Page 1 SERIES PROGRAMMABLE CONTROLLERS USER'S MANUAL Positioning Control Edition Transistor Output Main Unit (Sink Output/Source Output) Main Unit (Sink Output/Source Output) Main Unit (Sink Output/Source Output) Main Unit (Sink Output/Source Output) Main Unit (Sink Output/Source Output) Line Driver Output -2HSY-ADP...
Page 3: Safety Precautions
Safety Precautions (Read these precautions before use.) Before installation, operation, maintenance or inspection of this product, thoroughly read through and understand this manual and all of the associated manuals. Also, take care to handle the module properly and safely. This manual classifies the safety precautions into two categories: Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
Page 4 Safety Precautions (Read these precautions before use.) 2. WIRING PRECAUTIONS Reference • Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product. B-42 •...
Page 5 • Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
Page 6 Safety Precautions (Read these precautions before use.) MEMO...
Page 7 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 8 • Since the examples indicated by this manual, technical bulletin, catalog, etc. are used as a reference, please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples.
Page 9: Table Of Contents
PLC User's Manual - Positioning Control Edition Table of Contents Table of Contents SAFETY PRECAUTIONS ....................(1) Functions and Use of This Manual ..................9 Related Manuals ........................10 Generic Names and Abbreviations Used in Manuals ............13 A. Common Items Description of Manual (Common Items) ................
Page 10 PLC User's Manual - Positioning Control Edition Table of Contents B. Built-in Positioning Functions Description of Manual (Built-in Positioning Function) ............B-2 1. Outline 1.1 Features ............................B-3 1.2 Setup Procedure for Positioning Control..................B-4 1.3 Version Numbers of Compatible PLCs ..................B-7 1.3.1 Manufacturer's serial number check method................B-7 1.3.2 Version check ..........................B-8 1.3.3 Version upgrade history........................B-8...
Page 11 PLC User's Manual - Positioning Control Edition Table of Contents 4. Before Programming B-47 4.1 List of Related Devices ......................B-47 4.1.1 Special Auxiliary Relays ......................B-47 4.1.2 Special Data Registers .......................B-49 4.2 Setting of Various Items Regarding Speeds ................B-50 4.2.1 Setting of Various Items Regarding Instructions and Speeds ............B-50 4.2.2 Setting of Output Pulse Frequency (DVIT, PLSV, DRVI, and DRVA Instructions).....B-52 4.2.3 Setting of Zero Return Speed (DSZR/ZRN Instruction)..............B-53 4.2.4 Setting of Creep Speed (DSZR/ZRN Instruction) ...............B-54...
Page 12 PLC User's Manual - Positioning Control Edition Table of Contents 6. Mechanical Zero Return - DSZR/ZRN Instruction B-98 6.1 Types of Mechanical Zero Return Instructions................B-98 6.2 DOG Search Zero Return (DSZR Instruction)................B-99 6.2.1 Instruction Format........................B-99 6.2.2 List of Related devices ......................B-100 6.2.3 Function and Operation ......................B-102 6.2.4 Important Points ........................B-108 6.3 Zero Return (ZRN Instruction)....................B-110...
Page 13 PLC User's Manual - Positioning Control Edition Table of Contents 11. Batch Data Positioning Mode - TBL Instruction B-150 11.1 Instruction Format ........................B-150 11.2 List of Related Devices ......................B-151 11.3 Function and Operation......................B-153 11.4 Built-in Positioning Parameter Setting..................B-154 11.4.1 Built-in Positioning Parameter Setting ..................B-154 11.4.2 Changing of Set Built-in Positioning Parameters (Number of Pulses and Frequency)...B-160 12.
Page 14 PLC User's Manual - Positioning Control Edition Table of Contents Appendix: Example Connection Description of Manual (Example of Connection) ............Apx.-2 Appendix 1. MELSERVO-J4 Series Apx.-3 Appendix 1-1 Main Unit (Transistor Output) .................Apx.-3 Appendix 1-1-1 Sink Input and Sink Output ..................Apx.-3 Appendix 1-2 High-Speed Output Special Adapter ..............Apx.-9 Appendix 1-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output....Apx.-9 Appendix 1-3 Absolute Position Detection (Transistor Output) ..........Apx.-10...
Page 15: Functions And Use Of This Manual
PLC User's Manual - Positioning Control Edition Functions and Use of This Manual Functions and Use of This Manual The FX PLC outputs transistor signals from the main unit and also outputs pulses from the high-speed output special adapter and the positioning special function unit/block to the servo motor and stepping motor to properly control positioning operations.
Page 16: Related Manuals
PLC User's Manual - Positioning Control Edition Related Manuals Related Manuals Refer to this document to perform positioning operations with the FX Series PLC. For hardware information on the PLC and for details on the special function units/blocks, refer to the respective manuals.
Page 17 PLC User's Manual - Positioning Control Edition Related Manuals Indispensable manual  Manual that may be indispensable depending on the purpose of use  Abbreviated document Document Title of manual Description Model code number  Series PLC The input/output specifications and the wiring and installation methods for the Enclosed Series...
Page 18 PLC User's Manual - Positioning Control Edition Related Manuals Indispensable manual  Manual that may be indispensable depending on the purpose of use  Abbreviated document Document Title of manual Description Model code number Manuals for positioning control  Common Series Provides detailed information on the Separate...
Page 19: Generic Names And Abbreviations Used In Manuals
PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic Names and Abbreviations Used in Manuals Generic name or Description abbreviation series Generic name for FX Series PLC PLC or main unit Generic name for FX Series PLC main unit series Generic name for FX...
Page 20 PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or Description abbreviation Extension unit Generic name for input extension unit and output extension unit The number of connectable units, however, depends on the type of main unit. Input/output extension unit To check the number of connectable units, refer to the User's Manual - Hardware Edition of the main unit to be used for your system.
Page 21 PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or Description abbreviation Setting/Monitoring Tool Setting/monitoring tool Generic name for setting/monitoring tool FX Configurator-FP Generic name for SWD5C-FXSSC-J/SWD5C-FXSSC-E Setting/monitoring tool GOT1000 series Generic name for GT16, GT15, GT14, GT11 and GT10 GOT-900 series Generic name for GOT-A900 series and GOT-F900 series GOT-A900 series...
Page 22 PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals MEMO...
Page 23: Common Items
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 24: Description Of Manual (Common Items
PLC User's Manual - Positioning Control Edition Common Items Description of Manual (Common Items) In this manual, the following formats are used for describing the common items: Indexes the title of Shows the title of the chapter Shows the title of the manual and the title division.
Page 25: Introduction
PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.1 Outline Introduction This manual describes the positioning control for the FX PLC. In this chapter, a brief description of the positioning products is provided. Outline The FX PLC outputs the pulse signal to the servo motor and the stepping motor Apx.
Page 26: Introduction Of Products Needed For Positioning
1 Introduction PLC User's Manual - Positioning Control Edition Common Items 1.2 Introduction of Products Needed for Positioning Introduction of Products Needed for Positioning To control the positioning operation, use the positioning functions incorporated in the main unit (including the special adapters), and the special functions units/blocks.
Page 27 PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning 2. Special function block/unit Frequency Number of Model Unit Output form Output method axes (Hz) Special function block pulse "Pulse train + direction" method or m -1PG 1-axis...
Page 28: Special Adapter (Differential Line Driver Output
1 Introduction PLC User's Manual - Positioning Control Edition Common Items 1.2 Introduction of Products Needed for Positioning 1.2.3 Special Adapter (Differential Line Driver Output) The special adapter can output pulse trains of up to 200 kHz using the positioning functionality incorporated in the FX PLC, and can simultaneously control up to 4 axes.
Page 29: Special Function Unit/Block
PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning 1.2.4 Special Function Unit/Block Connect a special function unit/block to the FX PLC to control positioning operations. Note that a special function unit can individually control positioning operations. 1.
Page 30: Unit Connection
2 Unit Connection PLC User's Manual - Positioning Control Edition Common Items 2.1 FX3S PLC Unit Connection This chapter displays several block diagrams to illustrate the various combinations of units needed for positioning control. Servo motor or Stepping motor Terminal board (M3) Transistor output (Y000, Y001) The relay output type PLCs do not have pulse output.
Page 31: Fx 3Gc Plc
PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 2.3 FX3GC PLC Servo motor or Stepping motor Apx. MIL connector (20-pin) Transistor output (Y000, Y001) A - 9...
Page 32: Fx 3U Plc
2 Unit Connection PLC User's Manual - Positioning Control Edition Common Items 2.4 FX3U PLC show the unit positions. (For details of installation, refer to the manuals of special adapter and special function units/blocks.) Terminal board (M3) Transistor output (Y000 to Y002) Servo motor Stepping motor European terminal...
