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FX
-1PG
3U
USER'S MANUAL

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Table of Contents

   Related Manuals for Mitsubishi Electric MELSEC-F Series

   Summary of Contents for Mitsubishi Electric MELSEC-F Series

  • Page 1 -1PG USER'S MANUAL...
  • Page 3 Safety Precautions (Read these precautions before use.) Before installation, operation, maintenance or inspection of this product, thoroughly read through and understand this manual and all of the associated manuals. Also, take care to handle the module properly and safely. This manual classifies the safety precautions into two categories: Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
  • Page 4 Safety Precautions (Read these precautions before use.) 2. INSTALLATION PRECAUTIONS Reference • Make sure to cut off all phases of the power supply externally before attempting installation work. Failure to do so may cause electric shock or damage to the product. Reference •...
  • Page 5 • Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
  • Page 6 Safety Precautions (Read these precautions before use.) MEMO...
  • Page 7: Safety Precautions

    This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual. © 2012 MITSUBISHI ELECTRIC CORPORATION...
  • Page 8 • Since the examples within this manual, technical bulletin, catalog, etc. are used as reference; please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will not accept responsibility for actual use of the product based on these illustrative examples.
  • Page 9: Table Of Contents

    Table of Contents -1PG User's Manual Table of Contents SAFETY PRECAUTIONS ....................(1) Standards........................... 7 Certification of UL, cUL standards ....................... 7 Compliance with EC directive (CE Marking) ..................7 Associated Manuals........................9 Generic Names and Abbreviations Used in the Manual ............11 Reading the Manual ........................
  • Page 10 Table of Contents -1PG User's Manual 6. Before Starting Positioning Operation 6.1 Various Positioning Operation and Buffer Memory Setting............28 6.2 Outline of Positioning Operation ....................29 6.3 System Wiring ..........................30 6.3.1 System wiring example........................30 6.3.2 For DOG terminal, STOP terminal....................30 6.3.3 Interrupt input via PLC (BFM)......................
  • Page 11 Table of Contents -1PG User's Manual 7.4 Control Data ..........................71 7.4.1 [BFM#16] Starting delay time ......................71 7.4.2 [BFM#18, #17] Target address Ι....................72 7.4.3 [BFM#20, #19] Operation speed Ι ....................72 7.4.4 [BFM#22, #21] Target address ΙΙ....................73 7.4.5 [BFM#24, #23] Operation speed ΙΙ...
  • Page 12 Table of Contents -1PG User's Manual 11. Troubleshooting 11.1 LED Diagnostics........................119 11.2 Error Codes..........................120 11.3 Diagnostics on the PLC Main Unit .................... 121 11.3.1 POWER (POW) LED [ON/Flicker/OFF]..................121 11.3.2 BATT (BAT) LED [ON/OFF] ...................... 121 11.3.3 ERROR (ERR) LED [ON/Flicker/OFF] ..................122 Appendix A: Version Information Appendix A-1 Version Information ....................
  • Page 13: Standards

    Standards -1PG User's Manual Standards Certification of UL, cUL standards -1PG units comply with the UL standards (UL, cUL). UL, cUL File number: E95239 Regarding the standards that comply with the main unit, please refer to either the FX series product catalog or consult with your nearest Mitsubishi product provider.
  • Page 14 Standards -1PG User's Manual Type: Programmable Controller (Open Type Equipment) Models: MELSEC FX series manufactured from September 1st, 2012 -1PG Standard Remark EN61131-2: 2007 Compliance with all relevant aspects of the standard. Programmable controllers Equipment requirements and tests • Radiated Emission •...
  • Page 15: Associated Manuals

    Associated Manuals -1PG User's Manual Associated Manuals Only the installation manual is packed together with the FX -1PG pulse output block. For a detailed explanation of the FX -1PG pulse output block, refer to this manual. For the hardware information and instructions on the PLC main unit, refer to the respective manuals. : Refer to these manuals : Refer to the appropriate equipment manual : For a detailed explanation, refer to an additional manual...
  • Page 16 Associated Manuals -1PG User's Manual Document Title of manual Description Model code number Manuals for FX -1PG pulse output block Describes installation specifications for the Supplied -1PG -1PG pulse output block extracted from the FX JY997D47101 Manual Installation Manual 1PG User's Manual. For details, refer to FX -1PG User's Manual.
  • Page 17: Generic Names And Abbreviations Used In The Manual

    Generic Names and Abbreviations Used in the Manual -1PG User's Manual Generic Names and Abbreviations Used in the Manual Generic name or abbreviation Description series Generic name for FX Series PLC PLC or main unit Generic name for FX Series PLC main unit series Generic name for FX Series PLC...
  • Page 18: Reading The Manual

    Reading the Manual -1PG User's Manual Reading the Manual In this manual, the following formats are used for describing the common items. Indexes the chapter number. Shows the title of the chapter and the title Shows the manual title. of the section. The right side of each page This area shows the indexes the chapter number...
  • Page 19: Introduction

    1 Introduction -1PG User's Manual 1.1 Outline Introduction Outline -1PG Pulse Output Block (hereinafter referred to as FX -1PG) is a special function block that can output a maximum 200 kHz pulse train and drive one servo motor or stepping motor through the servo amplifier or stepping motor driver.
  • Page 20: Status Leds

    1 Introduction -1PG User's Manual 1.3 Status LEDs Status LEDs Status Description display color 5 V DC is not being supplied from the PLC POWER Green 5 V DC is being supplied from the PLC STOP input OFF STOP STOP input ON DOG input OFF DOG input ON Zero point signal OFF...
  • Page 21: Specification

    2 Specification -1PG User's Manual Specification 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. 1) Most importantly, have the following: an emergency stop circuit, a protection circuit, an interlock circuit for opposite movements (such as normal vs.
  • Page 22: General Specifications

    2 Specification -1PG User's Manual 2.1 General Specifications General Specifications Items other than the following are equivalent to those of the PLC main unit. For general specifications, refer to the manual of the PLC main unit. → Refer to FX Hardware Edition.
  • Page 23: Input Specifications

