Page 1 -20SSC-H USER'S MANUAL...
Page 3 Safety Precautions (Read these precautions before use.) Before installation, operation, maintenance or inspection of this product, thoroughly read through and understand this manual and all of the associated manuals. Also, take care to handle the module properly and safely. This manual classifies the safety precautions into two categories: Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
Page 4 Safety Precautions (Read these precautions before use.) Reference • Connect the extension cables, peripheral device cables and input cables securely to their designated connectors. Loose connections may cause malfunctions. • Use the product within the generic environment specifications described in section 3.1 of this manual. Never use the product in areas with excessive dust, oily smoke, conductive dusts, corrosive gas (salt air, Cl S, SO or NO...
Page 5 • Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
Page 6 Safety Precautions (Read these precautions before use.) 6. TRANSPORTATION AND STORAGE PRECAUTIONS Reference • The PLC is a precision instrument. During transportation, avoid impacts larger than those specified in the general specifications of the PLC main unit manual. Failure to do so may cause failures in the PLC. After transportation, verify the operations of the PLC.
Page 7: Safety Precautions
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.
Page 8 • Since the examples within this manual, technical bulletin, catalog, etc. are used as reference; please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will not accept responsibility for actual use of the product based on these illustrative examples.
Page 9: Table Of Contents
-20SSC-H Positioning Block User's Manual Table of Contents Table of Contents SAFETY PRECAUTIONS ....................(1) Standards........................... 9 Certification of UL, cUL standards ....................... 9 Compliance with EC directive (CE Marking) ..................9 Functions and Use of the Manual ..................11 Associated Manuals........................
Page 10 -20SSC-H Positioning Block User's Manual Table of Contents 6. Memory Configuration and Data Operation 6.1 Memory Configuration and Role ....................36 6.1.1 Memory configuration ........................36 6.1.2 Data type and role ......................... 37 6.2 Data Transfer Process ........................38 6.2.1 Data transfer processing among the PLC, 20SSC-H and servo amplifier........38 6.2.2 Data transfer processing between FX Configurator-FP and 20SSC-H .........
Page 11 -20SSC-H Positioning Block User's Manual Table of Contents 8. Manual Control 8.1 Mechanical Zero Return Control ....................134 8.1.1 Outline of mechanical zero return control..................134 8.1.2 DOG type mechanical zero return ....................135 8.1.3 Data-set type mechanical zero return..................138 8.1.4 Stopper type (1) mechanical zero return operation ..............
Page 12 -20SSC-H Positioning Block User's Manual Table of Contents 11. Buffer Memory (Parameters & Monitored Data) 11.1 Positioning Parameters ......................204 11.1.1 Operation parameters 1 [BFM #14000, BFM #14200] .............. 204 11.1.2 Operation parameters 2 [BFM #14002, BFM #14202] .............. 206 11.1.3 Pulse rate [BFM #14005, #14004, BFM #14205, #14204] ............
Page 13 -20SSC-H Positioning Block User's Manual Table of Contents 11.3.27 Servo status [BFM #64, #63, BFM #164, #163] ..............234 11.3.28 Regenerative load ratio [BFM #65, BFM #165] ............... 235 11.3.29 Effective load torque [BFM #66, BFM #166]................235 11.3.30 Peak torque ratio [BFM #67, BFM #167] ................. 235 11.3.31 Servo warning code [BFM #68, BFM #168]................
Page 14 -20SSC-H Positioning Block User's Manual Table of Contents Appendix A: LIST OF PARAMETERS AND DATA Appendix A-1 Monitor Data List ....................280 Appendix A-2 Control Data Table ..................... 282 Appendix A-3 Table Information List..................284 Appendix A-4 Positioning parameters List ................286 Appendix A-5 Servo Parameters List..................
Page 15: Standards
Compliance to EMC directive and LVD directive for the entire mechanical module should be checked by the user / manufacturer. For more details please contact the local Mitsubishi Electric sales site. Requirement for Compliance with EMC directive The following products have shown compliance through direct testing (of the identified standards below) and design analysis (through the creation of a technical construction file) to the European Directive for Electromagnetic Compatibility (2004/108/EC) when used as directed by the appropriate documentation.
Page 16 -20SSC-H Positioning Block User's Manual Standards Caution to conform with EC Directives Attach the ferrite cores to the power supply and the input cables (20SSC-H side). Attach the ferrite core approximately 200 mm or less from connector on the 20SSC-H side. •...
Page 17: Functions And Use Of The Manual
-20SSC-H Positioning Block User's Manual Functions and Use of the Manual Functions and Use of the Manual Regarding wiring and installation of PLC: Series Hardware manual Supplied Manual Additional Manual User's Manual - Hardware Edition Series FX Configurator-FP -20SSC-H FX Configurator-FP -20SSC-H Regarding specification and parts names Installation Manual...
Page 18: Associated Manuals
-20SSC-H Positioning Block User's Manual Associated Manuals Associated Manuals For a detailed explanation of the FX 20SSC-H positioning block, refer to this manual. For the operation of FX Configurator-FP, or hardware information and instructions on the PLC main unit, refer to the respective manuals.
Page 19 -20SSC-H Positioning Block User's Manual Associated Manuals Document Title of manual Description Model code number Manuals for FX -20SSC-H Positioning Block Describes FX -20SSC-H positioning block Supplied -20SSC-H specification for I/O, power supply extracted from JY997D21101 Manual Installation Manual the FX -20SSC-H User’s Manual.
Page 20: Generic Names And Abbreviations Used In The Manual
-20SSC-H Positioning Block User's Manual Generic Names and Abbreviations Used in the Manual Generic Names and Abbreviations Used in the Manual Generic name or abbreviation Description series Generic name for FX Series PLC PLC or main unit Generic name for FX Series PLC main unit series Generic name for FX...
Page 21 -20SSC-H Positioning Block User's Manual Generic Names and Abbreviations Used in the Manual Generic name or abbreviation Description Other unit Manual pulse generator Generic name for manual pulse generator (prepared by user) Manual hardware Edition Series User's Manual - Hardware Edition hardware Edition Series User's Manual - Hardware Edition Programming manual...
Page 22: Reading The Manual
-20SSC-H Positioning Block User's Manual Reading the Manual Reading the Manual Indexes the chapter number. Shows the title of the chapter and the title Shows the manual title. of the section. The right side of each page This area shows the indexes the chapter number manual title for the current This area shows the title of the chapter and the...
Page 23: Introduction
1 Introduction -20SSC-H Positioning Block User's Manual 1.1 Outline Introduction Outline The FX -20SSC-H type positioning block (hereinafter referred to as 20SSC-H) is a special function block applicable to SSCNET III. 20SSC-H can perform positioning control by servo motor via an SSCNET III applied servo amplifier. 1.
Page 24: External Dimensions And Part Names
1 Introduction -20SSC-H Positioning Block User's Manual 1.2 External Dimensions and Part Names External Dimensions and Part Names 2 - 4.5 Mounting hole MOTOR-Y START X-READY Y-READY INT0 INT0 X-ERROR INT1 INT1 Y-ERROR POWER 4(0.16") 9(0.36") 55(2.17") 87(3.43") [10] Unit: mm (inches) MASS(Weight): 0.3kg (0.66 lbs)
Page 25: Power And Status Led
1 Introduction -20SSC-H Positioning Block User's Manual 1.3 Power and Status LED Power and Status LED LED display Color Status Description Power is not being supplied from the external power supply or the PLC POWER Green Power is being supplied from the external power supply or the PLC Error is occurring or positioning is being executed on the X/Y axis X-READY Green...
Page 26: System Configuration
2 System Configuration -20SSC-H Positioning Block User's Manual 2.1 General Configuration System Configuration General Configuration GX Developer FX Configurator-FP (PC) 20SSC-H Monitor data Control data Positioning parameter SSCNET III cable Servo parameter Emergency stop Ladder Servo amplifier input signal Table information (MR-J3- B) Upper limit signal Lower limit signal...
Page 27: Connection With Plc
2 System Configuration -20SSC-H Positioning Block User's Manual 2.2 Connection with PLC Connection with PLC 20SSC-H connects with PLC via extension cable. The 20SSC-H is handled as a special extension block of the PLC. The unit number of the 20SSC-H is automatically assigned No.0 to No.7 starting from the special function unit/block closest to the PLC main unit.
Page 28: Specifications
3 Specifications -20SSC-H Positioning Block User's Manual 3.1 General Specifications Specifications DESIGN PRECAUTIONS • Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure. Otherwise, malfunctions may cause serious accidents.
Page 29: Power Supply Specification
3 Specifications -20SSC-H Positioning Block User's Manual 3.2 Power Supply Specification Power Supply Specification Item Specification Power supply voltage 24V DC +20% -15% Ripple (p-p) within 5% Permitted instantaneous Operation continues when the instantaneous power failure is shorter than 5ms. External power power failure time supply...
Page 30: Input Specifications
3 Specifications -20SSC-H Positioning Block User's Manual 3.4 Input Specifications Input Specifications 3.4.1 Input specifications Item Specification X axis interrupt input: X-INT0, X-INT1 Used for interrupt operation Y axis interrupt input: Y-INT0, Y-INT1 Used for interrupt operation X axis near-point DOG input: X-DOG Group 1 Used for zero return Y axis near-point DOG input: Y-DOG...
Page 31: Pin Configuration
3 Specifications -20SSC-H Positioning Block User's Manual 3.5 Pin Configuration Pin Configuration 3.5.1 Input connector Terminal Terminal Connector pin array (aperture side) Description Description name name X-INT0 Interrupt input (for X axis) Y-INT0 Interrupt input (for Y axis) Not used Not used Y-INT0 X-INT0...
Page 32: Installation
4 Installation -20SSC-H Positioning Block User's Manual Installation INSTALLATION PRECAUTIONS • 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. INSTALLATION PRECAUTIONS •...
Page 33: Din Rail Mounting
4 Installation -20SSC-H Positioning Block User's Manual 4.1 DIN rail Mounting DIN rail Mounting The product may be mounted on a 35mm wide DIN46277 (DIN rail). Fit the upper edge (A in the figure to the right) of the DIN rail mounting groove onto the DIN rail.
Page 34: Wiring
5 Wiring -20SSC-H Positioning Block User's Manual Wiring DESIGN PRECAUTIONS • Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise: 1) Do not bundle the main circuit line together with or lay it close to the main circuit, high-voltage line or load line.
Page 35: Cable To Be Used, Applicable Connector And Wire Size
5 Wiring -20SSC-H Positioning Block User's Manual 5.1 Cable to Be Used, Applicable Connector and Wire Size WIRING PRECAUTIONS • 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.
Page 36: Input Cable And Terminal Block
150 : 1.5m, 300 : 3m, 500 : 5m 3) Applicable connector for user cable (by Mitsubishi Electric) The user should prepare the electric wires and pressure crimp tool. Model name and configuration of I/O connector...
Page 37: Power Supply Wiring
5 Wiring -20SSC-H Positioning Block User's Manual 5.2 Power Supply Wiring Power Supply Wiring 5.2.1 Power supply wiring 20SSC-H 24V DC Class D grounding Power-on timing The 20SSC-H power supply should be turned ON simultaneously or before the PLC main unit. Before turning the power OFF, ensure the safety of the system and then simultaneously turn the main unit, 20SSC-H, and other extension equipment (the special extension equipment is included) OFF.
Page 38: Input Wiring
5 Wiring -20SSC-H Positioning Block User's Manual 5.3 Input Wiring Input Wiring An external power supply (24VDC) is necessary for the START, DOG, INT0, INT1 and S/S terminals. 5.3.1 Sink input wiring Power supply of INT0, INT1, 20SSC-H 24V DC DOG, START Interrupt input INT0 -INT0...
Page 39: Connecting The Sscnet Iii Cabling
5 Wiring -20SSC-H Positioning Block User's Manual 5.4 Connecting the SSCNET III Cabling Connecting the SSCNET III Cabling 5.4.1 Cautions for installing the SSCNET III cabling SSCNET III cables are made from optical fiber. If force is applied to the optical fiber in the form of major shock, lateral pressure, haul, or sudden bending or twisting, the inside will distort or break, and optical transmission will cease.
Page 40: Cautions For Sscnet Iii Cable Wiring
