Page 1 USER'S MANUAL - Positioning Control Edition SERIES PROGRAMMABLE CONTROLLERS Transistor Output Main Unit (Sink Output) Main Unit (Sink Output/ Source Output) Main Unit (Sink Output/ Source Output) Line Driver Output -2HSY-ADP...
Page 3: Safety Precautions
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.) 2. WIRING PRECAUTIONS Reference • 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. B-30 •...
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 distributor. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
Page 7 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 indicated by this manual, technical bulletin, catalog, etc. are used as a reference, please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples.
Page 9: Table Of Contents
PLC User's Manual - Positioning Control Edition Table of Contents Table of Contents SAFETY PRECAUTIONS ....................(1) Functions and Use of This Manual ..................9 Related Manuals ........................10 Generic Names and Abbreviations Used in Manuals ............12 A. Common Items Description of Manual (Common Items) ................
Page 10 PLC User's Manual - Positioning Control Edition Table of Contents B. Built-in Positioning Functions Description of Manual (Built-in Positioning Function) ............B-2 1. Outline 1.1 Features ............................B-3 1.2 Setup Procedure for Positioning Control..................B-4 1.3 Version Numbers of Compatible PLCs ..................B-7 1.4 Version Numbers of Compatible Programming Tools..............B-8 1.5 Assignment of Input/Output Numbers ..................B-9 1.5.1 Assignment of Input Numbers ......................B-9...
Page 11 PLC User's Manual - Positioning Control Edition Table of Contents 4.2.8 Setting of Deceleration Time ......................B-45 4.3 Various Special Relays for Operation Commands..............B-46 4.3.1 Forward Rotation Limit and Reverse Rotation Limit ..............B-46 4.3.2 Immediate Stop of Pulse Output (Pulse Output Stop Command Relay) ........B-47 4.3.3 Designation of Zero Return Direction (DSZR/ZRN Instruction) ..........B-47 4.3.4 CLEAR Signal Output (DSZR/ZRN Instruction)................B-49 4.3.5 Change in Logic of Near-Point (DOG) Signal (DSZR Instruction) ..........B-50...
Page 12 PLC User's Manual - Positioning Control Edition Table of Contents 7. Absolute Position Detection System (Absolute Current Value Read)-ABS Instruction B-105 7.1 Instruction Format ........................B-105 7.2 List of Related Devices ......................B-106 7.3 Function and Operation......................B-106 7.4 Initial Zero Return........................B-107 7.5 Important Points ........................B-108 8.
Page 13 PLC User's Manual - Positioning Control Edition Table of Contents 12. Examples of Programs B-151 12.1 Input/Output Assignment......................B-152 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program)........B-154 12.2.1 Example Program........................B-154 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program)........B-157 12.3.1 Example Program........................B-157 12.4 Positioning Using Batch Setting Method ................B-161 12.4.1 Setting Using GX Developer....................B-161 12.4.2 Operation Program .........................B-163...
Page 14 PLC User's Manual - Positioning Control Edition Table of Contents Appendix: Example Connection Description of Manual (Example of Connection) ............Apx.-2 Appendix 1. MELSERVO-J3 Series Apx.-3 Appendix 1-1 Main Unit (Transistor Output) .................Apx.-3 Appedix 1-1-1 Sink Input and Sink Output ..................Apx.-3 Appendix 1-2 High-Speed Output Special Adapter ..............Apx.-6 Appedix 1-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output....Apx.-6 Appendix 1-3 Absolute Position Detection (Transistor Output) ..........Apx.-7...
Page 15: Functions And Use Of This Manual
PLC User's Manual - Positioning Control Edition Functions and Use of This Manual Functions and Use of This Manual The FX PLC outputs transistor signals from the main unit and also outputs pulses from the high-speed output adapter and the positioning special function unit/block to the servo motor and stepping motor to properly control positioning operations.
Page 16: Related Manuals
PLC User's Manual - Positioning Control Edition Related Manuals Related Manuals Refer to this document to perform positioning operations with the FX Series PLC. For hardware information on the PLC and for details on the special function units/blocks, refer to the respective manuals.
Page 17 PLC User's Manual - Positioning Control Edition Related Manuals Indispensable manual Manual that may be indispensable depending on the purpose of use Abbreriated document Document Title of manual Description Model code number Programming Describes the basic instructions, applied Series Programming instructions, and various devices of the Separate Manual - Basic &...
Page 18: Generic Names And Abbreviations Used In Manuals
PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic Names and Abbreviations Used in Manuals Generic name or Description abbreviation 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 19 PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or Description abbreviation Extension unit Generic name for special function unit and special function block Special function unit/block or The number of connectable units, however, depends on the type of main unit. Special extension unit To check the number of connectable units, refer to the User's Manual - Hardware Edition of the main unit to be used for your system.
Page 20 PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or Description abbreviation Drive unit for servo motor and stepping motor Generic name for servo motor or stepping motor Servo motor Including pulse input type servo amplifier and drive unit. Servo amplifier (drive unit) Generic name for pulse input type servo amplifier (drive unit) MELSERVO series...
Page 21: Common Items
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 22: Description Of Manual (Common Items
PLC User's Manual - Positioning Control Edition Common Items Description of Manual (Common Items) In this manual, the following formats are used for describing the common items: Indexes the title of Shows the title of the chapter Shows the title of the manual and the title division.
Page 23: Introduction
PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.1 Outline Introduction This manual describes the positioning control for the FX PLC. In this chapter, a brief description of the positioning products is provided. Outline The FX PLC outputs the pulse signal to the servo motor and the stepping motor to control the Apx.
Page 24: Introduction Of Products Needed For Positioning
PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning Introduction of Products Needed for Positioning To control the positioning operation, use the positioning functions incorporated in the main unit (including the special adapters), and the special functions units/blocks.
Page 25 PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning 2. Special function block/unit Frequency Number of Output Model Unit Output method axes system (Hz) Special function block pulse Open "Pulse train + direction" method or µm -1PG(-E) 1-axis...
Page 26: Main Unit (Transistor Output
PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning 1.2.2 Main Unit (Transistor Output) The FX PLC incorporates positioning functionality. The PLC can output an open collector type pulse train of up to 100 kHz from the general-purpose outputs (Y000 to Y002), and it can simultaneously control 3 axes 1-axis 2-axes...
Page 27: Special Function Unit/Block
PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning Cautions when connecting special adapters • To use high-speed input/output special adapters only (not to use the other special adapters), it is not necessary to connect the expansion board.
Page 28 PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning 3. Individual operation (FX -10GM, FX -20GM) Without connecting special function units (FX -10GM, FX -20GM) to the PLC, you can operate them individually.
Page 29: Unit Connection
PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 2.1 FX3U PLC Unit Connection This chapter displays several block diagrams to illustrate the various combinations of units needed for positioning control. Apx. Series show the unit positions. (For installation details, refer to the manuals of the special adapter and special function units/blocks.) Servo motor or...
Page 30: Fx 3Uc Plc
PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 2.2 FX3UC PLC Series show the unit positions. (For installation details, refer to the manuals of the special adapter and special function units/blocks.) Servo motor or MIL connector (20-pin) Stepping motor -1PS-5V POWER...
Page 31: Fx 3G Plc
PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 2.3 FX3G PLC Series (40-point, 60-point type) Servo motor or Stepping motor Terminal board (M3) Transistor output (Y000 to Y002) Apx. Series (14-point, 24-point type) Terminal board (M3) Transistor output (Y000, Y001) Individual Operation of Special Function Unit (FX -10GM, FX...
Page 32: Comparison Of Specifications
PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.1 Comparison of Performance Specifications Comparison of Specifications The specifications for each product with positioning functionality are shown below. Comparison of Performance Specifications 3.1.1 Built-in Positioning Function [Main Unit (Transistor Output), High-Speed Output Special Adapter (FX -2HSY-ADP)] Model...
Page 33: Pulse Output Special Function Block [Fx 2N -1Pg(-E), Fx 2N -10Pg
PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.1 Comparison of Performance Specifications 3.1.2 Pulse Output Special Function Block [FX -1PG(-E), FX -10PG] Model -1PG(-E) -10PG Number of control 1 independent axis axes Interpolation Pulse output Open collector system Differential line driver system system...
