Mitsubishi Electric MELSEC iQ-F Series User Manual
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Mitsubishi Electric MELSEC iQ-F Series User Manual

Mitsubishi Electric MELSEC iQ-F Series User Manual

Positioning control
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MELSEC iQ-F
FX5 User's Manual (Positioning Control)

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  • Page 1 MELSEC iQ-F FX5 User's Manual (Positioning Control)

  • Page 2: The Basics Of Positioning Control

    FX Series Programmable Controllers 1 The Basics of Positioning Control Introduction to FX Positioning Control Systems 1.1 What is positioning control? The Basics of Positioning Control What is positioning control? The positioning controller, together with the programmable logic controller, personal computer and operator interface, is one of the four main units of FA (factory automation).
  • Page 3 FX Series Programmable Controllers 1 The Basics of Positioning Control Introduction to FX Positioning Control Systems 1.2 Actuators for positioning Actuator(s) Features and Drawbacks Schematic drawing Constant Speed reducer quantity Clutch feed hopper • Frequent positioning is possible. brake unit •...

  • Page 4: Positioning Method Type

    FX Series Programmable Controllers 1 The Basics of Positioning Control Introduction to FX Positioning Control Systems 1.3 Positioning method type Positioning method type In general, there are two methods to control the movement of a workpiece: speed control and position control. For basic, more rudimentary positioning, speed control can be used with an inverter and general purpose motor.

  • Page 5: Positioning By Ac Servo System

    FX Series Programmable Controllers 2 Positioning by AC Servo System Introduction to FX Positioning Control Systems 2.1 Advantages for using an AC servo system Positioning by AC Servo System Advantages for using an AC servo system With an AC servo system, positioning can be performed by many diversified methods. Typically, a position controller, servo amplifier and servo motor are required for positioning with an AC servo system.

  • Page 7: Examples Of Ac Servo Systems

    FX Series Programmable Controllers 2 Positioning by AC Servo System Introduction to FX Positioning Control Systems 2.2 Examples of AC servo systems Examples of AC servo systems Positioning indicates the operation to move an object, such as a workpiece or tool (drill or cutter), from one point to another point and to stop it with efficiency and precision.
  • Page 8 FX Series Programmable Controllers 2 Positioning by AC Servo System Introduction to FX Positioning Control Systems 2.2 Examples of AC servo systems Type of machine Description Schematic drawing Servo As negative load is applied on the amplifier servo motor in positioning of the lifter vertical direction, regenerative option is also used.

  • Page 9: Positioning Controller

    FX Series Programmable Controllers 3 Components of Positioning Control and Their Roles Introduction to FX Positioning Control Systems 3.1 Positioning controller Positioning controller Positioning controllers use programs and parameters to send positioning commands to the servo amplifier. Contents related to programs and parameters are described below. 3.1.1 Command pulse control method There are two types of control formats used for outputting command pulses from an FX Series positioning...
  • Page 10 FX Series Programmable Controllers 3 Components of Positioning Control and Their Roles Introduction to FX Positioning Control Systems 3.2 Servo amplifier and servo motor Servo amplifier and servo motor The servo amplifier controls the movement quantity and the speed according to the commands given by the positioning controller.
  • Page 11 OUTLINE The FX5 PLCs (transistor output) can perform positioning control by outputting pulse signals to servo motors or stepping motors. Increase the pulse frequency to increase the motor speed. Increase the number of pulses to increase the number of motor revolutions. In other words, set the pulse frequency to determine the workpiece transfer (positioning) speed. Set the number of pulses to determine the workpiece transfer distance.

  • Page 12: Performance Specifications

    SPECIFICATIONS For general specifications and power supply, refer to the following manual. FX5U User's manual (Hardware) FX5UC User's manual (Hardware) Performance Specifications The following list shows performance specifications of the positioning function. For details on each positioning parameter and setting procedures, refer to Page 35 POSITIONING PARAMETER. Item Description Number of control axes...
  • Page 13 Item Specifications 2.5 s or less at 10 mA or more (5 to 24 V DC) Response time FX5U-MT, Y0 to Y3 FX5UC-32MT FX5U-MT Y4 or more 0.2 ms or less at 200 mA (24 V DC) FX5UC-MT 0.2 ms or less at 100 mA (24 V DC) Circuit insulation Photo-coupler insulation Indication of output motion...