5 Wiring -20SSC-H Positioning Block User's Manual 5.4 Connecting the SSCNET III Cabling 5.4.2 Cautions for SSCNET III cable wiring Secure the cable close to the connector with bundle material in order to prevent the SSCNET III cable from applying its own weight to the connector. Reserve the following distance when wiring.
Page 41: Memory Configuration And Data Operation
• Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
Page 42: Memory Configuration And Role
6 Memory Configuration and Data Operation -20SSC-H Positioning Block User's Manual 6.1 Memory Configuration and Role Memory Configuration and Role 6.1.1 Memory configuration Store parameters and data necessary for control in the buffer memory (BFM) and flash memory inside the 20SSC-H using FX Configurator-FP (setting/monitoring tool) or a sequence program.
Page 43: Data Type And Role
6 Memory Configuration and Data Operation -20SSC-H Positioning Block User's Manual 6.1 Memory Configuration and Role 6.1.2 Data type and role BFM number Data type Application X-axis Y-axis X-/Y-axis Data indicating the control state. The monitor data is stored in the buffer memory. Monitor the data Monitor data when necessary.
Page 44: Data Transfer Process
6 Memory Configuration and Data Operation -20SSC-H Positioning Block User's Manual 6.2 Data Transfer Process Data Transfer Process 6.2.1 Data transfer processing among the PLC, 20SSC-H and servo amplifier The data transfer between PLC, 20SSC-H, and servo amplifier is as follows. -20SSC-H Buffer memory (BFM) - Positioning parameters...
Page 45: Data Transfer Processing Between Fx Configurator-Fp And 20Ssc-H
6 Memory Configuration and Data Operation -20SSC-H Positioning Block User's Manual 6.2 Data Transfer Process 6.2.2 Data transfer processing between FX Configurator-FP and 20SSC-H The data transfer between FX Configurator-FP and 20SSC-H via the PLC is as follows. FX Configurator-FP Setting/monitoring tool -20SSC-H Buffer memory (BFM) - Positioning parameters...
Page 46: Transfer (Writing) Servo Parameters To Servo Amplifier
6 Memory Configuration and Data Operation -20SSC-H Positioning Block User's Manual 6.2 Data Transfer Process 6.2.3 Transfer (writing) servo parameters to servo amplifier When the power is turned ON or when the system is reset , the 20SSC-H transfers servo parameters stored in the flash memory to the buffer memory.
Page 47 6 Memory Configuration and Data Operation -20SSC-H Positioning Block User's Manual 6.2 Data Transfer Process Note To transfer the following parameters from the buffer memory (BFM) to the servo amplifier, turn the servo parameter transfer command (b9) of operation command 2 [BFM #519 (X-axis) and #619 (Y-axis)] to ON. →...
Page 48: Before Starting Positioning Operation
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual Before Starting Positioning Operation DESIGN PRECAUTIONS • Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure. Otherwise, malfunctions may cause serious accidents.
Page 49: Note On Setting Parameters
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters Note on Setting Parameters Set the positioning parameters and servo parameters according to the system. The following parameters must be set. Axis selection of servo amplifier The 20SSC-H controls the X- and Y-axis based on the order (smaller numbers given higher priority) of the axis selection setting in the servo amplifier.
Page 50: Types Of Parameter Setting Method
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 7.1.1 Types of parameter setting method Parameters of the 20SSC-H can be set using any one of the following methods. Note It is recommended to set positioning parameters, servo parameters and table information using FX Configurator-FP, and then save them in the flash memory.
Page 51: Setting Parameters [Fx Configurator-Fp] [Recommended]
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 7.1.2 Setting parameters [FX Configurator-FP] [Recommended] This subsection explains how to set positioning parameters and servo parameters of the 20SSC-H using FX Configurator-FP. The setting method is explained on the condition that a file is created in FX Configurator-FP. →...
Page 52 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters Setting servo parameters Double-click [File name] [Edit] [Servo parameters] in the file data list. When the edit window for servo parameters appears, set each parameter. Make sure to set the servo amplifier series in accordance with the used servo amplifier.
Page 53 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters Transferring positioning parameters and servo parameters to the 20SSC-H (Writing them to the flash memory) Select [Online] [Write to module]. When the Write to module dialog box appears, select data to be written, and then click the [OK] button.
Page 54: Initializing Parameters [Fx Configurator-Fp]
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 7.1.3 Initializing parameters [FX Configurator-FP] This subsection explains how to initialize positioning parameters and servo parameters in the 20SSC-H using FX Configurator-FP. The initialization method is explained on the condition that a file is created in FX Configurator-FP. →...
Page 55 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters Setting positioning parameters and servo parameters to be changed from the default value For the setting method, refer to the following. → Refer to the Subsection 7.1.2...
Page 56: Setting Parameters From Flash Memory [Sequence Program]
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 7.1.4 Setting parameters from flash memory [Sequence program] This subsection explains how to set positioning parameters and servo parameters from the flash memory at startup. Because the parameter setting program is not required for the operation program, create it as a subroutine sequence as in the program example, create and execute it separately from the operation program.
Page 57 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 1) Finish positioning operation. Make sure to change positioning parameters and servo parameters while positioning operation is stopped. 2) Stop automatic update of servo parameters (only Ver. 1.10 or later). Set to ON from OFF the servo parameter update stop command in operation command 2.
Page 58 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 6) Set to ON from OFF the positioning parameter save command and servo parameter save command. When saving of parameters is completed, the saving to flash memory flag turns OFF from ON. →...
Page 59 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters Program example This program example sets some positioning parameters and servo parameters for the X-axis and Y-axis in unit No. 1 as shown in the table below. The set positioning parameters and servo parameters are saved in the flash memory, and then servo parameters are transferred to the servo amplifier.
Page 60 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Executes system reset. [Ver. 1.10 or later] The power of the 20SSC-H is turned OFF once and then turned ON again when the version is earlier than Ver.
Page 61 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page FNC 06 FEND Reading the status information (X-axis and Y-axis) M301 Reads the status information FNC 12 U1\G28 D200 (X-axis) in unit No.
Page 62 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Initializing the positioning parameters and servo parameters in the buffer memory (X-axis and Y-axis) Initialization is not required in the following cases. In these cases, having two MOV instructions in this circuit block is unnecessary.
Page 63 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page M306 FNC 40 D200 D205 ZRST FNC 40 M301 M305 ZRST FNC 02 SRET Performing system reset (Ver. 1.10 or later) When re-turning ON power, this system reset program (subroutine program) is unnecessary.
Page 64: Setting Parameters From The Buffer Memory [Sequence Program] (Ver. 1.10 Or Later)
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 7.1.5 Setting parameters from the buffer memory [sequence program] (Ver. 1.10 or later) This subsection explains how to set positioning parameters and servo parameters from the buffer memory. →...
Page 65 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 4) Set the servo series. Transfer servo parameters to the servo amplifier. BFM Number Description X-axis Y-axis Set the servo amplifier series connected to the 20SSC-H using a sequence program.
Page 66 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters Starting the setting of positioning parameters and servo parameters (X-axis and Y-axis). Reading the status information (X-axis and Y-axis). M8000 Reads the status FNC 12 U1\G28 D280 information (X-axis) in...
Page 67 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Setting the positioning parameters and servo parameters (X-axis and Y-axis). M380 Resets parameter setting M510 program completion flag. Parameter initialization M510...
Page 68 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Setting the positioning parameters (X-axis). Sets the operation FNC 12 H8007 U1\G14002 parameter 2 (X-axis) in unit No. 1. Sets the maximum speed FNC 12 K2000000...
Page 69 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Enabling the positioning parameters (X-axis). M393 Reads the operation FNC 12 U1\G519 D286 command 2 (X-axis) in unit No.
Page 70 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Setting the servo series (X-axis), and transferring the servo parameters (X-axis) to the servo amplifier. M395 Sets the servo series FNC 12 U1\G15000 (X-axis) in unit No.
Page 71 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page M382 Reads the operation FNC 12 U1\G519 D286 command 2 (X-axis) in unit No. 1. Sets the servo parameter D286.B update stop command (X-axis) in unit No.
Page 72 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Reads the operation FNC 12 U1\G519 D286 command 2 (X-axis) in unit No. 1. Resets the system reset D286.1 command in unit No.
Page 73: Initializing Parameters [Sequence Program]
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 7.1.6 Initializing parameters [sequence program] This subsection explains how to initialize positioning parameters and servo parameters of the 20SSC-H using a sequence program. → For direct specification of the buffer memory using the FROM/TO instruction and applied instructions, refer to Section 12.1 and the PROGRAMMING MANUAL Caution when the version is earlier than Ver.
Page 74 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters Program example In this program, positioning parameters and servo parameters (X-axis and Y-axis) stored in the buffer memory are initialized. Starting the initialization of positioning parameters and servo parameters (X-axis and Y-axis) stored in the buffer memory X033 Starts to change servo...
Page 75 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Initializing positioning parameters and servo parameters (X-axis and Y-axis) stored in the buffer memory M341 M342 Enables control commands FNC 12 K5220 U1\G522...
Page 76: Updating Positioning Parameters [Sequence Program]
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 7.1.7 Updating positioning parameters [sequence program] This subsection explains the method to enable positioning parameters changed in a sequence program. → For direct specification of the buffer memory using the FROM/TO instruction and applied instructions, refer to Section 12.1 and the PROGRAMMING MANUAL 1) Set the following positioning parameters stored in the buffer memory using a sequence program.
Page 77 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Setting the positioning parameter (X-axis): Jog speed M320 D220.0 FNC 12 Sets the jog speed (X-axis) K1000000 U1\G14012 DMOV in unit No.
Page 78 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Setting the positioning parameter enable command to OFF (Y-axis) * Set this command to OFF after one operation cycle when the version is earlier than 1.20. M322 FNC 12 Reads the status information...
Page 79: Updating Some Servo Parameters [Sequence Program]
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 7.1.8 Updating some servo parameters [sequence program] This subsection explains how to transfer the following servo parameters changed using a sequence program to the servo amplifier. The table below shows transferrable servo parameters in accordance with the setting of the auto tuning mode.
Page 80 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 2) Transfer target servo parameters to the servo amplifier. Set to ON from OFF the servo parameter transfer command. The "During servo parameter transfer" bits remain ON while servo parameters are being transferred. →...
Page 81 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Changing servo parameters (X-axis) M331 Sets the auto tuning mode FNC 12 H0001 U1\G15008 (X-axis) in unit No. 1. Sets the auto tuning FNC 12 response (X-axis) in unit...
Page 82: Saving Parameters And Table Information To Flash Memory [Sequence Program]
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters 7.1.9 Saving parameters and table information to flash memory [sequence program] This subsection explains how to save the positioning parameters, servo parameters and table information stored in the buffer memory to the flash memory using a sequence program.