Page 34: Positioning Special Function Block [Fx 3U -20Ssc-H
PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.1 Comparison of Performance Specifications 3.1.3 Positioning Special Function Block [FX -20SSC-H] Model -20SSC-H Number of control 2 independent/simultaneous axes axes Interpolation 2-axes linear interpolation, 2-axes circular interpolation Pulse output system SSCNET III...
Page 35: Positioning Special Function Unit [Fx 2N -10Gm, Fx 2N -20Gm
PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.1 Comparison of Performance Specifications 3.1.4 Positioning Special Function Unit [FX -10GM, FX -20GM] Model -10GM -20GM Number of control 1 independent axis 2 independent/simultaneous axes axes 2-axes linear interpolation, Interpolation 2-axes circular interpolation...
Page 36 PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.2 Comparison of Operation Modes Comparison of Operation Modes Positioning operation Description pattern Jogging operation Jogging speed Speed If the forward/reverse rota- tion command is input, the motor will rotate in the for- Start ward/reverse direction.
Page 37 PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.2 Comparison of Operation Modes Positioning operation Description pattern Interrupt stop (linear interpolation [Interrupt If an interrupt input turns ON, Apx. stop]) during a linear interpolation operation to the target posi- Ignoring −...
Page 38 PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.2 Comparison of Operation Modes Positioning operation Description pattern Variable-speed operation Speed The operation will be per- − − formed at the operation speed specified by the PLC. Start Speed Speed Stop...
Page 39: Built-In Positioning Functions
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 40: Description Of Manual (Built-In Positioning Function
PLC User's Manual - Positioning Control Edition Built-in Positioning Functions Description of Manual (Built-in Positioning Function) In this manual, the following formats are used for describing the built-in positioning functions. Shows the title of the manual and the title Shows the title of the chapter Indexes the title of of the division.
Page 41: Outline
PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.1 Features Outline This chapter describes a general outline of the positioning modules. Note that the general outputs of the PLC (transistor output) and FX -2HSY-ADP high-speed output special adapter are needed for positioning control.
Page 42: Setup Procedure For Positioning Control
PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.2 Setup Procedure for Positioning Control Setup Procedure for Positioning Control 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.
Page 43 • Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric distributor. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
Page 44: Version Numbers Of Compatible Plcs
PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.2 Setup Procedure for Positioning Control Built-in positioning function Outline of system •Version numbers of compatible PLCs Refer to Chapter 1 •Version numbers of compatible programming tools Outline •Assignment of input/output numbers Refer to Chapter 2 Specifications on incorporated...
Page 45 100-240VAC 50/60Hz 40W OUT:30VDC/240VAC 2A(COSφ=1) SERIAL 570001 80M1 IND. CONT. EQ. MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN Control number Month (Example: July):(1 to 9 = January to September, X = October, Y = November, Z = December) Year (Example: 2005): Last digit of year...
Page 46: Version Numbers Of Compatible Programming Tools
PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.4 Version Numbers of Compatible Programming Tools Version Numbers of Compatible Programming Tools The built-in positioning functions depend on the version of the FX PLC. Select a compatible version of GX Developer for programming.
Page 47: Assignment Of Input/Output Numbers
PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers Assignment of Input/Output Numbers 1.5.1 Assignment of Input Numbers Assign the input numbers of the FX PLC as follows: Application Input number Remarks Connect a line to any input.
Page 48 PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers Application Input number Remarks The interrupt input depends on the pulse output destination specified by the DVIT instruction as shown in the following table. If the version number of the PLC is 1.30 or higher, the interrupt input can be specified.
Page 49: Assignment Of Output Numbers
PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers X000 to X007 for FX -16M , FX -16M . X000 to X007 for FX PLC (main unit). Interrupt outputs are supported only in the FX and FX PLC.
Page 50 PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers 2. High-speed output special adapter Output number Application Terminal Remarks Connect a line to determine the pulse train signal or the forward rotation pulse train for the 1st axis of each high-speed output Y0/2+ special adapter.
Page 51: Connection Of High-Speed Output Special Adapter
PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers 1.5.3 Connection of High-Speed Output Special Adapter 1. When the FX -16MR/ES uses an instruction that needs the high-speed inputting operation, the main unit should have enough input terminals. Before selecting the main unit, be sure to check the number of input points needed for the operation.
Page 52 PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers Block diagram Series main unit Sequence program -2HSY -2HSY -ADP -ADP FNC 158 K30000 K20000 Y000 Y004 DRVI FNC 158 K15000 K10000 Y001 Y005 DRVA FNC 159...
Page 53: Specifications
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 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 54: General Specifications
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.1 General Specifications General Specifications For the FX PLC general specifications, refer to the following manuals. Note that the high-speed output special adapter general specifications are the same as the PLC excluding the specifications shown in the following table.
Page 55: Performance Specifications
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.3 Performance Specifications Performance Specifications Model -2HSY-ADP (main unit, transistor output) 2 independent axes Number of control axes 3 independent axes (Connect 2 adapters to the main unit to control 4 axes independently.) Interpolation Pulse output system...
Page 56: Input Specifications
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications Input Specifications 2.4.1 Series main unit (24V DC Input) This section describes the input specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the input extension units and the main unit.
Page 57: Fx 3Uc Series Main Unit (24V Dc Input
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications 2.4.2 Series main unit (24V DC Input) This section describes the input specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the input extension units and the main unit. For details on this restriction, refer to the following manual: →...
Page 58 PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications · · Sink input type(FX MT/DSS) Source input type (FX MT/DSS) Main unit Main unit Fuse Fuse 24V DC 24V DC COM0 COM0 Input impedance Input impedance * Class-D grounding * Class-D grounding...
Page 59: Fx 3G Series Main Unit (24V Dc Input
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications 2.4.3 Series main unit (24V DC Input) This section describes the input specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the input extension units and the main unit. For details on this restriction, refer to the following manual: →...
Page 60: Output Specifications
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications Output Specifications 2.5.1 Series main unit (Transistor Output) This section describes the transistor output specifications of the FX Series main unit. Please note that the simultaneous turning-on rate is restricted for the output extension units and the main unit.
Page 61 PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2. Source internal output circuit Series main unit Pulse train signal Y000 Direction signal Apx. Y004 Servo amplifier Grounding (Drive unit) 5 to 24V DC To ground the unit, refer to the servo amplifier (drive unit) manual.
Page 62: Fx 3Uc Series Main Unit (Transistor Output
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2.5.2 Series main unit (Transistor Output) This section describes the transistor output specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the output extension units and the main unit. For details on this restriction, refer to the following manual: For MELSERVO Series amplifiers, use a sink input/sink output type PLC.
Page 63 PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2. Source internal output circuit 5 to 24V DC MT/DSS Servo amplifier Main unit (Drive unit) Pulse train signal Direction signal Apx. Grounding To ground the unit, refer to the servo amplifier (drive unit) manual. If the grounding method is not specified, carry out class-D grounding.
Page 64: Fx 3G Series Main Unit (Transistor Output
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2.5.3 Series main unit (Transistor Output) This section describes the transistor output specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the output extension units and the main unit. For details on this restriction, refer to the following manual: →...
Page 65: High-Speed Output Special Adapter [Fx 3U -2Hsy-Adp
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2.5.4 High-Speed Output Special Adapter [FX -2HSY-ADP] This section describes the output specifications of the high-speed output special adapter (FX -2HSY-ADP). Item High-speed output special adapter (FX -2HSY-ADP) Output system Differential line driver system (equivalent to AM26C31)
Page 66: List Of Functions