  • Page 14: Basic Setting

    Basic Setting The items set in basic setting correspond to the positioning parameters of each axis. In special devices corresponding to parameters, values set in the basic setting are stored as the initial values when the power is turned on from off or system is reset.

  • Page 15: Parameter List

    Parameter list The following table lists the positioning parameters that can be set in Basic Setting. Item Setting value Initial value Reference ■Basic Parameter 1 Pulse Output Mode 0: Not Used, 1: PULSE/SIGN, 2: CW/CCW 0: Not Used Page 39 Output Device PULSE/CW Y0 to Y3...

  • Page 16: Input Check

    Input Check The usage status of the built-in input (X0 to X17) can be checked from input check. Inputs do not need to be set in this window because the basic setting is applied. Window Navigation window  Parameter  FX5UCPU  Module Parameter  High Speed I/O  Input Check  Positioning Output Confirmation The usage status of the built-in output (Y0 to Y17) can be checked from output check.

  • Page 17: General-Purpose Input Function Parameters

    General-purpose input function parameters This section explains the general-purpose input parameters. Set the input response time parameters in GX Works3. Parameter setting This section explains how to set the input response time parameters. Set the input response time. Navigation window  [Parameter]  [FX5UCPU]  [Module Parameter]  [Input Response Time] Window Displayed items Item...
  • Page 18 Current address Store the current address operated by the positioning instruction. The current address stores an absolute address and is increased or decreased depending on the rotation direction. ■Current address (user unit) The unit is the machine/multiple system unit, and the value indicated includes positioning data magnification. (Page 41 Unit Setting, Page 43 Position Data Magnification) The address range is -2147483648 to +2147483647.
  • Page 19 Positioning instruction activation Use "positioning instruction activation" to check whether or not a positioning instruction is being executed. Even if no pulse is output, this flag is on while the instruction is being driven. Even after the drive contact of the positioning instruction is turned off, this flag remains on until the pulse output is stopped.
  • Page 20 Mechanical OPR If forward rotation pulses or reverse rotation pulses are generated, the positioning instruction will increase or decrease the value of the current address. When the power of the CPU module is turned off, the value stored in the current address will be erased. For this reason, after turning on the power again, be sure to adjust the value of the current address in the CPU module to the current position of the machine.
  • Page 21 ■Description, range, data type (DDSZR) Operand Description Range Data type Data type (label) (s1) Word device number storing OPR speed or data 1 to 2147483647 32-bit signed binary ANY32 (User system unit) (s2) Word device number storing creep speed or data 1 to 2147483647 32-bit signed binary ANY32...

  • Page 22: Outline Of Operation

    Outline of operation For each speed, refer to Page 43 Items related to speed. For the items related to OPR, refer to Page 52 Items related to OPR. Drive contact DSZR/DDSZR (s1) (s2) (d1) (d2) Speed Deceleration Acceleration time time Maximum speed OPR speed (s1) Creep speed...
  • Page 23 Operand specification ■When FX5 operand is specified or the DDSZR instruction is used For (s1), specify the OPR speed. Set to a value 1 pps to 200 Kpps in pulse. • DSZR : 1 to 65535 (User system unit) DDSZR : 1 to 2147483647 (User system unit) •...

  • Page 24: Program Example

    Operation of the complete flags The following describes the operation timings of the complete flags. The user-specified complete flags are valid only when specified using FX5 operand. If dwell time is specified, the user- specified complete flag turns on after the dwell time elapses. FX3 compatible User specification Instruction execution...
  • Page 25 Setting data Positioning parameter (high speed I/O parameter) Item Axis 1 Item Axis 1 ■Basic Parameter 1 ■Detailed Setting Parameter Pulse Output Mode 1: PULSE/SIGN External Start Signal Enabled/Disabled 0: Invalid Output Device (PULSE/CW) Interrupt Input Signal 1 Enabled/ 0: Invalid Disabled Output Device (SIGN/CCW) Rotation Direction Setting...
  • Page 26 Caution • Detection of (the rear end and the front end of) the near-point dog will be affected by the input response time and the scan time of the sequence program. Secure 1 scan time or more from the rear end of the near-point dog to turning ON of the zero signal.

