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FX5-40SSC Startup Manual - Allied Automation, Inc.

1. 3 phase 200 to 230 n Y FX5U CPU module Simple Motion KAKAK Y y GCBA module R S TL Yn Px o L 1 Emergency stop 5 D P 0 N Red Black Green EMI COM O L OQ EMI O QCOM L L gt 55 HAN 24VDC 24V0 MEE M N 1 px supply 9 24605 AN 2 NM M Lan 24VDC 24V0 i c A Power a Supply Emergency stop EMG 1 Alarm 1 Ready Ready 1 Par M T 1 P si 1 1 i EMG sl MC1 SK E MC2 SK MC3 sk e t 1 us suppressor MCCB2 MC1 VENERE PIT E L1 ruse U T JAN xL m v L2 V we Yo IA i 1 L11 4 a Ground magnetic L21 brake DICOM into LA SSCNET IH gt cnra ALM RA2 H EM2 1 pe CN1B DOCOM 3 24 MCCB3 MC2 tcr FTN Lt IN x 1 AN L2 V l l ER 3 B w Wo ed 4 Electro g u Ground magnetic 14 Mm brake 121 7 DICOM Na ALM EM2 1 i
2. module 3 phase 200 to 230 V AC VY FX5U CPU module Simple Motion ENS NA module MCCB1 Yn 9 L Emergency stop 5 Px o e Red Black Green EM COM L gt SSCNET Il H 4 ave c PA 1 HP supply 7 2460 NAAA RA2 CP3 HN 24VDC 424V 1 M D supply 2460 mE Emergency stop EMG Tes Alarm OFF ON NN TR FP 1 Ne lt 1 1 4 1 EMG Mcito3 SK 2 sk mcs sk 6 6 6 I S t t T surge suppressor MCCB2 MC1 T LAT x 4 E L4 U A A MR JE B Vi 1 12 V w M 1 X 2 T ES A o m Ground diu gt Ground magnetic B brake 1 DICOM I nt SSCNETII H MBR 2 EMEN ee DOCOM 24 V DC MCCB3 MC2 xo IN L1 U A TA A MR JE B vi x 1 12 V we M 22 oe B w 6 1 RAM Electro E Ground magnetic B iy a brake 1 7 DICOM Na Joa MBR cut DOCOM 24 V DC MCCB4 MC3 7 Piae A Fran o od TA voe L1 U Y A x 1 5 Ty L2 V 1 1 AN RAS X 2 v L3 JC w VA Ground peo B E 43 1 ji 1 Y DICOM MBR US
3. 9 10 11 1 External input connection connector Connects to a mechanical system input manual pulse generator incremental synchronous encoder or forced stop input 26 pin connector For the signal layout refer to the following Page 19 Specifications of Interfaces with External Devices 2 Extension cable Connects to a CPU module etc 3 Direct mounting hole 2 holes of 4 5 0 18 mounting screw Holes which are used when installed directly M4 screw 4 Axis display LED AX1 AX2 AX3 AX4 For details refer to the following 5 POWER LED Page 16 LED Display Specifications 6 RUN LED 7 ERROR LED 8 Extension connector Connects to an expansion module on the next tier 9 DIN rail mounting groove Using this slot the module can be mounted to DIN rail DIN46277 width 35 mm 10 Name plate Serial No etc are printed 11 DIN rail mounting hook Hook which is used for mounting the module onto the DIN rail 12 Pullout tab Tab for removing from a CPU module etc 13 Power supply connector Connects to a module to the power 14 cable connector Connects to a servo amplifier 1 PART NAMES 15 1 1 LED Display Specifications This section lists LED display specifications O OFF W ON Flashing Simple Motion module status LED display D
4. Home Machine home position return control x x position Fast home position return control x x return control Major Position 1 axis linear control positioning control 5 3 linear O O control interpolation control 1 axis fixed feed control O 2 3 4 axis fixed feed O O control interpolation 2 axis circular interpolation control Speed control 1 to 4 axis x switching control O Position speed switching control x Other Current value changing x O AU control NOP instruction x x x JUMP instruction x x x x x LOOP to LEND Manual JOG operation inching operation x x x x x control Manual pulse generator operation x x x x x Expansion Speed torque control x x x x x control 1 Change the current value using the positioning data Disabled for start of positioning start No 9003 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions 39 40 Combination possible Combination limited x Combination not possible Home Machine home position return position control fetum Fast home position return O x control control Major Position 1 axis linear O O O O positioning control control control 2 3 or 4 axis O An O linear interpolation control 1 axis
5. 33 Forced stop function 32 Forced stop input signal 51 Forced stop input signal common EMI COM 51 Hardware stroke limit function 32 High level positioning control 29 History monitor functi0N 34 Home position return control 29 Home position return retry function 32 Home position shift function 32 Hot line forced stop function 34 Inching operation 31 Independent positioning control positioning complete PETIT 31 internal 52 JOG operation 31 JUMP instruction 30 Bec 30 Linear control 2 eee 30 A990 T 30 M code output function 33 Machine home position return control 30 Major positioning control 29 Manual 29 Manual pulse generator operation 31 Manual pulse generator Incremental synchronous encoder phase PULSE 50 Manual pulse generator Incremental synchronous encoder B phase SIGN 50 Mark detection 34 MASS soeur ossa et e damnis pA PEE TN 18 Near pass function 32 NOP instruction 30 Numb
6. Bphase 1 B Positioning Positioning address a cet ci address 7 Ho 2 Negative logic When increased When decreased 1 ii 1 i 1 if 1 ii 1 1 A phase t t t Aphasei 1 Lf Lf B phase p n i Positioning Positioning Manual pulse HA 3 address 1 1 1 1 address 1 1 141 1 output generator A 2 PULSE SIGN type open Incremental y Input the pulse signal for counting the increased decreased pulse in the pulse input PULSE Input the collector synchronous h gi type enc der A signal for controlling forward run and reverse run in the direction sign SIGN phase PULSE 1 Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection is positive logic The motor will forward run when the direction sign is HIGH The motor will reverse run when the direction sign is LOW 2 Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection is negative logic The motor will forward run when the direction sign is LOW The motor will reverse run when the direction sign is HIGH Manual pulse HB 16 When increased When decreased generator B OLLI Di OL OL LL Incremental PULSE ffo PULSE fo synchronous Positive logic an m Positive logic i tow 1 encoder B SIGN itt SIGN I 1 1 1 1 M 1 1 1 i 1 1 1 1 i phase SIGN E
7. 55 SSCNETII H Servo network High speed synchronous communication network between Simple Motion module and servo amplifier Generic term for SSCNETIII H SSCNETII 1 SSCNET Servo System Controller NETwork 13 PERIPHERALS The following figure shows the peripherals when the Simple Motion module is used Simple Motion module L 1L SSCNET cable External input signal cable Manual pulse generator INC synchronous encoder External command signal switching signal Forced stop input 14 ojo 0 External input signal of the servo amplifier Upper limit stroke limit Lower limit stroke limit Near point dog Ko oko oj fro Ol Sp D d Servo motor V Servo Servo motor motor J MR J3 W _B type servo amplifier MR J4 W _B type servo amplifier Synchronous encoder via servo amplifier Q171ENC W8 Up to 4 modules via MR J4 _B RJ 1 PART NAMES This chapter describes the part names of the Simple Motion module 2 4 5 Mounting hole
8. No Program name Description 1 PLC READY signal ON program Notifies the Simple Motion module that the CPU module is normal before the start of positioning control 2 All axis servo ON program Enables the servo amplifier to operate 3 Positioning start No setting program Sets the positioning data that are executed with a positioning start program The operation example is the case when the start No is for machine home position return or the positioning data No 1 of the axis 1 is used 4 Positioning start program Starts the machine home position return or the positioning control using positioning data 5 JOG operation setting program Sets the JOG operation speed 6 JOG operation execution program Starts the JOG operation Programming procedure Take the following steps to create a program for the motion control 1 Set the system structure setting and parameter setting of the Simple Motion module setting for the initial setting Page 56 System setting Page 57 Parameters 2 Set the positioning data of the Simple Motion module setting Page 57 Positioning data 3 Program examples of each control 6 OPERATION EXAMPLES 55 56 System configuration The following figure shows the system configuration used for the program examples in this section X00 to X17 External device X40 to X57 4 Servo amplifier MR J4 B d Servo motor Initial sett
9. a NUR ais 71 Appendix 3 How to Check the SERIAL NO ooooocococcncrn eee eee eens 74 4 External Dimensions 2 xe a ke E gd E DSTI ER 75 INDEX 76 10 Waranty x ba a RR Er bk Coto P Sane each Se os 78 REVISION HISEOFV x A es Uus CER RD E E UE DAA 79 TRADEMARKS lt lt p 80 11 RELATED MANUALS MO A MELSEC Q F FX5 Simple Motion Module User s Manual Specifications procedures before operation system configuration wiring and operation Startup examples of the Simple Motion module lt IB 0300251 gt This manual MELSEC Q F FX5 Simple Motion Module User s Manual Functions input output signals buffer memories parameter settings programming and Application troubleshooting of the Simple Motion module lt IB 0300253 gt MELSEC iQ F FX5 Simple Motion Module User s Manual Functions and programming for the synchronous control of the Simple Motion module Advanced Synchronous Control lt IB 0300255 gt This manual does not include detailed information on the followings General specifications Available CPU modules and the number of mountable modules Installation For details refer to the following LLIMELSEC iQ F FX5U User s Manual Hardware LLIMELSEC iQ F FX5UC User s Manual Hardware e Manual refers to the Mitsubishi FA electronic boo
10. INSTALLATION PRECAUTIONS NWARNING Make sure to cut off all phases of the power supply externally before attempting installation or wiring work Failure to do so may cause electric shock or damage to the product Use the product within the generic environment specifications described in the generic specifications of the following manual MELSEC iQ F FX5 User s Manual Hardware Never use the product in areas with excessive dust oily smoke conductive dusts corrosive gas salt air Clo H2S SO flammable gas vibration or impacts or expose it to high temperature condensation or rain and wind If the product is used in such conditions electric shock fire malfunctions deterioration or damage may occur INSTALLATION PRECAUTIONS NCAUTION Do not touch the conductive parts of the product directly Doing so may cause device failures or malfunctions When drilling screw holes or wiring make sure that cutting and wiring debris do not enter the ventilation slits of the PLC Failure to do so may cause fire equipment failures or malfunctions For product supplied together with a dust proof sheet the sheet should be affixed to the ventilation slits before the installation and wiring work in order to block foreign objects such as cutting and wiring debris However when the installation work is completed make sure to remove the sheet to provide adequate ventilation Failure to do so may cause fire
11. 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 Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user or third person by failure 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 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
12. Please attach a ferrite core Ex TDK co Ltd ZCAT3035 1330 or similar to the Simple Motion module side of the cable connected to the forced stop input signal external command signal switching signal and manual pulse generator incremental synchronous encoder input signal For wiring refer to the following and each servo amplifier instruction manual LLIMELSEC iQ F FX5U User s Manual Hardware LLIMELSEC iQ F FX5UC User s Manual Hardware 5 WIRING 5 1 Precautions for Wiring 43 Wiring example of shielded cable The following shows a wiring example for noise reduction when the connector LD77MHIOCON is used Emergency stop input signal external command signal switching signal Shielded cable Connector LD77MHIOCON Manual pulse generator INC synchronous encoder input signal Properly ground inside the cable connector shell To the Simple Motion module llProcessing example of shielded cables Connections of FG wire and each shielded cable Peel off the external cover of each shield and use conductive tape to connect the shield of each shielded cable 44 5 WIRING 5 1 Precautions for Wiring Assembly of connector LD77MHIOCON Attach a cable clamp with the ground plate to the conductive tape 5 WIRING 5 1 Precautions for Wiring 45 46 Precautions for cable wiring SSCNETII cable is made from optical fiber If optical fiber is added a power such as a major shock lateral
13. 9356 Positioning start Positioning Start command pulse startsignal complete signal axis FastHPR FastHPR command command storage Positioning start signal axis 1 4 M6 10116301040 Postioning start signal OF 0716301040 Positioning start signal axis 1 Se NGA E 8560 Positioning start Start complete BUSY signal signal axis 1 signal axis 1 axis 1 U1 G2417 D Error detection signal axis 1 BJOG operation setting program X15 06 JOG operation speed low order 16 bits 9801 JOG operation speed setting AE K1200000 For unit degree 06 JOG operation speed low order 16 bits H1 K4317 D5 6 OPERATION EXAMPLES BJOG operation execution program 0116315000 011631501 0 10402 10465 10465 READY signal BUSY signal axis 1 X17 Reverse run JOG inching command X16 M7 U1 G30102 0 Forward run JOG inching Reverse run JOG inching operation flag JOG start signal axis 1 x17 M7 U1 G30101 0 Reverse run JOG inching Forward run JOG inching operation flag JOG start me axis M7 JOG inching operation flag JOG inching operation flag U1 G30101 0 Forward run JOG start signal axis 1 U1 G30102 0 Reverse JOG start signal axis 1 6 OPERATION EXAMPLES 63 64 APPENDICES Appendix 1 Component List The positioni
14. B MR J3BUSO5M 0 5 1 64 MR J3BUS1M 1 3 28 MR J3BUS3M 3 9 84 MR J3BUS_M A MR J3BUS5M A 5 16 40 Standard cable for MR J3BUS10M A 10 32 81 outside panel MR J3BUS20M A 20 65 62 MR J3BUS_M B MR J3BUS30M B 30 98 43 Long distance cable MR J3BUS40M B 40 131 23 MR J3BUS50M B 50 164 04 onnector The connector for the external input wiring External input wiring connector Applicable connector LD77MHIOCON Applicable wire size AWG30 to 24 0 05 to 0 2 2 1 4 AWG24 0 2 mm is recommended APPENDICES APPENDIX Appendix 1 Component List ations of recommended manual pulse generator Model name MR HDP01 Ambient temperature Pulse resolution 10 to 60 C 14 to 140 F 25 pulses rev 100 pulses rev after magnification by 4 Output method Voltage output Output current Max 20 mA Power supply voltage 4 5 to 13 2 V DC Current consumption 60 mA Output level H level Power supply voltage 1V or more in no load L level 0 5 V or less with maximum leading in Life time 1000000 revolutions at 200 r min Permitted axial loads Radial load Max 19 6 N Thrust load Max 9 8 N Weight Number of max revolution 0 4 kg Instantaneous Max 600 r min normal 200 r min Pulse signal status 2 signals A phase B phase 90 phase difference Start friction torque 0 06 Nem 20