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.6 List of Functions List of Functions The instructions needed for the FX PLC built-in positioning functions are shown in the following table: Positioning instruction Operation Description Refer to Mechanical zero return If the DSZR/ZRN instruction turns ON, zero return...
Page 67 PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.6 List of Functions Only available for FX and FX PLCs. Only available for FX PLC Ver. 2.20 or later and FX PLC. Apx. B - 29...
Page 68: Connection Of Input/Output Lines And Tightening Torques
PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions Connection of Input/Output Lines and Tightening Torques This chapter describes how to connect the input/output lines and the terminal tightening torques. WIRING PRECAUTIONS •...
Page 69: Terminal Board (M3, M3.5
PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions 3.1 Terminal Board (M3, M3.5) Terminal Board (M3, M3.5) A terminal board is used for the FX , FX Series main unit, FX Series input/output extension unit (excluding some types), and FX Series input/output extension block.
Page 70: European Terminal Board
PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions 3.2 European Terminal Board • When two wires are connected to one terminal φ 3.7(0.15") Terminal Crimp 6.8mm(0.27") screw terminal or less 6.0mm(0.24") or more φ...
Page 71: Tool
PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions 3.3 Connector 3.2.3 Tool • To tighten the terminals, use a purchased small-sized screwdriver whose tip is straight and is not widened as shown in the right figure. Note: If the diameter of screwdriver grip is too small, tightening torque will not be able to be achieved.
Page 72: Setup Of Input/Output Connection Connector
Use a 20-pin (1-key) socket that conforms to the requirements of the MIL C-83503. Preliminarily check that the peripheral parts, such as the connector cover, will not cause any interference. 2. Input/output cables (optional cables manufactured by our company) Mitsubishi Electric can provide input/output cables already equipped with a connector. Model Length...
Page 73 PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Functions 3.3 Connector 4. Connector already confirmed as applicable (sold at store) Connectors manufactured by Daiichi Denshi Kogyo Co., Ltd. (shown in 3) and connectors manufactured by Matsushita Electric Works, Ltd.
Page 74: Before Programming
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.1 List of Related Devices Before Programming This chapter describes several items that should be known before programming. They are: • Operation of related devices, such as output pulse frequency, operation command flag, current value, and operation monitor flag.
Page 75 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.1 List of Related Devices Device number Corresponding Function Attribute Refer to instructions Y000 Y001 Y002 Y003 Subsection *3,*5 M8347 M8357 M8367 M8377 Interrupt signal logic reverse Drivable DVIT 4.3.8...
Page 76: Special Data Registers
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.1 List of Related Devices 4.1.2 Special Data Registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations. Device number Data Initial...
Page 77: Setting Of Various Items Regarding Speeds
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds Setting of Various Items Regarding Speeds Specify the output pulse frequency using the operand of each instruction or the related device to determine the output pulse frequency, zero return speed, or creep speed.
Page 78 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 3. Zero return instruction with DOG search function (DSZR) For this instruction, it is necessary to specify the maximum speed, bias speed, acceleration time, deceleration time, zero return speed, and creep speed using the related devices.
Page 79: Setting Of Output Pulse Frequency (Dvit, Plsv, Drvi, And Drva Instructions
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 4.2.2 Setting of Output Pulse Frequency (DVIT, PLSV, DRVI, and DRVA Instructions) Set the output pulse frequency using the operand of each instruction. In this case, the setting range depends on the instruction (see the following table).
Page 80: Setting Of Zero Return Speed (Dszr/Zrn Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 4.2.3 Setting of Zero Return Speed (DSZR/ZRN Instruction) Use the related device or the operand of the instruction to set the zero return speed. The zero return speed setting range is shown in the following table.
Page 81: Setting Of Creep Speed (Dszr/Zrn Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 4.2.4 Setting of Creep Speed (DSZR/ZRN Instruction) Use the related device or the operand of the instruction to set the creep speed. The creep speed setting range is shown in the following table.
Page 82: Setting Of Bias Speed
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 4.2.6 Setting of Bias Speed To control the stepping motor using each instruction, set the bias speed considering the resonance range of the stepping motor and the automatic start frequency.
Page 83: Setting Of Deceleration Time
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 4.2.8 Setting of Deceleration Time Set the time required for deceleration from the maximum speed to the bias speed. If the output pulse frequency is less than the maximum speed, the actual deceleration time will be shorter than the set deceleration time.
Page 84: Various Special Relays For Operation Commands
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands Various Special Relays for Operation Commands 4.3.1 Forward Rotation Limit and Reverse Rotation Limit When using the servo motor, the forward rotation limit and the reverse rotation limit can be set for the servo amplifier.
Page 85: Immediate Stop Of Pulse Output (Pulse Output Stop Command Relay
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 4.3.2 Immediate Stop of Pulse Output (Pulse Output Stop Command Relay) During the execution of a positioning instruction, if the pulse output stop command relay is turned on, the pulses being output will immediately stop.
Page 86 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 2. Zero return instruction (ZRN instruction) Zero return will be performed in the reverse rotation direction only. (During zero return, the value indicated by the current value register will be decreased.) To perform zero return in the forward rotation direction using the ZRN instruction (zero return instruction): To perform zero return in the forward rotation direction, create a program to control the output (Y) relay set as a "rotational direction signal"...
Page 87: Clear Signal Output (Dszr/Zrn Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 4.3.4 CLEAR Signal Output (DSZR/ZRN Instruction) The DSZR instruction (zero return instruction with DOG search function) and ZRN instruction (zero return instruction) can stop the workpiece at the origin, and can output the CLEAR signal.
Page 88: Change In Logic Of Near-Point (Dog) Signal (Dszr Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands CLEAR signal device specification method: 1) Write the CLEAR signal output (Y) device number in the "CLEAR signal device specification" register with a hexadecimal number (expressed in octal numbers).
Page 89: Designation Of Interrupt Input Signal For Dvit Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 4.3.7 Designation of Interrupt Input Signal for DVIT Instruction The interrupt input signal of the interrupt positioning (DVIT) instruction depends on the pulse output destination device as shown in the following table.
Page 90: Change In Logic Of Interrupt Input Signal (Dvit Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands A device can only be specified if an FX PLC Ver. 2.20 or later is used. When using an FX PLC below Ver.
Page 91: Acceleration/Deceleration By Plsv Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 4.3.9 Acceleration/Deceleration by PLSV Instruction Using an FX PLC Ver. 2.20 or later or FX PLC, if M8338 (acceleration/deceleration operation) is turned on, the variable speed pulse output (PLSV) instruction will be activated to accelerate/decelerate the operation.
Page 92: Current Value And Flag For Monitoring Of Operation
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.4 Current Value and Flag for Monitoring of Operation Current Value and Flag for Monitoring of Operation 4.4.1 Current Value During positioning operation, use the current value register to check the current value positioning address. The current value will be increased or decreased depending on the rotation direction.
Page 93: Completion Of Instruction Execution ("Instruction Execution Complete" Flag, "Instruction Execution Abnormal End" Flag
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.4 Current Value and Flag for Monitoring of Operation 4.4.2 Completion of Instruction Execution ("Instruction execution complete" Flag, "Instruction execution abnormal end" Flag) Use the "Instruction execution complete" flag or "Instruction execution abnormal end" flag to check whether execution of the positioning instruction has been completed properly.
Page 94: Setting Of Various Items On Plc Side
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side Setting of Various Items on PLC Side 4.5.1 Setting of Common Items Using Program For each pulse output destination device (Y000, Y001, Y002 , Y003 ), set the items shown in the following table without using the operand of the instruction.
Page 95 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side Setting device Instruction Setting Refer to item Y000 Y001 DSZR ZRN PLSV DVIT DRVI DRVA Y002 Y003 User Subsec- interrupt M8460 M8461 M8462 M8463 tion...
Page 96 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side Example program: In the following program, the zero return instruction with DOG search function (DSZR), variable speed pulse output (PLSV) instruction, and interrupt positioning (DVIT) instruction are used for the pulse output destination (Y000) under the conditions shown in the following table.
