 1 FXau PLC 100 to 240V AC jdwex4 Uonoeuuo9 MR J2 S LIA Series servo O Z UJ 4 o rr UJ HEEG z ii Class D grounding Q O I Torque being controlled Servo error ALM Zero speed gt z Photo coupler 5oa MN Zero Point CN1A CD U i CN1B ignal PGO j Servo ON OP Reset j E EMG Emergency stop umi RD LSP ER NE Forward rotation limit 2 Reverse rotation limit 2 ALL s to FX3u i inst
271. r the outputs of the high speed output special adapter 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 A2 When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output shown in the following table for rotation direction signals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use transistor output for signals rotation direction High speed output special Q o 3 o 2 T 3 o Pulse output Rotation direction adapter connection position output Y000 Dz YOOA The 1st adapter Y001 De Y005 Dr Y002 D2 z YOOG The 2nd adapter De Y003 B Y007 x px A3 The DLJ b cannot be indexed by index registers V and Z p O x 50 S B 107 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 2 List of Related Devices 1 Special auxiliary relaysx 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 Y000 Y001 Yo02 voo3 Subsection M8029 Instruction execution complete flag Read only 442 M8340 Pulse out
272. r 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 F X3UC 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 Shows the title of the chapter Indexes the division titles of the division and the title of the section The right side of each page indexes the title This area shows the title of the manual This area shows the title of the chapter of the division for the page currently opened and the title of the division for the page and the title of the section for the page currently opend currently opened 1st line Shows the title of the manual 2nd line Shows the title of the division Apx 2 qm A A E ei o eee FX3U FX3UC Series PLC User s Manual Positioning Control Edition Appendix 1 MELSERVO J3 Series 4 Exa
273. rain direction method and forward reverse rotation pulse train method Q o 3 o 2 T 3 o 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 Fogic of Sau P P Pulse output method command S8 method setting Ise 22 switch pu o Forward rotaion Reverse rotation I 79 Forward rotation Eonvardreistan JH Ig l FP RP side pulse train FP pulse train FP 1T Negative Reverse rotation 3 logic pulse train RP Reverse rotaion TO y y y T pulse train RP OFF PLS DIR side Pulse train Pulse train s Negative direction logic Direction 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 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 hig
274. ration in forward rotation direction Transfer operation will be started in the zero return direction at the zero return speed 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 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 c 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 d Transfer operation will be restarted in the zero return direction at the zero return speed and the workpiece will enter the DOG area again e 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 If the start position is in the near point signal OFF area after 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 reverse rotation limit 1 reverse rotation limit is detected the speed will be reduced and then the operation will be
275. return operation e Ifan 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 e f input 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 YULU rotational direction signal b Refresh YLJLJL output using REF FNC50 instruction c Execute ZRN instruction zero return instruction d By execution completion flag M8029 of ZRN instruction zero return instructi
276. ring 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 e 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 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 B 105 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 8 3 1 Instruction Format Instruction format ME 159 16 bit Instruction ve 32 bit Instruction m DRVA instruction wise Execution condition instruction BEVAT Execution condition DRVA 77 Continuous DDRVA 7 7 Continuous DRIVE TO 9 steps TA execution 17 steps
277. rmal 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 Pulse output Pulse output monitor E E destination device BUSY READY flag db YO0O0O 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 4 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 executed for the pulse output destination Use this flag to prevent simultaneous activation of two or more positioning instructions in the same pulse output de
278. roperly 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 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 om Twist the end of strand wire and make sure there is no loose wires 3 Do not solder plate the electric wire ends 2o Do not connect electric wires of unspecified size or beyond the specified number of electric wires Fixthe 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