15. CN1B DOCOM 3 24 MCCB MC3 EN Ur 4 X1 L1 MR J4 B U v IN 2 t an L2 V w e w Wes Electro Mm L11 Ground i ic B S i med L21 picoM ig EM2 1 CN1B DOCOM 24 V DC 2 SPECIFICATIONS 2 5 External Circuit Design 21 22 1 2 3 4 5 6 7 8 Configure up the power supply circuit which switches off the electromagnetic contactor MC after detecting the alarm occurrence on the CPU module It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake It is also possible to perform the forced stop using a forced stop terminal of the servo amplifier Set the axis selection rotary switch of servo amplifier as follows to set the axis No of servo amplifier Axis 1 0 Axis 2 1 Axis 3 2 Axis 4 3 The status of forced stop input signal can be confirmed with Md 50 Forced stop input Be sure that the forced stop 24 V DC power supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor MC near the servo amplifier Refer to the servo amplifier instruction manual for selection of the surge suppressor Wire
16. IN 1 LL L2 V d M xs 5 L3 IB w RA4 IN L1 FA ES Ground 2200 Pr 1 magnetic Mm 121 brake p 7 DICOM ALM soe eal DOCOM A 24 MCCB4 MC3 T 4 A E V v L1 MR J4 B U Y mn x IN 12 V 1 f o RAS X v v 13 AN Ground 4 L11 Oh 2 Ground magnetic Ot Mm 121 o A brake DICOM l 2 c e RAS cvi oe DOCOM 24 V DC 2 SPECIFICATIONS 2 5 External Circuit Design 25 26 1 2 3 4 5 6 7 Configure up the power supply circuit which switches off the electromagnetic contactor MC after detecting the alarm occurrence on the CPU module It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake Set the axis selection rotary switch of servo amplifier as follows to set the axis No of servo amplifier Axis 1 0 Axis 2 1 Axis 3 2 Axis 4 3 Refer to the servo amplifier instr
17. equipment failures or malfunctions Install the product on a flat surface If the mounting surface is rough undue force will be applied to the PC board thereby causing nonconformities Install the product securely using a DIN rail or mounting screws Connect the expansion board and expansion adapter securely to their designated connectors Loose connections may cause malfunctions Make sure to affix the expansion board with tapping screws Tightening torque should follow the specifications in the manual If the screws are tightened outside of the specified torque range poor connections may cause malfunctions Work carefully when using a screwdriver during product installation Failure to do so may cause damage to the product or accidents Connect the extension cables peripheral device cables input output cables and battery connecting cable securely to their designated connectors Loose connections may cause malfunctions When using an SD memory card insert it into the SD memory card slot Check that it is inserted completely Poor contact may cause malfunction Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause device failures or malfunctions Peripheral devices expansion board and expansion adapter Extension modules and bus conversion module Battery WIRING PRECAUTIONS NWARNING Make sure to cut off all phases of the power supply externally before attemp
18. 2 mm Applicable connector Pressure displacement type One touch lock style Applicable wire size AWG28 twisted 0 08 mm 1 The external input wiring connector has been prepared Please purchase them by a customer Specialized tool Manual harness tool for pressure displacement type Manufactured by Sumitomo 3M Limited 10960 Press body 10962 Fixture unit 10963 Fixture block 10964 1 Cable clamp small for 14 to 50 poles Contact for the specialized tool Sumitomo Limited http solutions 3m com wps portal 3M ja JP WW2 Country APPENDICES APPENDIX Appendix 2 Connection with External Devices External input signal cable The external input signal cable is not prepared as an option Fabricate the cable on the customer side Connection diagram Make the cable as shown in the following connection diagram type Make cable within 30 m 98 5 ft Solderless terminal 10126 3000PE connector 10326 52F0 008 connector case HBL 18 a a HO HBL HBH 17 HBH Differential output type manual pulse HAL 5 TO HAL generator INC synchronous encoder side HAH 4 TO HAH HB 16 HA 3 E E E 10 Z EC EMI ME Bc Forced stop input side EMI COM 23 pa d EMI COM I 1 4 11 DH COM 13 E DI3 12 oi NE TO Dia EN External command switching side DI2 24
19. 24 V DC 10 20 ripple ratio 5 or less ON voltage current 17 5 V DC or more 3 5 mA or more OFF voltage current 7 V DC or less 1 mA or less Input resistance Approx 6 8 Response time OFF gt ON ON OFF 4 ms or less 2 SPECIFICATIONS 4 2 4 Specifications of Interfaces with External Devices 9 20 nerator Incremental synchronous encoder input Specifications of manual pulse generator incremental synchronous encoder Signal input form 1 Phase A Phase B Magnification by 4 Magnification by 2 Magnification by 1 PULSE SIGN Differential output type Maximum input pulse frequency 1 Mpulses s After magnification by 4 up to 4 Mpulses s 2 26LS31 or equivalent Pulse width 1 us or more Leading edge trailing edge time 0 25 us or less Phase difference 0 25 us or more Rated input voltage 5 5 V DC or less High voltage 2 0 to 5 25 V DC Low voltage 0 to 0 8 V DC Differential voltage 0 2 V Cable length Up to 30 m 98 43 ft Example of waveform 1 us or more 0 5 us or more 0 5 us or more Phase A Phase B 0 25 us or more Note Duty ratio 50 0 25 us or more Voltage output type Open collector Maximum input pulse frequency 200 kpulses s After magnification by 4 up to 800 kpulses s type 5 V DC Pulse width 5 us or more Leading edge trailing edge time Phase difference 1 2 us
20. C 68 F 1 separate power supply is used use a stabilized power supply of voltage 5 V DC 0 25 V al pulse generator that the operation has been checked Nemicon Corporation 2 0025 221 1 Contact http www nemicon co jp nemicon External dimension drawing of manual pulse generator MR HDP01 Manufactured by Mitsubishi Electric Corporation Unit mm inch 3 6 0 14 d 1 06 70 2 76 50 1 97 ist 1111 60 2 36 9 5 80 3 15 1 Studs M4 x 10 PCD72 equi spaced Me v 3 04 8 0 19 0 63 0 79 0 35 0 30 K equi spaced The figure of processing a disc APPENDICES APPENDIX Appendix 1 Component List 65 il absolute synchronous encoder specifications Model name Q171ENC ws Ambient temperature 5 to 55 C 23 to 131 F Resolution 4194304 pulses rev Transmission method Serial communications Connected to MR J4 B RJ Direction of increasing addresses CCW viewed from end of shaft Protective construction Permitted speed at power ON Dustproof Waterproof IP67 Except for the shaft through portion 3600 r min Permitted speed at power OFF 500 r min Permitted axial loads Radial load Up to 19 6 N Thrust load U
21. Continuous path control cannot be set 2 axis circular interpolation control Speed control 1 to 4 axis A Only independent positioning control can be set Speed position switching control A Continuous path control cannot be set Position speed switching control A Only independent positioning control can be set Other control Current value changing A Continuous path control cannot be set NOP instruction x JUMP instruction x LOOP to LEND Manual control JOG operation inching operation x Manual pulse generator operation x Expansion control Speed torque control x 1 The operation pattern is one of the positioning data setting items 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions 35 36 and sub functions Combination possible A Combination limited X Combination not possible Home Machine home position return control A 2 position Fast home position return control x x return control Major Position 1 axis linear control x x positioning control 2 3 or 4 axis linear x x control interpolation control 1 axis fixed feed control x x 2 3 or 4 axis fixed feed x x control interpolation 2 axis circular interpolation x x control Speed control 1 to 4 axis x x Speed position switching control x x Position speed switching control Other Current value changing x x x x control NOP instruction
22. Forward run JOG start signal Starting forward run JOG U1 G30102 Reverse run JOG start signal Starting reverse run JOG U1 G30104 Positioning start signal Requesting start External input X3 Machine home position return Commanding machine home command command position return X4 Fast home position return command Commanding fast home position return X5 Positioning start command Commanding positioning start X6 Speed position switching operation Commanding speed position command switching operation X7 Speed position switching enable Commanding speed position command switching enable X10 Speed position switching prohibit Commanding speed position command switching prohibit X11 Movement amount change Commanding movement amount command change X12 High level positioning control start Commanding high level positioning command control start X15 JOG operation speed setting Commanding JOG operation speed command setting X16 Forward run JOG inching command Commanding forward run JOG inching operation X17 Reverse run JOG inching command Commanding reverse run JOG inching operation X40 Position speed switching operation Position speed switching operation command command X41 Position speed switching enable Position speed switching enable command command X42 Position speed switching prohibit Position speed switching prohibit command command X43 Speed change command Speed change command X53 PLC READY signal ON PLC READY signal ON X55 For Unit degree
23. amplifier At this time it is not possible to communicate between the servo amplifier and Simple Motion module Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand The dynamic brake operates and servomotor occurs to the free run when EM1 forced stop of the servo amplifier is turned OFF At the time the display shows E6 1 Forced stop warning During ordinary operation do not use EM1 forced stop of the servo amplifier to alternate stop and run The service life of the servo amplifier may be shortened When the control power supply of servo amplifier is shut off it is not possible to communicate with the servo amplifier after that Ex When the control power supply L11 L21 of the servo amplifier in the figure is shut off it is also not possible to communicate with the servo amplifier C If only a specific servo amplifier main circuit power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 and do not shut off the control power supply L11 L21 2 SPECIFICATIONS 2 5 External Circuit Design 3 FUNCTION LIST 3 1 Control Functions The Simple Motion module has several functions Refer to the following for details on each function LLIMELSEC iQ F FX5 Simple Motion Module User s Manual Application In this manual the Simple Motion module functions are categorized and explained as follows Main functions position retur
24. connect 21 8 20 7 7 20 19 6 18 5 8 21 16 3 9 22 1 A 1 10 Forced stop input signal 23 EMI COM Forced stop input signal common 11 External command 24 026 External command 12 DI3 8 Switching signal 25 Switching signal 13 com Common COM 26 com Common COM 1 Input type from manual pulse generator incremental synchronous encoder is switched in Pr 89 Manual pulse generator Incremental synchronous encoder input type selection Only the value specified for axis 1 is valid O Differential output type 1 Voltage output open collector type Default value 2 Set the signal input form in Pr 24 Manual pulse generator Incremental synchronous encoder input selection 3 Manual pulse generator Incremental synchronous encoder input selection open collector type Connect the A phase PULSE signal to HA and the B phase SIGN signal to HB 4 Manual pulse generator Incremental synchronous encoder input selection in Differential output type Connect the A phase PULSE signal to HAH and the A phase PULSE inverse signal to HAL Connect the B phase SIGN signal to HBH and the B phase SIGN inverse signal to HBL 5 Do not connect to any of the terminal explained as No connect 6 Set the external command signal DI in Pr 95 External command signal selection 7 to 014 common terminal arrangement is COM Common contact 4 points common 5 WIRING 4 5 2 External Input Connection Connector 9 List of
25. fixed feed O O O O control 2 3 or 4 axis O A O O fixed feed control interpolation 2 axis circular O interpolation control Speed control 1 to 4 axis O Speed position switching O A O control Position speed switching control Other Current value x x x A3 control changing NOP instruction x JUMP instruction x x x x LOOP to LEND Manual JOG operation inching AM x O x control operation Manual pulse generator x x A S x operation Expansion Speed torque control NG control 1 Valid for the reference axis only 2 Valid for only the case where a deceleration start is made during position control 3 Valid for a start of positioning start No 9003 but invalid for a start of positioning data No 1 to 600 4 Combination with the inching operation is not available Inching operation does not perform acceleration deceleration processing 5 6 Valid for Md 22 Feedrate and Md 28 Axis feedrate Refer to the following for acceleration deceleration processing in the speed torque control LLIMELSEC iQ F FX5 Simple Motion Module User s Manual Application 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions 4 PROCEDURES BEFORE OPERATIONS This chapter describes the procedures before operation 1 Mounting the module Mount the Simple Motion module to the CPU module For details refer to the following LLIMELSEC iQ F FX5U User s Manual Hardware
26. grounding shown on 2 in the figure below CPU Simple Other CPU Simple Other CPU Other module Motion equipment module Moton equipment module equipment Ground resistance of 100 Q or less 2 Shared grounding Good 3 Common grounding Not allowed Ground resistance of 100 O or less 1 Independent grounding Good Be sure to locate the grounding point as close as possible to the Simple Motion module and keep the grounding wire short Power supply wiring Power supply connector 3 Grounding Green 2 Black 1 Red Power supply wiring Simple Motion module yoelg ueelo Tes Class D grounding 48 5 WIRING 5 1 Precautions for Wiring 5 2 External Input Connection Connector Signal layout for external input connection connector The signal layout for the external input connection connector of Simple Motion module is shown below 1 No connect 14 No connect 2 SG Signal ground 15 SG Signal ground 3 723 Manual pulse generator 16 HB 723 Manual pulse generator 26 13 4 124 Incremental synchronous 17 HBH 124 Incremental synchronous 25 12 encoder A phase PULSE encoder B phase SIGN 24 11 5 4 18 HBL 124 23 10 22 9 6 No connect 19 No