Page 33: Fx 3Uc Plc
PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 2.5 FX3UC PLC show the unit positions. (For installation details, refer to the manuals of special function units/blocks.) Servo motor Apx. Stepping motor MIL connector (20-pin) Transistor output (Y000 to Y002) -1PS-5V POWER ERROR...
Page 34: Individual Operation Of Special Function Unit (Fx 2N -10Gm, Fx 2N -20Gm
2 Unit Connection PLC User's Manual - Positioning Control Edition Common Items 2.6 Individual Operation of Special Function Unit (FX2N-10GM, FX2N-20GM) Individual Operation of Special Function Unit (FX -10GM, FX -20GM) Servo motor or Stepping motor MIL connector (20-pin) -10GM MIL connector (20-pin) -20GM Note:...
Page 35: Comparison Of Specifications
PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.1 Comparison of Performance Specifications Comparison of Specifications The specifications for each product with positioning functionality are shown below. Comparison of Performance Specifications 3.1.1 Built-in Positioning Function [Main Unit (Transistor Output), High-Speed Output Special Adapter (FX -2HSY-ADP)] Apx.
Page 36: Pulse Output Block [Fx 3U -1Pg, Fx 2N -1Pg(-E), Fx 2N -10Pg
3 Comparison of Specifications PLC User's Manual - Positioning Control Edition Common Items 3.1 Comparison of Performance Specifications 3.1.2 Pulse Output Block [FX -1PG, FX -1PG(-E), FX -10PG] Model -1PG -1PG(-E) Number of control 1 independent axis axes Interpolation Pulse output Transistor form Pulse output...
Page 37 PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.1 Comparison of Performance Specifications Model -10PG Number of control 1 independent axis axes Interpolation Pulse output Differential line driver form Pulse output "Pulse train + direction" method method "Forward/reverse rotation pulse train"...
Page 38: Positioning Special Function Block [Fx 3U -20Ssc-H
3 Comparison of Specifications PLC User's Manual - Positioning Control Edition Common Items 3.1 Comparison of Performance Specifications 3.1.3 Positioning Special Function Block [FX -20SSC-H] Model -20SSC-H Number of control 2 independent/simultaneous axes axes Interpolation 2-axes linear interpolation, 2-axes circular interpolation Pulse output form SSCNET III...
Page 39: Positioning Special Function Unit [Fx 2N -10Gm, Fx 2N -20Gm
PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.1 Comparison of Performance Specifications 3.1.4 Positioning Special Function Unit [FX -10GM, FX -20GM] Model -10GM -20GM Number of control 1 independent axis 2 independent/simultaneous axes axes 2-axes linear interpolation, Interpolation 2-axes circular interpolation...
Page 40: Comparison Of Operation Modes
3 Comparison of Specifications PLC User's Manual - Positioning Control Edition Common Items 3.2 Comparison of Operation Modes Comparison of Operation Modes Positioning operation Description pattern Jogging operation Jogging speed Speed If the forward/reverse rota- tion command is input, the ...
Page 41 PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.2 Comparison of Operation Modes Positioning operation Description pattern Interrupt stop (linear interpolation [Interrupt If an interrupt input turns ON, Apx. stop]) during a linear interpolation operation to the target posi- Ignoring ...
Page 42 3 Comparison of Specifications PLC User's Manual - Positioning Control Edition Common Items 3.2 Comparison of Operation Modes Positioning operation Description pattern Variable-speed operation Speed The operation will be per-        formed at the operation speed specified by the PLC.
Page 43 PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.2 Comparison of Operation Modes Positioning operation Description pattern Manual pulse generator operation Apx. Input pulse: 30 kHz or less     Phase Manual operation can be per- ...
Page 44 3 Comparison of Specifications PLC User's Manual - Positioning Control Edition Common Items 3.2 Comparison of Operation Modes MEMO A - 22...
Page 45: Built-In Positioning Functions
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 46: Description Of Manual (Built-In Positioning Function
PLC User's Manual - Positioning Control Edition Built-in Positioning Functions Description of Manual (Built-in Positioning Function) In this manual, the following formats are used for describing the built-in positioning functions. Shows the title of the manual and the title Shows the title of the chapter Indexes the title of of the division.
Page 47: Outline
PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.1 Features Outline This chapter describes a general outline of the positioning modules. Note that the general outputs of the PLC (transistor output) and FX -2HSY-ADP high-speed output special adapter are needed for positioning control.
Page 48: Setup Procedure For Positioning Control
1 Outline PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1.2 Setup Procedure for Positioning Control Setup Procedure for Positioning Control DESIGN PRECAUTIONS • Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure.
Page 49 • Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
Page 50: Version Numbers Of Compatible Plcs
1 Outline PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1.2 Setup Procedure for Positioning Control Built-in positioning function Outline of system •Version numbers of compatible PLCs Refer to Chapter 1 •Version numbers of compatible programming tools Outline •Assignment of input/output numbers Refer to Chapter 2 Specifications on incorporated...
Page 51: Manufacturer's Serial Number Check Method
PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.3 Version Numbers of Compatible PLCs Version Numbers of Compatible PLCs 1.3.1 Manufacturer's serial number check method The year and month of production of the product can be checked on the nameplate, and "LOT" indicated on the front of the product.
Page 52: Version Check
1 Outline PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1.3 Version Numbers of Compatible PLCs 1.3.2 Version check The PLC version can be checked by reading the last three digits of device D8001/D8101. D8001/D8101 PLC type and Version information (Example: Ver.
Page 53: Version Numbers Of Compatible Programming Tools
PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.4 Version Numbers of Compatible Programming Tools Version Numbers of Compatible Programming Tools Use a software version compatible with the used equipment version for programming. 1. GX Works2 1) GX Works2 English version (SWDNC-GXW2-E) is applicable to FX PLCs from the following versions.
Page 54: Assignment Of Input/Output Numbers
1 Outline PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers Assignment of Input/Output Numbers 1.5.1 Assignment of Input Numbers Assign the input numbers of the FX PLC as follows: Application Input number Remarks Connect a line to any input.
Page 55 PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers Application Input number Remarks The interrupt input depends on the pulse output destination specified by the DVIT instruction as shown in the following table. If the version number of the PLC is 1.30 or higher, the interrupt input can be specified.
Page 56: Assignment Of Output Numbers
1 Outline PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers X000 to X005 for FX PLC. Interrupt outputs are supported only in the FX and FX PLC. Y003 can be specified as the pulse output destination only if 2 high-speed output special adapters are connected to the FX PLC.
Page 57 PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers 2. High-speed output special adapter Output number Application Terminal Remarks Connect a line to determine the pulse train signal or the forward rotation pulse train for the 1st axis of each high-speed output Y0/2+ special adapter.
Page 58: Connection Of The High-Speed Output Special Adapter
1 Outline PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers 1.5.3 Connection of the High-Speed Output Special Adapter 1. When the FX -16MR/ES uses an instruction that requires the high-speed input operation, the main unit should have enough input terminals. Before selecting the main unit, be sure to check the number of input points required for the operation.
Page 59 PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Functions 1.5 Assignment of Input/Output Numbers Block diagram Series main unit Sequence program -2HSY -2HSY -ADP -ADP FNC158 K30000 K20000 Y000 Y004 DRVI FNC159 K15000 K10000 Y001 Y005 DRVA FNC159 K10000 K10000 Y002 Y006...
Page 60: Specifications
2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions Specifications DESIGN PRECAUTIONS • Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure. Otherwise, malfunctions may cause serious accidents.
Page 61: General Specifications
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.1 General Specifications General Specifications For the FX PLC general specifications, refer to the Hardware Edition manual of each PLC. Note that the high-speed output special adapter general specifications are the same as the PLC excluding the specifications shown in the following table.
Page 62: Performance Specifications
2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.3 Performance Specifications Performance Specifications (14-point and 24- (40-point and 60-point point type) /FX type) /FX Model -2HSY-ADP (main unit, (main unit, transistor transistor output) output) 2 independent axes (Connect 2 adapters to the Number of control axes 2 independent axes...
Page 63: Input Specifications
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications Input Specifications 2.4.1 Series main unit (24 V DC Input) This section describes the input specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the main unit.
Page 64 2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.4 Input Specifications 2) DC power type Sink input type Source input type Main unit Main unit Fuse Fuse Class-D Class-D grounding grounding Input Input impedance impedance B - 20...
Page 65: Fx 3G Series Main Unit (24 V Dc Input
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications 2.4.2 Series main unit (24 V DC Input) This section describes the input specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the input extension units and the main unit. For details on this restriction, refer to the following manual: Refer to the FX Hardware Edition.
Page 66 2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.4 Input Specifications 2) DC power type Sink input type Source input type Main unit Main unit Fuse Fuse Class-D Class-D grounding grounding Input Input impedance impedance B - 22...