279. rsion D8001 PLC type and T La Version information Example Ver 1 00 version PLC type Example 24 FX2N F X2NC F Xau F Xauc PLC 2 How to look at the manufacturer s serial number The year and month of production of the product can be seen from the manufacturer s serial number SERIAL indicated on the label adhered to the right side of the product Example FX3U 48MR ES manufacturer s serial number 570001 MEN MITSUBISHI ContRotter mm Usa Right side MODEL FXsu 48MR ES 100 240VAC 50 60Hz 40W OUT 30VDC 240VAC 2A COS 71 FX3J 48M TT Be BE SERIAL 570001 i Aus LISTED 80M1 IND CONT EQ C EA MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN p M TT Tz 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 1 Outline Built in Positioning Function 1 4 Version Numbers of Compatible Programming Tools 1 4 Version Numbers of Compatible Programming Tools 1 5 The built in positioning function depends on the version of the FX3u FX3uc 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 FX3u PLC Version Model Version number of number of FX3u i Remarks PLC
280. ruction OTH TM FNC 155 is used L EN 19 ZSP MEN cl ne FXoN 16EX ES UL M FX2N 16EYT SS E to Appendix 5 SON 3 1 po ABSM EE 1NP Positioning completed INP 1 ale Immediate stop command Zero return command JOG command JOG command 024 Forward rotation positioning command Reverse rotation positioning command 026 EE Forward rotation limit LSF j Reverse rotation limit LSR 030 Stop command Photo coupler Apx 9 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 grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 To ensure safety use 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 X Forward rotation limit 1 Forward rotation limit 2 Servo amplifier side Programmable Programmable Servo amplifier side nisi side controller side LSF Servo motor xa ES ES Es Reverse rotation lt Forward rotation 4 For details on the internal power supply of MR J2 S servo amplifier refer to the following manual For detail
281. rvo 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 om 6 Set the pulse output method using the pulse output method setting switch 3 3 S D 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 FX3U PLC Class D MR J2 S LIA grounding Series servo CN1B amplifier SG 10 coupler AV L COM 1 COM 1 SO voz2 EN ABS transfer mode ABS request Z gt gt Og O2 D z Photo coupler ABS bitO ABS bit1 Send data ready V D Lond EE Ulol x 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 power and operation of the servo amplifier refer to the following manual For details refer to the servo amplifier manual Apx 13 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Example Connection
282. s refer to the servo amplifier manual 5 Todetect absolute positions connect this line to the PLC Apx 10 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 2 FXasuc PLC FX3UCc 32MT LT MR J2 S LIA Series servo coupler TI c e E O 2 O O 3 o 2 3 o U UD oc o os z 2 Servo ready 6 TLC EC Torque being controlled RD EL Servo error ALM PES Zero speed Servo ON Reset jdwex4 Uonoeuuo9 Emergency stop Forward rotation limit 2 Reverse rotation limit 2 4 Connected to FX3uc if ABS instruction FNC 155 is used CLEAR signal FX2N 16EYT Refer to Appendix youl com o oe OPC 11 Positioning pupa completed INP 534 Immediate stop command Zero return command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command X026 Forward rotation limit LSF E M Reverse rotation limit LSR Stop command i 14 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 To ensure safety use 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
283. s 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 Setting range Q o 3 o 2 T 3 o Instruction Operand 16 bit operation 32 bit operation Instruction format Apx Hz Hz om iz DVIT 25 ML pea eme heH 200 000 to 1 1 to 200 000 PLSV 32768 to 1 instruction 1 to 32767 ee es es se ees eoe DRVI instruction 10 to 32767 10 to 200 000 1 If FX3U 2HSY ADP is not used note that the frequency value cannot be more than 100 000 Hz 2 If FX3u 2HSY ADP is not used note that the frequency value cannot be less than 100 000 Hz 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 of the main unit to perform operation it may cause PLC failure e Set the 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
284. se 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 T n H E H Reverse rotation lt gt Forward rotation 4 To detect absolute positions connect this line to the PLC b Set the 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 l A MR J3LJA grounding Series servo amplifier pcov 20 coupler Photo ABS bit0 SOUPE ABS bit1 Send data ready 1 Besure to use the class D grounding method grounding resistance 100 Q or less Apx 7 TI c Q o 2 O O 3 o 2 3 o U UD oc o oS z 2 jdwex4 Uonoeuuo9 F X3U FX3UC Series PLC Use
285. 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 Section 6 3 Stop command Near point signal DOG All input 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 Connect the line to the input X000 X007 specified for the zero phase signal this i X000 to 007 i a i signal input is specified by DSZR instruction 1 X000 to X007 for FX3U 16ML 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 if it is necessary to use the absolute position detection system Connect the line to the input specified by the ABS instruction Use 3 consecutive input points for this function All input ABS read points Q o 3 o 2 T 3 o Connect the line to any input If the line connected input is turned on turn on DRVI instruction for the jog
286. signal l 1 ms or less kK 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 Deceleration time Acceleration time E Initial value Initial value 100 ms NEn a a ae 100 ms Maximum speed z Initial value 100 000 Hz Creep speed S2 Bias speed Initial value 0 Hz l os Current position N CLEAR signal Rear one Front end 1 ms or less 20 ms 1 scan time ms FX3U F X3UC 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 i