    2 Specification -1PG User's Manual 2.4 Input Specifications Input Specifications 2.4.1 Input specifications Item Specification STOP: Deceleration stop input or used for interrupt input of External command positioning, Interrupt 2-speed positioning operation Group 1 DOG: Input signal name Used for DOG input of DOG type mechanical zero return operation or used for interrupt input of External command positioning, Interrupt 1-speed positioning, Interrupt stop, Interrupt 2-speed positioning operation PG0: Zero point signal input...
  • Page 24: Output Specifications

    2 Specification -1PG User's Manual 2.5 Output Specifications Output Specifications 2.5.1 Output specifications Item Specification FP: Forward pulse or pulse train Group 1 Output signal name RP: Reverse pulse or direction signal Group 2 CLR: CLR signal Output form Transistor Forward (FP) and reverse (RP) pulse or pulse (PLS) with direction (DIR) can be Output system selected.
  • Page 25: System Configuration

    3 System Configuration -1PG User's Manual 3.1 General Configuration System Configuration General Configuration [3] PC software [4] Personal computer [2] PLC [1] Pulse output block [6] Twisted pair cable FROM/TO -1PG instructions Pulse train etc. • Forward limit signal Monitor data •...
  • Page 26: Applicable Plc

    3 System Configuration -1PG User's Manual 3.2 Applicable PLC Applicable PLC Model name Applicability Maximum number of connectable units Series PLC Ver. 2.20 and later 8 units Ver. 2.20 and later 6 units Series PLC The version number can be checked by reading the last three digits of device D8001/D8101. An FX -CNV-IF or FX -1PS-5V is necessary to connect the FX...
  • Page 27: Installation

    4 Installation -1PG User's Manual Installation INSTALLATION PRECAUTIONS • Make sure to cut off all phases of the power supply externally before attempting installation work. Failure to do so may cause electric shock or damage to the product. INSTALLATION PRECAUTIONS •...
  • Page 28: Din Rail Mounting

    4 Installation -1PG User's Manual 4.1 DIN rail Mounting DIN rail Mounting The product may be mounted on a 35 mm wide DIN46277 (DIN rail). Fit the upper edge (A in the figure to the right) of the DIN rail mounting groove onto the DIN rail. Push the product onto the DIN rail.
  • Page 29: Direct Mounting

    4 Installation -1PG User's Manual 4.2 Direct Mounting Direct Mounting The product can be installed directly with screws. An interval space of 1 to 2 mm (0.04" to 0.08") between each unit is necessary. For installation details, refer to the following respective PLC manual. →...
  • Page 30: Wiring

    5 Wiring -1PG User's Manual Wiring WIRING PRECAUTIONS • Make sure to cut off all phases of the power supply externally before attempting wiring work. Failure to do so may cause electric shock or damage to the product. WIRING PRECAUTIONS •...
  • Page 31: Input Wiring

    5 Wiring -1PG User's Manual 5.1 Input Wiring Input Wiring 5.1.1 Sink input wiring -1PG STOP Servo amplifier Cable length: 2 m or less PG0+ PG0- 5.1.2 Source input wiring -1PG STOP Output Wiring -1PG Servo amplifier Cable length: 2 m or less COM0 Cable length: 2 m or less...
  • Page 32: Wiring Precautions

    5 Wiring -1PG User's Manual 5.3 Wiring Precautions Wiring Precautions 1) The power supply used for FP, RP, PG0, and CLR should be separate from the power supply used for the other signals. 2) In an environment with a lot of noise, when malfunctions such as position gap occur, the influence of noise may be mitigated with the following measures.
  • Page 33: Before Starting Positioning Operation

    6 Before Starting Positioning Operation -1PG User's Manual Before Starting Positioning Operation DESIGN PRECAUTIONS • Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure. Otherwise, malfunctions may cause serious accidents.
  • Page 34: Various Positioning Operation And Buffer Memory Setting

    6 Before Starting Positioning Operation -1PG User's Manual 6.1 Various Positioning Operation and Buffer Memory Setting Various Positioning Operation and Buffer Memory Setting Setting items of the buffer memory in each operation mode are as follows. Setting of the positioning parameter selection (BFM#32) determines whether the positioning parameter is used or the extension positioning parameter is used.
  • Page 35: Outline Of Positioning Operation

    6 Before Starting Positioning Operation -1PG User's Manual 6.2 Outline of Positioning Operation Outline of Positioning Operation The relationship between the operation speed, acceleration/deceleration time and travel distance of the positioning operation is shown below. Speed Maximum speed Approximate S-shaped acceleration/deceleration Operation speed Trapezoidal...
  • Page 36: System Wiring

    6 Before Starting Positioning Operation -1PG User's Manual 6.3 System Wiring System Wiring 6.3.1 System wiring example Set the system wiring of the FX series PLC, FX -1PG, and the servo amplifier as below. System wiring example Motor -1PG Servo amplifier STOP Start INT0...
  • Page 37 6 Before Starting Positioning Operation -1PG User's Manual 6.3 System Wiring • When a normally opened contact is used in the BFM#3 (b14=0, b12=0) and BFM#37 (b14=0, b12=0) - In case of sink input Operation mode selection Interrupt signal Zero return Interrupt 1-speed Interrupt input 0 Interrupt stop...
  • Page 38 6 Before Starting Positioning Operation -1PG User's Manual 6.3 System Wiring • When a normally closed contact is used in the BFM#3 (b14=1, b12=1) and BFM#37 (b14=1, b12=1) - In case of sink input Operation mode selection Interrupt signal Zero return Interrupt 1-speed Interrupt input 0 Interrupt stop...
  • Page 39: Interrupt Input Via Plc (bfm)