Page 97 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side 2) Set program M8002 Maximum speed (for Y000): FNC 12 K30000 D8343 30000 Hz → (D8344, D8343) DMOV Initial pulse Bias speed (for Y000): FNC 12 D8342...
Page 98: Setting Of High-Speed Output Special Adapter
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side 4.5.2 Setting of High-Speed Output Special Adapter If a high-speed output special adapter (FX -2HSY-ADP) is used, the pulse output method can be selected from "pulse train + direction"...
Page 99 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side 3. CLEAR signal and rotation direction signal If a high-speed output special adapter (FX -2HSY-ADP) is used, the same output will be used for both the CLEAR signal and the rotation direction signal of the DSZR (FNC150) or ZRN (FNC156) instruction.
Page 100: Setting Of Various Items On Servo Amplifier (Drive Unit) Side
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side Setting of Various Items on Servo Amplifier (Drive Unit) Side → For details on the servo amplifier (drive unit), refer to the manual of the product used in your system.
Page 101 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side 3) High-speed output special adapter (Forward/Reverse Pulse Train setting) When setting the Output Form Setting Switch of the high speed output special adapter to the "FP RP"...
Page 102 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side Reference: Image of PLC output and waveform (for MELSERVO-J3 Series servo amplifier) 1) Base unit (transistor output (sink output)) a) Connection of PLC to servo amplifier When a FX Series PLC (sink output) is used, it is connected as shown below.
Page 103 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side 3) High-speed output special adapter (set to "forward/reverse rotation pulse train") a) Connection of PLC to servo amplifier MR-J3 A servo -2HSY-ADP amplifier...
Page 104: Setting Of Electronic Gear (For Melservo Series
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side 4.6.2 Setting of Electronic Gear (For MELSERVO Series) Use the electronic gear of the servo motor to set the transfer distance per pulse. For details on the electronic gear setting, refer to the manual of the servo motor or servo amplifier, and set an optimum value depending on the application.
Page 105: Setting Of "Servo Ready" Signal (Melservo Mr-C Series
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side Setting example 2: To set the transfer distance per pulse to 0.01° (if a turntable is used): Machine specifications Servo motor Pt = 131072 (PLS/REV)
Page 106: Items To Be Observed In Programming
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming Items To Be Observed in Programming This section describes various programming items that will not be affected by any pulse output destination devices (hardware).
Page 107 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming Y002 (pulse output destination) cannot be specified when the 14-point or 24-point type FX PLC is connected. Y003 can be specified as the pulse output destination only if two FX -2HSY-ADP adapters are connected to the FX PLC.
Page 108: Stop Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming 4.7.2 STOP instruction For the normal stop of an operation (stop after speed reduction), use the "instruction OFF" function or "forward/reverse limit relay".
Page 109 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming Programming using "Instruction execution complete" flag and "Instruction execution abnormal end" flag: 1) If two or more positioning instructions are used in a program, the "Instruction execution complete" flag (M8029) or "Instruction execution abnormal end"...
Page 110 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming 2) To use at a position other than just below the positioning instruction: If two or more positioning instructions are used in a program, the "Instruction execution complete" flag (M8029) and "Instruction execution abnormal end"...
Page 111: Operation Error Flag
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming 4.7.5 Operation Error Flag When there is an error in the applied instruction configuration, target device or target device number range and an error occurs while operation is executed, the following flag turns ON and the error information is stored.
Page 112: Items To Be Observed When Using The Main Unit (Transistor Output
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.8 Items To Be Observed When Using the Main Unit (Transistor Output) Items To Be Observed When Using the Main Unit (Transistor Output) 1. Pulse output destination devices Use Y000, Y001, and Y002 transistor outputs of the main unit for the pulse output destination devices.
Page 113 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.9 Caution for Using the High-Speed Output Special Adapter (FX3U-2HSY-ADP) Operation of output Operation of output Instruction for outputting pulse train at high speed Other instructions If the instruction turns ON, the corresponding output will Main unit of relay output type Can be activated.
Page 114: Format And Execution Of Applied Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.10 Format and Execution of Applied Instruction 4.10 Format and Execution of Applied Instruction Instruction and operand: - Function numbers (FNC00 - FNC ) and symbols (mnemonic codes) are assigned to the applied instructions of the PLC.
Page 115 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.10 Format and Execution of Applied Instruction Format and execution of instruction: Depending on the sizes of the numeric values to be processed, applied instructions can be classified into two types: 16-bit instructions and 32-bit instructions.
Page 116: Operation Test
PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions Operation Test This chapter describes the operation test of positioning instructions. During forward rotation (JOG+) operation and reverse rotation (JOG-) operation, the test checks whether positioning instructions are properly activated.
Page 117 • Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric distributor. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
Page 118: Test Procedure
PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.1 Test Procedure Test Procedure Turn off the power to the PLC. Temporarily connect the limit switches (forward rotation limit 1, reverse rotation limit 1) and the manual switches (forward rotation, reverse rotation). Connect the limit switches and the manual switches to the following input terminals of the PLC.
Page 119 PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.1 Test Procedure Check the operation in the forward rotation direction. Check the output indicator lamp (LED lamp) and the current value register to monitor the operation. The status of the LED indicator lamp and the value indicated in the current value register depend on the pulse output destination or rotation direction set by the positioning instruction.
Page 120 PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.1 Test Procedure Check the operation of the forward rotation limit switch. During operation in the forward rotation direction (at step 8), turn off the forward rotation limit switch 1 (X010), and confirm that the operation in the forward rotation direction is stopped.
Page 121 PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.1 Test Procedure 2. Stop of operation Turn off the reverse rotation (JOG-) switch (X013) to stop the operation in the reverse rotation direction. 1) LED indicator lamp check Check the LED indicator lamps of the PLC or the display module to check whether or not the outputs are turned on.
Page 122: Creation Of Test Program
PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.2 Creation of Test Program Creation of Test Program 1. Input/output assignment Inputs/outputs are assigned as shown in the following table: Signal Input/output number Forward rotation limit 1 NC contact X010 Limit switch...
Page 123 PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.2 Creation of Test Program 3. Example program M8002 Maximum speed (for Y000) FNC 12 K100000 D8343 100,000Hz→[D8344,D8343] DMOV Initial pulse Bias speed (for Y000) FNC 12 D8342 0Hz→D8342 Acceleration time (for Y000)
Page 124: Mechanical Zero Return (Dszr/Zrn Instruction
If the MR-H, MR-J2, MR-J2S, or MR-J3 servo amplifier (with absolute position detection function) manufactured by Mitsubishi is used, the current position value will be retained even after power-off. To use the absolute position detection system, zero return is required to be performed only once. The PLC can then read the current position value of the servo motor with the FNC155 (DABS) instruction.
Page 125: Dog Search Zero Return (Dszr Instruction
PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) DOG Search Zero Return (DSZR Instruction) Use this instruction to change the CLEAR signal output destination with an FX PLC Ver.2.20 or later or an FX PLC.
Page 126: List Of Related Devices
PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 4 : When a high-speed output special adapter is used as a destination for pulse output on a FX PLC, use the output shown in the following table for rotation direction signals.
Page 127 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 128: Function And Operation
PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 6.2.3 Function and Operation Command input FNC 150 • • • • DSZR → For details on the maximum speed, bias speed, acceleration time, and deceleration time, refer to Subsection 4.2.5 to Subsection 4.2.8.
Page 129 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 2) For , specify the zero-phase signal input number in the range of X000 to X007. To specify the logic of this zero-phase signal, turn the "Zero point signal logic reverse"...