287. sing M8336 2 0 SCT 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 OO O L Interrupt input for YOOO pulse output destination device Interrupt input for Y001 pulse output destination device Interrupt input for Y002 pulse output destination device Interrupt input for Y003 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 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 3 Function and Operation Setting value Description of setting Q 3 ifi interrupti d device for the interrupt s D les user interruption command device for the interrup Ver gs Peto ogee g Pulse output destination device Pulse output destination device gi YOOO M8460 Y001 M8461 Y002 M8462 Y003 M8463 9 E 3 Do not specify these values Apx F3 Set F for a pulse output destination device if the device is not used for the Interrupt S E Positioning DVIT instruction DS DD o 1 The device can be specified if the FX3u FX3uc PLC of Ver 2 20 or later is used Using the
288. special adapter is used 2 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 of output Status of LED lamp output i fy Y000 The LED indicator lamp turned on and If transistor outputs of main Pulse train direc off at a high speed will be turned off unit are used tion method Y004 Kept at the ON status r Y0 2 The LED indicator lamp turned on and Pulse train direc off at a high speed will be turned off UR Y4 6 Kept at the ON stat If high speed output Y46 Keptatthe ON status special adapter is used Forward rotation Y0 2 The LED indicator lamp turned on and pulse train FP off at a high speed will be turned off Reverse rotation 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 B 73 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
289. stination device Pulse output Positioning instruction Sia eener ine Aand oiee destination device Activation flag g P YOOO M8348 ON The positioning instruction is being activated for the Y001 M8358 corresponding pulse output destination YO02 M Even after completing execution of the instruction if the 8368 instruction is still activated the flag will not be turned off Y003 1 M8378 OFF The positioning instruction is not being activated for the corresponding pulse output destination 1 Devices related to YOO3 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC FX3U F X3UC 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 Q o 3 o 2 T 3 o 4 5 1 Setting of Common Items Using Program For each pulse output destination device YOOO YOO1 YOO2 Y003 1 set the items shown in the following table without using the operand of the instruction Setting Setting device EN S NENNEN INNEN tem f Yooo Yor ooz voos DSZR 2RN ABS TeL PLSV DVIT DRM prva PII Items related to speed Maximum D8344 D8354 D8364 D8374 y y salg oA Luz oodd Apx speed D8343 D8353 D8363 D8373 her gm a 23 OD Subsec eo Bias speed D8342 D8352 D8362 D8372 v v V3 Vv Vv v v tion a 426 Acceleration Subs
290. 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 x Sr FX3U F X3UC 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 Ifthe 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 the zero return speed c 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 d Transfer operation will be restarted in the zero return direction at the zero re
291. 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 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 FX3u Series main unit FX2N Series input output extension unit excluding some types and FXoN Series input output extension block 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 Tightening torque FX3U Series main unit FX2N Series input output powered extension M3 unit FX2N FXON Series input output extension block 0 5 to 0 83Nem FX Series terminal block 3 1 2 Termination 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 e When one wire is connected to one termina
292. t 00 0 0 cece cece eeece cece eeseeeeaeeeseeeseeesaeeeaaeeaes Apx 15 Appendix 3 1 1 Sink Input and Sink Output eee eecc ccc eeecceeeeeeeeeeeeceeceeseeeeesaeesesseeeessaeeeesaees Apx 15 Appendix 3 2 Absolute Position Detection Transistor Output seeessesssse Apx 16 Appendix 3 2 1 Sink Input and Sink Output seeesssssessssseseeeneenn ener Apx 16 Appendix 4 MELSERVO C Series Apx 17 Appendix 4 1 Main Unit Transistor Output eseeesessssesseeneeenrnne nennen Apx 17 Appendix 4 1 1 Sink Input and Sink Output sseessesssssesssssseseeenennnnennennene nnns Apx 17 Appendix 4 2 High Speed Output Special Adapter eeeeeeseeeeseneneee Apx 20 Appendix 4 2 1 Sink Input Sink Output and Differential Line Driver Output Apx 20 Warn aniy eec i RevIiSediHISTOTY eroinin a a a E li FX3U F X3UC Series PLC User s Manual Positioning Control Edition Functions and Use of This Manual Functions and Use of This Manual The FX3u 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 inst