Page 67: Fx 3Gc Series Main Unit (24 V Dc Input
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications 2.4.3 Series main unit (24 V DC Input) This section describes the input specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the input extension units and the main unit. For details on this restriction, refer to the following manual: Refer to the FX Hardware Edition.
Page 68 2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.4 Input Specifications · · Sink input type (FX -32MT/DSS) Source input type (FX -32MT/DSS) Main unit Main unit Fuse Fuse 24 V 24 V Fuse Fuse COM0 COM0 Input impedance Input impedance...
Page 69: Fx 3U Series Main Unit (24 V Dc Input
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications 2.4.4 Series main unit (24 V DC Input) This section describes the input specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the input extension units and the main unit. For details on this restriction, refer to the following manual: Refer to the FX Hardware Edition.
Page 70 2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.4 Input Specifications 2) DC power type Sink input type Source input type Main unit Main unit Fuse Fuse Class-D Class-D grounding grounding (0V) (0V) (24V) (24V) Input Input impedance impedance...
Page 71: Fx 3Uc Series Main Unit (24 V Dc Input
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.4 Input Specifications 2.4.5 Series main unit (24 V DC Input) This section describes the input specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the input extension units and the main unit. For details on this restriction, refer to the following manual: Refer to the FX Hardware Edition.
Page 72 2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.4 Input Specifications · · Sink input type (FX - MT/DSS) Source input type (FX - MT/DSS) Main unit Main unit Fuse Fuse 24 V 24 V COM0 COM0 Input impedance Input impedance...
Page 73: Output Specifications
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications Output Specifications 2.5.1 Series main unit (Transistor Output) This section describes the transistor output specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the main unit. For details on this restriction, refer to the following manual.
Page 74 2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.5 Output Specifications 1. Sink internal output circuit Series main unit Pulse train signal Y000 COM0 Direction signal Y004 COM2 Servo amplifier Grounding (Drive unit) 5 to 24V DC 2.
Page 75: Fx 3G Series Main Unit (Transistor Output
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2.5.2 Series main unit (Transistor Output) This section describes the transistor output specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the output extension units and the main unit. For details on this restriction, refer to the following manual.
Page 76 2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.5 Output Specifications 1. Sink internal output circuit Series main unit Pulse train signal Y000 COM0 Direction signal Y004 COM3 Servo amplifier Grounding (Drive unit) 5 to 24V DC 2.
Page 77: Fx 3Gc Series Main Unit (Transistor Output
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2.5.3 Series main unit (Transistor Output) This section describes the transistor output specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the output extension units and the main unit. For details on this restriction, refer to the following manual: Refer to the FX Hardware Edition.
Page 78 2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.5 Output Specifications 2. Source internal output circuit 5 to 24 V DC -32MT/DSS Servo amplifier Main unit (Drive unit) Pulse train signal Direction signal Grounding To ground the unit, refer to the servo amplifier (drive unit) manual. If the grounding method is not specified, carry out class-D grounding.
Page 79: Fx 3U Series Main Unit (Transistor Output
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2.5.4 Series main unit (Transistor Output) This section describes the transistor output specifications of the FX Series main unit. Please note that the simultaneous turning-on rate is restricted for the output extension units and the main unit. For details on the restriction, refer to the following manual.
Page 80 2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.5 Output Specifications 1. Sink internal output circuit Series main unit Pulse train signal Y000 COM1 Direction signal Y004 COM2 Servo amplifier Grounding (Drive unit) 5 to 24V DC To ground the unit, refer to the servo amplifier (drive unit) manual.
Page 81: Fx 3Uc Series Main Unit (Transistor Output
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2.5.5 Series main unit (Transistor Output) This section describes the transistor output specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the output extension units and the main unit. For details on this restriction, refer to the following manual: Refer to the FX Hardware Edition.
Page 82 2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.5 Output Specifications 2. Source internal output circuit 5 to 24V DC - MT/DSS Servo amplifier Main unit (Drive unit) Pulse train signal Direction signal Grounding To ground the unit, refer to the servo amplifier (drive unit) manual. If the grounding method is not specified, carry out class-D grounding.
Page 83: High-Speed Output Special Adapter Fx 3U -2Hsy-Adp
PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.5 Output Specifications 2.5.6 High-Speed Output Special Adapter [FX -2HSY-ADP] This section describes the output specifications of the high-speed output special adapter (FX -2HSY-ADP). Item High-speed output special adapter (FX -2HSY-ADP) Pulse output form Differential line driver system (equivalent to AM26C31)
Page 84: List Of Functions
2 Specifications PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 2.6 List of Functions List of Functions The instructions needed for the FX PLC built-in positioning functions are shown in the following table: Positioning instruction Operation Description Refer to Mechanical zero return If the DSZR/ZRN instruction turns ON, zero return...
Page 85 PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Functions 2.6 List of Functions Only available for FX and FX PLCs. Only available for FX PLC Ver. 2.20 or later and FX PLC. Only available for FX PLC Ver. 2.20 or later and FX PLC.
Page 86: Connection Of Input/Output Lines And Tightening Torques
3 Connection of Input/Output Lines and Tightening Torques PLC User's Manual - Positioning Control Edition Built-in Positioning Functions Connection of Input/Output Lines and Tightening Torques This chapter describes how to connect the input/output lines and the terminal tightening torques. WIRING PRECAUTIONS •...
Page 87: Terminal Board (M3, M3.5
PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Torques Built-in Positioning Functions 3.1 Terminal Board (M3, M3.5) Terminal Board (M3, M3.5) A terminal board is used for the FX Series main unit, FX Series input/output extension unit (excluding some types), and FX Series input/output extension block.
Page 88: European Terminal Board
3 Connection of Input/Output Lines and Tightening Torques PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 3.2 European Terminal Board • When two wires are connected to one terminal 3.7(0.15") 6.8mm(0.27") Terminal Crimp screw terminal or less 6.0mm(0.24") or more 3.7(0.15") 6.8mm(0.27")
Page 89: Tool
PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Torques Built-in Positioning Functions 3.3 Connector 3.2.3 Tool For tightening the terminal, use a commercially available small screwdriver having a straight form that is not widened toward the end as shown right. With straight tip Note:...
Page 90: Setup Of Input/Output Connection Connector
Use a 20-pin (1-key) socket that conforms to the requirements of the MIL C-83503. Preliminarily check that the peripheral parts, such as the connector cover, will not cause any interference. 2. Input/output cables (optional cables manufactured by our company) Mitsubishi Electric can provide input/output cables already equipped with a connector. Model Length...
Page 91: Before Programming
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.1 List of Related Devices Before Programming This chapter describes several items that should be known before programming. They are: • Operation of related devices, such as output pulse frequency, operation command flag, current value, and operation monitor flag.
Page 92 4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.1 List of Related Devices Device number Corresponding Function Attribute Refer to instructions Y000 Y001 Y002 Y003 Subsection *4,*8 M8460 M8461 M8462 M8463 User interrupt input command Drivable DVIT 4.3.7...
Page 93: Special Data Registers
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.1 List of Related Devices 4.1.2 Special Data Registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations. Device number Data Initial...
Page 94: Setting Of Various Items Regarding Speeds
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds Setting of Various Items Regarding Speeds Specify the output pulse frequency using the operand of each instruction or the related device to determine the output pulse frequency, zero return speed, or creep speed.
Page 95 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 3. Zero return instruction with DOG search function (DSZR) For this instruction, it is necessary to specify the maximum speed, bias speed, acceleration time, deceleration time, zero return speed, and creep speed using the related devices.
Page 96: Setting Of Output Pulse Frequency (Dvit, Plsv, Drvi, And Drva Instructions
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 4.2.2 Setting of Output Pulse Frequency (DVIT, PLSV, DRVI, and DRVA Instructions) Set the output pulse frequency using the operand of each instruction. In this case, the setting range depends on the instruction (see the following table).
Page 97: Setting Of Zero Return Speed (Dszr/Zrn Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 4.2.3 Setting of Zero Return Speed (DSZR/ZRN Instruction) Use the related device or the operand of the instruction to set the zero return speed. The zero return speed setting range is shown in the following table.
Page 98: Setting Of Creep Speed (Dszr/Zrn Instruction
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 4.2.4 Setting of Creep Speed (DSZR/ZRN Instruction) Use the related device or the operand of the instruction to set the creep speed. The creep speed setting range is shown in the following table.
Page 99: Setting Of Bias Speed
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 4.2.6 Setting of Bias Speed To control the stepping motor using each positioning instruction, set the bias speed considering the resonance range of the stepping motor and the self-starting frequency.