    6 Before Starting Positioning Operation -1PG User's Manual 6.3 System Wiring 6.3.3 Interrupt input via PLC (BFM) In the interrupt 1-speed positioning operation, the interrupt stop operation, the interrupt 2-speed positioning operation, and the external command positioning operation, interrupt input (INT0, INT1) via PLC (BFM) can be used.
  • Page 40 6 Before Starting Positioning Operation -1PG User's Manual 6.3 System Wiring A connection example of interrupt input via PLC (BFM) is shown below. Operation mode selection indicates the operation mode to be used. Interrupt signal indicates the signals used in the given operation mode. INT0, INT1 is connected to X000, X001 of the FX PLC.
  • Page 41 6 Before Starting Positioning Operation -1PG User's Manual 6.3 System Wiring Program description example The following program is the example of a program which uses interrupt input via PLC (BFM). X000 of the PLC is used as interrupt input 0 (INT0). Interrupt input 0 (INT0) turns ON, at the rising edge of X000.
  • Page 42: Handling The Forward Limit And Reverse Limit

    6 Before Starting Positioning Operation -1PG User's Manual 6.4 Handling the Forward Limit and Reverse Limit Handling the Forward Limit and Reverse Limit 6.4.1 Handling the forward limit and reverse limit The FX -1PG does not have a terminal for connecting the forward or reverse limit switch. Connect the limit switch to the PLC and turn on/off the forward limit (BFM#25 b2) or the reverse limit (BFM#25 b3) at each input.
  • Page 43: Restarting Method After The Forward Limit/reverse Limit Operation

    6 Before Starting Positioning Operation -1PG User's Manual 6.5 Handling the STOP Command 6.4.3 Restarting method after the forward limit/reverse limit operation When the forward limit/reverse limit in the operation direction turns on during operation, the forward limit and reverse limit error is output (error code: K6). Moving to the activated forward limit/reverse limit direction cannot be executed.
  • Page 44: Remaining Distance Operation

    6 Before Starting Positioning Operation -1PG User's Manual 6.5 Handling the STOP Command 6.5.2 Remaining distance operation When the STOP command is used to stop the positioning operation, the restart operation changes depending on the STOP input mode (BFM#3 b15 or BFM#37 b15) setting. When the STOP input mode is OFF, the remaining distance operation is executed by the restart command.
  • Page 45 6 Before Starting Positioning Operation -1PG User's Manual 6.5 Handling the STOP Command Cancelling the remaining distance operation The following operation cancels the remaining distance operation. When the remaining distance operation is cancelled, the positioning completion flag remains off. • When the start command of a different operation command is turned on during remaining distance operation waiting, the remaining distance operation is cancelled, and the command input later starts the operation.
  • Page 46: Operation Speed Change Function

    6 Before Starting Positioning Operation -1PG User's Manual 6.6 Operation Speed Change Function Operation Speed Change Function This function changes the speed of the positioning operation to the specified speed. When starting the positioning operation, the value of the operation speed I (BFM#20, #19) is written to the operation speed change value (BFM#56, #55).
  • Page 47 6 Before Starting Positioning Operation -1PG User's Manual 6.6 Operation Speed Change Function 3. Update time for the operation speed change value After the operation speed change value is updated, the time required until the operation speed changes is as follows.
  • Page 48 6 Before Starting Positioning Operation -1PG User's Manual 6.6 Operation Speed Change Function 4. Program description example In the program below, the operation speed is changed as follows. Operation speed will be changed to 200,000 Hz if the current address exceeds K2,000. Operation speed will be changed to 100,000 Hz if the current address exceeds K5,000.
  • Page 49: Target Address Change Function

    6 Before Starting Positioning Operation -1PG User's Manual 6.7 Target Address Change Function Target Address Change Function This function changes the target address of the positioning operation to the specified target address. When the positioning operation is started, the value of the target address I (BFM#18, #17) is written to the target address change value (BFM#54, #53).
  • Page 50 6 Before Starting Positioning Operation -1PG User's Manual 6.7 Target Address Change Function • When the operation direction inverts after the target address is changed After the target address is changed, the motor decelerates and stops once, and then starts rotation in the reverse direction within 1 ms in the case of forward pulse/reverse pulse output or within 2 ms in the case of pulse/direction output.
  • Page 51 6 Before Starting Positioning Operation -1PG User's Manual 6.7 Target Address Change Function 4. Program description example In the program below, the target address is changed as follows. When turning X000 to ON, changes the target address to K15,000. M8000 FNC 12 Reading of status information U0\G28...
  • Page 52: Approximate S-shaped Acceleration/deceleration Function

    6 Before Starting Positioning Operation -1PG User's Manual 6.8 Approximate S-shaped Acceleration/Deceleration Function Approximate S-shaped Acceleration/Deceleration Function The approximate S-shaped acceleration/deceleration reduces the load applied on the motor at the start of operation and the stop of operation. When the acceleration/deceleration mode (BFM#3 b6 or BFM#37 b6) is ON, both acceleration and deceleration become approximate S-shaped acceleration/deceleration control.
  • Page 53 6 Before Starting Positioning Operation -1PG User's Manual 6.8 Approximate S-shaped Acceleration/Deceleration Function 3. Slope of the approximate S-shaped acceleration/deceleration The following acceleration and deceleration are executed in the approximate S-shaped acceleration/ deceleration. 1) From the start of operation to 10% of the acceleration/deceleration time required to reach the operation speed I Acceleration/deceleration using the Sin curve.
  • Page 54: Cautions For Positioning Operation

    6 Before Starting Positioning Operation -1PG User's Manual 6.9 Cautions for Positioning Operation Cautions for Positioning Operation • Set the relative travel distance (travel distance from the current value to the target address) in the positioning operation to a converted pulse value within ±32 bits (-2,147,483,648 to +2,147,483,647 PLS). When the relative travel distance exceeds ±32 bit in the pulse conversion value, the set value overflow error occurs.
  • Page 55: Stepwise Output Pulse