Page 83 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters Program example Saving positioning parameters and servo parameters (X-axis and Y-axis) stored in the buffer memory to the flash memory X034 Starts to change positioning M350 parameter and servo parameters.
Page 84 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.1 Note on Setting Parameters From the previous page From the previous page Saving positioning parameters and servo parameters (X-axis and Y-axis) to the flash memory M351 M352 FNC 12 Enables control K5220 U1\G522...
Page 85: Outline Of Positioning Operation
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.2 Outline of Positioning Operation Outline of Positioning Operation The relationship between the operation speed, acceleration/deceleration time and travel distance of the positioning operation is shown below. For futher details on the positioning operations supported by 20SSC-H and a note on positioning cautions, refer to the following.
Page 86 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.2 Outline of Positioning Operation BFM number Item Description X-axis Y-axis Acceleration time BFM #14018 BFM #14218 Time needed to reach the maximum speed from zero speed Acceleration time 2 BFM #14108 BFM #14308 (Ver.
Page 87 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.2 Outline of Positioning Operation • An error occurs when the relative travel distance converted into pulse between the current address and the target address exceeds the range from -2,147,483,647 to 2,147,483,647 while absolute addresses are specified •...
Page 88: Handling The Forward Rotation Limit And Reverse Rotation Limit
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit Handling the Forward Rotation Limit and Reverse Rotation Limit The concept of the forward rotation limit and that of the reverse rotation limit are described. Suppose that limit switches are located as shown in the figure below.
Page 89: Forward Rotation Limit 2 (Fls) And Reverse Rotation Limit 2 (Rls) [Servo Amplifier Limit]
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit 7.3.1 Forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS) [Servo amplifier limit] Connect forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS) to the upper stroke limit (FLS) and lower stroke limit (RLS) external signal terminals of the servo amplifier, respectively.
Page 90: Software Limit
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit 7.3.3 Software limit This operation limit is based on the 0 address that becomes valid after a mechanical zero return. Specify each software limit in positioning parameters at addresses so that activation is before forward rotation limit 1 and reverse rotation limit 1 connected with the PLC.
Page 91: Handling The Stop Command
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.4 Handling the STOP command Handling the STOP command When the STOP command of 20SSC-H turns ON during positioning operation, the servomotor decelerates to stop. When stopped by the STOP command, the following status informations are shown below. Sudden stop or deceleration stop can be selected with Ver.1.20 or later.
Page 92 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.4 Handling the STOP command 2. STOP command during positioning operation (without the JOG operation, manual pulse generator operation or variable speed operation) When the STOP command is turned ON during positioning control operation, the operation is as follows according to the stop mode setting.
Page 93 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.4 Handling the STOP command To cancel the remaining travel distance operation in the remaining travel distance operation mode When "remaining travel distance operation cancel command" is turned ON in standby status, the operation for the remaining travel distance is cancelled and the positioning operation terminates.
Page 94: Sudden Stop Selection (Ver.1.20 Or Later)
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.5 Sudden stop selection (Ver.1.20 or later) Sudden stop selection (Ver.1.20 or later) This function suddenly stops the work piece when the STOP command/forward rotation limit switch 2 (FLS), reverse rotation limit switch 2 (RLS)/forward rotation limit switch 1 (LSF) or reverse rotation limit switch 1 (LSR)/software limit turns ON during positioning operation.
Page 95 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.5 Sudden stop selection (Ver.1.20 or later) BFM Number Data type X-axis Y-axis STOP command Operation command 1 BFM #518 b1 BFM #618 b1 Control data Forward rotation Operation command 1 BFM #518 b2 BFM #618 b2 Control data...
Page 96 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.5 Sudden stop selection (Ver.1.20 or later) 2) When the STOP command or rotation limit switch turns ON during deceleration stop, the servo motor suddenly stops in accordance with the sudden stop deceleration time (sudden stop interpolation time constant).
Page 97 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.5 Sudden stop selection (Ver.1.20 or later) In simultaneous two-axis operation (interpolation operation) Speed Maximum speed Operation speed Time Real sudden stop interpolation time constant Sudden stop interpolation time constant Interpolation time constant STOP command BFM Number...
Page 98: Changing During Operation (Operation Speed, Target Address)
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) Changing During Operation (Operation Speed, Target Address) 7.6.1 Changing the operation speed with the override function This function changes the operation speed during positioning operation based on a ratio. Specify the operation speed change ratio using the override setting (0.1 to 3000.0%).
Page 99 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) Caution for speed change • If the overridden (actual) operation speed is smaller than 1, the operation speed is handled as "1" in the current speed unit.
Page 100: Changing The Operation Speed With The Operation Speed Change Function
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) 7.6.2 Changing the operation speed with the operation speed change function This function is possible to change to the specified new operation speed at an arbitrary timing. However, the speed does not change during mechanical zero return after detection of the near point DOG and start of deceleration to the creep speed.
Page 101 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) BFM Number Data type X-axis Y-axis Operation speed 1 BFM #503,#502 BFM #603,#602 Control data Operation speed 2 BFM #507,#506 BFM #607,#606 Control data Operation speed setting JOG speed...
Page 102 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) Changing the operation speed of the X-axis using the speed change function X036 Starts to change the M360 operation speed of the X-axis.
Page 103 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) From the previous page From the previous page Setting the speed command in positioning operation (X-axis) to ON M362 Reads the operation FNC 12 command 1 (X-axis) in U1\G518...
Page 104: Changing Target Address During Operation Using Target Address Change Function
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) 7.6.3 Changing target address during operation using target address change function This function is used to change the target address in positioning control to a new specified address. →...
Page 105 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) BFM Number Data type X-axis Y-axis Operation speed present value BFM #11,#10 BFM #111,#110 Monitor data Change command Operation command 1 BFM #518 b12 BFM #618 b12 Control data operation disabled...
Page 106 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) 4. Cautions • The operation speed can not change in the following statuses. - When operation is started (that is, when the START command or START input is given) At the start of operation, change the setting of target address 1, target address 2 and, operation speed 1 and operation speed 2 before giving the START input (or command).
Page 107 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) From the previous page From the previous page Reading the status information (X-axis) M370 Reads the status FNC 12 information (X-axis) in U1\G28 D270 unit No.
Page 108 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.6 Changing During Operation (Operation Speed, Target Address) From the previous page From the previous page Setting the target address change command in positioning operation (X-axis) to ON M372 Reads the operation FNC 12 command 1 (X-axis) in U1\G518...
Page 109: Acceleration/Deceleration Time Selection (Ver. 1.30 Or Later)
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.7 Acceleration/deceleration time selection (Ver. 1.30 or later) Acceleration/deceleration time selection (Ver. 1.30 or later) Select the acceleration/deceleration time used in positioning operation except interpolation operation. Select the acceleration/deceleration time before starting positioning operation. →...
Page 110 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.7 Acceleration/deceleration time selection (Ver. 1.30 or later) BFM Number Data type X-axis Y-axis Acceleration/deceleration time change command Operation command 2 BFM #519 b5 BFM #619 b5 Control data (Ver. 1.30 or later) Maximum speed BFM #14009,#14008 BFM #14209,#14208 Positioning parameters Acceleration time...
Page 111 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.7 Acceleration/deceleration time selection (Ver. 1.30 or later) 4. Program description example In following the program, the acceleration/deceleration time setting is changed as follows. Contents of change X042=ON Selects the acceleration time 2 and deceleration time 2 for the acceleration/deceleration time of the X-axis. X042=OFF Selects the acceleration time and deceleration time for the acceleration/deceleration time of the X-axis.
Page 112: Ring Counter Setting (Ver.1.10 Or Later)
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.8 Ring counter setting (Ver.1.10 or later) Ring counter setting (Ver.1.10 or later) This function causes the current address to perform the ring operation within the range from 0 to the preset ring counter upper limit value.
Page 113 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.8 Ring counter setting (Ver.1.10 or later) Target address setting range and rotation direction Set the target address and rotation direction as follows. • When specifying the address with an absolute value In interrupt 1-speed constant quantity feed (except the constant position stop mode) and interrupt 2-speed constant quantity feed, even if the target address and rotation direction are specified in absolute values, the system operates as if they are specified in relative values.
Page 114 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.8 Ring counter setting (Ver.1.10 or later) 3. Operation Example) System of units: degree Ring value: 359999 Current address (User) Present 359,999 359,999 359,999 ring value mdeg mdeg mdeg 0mdeg 0mdeg 0mdeg 0mdeg...
Page 115 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.8 Ring counter setting (Ver.1.10 or later) Example of rotation in the direction where the current value increases (BFM #530/#630: 1) (1-speed positioning operation) Ring value Ring value 359,999 359,999 Target address 1 300,000 Target address 1...
Page 116: Other Functions
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions Cautions • When specifying absolute addresses, set the target address within the range from 0 to the ring value. Setting a value outside the setting range will cause an error. •...
Page 117: Servo End Check Function
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 7.9.2 Servo end check function Use the servo end check function to detect the positioning operation completion by the servo status in- position signal. When the servo status in-position signal turns ON after operation completion (within the range of servo end check determination time) the 20SSC-H detects that the positioning operation has ended.
Page 118: Torque Limit Function
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 7.9.3 Torque limit function The torque limit function sets the torque limit value for the servo amplifier from the 20SSC-H. This function can stop the servo motor if the load torque beyond the preset limit value is generated during positioning operation.
Page 119 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 2. Details of control The operation with the torque limit is as follows. Various operations START command Torque limit setting (Positioning parameters) Torque output setting (Control data) Stored torque limit (Monitor data) *1 .
Page 120: Absolute Position Detection System
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 7.9.4 Absolute position detection system An absolute position detection system is available with the 20SSC-H. → For the parameters, control data and monitor data, refer to Chapter 11 What is the absolute position detection system? In the absolute position detection system, the current position is stored in the servo amplifiers battery backed memory, and even if the work piece moves at power failure, the moving distance is added to the current...
