Chapter 18 Programming - Mitsubishi Electric MELSEC iQ-F Series FX5 User Manual

18
PROGRAMMING
This chapter describes the program required for performing the positioning control with the positioning module. When creating
a program required for the control, consider Start condition, Start time chart, Device setting, and the configuration of the whole
control. (According to the control to be performed, set data such as parameters, positioning data, block start data, and
condition data for the positioning module, and create a setting program of control data and a start program of each control.)
18.1
Precautions on Programming
This section describes common precautions for writing data of the CPU module to the buffer memory of the positioning
module.
Reading/writing data
Using GX Works3 is recommended to set the data shown in this chapter (various parameters, positioning data, and block start
data). Because setting the data with programs requires many programs and devices, the execution becomes complicated,
and the scan times will increase. When changing positioning data during the continuous path control or continuous positioning
control, rewrite the data before the positioning data four steps before is executed. If data has not been rewritten when the
positioning data four steps before is executed, the data is processed as data that is not rewritten.
Restrictions on the execution interval of speed change
To change the speed successively using the speed change function or override function in the positioning module, set 10 ms
or longer as the interval between each speed change.
Measures against an overrun
Setting [Pr.12] Software stroke limit upper limit value and [Pr.13] Software stroke limit lower limit value of detailed parameter 1
can prevent an overrun. Note that this is valid only when the positioning module is operating normally. Set limit switches to
ensure the safety of the entire system. Establishing an external circuit through which the motor power turns off when a limit
switch turns on is recommended.
System configuration
The following figure shows the system configuration used for the program examples in this section.
(1) (2)
FX5U-32MT/ES FX5-20PG-P
X0 to X17
Y0 to Y2
(6)
(7)
M
(3) (4)
FX5-16EX/ES FX5-16EX/ES
X40 to X45
X20 to X37
X47 to X51
(1) FX5U-32MT/ES(X0 to X17/Y0 to Y17)
(2) FX5-20PG-P
(3) FX5-16EX/ES(X20 to X37)
(4) FX5-16EX/ES(X40 to X57)
(5) External device
(6) Servo amplifier
(7) Servomotor
(5)
18 PROGRAMMING
18.1 Precautions on Programming
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