    6 Before Starting Positioning Operation -1PG User's Manual 6.9 Cautions for Positioning Operation 6.9.2 Stepwise output pulse The output pulse frequency (f) of FX -1PG is stepwise as follows. 24×10 1 to 200,000 Hz Where, n: Integer in range of 120 to 24,000,000 For example, n = 120 →...
  • Page 56: Buffer Memory

    7 Buffer Memory -1PG User's Manual 7.1 How to Read/Write from/to Buffer Memory Buffer Memory The FX -1PG positioning parameter, control data, and monitor data are read/written from/to the PLC via the buffer memory (BFM). When the FX -1PG power supply is off, the buffer memory data is cleared, and initial values are written when the power supply is turned on.
  • Page 57: From/to Instructions

    7 Buffer Memory -1PG User's Manual 7.1 How to Read/Write from/to Buffer Memory 7.1.2 FROM/TO instructions 1. FROM instruction (Reading out BFM data to PLC) Use the FROM instruction to read the data from the buffer memory. If the following program is created, 1 point of data will be read out from the buffer memory BFM#30 of unit No. 1 to data register D10.
  • Page 58: Buffer Memory List

    7 Buffer Memory -1PG User's Manual 7.2 Buffer Memory List Buffer Memory List The table below provides a brief description and reference information for the FX -1PG buffer memory. → For details on the buffer memory, refer to the Section 7.3 or later. BFM No.
  • Page 59 7 Buffer Memory -1PG User's Manual 7.2 Buffer Memory List BFM No. Item Content, Setting range Default R/W Reference High order Low order 16bit 16bit Not used Positioning parameter Subsection Positioning parameter type is selected. H0000 selection 7.3.12 Number of pulses to rotate the motors once. Subsection Pulse rate K2,000...
  • Page 60 7 Buffer Memory -1PG User's Manual 7.2 Buffer Memory List In case of external command positioning operation -2,147,483,647 to -1, 1 to 2,147,483,647 (user unit). Set the value within -200,000 to -1, 1 to 200,000 Hz when converted to pulse data. In case of variable speed operation -2,147,483,647 to 2,147,483,647 (user unit).
  • Page 61: Positioning Parameters

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters Positioning Parameters Set the units and speed used for positioning control. For the positioning parameter, there are two types: the extension positioning parameter, for which the setting range is extended, and the positioning parameter. The difference between the positioning parameter and the extension positioning parameter is as follows.
  • Page 62: Bfm#3] Operation Parameter

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters 7.3.3 [BFM#3] Operation parameter Set basic conditions such as the unit system. BFM No. Description Default High order Low order 16bit 16bit Refer to the following. H0000 Point When the extension positioning parameter is used, use the operation parameter (BFM#37). b1, b0: System of units Units for positioning control are set as follows.
  • Page 63 7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters Concept of mechanical system of units When operation parameter BFM#3 (b1, b0) or BFM#37 (b1, b0) (system of units) is set to "(0, 1)", "(1, 0)" or "(1, 1)", the mechanical system of units ("μm", "mdeg", "10 inch") is selected.
  • Page 64 7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters How to use an electronic gear Some servo motors require pulse trains at 200 kHz or more (in calculation) in order to satisfy the rated rotation speed. For example, the command pulse frequency required to operate the MR-JN Series servo amplifier and HF-KN Series servo motor manufactured by Mitsubishi at the rated rotation speed of 3,000 rev/ min can be obtained as follows.
  • Page 65 7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters b3, b2: Interrupt input setting The interrupt signals used for interrupt inputs in the interrupt 1-speed positioning operation, external command positioning operation, interrupt stop operation or interrupt 2-speed positioning operation are set. Bit status Interrupt input 0 Interrupt input 1...
  • Page 66: Bfm#5, #4] Maximum Speed

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters b10: Zero return direction Set the zero return direction. b10 = 0: At the time of zero return, the operation starts toward the direction in which the current address decreases. b10 = 1: At the time of zero return, the operation starts toward the direction in which the current address increases.
  • Page 67: Bfm#6] Bias Speed

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters 7.3.5 [BFM#6] Bias speed Set the bias speed at the time of startup. When the FX -1PG and the stepping motor are combined and used together, set the speed taking the resonance area and the self-start frequency of the stepping motor into account.
  • Page 68: Bfm#11] Zero Return Speed (creep)

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters 7.3.8 [BFM#11] Zero return speed (creep) In the mechanical zero return, the operation speed after the near point signal (DOG) input is set. → For details on the mechanical zero return, refer to Section 8.3. BFM No.
  • Page 69: Bfm#14, #13] Zero-point Address

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters 7.3.10 [BFM#14, #13] Zero-point address Set the zero-point address when the zero return operation is completed. When the zero return operation completes, this value is written to the current address. → For the zero return operation, refer to Section 8.3. BFM No.
  • Page 70: Bfm#32] Positioning Parameter Selection

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters 7.3.12 [BFM#32] Positioning parameter selection Select whether the positioning parameter (BFM#0 to #15) is used or the extension positioning parameter (BFM#33 to #52) is used. BFM No. Description Default High order Low order 16bit 16bit...
  • Page 71: Bfm#37] Operation Parameter

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters 7.3.15 [BFM#37] Operation parameter Set basic conditions such as the unit system. BFM No. Description Default High order Low order 16bit 16bit Refer to the following. H0000 Point When the positioning parameter is used, use the operation parameter (BFM#3). b1, b0: System of units Units for positioning control are set as follows.
  • Page 72 7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters b5, b4: Position data multiplier Multiplier for the position data written for the zero-point address (BFM#14, #13), the target address I (BFM#18, #17), the target address II (BFM#22, #21), the current address (BFM#27, #26), and the target address change value (BFM#54, #53).
  • Page 73: Bfm#39, #38] Maximum Speed

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters b11: Limit deceleration mode Set the operation when the forward limit/reverse limit turns on. b11 = 0: When the forward limit/reverse limit turns on, the operation immediately stops and outputs the CLR signal.
  • Page 74: Bfm#41, #40] Bias Speed