27. hot line forced stop function is enabled at the MR JE B factory set Only MR JE B This function is used to execute deceleration stop for all axes by outputting the hot line forced stop signal to all axes and generating E7 1 Controller forced stop input warning at the alarm occurrence This function can be disabled by the servo parameter 27 For using the MR JE B configure up the power supply circuit which switches off the all axes electromagnetic contactor MC from the CPU module after detecting the alarm occurrence on the CPU module 3 phase 200 to 230 V AC 5 3 Y FX5U CPU module Simple Motion KAKAK 1 module RI SI Y Yn ll O L Emergency stop P ON Red Black Green o O 7 com i sscwETI H Lan 24 24 am E WAI al Power px supply 2400 Mm NUN A Lan 24 24V0 1 Powar ree S t X 3 supply Emergency stop EMG TN 1 Alarm 1 Ready Ready ON N tC t t i EMG mci Sk y pe sk ve sk CDS 1 1 Surge suppressor MCCB2 MC1 es c IA cer ipik X LT L1 U Th if x 12 v M 427 ps w x gt JA Ww o a A T Ground Ele
28. input signal details Differential Manual pulse HAH 4 1 Phase A Phase B output type generator A Input the pulse signal from the manual pulse generator incremental synchronous encoder A phase and B Incremental phase synchronous If the A phase leads B phase the positioning address will increase at the rising and falling edges of encoder A each phase phase PULSE If the phase leads the A phase the positioning address will decrease at the rising and falling edges of each phase a Magnification by 4 When increased When decreased i 1 1 1 Jj 1 1 1 1 i i 1 1 HAL 9 A phase ot uh pO A phase 11 d i A ac rr ET rr 51 Bphase mim rrt o p p tt Positioning Positioning address 1411419141411 address b Magnification by 2 When increased When decreased 1 1 1 1 T 1 1 1 1 1 T 1 1 1 1 ALFA ALA phase boxeo db A phase Manual pulse HBH 17 we ELE LE LT dogs d phase ELA generator ABA ona O dri gonna Co LET Incremental oo 1 1 1 1 1 1 1 1 arg 1 1 1 1 1 1 1 1 synchronous encoder B c Magnification by 1 phase SIGN ipi 1 Positive logic When increased When decreased bala rarum 1 T aiii Aphase p 10 pt 1 1 1 if 1 d 1 1 1 HBL 18
29. mark detection signal DI This function is used to store the data selected by user up to 4 data per axis to buffer memory and monitor them Connect disconnect function of SSCNET communication Hot line forced stop function 3 FUNCTION LIST Temporarily connect disconnect of SSCNET communication is executed during system s power supply ON This function is used to exchange the servo amplifiers or SSCNETII cables This function is used to execute deceleration stop safety for other axes when the servo alarm occurs in the servo amplifier MR JE B 3 3 Sub Functions and Common Functions 3 4 Combination of Main Functions and Sub Functions With positioning control using the Simple Motion module the main functions and sub functions can be combined and used as necessary A list of the main function and sub function combinations is given below Combination of main functions and operation patterns O Combination possible Combination limited X Combination not possible Main functions Combination with operation pattern Home position return Machine home position return control x control Fast home position return control x Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 fixed feed control A Continuous path control cannot be set 2 3 or 4 axis fixed feed control interpolation A
30. pressure haul sudden bending or twist its inside distorts or breaks and optical transmission will not be available Especially as optical fiber for MR J3BUS M MR J3BUS is made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative option of servo amplifier and servomotor Be sure to use optical fiber within the range of operating temperature described in each servo amplifier instruction manual Read described item of this section carefully and handle it with caution Minimum bend radius Make sure to lay the cable with greater radius than the minimum bend radius Do not press the cable to edges of equipment or others For SSCNETII cable the appropriate length should be selected with due consideration for the dimensions and arrangement of Simple Motion module or servo amplifier When closing the door of control panel pay careful attention for avoiding the case that SSCNETII cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius Model name of SSCNETII cable Minimum bend radius mm inch MR J3BUS M 25 0 98 MR J3BUS M A Enforced covering cord 50 1 97 Cord 25 0 98 MR J3BUS M B Enforced covering cord 50 1 97 Cord 30 1 18 Tension If tension is added on the SSCNETIT cable the increase of transmission loss occurs because of externa
31. 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 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 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 special circumstances solely at the user s discretion Revision History The manual number is listed on the back cover of this manual November 2014 IB NA 0300251 A First edition January 2015 IB NA 0300251 B MAdded or modified parts S
32. the electromagnetic brake power supply and the control power supply using a separate power supply Precautions Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of SSCNET communication by the connect disconnect function of SSCNET communication at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Simple Motion module Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand If the emergency stop signal of Simple Motion module turns OFF when setting of Pr 82 Forced stop valid invalid selection to 0 Valid servomotor is stopped with dynamic brake The LED display of servo amplifier indicates E7 1 Controller forced stop input warning When the control power supply of servo amplifier is shut off it is not possible to communicate with the servo amplifier after that Ex When the control power supply L11 L21 of the servo amplifier B in the figure is shut off it is also not possible to communicate with the servo amplifier If only a specific servo amplifier main circuit power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 and do not shut off the control power supply L11 L21 2 SPECIFICATIONS 2 5 External Circuit Design Example when using forced stop of the Simple Motion module For MR JE B The
33. with the tool specified by the manufacturer or must be correctly soldered Insufficient connections may cause short circuit fire or malfunction Be careful not to let foreign matter such as sawdust or wire chips get inside the module These may cause fires failure or malfunction The top surface of the module is covered with protective films to prevent foreign objects such as cable off cuts from entering the module when wiring Do not remove this film until the wiring is complete Before operating the system be sure to remove the film to provide adequate ventilation Securely connect the connector for SSCNETIT cable to the bottom connector on the module When removing the cable from the module do not pull the cable Hold the connector that is connected to the module Pulling the cable that is still connected to the module may cause malfunction or damage to the module or cable The external input output signal cable and the communication cable should not be routed near or bundled with the main circuit cable power cable and or other such load carrying cables other than those for the PLC These cables should be separated by at least 100 mm 3 94 inch or more They can cause electrical interference surges and inductance that can lead to mis operation The shielded cable for connecting Simple Motion module can be secured in place If the shielded cable is not secured unevenness or movement of the shielded cable or careless pulling on it c
34. 1 Axis 3 2 Axis 4 3 The status of forced stop input signal can be confirmed with Md 50 Forced stop input Be sure that the forced stop 24 V DC power supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor MC near the servo amplifier Refer to the servo amplifier instruction manual for selection of the surge suppressor Wire the electromagnetic brake power supply and the control power supply using a separate power supply Precautions Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of SSCNET communication by the connect disconnect function of SSCNET communication at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Simple Motion module Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand If the emergency stop signal of Simple Motion module turns OFF when setting of Pr 82 Forced stop valid invalid selection to 0 Valid servomotor is stopped with dynamic brake The LED display of servo amplifier indicates E7 1 Controller forced stop input warning When the control power supply of servo am
35. 3 2 Main Functions Manual JOG operation Outputs a command to servo amplifier while the JOG start signal is ON control Inching operation Outputs commands corresponding to minute movement amount by manual operation to servo amplifier Performs fine adjustment with the JOG start signal Manual pulse generator operation Expansion Speed torque control control Synchronous control Outputs pulses commanded with the manual pulse generator to servo amplifier Carries out the speed control or torque control that does not include the position loop for the command to servo amplifier by switching control mode Carries out the synchronous control that synchronizes with input axis by setting the system such as gear shaft change gear and cam to the synchronous control parameter In major positioning control high level positioning control Operation pattern can be set to designate whether to continue executing positioning data Outlines of the operation patterns are given below Independent positioning control positioning complete When independent positioning control is set for the operation pattern of the started positioning data only the designated positioning data will be executed and then the positioning will end Continuous positioning control When continuous positioning control is set for the operation pattern of the started positioning data after the designated positioning data is execu
36. 3 Time from accepting the positioning start signal until BUSY signal turns ON 4 AWG24 0 2 mm is recommended 18 2 SPECIFICATIONS 2 3 Performance Specifications 2 4 Specifications of Interfaces with External Devices Electrical specifications of input signals External input signal switching signal Specifications of external input signal switching signal Signal name Number of input points Input method Near point dog signalExternal input signal Switching signal 4 points Positive common Negative common shared Common terminal arrangement 4 points common Common contact COM Isolation method Photocoupler Rated input voltage 24 V DC Rated input current liy Approx 5 mA Operating voltage range 19 2 to 26 4 V DC 24 V DC 10 20 ripple ratio 5 or less ON voltage current 17 5 V DC or more 3 5 mA or more OFF voltage current 7 V DC or less 1 mA or less Input resistance Approx 6 8 Response time OFF gt ON gt OFF Forced stop input 1 ms or less ESpecifications of forced stop input signal Number of input points 1 point Input method Common terminal arrangement Isolation method Positive common Negative common shared 1 point common Common contact EMI COM Photocoupler Rated input voltage 24 V DC Rated input current liy Approx 5 mA Operating voltage range 19 2 to 26 4 V DC
37. 5P AWG25 10 5 pairs 7 0 18TA 115 1 0 7 3 0 16 mm 1 dis as shown below d Conductor Insulation sheath 2 Standard OD Max OD is about 10 larger NCAUTION When fabricating the cable do not make incorrect connection Wrong connection will cause runaway or explosion APPENDICES APPENDIX Appendix 2 Connection with External Devices 73 74 Appendix 3 How to Check the SERIAL No The SERIAL No of the Simple Motion module can be checked in the following method Confirming the serial number on the rating plate The rating plate is situated on the side face of the Simple Motion module MERE PROGRAMMABLE CONTROLLER MODEL FX5 AOS _ MSIP REI MEK Kc 510 887051 24 0 0 25 _ a A4X001001 5 Quin gt th US LISTED e Sout IND CONTEO EQ _ MADE IN JAPAN NIE 100 AND IKAN JAPAN BC370C325H01 See FX5 40SSC S instruction manual Voyez FX5 40SSC S mode d emploi SERIAL No APPENDICES APPENDIX Appendix 3 How to Check the SERIAL No Appendix 4 External Dimensions Unit mm inch 2 04 5 Mounting hole 80 3 15 mounting hole pitch 16 0 63 50 1 97 APPENDICES APPENDIX Appendix 4 External Dimensions 75 76 INDEX B D Absolute position s
38. 9 MITSUBISHI ELECTRIC PROGRAMMABLE CONTROLLERS series MELSEC iQ F FX5 Simple Motion Module User s Manual Startup 5 4055 5 SAFETY PRECAUTIONS Read these precautions before use Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety in order to handle the product correctly This manual classifies the safety precautions into two categories L NWARNING and N CAUTION A WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury N CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in minor or moderate injury or property damage Depending on the circumstances procedures indicated by NCAUTION may also cause severe injury It is important to follow all precautions for personal safety Store this manual in a safe place so that it can be read whenever necessary Always forward it to the end user DESIGN PRECAUTIONS NWARNING Make sure to set up the following safety circuits outside the PLC to ensure safe system operation even during external power supply problems or PLC failure Otherwise malfunctions may cause serious accidents Most importantly set up the following an emergency stop circuit a protection circuit an interlock circuit for opposite movements such as forward vs reverse rotation
39. AFETY PRECAUTIONS RELEVANT MANUALS TERMS Section 2 5 3 1 3 4 Chapter 4 Section 5 1 5 2 Chapter 6 Appendix 2 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 2014 MITSUBISHI ELECTRIC CORPORATION 79 80 TRADEMARKS Microsoft Windows Windows Vista Windows NT Windows XP Windows Server Visio Excel PowerPoint Visual Basic Visual C and Access are either registered trademarks or trademarks of Microsoft Corporation in the United States Japan and other countries Intel Pentium and Celeron are either registered trademarks or trademarks of Intel Corporation in the United States and other countries Ethernet is a registered trademark of Xerox Corp The SD and SDHC logos are either registered trademarks or trademarks of SD 3C LLC All other company names and product names used in this manual are either trademarks or registered trademarks of their respective companies gt Manual number IB NA 0300251 B 1501 MEE Model FX5SSC U S E Model code 1XB018 When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission MITSUBISHI ELECTRIC CORPORATION H