Page 100: Setting Of Deceleration Time
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.2 Setting of Various Items Regarding Speeds 4.2.8 Setting of Deceleration Time Set the time required for deceleration from the maximum speed to the bias speed. If the output pulse frequency is less than the maximum speed, the actual deceleration time will be shorter than the set deceleration time.
Page 101: Various Special Relays For Operation Commands
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands Various Special Relays for Operation Commands 4.3.1 Forward Rotation Limit and Reverse Rotation Limit When using the servo motor, the forward rotation limit and the reverse rotation limit can be set for the servo amplifier.
Page 102: Immediate Stop Of Pulse Output (Pulse Output Stop Command Relay
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 4.3.2 Immediate Stop of Pulse Output (Pulse Output Stop Command Relay) During the execution of a positioning instruction, if the pulse output stop command relay is turned on, the pulses being output will immediately stop.
Page 103 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 2. Zero return instruction (ZRN instruction) Zero return will be performed in the reverse rotation direction only. (During zero return, the value indicated by the current value register will be decreased.) To perform zero return in the forward rotation direction using the ZRN instruction (zero return instruction): To perform zero return in the forward rotation direction, create a program to control the output (Y) relay set as a "rotational direction signal"...
Page 104: Clear Signal Output (Dszr/Zrn Instruction
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 4.3.4 CLEAR Signal Output (DSZR/ZRN Instruction) The DSZR instruction (zero return instruction with DOG search function) and ZRN instruction (zero return instruction) can stop the workpiece at the origin, and can output the CLEAR signal.
Page 105: Change In Logic Of Near-Point (Dog) Signal (Dszr Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands CLEAR signal device specification method: 1) Write the CLEAR signal output (Y) device number in the "CLEAR signal device specification" register with a hexadecimal number (expressed in octal numbers).
Page 106: Designation Of Interrupt Input Signal For Dvit Instruction
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 4.3.7 Designation of Interrupt Input Signal for DVIT Instruction The interrupt input signal of the interrupt positioning (DVIT) instruction depends on the pulse output destination device as shown in the following table.
Page 107 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands A device can only be specified if an FX PLC Ver. 2.20 or later is used. When using an FX PLC below Ver.
Page 108: Acceleration/Deceleration By Plsv Instruction
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.3 Various Special Relays for Operation Commands 4.3.9 Acceleration/Deceleration by PLSV Instruction Using an FX PLC Ver. 2.20 or later and FX PLC, if acceleration/deceleration operation (M8338) is turned on, the variable speed pulse output (PLSV) instruction will be activated to accelerate/ decelerate the operation.
Page 109: Current Value And Flag For Monitoring Of Operation
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.4 Current Value and Flag for Monitoring of Operation Current Value and Flag for Monitoring of Operation 4.4.1 Current Value During positioning operation, use the current value register to check the current value positioning address. The current value will be increased or decreased depending on the rotation direction.
Page 110: Completion Of Instruction Execution ("Instruction Execution Complete" Flag, "Instruction Execution Abnormal End" Flag
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.4 Current Value and Flag for Monitoring of Operation 4.4.2 Completion of Instruction Execution ("Instruction execution complete" Flag, "Instruction execution abnormal end" Flag) Use the "Instruction execution complete" flag or "Instruction execution abnormal end" flag to check whether execution of the positioning instruction has been completed properly.
Page 111: Setting Of Various Items On Plc Side
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side Setting of Various Items on PLC Side 4.5.1 Setting of Common Items Using Program For each pulse output destination device (Y000, Y001, Y002 , Y003 ), set the items shown in the following table without using the operand of the instruction.
Page 112 4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side Setting device Instruction Setting Refer to item Y000 Y001 DSZR ZRN ABS TBL PLSV DVIT DRVI DRVA Y002 Y003 User Subsec- interrupt...
Page 113 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side Example program: In the following program, the zero return instruction with DOG search function (DSZR), variable speed pulse output (PLSV) instruction, and interrupt positioning (DVIT) instruction are used for the pulse output destination (Y000) under the conditions shown in the following table.
Page 114 4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side 2) Set program M8002 Maximum speed (for Y000): FNC 12 K30000 D8343 30000 Hz → (D8344, D8343) DMOV Initial pulse Bias speed (for Y000): FNC 12 D8342...
Page 115: Setting Of High-Speed Output Special Adapter
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side 4.5.2 Setting of High-Speed Output Special Adapter If a high-speed output special adapter (FX -2HSY-ADP) is used, the pulse output method can be selected from "pulse train + direction"...
Page 116 4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.5 Setting of Various Items on PLC Side 3. CLEAR signal and rotation direction signal If a high-speed output special adapter (FX -2HSY-ADP) is used, the same output will be used for both the CLEAR signal and the rotation direction signal of the DSZR (FNC150) or ZRN (FNC156) instruction.
Page 117: Setting Of Various Items On Servo Amplifier (Drive Unit) Side
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side Setting of Various Items on Servo Amplifier (Drive Unit) Side For details on the servo amplifier (drive unit), refer to the manual of the product used in your system.
Page 118 4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side 3) High-speed output special adapter (Forward/Reverse Pulse Train setting) When setting the Output Form Setting Switch of the high speed output special adapter to the "FP RP"...
Page 119 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side Reference: Image of PLC output and waveform (for MELSERVO-J3 Series servo amplifier) 1) Base unit (transistor output (sink output)) a) Connection of PLC to servo amplifier When a FX Series PLC (sink output) is used, it is connected as shown below.
Page 120 4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side 3) High-speed output special adapter (set to "forward/reverse rotation pulse train") a) Connection of PLC to servo amplifier MR-J3A servo -2HSY-ADP amplifier...
Page 121: Setting Of Electronic Gear (For Melservo Series
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side 4.6.2 Setting of Electronic Gear (For MELSERVO Series) Use the electronic gear of the servo motor to set the transfer distance per pulse. For details on the electronic gear setting, refer to the manual of the servo motor or servo amplifier, and set an optimum value depending on the application.
Page 122: Setting Of "Servo Ready" Signal (Melservo Mr-C Series
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.6 Setting of Various Items on Servo Amplifier (Drive Unit) Side Setting example 2: To set the transfer distance per pulse to 0.01 (if a turntable is used): Machine specifications Servo motor Pt = 131072 (PLS/REV)
Page 123: Items To Be Observed In Programming
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming Items To Be Observed in Programming This section describes various programming items that will not be affected by any pulse output destination devices (hardware).
Page 124 4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.7 Items To Be Observed in Programming Use with PLSY (FNC 57) and PLSR (FNC 59) instructions: Along with the positioning instructions (FNC150 - FNC159), the pulse output instructions (FNC 57 and FNC 59) require hardware for outputting pulses.
Page 125: Stop Instruction
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming 4.7.2 STOP instruction For the normal stop of an operation (stop after speed reduction), use the "instruction OFF" function or "forward/reverse limit relay".
Page 126 4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.7 Items To Be Observed in Programming Programming using the "Instruction execution complete" flag and "Instruction execution abnormal end" flag: 1) If two or more positioning instructions are used in a program, the "Instruction execution complete" flag (M8029) or "Instruction execution abnormal end"...
Page 127 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.7 Items To Be Observed in Programming 2) To use at a position other than just below the positioning instruction: If two or more positioning instructions are used in a program, the "Instruction execution complete" flag (M8029) and "Instruction execution abnormal end"...
Page 128: Operation Error Flag
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.7 Items To Be Observed in Programming 4.7.5 Operation Error Flag When there is an error in the applied instruction configuration, target device or target device number range and an error occurs while operation is executed, the following flag turns ON and the error information is stored.
Page 129: Items To Be Observed When Using The Main Unit (Transistor Output
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.8 Items To Be Observed When Using the Main Unit (Transistor Output) Items To Be Observed When Using the Main Unit (Transistor Output) 1. Pulse output destination devices Use Y000, Y001, and Y002 transistor outputs of the main unit for the pulse output destination devices.
Page 130: Caution For Using The High-Speed Output Special Adapter
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.9 Caution for Using the High-Speed Output Special Adapter (FX3U-2HSY-ADP) Caution for Using the High-Speed Output Special Adapter -2HSY-ADP) 1. Output terminals to be used If the high-speed output special adapter is connected, output numbers will be assigned in the same way as the main unit as shown in the following table.
Page 131: 2Hsy-Adp
PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.9 Caution for Using the High-Speed Output Special Adapter (FX3U-2HSY-ADP) 2. Rotation direction signal of positioning instruction If an FX -2HSY-ADP high-speed output special adapter is used, the rotational direction signal will be assigned to each pulse output destination device as shown in the following table.
Page 132: Format And Execution Of Applied Instruction
4 Before Programming PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 4.10 Format and Execution of Applied Instruction 4.10 Format and Execution of Applied Instruction Instruction and operand: - Function numbers (FNC 00 - FNC) and symbols (mnemonic codes) are assigned to the applied instructions of the PLC.