Page 121: Servo On/Off
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 3. Absolute position lost If the absolute position in the encoder becomes indefinite in the absolute position detection system, the absolute position loss signal (ABSV) turns ON. At ABSV signal ON, make sure to operate zero return immediately to establish the zero-point again.
Page 122: Servo On/Off Status Selection At Startup (Ver. 1.30 Or Later)
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 7.9.6 Servo ON/OFF status selection at startup (Ver. 1.30 or later) In the 20SSC-H Ver. 1.30 or later, it is possible to set the servo ON/OFF status to be selected when the PLC (including the 20SSC-H) and servo amplifier are started up In a 20SSC-H earlier than Ver.
Page 123: Follow-Up Function
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 7.9.7 Follow-up function With the follow-up function, the motor rpm is monitored when the servo is OFF, and the motor rpm is reflected in the current value. With this function, even if the servomotor rotates while the servo is OFF, the servomotor always starts positioning at the next servo-ON, ignoring the drop pulse.
Page 124: Current Address Change Function
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 7.9.9 Current address change function With this function, the current address of a stopped axis changes arbitrarily. Write the desired value to the current address (user) to change, followed by the current address (pulse) update.
Page 125: Positioning Completion Signal Output Waiting Time (Ver.1.20 Or Later)
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 7.9.11 Positioning completion signal output waiting time (Ver.1.20 or later) In positioning operation shorter than one scan time of the PLC, the system cannot detect "OFF" of the positioning completion signal.
Page 126 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 2. Operation The system will perform the following operation when the positioning completion signal output waiting time is set. Scan in PLC READY/BUSY START command The status transition "from OFF to ON" of the positioning completion signal is detected, and then the START command is set to ON in a sequence program.
Page 127: System Reset Command (Ver.1.10 Or Later)
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.9 Other functions 7.9.12 System reset command (Ver.1.10 or later) The system reset command resets the 20SSC-H system. This command resets the system with the falling edge of the system reset command after b1 remains ON for 100 ms or more.
Page 128: Precautions For Using The User Units (Mechanical Or Composite System Of Units)
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.10 Precautions for using the user units (mechanical or composite 7.10 Precautions for using the user units (mechanical or composite system of units) 1. User units Set the units for position and speed using operation parameter 1. →...
Page 129 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.10 Precautions for using the user units (mechanical or composite 2. Converted pulse data Enter data within the setting range of converted pulse data, when setting ranges overlap. The equation for conversion is as follows.
Page 130: Cautions For Positioning Operation
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.11 Cautions for Positioning Operation 7.11 Cautions for Positioning Operation 7.11.1 Overlapped specification of operation mode 1) The positioning operation does not start at START input/command if multiple operation patterns are selected (with multiple bits turned on) in the parameters for operating patterns.
Page 131 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.11 Cautions for Positioning Operation BFM Number Data type X-axis Y-axis Maximum speed BFM #14009, #14008 BFM #14209, #14208 Positioning parameters Acceleration time BFM #14018 BFM #14218 Positioning parameters Deceleration time BFM #14020 BFM #14220 Positioning parameters...
Page 132 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.11 Cautions for Positioning Operation 3. Interrupt 1-speed constant quantity feed (constant position stop mode) (in Ver. 1.10 or later, when "ring counter setting" in the current address (b3 of BFM #14002/ #14202) is ON and "mode selection for interrupt 1-speed constant quantity feed"...
Page 133 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.11 Cautions for Positioning Operation 3) When the version is Ver.1.30 or later "interrupt 1-speed constant quantity feed (constant position stop mode) shortest allowable stop" is enabled. (Refer to Fig. B.) If the system cannot stop at the target position (target address 1) with the setting value of deceleration time, it stops at the target position (target address 1) using a deceleration time set by the 20-SSC-H...
Page 134 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.11 Cautions for Positioning Operation 4. 2-speed positioning operation 1) If the travel distance at the first speed is small If the travel time is smaller than the time needed to decelerate to the operation speed 2, the first operation speed does not reach the operation speed 1.
Page 135 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.11 Cautions for Positioning Operation 2) If the travel distance of the second speed is small If the travel time at the second speed is smaller than the time needed to decelerate from the operation speed 2, deceleration is started from operation speed 1.
Page 136 7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.11 Cautions for Positioning Operation 5. Interrupt 2-speed constant quantity feed If the time required for the travel distance (up to target address 1) is shorter than the time required for deceleration , the system stops pulse outputs when it reaches the target address 1 in deceleration.
Page 137: 7.11.3 Setting Of Interpolation Operation, Pulse Rate And Feed Rate
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.11 Cautions for Positioning Operation 7.11.3 Setting of interpolation operation, pulse rate and feed rate 1. Linear Interpolation Operation (including the Interrupt Stop) When setting a different pulse rate/feed rate (X-axis) and pulse rate/feed rate (Y-axis) during interpolation operation •...
Page 138: 7.11.4 Cautions On Continuous Pass Operation
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.11 Cautions for Positioning Operation 7.11.4 Cautions on continuous pass operation When the following interpolation operation exists in continuous pass operation, the system does not perform continuous pass operation. 1) Interpolation operation conditions which disables continuous pass operation a) Interpolation operation in which the m code is set in After mode b) Interpolation operation in which the travel time is 50 ms or less c) Interpolation operation in which the travel time is "Interpolation time constant...
Page 139: Cautions When Acceleration/Deceleration Time Is Changed During Positioning Operation
7 Before Starting Positioning Operation -20SSC-H Positioning Block User's Manual 7.11 Cautions for Positioning Operation 7.11.5 Cautions when acceleration/deceleration time is changed during positioning operation Select the acceleration/deceleration time before starting positioning operation. If the acceleration/deceleration time selection is changed during positioning operation, the system will perform the following operation depending on the operation status.
Page 140: Manual Control
8 Manual Control -20SSC-H Positioning Block User's Manual 8.1 Mechanical Zero Return Control Manual Control Mechanical Zero Return Control 8.1.1 Outline of mechanical zero return control 1. Types of mechanical zero return operation The mechanical zero return method for the 20SSC-H includes the following three variations (four modes). →...
Page 141: Dog Type Mechanical Zero Return
8 Manual Control -20SSC-H Positioning Block User's Manual 8.1 Mechanical Zero Return Control 8.1.2 DOG type mechanical zero return With the DOG type mechanical zero return, the 20SSC-H sets the zero-point position after the module stops with a near-point DOG signal and servo motor zero-point signal. Use the DOG search function to execute the DOG type mechanical zero return arbitrarily.
Page 142 8 Manual Control -20SSC-H Positioning Block User's Manual 8.1 Mechanical Zero Return Control BFM Number Data type X-axis Y-axis DOG type mechanical zero Zero return mode BFM #14031 = K0 BFM #14231 = K0 Positioning parameters return operation Use/ not use FLS, RLS signal External input selection BFM #14044 b0 BFM #14244 b0 Positioning parameters...
Page 143 8 Manual Control -20SSC-H Positioning Block User's Manual 8.1 Mechanical Zero Return Control 2. DOG search function The zero return with DOG search is executable with forward/reverse rotation limit. At this time, the zero return action varies in the following way according to the zero return starting position. Zero return direction Forward Reverse rotation limit Speed...
Page 144: Data-Set Type Mechanical Zero Return
8 Manual Control -20SSC-H Positioning Block User's Manual 8.1 Mechanical Zero Return Control 8.1.3 Data-set type mechanical zero return Use the data-set type mechanical zero return procedure to set the position moved by JOG or manual pulse generator operation, as a zero-point. Therefore the work piece does not travel at the mechanical zero return command.
Page 145: Stopper Type (1) Mechanical Zero Return Operation
8 Manual Control -20SSC-H Positioning Block User's Manual 8.1 Mechanical Zero Return Control 8.1.4 Stopper type (1) mechanical zero return operation This mechanical zero return method uses the DOG signal and stopper. High speed travel is possible up to the DOG signal, thus reducing the time for mechanical zero return. →...
Page 146 8 Manual Control -20SSC-H Positioning Block User's Manual 8.1 Mechanical Zero Return Control BFM Number Data type X-axis Y-axis DOG signal logic of servo External input selection BFM #14044 b9 BFM #14244 b9 Positioning parameters amplifier Acceleration time 2 (Ver. 1.30 or later) BFM #14108 BFM #14308 Positioning parameters...
Page 147: Stopper Type (2) Mechanical Zero Return Operation
8 Manual Control -20SSC-H Positioning Block User's Manual 8.1 Mechanical Zero Return Control 8.1.5 Stopper type (2) Mechanical zero return operation This mechanical zero return method (creep speed only) uses only the stopper. → For the zero return interlock function, refer to Subsection 7.9.10 →...
Page 148 8 Manual Control -20SSC-H Positioning Block User's Manual 8.1 Mechanical Zero Return Control BFM Number Data type X-axis Y-axis Current address (pulse) BFM #3,#2 BFM #103,#102 Monitor data Zero return complete Status information BFM #28 b3 BFM #128 b3 Monitor data Positioning completion Status information BFM #28 b6...
Page 149: Jog Operation
8 Manual Control -20SSC-H Positioning Block User's Manual 8.2 JOG Operation JOG Operation 8.2.1 Outline of JOG operation Forward pulses are output in the forward JOG mode, while reverse pulses are output in the reverse JOG mode. Deceleration time Acceleration time Maximum speed Speed Travel by current address...
Page 150: Changing The Speed During Jog Operation
8 Manual Control -20SSC-H Positioning Block User's Manual 8.2 JOG Operation Note • Inching operation (JOG determination time) To perform inching operation, specify the JOG determination time. - If the forward/reverse JOG activation time is within the JOG command determination time, a pulse string ±...
Page 151 8 Manual Control -20SSC-H Positioning Block User's Manual 8.2 JOG Operation 1. Changing the jog speed using the operation speed change function The system does not accept a change of the operation speed when the change command in operation disabled is ON. →...
Page 152: Manual Pulse Generator Operation
8 Manual Control -20SSC-H Positioning Block User's Manual 8.3 Manual pulse generator operation Manual pulse generator operation 8.3.1 Outline of manual pulse generator operation 1. Operation When selecting the MPG (manual pulse generator operation) in the operation patterns, the 20SSC-H operates by the MPG input.
Page 153 8 Manual Control -20SSC-H Positioning Block User's Manual 8.3 Manual pulse generator operation • The manual pulse generator inputs two-phase pulses (A-/B-phase) at 1 edge count. - Only a differential output type manual pulse generator is connectable. - Operation from the manual pulse generator is always counted. The “current MPG input value”...
Page 154 8 Manual Control -20SSC-H Positioning Block User's Manual 8.3 Manual pulse generator operation • Pulse generator magnification response (Ver.1.10 or later) For the relationship between the response and input pulses/output pulses, refer to the figure below. The response setting does not affect the output pulse frequency and pulse quantity. BFM Number Description X-axis...