293. t 2 speed constant the speed will be reduced to quantity feed the 2nd speed After that if Transfer interrupt input 2 turns ON Speed 1st speed goo the operation will be stopped 2nd speed after moving the specified transfer distance at the 2nd Start Interrupt Interrupt speed but the speed will be input 1 input 2 reduced just before stop Variable speed operation a Operation will be performed at the operation speed speci gt fied by PLC Start Speed Speed Stop change change EN FX3U F X3UC Series PLC User s Manual Positioning Control Edition 3 Comparison of Specifications Common Items 3 2 Comparison of Operation Modes Positioning operation pattern Description 3 m X ae sO oO wc O I NA Oe p W TE ao ieee eo x lt LL FX3u 20SSC H uonoun Buiuonisog ui yng WwW swa UOLULUOD FX2N 20GM amp C 3 O zj a O 5 oD gt lt f 5 e gt lt f Built in positioning function Linear interpolation Y axis Target The work piece will go to the target position at the speci fied vector speed interpola tion operation position x y Start point avis Circular interpolation V9 VY 10 The work piece will go to the Target position x y CW specified target position x y Radiusi along the arc at the specified Start __ ACCW Target circumferential speed pomi position This operation performs by AZ X
294. t adapter for Y001 D2 Y005 Di for YOO2 D gt Y006 The 2nd adapter for Y003 D2 Y007 B 104 FX3U F X3UC 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 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 Q o 3 o 2 T 3 o Rotation direction increase reduction of current value If the number of output pulses specified by is a positive number the operation will be ON performed in the forward rotation direction Forward rotation Outputting the Dt 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 A gt lt e duex4 8 2 4 Important Points uonoeuuo9 SS For the important points of programming refer to Section 4 7 Evenifthe 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 e Ifthe instruction activation contact is turned off du
295. t of using the contents noted in this manual 2005 MITSUBISHI ELECTRIC CORPORATION FX3U F X3UC Series PLC User s Manual Positioning Control Edition Outline Precautions 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 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 familiar with documentation which is connected with the actual operation of
296. tart Interrupt before stop the speed will be reduced input ON Variable speed operation Operation without Acceleration Deceleration Operation speed If PLSV instruction turns ON operation will be started at the specified speed Variable EE S m With an operation speed change the T ee eed instruction T PLSV positioning change 7chande OFF speed changes to the specified speed Chapter l l Variable and operation continues instruction Operation with 10 Speed Pulse Acceleration Deceleration At PLSV instruction OFF the pulse output Output Operation speed stops With acceleration deceleration operation the PLC accelerates and decelerates Start Speed Speed Instruction change change OFF Others Position Speed Instruction Positioning 1000 2000 DRVI Preliminarily set the positioning point by TBL l using batch 20000 5000 DRVA parameters If TBL instruction turns ON Chapter instruction i l setting 50 1000 DVIT the workpiece will be transferred to the 11 method 800 10000 DRVA specified point 1 This instruction is compatible with Ver 2 20 or later 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 Q
297. ted For details on Instruction execution complete flag refer to Subsection 4 7 4 B 119 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 e f the 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 4744S 8 ETENEE pulses specified by Sie Output pulse frequency specified by Actual output pulse frequency Interrupt input e If there is possibility that the interrupt input 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 lt 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 S10 Output pulse frequency specified by S2e Interrupt input e If interrupt input turns ON before execution of the instruction the operation will be performed in the same way as DR
298. ters are connected to the FXsu PLC 2 Touse FX3u 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 YOOO Y004 YO001 YO005 Y 002 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 lt gt PLC module PLC Connection 7 StationNo Hest PLCtype FX3U C File selection i Device data Program Common i Param Prog Select all Cancel all selections Fs sacer E Close i Program a MAK Related functions kal Device comment Transfer setup 3 C COMMENT M PLC parameter Remote operation Clear PLC memory 1 For Ver 8 13P to 8 24A of GX Developer the PLC type is FX3UC 2 Enter a check in PLC parameter check box and then click Execute button The selected parameter 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 conditi
299. 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 his 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 e Since the examples indicated by this manual technical bulletin catalog etc are used as a reference please use it after confirming th
300. 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 e If the limit flag forward reverse rotation in the operation direction is turned on the operation will be immediately 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 f 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 e After executing the instruction the output of the rotation direction signal will be turned off Important items for FX3uc PLC of below Ver 2 20 P I mea 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