Page 130 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 6) CLEAR signal output This instruction can output the CLEAR signal after stopping at the origin. If it is necessary to output the CLEAR signal at the completion of zero return, turn on the "CLEAR signal output function enable"...
Page 131: Zero Return (Zrn Instruction
PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 1. Zero return operation Zero return operation is described below assuming that Y000 is specified as the pulse output destination device .
Page 132 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 2. DOG search function If the forward rotation limit and the reverse rotation limit are set, the DOG search function can be used for zero return.
Page 133 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 4) If the limit switch in the zero return direction turns ON (if the start position is at forward rotation limit 1 or reverse rotation limit 1): a) When the zero return instruction is executed, zero return will be started.
Page 134: Important Points
PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 6.2.4 Important Points → For important programming points, refer to Section 4.7. • If an input (X000 to X017) from the main unit is used for the near-point signal (DOG) , the rear end of the near-point signal (DOG) will be monitored (detected) at 1ms intervals (interruption).
Page 135 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) • If the "pulse output monitor" (BUSY/READY) flag is on, a positioning instruction (including PLSR and PLSY) that uses the same output cannot be executed. If the "pulse output monitor"...
Page 136 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) Zero Return (ZRN Instruction) Use this instruction to change the CLEAR signal output destination with an FX PLC Ver.2.20 or later or an FX PLC.
Page 137 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 6.3.2 List of Related devices 1. Special auxiliary relays The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 138 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 6.3.3 Function and operation Command input FNC156 • • • D• → For details on the maximum speed, bias speed, acceleration time and deceleration time, refer to Subsection 4.2.5 to Subsection 4.2.8.
Page 139 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 3) For , specify the near-point signal (DOG) input device number ( NO contact). Turning on the near-point signal will reduce the speed to the creep speed. Turning off the near-point signal will complete the zero return operation.
Page 140 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 6) CLEAR signal output This instruction can output the CLEAR signal after stopping at the origin. If it is necessary to output the CLEAR signal at the completion of zero return, turn on the "CLEAR signal output function enable"...
Page 141 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 1. Zero return operation Zero return operation is described below assuming that Y000 is specified as the pulse output destination device .
Page 142 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 6.3.4 Important Points → For important programming points, refer to Section 4.7. • If an input (X000 to X007) of the main unit is specified for the near-point input signal specified by , the PLC interruption function will be used to stop the operation.
Page 143: Absolute Position Detection System (Absolute Current Value Read)-Abs Instruction
PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read)-ABS Built-in Positioning Functions 7.1 Instruction Format Absolute Position Detection System (Absolute Current Value Read)-ABS Instruction With the use of the servo absolute position detection system, the built-in positioning function uses the current ABS value read-out (ABS) instruction to read out the current value (absolute position (ABS) data) from the MELSERVO-H, -J2(S), or -J3 servo amplifier.
Page 144: List Of Related Devices
Connect an MR-H, MR-J2(S), or MR-J3 servo motor (with absolute position detection function) manufactured by Mitsubishi to your system, and use this instruction to read out the absolute position (ABS) data. The data will be converted into a pulse value before being read out.
Page 145: Initial Zero Return
PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read)-ABS Built-in Positioning Functions 7.4 Initial Zero Return - When using the FX -1PG(-E) or FX -10PG, read out the ABS data from the data register first, and then write the read-out ABS data into the current value register of the FX -1PG(-E) or FX -10PG...
Page 146: Important Points
PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read)-ABS Instruction Built-in Positioning Functions 7.5 Important Points Important Points • Set the timing sequence for powering on your system so that the power of the PLC is turned on after the power of the servo amplifier, or that power is turned on at the same time.
Page 147: Speed Positioning - Drvi/Drva Instruction
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.1 Incremental Method and Absolute Method 1-Speed Positioning - DRVI/DRVA Instruction The built-in positioning function uses the drive to increment (DRVI) instruction or the drive to absolute (DRVA) instruction to perform 1-speed positioning.
Page 148 PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.1 Incremental Method and Absolute Method 2. Absolute method (absolute address setting method) Specify the distance (absolute address) from the origin to the target position. In this case, any position can be the start point (current position).
Page 149: Drive To Increment - Drvi Instruction
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction Drive to Increment - DRVI Instruction 8.2.1 Instruction Format 1. Instruction Format 16-bit 32-bit FNC 158 Instruction Instruction Execution condition Execution condition...
Page 150: List Of Related Devices
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction 2 : When a high-speed output special adapter is used as a destination for pulse output on a FX PLC, use the output shown in the following table for rotation direction signals.
Page 151 PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 152: Function And Operation
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction 8.2.3 Function and Operation This instruction uses a relative drive method to perform a 1-speed positioning instruction. For this instruction, the transfer distance from the current position to the target position should be specified together with a plus or minus sign.
Page 153: Important Points
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output for other purposes.
Page 154: Drive To Absolute - Drva Instruction
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction Drive To Absolute - DRVA Instruction 8.3.1 Instruction Format 1. Instruction format 16-bit 32-bit FNC 159 Instruction Instruction Execution condition Execution condition...
Page 155: List Of Related Devices
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction 2 : When a high-speed output special adapter is used as a destination for pulse output on a FX PLC, use the output shown in the following table for rotation direction signals.
Page 156 PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 157: Function And Operation
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction 8.3.3 Function and Operation This instruction uses an absolute drive method to perform a 1-speed positioning instruction. For this instruction, the distance from the origin (zero point) to the target position should be specified.
Page 158: Important Points
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output for other purposes.
Page 159: One-Speed Interrupt Constant Quantity Feed -Dvit Instruction
PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.1 Instruction Format One-speed Interrupt constant quantity feed -DVIT Instruction The built-in positioning function uses the Interrupt Positioning (DVIT) instruction to perform one-speed interrupt constant quantity feed.
Page 160 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.1 Instruction Format 3. Devices Bit device Word device Others Real Char- Operand Con- Special System user Digit designation System user Index num- acter Pointer...
Page 161: List Of Related Devices
PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.2 List of Related Devices List of Related Devices 1. Special auxiliary relays The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 162 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.2 List of Related Devices 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 163: Function And Operation
PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation Function and Operation Command input FNC 151 • • • • DVIT → For details on the maximum speed, bias speed,acceleration time, and deceleration time, refer to Subsection 4.2.5 to Subsection 4.2.8.
Page 164 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output for other purposes.
Page 165 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation Setting value Description of setting interrupt input command Specifies a user for the interrupt input signal. Pulse output destination device User interrupt input command Y000 M8460...
Page 166 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation Example program: The following program shows that the interrupt input for Y000 is set using the user interrupt input command (M8460).
Page 167 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation 1. Interruption positioning operation The interruption positioning operation is described below assuming that Y000 is specified as the pulse output destination device by For this reason, if Y001, Y002, or Y003 is specified, it is necessary to change the output number of each related flag.
Page 168: Important Points
PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.4 Important Points Important Points → For details on the instruction activation timing, refer to Section 4.7. • If the speed is too high for the number of pulses specified by , the frequency will be reduced so that the speed can be reduced within the specified number of output pulses.