Page 155 8 Manual Control -20SSC-H Positioning Block User's Manual 8.3 Manual pulse generator operation • One manual pulse generator can control both the X- and Y-axes by setting the manual pulse generator input selection (Ver. 1.10 or later). The table below shows the set value in MPG input selection. BFM Number Description X-axis...
Page 156: Current Manual Pulse Input Value
8 Manual Control -20SSC-H Positioning Block User's Manual 8.3 Manual pulse generator operation 8.3.2 Current manual pulse input value The current number of total input pulses from the manual pulse generator is stored. The current value is added in normal rotation, and subtracted in reverse rotation. The stored data does not include the manual pulse generator input magnification.
Page 157: Positioning Control
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.1 Functions Available with Each Positioning Operation Positioning Control This chapter describes the control of each positioning operation. For table operation control, refer to the following chapter. → For details on the table operation, refer to Chapter 10 Functions Available with Each Positioning Operation Reference Approximate S-shaped acceleration/deceleration,...
Page 158: 1-Speed Positioning Operation
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.2 1-speed Positioning Operation 1-speed Positioning Operation → For details on the operation speed change and target address change, refer to Section 7.6 → For details on the torque limit, refer to Subsection 7.9.3 →...
Page 159 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.2 1-speed Positioning Operation BFM Number Data type X-axis Y-axis Received target address (Ver.1.20 or later) BFM #25,#24 BFM #125,#124 Monitor data Received target speed (Ver.1.20 or later) BFM #27,#26 BFM #127,#126 Monitor data Current address (user) BFM #1,#0...
Page 160: Interrupt 1-Speed Constant Quantity Feed
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.3 Interrupt 1-speed Constant Quantity Feed Interrupt 1-speed Constant Quantity Feed The interrupt 1-speed constant quantity feed function is also supported in Ver. 1.10 or later when the ring operation is set for the current address. (Refer to Subsection 9.3.2.) →...
Page 161 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.3 Interrupt 1-speed Constant Quantity Feed BFM Number Data type X-axis Y-axis Target position change command in positioning Operation command 1 BFM #518 b14 BFM #618 b14 Control data operation Remaining distance operation Operation command 2 BFM #519 b0 BFM #619 b0...
Page 162 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.3 Interrupt 1-speed Constant Quantity Feed Note The travel distance for target address 1 must be larger than the deceleration distance to stop. If the travel distance for target address 1 is smaller, the work piece decelerates as much as possible, and the operation stops.
Page 163: Interrupt 1-Speed Constant Quantity Feed (Constant Position Stop Mode)
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.3 Interrupt 1-speed Constant Quantity Feed 9.3.2 Interrupt 1-speed Constant Quantity Feed (Constant position stop mode) When the ring operation for current address (BFM #14002/#14202 b3) is ON and the interrupt 1-speed constant quantity feed mode selection (BFM #519/#619 b6) is ON, the 20SSC-H positions the motor by the absolute movement quantity set in the target address 1 after interrupt input is given.
Page 164 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.3 Interrupt 1-speed Constant Quantity Feed BFM Number Data type X-axis Y-axis Mode selection Interrupt 1-speed constant Operation command 2 BFM #519 b6 BFM #619 b6 Control data quantity feed (Ver.1.10 or later) Interrupt 1-speed Constant...
Page 165 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.3 Interrupt 1-speed Constant Quantity Feed Note • The system operates as follows when the travel distance to the target position (target address 1) after the interrupt input (INT0) turns ON is shorter than the travel distance required for a deceleration stop: →...
Page 166: 2-Speed Positioning Operation
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.4 2-speed Positioning Operation 2-speed Positioning Operation → For details on the operation speed change and target address change, refer to Section 7.6 → For details on the torque limit, refer to Subsection 7.9.3 →...
Page 167 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.4 2-speed Positioning Operation BFM Number Data type X-axis Y-axis Ring operation rotation direction for absolute address BFM #530 BFM #630 Control data (Ver. 1.10 or later) X-START(Input terminal) Input terminal Y-START(Input terminal) Input terminal Positioning completion Status information...
Page 168 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.4 2-speed Positioning Operation 4. Rotation Direction With the specified absolute address: The rotation direction depends on whether the target address 1 and 2 are larger or smaller than the current address. With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1 and 2.
Page 169: Interrupt 2-Speed Constant Quantity Feed
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.5 Interrupt 2-speed Constant Quantity Feed Interrupt 2-speed Constant Quantity Feed → For details on the operation speed change and target address change, refer to Section 7.6 → For details on the torque limit, refer to Subsection 7.9.3 →...
Page 170 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.5 Interrupt 2-speed Constant Quantity Feed BFM Number Data type X-axis Y-axis Acceleration/deceleration time change command Operation command 2 BFM #519 b5 BFM #619 b5 Control data (Ver. 1.30 or later) Ring operation rotation direction for absolute address BFM #530 BFM #630 Control data...
Page 171 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.5 Interrupt 2-speed Constant Quantity Feed Note • Interrupt input is detected in the order of INT0 and INT1. • The travel distance for target address 1 must be larger than the deceleration distance to stop. If the travel distance for target address 1 is smaller, the work piece decelerates as much as possible, and the operation stops.
Page 172: Interrupt Stop Operation
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.6 Interrupt Stop Operation Interrupt Stop Operation → For details on the operation speed change and target address change, refer to Section 7.6 → For details on the torque limit, refer to Subsection 7.9.3 →...
Page 173 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.6 Interrupt Stop Operation BFM Number Data type X-axis Y-axis X-START(Input terminal) Input terminal Y-START(Input terminal) Input terminal X-INT0(Input terminal) Input terminal Y-INT0(Input terminal) Input terminal Positioning completion Status information BFM #28 b6 BFM #128 b6 Monitor data READY/BUSY...
Page 174 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.6 Interrupt Stop Operation 2. Operation Speed The actual operation speed is "operation speed 1 × override setting." Operation speed 1 can be changed using the operation speed change function except under the following conditions.
Page 175: Variable Speed Operation
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.7 Variable Speed Operation Variable Speed Operation → For details on the operation speed change, refer to Section 7.6 → For details on the torque limit, refer to Subsection 7.9.3 → For details on the STOP command, refer to Section 7.4 →...
Page 176 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.7 Variable Speed Operation BFM Number Data type X-axis Y-axis Ring counter setting Operation parameter 2 BFM #14002 b3 BFM #14202 b3 Positioning parameters (Ver.1.10 or later) Pulse rate BFM #14005,#14004 BFM #14205,#14204 Positioning parameters Feed rate BFM #14007,#14006 BFM #14207,#14206 Positioning parameters Maximum speed...
Page 177: Multi-Speed Operation
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.8 Multi-Speed Operation Multi-Speed Operation The multi-speed operation is a positioning procedure, available only in the table operation. For details on controlling by table operation, and changing the operation speed, refer to the following sections. →...
Page 178 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.8 Multi-Speed Operation BFM Number Data type X-axis Y-axis m code OFF Operation command 1 BFM #518 b11 BFM #618 b11 Control data Change command in operation Operation command 1 BFM #518 b12 BFM #618 b12 Control data disabled...
Page 179 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.8 Multi-Speed Operation POINT • In multi-speed operation, preparation for the next table number operation is performed simultaneously with the current operation. If a travel distance to shift the operation speed is less than the pulses to accelerate/decelerate, or if the travel time is too short (at 50 ms or less), the current operation does not continue and temporarily stops.
Page 180: Linear Interpolation Operation
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.9 Linear Interpolation Operation Linear Interpolation Operation → For details on the operation speed change, refer to Section 7.6 → For details on the torque limit, refer to Subsection 7.9.3 → For details on the STOP command, refer to Section 7.4 →...
Page 181 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.9 Linear Interpolation Operation BFM Number Data type X-axis Y-axis Operation speed present value BFM #11,#10 Monitor data BFM #111,#110 System of units (user unit) Operation parameter 1 BFM #14000 b1,b0 BFM #14200 b1,b0 Positioning parameters Unit of measurement for the Operation parameter 1...
Page 182 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.9 Linear Interpolation Operation 2. Operation speed The actual operation speed (vector speed) is "X-axis operation speed 1 x X-axis override setting." Operation speed 1 for the X-axis can be changed using the operation speed change function except under the following conditions.
Page 183: Linear Interpolation Operation (Interrupt Stop)
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.10 Linear Interpolation Operation (Interrupt Stop) 9.10 Linear Interpolation Operation (Interrupt Stop) → For details on the operation speed change, refer to Section 7.6 → For details on the torque limit, refer to Subsection 7.9.3 →...
Page 184 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.10 Linear Interpolation Operation (Interrupt Stop) BFM Number Data type X-axis Y-axis Standby for remaining travel Status information BFM #28 b7 BFM #128 b7 Monitor data distance at stop Received target address (Ver.1.20 or later) BFM #25,#24 BFM #125,#124 Monitor data...
Page 185 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.10 Linear Interpolation Operation (Interrupt Stop) Note • When using linear interpolation operation (interrupt stop), the operation pattern selection should set in both axes as linear interpolation (interrupt stop). If the same operation pattern is not set in both axes, the following operation is executed. 1) When linear interpolation (interrupt stop) is set to the operation pattern of the X-axis and a different operation pattern is set to the Y-axis The operation pattern of the Y-axis is disregarded, and linear interpolation operation (interrupt stop) is...
Page 186: Circular Interpolation Operation
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.11 Circular Interpolation Operation 9.11 Circular Interpolation Operation The circular interpolation operation is a positioning procedure, available only in the table operation. The circular interpolation operation has the center coordinate specification/radius specification formats. For details on controlling by table operation, and changing the operation speed, refer to the following sections.
Page 187 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.11 Circular Interpolation Operation BFM Number Data type X-axis Y-axis Remaining distance operation Operation command 2 BFM #519 b0 Control data BFM #619 b0 cancel command X-START(Input terminal) Input terminal m code number BFM #9 Monitor data BFM #109...
Page 188 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.11 Circular Interpolation Operation Note • The center coordinate is always handled as a relative address from the start point. • When setting the same address for the start and target points, the work piece moves in a perfect circle. The center coordinate specification is available in the perfect circle operation.
Page 189: Circular Interpolation [Radius Specification]
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.11 Circular Interpolation Operation 9.11.2 Circular interpolation [radius specification] The work piece moves in a circular arc with a specified radius from the start point to the target address. 1. Operation Interpolation Interpolation time constant time constant...
Page 190 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.11 Circular Interpolation Operation BFM Number Data type X-axis Y-axis Current address (pulse) BFM #3,#2 BFM #103,#102 Monitor data Real current address (user) (Ver.1.20 or later) BFM #21,#20 BFM #121,#120 Monitor data Real current address (pulse) (Ver.1.20 or later) BFM #23,#22 BFM #123,#122...