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters 7.3.17 [BFM#41, #40] Bias speed Set the bias speed at the time of startup. When the FX -1PG and the stepping motor are combined and used together, set the speed taking the resonance area and the self-start frequency of the stepping motor into account.
  • Page 75: Bfm#47, #46] Zero Return Speed (creep)

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters 7.3.20 [BFM#47, #46] Zero return speed (creep) In the mechanical zero return, the operation speed after the near point signal (DOG) input is set. → For details on the mechanical zero return, refer to Section 8.3. BFM No.
  • Page 76: Bfm#51] Acceleration Time

    7 Buffer Memory -1PG User's Manual 7.3 Positioning Parameters 7.3.23 [BFM#51] Acceleration time The time required to accelerate from the bias speed to the maximum speed is set. → For details on the acceleration time, refer to Section 6.2. BFM No. Description Default High order...
  • Page 77: Control Data

    7 Buffer Memory -1PG User's Manual 7.4 Control Data Control Data Set the data for positioning control. Point The control data becomes valid when an operation starts. Therefore, set before the start-up of the operation. When the setting is changed during the operation or during the remaining distance operation waiting, the change is not reflected to the current operation but from the next operation.
  • Page 78: Bfm#18, #17] Target Address Ι

    7 Buffer Memory -1PG User's Manual 7.4 Control Data 7.4.2 [BFM#18, #17] Target address Ι Set the target address I (target position or travel distance) of the positioning operation. BFM No. Description Default High order Low order 16bit 16bit Setting range: -2,147,483,648 to 2,147,483,647 (user unit) The value must be within the range from -2,147,483,648 to 2,147,483,647 PLS when converted to pulse data.
  • Page 79: Bfm#22, #21] Target Address ΙΙ

    7 Buffer Memory -1PG User's Manual 7.4 Control Data 7.4.4 [BFM#22, #21] Target address ΙΙ Set the target address II (target position or travel distance) of the positioning operation. It is used only in the 2-speed positioning operation. BFM No. Description Default High order...
  • Page 80: Bfm#25] Operation Command

    7 Buffer Memory -1PG User's Manual 7.4 Control Data 7.4.6 [BFM#25] Operation command A list of operation commands is as shown in the following table. BFM No. Item Description Default Detection High order Low order 16bit 16bit When it is turned on while an error is output, it resets the error flag, the error code, and the Error reset Level...
  • Page 81: Bfm#54, #53] Target Address Change Value

    7 Buffer Memory -1PG User's Manual 7.4 Control Data BFM No. Item Description Default Detection High order Low order 16bit 16bit When it is turned on, the interrupt stop operation Interrupt stop starts. Edge operation start → For details on the interrupt 1-speed positioning operation, refer to Section 9.7.
  • Page 82: Bfm#56, #55] Operation Speed Change Value

    7 Buffer Memory -1PG User's Manual 7.4 Control Data 7.4.8 [BFM#56, #55] Operation speed change value Set the operation speed change value that is used in the operation speed change function. → For details on the operation speed change function, refer to Section 6.6. BFM No.
  • Page 83: Monitor Data

    7 Buffer Memory -1PG User's Manual 7.5 Monitor Data Monitor Data Stores the operation condition of the positioning control. The monitor data are read-only, excluding the current address and the current address (pulse conversion value). 7.5.1 [BFM#27, #26] Current address Stores the current address data.
  • Page 84 7 Buffer Memory -1PG User's Manual 7.5 Monitor Data BFM No. Item Description Default High order Low order 16bit 16bit ON: PG0 input ON OFF: PG0 input OFF PG0 input ON Same as the ON/OFF condition of the FX -1PG PG0 terminal.
  • Page 85: Bfm#29] Error Code

    7 Buffer Memory -1PG User's Manual 7.5 Monitor Data 7.5.3 [BFM#29] Error code An error code is stored at the time of the error occurrence. → For the details of the error code, refer to Section 11.2. BFM No. Error code Description Default High order...
  • Page 86: Bfm#61, #60] Current Value Of Operation Speed

    7 Buffer Memory -1PG User's Manual 7.5 Monitor Data 7.5.6 [BFM#61, #60] Current value of operation speed Stores the current operation speed. Becomes "0" when the operation is at stop. BFM No. Description Default High order Low order 16bit 16bit 0 to 2,147,483,647 (user unit) Point •...
  • Page 87: Manual Control

    8 Manual Control -1PG User's Manual 8.1 Functions Available with Manual Control Manual Control This chapter explains manual control. Functions Available with Manual Control Manual operations and available functions are as shown in the following table. Operation mode DOG type mechanical zero Functions Reference Data-set type mechanical...
  • Page 88: Jog Operation

    8 Manual Control -1PG User's Manual 8.2 JOG Operation JOG Operation While the forward JOG operation is on, the motor rotates in the current address increasing direction. While the reverse JOG operation is on, the motor rotates in the current address decreasing direction. →...
  • Page 89 8 Manual Control -1PG User's Manual 8.2 JOG Operation 3. Speed change during the JOG operation When changing the JOG speed during the JOG operation, use the operation speed change function. However, the operation speed cannot be changed during the inching operation. →...
  • Page 90: Mechanical Zero Return Operation

    8 Manual Control -1PG User's Manual 8.3 Mechanical Zero Return Operation Mechanical Zero Return Operation 8.3.1 Outline of mechanical zero return operation 1. Types of mechanical zero return operation The mechanical zero return method for the FX -1PG includes the following two variations. •...
  • Page 91: Dog Type Mechanical Zero Return Operation

