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Mitsubishi Electric MELSEC iQ-F FX5 User Manual

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MELSEC iQ-F
FX5 User's Manual
(Positioning Control - CPU module built-in,
High-speed pulse input/output module)

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Table of Contents

   Summary of Contents for Mitsubishi Electric MELSEC iQ-F FX5

  • Page 1 MELSEC iQ-F FX5 User's Manual (Positioning Control - CPU module built-in, High-speed pulse input/output module)
  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety in order to handle the product correctly. In this manual, the safety precautions are classified into two levels: " WARNING"...
  • Page 4 [WIRING PRECAUTIONS] WARNING ● 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. ● Make sure to attach the terminal cover, provided as an accessory, before turning on the power or initiating operation after installation or wiring work.
  • 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. Failure to do so may cause equipment failures or malfunctions.
  • Page 6: Introduction

    If in doubt about the operation or use, please consult your local Mitsubishi Electric representative. • Mitsubishi Electric will not accept responsibility for actual use of the product based on these illustrative examples. Please use the product after confirming the function and safety of the device and machine.
  • Page 7 MEMO...
  • Page 8: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 INTRODUCTION .
  • Page 9 Input Check ................45 Output Confirmation .
  • Page 10 Multiple-table Operation ..............138 Related devices .
  • Page 11 APPENDIX Appendix 1 Example connection of servo amplifier ..........209 MELSERVO-J4 series .
  • Page 12: Relevant Manuals

    Functions and programming for the synchronous control of the Simple Motion Synchronous Control) module. <IB0300255> MELSEC iQ-F FX5 User's Manual (Analog Control - CPU module built- Describes the analog function of the CPU module built-in and the analog adapter. in, Expansion adapter) <JY997D60501>...
  • Page 13: Terms

    TERMS Unless otherwise specified, this manual uses the following terms. For details on the FX3 devices that can be connected with the FX5, refer to the User’s Manual (Hardware) of the CPU module to be used. Terms Description ■Devices Generic term for FX5U and FX5UC PLCs Generic term for FX3S, FX3G, FX3GC, FX3U, and FX3UC PLCs FX5 CPU module Generic term for FX5U CPU module and FX5UC CPU module...
  • Page 14 Different name for FX3U-32BL Peripheral device Generic term for engineering tools and GOTs Generic term for Mitsubishi Electric Graphic Operation Terminal GOT1000 and GOT2000 series ■Software packages Engineering tool The product name of the software package for the MELSEC programmable controllers...
  • Page 15: Chapter 1 Outline

    OUTLINE The FX5 PLCs (transistor output) and high-speed pulse input/output module can perform positioning control by outputting pulse signals to servo motors or stepping motors. Increase the pulse frequency to increase the motor speed. Increase the number of pulses to increase the number of motor revolutions. In other words, set the pulse frequency to determine the workpiece transfer (positioning) speed.
  • Page 16: List Of Functions

    List of Functions When the positioning instructions and the positioning parameters are used together, various positioning operations are enabled. Page 79 POSITIONING INSTRUCTION Page 41 POSITIONING PARAMETER The positioning functions of the FX5 PLC are shown below. Positioning operation pattern Reference Positioning operation pattern Reference...
  • Page 17: Setup Procedure For Positioning Control

    Setup Procedure for Positioning Control Check specifications of incorporated positioning functions For performance specifications, input specifications and output specifications, refer to Page 16 SPECIFICATIONS. For control function and auxiliary function, refer to Page 24 POSITIONING CONTROL FUNCTION. For connection equipment specifications, refer to the manual for each connection equipment. System configuration and unit selection Refer to the User's Manual (Hardware) of the CPU module to be used and the manual for each connection equipment.
  • Page 18: Chapter 2 Specifications

    SPECIFICATIONS For general specifications, power supply and system configuration, refer to the following manual. MELSEC iQ-F FX5U User's Manual (Hardware) MELSEC iQ-F FX5UC User's Manual (Hardware) Performance Specifications The following list shows performance specifications of the positioning function. For details on positioning parameter, refer to Page 41 POSITIONING PARAMETER. Item Description Number of control axes...
  • Page 19: Input Specifications

    *1 The number of control axes is two when the pulse output mode is CW/CCW mode. *2 High-speed pulse input/output module is not supported. *3 Set the number of output pulses per operation to 2147483647 or lower. *4 For the start speed, refer to Page 79 Start speed. Input Specifications The input specifications of the CPU module and high-speed pulse input/output module are explained below.
  • Page 20: Input Assignment

    Item Specifications Input signal type FX5UC-MT/D No-voltage contact input NPN open collector transistor FX5UC-MT/DSS No-voltage contact input Sink input: NPN open collector transistor Source input: PNP open collector transistor Input circuit insulation Photocoupler insulation Indication of input motion Turning on the input will light the LED indicator lamp (DISP switch IN side) High-speed pulse input/output module Item Specifications...
  • Page 21 Application Input Remarks number Forward rotation limit (LSF) All input Connect a line to any input. When the line-connected input is turned on, the forward limit relay must be points turned on. The forward limit depends on the axis number as shown in the following table. Axis 1 Axis 2 Axis 3...
  • Page 22: Output Specifications

    Output Specifications This section describes the transistor output specifications of the CPU module and high-speed pulse input/output module. Note that the simultaneous turning-on rate of the CPU module is restricted. For details on this restriction, refer to the following manual. MELSEC iQ-F FX5U User's Manual (Hardware) MELSEC iQ-F FX5UC User's Manual (Hardware) FX5 CPU module...
  • Page 23 To use the positioning instruction, adjust the load current of the NPN open collector output to 10 to 100 mA (5 to 24 V DC). Item Description Operation voltage range 5 to 24 V DC Operation current range 10 to 100 mA Output frequency 200 Kpps or less Sink internal output circuit...
  • Page 24 Source internal output circuit ■FX5U CPU module FX5U CPU module Pulse train signal Direction signal Servo amplifier Grounding (Drive unit) 5 to 24 V DC *1 To ground the unit, refer to the servo amplifier (drive unit) manual. If the grounding method is not specified, carry out class-D grounding (grounding resistance: 100 Ω or less). *2 For MELSERVO series servo amplifiers, use a sink output type FX5U CPU module.
  • Page 25: Assignment Of Output Numbers

    Assignment of output numbers Output numbers of the CPU module and high-speed pulse input/output module are assigned as follow. For parameter settings in GX Works3, refer to Page 41 POSITIONING PARAMETER. FX5 CPU module Application Output Remarks number Pulse output PULSE Y0 to Y3 The assignment is determined according to the output mode specified in GX Works3.
  • Page 26: Chapter 3 Positioning Control Function

    POSITIONING CONTROL FUNCTION The positioning control of the output pulses with each positioning instruction and operate based on the positioning parameters (such as for speed and for operation flag). This chapter describes control patterns that are available for combinations of the positioning instructions and the positioning parameters.
  • Page 27: Opr Control

    OPR Control This section describes details of the OPR control. Mechanical OPR The DSZR/DDSZR instruction starts the OPR operation in the direction set by the OPR direction setting. (Page 64 OPR Direction) After the speed has reached the OPR speed, the operation will be performed at the specified OPR speed. Deceleration is started when the near-point dog signal is detected and the operation continues at creep speed.
  • Page 28: High-speed Opr

    High-speed OPR The positioning is performed for the zero point address established by the mechanical OPR. The OPR can be performed at high-speed without using the near-point signal and the zero signal. Set operands of instructions so that positioning address = zero position address , command speed = OPR speed in the 1- speed positioning (absolute address).
  • Page 29: 2-speed Positioning

    2-speed positioning The 1-speed positioning of table 1 (excluding the deceleration stop) is performed by the table operation instruction. (Page 26 1-speed positioning) After the target position is reached, the 1-speed positioning of table 2 is performed from acceleration/ deceleration. 2-speed positioning is performed when two 1-speed positionings are operated continuously by the continuous operation of the DRVTBL/DRVMUL instruction.
  • Page 30: Multi-speed Operation

    Multi-speed operation 1-speed positioning operation (excluding the deceleration stop) is continued several times by the table operation instruction. (Page 26 1-speed positioning) At the last table, the operation decelerates and stops in the point that the speed can be reduced. The multi-speed positioning is performed when two or more 1-speed positionings are operated continuously by the continuous operation of the DRVTBL/DRVMUL instruction.
  • Page 31: Interrupt Stop

    Interrupt stop 1-speed positioning is performed by the table operation instruction. (Page 26 1-speed positioning) When the interruption input signal 1 detected during pulse output operation, the operation decelerates and stops. (Page 58 Interrupt Input Signal 1) Both relative address and absolute address can be used for the interrupt stop. Acceleration Deceleration time...
  • Page 32: Interrupt 2-speed Positioning

    Precautions The pulse output is not stopped unless the interrupt input signal 1 is turned on. When using continuous operation of the table operation instruction, the interrupt 1-speed positioning can be used only when the previous table is set to Table Transition Variable Speed Operation. Interrupt 2-speed positioning The variable speed operation of table 1 is performed by the table operation instruction.
  • Page 33: Variable Speed Operation

    Variable speed operation Acceleration is started at the bias speed when pulses are output by the positioning instruction. After the speed has reached the specified speed, the operation will be performed in the specified speed. When the command speed is changed, the operation can change the speed to the specified speed.
  • Page 34: Simple Linear Interpolation Operation (2-axis Simultaneous Start)

