Page 1 USER'S MANUAL - Positioning Control Edition SERIES PROGRAMMABLE CONTROLLERS Transistor Output Main Unit [Japanese Model (Sink Output)] Line Driver Output -2HSY-ADP www.DataSheet4U.com...
Page 3: Safety Precautions
Safety Precautions (Read these precautions before using.) Before installing, operating, maintenance or inspecting this product, thoroughly read and understand this manual and the associated manuals. Also pay careful attention to handle the module properly and safety. 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 using.) 2. WIRING PRECAUTIONS Reference • Cut off all phases of the power source externally before installation or wiring work in order to avoid electric shock or damage of product. • Make sure to attach the terminal cover offered as an accessory to the product before turning on B-22 B-67 the power or starting the operation after installation or wiring work.
Page 5 • Do not disassemble or modify the PLC. Doing so may cause failures, malfunctions or fire. For repair, contact your local Mitsubishi Electric distributor. • Before connecting or disconnecting any extension cable, turn off power. Failure to do so may cause unit failure or malfunctions.
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
Series PLC User's Manual - Positioning Control Edition Table of Contents Table of Contents SAFETY PRECAUTIONS ....................1 Functions and Use of This Manual ..................9 Related Manuals ........................10 Generic Names and Abbreviations Used in Manuals ............12 A. Common Items Description of Manual (Common Items) ................
Page 10 Series PLC User's Manual - Positioning Control Edition Table of Contents B. Built-in Positioning Function Description of Manual (Built-in Positioning Function) ............B-2 1. Outline 1.1 Features ............................B-3 1.2 Setup Procedure for Positioning Control..................B-4 1.3 Version Numbers of Compatible PLCs ..................B-7 1.4 Version Numbers of Compatible Programming Tools..............B-8 1.5 Assignment of Input/Output Numbers ..................B-8 1.5.1 Assignment of Input Numbers ......................B-8...
Page 11 Series PLC User's Manual - Positioning Control Edition Table of Contents 4.3 Various Flags for Operation Commands..................B-35 4.3.1 Forward Rotation Limit and Reverse Rotation Limit ..............B-35 4.3.2 Immediate Stoppage of Pulse Output (Pulse Output Stop Command Flag) ......B-36 4.3.3 Designation of Zero Return Direction (DSZR/ZRN Instruction) ..........B-36 4.3.4 CLEAR Signal Output (DSZR/ZRN Instruction)................B-38 4.3.5 Change in Logic of Near-Point (DOG) Signal (DSZR Instruction) ..........B-39 4.3.6 Change in Logic of Zero-Phase Signal (DSZR Instruction) ............B-39...
Page 12 Series PLC User's Manual - Positioning Control Edition Table of Contents 7. Absolute Position Detection System (Absolute Current Value Read)-ABS Instruction B-93 7.1 Instruction Format ........................B-93 7.2 List of Related Devices ......................B-94 7.3 Function and Operation......................B-94 7.4 Initial Zero Return........................B-95 7.5 Important Points .........................B-95 8.
Page 13 Series PLC User's Manual - Positioning Control Edition Table of Contents 12. Examples of Programs B-137 12.1 Input/Output Assignment......................B-138 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program)........B-140 12.2.1 Example of Program.......................B-140 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program)........B-143 12.3.1 Example of Program.......................B-143 12.4 Positioning Using Batch Setting Method ................B-147 12.4.1 Setting Using GX Developer....................B-147...
Page 14 Series PLC User's Manual - Positioning Control Edition Table of Contents Appendix: Example Connection Description of Manual (Example of Connection) ............Apx.-2 Appendix 1. MELSERVO-J3 Series Apx.-3 Appendix 1-1 Main Unit (Transistor Output) .................Apx.-3 Appedix 1-1-1 Sink Input and Sink Output ..................Apx.-3 Appendix 1-2 High-Speed Output Special Adapter ..............Apx.-5 Appedix 1-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output....Apx.-5 Appendix 1-3 Absolute Position Detection (Transistor Output) ..........Apx.-6...
Page 15: Functions And Use Of This Manual
Series PLC User's Manual - Positioning Control Edition Functions and Use of This Manual Functions and Use of This Manual The FX PLC outputs transistor signals from the main unit and also outputs pulses from the high- speed output adapter and the positioning special function unit/block to the servo motor and stepping motor to properly control the positioning operation.
Page 16: Related Manuals
Series PLC User's Manual - Positioning Control Edition Related Manuals Related Manuals Refer to this document to perform positioning operation using the FX Series. For the hardware information on the PLC and for details on special function units/blocks, refer to the respective manuals.
Page 17 Series PLC User's Manual - Positioning Control Edition Related Manuals Indispensable manual Manual that may be indispensable depending on the purpose of use With separate document that describes the details Document Title of manual Description Model code number Pulse output, positioning To use each product, also refer to the user's manual (for hardware) of the PLC to be connected to your system.