    8 Manual Control -1PG User's Manual 8.3 Mechanical Zero Return Operation 8.3.2 DOG type mechanical zero return operation The zero return starts by the DOG type mechanical zero return operation start command. When the DOG search function is used, the DOG type mechanical zero return becomes possible from any position. 1.
  • Page 92 8 Manual Control -1PG User's Manual 8.3 Mechanical Zero Return Operation 4. Count start point Sets the count start point of the zero-point signal. When BFM#3 b13/BFM#37 b13 = 0: DOG forward end (After detecting the DOG forward end, zero-point signal count starts.) When BFM#3 b13/BFM#37 b13 = 1: DOG backward end (After detecting the DOG forward end and passing the backward end, zero-point signal count starts.)
  • Page 93 8 Manual Control -1PG User's Manual 8.3 Mechanical Zero Return Operation 8. DOG search function When the forward limit/reverse limit is set, zero return operation by DOG search function becomes possible. The zero return operation becomes as follows according to the zero return start position. In addition, operation at the forward limit/reverse limit follows the operation set in the limit deceleration mode (BFM#3 b11 or BFM#37 b11).
  • Page 94: Data-set Type Mechanical Zero Return Operation

    8 Manual Control -1PG User's Manual 8.3 Mechanical Zero Return Operation 8.3.3 Data-set type mechanical zero return operation Data-set type mechanical zero return is the zero return method that is used to set the position, which is traveled by the JOG operation etc., as a zero position. Therefore, the work piece does not move when the data-set type mechanical zero return command is turned on.
  • Page 95: Positioning Control

    9 Positioning Control -1PG User's Manual 9.1 Functions Available with Each Positioning Operation Positioning Control This chapter explains the control of each positioning operation. Functions Available with Each Positioning Operation Positioning operations and available functions are as shown in the following table. Operation mode Interrupt External...
  • Page 96: 1-speed Positioning Operation

    9 Positioning Control -1PG User's Manual 9.2 1-speed Positioning Operation 1-speed Positioning Operation By the 1-speed positioning operation start command, the operation starts at the operation speed I, and the operation decelerates and stops at target address I. → For change of the operation speed, refer to Section 6.6. →...
  • Page 97 9 Positioning Control -1PG User's Manual 9.2 1-speed Positioning Operation 4. Positioning completion flag The positioning completion flag turns off when the operation starts. The positioning completion flag turns on when the operation reaches the target address. Setting items of the 1-speed positioning operation BFM No.
  • Page 98: Interrupt 1-speed Positioning Operation

    9 Positioning Control -1PG User's Manual 9.3 Interrupt 1-speed Positioning Operation Interrupt 1-speed Positioning Operation By the interrupt 1-speed positioning start command, the operation starts with operation speed I. After detecting the rise/fall edge of the interrupt input 0, the operation decelerates and stops at the target address I. →...
  • Page 99 9 Positioning Control -1PG User's Manual 9.3 Interrupt 1-speed Positioning Operation 3. Rotation direction The operation direction is determined by the sign (positive/negative) of the target address I. When the target address I sign is positive: Forward When the target address I sign is negative: Reverse 4.
  • Page 100 9 Positioning Control -1PG User's Manual 9.3 Interrupt 1-speed Positioning Operation Caution of the interrupt 1-speed positioning operation • Operation when the travel amount to the target position is small When the time required for the travel amount (target address I) is shorter than the time required for deceleration, the operation immediately stops when the operation reaches target address I.
  • Page 101: 2-speed Positioning Operation

    9 Positioning Control -1PG User's Manual 9.4 2-speed Positioning Operation 2-speed Positioning Operation By the 2-speed positioning operation start command, the operation starts with the operation speed I. It moves to target address I, changes the speed to operation speed II, and travels to the target address II, and decelerates and stops.
  • Page 102 9 Positioning Control -1PG User's Manual 9.4 2-speed Positioning Operation • With the specified relative address: The rotation direction is determined by the sign (positive/negative) of the target address I and the target address II. - Target address Ι, Target address ΙΙ > 0: Forward - Target address Ι, Target address ΙΙ...
  • Page 103 9 Positioning Control -1PG User's Manual 9.4 2-speed Positioning Operation BFM No. Extension Setting items Positioning positioning parameter parameter #22, #21 Target address ΙΙ #24, #23 Operation speed ΙΙ #25 b10 Operation command 2-speed positioning operation start #54, #53 Target address change value #56, #55 Operation speed change value Caution of the 2-speed positioning operation...
  • Page 104 9 Positioning Control -1PG User's Manual 9.4 2-speed Positioning Operation - When the time required to decelerate from operation speed I < the travel time to target address II < time required to change the speed to operation speed II + time required to decelerate from the operation speed II The deceleration starts before reaching operation speed II Speed...
  • Page 105: External Command Positioning Operation

    9 Positioning Control -1PG User's Manual 9.5 External Command Positioning Operation External Command Positioning Operation By the external command positioning operation start command, the operation starts with operation speed I, detects the rise/fall edge of interrupt input 0, and changes the speed to operation speed II. Then, the rise/fall edge of the interrupt input 1 is detected and stops immediately.
  • Page 106 9 Positioning Control -1PG User's Manual 9.5 External Command Positioning Operation 3. 1-speed completion flag • Conditions to turn on - When interrupt input 0 is detected • Conditions to turn off - When the positioning completes - When the operation stops by an error - When the operation stops by the STOP command 4.
  • Page 107 9 Positioning Control -1PG User's Manual 9.5 External Command Positioning Operation Setting items of the external command positioning operation BFM No. Extension Setting items Positioning positioning parameter parameter #34, #33 Pulse rate #2, #1 #36, #35 Feed rate #3 b1, b0 #37 b1, b0 System of units #3 b3, b2...
  • Page 108: Variable Speed Operation

    9 Positioning Control -1PG User's Manual 9.6 Variable Speed Operation Variable Speed Operation By the variable speed operation command, the operation starts with operation speed I. When operation speed I is changed during the operation, the operation is executed with the changed speed. When the variable speed operation command is turned off, the operation immediately stops or decelerates and stops.
  • Page 109 9 Positioning Control -1PG User's Manual 9.6 Variable Speed Operation With acceleration/deceleration (when BFM#3 b7 or BFM#37 b7 is on) Speed Maximum speed Operation speed I Bias speed Time Acceleration/ Acceleration/ deceleration time deceleration time (Acceleration time) (Deceleration time) Variable speed operation (BFM#25 b12) READY...
  • Page 110 9 Positioning Control -1PG User's Manual 9.6 Variable Speed Operation 4. Positioning completion flag Before and after the variable speed operation, the positioning completion flag does not change. 5. Response time When operation speed I is changed, the time required to change the speed becomes as follows. •...
  • Page 111: Interrupt Stop Operation