40. D plate N SHD Twisted pair for signal BAT LG MR MRR MD MDR Twisted pair 5 f Twisted pair cable Cable length 50 m 164 04 ft or less Cable cross section diagram APPENDICES APPENDIX 68 Appendix 1 Component List External dimension drawing of serial absolute synchronous encoder Serial absolute synchronous encoder Q171ENC W8 Unit mm inch 85 3 35 58 5 2 30 E 14 30 1 18 70 28 2008 14 0 55 2 lt gt 5 2 3h S 8 72 a 0 34 y gr Y N blo D N 3 ew A 5 6 Cross section diagram T 22 25 0 88 37 5 1 48 42 1 65 APPENDICES APPENDIX Appendix 1 Component List 69 70 Appendix 2 Connection with External Devices Connector Mounted onto an external input connection connector of the Simple Motion module and used for wiring an external device The external device connector includes the following 3 types Soldering type LD77MHIOCON One touch lock style 10126 3000PE 10326 52F0 008 Soldering type Screw tightening style 10126 3000PE 10326 52A0 008 Pressure displacement type One touch lock style 10126 6000EL 10326 3210 000 1 Make sure to purchase the connector which is sold separately since this is not an option the connector Soldering type One touch lock style Screw tightening style AWG30 to AWG24 0 05 to 0
41. EAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN Specifications are subject to change without notice
42. For Unit degree X56 Positioning start signal command Commanding positioning start X57 All axis servo ON command All axis servo ON command 6 OPERATION EXAMPLES Internal relay M3 Fast home position return command Commanding fast home position return M4 Fast home position return command Fast home position return command storage held M5 Positioning start command pulse Positioning start commanded M6 Positioning start command storage Positioning start command held M7 JOG inching operation termination JOG inching operation termination 9 Manual pulse generator operating Manual pulse generator operating flag flag M25 Parameter initialization command Parameter initialization command storage held M27 Flash ROM write command storage Flash ROM write command held M50 Parameter setting complete device Parameter setting completed Data registers and timers Data register DO Home position return request flag Md 31 Status b3 D1 Speed low order 16 bits Cd 25 Position speed switching control speed change register D3 Movement amount low order 16 Cd 23 Speed position switching bits control movement amount change register D5 Inching movement amount Cd 16 Inching movement amount D6 JOG operation speed low order 16 Cd 17 JOG speed bits D32 Start number Code U1 G2417 Status Md 31 Status U1 G4300 Positioning sta
43. JUMP instruction x x x x LOOP to LEND Manual JOG operation inching operation x x O control Manual pulse generator operation x x Q Expansion Speed torque control x x x control 1 Home position return retry function cannot be used during the scale origin signal detection method machine home position return 2 The near pass function is featured as standard and is valid only for setting continuous path control for position control 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions Always combine O Combination possible X Combination not possible Home Machine home position return control O position Fast home position return control O O x O return control Major Position 1 axis linear control O O O O positioning control 2 3 or 4 axis linear O O O O control interpolation control 1 axis fixed feed control O O O O 2 3 or 4 axis fixed feed O O O O control interpolation 2 axis circular interpolation O control Speed control 1 to 4 axis Speed position switching control O Position speed switching control Other Current value changing x x O O control NOP instruction JUMP instruction x x x x LOOP to LEND Manual JOG operation inching operation control Manual pulse generator operation Expansion S
44. LI DI2 COM 26 Ld 25 TIO MEE 1 DICOM 1 1 FG Shell Ma eee eee se e For Twisted pair cable 1 Make sure to perform shield treatment on the used equipment side Also connect it to the shell of connector side APPENDICES APPENDIX 1 Appendix 2 Connection with External Devices 7 HVoltage output type Open collector type Make the cable within 10 m 32 81 ft Solderless terminal Simple Motion module side 10126 3000PE connector 10326 52F0 008 connector case HBL HBH HAL HAH _ HB E 1 Voltage output type open collector HA 3 1 1 CX HA type manual pulse generator INC og Pd synchronous encoder side SG 15 MEN SG SG 2 DO Fc 19 EMI Forced stop input side EMI COM 23 TO CO COM DI3 CC External command switching side DI2 DI4 Dicom FG FG J Twisted pair cable 1 Make sure to perform shield treatment on the used equipment side Also connect it to the shell of connector side 2 APPENDICES APPENDIX 7 Appendix 2 Connection with External Devices The following table indicates the external input wiring connector cables Make selection according to your operating conditions 20276FACBL 7 0 18 mmx4P AWG25 8 4 pairs 7 0 18TA 115 1 0 6 8 0 16 mm 20276FACBL 7 0 18 mmx
45. LL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User Aircraft or Aerospace Medical applications Train equipment transport equipment such as Elevator and Escalator Incineration and Fuel devices Vehicles Manned transportation Equipment for Recreation and Amusement and Safety devices handling of Nuclear or Hazardous Materials or Chemicals Mining and Drilling and or other applications where there is a significant risk of injury to the public or property Notwithstanding the above restrictions Mitsubishi may in its sole discretion authorize use of the PRODUCT in one or more of the Prohibited Applications provided that the usage of the PROD
46. LLIMELSEC iQ F FX5UC User s Manual Hardware 2 Wiring Connect the Simple Motion module to external devices 3 Adding the module Add the 40SSC S to the module map of the project using an engineering tool 4 Module setting Set values for the module setting using an engineering tool For details refer to the following LLIGX Works3 Operating Manual 5 Auto refresh setting Set values for the refresh settings using an engineering tool For details refer to the following LLIGX Works3 Operating Manual 6 Checking connection Check that the Simple Motion module is connected to external devices correctly 7 Programming Create programs For details refer to the following LLIMELSEC iQ F FX5 Simple Motion Module User s Manual Application 8 Test operation Check that the positioning is correctly carried out as designed 4 PROCEDURES BEFORE OPERATIONS 41 42 5 WIRING 5 1 Precautions for Wiring The precautions for wiring the Simple Motion module are shown below Execute the work following the precautions below Warning for wiring NWARNING Completely turn off the externally supplied power used in the system before installation or wiring Not doing so could result in electric shock or damage to the product Caution for wiring NCAUTION Check the layout of the terminals and then properly route the wires to the module The external input wiring connector must be crimped or pressured
47. MEN rg PULSE DOW od ic Gp d PULSE Negative logic 1 Low Negative logic SIGNI 1 do Positioning ROS Positioning No address Tete TEES address ee Ael 5 WIRING 50 5 2 External Input Connection Connector External command signal 011 11 Input a control switching signal during speed position or position speed switching control Switching signal DIZ 24 Use this signal as the input signal of positioning start speed change request skip request and mark D12 detection from an external device Set the function to use this signal in Pr 42 External command 083 12 function selection Set the signal in Pr 95 External command signal selection 014 25 Common 13 Common for external command switching signals 26 Forced stop input signal EMI 10 This signal is input when batch forced stop is available for all axes of servo amplifier Forced stop input signal common 23 EMI ON Opened stop EMI COM EMI OFF 24 V DC input Forced stop release Signal ground SG 2 The signal ground in the case of using manual pulse generator INC synchronous encoder by the voltage 15 output type open collector type 5 WIRING 4 5 2 External Input Connection Connector 5 52 Interface internal circuit The outline diagrams of the internal circuits for the external device connection interface for the Simple Motion
48. Mitsubishi Electric representative When doing so please provide the manual number given at the end of this manual CONTENTS SAFETY PRECAUTIONS ihe eds 1 CONDITIONS OF USE FOR THE PRODUCT 0000 cee eer 8 INTRODUCTION v dic tes emer ee Re eke eee Re Res bE SE PR E ee ee 9 RELATED MANUALS ix acan ches SR SIERO EER cee Ae Sub a CP RUP eed gee eee 12 TERMS ane at ete MILI EE IE II Ng EE 13 PERIPHERALS as Moet vc eie ot e bat Pha pst dil caos Ree a 14 CHAPTER 1 PART NAMES 15 1 1 LED Display Specifications 0 0 cece hh hh ras 16 CHAPTER 2 SPECIFICATIONS 17 2 1 General Specifications ee eee eee eee 17 2 2 Power Supply Specifications 2 2 c ic rk eee ee ee eee ae ee eee 17 2 3 Performance Specifications 2 2 sasana na aa ga A ak RR cee eee ee eee eee 17 2 4 Specifications of Interfaces with External 19 Electrical specifications of input signals ce I n 19 2 5 External Circuit D sign seses sis rrr mme Rer eels RE D 21 CHAPTER FUNCTION LIST 29 3 1 Control FUNCIONS dep 29 3 2 Main Functions 2 2 24 sisin sa Ega ja tee eee eee nx RR eee de IG eee 30 3 3 Su
49. ONS NCAUTION O Construct an interlock circuit in the program to ensure safe operation for the whole system when executing control for data change of the PLC in operation Read the manual thoroughly and ensure complete safety before executing other controls for program change parameter change forced output and operation status change of the PLC in operation Otherwise the machine may be damaged and accidents may occur by erroneous operations DISPOSAL PRECAUTIONS NCAUTION Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of your device When disposing of batteries separate them from other waste according to local regulations For details on the Battery Directive in EU countries refer to the following MELSEC iQ F FX5 User s Manual Hardware TRANSPORTATION PRECAUTIONS NCAUTION O When transporting the PLC with the optional battery turn on the PLC before shipment confirm that the battery mode is set in PLC parameters and the BAT LED is OFF and check the battery life If the PLC is transported with the BAT LED on or the battery exhausted the battery backed data may be lost during transportation The PLC is a precision instrument During transportation avoid impacts larger than those specified in the general specifications by using dedicated packaging boxes and shock absorbing palettes Failure to do so may cause failures in the
50. PLC After transportation verify operation of the PLC and check for damage of the mounting part etc For details on the general specifications refer to the following MELSEC iQ F FX5 User s Manual Hardware O When transporting lithium batteries follow required transportation regulations For details on the regulated products refer to the following MELSEC iQ F FX5 User s Manual Hardware Fumigants that contain halogen materials such as fluorine chlorine bromine and iodine used for disinfecting and protecting wooden packaging from insects will cause malfunction in Mitsubishi products Please take necessary precautions to ensure that residual fumigants do not enter the product or treat packaging with methods other than fumigation heat method Additionally disinfect and protect wood from insects before packing CONDITIONS OF USE FOR THE PRODUCT 1 Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major or serious accident and ii where the backup and fail safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT 2 The PRODUCT has been designed and manufactured for the purpose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND A
51. RAS DOCOM 24 V DC 2 SPECIFICATIONS 2 2 5 External Circuit Design 7 28 1 2 3 4 5 6 7 Configure up the power supply circuit which switches off the electromagnetic contactor MC after detecting the alarm occurrence on the CPU module It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake Set the axis selection rotary switch of servo amplifier as follows to set the axis No of servo amplifier Axis 1 0 Axis 2 1 Axis 3 2 Axis 4 3 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor The status of forced stop input signal can be confirmed with Md 50 Forced stop input Be sure that the forced stop 24 V DC power supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor MC near the servo amplifier Refer to the servo amplifier instruction manual for selection of the surge suppressor Wire the electromagnetic brake power supply and the control power supply using a separate power supply Precautions Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of SSCNET communication by the connect disconnect function of SSCNET communication at the time of exchange of servo
52. UCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail safe redundant or other safety features which exceed the general specifications of the PRODUCTS are required For details please contact the Mitsubishi representative in your region INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC iQ F series programmable controllers This manual describes the functions and programming of the relevant products listed below Before using this product please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ F series programmable controller to handle the product correctly When applying the program examples provided in this manual to an actual system ensure the applicability and confirm that it will not cause system control problems Please make sure that the end users read this manual Relevant products FX5 40SSC S Point In this manual buffer memories are classified using the following symbols Each area name can represent the buffer memories corresponding to each axis lt Pr Symbols indicating positioning parameter or home position return parameter items Da Symbols indicating positioning data or block start data items Md Symbols indicating monitor data items Cd Symbols indicating control data items Outline Precautions This product