  • Page 27: Relative Positioning

    Relative Positioning This instruction performs 1-speed positioning in the incremental method (positioning operation with a relative address). While regarding the current position as the start point, specify the transfer direction and the transfer distance (relative address) to determine the target position. Transfer distance-100 Start point Transfer distance+100...
  • Page 28 ■Description, range, data type (DDRVI) • FX5 operand Operand Description Range Data type Data type (label) (s1) Word device number storing the positioning address or -2147483648 to +2147483647 32-bit signed binary ANY32 data (User system unit) (s2) Word device number storing command speed or data 1 to 2147483647 32-bit signed binary ANY32...
  • Page 29 Outline of operation For each speed, refer to Page 43 Items related to speed. Drive contact DRVI/DDRVI (s1) (s2) (d1) (d2) Speed Acceleration Deceleration time time Maximum speed Command speed (s2) Positioning address (s1) Bias speed Bias speed Time Drive contact Instruction execution complete flag SM8029...
  • Page 30 Program example This program example illustrates a reversed operation that is performed by changing the positioning address at the current position + 70000 during relative positioning operation (axis 1). Speed Acceleration time Forward direction (500 ms) 15000 pps (Maximum speed) 10000 pps Current position...
  • Page 31 Program example Initial process Initial positioning address of DDRVI instruction SM402 DMOV K100000 D300 Initial pulse Positioning address to change DMOV K10000 D302 Drive DDRVI instruction SM5500 Drive Positioning Normally Abnormal DDRVI instruction instruction contact activation axis1 activation Drive DDRVI instruction in axis 1 SM5500 DDRVI D300...

  • Page 32: Absolute Positioning

    Absolute Positioning This instruction performs 1-speed positioning in the absolute method (positioning operation with an absolute address). Specify the distance (absolute address) from the origin to the target position. In this case, any position can be the start point (current position). Address 100 Start point Address 100...
  • Page 33 ■Description, range, data type (DDRVA) • FX5 operand Operand Description Range Data type Data type (label) (s1) Word device number storing the positioning address or -2147483648 to +2147483647 32-bit signed binary ANY32 data (User system unit) (s2) Word device number storing command speed or data 1 to 2147483647 32-bit signed binary ANY32...
  • Page 34 Outline of operation For each speed, refer to Page 43 Items related to speed. Drive contact DRVA/DDRVA (s1) (s2) (d1) (d2) Speed Acceleration Deceleration time time Maximum speed Command speed (s2) Positioning address (s1) Bias speed Bias speed Time Drive contact Instruction execution complete flag SM8029...
  • Page 35 For (d2), specify the bit devices of the instruction execution complete flag and abnormal end flag. (Page 62 Complete flag) (d2) : Instruction execution complete flag • (d2)+1 : Instruction execution abnormal end flag • ■When the FX3 compatible operand is specified For (s1), specify the absolute positioning address.
  • Page 36 Program example The following is a program example of absolute positioning (axis 1). If current address is a positive value, positioning operation would output in the reverse direction. Speed Acceleration time Deceleration time Forward direction (500 ms) (500 ms) 15000 pps (Maximum speed) 10000 pps 1000 pps...
  • Page 37 Program example Drive DDRVA instruction SM5500 Drive Positioning Normally Abnormal DDRVA instruction instruction contact activation axis1 activation Drive DDRVA instruction in axis 1 SM5500 DDRVA K10000 Positioning DDRVA instruction instruction activation axis1 activation SM5500 Positioning instruction activation axis1 Stop event SM5628 Pulse stop Pulse output...
  • Page 38 Interrupt 1-Speed Positioning The positioning function uses the DVIT/DDVIT instruction to perform one-speed interrupt constant quantity feed. With this instruction, interrupt signals can be controlled through user programs. DVIT/DDVIT This instruction executes one-speed interrupt constant quantity feed. Ladder FBD/LD ENO:=DVIT(EN,s1,s2,d1,d2); ENO:=DDVIT(EN,s1,s2,d1,d2);...
  • Page 39 ■Description, range, data type (DDVIT) • FX5 operand Operand Description Range Data type Data type (label) (s1) Word device number storing the positioning address or -2147483648 to +2147483647 32-bit signed binary ANY32 data (User system unit) (s2) Word device number storing command speed or data 1 to 2147483647 32-bit signed binary ANY32...
  • Page 40 Outline of operation For each speed, refer to Page 43 Items related to speed. Drive contact DVIT/DDVIT (s1) (s2) (d1) (d2) Speed Acceleration Deceleration time time Maximum speed Command speed (s2) Positioning address (s1) Bias speed Bias speed Time Drive contact Interrupt input signal 1 Instruction execution complete flag...
  • Page 41 For (d2), specify the bit devices of the instruction execution complete flag and abnormal end flag. (Page 62 Complete flag) (d2) : Instruction execution complete flag • (d2)+1 : Instruction execution abnormal end flag • ■When the FX3 compatible operand is specified For (s1), specify the positioning address after the interrupt input signal 1 is detected.
  • Page 42 FX3 compatible User specification Instruction execution Instruction execution abnormal Instruction execution Instruction execution abnormal complete flag end flag complete flag end flag (SM8029) (SM8329) (d2) (d2)+1 ON  OFF When the drive contact is turned off The flag remains on until either of the following is performed. condition •...
  • Page 43 Program example Drive DDVIT instruction SM5500 Drive Positioning Normally Abnormal DDVIT instruction instruction contact activation axis1 activation Drive DDVIT instruction in axis 1 SM5500 DDVIT K30000 K10000 Positioning DDVIT instruction instruction activation axis1 activation SM5500 Positioning instruction activation axis1 Stop event SM5628 Pulse stop Pulse output...
  • Page 44 Caution • When 0 is set for the positioning address (s1) at start of the instruction, the operation ends with an error. • If the positioning address (s1) is changed to 0 before the interrupt input signal 1 is detected, the positioning operation continues and ends normally after the input interrupt occurs and two pulses are output.