    9 Positioning Control -1PG User's Manual 9.7 Interrupt Stop Operation Interrupt Stop Operation By the interrupt stop operation start command, the operation starts with operation speed I. After detecting the rise/fall edge of interrupt input 0, the operation decelerates and stops. In addition, when interrupt input 0 is not detected, the operation decelerates and stops at the target address I.
  • Page 112 9 Positioning Control -1PG User's Manual 9.7 Interrupt Stop Operation • With specified relative address: The rotating direction is determined by the sign (positive/negative) of target address I. - Target address Ι > 0: Forward - Target address Ι < 0: Reverse 4.
  • Page 113 9 Positioning Control -1PG User's Manual 9.7 Interrupt Stop Operation Caution of the interrupt stop positioning operation • Operation when interrupt input 0 is not detected When interrupt input 0 is not detected, the positioning completion flag turns on after the operation reaches the target address I.
  • Page 114: Interrupt 2-speed Positioning Operation

    9 Positioning Control -1PG User's Manual 9.8 Interrupt 2-speed Positioning Operation Interrupt 2-speed Positioning Operation By the interrupt 2-speed positioning start command, the operation starts with operation speed I. After detecting the rise/fall edge of interrupt input 0, the operation speed changes to operation speed II. Then, after the rise/fall edge of interrupt input 1 is detected, the operation decelerates and stops at target address I.
  • Page 115 9 Positioning Control -1PG User's Manual 9.8 Interrupt 2-speed Positioning Operation 2. Address specification Is handled as a relative address (the travel amount is specified by using the distance from the current address.) (Even when an absolute address is specified, it is treated as a relative address.) 3.
  • Page 116 9 Positioning Control -1PG User's Manual 9.8 Interrupt 2-speed Positioning Operation Setting items of the interrupt 2-speed positioning operation BFM No. Extension Setting items Positioning positioning parameter parameter #34, #33 Pulse rate #2, #1 #36, #35 Feed rate #3 b1, b0 #37 b1, b0 System of units #3 b3, b2...
  • Page 117: Program Example

    • Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
  • Page 118: Assignments

    10 Program Example -1PG User's Manual 10.1 Assignments 10.1 Assignments 10.1.1 I/O assignments Device No. Name Remarks X000 Error reset X001 STOP X002 Forward limit Use external wiring with NC contacts. X003 Reverse limit Use external wiring with NC contacts. X004 Forward JOG operation X005...
  • Page 119: Buffer Memory Assignments

    10 Program Example -1PG User's Manual 10.1 Assignments 10.1.3 Buffer memory assignments BFM No. Name Setting value Remarks Pulse rate K8,192 PLS/REV #2, #1 Feed rate K1,000 μm/REV #3 b1, b0 System of units b1=1, b0=0: Combined system #3 b3, b2 Interrupt input setting b3=0, b2=0: Not used #3 b5, b4...
  • Page 120: Explanation Of Operation

    10 Program Example -1PG User's Manual 10.2 Explanation of Operation 10.2 Explanation of Operation The motor executes reciprocating movements using the 1-speed positioning operation. The motor can execute also the DOG type mechanical zero return operation and JOG operation. Do not put the load on the motor for safety reasons when you confirm the operation according to this program example.
  • Page 121: Jog Operation

    10 Program Example -1PG User's Manual 10.2 Explanation of Operation 10.2.2 JOG operation When X004 (Forward JOG operation) in the PLC main unit is set to ON, the motor executes the JOG operation in the current value increasing direction. Speed Maximum speed (200,000 Hz) JOG speed...
  • Page 122: Sequence Program

    10 Program Example -1PG User's Manual 10.3 Sequence Program 10.3 Sequence Program M8002 FNC 12 Writing of pulse rate K8192 U0\G0 Initial pulse FNC 12 Writing of feed rate K1000 U0\G1 DMOV FNC 12 Writing of operation parameter H2032 U0\G3 FNC 12 Writing of maximum speed K200000...
  • Page 123 10 Program Example -1PG User's Manual 10.3 Sequence Program From previous page From previous page X004 Forward JOG operation X005 Reverse JOG operation X006 DOG type mechanical zero return operation start M8000 Relative address RUN monitor X007 1-speed positioning operation start M8000 Interrupt 1-speed positioning operation start...
  • Page 124: Troubleshooting

    • Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
  • Page 125: Led Diagnostics

    11 Troubleshooting -1PG User's Manual 11.1 LED Diagnostics 11.1 LED Diagnostics State Content of Error Corrective action display • Correctly connect the extension cable. • Properly supply the power of the PLC. 5 V DC is not supplied via the extension cable from •...
  • Page 126: Error Codes

    (BFM#25 b3) turn on, this error is output. the JOG operation. If the error remains even when the power is turned from Watchdog timer error. OFF to ON, consult your local Mitsubishi Electric representative. represents the BFM number for which there is an error.
  • Page 127: Diagnostics On The Plc Main Unit

    Flicker voltage is not being supplied to the power again, and check for changes in the state. If no improvement is obtained, supply terminal. consult your local Mitsubishi Electric representative. • Incorrect external wiring. • Internal errors in the PLC.
  • Page 128: Error (err) Led [on/flicker/off]

    Fit a noise filter onto the power supply line. 3) If the ERROR (ERR) LED does not go out even after measures in 1) and 2) are adopted, consult your local Mitsubishi Electric representative. One of the following errors has occurred on...
  • Page 129: Appendix A: Version Information