    Simple linear interpolation operation (2-axis simultaneous start) The work piece will travel to the target position at the specified vector speed (interpolation operation) by the table operation instruction. In this interpolation operation of two axes, the CPU module calculates the start timing based on the positioning address and the command speed set in the table.
  • Page 35: Auxiliary Function

    Auxiliary Function This section describes auxiliary functions of the positioning. Dog search function If the forward rotation limit and the reverse rotation limit are used, the DOG search function can be used for OPR. (Page 35 Forward limit and reverse limit) The OPR operation depends on the OPR start position. Near-point Reverse rotation limit 1 Rear end...
  • Page 36: Dwell Time

    Transfer operation will be started in the OPR direction at the OPR speed. (The workpiece will enter the near-point dog area again.) If the front end of the near-point dog is detected, the speed will be reduced to the creep speed. After detecting the rear end of the near-point dog, if the zero signal is detected for the specified number of times is detected, the operation will be stopped.
  • Page 37: Opr Zero Signal Count

    OPR zero signal count When the DSZR/DDSZR instruction is used, the OPR zero signal counts is counted after the zero signal count start timing. (Page 68 Zero Signal) When the number of the zero signals has reached specified number, pulse output is stopped. The setting range is from 0 to 32767.
  • Page 38: Positioning Address Change During Positioning Operation

    The following table lists the corresponding devices. Name CPU module High-speed pulse input/output module First module Second module Third module Fourth module Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Forward limit...
  • Page 39: Command Speed Change During Positioning Operation

    Command speed change during positioning operation This function changes operation speed during positioning operation. • For positioning instructions, by specifying a word device as an operand that specifies the command speed (for the DSZR/ DDSZR instruction, the OPR speed and the creep speed) and changing the value, operation speed can be changed during operation.
  • Page 40: Pulse Decelerate And Stop

    Pulse decelerate and stop When the pulse decelerate and stop command is turned on during positioning operation, the positioning operation can be decelerated and stopped. (Page 59 Pulse decelerate and stop command) When positioning operation is stopped by the pulse decelerate and stop command, remaining distance operation can be performed with positioning instructions. (Page 39 Remaining distance operation) The following table lists the corresponding devices.
  • Page 41: Remaining Distance Operation

    Remaining distance operation When pulse output is stopped by the pulse decelerate and stop command during positioning instruction operation and the remaining distance operation enabled is ON, the remaining distance operation ready status is acquired. (Page 62 Remaining distance operation, Page 38 Pulse decelerate and stop) When the pulse decelerate and stop command turns off, the remaining distance operation starts.
  • Page 42: Multiple Axes Simultaneous Activation

    Precautions • Where the system starts the remaining distance operation after changing the positioning address under the relative address specification, positioning operation is performed with the current address at start of the positioning or table instruction as the basis. • After the interrupt input signal 1 is detected, the table operation instruction becomes unable to execute the remaining distance operation (Control system [6: Interrupted stop (relative address specification), [7: Interrupted stop (absolute address specification)].
  • Page 43: Chapter 4 Positioning Parameter

    POSITIONING PARAMETER This chapter explains the parameters for the positioning function and relevant devices. Set the parameters of the positioning using the high speed I/O parameter, operand, and special devices. For the parameters of the table operation, refer to Page 158 TABLE OPERATION. Setting Method The following list shows the setting methods for the positioning parameter.
  • Page 44: Basic Setting

    Basic Setting The items set in basic setting correspond to the positioning parameters of each axis. In special devices corresponding to parameters, values set in the basic setting are stored as the initial values when the power of CPU module is STOP→RUN. When items occupying I/O are changed, the high speed I/O assignment parameters are also refreshed together.
  • Page 45 ■High-speed pulse input/output module Navigation window  Parameter  Module Information  Right-click  Add New Module After adding the high-speed pulse input/output module, make settings on the screen displayed from the following operation. Navigation window  Parameter  Module Information  1 to 16 (high-speed input/output module)  Module Parameter ...
  • Page 46 Parameter list The following table lists the positioning parameters that can be set in Basic Setting. Item Setting value Reference CPU module High-speed pulse input/output module Axis  Axis +1 Basic Parameter 1 Pulse Output Mode 0: Not Used, 1: PULSE/SIGN, 2: CW/CCW Page 47 Output Device PULSE/CW...
  • Page 47: Input Check

    *1 PULSE/CW is fixed to the output device (Y) of "axis number - 1". *2 CW/CCW is fixed to Y0(CW)/Y2(CCW), Y1(CW)/Y3(CCW). *3 The number in  is first module: 5, second module: 7, third module: 9, fourth module: 11. *4 : Head input/output number for each high-speed pulse input/output module Input Check The usage status of the input device (X) can be checked from the input check window.
  • Page 48: Output Confirmation

    Output Confirmation The usage status of the output device (Y) can be checked from the output check window. Window ■CPU module Navigation window  Parameter  FX5UCPU  Module Parameter  High Speed I/O  Output Confirmation  Positioning ■High-speed pulse input/output module Navigation window ...
  • Page 49: Details Of Parameters

    Details of Parameters The following describes the details of the parameters and relevant devices. Common item The following lists the setting items related to common aspects of positioning operation. Pulse Output Mode Setting method: High Speed I/O Parameter Specify the pulse output method. When [0: Not Used] is selected, the positioning function is not used.
  • Page 50 ■CW/CCW mode • CPU module Forward Reverse Forward Reverse rotation rotation rotation rotation Pulse output Pulse output destination Y0 destination Y1 (Forward pulse train) (Forward pulse train) Rotation direction Rotation direction specification Y2 specification Y3 (Reverse pulse train) (Reverse pulse train) *1 "H"...
  • Page 51 Setting method: High Speed I/O Parameter Set outputs that are used as positioning outputs. Outputs that are not used as positioning outputs can be used as general- purpose output or PWM output. For PWM output, refer to MELSEC iQ-F FX5 User's Manual (Application). ■PULSE/CW PULSE output in PULSE/SIGN mode or CW output in CW/CCW mode is selected.
  • Page 52 Unit Setting Setting method: High Speed I/O Parameter Set the unit system (user unit) to be used for the positioning function. The selected unit system is applied to the speed used for positioning instructions and operands of positioning-related special devices and positioning instructions (command speed, positioning address) as a unit. The unit types of the positioning control include the motor system unit, machine system unit, and multiple system unit.
  • Page 53 When set in μm • Number of pulses to be generated = Transfer distance ÷ Transfer distance per rotation × Number of pulses per rotation = 100 [μm] ÷ 100 [μm/REV] × 4000 [pulse/REV] = 4000 [pulse] ÷ Transfer distance per rotation ×...
  • Page 54: Items Related To Speed

    The following table lists the relation between the positioning data magnification of each unit system. Position Data Unit system setting (position unit) Unit system setting (speed unit) Magnification μm pulse 0.0001 inch mdeg cm/min inch/min 10 deg/min Single pulse μm ×...
  • Page 55 Precautions In a program with interruption priority 1, the HCMOV/DHCMOV instruction specified with this device for high-speed pulse input/output module cannot be executed. (MELSEC iQ-F FX5 User's Manual (Application)) 4 POSITIONING PARAMETER 4.2 Details of Parameters...
  • Page 56 Max. Speed Setting method: High Speed I/O Parameter, Special Device Set the upper limit (maximum speed) for command speed, OPR speed, and creep speed. The user unit is set by unit setting. (Page 50 Unit Setting) The setting range is as follows. •...
  • Page 57: Items Related To Positioning Address

    Deceleration Time Setting method: High Speed I/O Parameter, Special Device Set the time required for deceleration from the maximum speed to the bias speed. The setting range of deceleration time is 0 to 32767 ms. If command speed is slower than the maximum speed, the actual deceleration time becomes shorter than the set time.
  • Page 58 • Reading can be performed to the current value by the HCMOV/DHCMOV instruction. • In a program with interruption priority 1, the HCMOV/DHCMOV instruction specified with this device for high-speed pulse input/output module cannot be executed. (MELSEC iQ-F FX5 User's Manual (Application)) 4 POSITIONING PARAMETER 4.2 Details of Parameters...
  • Page 59 • Reading can be performed to the current value by the HCMOV/DHCMOV instruction. • In a program with interruption priority 1, the HCMOV/DHCMOV instruction specified with this device for high-speed pulse input/output module cannot be executed. (MELSEC iQ-F FX5 User's Manual (Application)) Precautions The current address (pulse unit) functions with the range of -2147483647 to +2147483647 pulses.
  • Page 60: Items Related To Operating Command