301. the jogging operation in direction using the drive to Increment instruction Y004 0N Completes the JOG operation Resets forward rotation positioning completion flag Resets reverse rotation positioning completion flag JOG operation is being performed Performs the jogging operation in direction using the drive to Increment instruction Y004 0FF Completes the JOG operation 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 2 Programs for Forward Reverse Rotation Relay Ladder Program Q O V y E H nS X024 M8348 M10 M108 M109 et ott aaa 3 it 4 RST M12 completion flag Position Position Zero Normal Abnormal c ing in ing return end of end of Reverse rotation o forward operation compl positioning positioning RST M13 positioning rotation being etion in forward in forward completion fla 9 O S p g O D direction performed flag rotation rotation Positionin 2 5 M107 direction direction operation sino S S M107 performed in Positioning operation being forward rotation 5 performed in forward rotation m direction em direction 5 Moves to absolute D R DDRVA K500000 K100000 YOOO Y004 position
302. 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 x 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 instruction refer to Section 6 2 For operation of ZRN instruction refer to Section 6 3 Qnerandior Setting range Instruction related Instruction format device operation operation D1 Y000 D8347 D8346 DSZR Y001 D8357 D8356 z 10 to 200 000 nstru 29 Die D2e prs Dr Y002 D8367 D8366 Initial value 50000 E C2 Dr Y003 2 D8377 D8376 10 t 10 to Ds ZRN instruction 200 000 E 1 If FX3U 2HSY ADP is not used note that this value cannot be more than 100 000 Hz 2 Devices related to Y003 pulse output destination are valid only if two FX3u 2HSY ADP adapters are connected to the FX3u PLC Caution e When using the transistor outputs of the main unit set the pulse frequency for the zero return speed to less than 100 kHz If a pulse higher than 100 kHz is output from a transistor output of the main unit to perform an operation PLC failure may occur e Set the zero return speed so that the set value of the zero return speed can be less than t
303. ther special adapters it is not necessary to connect the expansion board e 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 FXpansion board FXsu PLC LUE a a I WEEE eoooccoosoooooco ATLETET 70077 E owe 1 2 4 Special Function Unit Block Connect special function unit block to the FX3u FX3uc PLC to control the positioning operation Note that special function unit can individually control the positioning operation 1 System configuration for FX3u 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 T to Up to 8 units For details on system configuration refer to the FX3u Hardware Edition 2 System configuration for FX3uc PLC Up to 7 special function units blocks can be connected to the FX3uc PLC FX2NC CNV IF or FX3UC 1PS
304. thod refer to the title of the division l Subsection 4 3 7 Pulse output ae Re TUER S OEm mGET l destination device cia l TONO OFF Positive logic Turning an the input will turn on the l Y001 interrupt input signal I l l l l l Y 002 ON Negative logic Turning off the input will turn an the l l l l l i Ea Compatible series Caution ze Shows the compatible version numbers 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 an the user interruption command device will turn on the interrupt input signal e Ver 2 20 Version below 2 20 e Ver 2 20 Version 2 20 or later l l l l l l l l l l l l l B 43 FX3U FX3UC Series PLC User s Manual Positioning Control Edition 1 Outline Built in Positioning Function 1 1 Features 1 Outline Q o 3 o 2 T 3 o This chapter describes the outline of positioning control Note that the general outputs of the FX3U FX3UC PLC transistor output and FX3U 2HSY ADP high speed output special adapter are needed for positioning control 1 1 Features 1 The general outputs of the FX3U FX3uc PLC transistor output can control up to 3 axes for the Apx positioning operation S E 33 2 If one high speed output special adapter FX3U 2HSY ADP is connected the adapter can control u
305. tination are valid only if two FX3U 2HSY ADP adapters are connected to the FX3U PLC 2 This function will be valid if Ver 2 20 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 For the user interrupt input command devices the logical NOT function will not be activated FX3U F X3UC Series PLC User s Manual Positioning Control Edition Built in Positioning Function 4 Before Programming 4 1 List of Related Devices Device number Corresponding RETO Yooo YOO1 Y002 Y003 1 instructions PLSY PWM PLSR Subedclion M8348 M8358 M8368 M8378 Positioning instruction activation Read only DSZR DVIT ZRN 444 PLSV DRVI DRVA PLSY PLSR DSZR Subsection M8349 M8359 M8369 M8379 Pulse output stop command 3 Drivable DVIT ZRN PLSV DRVI DRVA 4 3 2 M8460 2 ease Lr Lr MB463 User interrupt input command input User interrupt input command E Drivabie DVIT prece Clear signal device specification i M8464 2 M8465 2 M8466 2 M8467 2 j cm Drivable DSZRZRN gt UPsection function enabled 4 3 4 1 Devices related to YOO3 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 20 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 For the user interru
306. tioning instruction for YOOO YOO1 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 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 positioning The 1st adapter The 2nd adapter output special adapter instruction 1st axis 2nd axis 3rd axis Ath axis Forward rotation Pulse output YOOO Y001 YO02 Y003 l pulse train FP destination FP RP side R ae Rot V p cul MN YOO4 YOO5 YOOG6 YO07 pulse train RP direction signal Pulse train Pulse output Vooo voor voo2 Yooa destination PLS DIR side Rott Direction Lu eaa YOO4 YOO5 Yoos Yo07 direction signal FX3U F X3UC Series PLC User s Manual Positioning Control Edition 4 Before Programmi