    Appendix A: Version Information -1PG User's Manual Appendix A-1 Version Information Appendix A: Version Information Appendix A-1 Version Information Appendix A-1-1 Version check method The version of FX -1PG can be checked by the following method. 1. Checking the nameplate The version of the FX -1PG is shown as "VERSION"...
  • Page 130: Appendix B: Example Connection

    Appendix B: Example Connection -1PG User's Manual Appendix B-1 Example of Connection with MR-J4-[ ]A Servo Amplifier Appendix B: Example Connection This chapter explains FX -1PG connected to a FX Series PLC (AC power supply type), and examples of connection with the servo amplifier and stepping motor driver. For details of other PLC, servo amplifier and stepping motor driver, refer to the manual of each product.
  • Page 131: Appendix B-2 Example Of Connection With Mr-j3-[ ]a Servo Amplifier

    Appendix B: Example Connection -1PG User's Manual Appendix B-2 Example of Connection with MR-J3-[ ]A Servo Amplifier Appendix B-2 Example of Connection with MR-J3-[ ]A Servo Amplifier Series MR-J3- A Servo amplifier Main circuit To servo power supply motor AC power supply Class-D grounding X000...
  • Page 132: Appendix B-3 Example Of Connection With Mr-j2s-[ ]a Servo Amplifier

    Appendix B: Example Connection -1PG User's Manual Appendix B-3 Example of Connection with MR-J2S-[ ]A Servo Amplifier Appendix B-3 Example of Connection with MR-J2S-[ ]A Servo Amplifier Series MR-J2S- A Servo amplifier Main circuit To servo AC power supply power supply motor Class-D grounding...
  • Page 133: Appendix B-4 Example Of Connection With Mr-jn-[ ]a Servo Amplifier

    Appendix B: Example Connection -1PG User's Manual Appendix B-4 Example of Connection with MR-JN-[ ]A Servo Amplifier Appendix B-4 Example of Connection with MR-JN-[ ]A Servo Amplifier Series MR-JN- A Main circuit Servo amplifier power supply To servo AC power supply motor Class-D grounding...
  • Page 134: Appendix B-5 Example Of Connection With Stepping Motor Driver

    Appendix B: Example Connection -1PG User's Manual Appendix B-5 Example of Connection with Stepping Motor Driver Appendix B-5 Example of Connection with Stepping Motor Driver Series AC power supply Class-D grounding X000 Error reset X001 STOP X002 Forward limit X003 Reverse limit X004 Forward JOG...
  • Page 135: Appendix C: Differences With Fx2n-1pg

    Appendix C: Differences with FX2N-1PG -1PG User's Manual Appendix C-1 Differences of Specification Appendix C: Differences with FX -1PG This appendix describes the differences between the FX -1PG and the FX -1PG. The following are differences between the FX -1PG and the FX -1PG.
  • Page 136: Appendix C-2 Differences Of Buffer Memory

    Appendix C: Differences with FX2N-1PG -1PG User's Manual Appendix C-2 Differences of Buffer Memory Appendix C-2 Differences of Buffer Memory BFM No. Setting range High Item order order -1PG -1PG 16bit 16bit Pulse rate 1 to 32,767 PLS/REV Feed rate 1 to 2,147,483,647 (user unit) 1 to 999,999 (user unit) b1, b0: System of units...
  • Page 137 Appendix C: Differences with FX2N-1PG -1PG User's Manual Appendix C-2 Differences of Buffer Memory BFM No. Setting range High Item order order -1PG -1PG 16bit 16bit 1 to 2,147,483,647 (user unit) 1 to 153,000 (user unit) Operation speed ΙΙ Set the value within 1 to 200,000 Hz when Set the value within 10 to 100,000 Hz converted to pulse data.
  • Page 138: Appendix C-3 Differences In Operation

    Appendix C: Differences with FX2N-1PG -1PG User's Manual Appendix C-3 Differences in Operation Appendix C-3 Differences in Operation Appendix C-3-1 Differences in properties common to all operation modes Differences in properties common to all operation modes of FX -1PG and FX -1PG are shown in the following table.
  • Page 139: Appendix C-3-2 Differences In Individual Operation Modes

    Appendix C: Differences with FX2N-1PG -1PG User's Manual Appendix C-3 Differences in Operation Appendix C-3-2 Differences in individual operation modes Differences in individual operation modes of FX -1PG and FX -1PG are shown in the following table. JOG operation Change point -1PG -1PG Replacement point...
  • Page 140 Appendix C: Differences with FX2N-1PG -1PG User's Manual Appendix C-3 Differences in Operation 2-speed positioning operation Change point -1PG -1PG Replacement point The motor reaches the target address The motor reaches the target address I at the operation speed I, reverses the II at the operation speed II from the Confirm that no problem is expected operation direction, and then reaches...
  • Page 141 Appendix C: Differences with FX2N-1PG -1PG User's Manual Appendix C-3 Differences in Operation Variable speed operation Change point -1PG -1PG Replacement point -1PG does output Operation when the operation The motor operates at the bias speed. Change the sequence program so pulses.
  • Page 142 Appendix C: Differences with FX2N-1PG -1PG User's Manual Appendix C-3 Differences in Operation MEMO...
  • Page 143: Warranty

    Warranty -1PG User's Manual Warranty Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range 2. Onerous repair term after discontinuation of If any faults or defects (hereinafter "Failure") found to be production the responsibility of Mitsubishi occurs during use of the Mitsubishi shall accept onerous product repairs for...
  • Page 144: Revised History

    Revised History -1PG User's Manual Revised History Date Revision Description 9/2012 First Edition 4/2015 • The description of speed switching in the 2-speed positioning operation is added. • Errors are corrected. 3/2019 • The description of current address is added. •...
  • Page 146 -1PG USER'S MANUAL HEAD OFFICE: TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN FX3U-1PG-U-E MODEL 09R629 MODEL CODE JY997D47301C Effective March 2019 (MEE) Specifications are subject to change without notice.

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