53. a program Method using an engineering tool External input signal select function This function sets the input type input terminal signal logic and input filter for each external input signal of each axis upper lower stroke limit signal FLS RLS near point dog signal DOG and stop signal STOP The function enables the assignment of external input signal of each axis to any terminals of 20 points of the external input connection connector on the Simple Motion module History monitor function This function monitors start history and current value history of all axes Amplifier less operation function This function executes the positioning control of Simple Motion module without connecting to the servo amplifiers It is used to debug the program at the start up of the device or simulate the positioning operation Virtual servo amplifier function This function executes the operation as the axis virtual servo amplifier axis that operates only command instruction virtually without servo amplifiers Driver communication function Mark detection function Optional data monitor function This function uses the Master slave operation function of servo amplifier The Simple Motion module controls the master axis and the slave axis is controlled by data communication between servo amplifiers driver communication without Simple Motion module This function is used to latch any data at the input timing of the
54. airs Q170ENCCBL M A Cable length 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50 164 04 Up to 50 m 164 04 ft Depends on the battery MR BAT6V1SET 10000 h When MR BAT6V1SET is used while the device is turned OFF at the ambient temperature of 25 C 77 F Connecting cable m ft Cable length Back up the absolute position Battery service life time value in actual APPENDICES APPENDIX Appendix 1 Component List 66 A cable Generally use the serial absolute synchronous encoder cables available as our products If the required length is not found in our products fabricate the cable by a customer side Selection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder Connector sets 2 are also available for your fabrication Q170ENCCBL_M A 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50 164 04 J14B103715 00 12 pairs BLACK Use the following or equivalent twisted pair cables as the serial absolute synchronous encoder cables MR J3CN2 Servo amplifier connector J14B103715 00 12 pairs 0 2 24 12 pairs 40 0 08 105 or less 0 88 9 0 BLACK 1 dis as shown below d Conductor Insulation sheath 2 Standard OD Outside Diameter Maximum OD is about 10 larger NCAUTION When fabricating the encoder cable do not m
55. ake incorrect connection Wrong connection will cause runaway or explosion APPENDICES APPENDIX Appendix 1 Component List 67 EQ170ENCCBL_M A Model explanation Type Q170ENCCBL_M A Symbol Cable length m ft 2 2 65 5 5 16 40 10 10 32 81 20 20 65 62 30 30 98 43 50 50 164 04 Connection diagram When fabricating a cable use the recommended wire and connector set MR J3CN2 for encoder cable given above and make the cable as shown in the following connection diagram Maximum cable length is 50 m 164 04 ft MR J4 B RJ Encoder connector Encoder connector COME Pin arrangement Pin Signal Pin Signal Pin arrangement Q171ENC W8 A K MR 2 6 10 Synchronous encoder cable B L MRR LG 4 8 CN2L M MRR2 MDR2 4 D N SHD 1 5 9 Synchronous E BAT 3 7 encoder 5 LG MR2 MD2 de A 8 5 50 m 164 04 ft or less ViewiB H MD T View A e Pin provided 4 MDR o Pin not provided Servo amplifier side Encoder side 36210 0100PL plug MS3106B22 14S plug 36310 3200 008 shell MS3057 12A cable clump 5 5 LG E BAT K MR i L MBR Layout twisted pair for signal to avoid contact H MD SS Pa J S
56. and an interlock circuit to prevent damage to the equipment at the upper and lower positioning limits Note that when the CPU module detects an error such as a watchdog timer error during self diagnosis all outputs are turned off Also when an error that cannot be detected by the CPU module occurs in an input output control block output control may be disabled External circuits and mechanisms should be designed to ensure safe machine operation in such a case Note that the output current of the 24 V DC service power supply varies depending on the model and the absence presence of extension modules If an overload occurs the voltage automatically drops inputs in the PLC are disabled and all outputs are turned off External circuits and mechanisms should be designed to ensure safe machine operation in such a case Note that when an error occurs in a relay triac or transistor of an output circuit the output might stay on or off For output signals that may lead to serious accidents external circuits and mechanisms should be designed to ensure safe machine operation Construct an interlock circuit in the program to ensure safe operation for the whole system when executing control for data change of the PLC in operation Read the manual thoroughly and ensure complete safety before executing other controls for program change parameter change forced output and operation status change of the PLC in operation Otherwise the machine ma
57. and the SG of 40SSC S Select the external power supply with due consideration for the capacity of manual pulse generator incremental synchronous encoder 5 WIRING 5 2 External Input Connection Connector 53 pulse generator Incremental synchronous encoder of differential output type Recommended wiring example Manual pulse generator Incremental synchronous 40SSC S encoder 71 1 1 HAH A FG J twisted pair Manual pulse generator Incremental synchronous encoder of voltage output type open collector type Recommended wiring example Manual pulse generator Incremental synchronous 40SSC S encoder LI AAA Shield External 5 V power supply FG FG J twisted pair 4 5 WIRING 5 5 2 External Input Connection Connector 6 OPERATION EXAMPLES This chapter describes the programming procedure and the basic program of the Simple Motion module When applying the program examples provided in this manual to an actual system properly verify the applicability and reliability of the control on the system Overall configuration The program examples show the programs of the following operations Machine home position return execution Execution of 1 axis linear control using axis 1 JOG operation execution The following table shows the overall configuration of the positioning control operation examples Note that the programs in the list are the ones using the axis 1 only
58. art Carries out loop control with repeated LOOP to LEND Returns to the beginning of the loop control with repeated LOOP to LEND With one start executes the positioning data in a random block with the set order Condition start Carries out condition judgment set in the condition data for the designated positioning data and then executes the block start data When the condition is established the block start data is executed When not established that block start data is ignored and the next point s block start data is executed Wait start Simultaneous start Carries out condition judgment set in the condition data for the designated positioning data and then executes the block start data When the condition is established the block start data is executed When not established stops the control until the condition is established Waits Simultaneously executes the positioning data having the No for the axis designated with the condition data Outputs commands at the same timing Repeated start FOR loop Repeats the program from the block start data set with the FOR loop to the block start data set in NEXT for the designated number of times Repeated start FOR condition Repeats the program from the block start data set with the FOR condition to the block start data set in NEXT until the conditions set in the condition data are established 30 3 FUNCTION LIST
59. b Functions and Common lt nn nnn 32 SUB n ee are oe Ach Bie oe 32 Common TUNCHONS xs Veen ee ERR OR dete oe ORE ER RA wee eee eee 34 3 4 Combination of Main Functions and Sub lt 35 CHAPTER 4 PROCEDURES BEFORE OPERATIONS 41 CHAPTER 5 WIRING 42 5 1 Precautions for Wiring 2 aaa aaa A thee deeded tees or eee beer eee dene 42 Power Supply WITING Said M apes e mandala RR Run das ult ane 48 5 2 External Input Connection Connector 0 0c cece eee eee eee 49 Signal layout for external input connection 49 List of input signal details bene Ren Edere e 50 Interface internal Circuit ng ae Rad a Ron edat XXe e BUR E RC a ees 52 CHAPTER 6 OPERATION EXAMPLES 55 APPENDICES 64 Appendix 1 Component List RE a NGANG eee ecm Boe eid ear oe m Le na e oe cse lc leti 64 Reference product Rx Eure dd uda 64 Appendix 2 Connection with External 70 CONNECCION Em 70 Externaliinput signal hea ph RE RR RR E
60. bed here Operation pattern 0 Positioning complete Control system 01h ABS Linear 1 06h FWD V P 08h FWD P V 1 axis linear control ABS Speed position switching control Position speed switching control forward run forward run Axis to be interpolated Acceleration time No 0 1000 Deceleration time No 0 1000 Positioning address 10000 0 um 2500 0 um 2000 0 um Arc address Command speed 20 00 mm min 180 00 mm min 180 00 mm min Dwell time 300 ms 0 ms 300 ms M code 9843 0 0 6 OPERATION EXAMPLES 57 58 f devices to be used In the program examples the devices to be used are assigned as follows In addition change the module access device external inputs internal relays data resisters and timers according to the system used Buffer memory address of Simple Motion module external inputs internal relay Buffer memory address U1 G31500 0 READY signal READY of uds Motion U1 G31500 1 Synchronization flag Buffer memory accessible module U1 G2417 C M code ON signal M code outputting U1 G2417 D Error detection signal Error detection U1 G31501 0 BUSY signal BUSY operating U1 G2417 E Start complete signal Start completed U1 G5950 PLC READY signal CPU module preparation completed U1 G5951 All axis servo ON signal All axis servo ON signal U1 G30101
61. cable in the duct or fix the cable at the closest part to the Simple Motion module with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector Leave the following space for wiring Putting in the duct of panel or wiring duct Simple Motion module a n 100 mm 3 94 inch more 1 Panel gt i Door Y 70 mm 2 76 inch or KO 50 mm 1 97 inch or more 50 mm 1 97 inch or more ux Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When laying cable fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material Simple Motion module Y na ly Optical cord Loose slack Bundling material Recommended product NK clamp SP type NIX Cable 5 WIRING 5 1 Precautions for Wiring 47 Precautions for wiring of grounding terminal Be sure to follow the grounding procedures below Be sure to make every effort to use independent grounding Be sure to perform grounding work with a ground resistance of 100 Q or less If itis not possible to perform independent grounding then use the shared
62. ctro q ae Ground magnetic DICOM ae o LINA SSCNET III H gt MBR RA2 cut EM2 1 DOCOM 24VDC MCCB3 MC2 7 6 Fie ce cr in zal hl L1 Y T IN AN L2 V wt M 1 5 x AIN La w i a ria 4 a Ground magnetic m ram E brake 1 AN 7 DICOM MBR IESE EM2 1 el DOCOM 24VDC MC3 T 36 ALL poo i XA L1 Y N 2 LM L2 V wt M i A RA4 x y c w Electro Ground magnetic gt a E brake 1 DICOM MBR RA EM2 1 l bacon 24V DC 2 SPECIFICATIONS 2 2 5 External Circuit Design 3 24 1 2 3 4 5 6 7 8 Configure up the power supply circuit which switches off the electromagnetic contactor MC after detecting the alarm occurrence on the CPU module It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake It is also possible to perform the forced stop using a forced stop terminal of the servo amplifier Set the axis selection rotary switch of servo amplifier as follows to set the axis No of servo amplifier Axis 1 0 Axis 2
63. e added to position control and speed control The operation of the positioning data that is set for multiple axes can be started simultaneously Command is output simultaneously to multiple servo amplifiers The designated positioning data can be executed repeatedly etc control The Simple Motion module executes the random positioning operation by inputting a signal into the Simple Motion module from an external device Use this manual control to move the workpiece to a random position JOG operation and to finely adjust the positioning inching operation manual pulse generator operation etc llExpansion control The following controls other than the positioning control can be executed Speed control and torque control not including position loop for the command to servo amplifier Speed torque control Synchronous control with gear shaft change gear and cam not by mechanical but by software use synchronous control parameter and is synchronized with input axis Synchronous control Sub functions When the main functions are executed this function compensates and limits controls or adds functions Common functions Common control using the Simple Motion module for Parameter initialization function or Execution data backup function can be carried out 3 FUNCTION LIST 3 1 Control Functions 29 3 2 Main Functions The outline of the main functions for positioning control with the Simple M
64. er of controlled 5 17 Number of occupied I O points 18 OPERATION 55 Operation setting for incompletion of home position return function 33 Optional data monitor function 34 Override function aaaea aana 32 Parameter initialization function 34 Performance Specifications 17 Position speed switching control 30 Pre reading start function 32 Program 59 Repeated start FOR condition 30 Repeated start FOR 30 Signal ground SG 51 Simultaneous start 30 Skipfunction 33 Software stroke limit function 32 Speed change function 32 Speed control 10 times multiplier setting for degree axis A ea edad iis dees doe oe 33 Speed limit function 32 Speed position switching control 30 Speed torque 31 Step TUNCHON aana ak aa mae 32 Stop command processing for deceleration stop function ECCE 32 Sub 5 29 Synchronous cONtrol aaaea 31 T Target position change function 32 Teaching function 33 Torque change 32 Torque
65. escription Normal operation AX1 0 The axes stopped AX2 O The axes on standby AX3 0 AX4 O POWER RUN M ERROR O E The axis in operation AX2 O AX3 0 AX4 O POWER RUN ERROR O Operation failure AX1 Minor error 2 4 POWER RUN M ERROR AX1 0 Moderate error AX2 O Watchdog timer error 4 O POWER RUN M ERROR 1 When the power is supplied for the Simple Motion module the POWER LED turns ON When the power is not supplied all LEDs including the POWER LED turn OFF 2 When an error occurs in the synchronous encoder axis only the ERROR LED operates The AX LED does not operate 1 1 PART NAMES 6 1 1 LED Display Specifications 2 SPECIFICATIONS This chapter describes the specifications of the 40SSC S 2 1 General Specifications General specifications except the following are the same as the connected CPU module Refer to the CPU module User s Manual for the general specifications that can be used Dielectric withstand 500 V AC for 1 minute Between all terminals and ground terminal voltage Insulation resistance 10 MQ or higher by 500 V DC insulation resistance tester 2 2 Power Supply Specifications Mems E External power Power supply voltage 24 V DC 20 1590 supply Permitted instantaneous power failure Operation continues when the instantaneous power failure is shorter than 5 ms