Page 133 PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Functions 4.10 Format and Execution of Applied Instruction Format and execution of instruction: Depending on the sizes of the numeric values to be processed, applied instructions can be classified into two types: 16-bit instructions and 32-bit instructions.
Page 134: Operation Test
5 Operation Test PLC User's Manual - Positioning Control Edition Built-in Positioning Functions Operation Test This chapter describes the operation test of positioning instructions. During forward rotation (JOG+) operation and reverse rotation (JOG-) operation, the test checks whether positioning instructions are properly activated.
Page 135 • Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. • Turn off the power to the PLC before connecting or disconnecting any extension cable.
Page 136: Test Procedure
5 Operation Test PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 5.1 Test Procedure Test Procedure Turn off the power to the PLC. Temporarily connect the limit switches (forward rotation limit 1, reverse rotation limit 1) and the manual switches (forward rotation, reverse rotation). Connect the limit switches and the manual switches to the following input terminals of the PLC.
Page 137 PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.1 Test Procedure Check the operation in the forward rotation direction. Check the output indicator lamp (LED lamp) and the current value register to monitor the operation. The status of the LED indicator lamp and the value indicated in the current value register depend on the pulse output destination or rotation direction set by the positioning instruction.
Page 138 5 Operation Test PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 5.1 Test Procedure Check the operation of the forward rotation limit switch. During operation in the forward rotation direction (at step 8), turn off the forward rotation limit switch 1 (X010), and confirm that the operation in the forward rotation direction is stopped.
Page 139 PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.1 Test Procedure 2. Stop of operation Turn off the reverse rotation (JOG-) switch (X013) to stop the operation in the reverse rotation direction. 1) LED indicator lamp check Check the LED indicator lamps of the PLC or the display module to check whether or not the outputs are turned on.
Page 140: Creation Of Test Program
5 Operation Test PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 5.2 Creation of Test Program Creation of Test Program 1. Input/output assignment Inputs/outputs are assigned as shown in the following table: Signal Input/output number Forward rotation limit 1 NC contact X010 Limit switch...
Page 141 PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Functions 5.2 Creation of Test Program 3. Example program M8002 Maximum speed (for Y000) FNC 12 K100000 D8343 100,000Hz[D8344,D8343] DMOV Initial pulse Bias speed (for Y000) FNC 12 D8342 0HzD8342 Acceleration time (for Y000)
Page 142: Mechanical Zero Return - Dszr/Zrn Instruction
6 Mechanical Zero Return - DSZR/ZRN Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.1 Types of Mechanical Zero Return Instructions Mechanical Zero Return - DSZR/ZRN Instruction Types of Mechanical Zero Return Instructions If forward rotation pulses or reverse rotation pulses are being output, the positioning instruction of the PLC will increase or decrease the current value of the current value register.
Page 143: Dog Search Zero Return (Dszr Instruction
PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return - DSZR/ZRN Instruction Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) DOG Search Zero Return (DSZR Instruction) Use this instruction to change the CLEAR signal output destination with an FX PLC Ver.
Page 144: List Of Related Devices
6 Mechanical Zero Return - DSZR/ZRN Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 4 : When a high-speed output special adapter is used as a destination for pulse output on a FX PLC, use the output shown in the following table for rotation direction signals.
Page 145 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return - DSZR/ZRN Instruction Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 146: Function And Operation
6 Mechanical Zero Return - DSZR/ZRN Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 6.2.3 Function and Operation Command input FNC150 • • • • DSZR  For details on the maximum speed, bias speed, acceleration time, and deceleration time, refer to Subsection 4.2.5 to Subsection 4.2.8.
Page 147 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return - DSZR/ZRN Instruction Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 2) For , specify the zero-phase signal input number in the range of X000 to X007 .
Page 148 6 Mechanical Zero Return - DSZR/ZRN Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 6) CLEAR signal output This instruction can output the CLEAR signal after stopping at the origin. If it is necessary to output the CLEAR signal at the completion of zero return, turn on the "CLEAR signal output function enable"...
Page 149 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return - DSZR/ZRN Instruction Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 1. Zero return operation Zero return operation is described below assuming that Y000 is specified as the pulse output destination device .
Page 150 6 Mechanical Zero Return - DSZR/ZRN Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 2. DOG search function If the forward rotation limit and the reverse rotation limit are set, the DOG search function can be used for zero return.
Page 151 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return - DSZR/ZRN Instruction Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 4) If the limit switch in the zero return direction turns ON (if the start position is at forward rotation limit 1 or reverse rotation limit 1): a) When the zero return instruction is executed, zero return will be started.
Page 152: Important Points
6 Mechanical Zero Return - DSZR/ZRN Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) 6.2.4 Important Points For important programming points, refer to Section 4.7. • Detection of (the rear end and the front end of) the near-point signal (DOG) will be affected by the input filter and the scan time of the sequence program.
Page 153 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return - DSZR/ZRN Instruction Built-in Positioning Functions 6.2 DOG Search Zero Return (DSZR Instruction) • In the following case, the "Instruction execution abnormal end" flag (M8329) will be turned on, and the execution of the instruction will be completed.
Page 154: Instruction Format
6 Mechanical Zero Return - DSZR/ZRN Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) Zero Return (ZRN Instruction) Use this instruction to change the CLEAR signal output destination with an FX PLC Ver. 2.20 or later and PLC.
Page 155: List Of Related Devices
PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return - DSZR/ZRN Instruction Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 6.3.2 List of Related devices 1. Special auxiliary relays The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 156: Function And Operation
6 Mechanical Zero Return - DSZR/ZRN Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 6.3.3 Function and operation Command input FNC156 • • • D• For details on the maximum speed, bias speed, acceleration time and deceleration time, refer to Subsection 4.2.5 to Subsection 4.2.8.
Page 157 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return - DSZR/ZRN Instruction Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 3) For , specify the near-point signal (DOG) input device number (NO contact). Turning on the near-point signal will reduce the speed to the creep speed. Turning off the near-point signal will complete the zero return operation.
Page 158 6 Mechanical Zero Return - DSZR/ZRN Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 6) CLEAR signal output This instruction can output the CLEAR signal after stopping at the origin. If it is necessary to output the CLEAR signal at the completion of zero return, turn on the "CLEAR signal output function enable"...
Page 159 PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return - DSZR/ZRN Instruction Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 1. Zero return operation Zero return operation is described below assuming that Y000 is specified as the pulse output destination device .
Page 160: Important Points
6 Mechanical Zero Return - DSZR/ZRN Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 6.3 Zero Return (ZRN Instruction) 6.3.4 Important Points For important programming points, refer to Section 4.7. • If an input X000 to X007 (X000 to X005 for FX PLC) of the main unit is specified for the near-point signal (DOG), the PLC interruption function will be used to stop the operation.
Page 161: Absolute Position Detection System (Absolute Current Value Read) - Abs Instruction
PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read) - ABS Instruction Built-in Positioning Functions 7.1 Instruction Format Absolute Position Detection System (Absolute Current Value Read) - ABS Instruction With the use of the servo absolute position detection system, the built-in positioning function uses the current ABS value read-out (ABS) instruction to read out the current value (absolute position (ABS) data) from the MR-J4A, MR-J3A, MR-J2(S)A, or MR-HA servo amplifier.
Page 162: Function And Operation
7 Absolute Position Detection System (Absolute Current Value Read) - ABS Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 7.2 List of Related Devices List of Related Devices For details on the related devices, refer to Section 4.1 to Section 4.4. 1.
Page 163: Initial Zero Return
PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read) - ABS Instruction Built-in Positioning Functions 7.4 Initial Zero Return - When using the FX -1PG(-E), read out the ABS data to the data register first, and then write the read- out ABS data into the current value register of the FX -1PG(-E) using instructions such as the DTO instruction.
Page 164: Important Points
7 Absolute Position Detection System (Absolute Current Value Read) - ABS Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 7.5 Important Points Important Points • Set the timing sequence for powering on your system so that the power of the PLC is turned on after the power of the servo amplifier, or that power is turned on at the same time.
Page 165: Speed Positioning - Drvi/Drva Instruction
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.1 Incremental Method and Absolute Method 1-Speed Positioning - DRVI/DRVA Instruction The built-in positioning function uses the drive to increment (DRVI) instruction or the drive to absolute (DRVA) instruction to perform 1-speed positioning.
Page 166: Instruction Format
8 1-Speed Positioning - DRVI/DRVA Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction Drive to Increment - DRVI Instruction 8.2.1 Instruction Format 1. Instruction Format 16-bit 32-bit FNC 158 Instruction Instruction Execution condition Execution condition...
Page 167: List Of Related Devices
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction 2 : When a high-speed output special adapter is used as a destination for pulse output on a FX PLC, use the output shown in the following table for rotation direction signals.