Page 191 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.11 Circular Interpolation Operation 3. Speed information The actual operation speed (vector speed) is "X-axis operation speed 1 x X-axis override setting." The operation speed 1 for the X-axis can be changed using the operation speed change function except under the following conditions.
Page 192: Reciprocal Movement Insutruction (Ver.1.10 Or Later)
9 Positioning Control -20SSC-H Positioning Block User's Manual 9.12 Reciprocal movement insutruction (Ver.1.10 or later) 9.12 Reciprocal movement insutruction (Ver.1.10 or later) → For change of the operation speed and target address, refer to Section 7.6 → For details on the torque limit, refer to Subsection 7.9.3 →...
Page 193 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.12 Reciprocal movement insutruction (Ver.1.10 or later) • Opening operation When the open signal is set to ON from OFF, the system decelerates and stops opening operation ( above). After deceleration stop, the system performs as follows in accordance with the status of the open signal (INT0) and close signal (INT1).
Page 194 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.12 Reciprocal movement insutruction (Ver.1.10 or later) BFM Number Data type X-axis Y-axis Standby remaining travel Status information BFM #28 b7 BFM #128 b7 Monitor data distance at stop Received target address (Ver.1.20 or later) BFM #25,#24 BFM #125,#124 Monitor data...
Page 195 9 Positioning Control -20SSC-H Positioning Block User's Manual 9.12 Reciprocal movement insutruction (Ver.1.10 or later) 2. Operation speed The actual operation speed is decided by the following calculation formulas. × - Operation speed1 Override setting × - Operation speed2 Override setting The actual operation speed 1 and operation speed 2 can be changed using the operation speed change function except under the following conditions.
Page 196: Outline Of Table Operation
10 Table Operation -20SSC-H Positioning Block User's Manual 10.1 Outline of Table Operation 10. Table Operation 10.1 Outline of Table Operation This section describes the table information setting and table operation motions. For details on the positioning commands available with the table operation, refer to the following. →...
Page 197: Table Information Setting Items
10 Table Operation -20SSC-H Positioning Block User's Manual 10.1 Outline of Table Operation 10.1.3 Table information setting items 1. Setting items and contents Type of table information Setting item Content axis axis axis Sets a positioning operation in the table operation along with a current address change, etc. No processing Circular interpolation m code...
Page 198 10 Table Operation -20SSC-H Positioning Block User's Manual 10.1 Outline of Table Operation 2. Operation information and setting items Set the numeric value corresponding to each operation to the operation information in the buffer memory. The table below shows the target table information, set value and other setting items (position information, speed information, circle information and "m"...
Page 199 10 Table Operation -20SSC-H Positioning Block User's Manual 10.1 Outline of Table Operation Other setting items Setting target Operation information table Position Speed Circle information information information information Remarks m code information Operation Setting Name Symbol fx/f target axis value axis axis axis...
Page 200: Table Operation Execution Procedure
10 Table Operation -20SSC-H Positioning Block User's Manual 10.1 Outline of Table Operation 10.1.4 Table operation execution procedure The following shows the procedure for executing a table operation. Set the operation pattern and table start No. in the control data. BFM number Item Content...
Page 201: How To Set Table Information
10 Table Operation -20SSC-H Positioning Block User's Manual 10.2 How to Set Table Information 10.2 How to Set Table Information The 20SSC-H has 2 procedures to set table information, via FX Configurator-FP or by a sequence program. Setting table information by sequence program To set table information by a sequence program, write each setting to the 20SSC-H buffer memory with TO, or move instructions (MOV, etc.) for direct specification.
Page 202 10 Table Operation -20SSC-H Positioning Block User's Manual 10.2 How to Set Table Information Note Note that the procedures to set the table information from FX Configurator-FP and a sequence program are different. • The position of the operation information is different. a) Position information d) m code information b) Speed information...
Page 203 10 Table Operation -20SSC-H Positioning Block User's Manual 10.2 How to Set Table Information 2) XY-axis table information - Buffer memory Position information Speed information Circle information Operation m code information Table No. information X-axis Y-axis X-axis Y-axis X-axis Y-axis 5000 5000 5000...
Page 204: Tables And Bfm No. Allocation
10 Table Operation -20SSC-H Positioning Block User's Manual 10.3 Tables and BFM No. Allocation 10.3 Tables and BFM No. Allocation Stores the table operation information to the 20SSC-H buffer memory. There are 2 BFM types, one for operation by individual axis (X/Y axis) and the other for XY-axis simultaneous operation. BFM No.
Page 205: Current Position Change
10 Table Operation -20SSC-H Positioning Block User's Manual 10.4 Current Position Change 10.4 Current Position Change This operation information item changes the current address (user/pulse) value to the one specified in the position (address) information. 10.5 Absolute Address Specification This operation information item sets the position data for subsequent table operations to be based on an absolute address system with a defined (0, 0) point.
Page 206: M Code
10 Table Operation -20SSC-H Positioning Block User's Manual 10.9 m code 10.9 m code The m code is an auxiliary command to support positioning data in execution. When an m code turns ON in table operation, the 20SSC-H stores the table No. in monitor data as an m code number, while also turning ON the m code ON flag in status information.
Page 207: 10.9.2 With Mode
10 Table Operation -20SSC-H Positioning Block User's Manual 10.9 m code 10.9.2 With mode The specified m code turns ON when the operation starts. 1. Operation Speed Time 10010 10011 m code No. m code ON m code OFF command Table No.
Page 208: 10.10 Continuous Pass Operation
10 Table Operation -20SSC-H Positioning Block User's Manual 10.10 Continuous Pass Operation 10.10 Continuous Pass Operation Continuously executing interpolation operation (linear interpolation, circular interpolation) results in a continuous pass operation. 1. Operations valid for continuous pass operation • Operations that result in continuous pass •...
Page 209 10 Table Operation -20SSC-H Positioning Block User's Manual 10.10 Continuous Pass Operation 2. Content of continuous pass operation • Consecutive interpolation instructions do not stop, and inflection points become smooth curves. The radius of curvature varies depending on the interpolation time constant. A larger interpolation time constant makes a larger radius of curvature.
Page 210: Buffer Memory (Parameters & Monitored Data)
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters 11. Buffer Memory (Parameters & Monitored Data) 11.1 Positioning Parameters The positioning parameters to set speed and units of measurement. The BFMs in positioning parameters are readable/writable. →...
Page 211 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters BFM Number Description Default Number X-axis Y-axis DOG switch input logic Sets DOG switch input logic for 20SSC-H. 1: NC-contact (operates at input OFF) 0: NO-contact (operates at input ON) →For details on the DOG mechanical zero return operation, refer to Subsection 8.1.2 Count start timing for zero-phase signal...
Page 212: Operation Parameters 2 [Bfm #14002, Bfm #14202]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters 11.1.2 Operation parameters 2 [BFM #14002, BFM #14202] BFM Number Description Default Number X-axis Y-axis Enables or disables the servo end check function. → For details on the servo end check, refer to Subsection 7.9.2 1: Enable At an in-position signal, is determined the positioning operation...
Page 213: Pulse Rate [Bfm #14005, #14004, Bfm #14205, #14204]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters BFM Number Description Default Number X-axis Y-axis Sets the interpolation gear ratio selection (Ver.1.20 or later) → For details on interpolation gear ratio selection, refer to Subsection 7.11.3 1: X-axis, Y-axis 0: X-axis BFM #14002...
Page 214: Maximum Speed [Bfm #14009, #14008, Bfm #14209, #14208]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters 11.1.5 Maximum speed [BFM #14009, #14008, BFM #14209, #14208] This parameter sets the maximum speed for each operation. → For details on the maximum speed, refer to Section 7.2 BFM Number Description Default...
Page 215: Acceleration Time [Bfm #14018, Bfm #14218]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters 11.1.8 Acceleration time [BFM #14018, BFM #14218] This parameter sets a time for the operation speed to reach the maximum speed from zero. In a 20SSC-H Ver. 1.30 or later, "acceleration time" and "acceleration time 2" are offered as the acceleration time except for interpolation operation.
Page 216: Zero Return Speed (High Speed) [Bfm #14025, #14024, Bfm #14225, #14224]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters 11.1.11 Zero return speed (High Speed) [BFM #14025, #14024, BFM #14225, #14224] This parameter sets the mechanical zero return operation speed (high speed) [DOG, Stopper #1]. →...
Page 217: Zero-Phase Signal Count [Bfm #14030, Bfm #14230]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters 11.1.14 Zero-phase signal count [BFM #14030, BFM #14230] This parameter sets the number of zero-phase signal counts in the mechanical zero return operation (DOG type). The mechanical zero return ends at the specified number of zero-phase signal count.
Page 218: Software Limit (Upper) [Bfm #14035, #14034, Bfm #14235, #14234] Software Limit (Lower) [Bfm #14037, #14036, Bfm #14237, #14236]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters 11.1.17 Software limit (upper) [BFM #14035, #14034, BFM #14235, #14234] Software limit (lower) [BFM #14037, #14036, BFM #14237, #14236] This parameter sets each address value for the software limit. The software limit is an operating limit from the current address after zero return operation completion, which becomes enabled upon completion of the zero return operation.
Page 219: External Input Selection [Bfm #14044, Bfm #14244]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters 11.1.20 External input selection [BFM #14044, BFM #14244] BFM Number Description Default Number X-axis Y-axis Sets the FLS, RLS signals from the servo amplifier to be used/not used →For instructions on how to use forward/reverse rotation limit, refer to Section 7.3 1: Use...
Page 220: Sudden Stop Interpolation Time Constant [Bfm #14104, Bfm #14304]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters 11.1.23 Sudden stop interpolation time constant [BFM #14104, BFM #14304] Set the time to reach 0 speed from the operation speed at sudden stop (interpolation operation). (Ver.1.20 or later) →...
Page 221: Deceleration Time 2 [Bfm #14110, Bfm #14310]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.1 Positioning Parameters 11.1.26 Deceleration time 2 [BFM #14110, BFM #14310] This parameter sets the time for the operation speed to reach zero from the maximum speed. The deceleration time except in sudden stop and interpolation operation consists of two types, "deceleration time"...
Page 222: Servo Parameters
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.2 Servo Parameters 11.2 Servo Parameters Various parameters for the servo amplifier can be set. The following buffer memories in the servo parameters are readable and writable. For details on the servo amplifier parameters in the table below with their parameter numbers, refer to the manual of the servo amplifier.
Page 223 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.2 Servo Parameters BFM Number Servo Amplifier Name Description Default X-axis Y-axis Parameter No. Select the control loop composition. Control type selection 350% maximum torque Setting Control loop Control mode setting of HF-KP servo PA01...
Page 224 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.2 Servo Parameters BFM Number Servo Amplifier Name Description Default X-axis Y-axis Parameter No. In the MR-J3(W)- B Select whether to use or not use the servo forced stop function (EM1). Servo forced stop input setting 0: Enable (use the forced stop (EM1)) Function selection...
Page 225: Servo Parameters (Gain/Filter Settings)
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.2 Servo Parameters 11.2.2 Servo parameters (Gain/Filter settings) BFM Number Servo Amplifier Name Description Default X-axis Y-axis Parameter No. Select the adaptive filter tuning mode. Adaptive tuning 0: Filter OFF PB01 mode #15019...