66. f wires or electric wires of unspecified size Affix the electric wires so that neither the terminal block nor the connected parts are directly stressed WIRING PRECAUTIONS NCAUTION Do not supply power to the 24 and 24 V terminals 24 V DC service power supply on the CPU module or extension modules Doing so may cause damage to the product Perform class D grounding grounding resistance 100 Q or less of the grounding terminal on the CPU module and extension modules with a wire 2 mm or thicker However do not use common grounding with heavy electrical systems Refer to the following for the details MELSEC iQ F FX5 User s Manual Hardware Connect the power supply wiring to the dedicated terminals described in the manual If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will burn out Do not wire vacant terminals externally Doing so may cause damage to the product Install module so that excessive force will not be applied to terminal blocks power connectors connectors communication connectors or communication cables Failure to do so may result in wire damage breakage or PLC failure NCAUTION Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to malfunction of the PLC caused by abnormal data written to the PLC due to the effects of noise Do not bundle the power line control line a
67. ge 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 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 of production
68. 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 Mitsubishi Electric This product has been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system Disclaimer If in doubt at any stage during the installation of the product always consult a professional electrical engineer who is qualified and trained in the local and national standards If in doubt about the operation or use please consult the nearest Mitsubishi Electric representative Since the examples indicated by this manual technical bulletin catalog etc are used as a reference please use it after confirming the function and safety of the equipment and system Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples This manual content specification etc may be changed without a notice for improvement The information in this manual has been carefully checked and is believed to be accurate however if you notice a doubtful point an error etc please contact the nearest
69. he operation to confirm the positioning operation during debugging etc The operation can be stopped at each automatic deceleration or positioning data 3 FUNCTION LIST 3 3 Sub Functions and Common Functions Other functions Skip function This function stops decelerates to a stop the positioning being executed when the skip signal is input and carries out the next positioning M code output function This function issues a command for a sub work clamp or drill stop tool change etc corresponding to the M code No 0 to 65535 that can be set for each positioning data Teaching function This function stores the address positioned with manual control into the Da 6 Positioning address movement amount having the designated positioning data No Cd 39 Command in position function Acceleration deceleration processing function This function calculates the remaining distance for the Simple Motion module to reach the positioning stop position When the value is less than the set value the command in position flag is set to 1 When using another auxiliary work before ending the control use this function as a trigger for the sub work This function adjusts the acceleration deceleration Deceleration start flag function Function that turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is Pos
70. in migrating plasticizer phthalate ester may affect MR J3BUS M and MR J3BUS M A cables made of plastic In addition MR J3BUS M B cable made of quartz glass is not affected by plasticizer q q Optical cord Cable C Normally cable is not affected by plasticizer Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable MRJBBUSM A A A MRusBUS wa O O If the adhesion of solvent and oil to cord part of SSCNETIII cable may lower the optical characteristic and machine characteristic To use the cable in that environment be sure to do the protection measures to the cord part When keeping the Simple Motion module or servo amplifier be sure to attach a cap to the connector part so that a dirt should not adhere to the end of connector To protect a light device inside a connector from dust a cap is attached to the SSCNETII connector for the SSCNETII cable Therefore do not remove a cap until just before connecting the cable Also when removing the SSCNETIII cable make sure to attach a cap Keep the cap and the tube for protecting light cord end of SSCNETIII cable in a plastic bag with a zipper included with the SSCNETIII cable to prevent them from becoming dirty When exchanging the Simple Motion module or servo amplifier make sure to attach a cap to the SSCNETII connector When aski
71. ing details 1 FX5U 32MR 2 FX5 40SSC S 3 FX5 16EX ES 4 FX5 16EX ES Set the system setting parameters and positioning data using the engineering tool System setting The system setting is shown below ntrol Paramete mu SSCNET Setting 1 Virtual 6 OPERATION EXAMPLES NET lParameters The following table lists parameters Use the default values for the setting items not listed here or the setting items for the axes not described here Common parameters Pr 82 Forced stop valid invalid selection 1 Invalid Basic parameters 1 Pr 1 Unit setting 0 mm Pr 2 Number of pulses per rotation 4194304 pulses Pr 3 Movement amount per rotation 250000 0 um Detailed parameters 1 Pr 22 Input signal logic selection Lower limit 1 Positive logic Pr 22 Input signal logic selection Upper limit 1 Positive logic Pr 116 FLS signal selection input type 2 Buffer memory Pr 117 RLS signal selection input type 2 Buffer memory Pr 118 DOG signal selection input type 2 Buffer memory Home position return basic Pr 46 Home position return speed 50 00 mm min parameters Pr 47 Creep speed 15 00 mm min Pr 48 Home position return retry 1 Retry home position return with limit switch llPositioning data The following table lists positioning data Use the default values for the setting items not listed here or the setting items for the axes not descri
72. ion module This function changes the speed during positioning Set the new speed in the speed change buffer memory Cd 14 New speed value and change the speed with the speed change request Cd 15 Override function This function changes the speed within a percentage of 1 to 300 during positioning This is executed using Cd 13 Positioning operation speed override Acceleration deceleration time change function Torque change function This function changes the acceleration deceleration time during speed change This function changes the torque limit value during control Target position change function This function changes the target position during positioning Position and speed can be changed simultaneously Functions related to positioning start Pre reading start function This function shortens the virtual start time Absolute position system This function restores the absolute position of designated axis Functions related to positioning stop Stop command processing for deceleration stop function Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing to speed 0 Continuous operation interrupt function Step function This function interrupts continuous operation When this request is accepted the operation stops when the execution of the current positioning data is completed This function temporarily stops t
73. itioning complete to make the stop timing known Follow up function This function monitors the motor rotation amount with the servo turned OFF and reflects it on the current feed value Speed control 10 times multiplier setting for degree axis function Operation setting for incompletion of home position return function This function executes the positioning control by the 10 times speed of the command speed and the speed limit value when the setting unit is degree This function is provided to select whether positioning control is operated or not when the home position return request flag is ON 1 The near pass function is featured as standard and is valid only for position control It cannot be set to be invalid with parameters 3 FUNCTION LIST 3 3 Sub Functions and Common Functions 33 34 Common functions The outline of the functions executed as necessary is described below Parameter initialization function This function returns the setting data stored in the buffer memory internal memory and flash ROM internal memory nonvolatile of Simple Motion module to the default values The following two methods can be used Method using a program Method using an engineering tool Execution data backup function This function writes the execution data being used in the control into the flash ROM internal memory nonvolatile The following two methods can be used Method using
74. k manuals that can be browsed using a dedicated tool e Manual has the following features Required information can be cross searched in multiple manuals Other manuals can be accessed from the links in the manual The hardware specifications of each part can be found from the product figures Pages that users often browse can be bookmarked 12 TERMS Unless otherwise specified this manual uses the following terms CPU module Abbreviation for the MELSEC iQ F series CPU module Simple Motion module Abbreviation for the MELSEC iQ F series Simple Motion module 40SSC S Another term for the MELSEC iQ F series Simple Motion module Servo amplifier Abbreviation for SSCNETIII H and SSCNETII compatible servo amplifier MR J4 W B MR J4 B MR JAW B Servo amplifier series MR J3 W B MR J3 B MR J3W B Servo amplifier series MR JE B MR JE B Servo amplifier series Engineering tool Generic term for GX Works3 and MR Configurator2 GX Works3 Product name of the software package for the MELSEC programmable controllers Version 1 005F or later MR Configurator2 Intelligent function module Product name of the setup software for the servo amplifier Version 1 34L or later A MELSEC iQ F series module that has functions other than input or output such as Simple Motion module Manual pulse generator Abbreviation for manual pulse generator prepared by user 55
75. l force which concentrates on the fixing part of 55 cable or the connecting part of SSCNETII connector At worst the breakage of SSCNETII cable or damage of 55 connector may occur For cable laying handle without putting forced tension Refer to each servo amplifier instruction manual for the tension strength of SSCNETIT cable Lateral pressure If lateral pressure is added on the SSCNETTII cable the cable itself distorts internal optical fiber gets stressed and then transmission loss will increase At worst the breakage of SSCNETII cable may occur As the same condition also occurs at cable laying do not tighten up SSCNETII cable with a thing such as nylon band TY RAP Do not trample it down or tuck it down with the door of control box or others Twisting If the 55 cable is twisted it will become the same stress added condition as when local lateral pressure or bend is added Consequently transmission loss increases and the breakage of SSCNETII cable may occur at worst Disposal When incinerating optical cable cord used for SSCNETII cable hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of SSCNETII cable request for specialized industrial waste disposal services that have incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas 5 WIRING 5 1 Precautions for Wiring Wiring process of SSCNETI cable Put the SSCNET
76. limit function 32 V Virtual servo amplifier function 34 Wait start saja anan a es 30 77 Warranty Read and completely understand the warranty below when using this product 1 Gratis Warranty Term and Gratis Warranty 2 Onerous repair term after discontinuation 78 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 Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usa
77. module are shown below command signals switching signals Input External command DII 11 24 12 25 signal Switching signal esn Internal circuit COM 13 Toe 26 External command signal Switching signal 4 _ 1to4 2 As for the 24 V DC sign both and are possible p input signals Input Forced stop input EMI 10 intemalcircuit EMI COM 23 1 Asforthe 24 V DC sign both and are possible Forced stop input signal interface between manual pulse generator incremental synchronous encoder Differential output type 1 2 Input Manual pulse generator HAH 4 Internal circuit phase A PULSE A ace 1 A i HAL 5 i A pulse generator ____________1 Incremental Manual pulse generator HBH 17 phase B SIGN CNN 1 HBL 18 Power supply B 5 VDC 1 Set 0 Differential output type in Pr 89 Manual pulse generator Incremental synchronous encoder input type selection if the manual pulse generator Incremental synchronous encoder of differential output type is used The default value is 1 Voltage output open collector type 2 Setthe signal input form in Pr 24 Manual pulse generator Incremental synchronous encoder input selection 5 WIRING 5 2 External In
78. n control Home position return control is a function Fast home position return that established the start point for carrying out positioning control Machine home position return and carries out positioning toward that start point This is used to return a workpiece located at a position other than the home position when the power is turned ON or after positioning stop to the home position The home position return control is pre registered in the Simple Motion module as the Positioning start data No 9001 Machine home position return and Positioning start data No 9002 Fast home position return Major positioning control This control is carried out using the Positioning data stored in the Simple Motion module Positioning control such as position control and speed control is executed by setting the required items in this positioning data and starting that positioning data An operation pattern can be set in this positioning data and with this whether to carry out control with continuous positioning data ex positioning data No 1 No 2 No 3 etc can be set HHigh level positioning control This control executes the positioning data stored in the Simple Motion module using the block start data The following types of applied positioning control can be carried out Random blocks handling several continuing positioning data items as blocks can be executed in the designated order Condition judgment can b