    Items related to operating command The following lists the items related to the positioning operation. For the input interrupt function, refer to MELSEC iQ-F FX5 User's Manual (Application). Interrupt Input Signal 1 Setting method: High Speed I/O Parameter When the DVIT/DDVIT instruction or table operation instruction (control method: [3: Interrupt 1 Speed Positioning], [6: Interrupt Stop (Relative Address Specification)], [7: Interrupt Stop (Absolute Address Specification)]) is used, set this parameter.
  • Page 61 Precautions For details of following caution, refer to Page 197 Functions that share inputs and outputs. • This is not usable if all inputs are occupied with another high-speed input/output function. • In the case of standard mode, the input interrupt function is assigned forcibly to the specified input. •...
  • Page 62 Precautions When the deceleration time is set to 0, the PLSV/DPLSV instruction or table operation (control method: [4: Variable Speed Operation] or [5: Table Transition Variable Speed Operation]) is immediately stopped after the pulse decelerate and stop command turns on. (Page 55 Deceleration Time) Enable/Disable Reset All Modules at Error Stop Setting method: High Speed I/O Parameter Specify whether to use the all module reset when a stop error occurs (Page 40).
  • Page 63 Forward limit Setting method: Special Device Forward limit notifies the CPU module of the forward limit. If forward limit is turned on while positioning operation is being output in the forward direction, the speed will decelerate, and the operation will stop (the PLSY/DPLSY instruction will stop immediately). If forward limit is turned on while positioning operation is being output in the reverse direction, it is ignored.
  • Page 64 Remaining distance operation Setting method: Special Device For the remaining distance operation, refer to Page 39 Remaining distance operation. ■Remaining distance operation enabled Remaining distance operation enabled enables remaining distance operation with remaining distance operation-compatible instructions. If remaining distance operation enabled is on when deceleration stop is performed with the pulse decelerate and stop command, the remaining distance operation ready status is acquired.
  • Page 65: Items Related To Pulse Y Output Instruction

    Items related to OPR The following lists the items related to the OPR. (Page 25 Mechanical OPR, Page 87 Mechanical OPR) For the input interrupt function, refer to MELSEC iQ-F FX5 User's Manual (Application). OPR Enabled/Disabled Setting method: High Speed I/O Parameter Specify whether to use the OPR.
  • Page 66 OPR Direction Setting method: High Speed I/O Parameter, Special Device Specify the direction when OPR is started. Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 (Servo amplifier side) (CPU module side) (CPU module side) (Servo amplifier side) Servo motor Reverse rotation...
  • Page 67 OPR speed Setting method: Operand, Special Device Set the speed at OPR of the machine. The user unit is set by unit setting. (Page 50 Unit Setting) The setting range is as follows. • Motor/multiple system unit: 1 pps to 200 Kpps. •...
  • Page 68 Special Device Name CPU module High-speed pulse input/output module First module Second module Third module Fourth module Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Creep speed SD5528 SD5568...
  • Page 69 OPR Dwell Time Setting method: High Speed I/O Parameter, Special Device Set the time until the completion flag for the DSZR/DDSZR instruction is turned on when OPR is completed. The setting range for the OPR dwell time is 0 to 32767 ms. (Page 34 Dwell time) Special Device Name CPU module...
  • Page 70 Zero Signal Specify the zero signal to be used in OPR. ■Device No. Setting method: High Speed I/O Parameter, Operand Zero signal is assigned forcibly to a specified input. To use the near-point dog signal for stop, set the device to which the near-point dog signal is assigned. High Speed I/O Parameter The zero signal assignment is as follows.
  • Page 71 ■OPR Zero Signal Counts Setting method: High Speed I/O Parameter, Special Device Set the number of zero signals until OPR stops after detection of the near-point dog. The timing of counting start of the number of zero signals can be selected using the count start timing between the front end and rear end of the near-point dog. The setting range is from 0 to 32767.
  • Page 72: Items Related To Table Operation

    Items related to table operation The following lists the items specific to table operation. Dwell Time Setting method: Operand Set the time until the completion flag is turned on when table operation is completed. (Page 34 Dwell time) Operand: Table Operation Control Method Table operation control method Operand Range...
  • Page 73 Interrupt Input Signal 2 Logic Setting method: High Speed I/O Parameter Specify the logic of interrupt input signal 2 of the table operation instruction control method [5: Table Transition Variable Speed Operation]. High-speed pulse input/output module is not supported. When [0: Positive logic] is selected, interrupt input signal 2 functions on a rising edge. When [1: Negative logic] is selected, interrupt input signal 2 functions on a falling edge.
  • Page 74 Axis to be Interpolated Setting method: Operand Set the number of the counterpart axis for the simple interpolation operation of table operation control method [20: Interpolation Operation (Relative Address Specification) or [22: Interpolation Operation (Absolute Address Specification)]. For the counterpart axis, control method [21: Interpolation Operation (Relative Address Specification Target Axis) or [23: Interpolation Operation (Absolute Address Specification Target Axis)] is assigned to the same table number as that specified in the axis to be interpolated.
  • Page 75 R: Read only Precautions In a program with interruption priority 1, the HCMOV/DHCMOV instruction specified with this device for high-speed pulse input/output module cannot be executed. (MELSEC iQ-F FX5 User's Manual (Application)) Table shift command Setting method: Special Device Table shift command is to switch to the following table in stepping operation of the DRVTBL instruction.
  • Page 76 Positioning error (error occurrence table No.) Setting method: Special Device Use the positioning error to check the table number where a table operation error occurred. For the error, refer to Page 205 Error Check. Special Device Name CPU module High-speed pulse input/output module First module Second module Third module...
  • Page 77: Items Related To Monitor

    Items related to monitor The following describes the items related to monitor, such as the positioning address and speed. Pulse output monitor Use the pulse output monitor to check whether pulses are being output from the output device (Y) set as an output device. The pulse output monitor shows the pulse output status even when positioning operation is stopped.
  • Page 78 Positioning error occurrence Setting method: Special Device Use the positioning error occurrence to check whether or not an error specific to the positioning instruction occurs. This flag turns on when an error specific to the positioning instruction occurs. Special Device Name CPU module High-speed pulse input/output module...
  • Page 79 Complete flag Setting method: Operand Use the complete flag to check whether or not a positioning instruction is completed. Note that the operation differs depending on the positioning instruction or the control method of the table operation. For details, refer to the complete flag of each positioning instruction and table operation control method.
  • Page 80 Special Device Name CPU module High-speed pulse input/output module First module Second module Third module Fourth module Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Instruction execution SM8029 (FX3 compatible device) complete flag...
  • Page 81: Chapter 5 Positioning Instruction

    POSITIONING INSTRUCTION This chapter explains positioning instructions that are used in the positioning function. For the expression and execution type of the applied instruction, refer to MELSEC iQ-F FX5 Programming Manual (Instructions, Standard Functions/Function Blocks). Common Items This section explains the common items in the positioning instruction. For auxiliary functions, refer to Page 33 Auxiliary Function.
  • Page 82: Pulse Output Stop

    Pulse output stop The following table lists methods to stop pulse output, other than normal completion. Select the stop method according to whether to use deceleration (deceleration stop or immediate stop) and to use the remaining distance operation. (Page 39 Remaining distance operation) Operation Deceleration Abnormal end...
  • Page 83: Operation At An Error Or Abnormal End

    Operation at an error or abnormal end The following explains operation at an error or abnormal end. Operation at an abnormal end When operation of the positioning function ends with an error, pulse output is stopped. • When an error occurs at start of a positioning instruction, pulse output is not started. Pulse output is also not started when a positioning instruction is executed with pulse output stopped, such as the pulse output stop command is on.
  • Page 84: Pulse Y Output

    Pulse Y Output This instruction generates a pulse signal. It generates only forward rotation pulses and increases the value of the current address. High-speed pulse input/output module is not supported. PLSY/DPLSY This instruction executes pulse output. Ladder FBD/LD ENO:=PLSY(EN,s,n,d); ENO:=DPLSY(EN,s,n,d); Setting data ■Description, range, data type (PLSY) •...
  • Page 85: Related Devices

    • FX3 compatible operand Operand Description Range Data type Data type (label) Word device number storing command speed or data 0 to 2147483647 32-bit signed binary ANY32 (User system unit) Word device number storing the positioning address or 0 to 2147483647 32-bit signed binary ANY32 data...
  • Page 86: Outline Of Operation

    Special registers FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter        SD8136,SD8137 Total number of pulses Page 63 output from axis 1 and axis 2 ...
  • Page 87 Operand specification ■When FX5 operand is specified For (s), specify the command speed. Set to a value 0 to 200 Kpps in pulse. • PLSY: 0 to 65535 (User system unit) • DPLSY: 0 to 2147483647 (User system unit) For (n), specify the positioning address. (Page 55 Positioning address) Set to a value 0 to 2147483647 in pulse. •...
  • Page 88: Program Example

    Positioning address • If the positioning address is 0 when the instruction is activated, unlimited pulses are output. • When unlimited pulses are being output, the operation ends normally if the pulse decelerate and stop command is turned • The operation ends with an error if the positioning address is changed to a value smaller than the number of pulses that have been output or a value outside the range during positioning operation.
  • Page 89: Mechanical Opr

    Mechanical OPR If forward rotation pulses or reverse rotation pulses are generated, the positioning instruction will increase or decrease the value of the current address. When the power of the CPU module is turned off, the value stored in the current address will be erased. For this reason, after turning on the power again, be sure to adjust the value of the current address in the CPU module to the current position of the machine.
  • Page 90 ■Description, range, data type (DDSZR) Operand Description Range Data type Data type (label) (s1) Word device number storing OPR speed or data 1 to 2147483647 32-bit signed binary ANY32 (User system unit) (s2) Word device number storing creep speed or data 1 to 2147483647 32-bit signed binary ANY32...
  • Page 91: Related Devices

    Related devices The following lists the related special devices. Special relays ■CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter  ...
  • Page 92 Special registers ■CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter      SD5500 SD5540 SD5580 SD5620 Current address (user unit) Page 56 SD5501 SD5541...
  • Page 93: Outline Of Operation