Page 226 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.2 Servo Parameters BFM Number Servo Amplifier Name Description Default X-axis Y-axis Parameter No. Set the low pass filter. PB18 Low pass filter setting K3141 #15036 #15236 Setting range: 100 to 18000 rad/s Vibration Set the vibration frequency for vibration suppression control to suppress suppression control...
Page 227 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.2 Servo Parameters BFM Number Servo Amplifier Name Description Default X-axis Y-axis Parameter No. Gain changing Vibration Set the resonance frequency for vibration suppression control when the PB34 suppression control gain changing is valid.
Page 228: Servo Parameters (Advanced Setting)
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.2 Servo Parameters 11.2.3 Servo parameters (Advanced setting) BFM Number Servo Amplifier Name Description Default X-axis Y-axis Parameter No. Error excessive Set error excessive alarm level with rotation amount of servo motor. PC01 #15064 #15264...
Page 229 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.2 Servo Parameters BFM Number Servo Amplifier Name Description Default X-axis Y-axis Parameter No. Select a signal to be output to the analog monitor 2. Analog monitor 2 (MO2) output selection 0: Servo motor speed (±8V at the maximum) 1: Torque (±8 V at the maximum) 2: Servo motor speed (+8V at the maximum)
Page 230: Servo Parameters (I/O Setting)
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.2 Servo Parameters 11.2.4 Servo parameters (I/O setting) BFM Number Servo Amplifier Name Description Default X-axis Y-axis Parameter No. Specify a signal assigned (output) to the CN3-13 connector of the servo amplifier.
Page 231 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.2 Servo Parameters BFM Number Servo Amplifier Name Description Default X-axis Y-axis Parameter No. Specify a signal assigned (output) to the CN3-15 connector of the servo amplifier. Select CN3-15 pin output device 00: Always OFF 01: RDY (ready ON) 02: RD (servo ON)
Page 232: Monitor Data
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data 11.3 Monitor Data Operating conditions for the positioning system are stored as monitor data. The following buffer memories for monitor data are read-only memories except for the current address (user) [BFM #1, #0 (X-axis), BFM #101, #100 (Y-axis)].
Page 233: Torque Limit Storing Value [Bfm #5, #4, Bfm #105, #104]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data 11.3.3 Torque limit storing value [BFM #5, #4, BFM #105, #104] Torque limit value used for the torque limit function is stored. The torque limit value is a torque limit setting value, torque output setting value or zero return torque limit value.
Page 234: Current Value Of Operation Speed [Bfm #11, #10, Bfm #111, #110]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data 11.3.8 Current value of operation speed [BFM #11, #10, BFM #111, #110] The current value of the operation speed is stored. The value becomes zero under suspension, or in operation with a manual pulse input. BFM Number Description Value Format...
Page 235: Real Current Address (User) [Bfm #21, #20, Bfm #121, #120]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data 11.3.13 Real current address (User) [BFM #21, #20, BFM #121, #120] The Real current address data is stored in units specified by the user . (Ver.1.20 or later) BFM Number Description Value Format...
Page 236: Status Information [Bfm #28, Bfm #128]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data 11.3.17 Status information [BFM #28, BFM #128] Status of the 20SSC-H can be checked by ON/OFF statuses of each bit. BFM Number Description Value Format Default Number X-axis...
Page 237: Error Code [Bfm #29, Bfm #129]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data BFM Number Description Value Format Default Number X-axis Y-axis Initialization of buffer memory is in progress. • This bit is ON while initializing data in buffer memories. •...
Page 238: Model Code [Bfm #30]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data 11.3.19 Model code [BFM #30] The model code of the 20SSC-H is stored. BFM Number Description Value Format Default X-axis Y-axis BFM #30 The model code of the 20SSC-H is K5220. Decimal 11.3.20 Status information 2 [BFM #32, BFM #132] Status of the 20SSC-H can be checked by ON/OFF statuses of each bit.
Page 239: Motor Speed [Bfm #53, #52, Bfm #153, #152]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data 11.3.23 Motor speed [BFM #53, #52, BFM #153, #152] The present rotation speed of the servo motor is stored. BFM Number Description Value Format Default X-axis Y-axis BFM #53, #52...
Page 240: Servo Parameter Error Numbers [Bfm #62, Bfm #162]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data 11.3.26 Servo parameter error numbers [BFM #62, BFM #162] Parameter numbers that cause servo parameter errors are stored. BFM Number Description Value Format Default X-axis Y-axis BFM #62 BFM #162...
Page 241: Regenerative Load Ratio [Bfm #65, Bfm #165]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data 11.3.28 Regenerative load ratio [BFM #65, BFM #165] The regenerative load ratio power to the maximum regenerative power is stored in percentage. With regenerative brake option, the regenerative power ratio to the allowable capacity is stored. BFM Number Description Value Format...
Page 242: Servo Status 2 [Bfm #72, Bfm #172]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.3 Monitor Data 11.3.33 Servo status 2 [BFM #72, BFM #172] BFM Number Description Value Format Default Number X-axis Y-axis A parameter update completed flag • This bit is set when an automatic update of servo parameters is completed.
Page 243: Control Data
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.4 Control Data 11.4 Control Data The control data is user-specified data for controlling the positioning system. For X-axis: BFM #500 to #599 For Y-axis: BFM #600 to #699 Caution Do not use unlisted BFMs for changing values not described in this section.
Page 244: Target Address 2 [Bfm #505, #504, Bfm #605, #604]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.4 Control Data 11.4.3 Target address 2 [BFM #505, #504, BFM #605, #604] This data item sets a target position or travel distance for the positioning operation distance as the target address 2.
Page 245: Speed Change Value [Bfm #513, #512, Bfm #613, #612]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.4 Control Data 11.4.7 Speed change value [BFM #513, #512, BFM #613, #612] This data item sets the velocity change value. → For details on the operation speed change function, refer to Subsection 7.6.2 BFM Number Description Default...
Page 246 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.4 Control Data BFM Number Setting Item Description Default Detection Number X-axis Y-axis When this is set, mechanical zero return operation is started. Mechanical zero →For details on the mechanical zero return, Edge return command refer to Section 8.1...
Page 247: Operation Command 2 [Bfm #519, Bfm #619]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.4 Control Data 11.4.11 Operation command 2 [BFM #519, BFM #619] BFM Number Setting Item Description Default Detection Number X-axis Y-axis Set this to cancel the standby status for the remaining travel Remaining travel after the STOP command.
Page 248: Operation Pattern Selection [Bfm #520, Bfm #620]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.4 Control Data POINT 1) When executing the system reset command Write the model code (K5220) to the "control command enable/disable (BFM #522)" before executing the system reset command. →...
Page 249 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.4 Control Data BFM Number Setting Item Description Default Detection Number X-axis Y-axis Set this to perform a variable speed operation. Variable speed →For details on the variable speed operation, operation refer to Section 9.7 Set this to perform an operation with the manual pulse...
Page 250: Control Command Enable/Disable [Bfm #522]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.4 Control Data 11.4.13 Table operation start number [BFM #521, BFM #621] This data item sets a table information number for the table operation. → For details on the table operation, refer to Chapter 10 BFM Number Description Default...
Page 251: Manual Pulse Generator Input Magnification (Numerator) [Bfm #525, #524, Bfm #625, #624]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.4 Control Data Before executing control commands: Write the model code (K5220) to the "control command enable/disable" before executing control commands. After control commands are executed, "0" is automatically stored in the "control command enable/disable." After a control command is executed, it will automatically turn OFF.
Page 252: Manual Pulse Generator Input Selection [Bfm #529]
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.4 Control Data 11.4.19 Manual pulse generator input selection [BFM #529] Sets the MPG input selection (Ver.1.10 or later) → For details on the manual pulse generator, refer to Section 8.3 BFM Number Description Default...
Page 253: Table Information
11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.5 Table Information 11.5 Table Information This section shows BFMs for positioning in table operation. Table numbers and BFM numbers are assigned as shown in the table below. →...
Page 254 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.5 Table Information BFM Number Table No. Name Description Default X-axis Y-axis XY axes Position information x Position #3991,#3990 #12981,#12980 informa- tion Position information y #6991,#6990 #12983,#12982 Speed information x Speed #3993,#3992 #12985,#12984...
Page 255 11 Buffer Memory (Parameters & Monitored Data) -20SSC-H Positioning Block User's Manual 11.5 Table Information 4. Operation information Sets the positioning operation for table operation and changes the current address. Set the numeric value corresponding to each operation to the operation information. →...
Page 256: 12. Program Example
• Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
Page 257: Reading/Writing Buffer Memory
12 Program Example -20SSC-H Positioning Block User's Manual 12.1 Reading/Writing Buffer Memory 12.1 Reading/Writing Buffer Memory 12.1.1 Assigned unit number 1. Assigned unit number The unit number for the 20SSC-H is automatically assigned No.0 to No.7 starting from the special function unit/block closest to the PLC main unit.
Page 258 12 Program Example -20SSC-H Positioning Block User's Manual 12.1 Reading/Writing Buffer Memory b) Writing numeric values to the buffer memory In the program below, "K5,000,000" is written to the buffer memory (BFM #501 and #500) in unit No. Write command FNC 12 K5,000,000 U1\G500...
Page 259 12 Program Example -20SSC-H Positioning Block User's Manual 12.1 Reading/Writing Buffer Memory 2. How to read and write the bit information such as status information and operation command 1 1) Direct specification of buffer memory Specify the buffer memory directly as the source or destination in applied instructions, and read or write the contents..
Page 260 12 Program Example -20SSC-H Positioning Block User's Manual 12.1 Reading/Writing Buffer Memory c) Writing bit information of auxiliary relays to the buffer memory In the program below, the ON/OFF status of auxiliary relays (M20 to M35) is written to the buffer memory (BFM #518) in unit No.
Page 261 12 Program Example -20SSC-H Positioning Block User's Manual 12.1 Reading/Writing Buffer Memory b) Reading and transferring bit information to data registers In the program below, the contents of the buffer memory (BFM #28) in unit No. 1 are read and transferred to a data register (D200).
Page 262: Device Assignments
12 Program Example -20SSC-H Positioning Block User's Manual 12.2 Device Assignments 12.2 Device Assignments Device No. Name Remark X-axis Y-axis Input Error reset X000 X010 STOP X001 X011 Forward rotation limit X002 X012 Use external wiring with NC contacts. Reverse rotation limit X003 X013 Forward rotation JOG...
Page 263: Explanation Of Operation
12 Program Example -20SSC-H Positioning Block User's Manual 12.3 Explanation of Operation Device No. Name Remark X-axis Y-axis Monitor data READY M140 During forward rotation pulse output M141 During reverse rotation pulse output M142 Zero return completed M143 Current value overflow M144 Error occurrence M145...
Page 264: 12.3.1 Mechanical Zero Return
12 Program Example -20SSC-H Positioning Block User's Manual 12.3 Explanation of Operation 12.3.1 Mechanical zero return Acceleration time Deceleration time (200ms) (200ms) Maximum speed Speed (4,000,000Hz) OPR speed(High-speed) OPR speed 4,000,000Hz (creep) 100,000Hz Time Zero-phase signal X-axis 1) When turning X006 "X-axis mechanical zero return command" to ON at the PLC main unit, DOG type mechanical zero return operation starts in the current value decrementing direction.
Page 265: 12.3.3 1-Speed Positioning Operation
12 Program Example -20SSC-H Positioning Block User's Manual 12.3 Explanation of Operation 12.3.3 1-speed positioning operation The 1-speed positioning operation operates by the drive for incrementing. The positioning operates at constant quantity feed. Acceleration time Deceleration time (200ms) (200ms) Maximum speed Speed (4,000,000Hz) Operation speed 1...