79. nd communication cables together with or lay them close to the main circuit high voltage line load line or power line As a guideline lay the power line control line and connection cables at least 100 mm 3 94 away from the main circuit high voltage line load line or power line Ground the shield of the shield wire or shielded cable at one point on the PLC However not use common grounding with heavy electrical systems Ground the shield of the analog input output cable at one point on the signal receiving side Do not use common grounding with heavy electrical systems STARTUP AND MAINTENANCE PRECAUTIONS NWARNING Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals cut off all phases of the power supply externally Failure to do so may cause electric shock Before modifying the program in mid operation forcing output running or stopping the PLC read through the manual carefully and ensure complete safety An operation error may damage the machinery or cause accidents Do not change the program in the PLC from two or more peripheral equipment devices at the same time i e from an engineering tool and a GOT Doing so may cause destruction or malfunction of the PLC program Use the battery for memory backup in conformance to the following manual MELSEC iQ F FX5 User s Manual Hardware Use the battery f
80. ng repair of Simple Motion module or servo amplifier for some troubles make also sure to attach a cap to the SSCNETIII connector When a cap is not attached the light device may be damaged at the transit In this case exchange or repair of the light device is required Precautions for wiring Use separate cables for connecting to the Simple Motion module and for the power cable that creates surge and inductance The cable for connecting the Simple Motion module should be placed in the duct or secured in place by clamps If the cable is not placed in the duct or secured by clamps unevenness or movement of the cable or careless pulling on it could result in damage to the unit or cable or defective cable connections could cause mis operation of the unit If a duct is being used separate the cables to connect the Simple Motion module from the power line duct or use metal piping Ground the pipes securely after metal piping Use the twisted pair shielded cable wire size 0 3 mm or more The shielded must be grounded on the Simple Motion module side Use separate shielded cables for the external input signal forced stop input and manual pulse generator incremental synchronous encoder input for connecting to the Simple Motion module They can cause electrical interference surges and inductance that can lead to mis operation When malfunctioning in environment with a lot of noise the effects of noise may be reduced by the following measure
81. ng system using the Simple Motion module is configured of the following devices 1 Simple Motion module FX5 40SSC S 2 Servo amplifier 3 Manual pulse generator Recommended MR HDP01 Manufactured by Mitsubishi Electric Corporation Operation has been checked UFO M2 0025 2Z1 BOOE Manufactured by Nemicon Corporation 4 SSCNETII cable Cables are needed for connecting the Simple Motion module with a servo amplifier between servo amplifiers Page 64 Reference product 5 External input signal cable Cables are needed for connecting the Simple Motion module with an external device Prepare them referring to the manuals for the connected devices and information given in the following Page 49 Signal layout for external input connection connector Reference product The cables for connecting between the Simple Motion module and servo amplifiers Refer to each servo amplifier instruction manual for details SSCNETII cable _ Cable length 015 0 15 m 0 49 ft 03 0 3 m 0 98 ft 05 0 5 m 1 64 ft 1 1 m 3 28 ft 3 3 m 9 84 ft 5 5 m 16 40 ft 10 10m 32 81 ft 20 20 m 65 62 ft 30 30 m 98 43 ft 40 40 m 131 23 ft 50 50 m 164 04 ft MR J3BUS M MR J3BUS015M 0 15 0 49 Simple Motion module lt gt MR J4 W B MR JE B MR J3 W B eo cord for inside MR J3BUSO3M 0 3 0 98 MR J4 W B MR JE B MR J3 W B lt gt MR J4 W B MR JE B MR J3 W
82. ntrol INC mode position speed switching control 0 to 214748364 7 um 0to 21474 83647 inch 0 to 21474 83647 degree 0 to 2147483647 pulse In speed position switching control ABS mode 0 to 359 99999 degree Speed command 0 01 to 20000000 00 mm min 0 001 to 2000000 000 inch min 0 001 to 2000000 000 degree min 2 1 to 1000000000 pulse s Acceleration deceleration process Trapezoidal acceleration deceleration S curve acceleration deceleration Acceleration deceleration time 1 to 8388608 ms Four patterns can be set for each of acceleration time and deceleration time Sudden stop deceleration time 1 to 8388608 ms Starting time 1 777 ms External wiring connection system 26 pin connector Applicable wire size 4 AWG30 to 24 0 05 to 0 2 mm 4 External input wiring connector LD77MHIOCON Manual pulse generator Differential output Up to 1 Mpulses s Incremental synchronous type encoder input maximum Open collector Up to 200 kpulses s frequency type Manual pulse generator 1 pulse input magnification 1 to 10000 times Flash ROM write count Max 100000 times Number of occupied I O points 8 points Mass Approx 0 3 kg 1 The speed position switching control ABS mode can be used only when the control unit is degree 2 When Speed control 10 times multiplier setting for degree axis function is valid the setting range is 0 01 to 20000000 00 degree min
83. onic gear function By setting the movement amount per pulse this function can freely change the machine movement amount per commanded pulse When the movement amount per pulse is set a flexible positioning system that matches the machine system can be structured Near pass function 1 This function suppresses the machine vibration when speed is changed during continuous path control in the interpolation control Functions that limit control Functions that change control details Speed limit function Torque limit function If the command speed exceeds Pr 8 Speed limit value during control this function limits the commanded speed to within the Pr 8 Speed limit value setting range If the torque generated by the servomotor exceeds Pr 17 Torque limit setting value during control this function limits the generated torque to within the Pr 17 Torque limit setting value setting range Software stroke limit function If a command outside of the upper lower limit stroke limit setting range set in the parameters is issued this function will not execute positioning for that command Hardware stroke limit function This function carries out deceleration stop with the hardware stroke limit switch Forced stop function Speed change function This function stops all axes of the servo amplifier with the forced stop input signal connected to the external input connection connector on the Simple Mot
84. or less 1 2 us or more Rated input voltage 5 5 V DC orless High voltage 3 0 to 5 25 V DC 2 mA or less Low voltage Cable length Example of waveform 0 to 1 0 V DC 5 mA or more Up to 10 m 32 81 ft 5 us or more 2 5 us or more 2 5 us or more Phase A Phase B 1 2 us or more Note Duty ratio 5096 1 2 us or more 1 Setthe signal input form in Pr 24 Manual pulse generator Incremental synchronous encoder input selection Phase A Phase B Forward run ff fv Sift_ Forward run Reverse run tif cff Reverse PULSE SIGN Forward run Forward run Reverse run Wh WIRI NI Reverse run HIGH LOW LOW HIGH 2 Maximum input pulse frequency is magnified by 4 when A phase B phase Magnification by 4 is set in Pr 24 Manual pulse generator Incremental synchronous encoder input selection 2 SPECIFICATIONS 2 4 Specifications of Interfaces with External Devices 2 5 External Circuit Design Configure up the power supply circuit and main circuit which turn off the power supply after detection alarm occurrence and servo forced stop When designing the main circuit of the power supply make sure to use a circuit breaker MCCB The outline diagrams for the external device connection interface are shown below Example when using the forced stop of the Simple Motion module For MR J4 B
85. or the specified purpose only Connect the battery correctly Do charge disassemble heat put in fire short circuit connect reversely weld swallow burn the battery or apply excessive force vibration impact drop etc to the battery Do not store or use the battery at high temperatures or expose to direct sunlight Do not expose to water bring near fire or touch liquid leakage or other contents directly Incorrect handling of the battery may cause excessive heat bursting ignition liquid leakage or deformation and lead to injury fire or failures and malfunction of facilities and other equipment STARTUP AND MAINTENANCE PRECAUTIONS NCAUTION Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric representative After the first use of the SD memory card do not insert remove the memory card more than 500 times Insertion removal 500 times or more may cause malfunction Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause device failures or malfunctions Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause device failures or malfunctions Peripheral devices expansion board and expansion adapter Extension modules and bus conversion module Battery OPERATION PRECAUTI
86. otion module is described below Main functions Home position return control Machine home position return control Details Mechanically establishes the positioning start point using a near point dog etc In the data setting method no axis movement occurs since the current position is set as the home position Positioning start No 9001 Fast home position return control Positions a target to the home position address Md 21 Machine feed value stored in the Simple Motion module using machine home position return Positioning start No 9002 Major positioning control High level positioning control Position Linear control Positions a target using a linear path to the address set in the positioning data or to the position control 1 axis linear control designated with the movement amount 2 axis linear interpolation control 3 axis linear interpolation control 4 axis linear interpolation control Fixed feed control Positions a target by the movement amount designated with the amount set in the positioning data 1 axis fixed feed control With fixed feed control the Md 20 Current feed value is set to 0 when the control is started 2 axis fixed feed control With 2 3 or 4 axis fixed feed control the fixed feed is fed along a linear path obtained by 3 axis fixed feed control interpolation 4 axis fixed feed control 2 axis circular Positions a target using an arc path to the addres
87. ould result in damage to the Simple Motion module servo amplifier or shielded cable or defective cable connections could cause mis operation of the unit f the cable connected to the Simple Motion module and the power line must be adjacently laid less than 100 mm 3 94 inch use a shielded cable Ground the shield of the cable securely to the control panel on the Simple Motion module side Forcibly removal the SSCNETIII cable from the Simple Motion module will damage the Simple Motion module and cables After removal of the SSCNETII cable be sure to put a cap on the SSCNETIII connector Otherwise adhesion of dirt deteriorates in characteristic and it may cause malfunctions Do not remove the SSCNETII cable while turning on the power supply of Simple Motion module and servo amplifier Do not see directly the light generated from SSCNETII connector and the end of SSCNETII cable When the light gets into eye may feel something wrong with eyes The light source of SSCNETII cable complies with class1 defined in JISC6802 or IEC60825 1 If a power such as a major shock lateral pressure haul sudden bending or twist is added to the cable it distorts or breaks inside and optical transmission is not be available Note that the short SSCNETII cable can be twisted easily Be sure to use the SSCNETII cable within the range of operating temperature described in each servo amplifier instruction manual Especially as op
88. p to 9 8 N 0 02 mm 0 00079 inch or less 15 mm 0 59 inch from tip 0 04 Nem 20 C 68 F Runout at input shaft tip Start friction torque Recommended coupling Bellows coupling 40000 rad s Permitted angular acceleration Vibration resistance 5 G 50 to 200 Hz 50 G 11 ms or less Shock resistance Internal current consumption A 0 2 Mass kg 0 6 Q170ENCCBL Cable length 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50 164 04 Connecting cable m ft Differential driver receiver Up to 50 m 164 04 ft Communications method Transmission distance 1 When o ring is required please purchase separately by a customer 2 fit exceeds a permitted speed at power OFF a position displacement is generated Specifications of serial absolute synchronous encoder input CN2L of servo amplifier Applicable types Q171ENC W8 Applicable signal types Differential output type SN75C1168 or equivalent Transmission method Serial communications Synchronous method Counter clock wise viewed from end of shaft 2 5 Mbps Absolute ABS method 4194304 pulses rev 22 bit 1 module MR J4 B RJ Communication speed Position detection method Resolution Number of modules External connector type 20 pin connector MR J3CN2 Optional Applicable connector for the external connection Applicable wire J14B103715 00 12 p
89. peed torque control O control 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions 37 38 Combination possible Combination limited X Combination not possible Home Machine home position return control A A A x position Fast home position return control return control Major Position 1 axis linear control A positioning control 2 3 or 4 axis linear control interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 2 axis circular interpolation control Speed control 1 to 4 axis switching control Position speed switching control Other Current value changing x x x x control NOP instruction JUMP instruction x x x x LOOP to LEND Manual JOG operation inching operation AS AS AS x control Manual pulse generator operation x x x x Expansion Speed torque control x x x x control 1 Invalid during creep speed 2 Invalid during continuous path control 3 Combination with the inching operation is not available Inching operation does not perform acceleration deceleration processing 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions Combination possible A Combination limited X Combination not possible