    Outline of operation For each speed, refer to Page 52 Items related to speed. For the items related to OPR, refer to Page 63 Items related to OPR. Drive contact DSZR/DDSZR (s1) (s2) (d1) (d2) Speed Deceleration Acceleration time time Maximum speed OPR speed (s1) Creep speed...
  • Page 94 However, if an output device (Y) to which PWM, PULSE/SIGN axis of another axis, or CW/CCW axis is assigned is specified, an error occurs without any operation. For the PWM function, refer to MELSEC iQ-F FX5 User's Manual (Application). OPR direction The pulse output direction is determined by the OPR direction and rotation direction setting.
  • Page 95: Program Example

    Operand change in positioning operation During positioning operation for the OPR speed (s1) and creep speed (s2), the command speed can be changed before the zero signal is detected. If it is changed after the zero signal is detected, the change is applied when the DSZR/DDSZR instruction is next driven again.
  • Page 96 Setting data Positioning parameter (high speed I/O parameter) Item Axis 1 Item Axis 1 ■Basic Parameter 1 ■Detailed Setting Parameter Pulse Output Mode 1: PULSE/SIGN External Start Signal Enabled/Disabled 0: Invalid Output Device (PULSE/CW) Interrupt Input Signal 1 Enabled/ 0: Invalid Disabled Output Device (SIGN/CCW) Rotation Direction Setting...
  • Page 97: Caution

    Caution • Detection of (the rear end and the front end of) the near-point dog will be affected by the input response time and the scan time of the sequence program. Secure 1 scan time or more from the rear end of the near-point dog to turning ON of the zero signal.
  • Page 98: 5.4 Relative Positioning

    Relative Positioning This instruction performs 1-speed positioning in the incremental method (positioning operation with a relative address). While regarding the current position as the start point, specify the transfer direction and the transfer distance (relative address) to determine the target position. Transfer distance-100 Start point Transfer distance+100...
  • Page 99 ■Description, range, data type (DDRVI) • FX5 operand Operand Description Range Data type Data type (label) (s1) Word device number storing the positioning address or -2147483648 to +2147483647 32-bit signed binary ANY32 data (User system unit) (s2) Word device number storing command speed or data 1 to 2147483647 32-bit signed binary ANY32...
  • Page 100: Related Devices

    Related devices The following lists the related special devices. Special relays ■CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter  ...
  • Page 101 Special registers ■CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter      SD5500 SD5540 SD5580 SD5620 Current address (user unit) Page 56 SD5501 SD5541...
  • Page 102: Outline Of Operation

    Outline of operation For each speed, refer to Page 52 Items related to speed. Drive contact DRVI/DDRVI (s1) (s2) (d1) (d2) Speed Acceleration Deceleration time time Maximum speed Command speed (s2) Positioning address (s1) Bias speed Bias speed Time Drive contact Instruction execution complete flag SM8029...
  • Page 103 However, if an output device (Y) to which PWM, PULSE/SIGN axis of another axis, or CW/CCW axis is assigned is specified, an error occurs without any operation. For the PWM function, refer to MELSEC iQ-F FX5 User's Manual (Application). Precautions Set the number of output pulses per DRVI/DDRVI instruction execution to 2147483647 or lower.
  • Page 104: Program Example

    Program example This program example illustrates a reversed operation that is performed by changing the positioning address at the current position + 70000 during relative positioning operation (axis 1). Speed Acceleration time Forward direction (500 ms) 15000 pps (Maximum speed) 10000 pps Current position...
  • Page 105 Program example Initial process Initial positioning address of DDRVI instruction SM402 DMOV K100000 D300 Initial pulse Positioning address to change DMOV K10000 D302 Drive DDRVI instruction SM5500 Drive Positioning Normally Abnormal DDRVI instruction instruction contact activation axis1 activation Drive DDRVI instruction in axis 1 SM5500 DDRVI D300...
  • Page 106: Absolute Positioning

    Absolute Positioning This instruction performs 1-speed positioning in the absolute method (positioning operation with an absolute address). Specify the distance (absolute address) from the origin to the target position. In this case, any position can be the start point (current position). Address 100 Start point Address 100...
  • Page 107 • FX3 compatible operand (Supported only for CPU module) Operand Description Range Data type Data type (label) (s1) Word device number storing the positioning address or -32768 to +32767 16-bit signed binary ANY16 data (User system unit) (s2) Word device number storing command speed or data 1 to 65535 16-bit unsigned binary ANY16...
  • Page 108 ■Available device (DRVA/DDRVA) • FX5 operand Operand Word Double word Indirect Constant Others specification X, Y, M, L, SM, T, ST, C, D, W, U\G K, H F, B, SB, S SD, SW, R       ...
  • Page 109: Related Devices

    Related devices The following lists the related special devices. Special relays ■CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter  ...
  • Page 110 Special registers ■CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter      SD5500 SD5540 SD5580 SD5620 Current address (user unit) Page 56 SD5501 SD5541...
  • Page 111: Outline Of Operation

    Outline of operation For each speed, refer to Page 52 Items related to speed. Drive contact DRVA/DDRVA (s1) (s2) (d1) (d2) Speed Acceleration Deceleration time time Maximum speed Command speed (s2) Positioning address (s1) Bias speed Bias speed Time Drive contact Instruction execution complete flag SM8029...
  • Page 112 However, if an output device (Y) to which PWM, PULSE/SIGN axis of another axis, or CW/CCW axis is assigned is specified, an error occurs without any operation. For the PWM function, refer to MELSEC iQ-F FX5 User's Manual (Application). Precautions Set the number of output pulses per DRVA/DDRVA instruction execution to 2147483647 or lower.
  • Page 113: Program Example

    Operation of the abnormal end flag The following describes the operation timings of the complete flags. The user-specified complete flags are valid only when specified using FX5 operand. FX3 compatible User specification Instruction execution Instruction execution abnormal Instruction execution Instruction execution abnormal complete flag end flag complete flag...
  • Page 114 Setting data Positioning parameter (high speed I/O parameter) Item Axis 1 Item Axis 1 ■Basic Parameter 1 ■Basic Parameter 2 Pulse Output Mode 1: PULSE/SIGN Interpolation Speed Specified Method 0: Composite Speed Output Device (PULSE/CW) Max. Speed 15000 pps Output Device (SIGN/CCW) Bias Speed 1000 pps Rotation Direction Setting...
  • Page 115: Interrupt 1-speed Positioning

    Interrupt 1-Speed Positioning The positioning function uses the DVIT/DDVIT instruction to perform one-speed interrupt constant quantity feed. With this instruction, interrupt signals can be controlled through user programs. DVIT/DDVIT This instruction executes one-speed interrupt constant quantity feed. Ladder FBD/LD ENO:=DVIT(EN,s1,s2,d1,d2); ENO:=DDVIT(EN,s1,s2,d1,d2);...
  • Page 116 ■Description, range, data type (DDVIT) • FX5 operand Operand Description Range Data type Data type (label) (s1) Word device number storing the positioning address or -2147483648 to +2147483647 32-bit signed binary ANY32 data (User system unit) (s2) Word device number storing command speed or data 1 to 2147483647 32-bit signed binary ANY32...
  • Page 117: Related Devices

    Related devices The following lists the related special devices. Special relays ■CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter  ...
  • Page 118 Special registers ■CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter      SD5500 SD5540 SD5580 SD5620 Current address (user unit) Page 56 SD5501 SD5541...
  • Page 119: Outline Of Operation

    Outline of operation For each speed, refer to Page 52 Items related to speed. Drive contact DVIT/DDVIT (s1) (s2) (d1) (d2) Speed Acceleration Deceleration time time Maximum speed Command speed (s2) Positioning address (s1) Bias speed Bias speed Time Drive contact Interrupt input signal 1 Instruction execution complete flag...
  • Page 120 However, if an output device (Y) to which PWM, PULSE/SIGN axis of another axis, or CW/CCW axis is assigned is specified, an error occurs without any operation. For the PWM function, refer to MELSEC iQ-F FX5 User's Manual (Application). Interrupt input signal 1 After the interrupt input signal 1 is detected, pulses equivalent to the specified positioning address specified in (s1) are output starting from the detection point.
  • Page 121: Program Example

    Operation of the complete flags The following describes the operation timings of the complete flags. The user-specified complete flags are valid only when specified using FX5 operand. FX3 compatible User specification Instruction execution Instruction execution abnormal Instruction execution Instruction execution abnormal complete flag end flag complete flag...
  • Page 122 Setting data Positioning parameter (high speed I/O parameter) Item Axis 1 Item Axis 1 ■Basic Parameter 1 ■Basic Parameter 2 Pulse Output Mode 1: PULSE/SIGN Interpolation Speed Specified Method 0: Composite Speed Output Device (PULSE/CW) Max. Speed 15000 pps Output Device (SIGN/CCW) Bias Speed 1000 pps Rotation Direction Setting...
  • Page 123: Caution

    Caution • When 0 is set for the positioning address (s1) at start of the instruction, the operation ends with an error. • If the positioning address (s1) is changed to 0 before the interrupt input signal 1 is detected, the operation decelerates and stops after the input interrupt occurs.
  • Page 124: Variable Speed Operation