Page 266 12 Program Example -20SSC-H Positioning Block User's Manual 12.3 Explanation of Operation X-axis • When turning X007 "X-axis START command" to ON with X022 "X-axis selection of table operation (individual)" turned ON, multi-speed operation starts with the preset X-axis table information. After 10,000,000 pulses of travel in the current value incrementing direction, operation decelerates to stop.
Page 267: Circular Interpolation Operation [Table Operation (Simultaneous)]
12 Program Example -20SSC-H Positioning Block User's Manual 12.4 Sequence Program 12.3.5 Circular interpolation operation [table operation (simultaneous)] Circular interpolation operation works in table operation. In this example, circular interpolation operation functions by the drive to increment. 1. Operation details Y-axis 2,000,000 1,000,000...
Page 268 12 Program Example -20SSC-H Positioning Block User's Manual 12.4 Sequence Program RUN monitor M8000 FNC 12 X-axis status information U0\G28 K4M40 BFM #28 M40 to M55 FNC 12 Y-axis status information X-axis U0\G128 K4M140 BFM #128 M140 to M155 unit ready Y-axis unit ready M149 Unit...
Page 269 12 Program Example -20SSC-H Positioning Block User's Manual 12.4 Sequence Program From previous page From previous page Select Y-axis operation pattern. Selection of Y-axis 1-speed positioning operation X021 Y-axis 1-speed M100 positioning operation RUN monitor M8000 Y-axis interrupt 1-speed M101 constant quantity feed Y-axis 2-speed M102...
Page 270 12 Program Example -20SSC-H Positioning Block User's Manual 12.4 Sequence Program From previous page From previous page Select X-axis operation command. X-axis error reset X000 X-axis error reset X-axis STOP X001 X-axis STOP X-axis forward rotation limit X002 X-axis forward rotation limit X-axis reverse rotation limit X003...
Page 271 12 Program Example -20SSC-H Positioning Block User's Manual 12.4 Sequence Program From previous page From previous page RUN monitor M8000 Simultaneous start flag (In this example, always OFF) X-axis M code ON FNC232 M31 X-axis m code K10003 AND= OFF command RUN monitor X-axis change command in M8000...
Page 272 12 Program Example -20SSC-H Positioning Block User's Manual 12.4 Sequence Program From previous page From previous page RUN monitor M8000 M130 Always OFF Y-axis M code ON M148 FNC232 Y-axis m code OFF D109 K11003 M131 AND= command RUN monitor Y-axis change command in M8000 operation disable...
Page 273 12 Program Example -20SSC-H Positioning Block User's Manual 12.4 Sequence Program From previous page From previous page Read Y-axis monitor data from 20SSC-H. RUN monitor M8000 FNC 12 Y-axis current address (user) U0\G100 D100 DMOV BFM #101,#100 D101,D100 FNC 12 Y-axis error BFM No.
Page 274: 13. Diagnostics
• Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
Page 275: 13.1.1 Check Leds
For details on error codes, refer to the following: Y-ERROR →Refer to Subsection 13.2.3 If the 20SSC-H does not restore the problem at power ON CPU error again, consult your local Mitsubishi Electric representative. 13.1.2 Input LED state indications Color State Content of Error...
Page 276: Check Error Code
13 Diagnostics -20SSC-H Positioning Block User's Manual 13.2 Check Error Code 13.2 Check Error Code 13.2.1 Checking errors When an error or warning (servo amplifier) occurs, error or warning information is stored to the following buffer memories. FX Configurator-FP and GX Developer check the error by monitoring, and so does a sequence program. BFM number Item Content...
Page 277: Error Code List [Bfm #29 (X-Axis), Bfm #129 (Y-Axis)]
13 Diagnostics -20SSC-H Positioning Block User's Manual 13.2 Check Error Code 13.2.3 Error code list [BFM #29 (X-axis), BFM #129 (Y-axis)] When an error occurs an error code is stored in decimal to BFM #29 (X-axis) and BFM #129 (Y-axis). Error Error category Code...
Page 278 Change the external device, or review the setting. 9000 Memory error If this error occurs after rebooting and initializing the 9001 Sum check error Major errors 20SSC-H, the module needs repair. 9002 Watchdog timer error Consult your local Mitsubishi Electric representative. 9003 Hardware error...
Page 279 2013 manufactured after June 2006. (13) Clock error The servo amplifier or 20SSC-H must be repaired. • Faulty board Consult your local Mitsubishi Electric representative. • Clock error transmitted from 20SSC-H 2014 CPU watchdog error (14) • Servo amplifier hardware error The servo amplifier must be repaired.
Page 280 13 Diagnostics -20SSC-H Positioning Block User's Manual 13.2 Check Error Code Error Error category Code Error Content Action (decimal) Error code, error content and action are given for the MR-J3- B(S). Parentheses ( ) in the error code column indicate the LED display of the MR-J3- B(S). →For the MR-J3W- B, refer to the MR-J3W- B Instruction Manual →For details on how to check errors and actions, refer to the manual of the servo amplifier to be connected Overspeed...
Page 281 13 Diagnostics -20SSC-H Positioning Block User's Manual 13.2 Check Error Code Error Error category Code Error Content Action (decimal) Error code, error content and action are given for the MR-J3- B(S). Parentheses ( ) in the error code column indicate the LED display of the MR-J3- B(S). →For the MR-J3W- B, refer to the MR-J3W- B Instruction Manual →For details on how to check errors and actions, refer to the manual of the servo amplifier to be connected Cooling fan alarm...
Page 282: Servo Warning List [Bfm #68 (X-Axis), Bfm #168 (Y-Axis)]
The servo amplifier must be repaired. Consult your (888) • CPU/part fault local Mitsubishi Electric representative. 13.2.4 Servo warning list [BFM #68 (X-axis), BFM #168 (Y-axis)] The warning detected by the servo amplifier is stored. Remove the cause of the warning.
Page 283 If this error occurs after rebooting and initializing the 2147 A watchdog error occurred on the 20SSC-H. 20SSC-H, the module needs repair. Consult your local Mitsubishi Electric representative. Cooling fan speed reduction warning • Replace the cooling fan of the servo amplifier.
Page 284: Diagnostics On The Plc Main Unit
If the power is not OFF, check the power supply and the power supply occurred: route. • The power supply is OFF. If power is being supplied correctly, consult your local Mitsubishi Electric • Incorrect external wiring. representative. • Power of the specified voltage is not •...
Page 285: Error Led [On/Flashing/Off]
Fit a noise filter onto the power supply line. 3) If the ERROR LED does not go out even after measures in 1) and 2) are adopted, consult your local Mitsubishi Electric representative. One of the following errors has occurred on...
Page 286: Appendix A: List Of Parameters And Data
Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-1 Monitor Data List Appendix A: LIST OF PARAMETERS AND DATA Appendix A-1 Monitor Data List BFM Number Value of Default Item Description Reference monitor value X axis Y axis BFM #1,#0 Current address (user)
Page 287 Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-1 Monitor Data List BFM Number Value of Default Item Description Reference monitor value X axis Y axis BFM #29 BFM #129 Error code Stores the error code Decimal Subsection 11.3.18 BFM #30...
Page 288: Appendix A-2 Control Data Table
Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-2 Control Data Table Appendix A-2 Control Data Table BFM number Default Item Description/Setting range Reference value X axis Y axis Target address1 Subsection 11.4.1 -2,147,483,648 to 2,147,483,647 (user unit) #501,#500 #601,#600 *1 *2...
Page 289 Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-2 Control Data Table BFM number Default Item Description/Setting range Reference value X axis Y axis Table operation start BFM #521 BFM #621 0 to 299 Subsection 11.4.13 number Control command Model code: control command enabled...
Page 290: Appendix A-3 Table Information List
Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-3 Table Information List Appendix A-3 Table Information List BFM number Table Default Refe- Item Description/Setting range number value rence X axis Y axis XY axis Positioning: Position data x #1001,#1000 #7001,#7000...
Page 291 Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-3 Table Information List The operation information includes the following items. -1: No processing (NOP) 19: Linear interpolation (LIN) -1: m code (NOP) 20: Linear interpolation (interrupt stop) (LIN_INT) 0: End (END) 21: Circular interpolation (center, CW direction)(CW_i) 1: 1-speed positioning (DRV_X)
Page 292: Appendix A-4 Positioning Parameters List
Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-4 Positioning parameters List Appendix A-4 Positioning parameters List BFM number Default Item Description/Setting range Reference value X axis Y axis b1,b0 System of units (user unit) (motor, mechanical, composite system) b3,b2 Unit of measurement for the user units...
Page 293 Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-4 Positioning parameters List BFM number Default Item Description/Setting range Reference value X axis Y axis Zero signal count 0 to 32767 PLS Subsection 11.1.14 #14030 #14230 Selects zero return mode 0 DOG Zero return mode...
Page 294: Appendix A-5 Servo Parameters List
Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-5 Servo Parameters List Appendix A-5 Servo Parameters List BFM number Default Item Settings Reference value X axis Y axis Servo amplifier series Setting of servo amplifier series connected to 20SSC-H #15000 #15200 Control mode...
Page 295 Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-5 Servo Parameters List BFM number Default Item Settings Reference value X axis Y axis Vibration suppression Resonance frequency 1 to 1000(×0.1Hz) K1000 #15038 #15238 setting Low-pass filter selection Selects setting method (auto/manual) of low-pass filter H0000 #15041...
Page 296 Appendix A: LIST OF PARAMETERS AND DATA -20SSC-H Positioning Block User's Manual Appendix A-5 Servo Parameters List BFM number Default Item Settings Reference value X axis Y axis Analog monitor feedback position output standard Setting of standard position of feedback output with analog #15076 #15276 data Low...
Page 297: Appendix B: Version Information
Appendix B: Version Information -20SSC-H Positioning Block User's Manual Appendix B-1 Version Information Appendix B: Version Information Appendix B-1 Version Information Appendix B-1-1 Version check method The version of 20SSC-H can be checked by the following method. 1) In the 20SSC-H, users can obtain the 20SSC-H version information by monitoring buffer memory #17 (decimal number).
Page 298 Appendix B: Version Information -20SSC-H Positioning Block User's Manual Appendix B-1 Version Information Version Contents of version upgrade Ver.1.30 • A function is added to select the servo ON/OFF status at startup. • A function is added to monitor the address at the time of interrupt occurrence.
Page 299 Appendix B: Version Information -20SSC-H Positioning Block User's Manual Appendix B-1 Version Information MEMO...
Page 300: Warranty
Any other failure found not to be the responsibility controller range of applications. of Mitsubishi or that admitted not to be so by the However, in certain cases, some applications may be user.
Page 301: Revised History
-20SSC-H Positioning Block User's Manual Revised History Revised History Date Revision Description 12/2005 First Edition 1/2006 • "Power-on Timing" added [Subsection 5.2.1] • Clerical Error Correction [Subsection 3.4.1, 8.1.4, 8.1.5, 8.3.1, 8.3.3, 9.2.1, Section 9.9, 12.4, Appendix A-1, Appendix A-3] 4/2006 •...
Page 302 -20SSC-H Positioning Block User's Manual Revised History Date Revision Description 1/2010 • Supported in Ver.1.30 - When the absolute position detection system is used, ring operation allows unlimited length feed. [Section 7.8] - The contents of setting of the regenerative brake option are added. [Subsection 11.2.1] - The continuous pass operation with m code (with mode) is changed.
Page 304 -20SSC-H USER’S MANUAL HEAD OFFICE: TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN HIMEJI WORKS: 840, CHIYODA CHO, HIMEJI, JAPAN MODEL FX3U-20SSC-U-E 09R622 MODEL CODE JY997D21301J Effective Nov. 2011 (MEE) Specifications are subject to change without notice.

Mitsubishi FX3U-20SSC-H User Manual

1 Introduction

2 System Configuration

3 Specifications

4 Installation

5 Wiring

6 Memory Configuration and Data Operation

7 Before Starting Positioning Operation

8 Manual Control

9 Positioning Control

10 Table Operation

11 Buffer Memory (Parameters & Monitored Data)

12 Program Example

13 Diagnostics

Appendix A: LIST of PARAMETERS and DATA

Appendix A-1 Monitor Data List

Appendix A-2 Control Data Table

Appendix A-3 Table Information List

Appendix A-4 Positioning Parameters List

Appendix A-5 Servo Parameters List

Appendix B: Version Information

Appendix B-1 Version Information

Appendix B-1-1 Version Check Method

Appendix B-1-2 Version Upgrade History

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