90. plifier is shut off it is not possible to communicate with the servo amplifier after that Ex When the control power supply L11 L21 of the servo amplifier B in the figure is shut off it is also not possible to communicate with the servo amplifier If only a specific servo amplifier main circuit power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 and do not shut off the control power supply L11 L21 2 SPECIFICATIONS 2 5 External Circuit Design Example when using the forced stop of the Simple Motion module and MR J4 B 3 phase 200 to 230 V AC Y FX5U CPU module Simple Motion ANA US module A MCCB1 R S T cp Yn L 1 e Emergency 5 EE Red Black Green EMI COM EMI D COM ea L gt SSCNET Il H 24 V DC A fa FS PN ll Power T N y tT supply 2460 RA2 ri x SPs H supp 2460 Emergency stop EMG Tes Alarm Ready Ready RATA ON TR Pu da em 1 1 4 1 MC1 to 3 SK MC2 SK M MC3 SK A I IN 1 t surge suppressor MCCB2 MC1 4 pom xv 7 L1 uRJ4 B U y C x 1 5 1 12 V af 1 22 2 A 6 1 RAS L1 gt o 1 magnetic L21 brake DICOM l 2 c SSCNETIII H gt ALM RAD RA3 cui Eee DOCOM 24 V DC MCCB3 MC2 4 nun vae L1 uRJ4 B U
91. put Connection Connector interface between manual pulse generator Incremental synchronous encoder Voltage output type open collector type Input 2 Manual pulse generator HA 3 Internal circuit phase A PULSE A WAS ara uium Manual i se i Manual pulse generator HB 16 generator phase B SIGN Incremental Signal ground SG 2 Power 15 supply i 5VDC EN i i 1 8 1 Voltage output open collector type in Pr 89 Manual pulse generator Incremental synchronous encoder input type selection if the manual pulse generator Incremental synchronous encoder of voltage output open collector type is used The default value is 1 Voltage output open collector type 2 Setthe signal input form in Pr 24 Manual pulse generator Incremental synchronous encoder input selection Wiring example for manual pulse generator incremental synchronous encoder Wire the manual pulse generator incremental synchronous encoder of differential output type and voltage output type open collector type as follows Switch the input type of 40SSC S by Pr 89 Manual pulse generator Incremental synchronous encoder input type selection Use the external 5 V power supply 5 V DC 5 for the power supply of the manual pulse generator incremental synchronous encoder In the case of voltage output type open collector type connect the 0 V of the manual pulse generator incremental synchronous encoder
92. rt No Cd 3 Positioning start No U1 G4301 Positioning starting point No Cd 4 Positioning starting point No U11G4326 Speed position switching control Cd 23 Speed position switching movement amount control movement amount change register U1 G4328 Speed position switching enable Cd 24 Speed position switching flag enable flag U1 G4330 Position speed switching control Cd 25 Position speed switching speed change control speed change register U1 G4332 Position speed switching enable Cd 26 Position speed switching flag enable flag READY signal ON program M25 M27 X53 U1 G5950 0 ih 7956 1 scan OFF after Parameter Parameter Flash PLC PLC READY signal setting initialization ROM write READY command command signal ON storage storage axis servo ON program U1 G5950 0 U11G31500 1 iki All axis servo ON signal 8063 All axis servo ON PLC READY Synchronizati command signal on flag 6 OPERATION EXAMPLES 59 lPositioning start No setting program 60 6 OPERATION EXAMPLES 9127 Machine HPR command 01164332 Position speed switching enable flag U1G4332 Position speed switching enable flag Speed low order 16 bits Position speed switching control U1 G4330 U1 G4301 Positioning starting point No 6 OPERATION EXAMPLES 61 lPositioning start program UTG2417 C U1 G30104 0 U1 G2417 E M7
93. s set in the positioning data or to the position interpolation control designated with the movement amount sub point or center point Speed Speed control Continuously outputs the command corresponding to the command speed set in the positioning control 1 axis speed control data 2 axis speed control 3 axis speed control 4 axis speed control Speed position switching control Position speed switching control First carries out speed control and then carries out position control positioning with designated address or movement amount by turning the speed position switching signal ON First carries out position control and then carries out speed control continuous output of the command corresponding to the designated command speed by turning the position speed switching signal ON Other control Current value changing Changes the current feed value Md 20 to the address set in the positioning data The following two methods can be used The machine feed value Md 21 cannot be changed Current value changing using positioning data Current value changing using current value changing start No No 9003 NOP instruction No execution control system When NOP instruction is set this instruction is not executed and the operation of the next data is started JUMP instruction Unconditionally or conditionally jumps to designated positioning data No LOOP LEND Block start Normal st
94. ted the program will stop once and then the next following positioning data will be executed Continuous path control When continuous path control is set for the operation pattern of the started positioning data the designated positioning data will be executed and then without decelerating the next following positioning data will be executed 3 FUNCTION LIST 3 2 Main Functions 31 32 3 3 Sub Functions and Common Functions Sub functions The outline of the functions that assist positioning control using the Simple Motion module is described below Sub function Details Functions characteristic to machine home position return Home position return retry function This function retries the home position return with the upper lower limit switches during the machine home position return This allows machine home position return to be carried out even if the axis is not returned to before the near point dog with JOG operation etc Home position shift function After returning to the machine home position this function compensates the position by the designated distance from the machine home position and sets that position as the home position address Functions that compensate control Backlash compensation function This function compensates the mechanical backlash amount Feed commands equivalent to the set backlash amount are output each time the movement direction changes Electr
95. tical fiber for MR JSBUS M and MR J3BUS M A are made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative option of servo amplifier or servomotor When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more Put the cable in the duct or fix the cable at the closest part to the Simple Motion module with bundle material in order to prevent SSCNETII cable from putting its own weight on SSCNETII connector When laying cable the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted Also fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material If adhesive tape for bundling the cable is used fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended 5 WIRING 5 1 Precautions for Wiring NCAUTION Migrating plasticizer is used for vinyl tape Keep the MR J3BUS M and MR J3BUS M A cables away from vinyl tape because the optical characteristic may be affected Generally soft polyvinyl chloride PVC polyethylene resin PE and fluorine resin contain non migrating plasticizer and they do not affect the optical characteristic of SSCNETIII cable However some wire sheaths and cable ties which conta
96. time Electricity consumption 6W Power fuse 1A Internal power PLC power supply Not used supply 2 3 Performance Specifications This section lists the performance specifications of the 40SSC S Number of controlled axes 4 axes Operation cycle 1 777 ms Interpolation function 2 3 or 4 axis linear interpolation 2 axis circular interpolation Control system PTP Point To Point control path control both linear and arc can be set speed control speed position switching control position speed switching control speed torque control Control unit mm inch degree pulse Positioning data 600 data axis Execution data backup function Parameters positioning data and block start data can be saved on flash ROM battery less backup 2 SPECIFICATIONS 2 1 General Specifications 17 Positioning Positioning system PTP control Incremental system absolute system Speed position switching control Incremental system absolute system Position speed switching control Incremental system Path control Incremental system absolute system Positioning range In absolute system 214748364 8 to 214748364 7 um 21474 83648 to 21474 83647 inch to 359 99999 degree 2147483648 to 2147483647 pulse In incremental system 214748364 8 to 214748364 7 um 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 pulse In speed position switching co
97. ting installation or wiring work Failure to do so may cause electric shock or damage to the product Make sure to attach the terminal cover provided as an accessory before turning on the power or initiating operation after installation or wiring work Failure to do so may cause electric shock The temperature rating of the cable should be 80 or more Make sure to wire the screw terminal block in accordance with the following precautions Failure to do so may cause electric shock equipment failures a short circuit wire breakage malfunctions or damage to the product Wire terminals should follow the dimensions described in the manual Tightening torque should follow the specifications in the manual Tighten the screws using a Phillips head screwdriver No 2 shaft diameter 6 mm 0 24 or less Make sure that the screwdriver does not touch the partition part of the terminal block Make sure to wire the terminal block European type in accordance with the following precautions Failure to do so may cause electric shock equipment failures a short circuit wire breakage malfunctions or damage to the product Wire terminals should follow the dimensions described in the manual Tightening torque should follow the specifications in the manual Twist the ends of stranded wires and make sure that there are no loose wires Do not solder plate the electric wire ends Do connect more than the specified number o
98. trol power supply of servo amplifier is shut off it is not possible to communicate with the servo amplifier after that Ex When the control power supply L11 L21 of the servo amplifier in the figure is shut off it is also not possible to communicate with the servo amplifier C If only a specific servo amplifier main circuit power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 and do not shut off the control power supply L11 L21 2 SPECIFICATIONS 2 5 External Circuit Design Example when using the forced stop of the Simple Motion module and MR JE B The hot line forced stop function is enabled at the MR JE B factory set Only MR JE B This function is used to execute deceleration stop for all axes by outputting the hot line forced stop signal to all axes and generating E7 1 Controller forced stop input warning at the alarm occurrence This function can be disabled by the servo parameter 27 For using the MR JE B configure up the power supply circuit which switches off the all axes electromagnetic contactor MC from the CPU module after detecting the alarm occurrence on the CPU
99. uction manual for selection of the circuit breaker and electromagnetic contactor The status of forced stop input signal can be confirmed with Md 50 Forced stop input Be sure that the forced stop 24 V DC power supply is not used with the electromagnetic brake of the motor or the electromagnetic valve power supply The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor MC near the servo amplifier Refer to the servo amplifier instruction manual for selection of the surge suppressor Wire the electromagnetic brake power supply and the control power supply using a separate power supply Precautions Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of SSCNET communication by the connect disconnect function of SSCNET communication at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Simple Motion module Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand The dynamic brake operates and servomotor occurs to the free run when EM1 forced stop of the servo amplifier is turned OFF At the time the display shows E6 1 Forced stop warning During ordinary operation do not use EM1 forced stop of the servo amplifier to alternate stop and run The service life of the servo amplifier may be shortened When the con
100. y be damaged and accidents may occur due to erroneous operations In an output circuit when a load current exceeding the current rating or an overcurrent caused by a load short circuit flows for a long time it may cause smoke and fire To prevent this configure an external safety circuit such as a fuse For the operating status of each station after a communication failure of the network refer to relevant manuals for the network Incorrect output or malfunction may result in an accident DESIGN PRECAUTIONS NCAUTION When an inductive load such as a lamp heater or solenoid valve is controlled a large current approximately ten times greater than normal may flow when the output is turned from off to on Take proper measures so that the flowing current does not exceed the value corresponding to the maximum load specification of the resistance load After the CPU module is powered on or is reset the time taken to enter the RUN status varies depending on the system configuration parameter settings and or program size Design circuits so that the entire system will always operate safely regardless of this variation in time Simultaneously turn on and off the power supplies of the CPU module and extension modules If a long time power failure or an abnormal voltage drop occurs the PLC stops and output is turned off When the power supply is restored it will automatically restart when the RUN STOP RESET Switch is on RUN
101. ystem 32 Acceleration deceleration processing function 33 Acceleration deceleration time change function 32 Amplifier less operation function 34 Applicable wire 5 18 Backlash compensation function 32 Block start 5 30 Combination of Main Functions and Sub Functions TEE 35 Command in position function 33 Common 51 Common functions 29 Component List 64 Condition start 30 Connect disconnect function of SSCNET communication DARE NE BR GOR S MRA gas is PEI 34 Connection with External Devices 70 Continuous operation interrupt function 32 Continuous path control 31 Continuous positioning control 31 Current value changing 30 Deceleration start flag function 33 Driver communication function 34 Electronic gear 32 Execution data backup function 34 Expansion 29 External Dimensions 75 External input signal select function 34 External input wiring connector 18 Fast home position return control 30 Fixed feed 30 Follow up

FX5-40SSC Startup Manual - Allied Automation, Inc.

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