Page 169 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Functions 9.4 Important Points • The interrupt input cannot be used for the following items: Interrupt inputs can only be specified when using Ver.1.30 or later. - High-speed counter - Input interruption - Pulse catch...
Page 170: Variable Speed Operation (Variable Speed Pulse Output)-Plsv Instruction
PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Functions 10.1 Instruction Format 10. Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction The built-in positioning function uses the variable speed pulse output (PLSV) instruction equipped with the rotation direction designation function to perform variable speed operation.
Page 171: List Of Related Devices
PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Functions 10.2 List of Related Devices Point: • To use an FX Series main unit of relay output type, be sure to connect a high-speed output special adapter.
Page 172 PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Functions 10.2 List of Related Devices 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 173: Function And Operation
PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Functions 10.3 Function and Operation 10.3 Function and Operation The variable speed pulse output instruction changes the speed while using the rotation direction output. The acceleration/deceleration function applies for the variable speed pulse output (PLSV) instruction, which makes it possible to specify whether acceleration/deceleration will be used or not.
Page 174: Operation With Acceleration/Deceleration (M8338 = On
PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Functions 10.3 Function and Operation The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output for other purposes.
Page 175 PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Functions 10.3 Function and Operation 3) For , specify the rotation direction signal output device number. When a high-speed output special adapter is used as a destination for pulse output on a FX PLC, use the output shown in the following table for rotation direction signals.
Page 176: Important Points
PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Functions 10.4 Important Points 10.4 Important Points → For important programming points, refer to Section 4.7. • During pulse output operation, if the output pulse frequency is changed to "K0", the PLC will reduce the speed and then stop the pulse outputting operation if the acceleration/deceleration function is ON.
Page 177: Batch Data Positioning Mode (Tbl Instruction
PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.1 Instruction Format 11. Batch Data Positioning Mode (TBL Instruction) If GX Developer Ver.8.23Z or later is used, the positioning instructions shown below can be preliminarily set in the positioning tables. After that, if a table is specified, the positioning operation of the specified table will be performed.
Page 178: List Of Related Devices
PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.2 List of Related Devices 11.2 List of Related Devices 1. Special auxiliary relays The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 179 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.2 List of Related Devices 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 180: Function And Operation
PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.3 Function and Operation 11.3 Function and Operation Preliminarily set the positioning parameters using GX Developer, and then specify the pulse output destination and the positioning table number (n) for the DTBL instruction in order to carry out positioning.
Page 181: Positioning Parameter Setting
PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting 11.4 Positioning Parameter Setting Use GX Developer Ver.8.23Z or later to set the positioning parameters in the FX PLC. Use GX Developer Ver.8.72A or later to set the positioning parameters in the FX PLC.
Page 182 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting Set the memory capacity. Click on the "Memory capacity" tab, and then click on the "Positioning Instruction Setting" check box to enter a check in the box.
Page 183 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting Set the positioning data. After entering a check, positioning data can be set. Use the FX PLC of Ver.2.20 or later or PLC to use "Positioning".
Page 184 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting When the destination for pulse output on a FX or FX PLC is a built-in transistor output, the setting range is 10 to 100,000 Hz. If an FX PLC is used, and if the pulse output destination is a FX -2HSY-ADP, the setting range will...
Page 185 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting Setting item Description of setting Setting range "Insert" button Click this button to insert a line at the specified position. "Delete"...
Page 186 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting Transfer the parameters (+ sequence program) to the PLC. 1. Select "Online" from the tool menu, and then select "Write to PLC". The "Write to PLC" window will appear.
Page 187 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting 11.4.2 Changing of Set Positioning Parameters (Number of Pulses and Frequency) The "pulses" and "frequency" set by the positioning parameters in a positioning table will be stored in the devices starting from the specified first device as shown below.
Page 188 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Functions 11.4 Positioning Parameter Setting To read out and store the "pulse" and "frequency" changed by a display module or HMI: 1) In the "Positioning instruction setting" window of the positioning parameters, enter a check in the "Positioning table settings will not be initialized when the PLC is powered on"...
Page 189: Examples Of Programs
PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12. Examples of Programs Assuming that the MELSERVO Series 1-axis servo amplifier is used for control, this chapter shows various examples of programs. For the connection examples of MELSERVO-C, -J2(S), -H, and -J3 Series, refer to the following chapters and manuals.
Page 190: Input/Output Assignment
X031 X035 X061 X065 ABS(bit1) X032 X036 X062 X066 "Send data ready" X033 X037 X063 X067 signal To use absolute Connected to Mitsubishi MELSERVO Series position detection servo amplifier Servo-ON signal Y021 Y025 Y031 Y035 system (MR-J2,MR-J2S, MR-J3, MR-H) "ABS data transfer Y022 Y026 Y032 Y036 mode"...
Page 191 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.1 Input/Output Assignment To use pin 3 of the CN1 connector of the MR-C A servo amplifier for the "servo ready" signal, set parameter 21 as follows: Series Parameter number Setting value...
Page 192: Programs For Forward/Reverse Rotation (Relay Ladder Program
PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) 12.2.1 Example Program Positioning operation will be performed using the absolute positioning method shown in the following chart: →...
Page 193 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) Resets the "zero X021 M8348 M101 M102 return completion" flag. Zero Positioning Normal Abnormal return being end of end of Resets the "forward performed...
Page 194 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) "Forward rotation X024 M8348 M108 M109 positioning completion" flag Position- Position- "Zero Normal Abnormal ing in return end of end of "Reverse rotation forward...
Page 195: Programs For Forward/Reverse Rotation (Step Ladder (Stl) Program
PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) 12.3.1 Example Program Positioning operation will be performed using the absolute positioning method as shown in the following chart: →...
Page 196 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) M8002 Sets the maximum speed. FNC 12 K100000 D8343 100,000(Hz)→D8344,D8343 DMOV Initial pulse Sets the creep speed. FNC 12 K1000 D8345...
Page 197 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) X025 Resets the "forward rotation positioning completion" flag. Positioning Operation "Zero return in reverse stopped completion" flag rotation Resets the "reverse rotation direction...
Page 198 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) Positioning in forward rotation direction X030 FNC 159 Moves to absolute position K500000 K100000 Y000 Y004 DDRVA 500000 using the drive to Waiting for Stop...
Page 199: Positioning Using Batch Setting Method
PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.4 Positioning Using Batch Setting Method 12.4 Positioning Using Batch Setting Method Positioning operation will be performed using the absolute positioning method as shown in the following chart: →...
Page 200 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.4 Positioning Using Batch Setting Method Click on the "Positioning" tab, and then set Y000 (pulse output destination) as follows. Before clicking on the "Positioning" tab, click on the "Memory Capacity" tab, and then enter a check in the "Positioning"...
Page 201: Operation Program
PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.4 Positioning Using Batch Setting Method Create a program. On the bar, click on "Online" and then "Write to PLC". The "Write to PLC" window will appear. Apx.
Page 202 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.4 Positioning Using Batch Setting Method X021 M8348 M101 M102 Resets the "origin return completion" Origin Positioning Normal Abnormal flag. return being end of end of Resets the "forward performed origin...
Page 203 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.4 Positioning Using Batch Setting Method "Forward rotation X024 M8348 M108 M109 positioning completion" flag Position- Position- "Zero Normal Abnormal ing in return end of end of "Reverse rotation forward operation...
Page 204: Program For Reading Current Abs Value Using Abs Instruction
PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.5 Program for Reading Current ABS Value Using ABS Instruction 12.5 Program for Reading Current ABS Value Using ABS Instruction 1) Program for storing ABS data in current value registers specified by a positioning instruction for Y000 (pulse output destination) •...
Page 205: Troubleshooting
Flashing then turn the power ON again. Check the lamp status. If the terminal. lamp flashes again, please contact the nearest Mitsubishi • An external line is not properly Electric distributor office . connected. • The PLC has a problem.
Page 206 • The power is off. line. • The specified voltage is not If the power is properly supplied, please contact the nearest supplied to the power supply Mitsubishi Electric distributor office. terminal. • The power cable is disconnected. B - 168...
Page 207: Run Indicator Lamp (Statuses: On, Off) [Fx3G/Fx3U/Fx3Uc
- Check the grounding line, and change the wiring route and the installation place. - Adopt a noise filter for the power supply line. 3) If measures 1) and 2) do not turn the ERROR indicator lamp OFF, please contact the nearest Mitsubishi Electric distributor office. B - 169...
Page 208 PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.1 LED Indicator Lamp Check Lamp Status of PLC Troubleshooting status The PLC has one of the following Diagnose the PLC (PC), or check the programs using the errors: programming tool.
Page 209: Pulse Output Destination Device And Rotation Direction Output Indicator Lamp
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.1 LED Indicator Lamp Check 13.1.6 Pulse Output Destination Device and Rotation Direction Output Indicator Lamp 1. If transistor outputs from the main unit are used for positioning LED status during execution of Signal...
Page 210 PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.1 LED Indicator Lamp Check 2. If the high-speed output special adapter (FX -2HSY-ADP) is used for positioning LED status during Status of pulse execution of Signal Description output method positioning setting switch...
Page 211: Error Check
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.2 Error Check 13.2 Error Check 13.2.1 Error Code Check Method This section describes how to check the error codes using GX Developer. If the display module is being used, use the "error check" function of the display module to check the error codes. For details on the operation of the display module, refer to the following manuals: →...
Page 212: Error Codes
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.2 Error Check 13.2.2 Error Codes This section describes the error codes related to the positioning instructions. For details on the error codes, refer to the following manual. →...
Page 213: If The Servo Motor Or The Stepping Motor Does Not Operate
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.3 If the Servo Motor or the Stepping Motor Does Not Operate 13.3 If the Servo Motor or the Stepping Motor Does Not Operate If the servo motor or the stepping motor does not operate, check the following items. 1) Check the wiring condition.
Page 214: If Operation Is Stopped At A Wrong Position
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.4 If Operation Is Stopped at a Wrong Position 13.4 If Operation Is Stopped at a Wrong Position If operation is stopped at a wrong position, check the following items. 1) Check whether the electronic gear of the servo amplifier (drive unit) is set properly.
Page 215: Appendix: Example Connection
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 216: Description Of Manual (Example Of Connection)
PLC User's Manual - Positioning Control Edition Example Connection Description of Manual (Example of Connection) In this manual, the following formats are used for describing the examples of connection: Shows the title of the chapter Shows the title of the manual and the title Indexes the division titles.
Page 217: Appendix 1. Melservo-J3 Series
PLC User's Manual - Positioning Control Edition Appendix 1: MELSERVO-J3 Series Example Connection Appendix 1-1 Main Unit (Transistor Output) Appendix 1. MELSERVO-J3 Series Appendix 1-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function". Appedix 1-1-1 Sink Input and Sink Output Apx.
Page 218 PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J3 Series Example Connection Appendix 1-2 High-Speed Output Special Adapter Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). Near-point signal (DOG) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 219 PLC User's Manual - Positioning Control Edition Appendix 1: MELSERVO-J3 Series Example Connection Appendix 1-1 Main Unit (Transistor Output) 2. FX MR-J3 A Series servo -32MT/D amplifier DICOM 24V DC OPC 12 DOCOM DICOM Class-D Photo- grounding Zero speed coupler Positioning completed(INP) Zero Point X000...
Page 220: Appendix 1-2 High-Speed Output Special Adapter
PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J3 Series Example Connection Appendix 1-2 High-Speed Output Special Adapter Appendix 1-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function". Appedix 1-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output MR-J3 A Series servo...
Page 221: Appendix 1-3 Absolute Position Detection (Transistor Output)
PLC User's Manual - Positioning Control Edition Appendix 1: MELSERVO-J3 Series Example Connection Appendix 1-3 Absolute Position Detection (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 222 PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J3 Series Example Connection Appendix 1-2 High-Speed Output Special Adapter 2. FX MR-J3 A Series servo -32MT/D amplifier DICOM 24V DC DOCOM Photo- Class-D coupler grounding X000 -16EYT COM1 COM1 Y020 Servo-ON Y021 SON 15...
Page 223: Appendix 2-1 Main Unit (Transistor Output)
PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-1 Main Unit (Transistor Output) Appendix 2. MELSERVO-J2 (-Super) Series Appendix 2-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. →...
Page 224 PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-1 Main Unit (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). Near-point signal (DOG) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 225 PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-1 Main Unit (Transistor Output) 2. FX -32MT/D 24V DC Photo- Class-D MR-J2(S) A coupler grounding Series servo Zero Point amplifier CN1A X000 CN1B signal(PG0) X004 Servo ready Torque being controlled...
Page 226: Appendix 2-2 High-Speed Output Special Adapter
PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-2 High-Speed Output Special Adapter Appendix 2-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 2-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output MR-J2(S) A -2HSY-ADP...
Page 227: Appendix 3. Melservo-H Series
PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-3 Absolute Position Detection (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 228 PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-3 Absolute Position Detection (Transistor Output) 2. FX MR-J2(S) A Series servo amplifier -32MT/D CN1B 24V DC Class-D Photo- grounding coupler X000 -16EYT COM1 COM1 Y020 Servo-ON Y021...
Page 229: Appendix 3-1 Main Unit (Transistor Output)
PLC User's Manual - Positioning Control Edition Appendix 3. MELSERVO-H Series Example Connection Appendix 3-1 Main Unit (Transistor Output) Appendix 3. MELSERVO-H Series Appendix 3-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 3-1-1 Sink Input and Sink Output Apx.
Page 230: Appendix 3-2 Absolute Position Detection (Transistor Output)
PLC User's Manual - Positioning Control Edition Appendix 3. MELSERVO-H Series Example Connection Appendix 3-2 Absolute Position Detection (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). Near-point signal (DOG) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 231: Appendix 4. Melservo-C Series
PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-1 Main Unit (Transistor Output) Appendix 4. MELSERVO-C Series Appendix 4-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 4-1-1 Sink Input and Sink Output Apx.
Page 232 PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-1 Main Unit (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). Near-point signal (DOG) Set the servo amplifier parameter No.21 to "020". To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 233 PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-1 Main Unit (Transistor Output) 2. FX -32MT/D 24V DC Class-D Photo- grounding coupler MR-C A Zero Point Series servo X000 signal(PG0) amplifier X004 Servo ready X010 Apx.
Page 234: Appendix 4-2 High-Speed Output Special Adapter
PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-2 High-Speed Output Special Adapter Appendix 4-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function" Appendix 4-2-1 Sink Input, Sink Output, and Differential Line Driver Output 24V DC MR-C A...
Page 235 PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-2 High-Speed Output Special Adapter To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 236 PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-2 High-Speed Output Special Adapter MEMO Apx. - 22...
Page 237: 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 238: Revised History
PLC User's Manual - Positioning Control Edition Revised History Revised History Date Revision Description 7/2005 First Edition 2/2006 • The transistor output for FX Series was added. - A.Common items (Subsection 1.2.1 and 1.2.2, Section 2.1 and Subsection 3.1.1). - B.Built-in positioning function (Section 1.1, Subsection 1.5.2 and 1.5.3, Section 2.3, Subsection 2.5.1, Section 4.9, Subsection 6.3.1, 8.2.1 and 8.3.1, Section 9.1 and 10.1).
Page 240 USER'S MANUAL - Positioning Control Edition SERIES PROGRAMMABLE CONTROLLERS HEAD OFFICE: TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN HIMEJI WORKS: 840, CHIYODA CHO, HIMEJI, JAPAN FX3U-U-POS-E MODEL 09R620 MODEL CODE JY997D16801D Effective Nov. 2008 (MEE) Specifications are subject to change without notice.