Page 168 8 1-Speed Positioning - DRVI/DRVA Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 169: Function And Operation
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction 8.2.3 Function and Operation This instruction uses a relative drive method to perform a 1-speed positioning instruction. For this instruction, the transfer distance from the current position to the target position should be specified together with a plus or minus sign.
Page 170: Important Points
8 1-Speed Positioning - DRVI/DRVA Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output for other purposes.
Page 171: Drive To Absolute - Drva Instruction
PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction Drive To Absolute - DRVA Instruction 8.3.1 Instruction Format 1. Instruction format 16-bit 32-bit FNC 159 Instruction Instruction Execution condition Execution condition...
Page 172 8 1-Speed Positioning - DRVI/DRVA Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction 2 : When a high-speed output special adapter is used as a destination for pulse output on a FX PLC, use the output shown in the following table for rotation direction signals.
Page 173 PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 174 8 1-Speed Positioning - DRVI/DRVA Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction 8.3.3 Function and Operation This instruction uses an absolute drive method to perform a 1-speed positioning instruction. For this instruction, the distance from the origin (zero-point) to the target position should be specified.
Page 175 PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output for other purposes.
Page 176 9 One-speed Interrupt constant quantity feed - DVIT Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 9.1 Instruction Format One-speed Interrupt constant quantity feed - DVIT Instruction The built-in positioning function uses the Interrupt Positioning (DVIT) instruction to perform one-speed interrupt constant quantity feed.
Page 177 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed - DVIT Instruction Built-in Positioning Functions 9.1 Instruction Format 3. Devices Bit device Word device Others Real Char- Operand Con- Special System user Digit designation System user Index num- acter...
Page 178: List Of Related Devices
9 One-speed Interrupt constant quantity feed - DVIT Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 9.2 List of Related Devices List of Related Devices 1. Special auxiliary relays The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 179 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed - DVIT Instruction Built-in Positioning Functions 9.2 List of Related Devices 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 180: Function And Operation
9 One-speed Interrupt constant quantity feed - DVIT Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 9.3 Function and Operation Function and Operation Command input FNC151 • • • • DVIT For details on the maximum speed, bias speed, acceleration time, and deceleration time, refer to Subsection 4.2.5 to Subsection 4.2.8.
Page 181 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed - DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output for other purposes.
Page 182 9 One-speed Interrupt constant quantity feed - DVIT Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 9.3 Function and Operation Setting value Description of setting interrupt input command Specifies a user for the interrupt input signal. Pulse output destination device User interrupt input command Y000 M8460...
Page 183 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed - DVIT Instruction Built-in Positioning Functions 9.3 Function and Operation Example program: The following program shows that the interrupt input for Y000 is set using the user interrupt input command (M8460).
Page 184 9 One-speed Interrupt constant quantity feed - DVIT Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 9.3 Function and Operation 6) Interrupt input signal logical NOT Turn the "Interrupt signal logic reverse" relay ON or OFF (see the following table) to specify the logic of the interrupt input signal.
Page 185 PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed - DVIT Instruction Built-in Positioning Functions 9.4 Important Points Important Points For details on the instruction activation timing, refer to Section 4.7. • If the speed is too high for the number of pulses specified by , the frequency will be reduced so that the speed can be reduced within the specified number of output pulses.
Page 186 9 One-speed Interrupt constant quantity feed - DVIT Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 9.4 Important Points • The interrupt input cannot be used for the following items: Interrupt inputs can only be specified when using Ver.1.30 or later. - High-speed counter - Input interruption - Pulse catch...
Page 187 PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output) - PLSV Instruction Built-in Positioning Functions 10.1 Instruction Format 10. Variable Speed Operation (Variable Speed Pulse Output) - PLSV Instruction The built-in positioning function uses the variable speed pulse output (PLSV) instruction equipped with the rotation direction designation function to perform variable speed operation.
Page 188 PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output) - PLSV Instruction Built-in Positioning Functions 10.2 List of Related Devices Point: • To use an FX PLC of relay output type or triac output type, be sure to connect a high-speed output special adapter.
Page 189 PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output) - PLSV Instruction Built-in Positioning Functions 10.2 List of Related Devices 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 190 PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output) - PLSV Instruction Built-in Positioning Functions 10.3 Function and Operation 10.3 Function and Operation The variable speed pulse output instruction changes the speed while using the rotation direction output. The acceleration/deceleration function applies for the variable speed pulse output (PLSV) instruction, which makes it possible to specify whether acceleration/deceleration will be used or not.
Page 191 PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output) - PLSV Instruction Built-in Positioning Functions 10.3 Function and Operation The rotation direction ON/OFF status of the specified device is shown in the following table. During instruction execution, however, do not use the output for other purposes.
Page 192 PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output) - PLSV Instruction Built-in Positioning Functions 10.3 Function and Operation 3) For , specify the rotation direction signal output device number. When a high-speed output special adapter is used as a destination for pulse output on a FX PLC, use the output shown in the following table for rotation direction signals.
Page 193 PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output) - PLSV Instruction Built-in Positioning Functions 10.4 Important Points 10.4 Important Points For important programming points, refer to Section 4.7. • During pulse output operation, if the output pulse frequency is changed to "K0", the PLC will reduce the speed and then stop the pulse outputting operation if the acceleration/deceleration function is ON.
Page 194 11 Batch Data Positioning Mode - TBL Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 11.1 Instruction Format 11. Batch Data Positioning Mode - TBL Instruction If GX Works2, for example, is used, the positioning instructions shown below can first be set in the positioning tables.
Page 195 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode - TBL Instruction Built-in Positioning Functions 11.2 List of Related Devices 11.2 List of Related Devices 1. Special auxiliary relays The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 196 11 Batch Data Positioning Mode - TBL Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 11.2 List of Related Devices 2. Special data registers The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
Page 197 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode - TBL Instruction Built-in Positioning Functions 11.3 Function and Operation 11.3 Function and Operation Preliminarily set the built-in positioning parameters using GX Works2, and then specify the pulse output destination and the positioning table number (n) for the DTBL instruction in order to carry out positioning.
Page 198: Built-In Positioning Parameter Setting
11 Batch Data Positioning Mode - TBL Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 11.4 Built-in Positioning Parameter Setting 11.4 Built-in Positioning Parameter Setting Use GX Works2 or GX Developer to set the built-in positioning parameters. The "Pulse"...
Page 199 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode - TBL Instruction Built-in Positioning Functions 11.4 Built-in Positioning Parameter Setting Set the memory capacity. Click on the «Memory Capacity» tab, and then click on the "Positioning Instruction Settings" check box to enter check the box.
Page 200 11 Batch Data Positioning Mode - TBL Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 11.4 Built-in Positioning Parameter Setting Set the built-in positioning data. After entering a check, built-in positioning data can be set. Use the FX PLC Ver.
Page 201 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode - TBL Instruction Built-in Positioning Functions 11.4 Built-in Positioning Parameter Setting When the destination for pulse output on a FX or FX PLC is a built-in transistor output, the setting range is 10 to 100,000 Hz. If an FX PLC is used, and if the pulse output destination is a high-speed output special adapter, the setting range will be 10 to 200,000 Hz.
Page 202 11 Batch Data Positioning Mode - TBL Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 11.4 Built-in Positioning Parameter Setting Setting item Description of setting Setting range Click this button to move the cursor up by 1 line "Up"...
Page 203 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode - TBL Instruction Built-in Positioning Functions 11.4 Built-in Positioning Parameter Setting Transfer the parameters (+ sequence program) to the PLC. 1. Select "Online" from the tool menu, and then select "Write to PLC". The online data operation screen will appear.
Page 204: Changing Of Set Built-In Positioning Parameters (Number Of Pulses And Frequency
11 Batch Data Positioning Mode - TBL Instruction PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 11.4 Built-in Positioning Parameter Setting 11.4.2 Changing of Set Built-in Positioning Parameters (Number of Pulses and Frequency) The "Pulse" and "Frequency" set by the built-in positioning parameters in a positioning table will be stored in the devices starting from the specified head address as shown below.
Page 205 PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode - TBL Instruction Built-in Positioning Functions 11.4 Built-in Positioning Parameter Setting To read out and store the "Pulse" and "Frequency" changed by a display module or HMI: 1) In the "Positioning Instruction Settings" screen of the positioning parameters, check the "Positioning table settings will not be initialized when the PLC is powered on"...
Page 206: Examples Of Programs
12 Examples of Programs PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12. Examples of Programs Assuming that the MELSERVO Series 1-axis servo amplifier is used for control, this chapter shows various examples of programs. For the connection examples of MELSERVO Series, refer to the following chapters and manuals. Refer to Chapter 3 and the examples of connection shown in the Appendix.