    Variable Speed Operation The positioning function uses the variable speed pulse output instruction equipped with the rotation direction designation function to perform variable speed operation. This instruction can change the speed using the acceleration/deceleration speed. PLSV/DPLSV This instruction outputs variable speed pulses with an assigned rotation direction output. Ladder FBD/LD ENO:=PLSV(EN,s,d1,d2);...
  • Page 125 ■Description, range, data type (DPLSV) • FX5 operand Operand Description Range Data type Data type (label) Word device number storing command speed or data -2147483648 to +2147483647 32-bit signed binary ANY32 (User system unit) (d1) Axis number from which pulses are output K1 to 12 16-bit unsigned binary ANY_ELEMENTARY...
  • Page 126: Related Devices

    Related devices The following lists the related special devices. Special relays ■CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter  ...
  • Page 127 Special registers ■CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter      SD5500 SD5540 SD5580 SD5620 Current address (user unit) Page 56 SD5501 SD5541...
  • Page 128: Outline Of Operation

    Outline of operation For each speed, refer to Page 52 Items related to speed. Drive contact PLSV/DPLSV (d1) (d2) Acceleration time Deceleration time Speed Maximum speed Command Bias speed speed (s) Bias speed Time Command speed Drive contact Instruction execution complete flag (d2) *1 When FX5 operand is specified *2 Remains on until it is turned off using a program or engineering tool or the positioning instruction is reactivated.
  • Page 129 However, if an output device (Y) to which PWM, PULSE/SIGN axis of another axis, or CW/CCW axis is assigned is specified, an error occurs without any operation. For the PWM function, refer to MELSEC iQ-F FX5 User's Manual (Application). Command speed •...
  • Page 130: Program Example

    Program example The following is a program example of variable speed operation (axis 1). Acceleration time Deceleration time Speed (500 ms) (500 ms) 15000 pps (Maximum speed) 10000 pps 7000 pps 1000 pps (Bias speed) Time Current position Positioning address change input X15 (7000 pps) Positioning address...
  • Page 131: Caution

    Program example Initial process Initial positioning address of DPLSV instruction SM402 DMOV K10000 D300 Initial pulse Command speed 1 to change DMOV K7000 D302 Command speed 2 to change DMOV K15000 D304 Drive DPLSV instruction SM5500 Drive Positioning Normally Abnormal DPLSV instruction instruction...
  • Page 132: Single-table Operation

    Single-table Operation This instruction executes the control method of one specified table set in the data table with GX Works3. High-speed pulse input/output module is not supported. This instruction executes one table specified in the table data set in GX Works3. Ladder FBD/LD ENO:=TBL(EN,n,d);...
  • Page 133: Related Devices

    Related devices The following lists the related special devices. The devices other than the following depend on the table control method. Special relays Axis 1 Axis 2 Axis 3 Axis 4 Name High Speed I/O Reference Parameter  SD5916 SD5917 SD5918 SD5919 Positioning table data initialization disable...
  • Page 134: Program Example

    Program example The following are program examples of using each table control method. Table transition variable speed operation The following is a program example of control method [5: Table Transition Variable Speed Operation]. Acceleration time Deceleration time Speed (500 ms) (500 ms) 15000 pps (Maximum speed)
  • Page 135 Program example Initial process Command speed 1 to change SM402 DMOV K7000 D900 Initial pulse Command speed 2 to change DMOV K15000 D902 Drive TBL instruction SM5500 Drive Positioning Normally Abnormal instruction instruction contact activation axis1 activation Drive TBL instruction in axis 1 SM5500 Positioning SM8029...
  • Page 136 Interrupt stop (relative address specification) The following is a program example of control method [6: Interrupt Stop (Relative Address Specification)]. Acceleration time Deceleration time Speed (500 ms) (500 ms) 15000 pps (Maximum speed) 10000 pps 1000 pps (Bias speed) Positioning address Current position Current position...
  • Page 137 Program example Drive TBL instruction SM5500 Drive Positioning Normally Abnormal instruction instruction contact activation axis1 activation Drive TBL instruction in axis 1 SM5500 Positioning SM8029 instruction instruction activation axis1 activation Instruction execution complete flag SM8329 Instruction execution abnormal end flag For the stop event, refer toPage 132 Table transition variable speed operation.
  • Page 138 Axis 2 (counterpart axis) Acceleration time Deceleration time (= acceleration time of (= deceleration time of Speed reference axis) reference axis) Maximum speed (= maximum speed of reference axis) Command speed (the CPU module calculates speed) Number of output pulses: 20000 Bias speed (the CPU module Time...
  • Page 139 Program example Drive TBL instruction SM5500 Drive Positioning Normally Abnormal instruction instruction contact activation axis1 activation Drive TBL instruction in axis 1 SM5500 Positioning SM8029 instruction instruction activation axis1 activation Instruction execution complete flag SM8329 Instruction execution abnormal end flag Stop event axis 1 (reference axis) SM5628 Pulse stop...
  • Page 140: Multiple-table Operation

    Multiple-table Operation This instruction executes the control method of multiple specified tables set in the table data with GX Works3. DRVTBL This instruction executes the table data set in GX Works3 in continuous operation or stepping operation. Ladder FBD/LD ENO:=DRVTBL(EN,n1,n2,n3,d1,d2); (d1) (n1) (n2) (n3)
  • Page 141: Related Devices

    Related devices The following lists the related special devices. The devices other than the following depend on the table control method. Special relays ■CPU module Axis 1 Axis 2 Axis 3 Axis 4 Name High Speed I/O Reference Parameter SM5580 SM5581 SM5582 SM5583...
  • Page 142: Outline Of Operation

    Outline of operation Drive contact DRVTBL (d1) (n1) (n2) (n3) (d2) Operand specification For (d1), specify an axis number (K1 to K12) for which pulses are output. Specify an axis number whose positioning parameters are set in the high speed I/O parameters. Operation cannot be performed if any other axis number is specified.
  • Page 143: Program Example

    Program example The following are program examples for executing multiple tables. Stepping operation This program example illustrates a stepping operation that is performed on axis 1 in order of control methods [1: 1 Speed Positioning (Relative Address Specification)], [5: Table Transition Variable Speed Operation], and [3: Interrupt 1 Speed Positioning].
  • Page 144 Axis #1 Positioning Data Device Control Method Positioning Command Dwell Time Interrupt Input Address Speed Signal 2 Device No.   1: 1 Speed Positioning (Relative Address 100000 pulse 10000 pps 0 ms Specification)   5: Table Transition Variable Speed Operation 7000 pps 0 ms ...
  • Page 145 Continuous operation This program example illustrates a continuous operation (interrupt 2-speed positioning) that is performed on axis 1 in the order of control methods [5: Table Transition Variable Speed Operation] and [3: Interrupt 1 Speed Positioning], starting from table No. 2. Speed Acceleration time Deceleration time...
  • Page 146 Axis #1 Positioning Data Device Control Method Positioning Command Dwell Time Interrupt Input Address Speed Signal 2 Device No.   1: 1 Speed Positioning (Relative Address 100000 pulse 10000 pps 0 ms Specification)   5: Table Transition Variable Speed Operation 7000 pps 0 ms ...
  • Page 147 M No. for jump condition (M100) = OFF: Executes the table 3 Speed Acceleration Non-executes Deceleration time time the condition (500 ms) jump (500 ms) 15000 pps (Maximum speed) 10000 pps 7000 pps 1000 pps (Bias speed) Time Positioning Positioning address: 90000 address: 50000 Instruction execution complete flag M1...
  • Page 148 Program example ON/OFF switching of M device for jump condition M100 Switch for Table 2 jump condition Jump condition Drive DRVTBL instruction (continuous operation with control method [10: Condition Jump]) SM5500 Drive Positioning Normally Abnormal DRVTBL instruction instruction contact activation axis1 activation Drive DRVTBL instruction in axis 1 SM5500...
  • Page 149: Multiple-axis Table Operation

    5.10 Multiple-axis Table Operation This instruction executes the control method of specified table for multiple axes set in the table data with GX Works3. DRVMUL This instruction executes the table data set in GX Works3 for multiple axes of one module simultaneously. Ladder FBD/LD ENO:=DRVMUL(EN,n1,n2,n3,n4,n5,d);...
  • Page 150: Related Devices

    Related devices The following lists the related special devices. The devices other than the following depend on the table control method. Special relays ■CPU module Axis 1 Axis 2 Axis 3 Axis 4 Name High Speed I/O Reference Parameter  SM5916 SM5917 SM5918...
  • Page 151: Outline Of Operation

    Outline of operation Drive contact DRVMUL (n1) (n2) (n3) (n4) (n5) Operand specification For (n1), specify the head axis number for which pulses are output. • K1: Axis 1 (CPU module executes axes 1 to 4 simultaneously. ) • K5: Axis 5 (High-speed pulse input/output module executes axis 5, 6 (High-speed pulse input/output module first module) simultaneously.
  • Page 152 For (d), specify the bit devices of the instruction execution complete flag and abnormal end flag of each axis. The device assignment is as follows. (Page 77 Complete flag) • (d): Instruction execution complete flag of (n1) • (d)+1: Instruction execution abnormal end flag of (n1) •...
  • Page 153: Program Example