This manual is also suitable for:

Fx3u series Fx3uc series Fx3u-2hsy-adp

Mitsubishi FX3G Series User Manual

Safety Precautions

Functions and Use of this Manual

Related Manuals

Generic Names and Abbreviations Used in Manuals

Description of Manual (Common Items

Introduction

Unit Connection

Comparison of Specifications

Description of Manual (Built-In Positioning Function

Outline

Specifications

Connection of Input/Output Lines and Tightening Torques

Before Programming

Operation Test

Mechanical Zero Return (DSZR/ZRN Instruction

Absolute Position Detection System (Absolute Current Value Read)-ABS Instruction

Speed Positioning - DRVI/DRVA Instruction

One-Speed Interrupt Constant Quantity Feed -DVIT Instruction

Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction

Batch Data Positioning Mode (TBL Instruction

Examples of Programs

Troubleshooting

Appendix: Example Connection

Description of Manual (Example of Connection)

Appendix 1. MELSERVO-J3 Series

Appendix 1-1 Main Unit (Transistor Output)

Apx.-3

Appendix 1-2 High-Speed Output Special Adapter

Appendix 1-3 Absolute Position Detection (Transistor Output)

Appendix 1-3-1 Sink Input and Sink Output

Apx.-9

Appendix 2. MELSERVO-J2 (-Super) Series

Appendix 2-1 Main Unit (Transistor Output)

Appendix 2-1-1 Sink Input and Sink Output

Appendix 2-2 High-Speed Output Special Adapter

Appendix 2-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output

Appendix 2-3 Absolute Position Detection (Transistor Output)

Appendix 2-3-1 Sink Input and Sink Output

Appendix 3. MELSERVO-H Series

Apx.-15

Appendix 3-1 Main Unit (Transistor Output)

Appendix 3-1-1 Sink Input and Sink Output

Appendix 3-2 Absolute Position Detection (Transistor Output)

Appendix 3-2-1 Sink Input and Sink Output

Appendix 4. MELSERVO-C Series

Appendix 4-1 Main Unit (Transistor Output)

Appendix 4-1-1 Sink Input and Sink Output

Apx.-17

Appendix 4-2 High-Speed Output Special Adapter

Appendix 4-2-1 Sink Input, Sink Output, and Differential Line Driver Output

Warranty

Revised History

Quick Links

Related Manuals for Mitsubishi FX3G Series

Summary of Contents for Mitsubishi FX3G Series