307. tioning instructions etc For details 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 istas ind ars 3rd axis ath axis 3 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 FNC156 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 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 5 Output pulse frequency including zero return speed Set the output pulse frequency and the zero return speed so that these values can be less than the maximum
308. to be connected to your system x Describes how to handle high speed Enclosed output special adapter with the d JY997D16401 To use this adapter also refer to the product User s Manual for FX3U F X3uc Series for positioning Control Enclosed with the FX2N FX 1 PG JY992D65301 Describes how to handle the 1 axis pulse 09R610 User s Manual output special function block product ERGGsod Describes how to handle the 1 axis pulse with the FX2N 10PG JY992D91901 output special function block i pect Installation Manual To use this block also refer to FX2N 10PG USER S MANUAL FX2N 10PG Provides the detailed information on the JY992D93401 1 axis pulse output special function 09R61 1 document User s Manual block Describes how to handle the 1 axis Enclosed FX2N 10GM positioning special function unit with the Weare 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 g positioning special function unit with the qued JY992D77601 To use this unit also refer to FX2N product 10GM FX2N 20GM HARDWARE PROGRAMMING MANUAL FX2N 10GM FX2N 20GM HARDWARE Provides the detailed information on the document PROGRAMMING JY992D77801 eons positioning special function 09R612 MANUAL l Describes FX3U 20SSC H positioning Enclosed block specification for I O power supply FX3U 20SSC H extracted from the FX3U 20SSC H User s with the
309. 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 8 1 Speed Positioning DRVI DRVA Instruction Q o 3 o 2 T 3 o 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 Drive to Increment DRVI instruction TIGLEN EI Deo l z Uses a relative address to specify the target position Apx Absolute method AVEO ABSO UOO R VA mS rumani Uses an absolute address to specify the target position S E 33 D er For the important items common to all the positioning instructions refer to Section 4 7 gj 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 specify the transfer direction and the transfer distance relative address to determine the target position
310. 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 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 100Q 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 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 NC AUTION Q o 3 o 2 T 3 o Fit the I O cables securely to the designated connectors Contact failures may cause malfunctions Perform wiring p
311. truction FNC 155 i i X010 GWE FNC 155 is used DOT 3 0 86 FX2N 16EYT Refer to Appendix EN E Photo coupler P D D Immediate stop command Le Zero return command Positioning JOG command completed INP JOG command Forward rotation positioning command 25 Reverse rotation positioning command Forward rotation limit LSF 27 Z Reverse rotation limit LSR X030 Stop command l Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG Apx 12 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 use 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 L Servo motor T n H E n Reverse rotation gt Forward rotation TTI c Q o 2 O O 3 o 2 3 o U UD oc o os z 2 4 For details of the MR J2 S se
312. truction 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 ENC 158 io S Acceleration Deceleration time l l time Speed Output pulse frequency Number of output Time l Instruction execution l Instruction execution complete flag oN M8029 1 For CS1 specify the number of output pulses relative address value Setting range 16 bit operation 32 768 to 32 767 32 bit operation 999 999 to 999 999 2 For C amp 2 specify the output pulse frequency Setting range 16 bit operation 10 to 32 767 Hz When high speed output special 10 to 200 000 Hz adapter is used 32 bit operation Whent ist feat Oa it en transis dE of main unit to 100 000 Hz 3 For D1 specify the pulse output number in the range of YOOO to Y003 4 For D2 specify the rotation direction signal output device number When a high speed output special adapter is used as a destination for pulse output on a FX3U PLC use the output shown in the following table for rotation direction signals When a built in transistor output is used as a destination for pulse output on a FX3U FX3UC PLC use transistor output for signals rotation direction High speed output special Pulse output Rotation direction adapter connection position destination device output for YOOO D2 Y004 The 1s
313. turn DSZR Instruction 6 CLEAR signal output This instruction can output the CLEAR signal after stop at the origin If itis 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 FX3uCc PLC of Ver 2 20 or later to specify the CLEAR signal output device a If itis not necessary to use the Clear signal device specification function or if the FX3uc PLC of below Ver 2 20 is used Status of CLEAR Status of Clear signal device Pulse output signal output function specification function destination device CLEAR signal device number enable flag enable flag 1 Use the FX3u FX3uc PLC of Ver 2 20 or later to use Clear signal device specification function enable flag b 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 For the example on a program refer to Subsection 4 3 4 or Subsection 4 5 1 Status of CLEAR Status of Clear signal device Pulse output signal output function specification function destination device 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