    Program example This program example illustrates simultaneous execution of each of the operations on axes 1, 2, and 4. Axis 1 (Interrupt 2-speed positioning) Speed Deceleration time Acceleration time (500 ms) (500 ms) 15000 pps (Maximum speed) 7000 pps 1000 pps (Bias speed) Time Positioning address: 50000...
  • Page 154 Axis 4 (1-speed positioning) Speed Acceleration time Deceleration time (500 ms) (500 ms) 100000 pps (Maximum speed) 30000 pps 0 pps (Bias speed) Time Positioning address: 100000 Instruction execution Dwell time (100 ms) complete flag M11 Execution table 1 speed positioning (relative address specification) Setting data Positioning parameter (high speed I/O parameter) Item...
  • Page 155 Axis #2 Positioning Data Device Control Method Positioning Address Command Speed Dwell Time  1: 1 Speed Positioning (Relative Address 50000 pulse 10000 pps 0 ms Specification)  2: 1 Speed Positioning (Absolute Address 60000 pulse 5000 pps 0 ms Specification) ...
  • Page 156: Absolute Position Detection System

    5.11 Absolute Position Detection System With the use of the servo absolute position detection system, the positioning uses the current ABS value read-out (DABS) instruction to read out the current value (absolute position (ABS) data) from the MR-J4A or MR-J3A servo amplifier. The data is converted into pulse when being read.
  • Page 157: Outline Of Operation

    Outline of operation Drive contact DABS (d1) (d2) Operand specification For (s), specify the first number of the device that inputs the output signal for ABS data from the servo amplifier. The device assignment is as follows. • (s): ABS (bit 0) •...
  • Page 158: Program Example

    Initial OPR When your system is established, even if your servo motor is equipped with an absolute position detection function, it is necessary to perform OPR at least once to send the clear signal to the servo motor. Use one of the following methods for the initial OPR: •...
  • Page 159: Caution

    Caution For details on the servo amplifier, refer to the manual for each servo amplifier. • 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 160: Chapter 6 Table Operation

    TABLE OPERATION This chapter explains the table operation in the following items. • How to use the positioning table in GX Works3 • Operations of each control method • How to execute multiple tables (stepping operation and continuous operation) How to Use the Positioning Table The following procedure is required to perform positioning in table operation.
  • Page 161 Items setting ■Positioning table data use device setting The table data specified is used as a parameter of the CPU module. Specify whether to set the parameter in user-specified word devices. Available devices are limited to data registers (D) and file registers (R). It is always necessary to set the parameters to word devices for high-speed pulse input/output module.
  • Page 162 For versions which supports the positioning table data retaining function, refer to Page 251 Added and Enhanced Functions. Precautions Use latch devices for the table data. For latch device, refer to MELSEC iQ-F FX5 User's Manual (Application). 6 TABLE OPERATION 6.1 How to Use the Positioning Table...
  • Page 163: Operations Of Control Method

    Operations of Control Method The following explains the control method that can be set in a table. For details of each table operation instruction, refer to Page 79 POSITIONING INSTRUCTION. No Positioning The following explains control method [0: No Positioning]. Setting data The following table shows the operand assignment.
  • Page 164: Speed Positioning (relative Address Specification)

    Operation of the complete flags The following describes the operation timings of the complete flags. Because dwell time cannot be specified, the flags turn on immediately after the condition is met. FX3 compatible (Effective only at TBL instruction or User specification (Effective only at DRVTBL instruction DRVTBL instruction execution) or DRVMUL instruction execution) Instruction execution...
  • Page 165 Related devices Other than the following, the related devices are the same as those of the DRVI/DDRVI instruction. ■Special relays • CPU module Axis 1 Axis 2 Axis 3 Axis 4 Name High Speed I/O Reference Parameter SM5916 SM5917 SM5918 SM5919 Positioning table data initialization disable ...
  • Page 166: Speed Positioning (absolute Address Specification)

    Operation of the complete flags The following describes the operation timings of the complete flags. If dwell time is specified, the flag turns on after the dwell time elapses. FX3 compatible (Effective only at TBL instruction or User specification (Effective only at DRVTBL instruction DRVTBL instruction execution) or DRVMUL instruction execution) Instruction execution...
  • Page 167 Processing details Operation with one table and operation of stepping operation are the same as that of the DRVA/DDRVA instruction. (Page 191 Stepping operation, Page 104 Absolute Positioning) However, if dwell time is set, the complete flag turns on after the dwell time elapses.
  • Page 168: Interrupt 1 Speed Positioning

    Operation of the complete flags The following describes the operation timings of the complete flags. If dwell time is specified, the flag turns on after the dwell time elapses. FX3 compatible (Effective only at TBL instruction or User specification (Effective only at DRVTBL instruction DRVTBL instruction execution) or DRVMUL instruction execution) Instruction execution...
  • Page 169 Precautions Other than the following, the same as cautions for the DVIT/DDVIT instruction apply. • Combinations other than the following cannot be used during continuous operation. The first table The second table Control method 3: Interrupt 1 Speed Positioning  5: Table Transition Variable Speed Operation 3: Interrupt 1 Speed Positioning Control method [3: Interrupt 1 Speed Positioning] must be specified to the first or second table.
  • Page 170: Variable Speed Operation

    Operation of the complete flags The following describes the operation timings of the complete flags. If dwell time is specified, the flag turns on after the dwell time elapses. FX3 compatible (Effective only at TBL instruction or User specification (Effective only at DRVTBL instruction DRVTBL instruction execution) or DRVMUL instruction execution) Instruction execution...
  • Page 171 Precautions Other than the following, the operation is the same as that of the PLSV/DPLSV instruction. • When this table is used for stepping operation, the next table can be activated after stop using the pulse decelerate and stop command. (Page 59) •...
  • Page 172: Table Transition Variable Speed Operation

    Operation of the complete flags The following describes the operation timings of the complete flags. If dwell time is specified, the flag turns on after the dwell time elapses. FX3 compatible (Effective only at TBL instruction or User specification (Effective only at DRVTBL instruction DRVTBL instruction execution) or DRVMUL instruction execution) Instruction execution...
  • Page 173 Processing details When the interrupt input signal 2 is detected, the table in execution is switched to the next table as interrupt processing. Then, the table following this table is operated. Until the interrupt input signal 2 is turned on, operation equivalent to the PLSV/ DPLSV instruction or control method [4: Variable Speed Operation] is performed.
  • Page 174 Related devices Other than the following, the related devices are the same as those of the PLSV/DPLSV instruction. ■Special relays Axis 1 Axis 2 Axis 3 Axis 4 Name High Speed I/O Reference Parameter  SM5916 SM5917 SM5918 SM5919 Positioning table data initialization disable Page 74 R/W: Read/write, : Not supported ■Special registers...
  • Page 175: Interrupt Stop (relative Address Specification)

    Interrupt Stop (Relative Address Specification) The following explains control method [6: Interrupt Stop (Relative Address Specification)]. Setting data The following table shows the operand assignment. Operand 1 Operand 2 Operand 3 Operand 4 Description Positioning Address Command Speed Dwell Time Interrupt Counts Range -2147483648 to +2147483647...
  • Page 176 Precautions Other than the following, the same cautions as for the DRVI/DDRVI instruction apply. • Specify the table as the last table when performing continuous operation. An error occurs if a table is operated after this table during continuous operation. •...
  • Page 177: Interrupt Stop (absolute Address Specification)

    Operation of the complete flags The following describes the operation timings of the complete flags. If dwell time is specified, the flag turns on after the dwell time elapses. FX3 compatible (Effective only at TBL instruction or User specification (Effective only at DRVTBL instruction DRVTBL instruction execution) or DRVMUL instruction execution) Instruction execution...
  • Page 178 Processing details Deceleration stop is performed from the point where the interrupt input signal 1 is detected during positioning operation. When the flag is not detected, the operation becomes the same as that of the DRVA/DDRVA instruction or control method [2: 1 Speed Positioning (Absolute Address Specification)].
  • Page 179 Related devices Other than the following, the related devices are the same as those of the DRVA/DDRVA instruction. ■Special relays • CPU module Axis 1 Axis 2 Axis 3 Axis 4 Name High Speed I/O Reference Parameter SM5916 SM5917 SM5918 SM5919 Positioning table data initialization disable ...
  • Page 180: Condition Jump

    Operation of the complete flags The following describes the operation timings of the complete flags. If dwell time is specified, the flag turns on after the dwell time elapses. FX3 compatible (Effective only at TBL instruction or User specification (Effective only at DRVTBL instruction DRVTBL instruction execution) or DRVMUL instruction execution) Instruction execution...
  • Page 181 Precautions • When this table specified for last table, jump is not executed and operation ends normally after deceleration stop. • In stepping operation, conditions are judged at completion of execution of the table immediately prior to control method [10: Condition Jump], and the jump destination table is immediately executed.
  • Page 182: Interpolation Operation (relative Address Specification)

    Operation of the complete flags The following describes the operation timing of the complete flags. FX3 compatible (Effective only at TBL instruction or User specification (Effective only at DRVTBL instruction DRVTBL instruction execution) or DRVMUL instruction execution) Instruction execution Instruction execution abnormal Instruction execution Instruction execution abnormal complete flag...
  • Page 183 Processing details Using the reference axis (control method [20: Interpolation Operation (Relative Address Specification)]) and counterpart axis (control method [21: Interpolation Operation (Relative Address Specification Target Axis)]), which is specified in operand 4, linear interpolation positioning is performed. (Page 184) The transfer distance of the operation is the distance from the current stop position (start address) to the positioning addresses specified in operand 1 of the reference axis and the counterpart axis.
  • Page 184 Related devices ■Special relays • CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter      SM8029 Instruction execution Page 77 complete flag ...
  • Page 185 ■Special registers • CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter      SD5500 SD5540 SD5580 SD5620 Current address (user unit) Page 56 SD5501...
  • Page 186: Interpolation Operation (relative Address Specification Target Axis)