Page 207: Input/Output Assignment
PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.1 Input/Output Assignment 12.1 Input/Output Assignment The programs shown in this chapter use 1 axis for Y000 (pulse output destination device). If other pulse output destination devices are used, modify corresponding device numbers shown in the table below when referencing the description.
Page 208 12 Examples of Programs PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.1 Input/Output Assignment To use pin 3 of the CN1 connector of the MR-CA servo amplifier for the "servo ready" signal, set parameter 21 as follows: Series Parameter number Setting value...
Page 209: Programs For Forward/Reverse Rotation (Relay Ladder Program
PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) 12.2.1 Example Program Positioning operation will be performed using the absolute positioning method shown in the following chart: For details on input/output assignment, refer to Section 12.1.
Page 210 12 Examples of Programs PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) Resets the "zero X021 M8348 M101 M102 return completion" Zero Positioning Normal Abnormal flag. return being end of end of Resets the "forward performed...
Page 211 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) "Forward rotation X024 M8348 M108 M109 positioning completion" flag Position- Position- "Zero Normal Abnormal ing in return end of end of "Reverse rotation forward...
Page 212: Programs For Forward/Reverse Rotation (Step Ladder (Stl) Program
12 Examples of Programs PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) 12.3.1 Example Program Positioning operation will be performed using the absolute positioning method as shown in the following chart: For details on input/output assignment, refer to Section 12.1.
Page 213 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) M8002 Sets the maximum speed. FNC 12 K100000 D8343 100,000(Hz)→D8344,D8343 DMOV Initial pulse Sets the creep speed. FNC 12 K1000 D8345...
Page 214 12 Examples of Programs PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) X025 Resets the "forward rotation positioning completion" flag. Positioning Operation "Zero return in reverse stopped completion" flag rotation Resets the "reverse rotation direction...
Page 215 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) Positioning in forward rotation direction X030 FNC159 Moves to absolute position K500000 K100000 Y000 Y004 DDRVA 500000 using the drive to Waiting for Stop Absolute instruction.
Page 216: Positioning Using Batch Setting Method
12 Examples of Programs PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.4 Positioning Using Batch Setting Method 12.4 Positioning Using Batch Setting Method Positioning operation will be performed using the absolute positioning method as shown in the following chart: For details on input/output assignment, refer to Section 12.1 500,000 Output pulse frequency:...
Page 217 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.4 Positioning Using Batch Setting Method Click on the «Positioning» tab, and then set Y000 (pulse output destination) as follows. Before clicking on the "Positioning" tab, click on the «Memory Capacity» tab, and then enter a check in the "Positioning Instruction Settings"...
Page 218: Operation Program
12 Examples of Programs PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.4 Positioning Using Batch Setting Method Create a program. On the bar, click on "Online" and then «Write to PLC». The online data operation screen will appear. Click the "Parameter+Program"...
Page 219 PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.4 Positioning Using Batch Setting Method X021 M8348 M101 M102 Resets the "origin return completion" Origin Positioning Normal Abnormal flag. return being end of end of Resets the "forward performed origin...
Page 220 12 Examples of Programs PLC User's Manual - Positioning Control Edition Built-in Positioning Functions 12.4 Positioning Using Batch Setting Method "Forward rotation X024 M8348 M108 M109 positioning completion" flag Position- Position- "Zero Normal Abnormal ing in return end of end of "Reverse rotation forward operation...
Page 221: Program For Reading Current Abs Value Using Abs Instruction
PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Functions 12.5 Program for Reading Current ABS Value Using ABS Instruction 12.5 Program for Reading Current ABS Value Using ABS Instruction 1) Program for storing ABS data in current value registers specified by a positioning instruction for Y000 (pulse output destination) •...
Page 222: Troubleshooting
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.1 LED Indicator Lamp Check 13. Troubleshooting 13.1 LED Indicator Lamp Check If an error occurs, check the ON/OFF status of the LED indicator lamps on the PLC to assess the general meaning of the error.
Page 223: Power (Pow) Indicator Lamp (Statuses: On, Flashing, Off
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.1 LED Indicator Lamp Check 13.1.1 POWER (POW) Indicator Lamp (Statuses: ON, flashing, OFF) Lamp Status of PLC Troubleshooting status The specified voltage is properly The power is being supplied properly. supplied to the power supply terminal.
Page 224: Error (Err) Indicator Lamp (Statuses: On, Flashing, Off
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.1 LED Indicator Lamp Check 13.1.5 ERROR (ERR) indicator lamp (Statuses: ON, flashing, OFF) Lamp Status of PLC Troubleshooting status 1) Stop the PLC, turn the power OFF, and then turn the power ON again.
Page 225: Pulse Output Destination Device And Rotation Direction Output Indicator Lamp
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.1 LED Indicator Lamp Check 13.1.6 Pulse Output Destination Device and Rotation Direction Output Indicator Lamp 1. If transistor outputs from the main unit are used for positioning LED status during execution of Signal...
Page 226 PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.1 LED Indicator Lamp Check 2. If the high-speed output special adapter (FX -2HSY-ADP) is used for positioning LED status during Status of pulse execution of Signal Description output method positioning setting switch...
Page 227: Error Check
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.2 Error Check 13.2 Error Check 13.2.1 Error Code Check Method This section describes how to check the error codes using GX Works2. If the display module is being used, use the "error check" function of the display module to check the error codes. For details on the operation of the display module, refer to the following manuals: FX Hardware Edition.
Page 228: Error Codes
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.2 Error Check 13.2.2 Error Codes This section describes the error codes related to the positioning instructions. For details on the error codes, refer to the following manual. Refer to the programming manual.
Page 229: If The Servo Motor Or The Stepping Motor Does Not Operate
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.3 If the Servo Motor or the Stepping Motor Does Not Operate 13.3 If the Servo Motor or the Stepping Motor Does Not Operate If the servo motor or the stepping motor does not operate, check the following items. 1) Check the wiring condition.
Page 230: If Operation Is Stopped At A Wrong Position
PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Functions 13.4 If Operation Is Stopped at a Wrong Position 13.4 If Operation Is Stopped at a Wrong Position If operation is stopped at a wrong position, check the following items. 1) Check whether the electronic gear of the servo amplifier (drive unit) is set properly.
Page 231: Appendix: Example Connection
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 232: Description Of Manual (Example Of Connection)
PLC User's Manual - Positioning Control Edition Example Connection Description of Manual (Example of Connection) In this manual, the following formats are used for describing the examples of connection: Shows the title of the chapter Shows the title of the manual and the title Indexes the division titles.
Page 233: Appendix 1. Melservo-J4 Series
PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J4 Series Example Connection Appendix 1-1 Main Unit (Transistor Output) Appendix 1. MELSERVO-J4 Series Appendix 1-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 1-1-1 Sink Input and Sink Output Apx.
Page 234: Appendix 2. Melservo-J3 Series Apx.-13
Appendix 1. MELSERVO-J4 Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 1-1 Main Unit (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100  or less). To detect absolute positions, connect this line to the PLC. To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 235: Appendix 2-1 Main Unit (Transistor Output)
PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J4 Series Example Connection Appendix 1-1 Main Unit (Transistor Output) 2. FX -40MT/ES 100 to 240 V AC MR-J4A -32MT/ES Series servo 24 V DC amplifier DICOM DOCOM DICOM Class-D OPC 12 Zero speed grounding Positioning completed (INP)
Page 236 Appendix 1. MELSERVO-J4 Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 1-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 237 PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J4 Series Example Connection Appendix 1-1 Main Unit (Transistor Output) 3. FX MR-J4A -32MT/D -32MT/D Series servo DICOM amplifier 24 V DC OPC 12 DICOM DOCOM Class-D Zero speed grounding Photo-coupler Positioning completed (INP) Zero-Point X000...
Page 238 Appendix 1. MELSERVO-J4 Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 1-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 239 PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J4 Series Example Connection Appendix 1-2 High-Speed Output Special Adapter Appendix 1-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 1-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output MR-J4A 24 V DC...
Page 240 Appendix 1. MELSERVO-J4 Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 1-3 Absolute Position Detection (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100 or less). Near-point signal (DOG) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 241 PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J4 Series Example Connection Appendix 1-3 Absolute Position Detection (Transistor Output) 2. FX -40MT/ES 100 to 240 V AC -32MT/ES Class-D grounding MR-J4A Series servo amplifier DOCOM Photo-coupler DICOM 24 V DC X000 Apx.
Page 242 Appendix 1. MELSERVO-J4 Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 1-3 Absolute Position Detection (Transistor Output) 3. FX -32MT/D MR-J4A -32MT/D Series servo DICOM amplifier 24 V DC DOCOM Photo-coupler Class-D grounding X000 -16EYT COM1 COM1 Y020 Servo-ON Y021...