314. turn without c v g O DOG search function fete feet te X PLSV FNC157 Variable speed Pulse Output EA EAE Eas 4 v LITT TP a DmvaFNU Wem 7 5 7 LT LI v 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 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 Puls
315. turn speed and the workpiece will enter the DOG area again e 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 A stopped Q o 3 o 2 T 3 o gt lt uonoeuuo C jdwex4 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 If an input X000 to X017 of the main unit is specified for the near point signal DOG specified by S125 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 input time 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 16ML I 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 z
316. ubo ee uiu ied eiii uae ei B 30 4 2 Setting of Various Items Regarding Speeds ccccccseeececeeeeeeeeeeeeaeeeeeeeaeeeeseeeeeeeneeeeesaeeeeeeas B 31 4 2 1 Setting of Various Items Regarding Instructions and Speeds seeeeeeeeessese B 31 4 2 2 Setting of Output Pulse Frequency DVIT PLSV DRVI and DRVA Instructions B 33 4 2 3 Setting of Zero Return Speed DSZR ZRN Instruction sseeeeesseseeneeenen B 34 4 2 4 Setting of Creep Speed DSZR ZRN Instruction sees B 35 42 5 Setting or Maxim rm SO e code ii ede oer eeepc d tiet eus antep ecu uc edd seen eed xe etal B 35 4 2 6 Setting of Bias Speed cc ceccccccessececceeseceecsesseecceeseceesseeeeecsuauseesseeeeeessegseeessesecessesssaneesenas B 36 7 2 1 SEUNG Ol Acceleration TMG uode bibs beach peccata uou venuti tede sau baden us ten bid an sus CC A B 36 4 2 8 Setting of Deceleration Time cccccceececcsssececceeecececesececseeeeceseeeecseageeeesseseeeesseeseessenseeenenes B 36 FX3U F X3UC Series PLC User s Manual Positioning Control Edition Table of Contents 4 3 Various Flags for Operation Commands essssssssssesesseeee nennen nennen nnn nnn nnn B 37 4 3 1 Forward Rotation Limit and Reverse Rotation Limit ccccccsecceesseeeeeeeeeeeeeeeeeeeeeeeseeeesseeeeees B 37 4 3 2 Immediate Stop of Pulse Output Pulse Output Stop Command Flag
317. ulse output Interrupt signal logic destination device reverse flag Yo00 MES 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 Description Caution F X3uc F X3u 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 sula uouluo gt lt jdwex4 Q O 2 D e O 5 F X3U 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 9 Acceleration Deceleration by PLSV Instruction Pad Pa Using the FX3U FX3uc PLC of Ver 2 20 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 acceler
318. ut eeeeeeeeeeeeeseseses B 66 4 9 Caution for Using the High Speed Output Special Adapter ag Se nene Dig TEE UENENEE B 66 4 10 Format and Execution of Applied Instruction ccccceccccesececeeceeseeeeeeeeeseeeeeeeeeeseeeesseeeesaeeees B 68 5 Operation Test B 70 Sl SEF FO CN estt ales TTC cm e cm B 72 5 2 Creaton Ol SS EPO aMoro S a E T B 76 6 Mechanical Zero Return DSZR ZRN Instruction B 78 6 1 Types of Mechanical Zero Return INStructiOns cccceeccceeseeeeeeeeeeeeeeeeeeeseeeeeesseeeeseeeeesasaaeees B 78 6 2 DOG Search Zero Return DSZR Instruction eese B 79 6 2 1 Nstr ction Ol MAU irse sti estote vade ub ausum aue UR s dea Dedit e SN RE M sasuund ton yeas PP LED tea Saeed B 79 6 2 2 EistorTeelated deVICGS scouts e dto uos epo a sd utis edes aCe lace atta ena LU Odes B 80 6 2 3 Funcion and Operaio acaso eiae aaepe edebant dedi oco hdc cRont sco d bte is sto ess e acu es B 82 0 2 4 Important FP OMS asec ca ate hs ecg eidem oes uc tenta demi ae deeeceeneancna ae Len Lupa n Lp suena ee ace B 88 6 3 Zero Return ZRN Instruction esses nennen nnnm nnnm nnnm nnn nnne nnns B 89 0 9 T IDsStEHCHOE T OLITIQ uhr Dos eto ez uem tuts au dann Sb eol ese DU alr Lu eh Mt cot anes B 89 6 32 Listor Teelated deVIGGS orca etis REC Am Boaddcutes tease eee nexis o uai tapa o estet a obesse Ue Du CE ue B 90 0 9 0 FUNCION add OD Cr allOM arse uiis axes Dei UIN I
319. ut output connector 5m FX 16E 500CAB 16 4 For details of connection to the FX Series terminal block refer to the FX 16E 150CAB R Ll following manuals 4117 FX3uU Hardware Edition 3m FXauc Hard Editi The 20 pin connector is attached to FX 16E 300CAB R s canis spo ne E both ends of the round multi core 9 10 cable 5m FX 16E 500CAB R 16 4 1 5m Two 20 pin connectors unit 16 ae Uae i points are attached to the PLC side of the flat cable with tube and the dedicated connector is attached to the terminal board side of the flat cable 32 points for each input output common Cable for connection of A Series FX A32E 300CAB 3m A6TBXY36 connector terminal board 9 10 conversion unit to input output 5m connector type 16 4 FX A32E 500CAB FX3U F X3UC Series PLC User s Manual Positioning Control Edition 3 Connection of Input Output Lines and Tightening Built in Positioning 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 I O CON for flat Setof Crimp style connector AWG28
320. ut terminals Before selecting main unit be sure to check the number of input points needed for operation 2 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 YO0OO Y004 1st Y 001 YO005 Y 002 Y O06 2nd Y003 Y007 3 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 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 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 AION RVI DRVA instruction Will be turned on and off PWM FNC 58