    Operation of the complete flags The following describes the operation timings of the complete flags. If dwell time is specified, the flag turns on after the dwell time elapses. FX3 compatible (Effective only at TBL instruction or User specification (Effective only at DRVTBL instruction DRVTBL instruction execution) or DRVMUL instruction execution) Instruction execution...
  • Page 187: Interpolation Operation (absolute Address Specification)

    Precautions • Interpolation operation cannot be activated from this table. Drive interpolation operation with the table control method [20: Interpolation Operation (Relative Address Specification)] of the reference axis. • Speed is calculated based on the speed of the reference axis. Related devices Refer to Page 182 Related devices of control method [20: Interpolation Operation (Relative Address Specification)].
  • Page 188 Processing details Using the reference axis (control method [22: Interpolation Operation (Absolute Address Specification)]) and counterpart axis (control method [23: Interpolation Operation (Absolute Address Specification Target Axis)]), which is specified in operand 4, linear interpolation positioning is performed. (Page 190) The transfer distance of the operation is the distance from the current stop position (start address) to the positioning addresses specified in operand 1 of the reference axis and the counterpart axis.
  • Page 189 Related devices ■Special relays • CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter     SM8029 Instruction execution ...
  • Page 190 ■Special registers • CPU module FX5 dedicated FX3 compatible Name High Reference Speed I/O Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4 Parameter      SD5500 SD5540 SD5580 SD5620 Current address (user unit) Page 56 SD5501...
  • Page 191 Operation of the complete flags The following describes the operation timings of the complete flags. If dwell time is specified, the flag turns on after the dwell time elapses. FX3 compatible (Effective only at TBL instruction or User specification (Effective only at DRVTBL instruction DRVTBL instruction execution) or DRVMUL instruction execution) Instruction execution...
  • Page 192: Interpolation Operation (absolute Address Specification Target Axis)

    Interpolation Operation (Absolute Address Specification Target Axis) The following explains control method [23: Interpolation Operation (Absolute Address Specification Target Axis)]. Setting data The following table shows the operand assignment. Operand 1 Operand 2 Operand 3 Operand 4 Description Positioning Address None None None...
  • Page 193: How To Execute Multiple Tables

    How to Execute Multiple Tables The execution method for multiple tables of the DRVTBL and DRVMUL instructions includes stepping operation and continuous operation. This section explains how to execute each operation. Stepping operation In stepping operation, with the DRVTBL instruction, specified tables are executed one by one. Only the DRVTBL instruction can execute this operation.
  • Page 194 ■Operations by control method • When a table with control method [0: No Positioning] is executed, all the tables are considered to be normally completed. Then, the complete flag turns on, and tables that follow the table with [0: No Positioning] are not executed. •...
  • Page 195: Continuous Operation

    Continuous operation In continuous operation, operation is performed successively without deceleration stop between tables. The specified positioning address that has been output is the start address of the next table. The positioning complete flag turns on when execution of all the specified tables is completed. Unlike stepping operation, the table shift command is not required.
  • Page 196 ■Operation with table (operand) setting • Set the command speeds and positioning addresses of each table so that tables are switched once per 10 ms or less frequently (except conditional jumps). If tables are switched more frequently than the above, table shift processing cannot be completed in time and operation is decelerated to a stop and ends with an error.
  • Page 197 Non-execution tables Tables with positioning address setting such that no positioning is required are not executed and operation skips to the next table during continuous operation. The following table lists table non-execution conditions. Control method Table non-execution conditions 1: 1 Speed Positioning (Relative Address Specification) Positioning address = 0 2: 1 Speed Positioning (Absolute Address Specification) Positioning address = Current address when corresponding table is started...
  • Page 198: Chapter 7 Programming

    PROGRAMMING This chapter explains common items and precautions related to programs. Table Operation Instruction After setting table data, create a program that uses the table. (Page 158 TABLE OPERATION) Specify the table No., in the operand of the table operation instruction. The following table shows operands specified for each table operation instruction.
  • Page 199 Functions that share inputs and outputs The inputs and outputs specified with the positioning parameter cannot be simultaneously used with another high-speed input/ output function depending on the combination. For the other high-speed input/output functions, refer to MELSEC iQ-F FX5 User's Manual (Application).
  • Page 200 *1 If used simultaneously with another function, the input logic of the other function is applied. *2 When external preset input and external enable input are used, the number of usable channels is decreased depending on the counter type. *3 If positioning setting is made in the CPU module, input interrupt function will also be used simultaneously, regardless of whether input interrupt settings are made.
  • Page 201 (DHSCS, DHSCR, DHSZ instruction). Shown below are the conditions included in the number of the simultaneous executions. For high-speed comparison table, refer to MELSEC iQ-F FX5 User's Manual (Application). For high-speed comparison instructions and HIOEN/DHIOEN instruction, refer to MELSEC iQ-F FX5 Programming Manual (Instructions, Standard Functions/Function Blocks).
  • Page 202: Fx3 Compatible Sm/sd

    Operations will be performed as shown in the following table if a program is changed during instruction execution in RUN mode. Also do not change the program if PWM is being executed in RUN mode. For details on the PWM/DPWM instructions, refer to MELSEC iQ-F FX5 Programming Manual (Instructions, Standard Functions/Function Blocks). Positioning instruction...
  • Page 203: List Of Related Devices

    List of Related Devices The following lists the special devices related to the positioning function. For compatible positioning instructions, refer to the related device of each instruction. Special relays FX5 dedicated ■CPU module Axis 1 Axis 2 Axis 3 Axis 4 Name High Speed I/O Parameter Reference...
  • Page 204: Special Registers

    FX3 compatible ■CPU module Axis 1 Axis 2 Axis 3 Axis 4 Name High Speed I/O Parameter Reference  SM8029 Instruction execution complete flag Page 77 SM8329 Instruction execution abnormal end flag   SM8348 SM8358 SM8368 SM8378 Pulse output monitor Page 75 ...
  • Page 205 ■High-speed pulse input/output module First module Second module Third module Fourth module Name High Reference Speed I/O Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Parameter  SD5660 SD5700 SD5740 SD5780 SD5820 SD5860 SD5900 SD5940...
  • Page 206: Chapter 8 Troubleshooting

    TROUBLESHOOTING This chapter explains the errors and problems related to the positioning function. LED Status during Pulse Output and Rotation Direction Output Check the on/off status of LED indicator lamp on the CPU module that indicates the status of the output device (Y) to assess the positioning operation status.
  • Page 207: Error Check

    ABS sum error The ABS data sum from the servo amplifier does not match. For detailed error codes other than the above, refer to MELSEC iQ-F FX5 User's Manual (Application). Positioning-dedicated error When an error related to the positioning function occurs, the following special device turns on.
  • Page 208 The following error codes are stored in the positioning error (error code). ■CPU module Error code (HEX) Description Cause Axis 1 Axis 2 Axis 3 Axis 4 1821 1822 1823 1824 Write during RUN error Writing during RUN is performed on an instruction being executed. 3621 3622 3623...
  • Page 209: Servo Motor, Stepping Motor

    Error code (HEX) Description Cause First Second Third Fourth module module module module Axis Axis Axis Axis Axis Axis Axis Axis 3655 3656 3657 3658 3659 365A 365B 365C Error stop (deceleration • Deceleration stop starts during pulse output or positioning stop) operation due to a detection of the limit in the moving direction.
  • Page 210: Stop Position

    Stop Position If operation is stopped at the wrong position, check the following items. Check whether the electronic gear of the servo amplifier (drive unit) is set properly. (Page 50 Unit Setting) Check whether the origin is set properly. • Properly set the near-point dog so that the near-point dog signal can be kept in the ON status until the speed is reduced to the creep speed.
  • Page 211: Appendix

    APPENDIX Appendix 1 Example connection of servo amplifier Examples (sink input/sink output) of connecting an FX5 CPU module and high-speed pulse input/output module to a MELSERVO MR-J4A, MR-J3A, or MR-JNA series servo amplifier are shown. Use a CPU module and I/O module is transistor output.
  • Page 212: Melservo-j4 Series