Page 243: Appendix 3. Melservo-Jn Series Apx.-23
PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J3 Series Example Connection Appendix 2-1 Main Unit (Transistor Output) Appendix 2. MELSERVO-J3 Series Appendix 2-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 2-1-1 Sink Input and Sink Output Apx.
Page 244 Appendix 2. MELSERVO-J3 Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 2-1 Main Unit (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100  or less). To detect absolute positions, connect this line to the PLC. To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 245: Appendix 4-1 Main Unit (Transistor Output)
PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J3 Series Example Connection Appendix 2-1 Main Unit (Transistor Output) 2. FX 100 to 240 V AC MR-J3A -40MT/ES Series servo -32MT/ES 24 V DC amplifier DICOM DOCOM Class-D OPC 12 grounding Photo-coupler DICOM...
Page 246 Appendix 2. MELSERVO-J3 Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 2-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 247 PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J3 Series Example Connection Appendix 2-1 Main Unit (Transistor Output) 3. FX MR-J3A -32MT/D Series servo -32MT/D amplifier DICOM 24 V DC OPC 12 DOCOM DICOM Class-D Photo- grounding Zero speed coupler Positioning completed (INP) Zero-Point...
Page 248 Appendix 2. MELSERVO-J3 Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 2-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 249 PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J3 Series Example Connection Appendix 2-2 High-Speed Output Special Adapter Appendix 2-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 2-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output MR-J3A Series servo...
Page 250 Appendix 2. MELSERVO-J3 Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 2-3 Absolute Position Detection (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 251 PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J3 Series Example Connection Appendix 2-3 Absolute Position Detection (Transistor Output) 2. FX -40MT/ES 100 to 240 V AC -32MT/ES Class-D MR-J3A grounding Series servo amplifier DOCOM Photo-coupler DICOM 24 V DC X000 Apx.
Page 252 Appendix 2. MELSERVO-J3 Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 2-3 Absolute Position Detection (Transistor Output) 3. FX -32MT/D MR-J3A -32MT/D Series servo amplifier DICOM 24 V DC DOCOM Photo- Class-D coupler grounding X000 -16EYT COM1 COM1 Y020 Servo-ON...
Page 253: Appendix 5. Melservo-H Series Apx.-41
PLC User's Manual - Positioning Control Edition Appendix 3. MELSERVO-JN Series Example Connection Appendix 3-1 Main Unit (Transistor Output) Appendix 3. MELSERVO-JN Series Appendix 3-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 3-1-1 Sink Input and Sink Output Apx.
Page 254 Appendix 3. MELSERVO-JN Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 3-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 255 PLC User's Manual - Positioning Control Edition Appendix 3. MELSERVO-JN Series Example Connection Appendix 3-1 Main Unit (Transistor Output) 2. FX -40MT/ES 100 to 240 V AC MR-JNA -32MT/ES Series servo 24 V DC amplifier DICOM DOCOM DICOM Class-D grounding Positioning completed (INP) Photo-coupler Servo error (ALM)
Page 256 Appendix 3. MELSERVO-JN Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 3-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 257 PLC User's Manual - Positioning Control Edition Appendix 3. MELSERVO-JN Series Example Connection Appendix 3-1 Main Unit (Transistor Output) 3. FX -32MT/D MR-JNA -32MT/D Series servo DICOM amplifier 24 V DC DOCOM DICOM Class-D Photo- grounding coupler Positioning completed (INP) X000 Zero-Point signal (PG0)
Page 258 Appendix 3. MELSERVO-JN Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 3-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 259 PLC User's Manual - Positioning Control Edition Appendix 3. MELSERVO-JN Series Example Connection Appendix 3-2 High-Speed Output Special Adapter Appendix 3-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 3-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output MR-JNA 24 V DC...
Page 260 Appendix 3. MELSERVO-JN Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 3-2 High-Speed Output Special Adapter Be sure to use the class-D grounding method (grounding resistance: 100 or less). Near-point signal (DOG) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 261: Appendix 6. Melservo-C Series
PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-J2 (-Super) Series Example Connection Appendix 4-1 Main Unit (Transistor Output) Appendix 4. MELSERVO-J2 (-Super) Series Appendix 4-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B.
Page 262 Appendix 4. MELSERVO-J2 (-Super) Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 4-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 263 PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-J2 (-Super) Series Example Connection Appendix 4-1 Main Unit (Transistor Output) 2. FX 100 to 240 V AC -40MT/ES MR-J2(S)A CN1B Series servo -32MT/ES amplifier Class-D grounding Torque being controlled Servo error (ALM) Zero speed Zero-Point Apx.
Page 264 Appendix 4. MELSERVO-J2 (-Super) Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 4-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 265 PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-J2 (-Super) Series Example Connection Appendix 4-1 Main Unit (Transistor Output) 3. FX -32MT/D -32MT/D 24 V DC Photo- Class-D MR-J2(S)A grounding coupler Series servo Zero-Point X000 amplifier CN1A CN1B signal (PG0) X004 Apx.
Page 266 Appendix 4. MELSERVO-J2 (-Super) Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 4-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 267 PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-J2 (-Super) Series Example Connection Appendix 4-2 High-Speed Output Special Adapter Appendix 4-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 4-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output MR-J2(S)...
Page 268 Appendix 4. MELSERVO-J2 (-Super) Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 4-3 Absolute Position Detection (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 269 PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-J2 (-Super) Series Example Connection Appendix 4-3 Absolute Position Detection (Transistor Output) 2. FX -40MT/ES 100 to 240 V AC -32MT/ES Class-D MR-J2(S)A grounding Series servo amplifier CN1B Photo-coupler X000 Apx. -16EYT COM1 Y020...
Page 270 Appendix 4. MELSERVO-J2 (-Super) Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 4-3 Absolute Position Detection (Transistor Output) 3. FX MR-J2(S)A -32MT/D Series servo -32MT/D amplifier CN1B 24 V DC Class-D Photo- grounding coupler X000 -16EYT COM1 COM1 Y020 Servo-ON...
Page 271 PLC User's Manual - Positioning Control Edition Appendix 5. MELSERVO-H Series Example Connection Appendix 5-1 Main Unit (Transistor Output) Appendix 5. MELSERVO-H Series Appendix 5-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 5-1-1 Sink Input and Sink Output Apx.
Page 272 Appendix 5. MELSERVO-H Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 5-2 Absolute Position Detection (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100  or less). Near-point signal (DOG) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 273 Appendix 6. MELSERVO-C Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 6-1 Main Unit (Transistor Output) Appendix 6. MELSERVO-C Series Appendix 6-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 6-1-1 Sink Input and Sink Output Apx.
Page 274 Appendix 6. MELSERVO-C Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 6-1 Main Unit (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100  or less). Near-point signal (DOG) Set the servo amplifier parameter No.21 to "020". To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 275 Appendix 6. MELSERVO-C Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 6-1 Main Unit (Transistor Output) 2. FX -32MT/D -32MT/D 24 V DC Photo- Class-D coupler grounding Zero-Point X000 MR-CA signal (PG0) Series servo amplifier X004 Apx. Servo ready X010 (RD)
Page 276 Appendix 6. MELSERVO-C Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 6-1 Main Unit (Transistor Output) To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 277: Appendix 6-2 High-Speed Output Special Adapter
Appendix 6. MELSERVO-C Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 6-2 High-Speed Output Special Adapter Appendix 6-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. Refer to Section 12.1 of "B. Built-in Positioning Function" Appendix 6-2-1 Sink Input, Sink Output, and Differential Line Driver Output 24 V DC MR-CA...
Page 278 Appendix 6. MELSERVO-C Series PLC User's Manual - Positioning Control Edition Example Connection Appendix 6-2 High-Speed Output Special Adapter Near-point signal (DOG) Set the servo amplifier parameter No.21 to "020". To ensure safety, use the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 279: Warranty
PLC User's Manual - Positioning Control Edition Warranty Warranty Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range 2. Onerous repair term after discontinuation of If any faults or defects (hereinafter "Failure") found to be production the responsibility of Mitsubishi occurs during use of the Mitsubishi shall accept onerous product repairs for...
Page 280: Revised History
PLC User's Manual - Positioning Control Edition Revised History Revised History Date Revision Description 7/2005 First Edition 2/2006 • The transistor output for FX Series was added. - A.Common items (Subsection 1.2.1 and 1.2.2, Section 2.1 and Subsection 3.1.1). - B.Built-in positioning function (Section 1.1, Subsection 1.5.2 and 1.5.3, Section 2.3, Subsection 2.5.1, Section 4.9, Subsection 6.3.1, 8.2.1 and 8.3.1, Section 9.1 and 10.1).
Page 282 SERIES PROGRAMMABLE CONTROLLERS USER'S MANUAL Positioning Control Edition HEAD OFFICE: TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN FX3U-U-POS-E MODEL 09R620 MODEL CODE JY997D16801K Effective April 2015 (MEE) Specifications are subject to change without notice.

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