321. utput special adapter set to forward reverse rotation pulse TRAIN a Connection of PLC to servo amplifier FX3U 2HSY ADP Forward rotation pulse train Reverse rotation _ _ pulse train __ b Image of PLC output and output waveform MR J3LJA servo amplifier The output waveform shown below is based on the SGA terminal 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 Forawrd rotation pulse Forward rotation l train Y000 Reverse rotaion ON Image of output OFF if q q ON OFF operation High 5 wavefor Reverse rotation pulse train Y004 Image of output ON 7 ql 7 ql ON OFF operation OFF wavefor oron Eo EN Output Low 1 m Low l l Output Mo EN EN NM m i l l l l l l l High 1 1 1 1 LI FX3U F X3UC 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 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 Pulse output m
322. uts are turned on The status of each output should be as shown in the following table Status of LED lamp output If transistor outputs of main Pulse train direc Turned on and off at a high speed unit are used tion method Kept at the OFF status Pulse train diret Turned on and off at a high speed tion method 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 User 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 Pulse output LED lamp of output Status of LED lamp output uu l YO00 The LED indicator lamp turned on and If transistor outputs of main Pulse train direc off at a high speed wi
323. vices 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 YOO2 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 Corresponding n Yooo YOO1 Y002 voo3 instructions PLSY PLSR DSZR DVIT ZRN PLSV Subsection Instruction execution complete paver flag Read only pRVIDRVA 442 and so on Instruction execution abnormal Sala misce Subsection M8329 Read only DVIT ZRN PLSV end flag DRVI DRVA tue Acceleration deceleration j M8338 T Drivable PLSV ubsscton Operation 4 3 9 M8336 4 Iterraptinpat specification function Drivable Sur Subsection enabled 4 3 7 Pulse output monitor fla isis iori M8340 M8350 M8360 M8370 BUS READY 9 Read only DVIT ZRN PLSV DRVI DRVA M8342 M8352 M8362 M8372 Zero return direction specification 3 M8343 M8353 M8363 M8373 Forward limit PLSY PLSR DSZR 4 5 4 DVIT ZRN PLSV M8346 M8356 M8366 M8376 Zero point signal logic reverse M8347 M8357 M8367 M8377 Interrupt signal logic reverse Subsection 4 4 3 Subsection 4 3 4 Subsection 4 3 3 Subsection Subsection 4 3 1 Subsection 4 3 5 Subsection 4 3 6 Subsection 4 3 8 1 Devices related to Y003 pulse output des
324. will be stopped In this case Instruction execution complete flag M8029 will not be turned on e f 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 e 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 Ifthe 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 6 3 1 input L Data setting Zero Return ZRN Instruction Using the FX3U FX3uc PLC of Ver 2 20 or later use this instruction to change the CLEAR signal output destination Q o 3 o 2 T 3 o Instruction Format Instruction Format Boc A En Execution conditi
325. witch will be M8348 Use this device to check whether or not activated the forward reverse rotation limit switch M8329 Forward limit If X011 is turned off if the NC contact is turned on the limit switch will be activated Reverse limit Status check items Turns on when positioning instruction is activated Use this device to check whether the positioning instruction is being activated Positioning YOOO Turns on when the limit switch is activated during positioning operation Instruction execution abnormal end flag turns ON Current value register Y000 Stores the current value of the D8340 D8241 Varies when positioning g positioning operation in YOOO 32 bit instruction turns ON FX3U FX3UC Series PLC User s Manual Positioning Control Edition 5 Operation Test Built in Positioning Function 5 2 Creation of Test Program 3 Example of program M8002 FNC 12 Maximum speed for YOOO pMov K100000 D8343 H 400 000Hz gt D8344 D8343 Initial pulse FNC 12 Bias speed for Y000 FNC 12 Acceleration time for YOOO Vh BU eee 100ms D8348 FNC 12 K100 D8349 Deceleration time for YOOO MOV Q o 3 o 2 T 3 o 100ms D8349 gt lt X010 A 18343 Forward limit for YOOO Forward rotation limit 1 X011 M8344 Reverse rotation limit 1 uonoeuuo C e duex4 Reverse limit for YOOO Performs jogging operation X
326. xes Pulse output system Open collector system Differential line driver system Pulse train direction method Pulse output 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 Connect 2 adapters to the main unit to control 4 axes independently To be used when a servo amplifier with a differential line receiver method is Pulses can be output from the general connected Others purpose outputs YOOO YOO1 and To be used when positioning control is Y 002 of the main unit performed with a FX3u Series relay output type main unit Usedin place of the general purpose outputs YOOO to Y007 of the main unit 1 ForMELSERVO Series amplifiers use a sink input sink output type PLC 2 Can only be connected to the FX3U PLC Up to 2 adapters can be connected 3 If 2 adapters are connected YOOO to Y007 will be used If only one adapter is connected YOOO Y 001 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 foll

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