  • Page 45: Variable Speed Operation

    Variable Speed Operation The positioning function uses the variable speed pulse output instruction equipped with the rotation direction designation function to perform variable speed operation. This instruction can change the speed using the acceleration/deceleration speed. PLSV/DPLSV This instruction outputs variable speed pulses with an assigned rotation direction output. Ladder FBD/LD ENO:=PLSV(EN,s,d1,d2);...

  • Page 46: Related Devices

    ■Available device (PLSV/DPLSV) • FX5 operand Operand Word Double word Indirect Constant Others specification (DX) X, Y, M, L, SM, U\G T, ST, T, ST, C, D, U\G K, H F, B, SB, S C, LC W, SD, SW, R ...

  • Page 47: Special Registers

    Special registers FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter SD5500 SD5540 SD5580 SD5620     Current address (user unit) ...
  • Page 48 Basic operation The following describes the basic operation. After the drive contact is turned on, pulse output is started and the speed is increased from the bias speed. After the speed has reached the specified speed, the operation will be performed in the specified speed. If the command speed is changed during operation, the speed is increased/decreased to the specified speed and operation continues.
  • Page 49 Operation of the complete flags The following describes the operation timings of the complete flags. The user-specified complete flags are valid only when specified using FX5 operand. FX3 compatible User specification Instruction execution Instruction execution abnormal Positioning operation Positioning operation abnormal complete flag end flag complete flag...
  • Page 50 Program example The following is a program example of variable speed operation (axis 1). Acceleration time Deceleration time Speed (500 ms) (500 ms) 15000 pps (Maximum speed) 10000 pps 7000 pps 1000 pps (Bias speed) Time Current position Positioning address change input X15 (7000 pps) Positioning address...
  • Page 51 Program example Initial process Initial positioning address of DPLSV instruction SM402 DMOV K10000 D300 Initial pulse Command speed 1 to change DMOV K7000 D302 Command speed 2 to change DMOV K15000 D304 Drive DPLSV instruction SM5500 Drive Positioning Normally Abnormal DPLSV instruction instruction...

  • Page 52: High-Speed Current Value Transfer Of 32-Bit Data

    High-speed current value transfer of 32-bit data DHCMOV(P) These instructions read and write (updates) special register for high-speed counter, pulse width measurement, PWM, and positioning. Ladder diagram Structured text ENO:=DHCMOV(EN,s,n,d); ENO:=DHCMOVP(EN,s,n,d); FBD/LD Setting data ■Descriptions, ranges, and data types Operand Description Range Data type...
  • Page 53 Precautions • When it is necessary to execute comparison and outputting as soon as the current value of a high-speed counter changes, use the high-speed comparison table, multi-output high-speed comparison table, or one of the DHSCS, DHSCR, and DHSZ instructions. •...

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