    MELSERVO-J4 series PULSE/SIGN mode ■FX5U CPU module MR-J4A series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D Zero speed grounding Positioning completed(INP) Torque being controlled Photocoupler Servo error(ALM) Zero signal (PG0) Servo ON Reset Servo ready (RD) Emergency stop 2...
  • Page 213 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 214 ■FX5UC CPU module MR-J4A series FX5UC-32MT/D servo amplifier DICOM 24 V DC DICOM DOCOM Class-D Zero speed grounding Photocoupler Positioning completed(INP) Torque being Zero signal (PG0) controlled Servo error(ALM) Servo ready (RD) Servo ON Reset Emergency stop 2 COM0 Forward Pulse train rotation limit 2 COM0...
  • Page 215 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 216 ■High-speed pulse input/output module MR-J4A series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D Zero speed grounding Positioning completed(INP) Torque being controlled Photocoupler Servo error(ALM) Servo ON FX5-16ET/ES-H Reset Servo ready Emergency stop 2 Photocoupler (RD) Forward...
  • Page 217 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) Any input other than high-speed pulse input/output module can also be used. *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 218 CW/CCW mode ■FX5U CPU module MR-J4A series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D Zero speed grounding Positioning completed(INP) Torque being controlled Photocoupler Servo error(ALM) Zero signal (PG0) Servo ON Reset Servo ready (RD) DOCOM Emergency stop 2...
  • Page 219 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 220 ■FX5UC CPU module MR-J4A series FX5UC-32MT/D servo amplifier DICOM 24 V DC DICOM DOCOM Class-D Zero speed grounding Photocoupler Positioning completed(INP) Torque being Zero signal (PG0) controlled Servo error(ALM) Servo ready (RD) Servo ON DOCOM Reset Emergency stop 2 COM0 Forward rotation Forward pulse train...
  • Page 221 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 222 ■High-speed pulse input/output module MR-J4A series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D Zero speed grounding Positioning completed(INP) Torque being controlled Photocoupler Servo error(ALM) Servo ON FX5-16ET/ES-H Reset Servo ready Emergency stop 2 Photocoupler (RD) DOCOM...
  • Page 223 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) Any input other than high-speed pulse input/output module can also be used. *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 224 ■FX5UC CPU module MR-J4A series FX5UC-32MT/D servo amplifier DICOM 24 V DC DOCOM Class-D grounding Photocoupler FX5-C32EYT/D COM0 COM0 Servo-ON ABS transfer mode ABSM ABS request ABSR FX5-C32EX/D Photocoupler ABS(bit0) ABSB0 ABS(bit1) ABSB1 Send data ready ABST Plate *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 I/O module are used in the connection example.
  • Page 225: Melservo-j3 Series

    MELSERVO-J3 series PULSE/SIGN mode ■FX5U CPU module MR-J3A series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D Zero speed grounding Positioning completed(INP) Torque being controlled Photocoupler Servo error(ALM) Zero signal (PG0) Servo ON Reset Servo ready (RD) Emergency stop...
  • Page 226 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 227 ■FX5UC CPU module MR-J3A series FX5UC-32MT/D servo amplifier DICOM 24 V DC DICOM DOCOM Class-D Zero speed grounding Photocoupler Positioning completed(INP) Torque being Zero signal (PG0) controlled Servo error(ALM) Servo ready (RD) Servo ON Reset Emergency stop COM0 Forward Pulse train rotation limit 2 COM0 DOCOM...
  • Page 228 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 229 ■High-speed pulse input/output module MR-J3A series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D Zero speed grounding Positioning completed(INP) Torque being controlled Photocoupler Servo error(ALM) Servo ON FX5-16ET/ES-H Reset Servo ready Emergency stop Photocoupler (RD) Forward rotation limit 2...
  • Page 230 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) Any input other than high-speed pulse input/output module can also be used. *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 231 CW/CCW mode ■FX5U CPU module MR-J3A series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D Zero speed grounding Positioning completed(INP) Torque being controlled Photocoupler Servo error(ALM) Zero signal (PG0) Servo ON Reset Servo ready (RD) DOCOM Emergency stop...
  • Page 232 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 233 ■FX5UC CPU module MR-J3A series FX5UC-32MT/D servo amplifier DICOM 24 V DC DICOM DOCOM Class-D Zero speed grounding Photocoupler Positioning completed(INP) Torque being Zero signal (PG0) controlled Servo error(ALM) Servo ready (RD) Servo ON DOCOM Reset Emergency stop COM0 Forward rotation Forward pulse train rotation limit 2...
  • Page 234 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 235 ■High-speed pulse input/output module MR-J3A series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D Zero speed grounding Positioning completed(INP) Torque being controlled Photocoupler Servo error(ALM) Servo ON FX5-16ET/ES-H Reset Servo ready Emergency stop Photocoupler (RD) DOCOM Forward...
  • Page 236 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) Any input other than high-speed pulse input/output module can also be used. *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 237 ■FX5UC CPU module MR-J3A series FX5UC-32MT/D servo amplifier DICOM 24 V DC DOCOM Class-D grounding Photocoupler FX5-C32EYT/D COM0 COM0 Servo-ON ABS transfer mode ABSM ABS request ABSR FX5-C32EX/D Photocoupler ABS(bit0) ABSB0 ABS(bit1) ABSB1 Send data ready ABST Plate *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 I/O module are used in the connection example.
  • Page 238: Melservo-jn Series

    MELSERVO-JN series PULSE/SIGN mode ■FX5U CPU module MR-JNA series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D grounding Positioning completed(INP) Photocoupler Servo error(ALM) Zero signal (PG0) Servo ON Reset Servo ready (RD) Emergency stop Forward rotation limit 2 Reverse...
  • Page 239 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 240 ■FX5UC CPU module MR-JNA series FX5UC-32MT/D servo amplifier DICOM 24 V DC DICOM DOCOM Class-D grounding Photocoupler Positioning completed(INP) Zero signal (PG0) Servo error(ALM) Servo ready (RD) Servo ON Reset Emergency stop COM0 Forward Pulse train rotation limit 2 COM0 DOCOM Reverse rotation limit 2...
  • Page 241 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 242 ■High-speed pulse input/output module MR-JNA series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D grounding Positioning completed(INP) Photocoupler Servo error(ALM) Servo ON FX5-16ET/ES-H Reset Servo ready Emergency stop Photocoupler (RD) Forward rotation limit 2 Zero signal (PG0) Reverse rotation limit 2...
  • Page 243 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) Any input other than high-speed pulse input/output module can also be used. *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 244 CW/CCW mode ■FX5U CPU module MR-JNA series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D grounding Positioning completed(INP) Photocoupler Servo error(ALM) Zero signal (PG0) Servo ON Reset Servo ready (RD) DOCOM Emergency stop Forward rotation limit 2 Reverse Forward rotation...
  • Page 245 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 246 ■FX5UC CPU module MR-JNA series FX5UC-32MT/D servo amplifier DICOM 24 V DC DICOM DOCOM Class-D grounding Photocoupler Positioning completed(INP) Zero signal (PG0) Servo error(ALM) Servo ready (RD) Servo ON DOCOM Reset Emergency stop COM0 Forward rotation Forward pulse train rotation limit 2 COM0 Reverse rotation limit 2...
  • Page 247 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 248 ■High-speed pulse input/output module MR-JNA series FX5U-32MT/ES 100V to 240V AC servo amplifier 24 V DC DICOM DOCOM DICOM Class-D grounding Positioning completed(INP) Photocoupler Servo error(ALM) Servo ON FX5-16ET/ES-H Reset Servo ready Emergency stop Photocoupler (RD) DOCOM Forward rotation limit 2 Zero signal (PG0) Reverse rotation limit 2...
  • Page 249 *1 Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). *2 Near-point signal (DOG) Any input other than high-speed pulse input/output module can also be used. *3 To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the CPU module side and the servo amplifier side.
  • Page 250: Appendix 2 Application Function

    Examples of the wiring and parameter setting that start positioning operation when the input is detected 100 times are shown below. For details of the high speed couter function, refer to MELSEC iQ-F FX5 User's Manual (Application). Examples of system configuration The wiring when the FX5U CPU module (transistor) is used is shown below.
  • Page 251 ■High-speed comparison table Navigation window  Parameter  FX5UCPU  Module Parameter  High Speed I/O  Input Function  High Speed Counter  Detail Setting  High Speed Compare Table Set the No.1 parameter as follows. Counter CH Comparison Type Output Destination Comparison Value 1 Comparison Value 1...
  • Page 252: Replacing Plsr/dplsr Instruction To Drvi/ddrvi Instruction

    Replacing PLSR/DPLSR instruction to DRVI/DDRVI instruction The PLSR/DPLSR (pulse output with acceleration and deceleration control) instruction of FX3 can be replaced to the DRVI/ DDRVI instruction. The PLSR/DPLSR instruction can set the duration of time for acceleration and deceleration. Setting the duration of time for acceleration or deceleration before executing the DRVI/DDRVI instruction enables the DRVI/DDRVI instruction to substitute the PLSR/DPLSR instruction.
  • Page 253: Appendix 3 Added And Enhanced Functions

    Appendix 3 Added and Enhanced Functions This section describes added and enhanced functions of the CPU module and the engineering tool, as well as the corresponding firmware versions of the CPU module and software versions of the engineering tool. • Firmware version can be checked through the module diagnostics (CPU diagnostics). For the module diagnostics (CPU diagnostics), refer to the User's Manual (Hardware) of the CPU module to be used.
  • Page 254: Index

    INDEX 0 to 9 Interpolation operation ... . .185 (absolute address specification) 1 speed positioning (absolute address specification) Interpolation operation ........164 .
  • Page 255 ..... . 96 Relative positioning ... . 39,62 Remaining distance operation .
  • Page 256: Revisions

    RELEVANT MANUALS, TERMS 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 257: Warranty

    WARRANTY Please confirm the following product warranty details before using this product. Gratis Warranty Term and Gratis Warranty 2. Onerous repair term after discontinuation of production Range If any faults or defects (hereinafter "Failure") found to Mitsubishi shall accept onerous product repairs for be the responsibility of Mitsubishi occurs during use of seven (7) years after production of the product is the product within the gratis warranty term, the...
  • Page 258: Trademarks

    TRADEMARKS   Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Ethernet is a trademark of Xerox Corporation. Anywire and ANYWIREASLINK is a registered trademark of the Anywire Corporation. ...
  • Page 260 Manual number: JY997D56301E Model: FX5-U-POS-E Model code: 09R544 When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. HEAD OFFICE: TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN Specifications are subject to change without notice.

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