Page 18: Generic Names And Abbreviations Used In Manuals
Series PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic Names and Abbreviations Used in Manuals Generic name or Description abbreviation series Generic name for FX Series PLC PLC or main unit Generic name for FX Series PLC main unit series Generic name for FX...
Page 19 Series PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or Description abbreviation Extension unit Generic name for special function unit and special function block Special function unit/block or The number of connectable units, however, depends on the type of main unit. Special extension unit To check the number of connectable units, refer to the User's Manual - Hardware Edition of main unit to be used for your system.
Page 20 Series PLC User's Manual - Positioning Control Edition Generic Names and Abbreviations Used in Manuals Generic name or Description abbreviation Manual Manual for FX hardware Series User's Manual - Hardware Edition Manual for FX hardware This manual is available only in Japanese. Programming manual Series Programming Manual - Basic and Applied Instructions Edition Communication control...
Page 21: Common Items
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
Page 22: Description Of Manual (Common Items
Series PLC User's Manual - Positioning Control Edition Common Items Description of Manual (Common Items) In this manual, the following formats are used for the description of common items: A - 2...
Page 23: Introduction
Series 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, various products needed for positioning are described. Outline The FX PLC outputs the pulse signal to the servo motor and the stepping motor to control the Apx.
Page 24: Introduction Of Products Needed For Positioning
Series PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning Introduction of Products Needed for Positioning To control the positioning operation, use the positioning function incorporated in main unit (including special adapters), and also the special function units/blocks.
Page 25: Main Unit (Transistor Output
Series PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning 1.2.2 Main Unit (Transistor Output) The FX PLC incorporates the positioning function. This PLC can output the open collector type pulse train of up to 100 kHz from the general-purpose outputs (Y000 to Y002), and can simultaneously control 3 axes.
Page 26: Special Function Unit/Block
Series PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning Cautions when connecting special adapters • To use high-speed input/output special adapters only (not to use the other special adapters), it is not necessary to connect the expansion board.
Page 27 Series PLC User's Manual - Positioning Control Edition 1 Introduction Common Items 1.2 Introduction of Products Needed for Positioning 3. Individual operation (FX -10GM, FX -20GM) Without connecting special function units (FX -10GM, FX -20GM) to the PLC, you can operate them individually.
Page 28: Unit Connection
Series PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 2.1 FX3U PLC Unit Connection This chapter shows various block diagrams to show various combinations of units needed for positioning control. Series show the unit positions. (For details of installation, refer to the manuals of special adapter and special function units/blocks.) Servo motor or Stepping motor...
Page 29: Fx 3Uc Plc
Series PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 2.2 FX3UC PLC Series show the unit positions. (For details of installation, refer to the manuals of special adapter and special function units/blocks.) Servo motor or Apx. MIL connector (20-pin) Stepping motor -1PS-5V...
Page 30: Individual Operation Of Special Function Unit (Fx 2N -10Gm, Fx 2N -20Gm
Series PLC User's Manual - Positioning Control Edition 2 Unit Connection Common Items 2.3 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...
Page 31: Comparison Of Specifications
Series PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.1 Comparison of Performance Specifications Comparison of Specifications The specifications of each product needed for positioning are shown below. Select products optimum for your system. Comparison of Performance Specifications Apx.
Page 32: Pulse Output Special Function Block [Fx 2N -1Pg(-E), Fx 2N -10Pg
Series PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.1 Comparison of Performance Specifications 3.1.2 Pulse Output Special Function Block [FX -1PG(-E), FX -10PG] Model -1PG(-E) -10PG Number of control 1 independent axes axes Interpolation Pulse output Open collector system Differential line driver system...
Page 33: Positioning Special Function Unit [Fx 2N -10Gm, Fx 2N -20Gm
Series PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.1 Comparison of Performance Specifications 3.1.3 Positioning Special Function Unit [FX -10GM, FX -20GM] Model -10GM -20GM Number of control 1 independent axis 2 independent/simultaneous axes axes Interpolation 2-axes liner interpolation, circular interpolation...
Page 34: Comparison Of Operation Modes
Series PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.2 Comparison of Operation Modes Comparison of Operation Modes Built-in positioning function Positioning operation -1PG Description -10PG FX -10GM FX -20GM pattern (-E) (main unit) -2HSY- ADP(FX Jogging operation Jogging speed...
Page 35 Series PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.2 Comparison of Operation Modes Built-in positioning function Positioning operation -1PG Description -10PG FX -10GM FX -20GM pattern (-E) (main unit) -2HSY- ADP(FX During direct Stop with interruption connection operation to the target position (x, y) Ignoring...
Page 36 Series PLC User's Manual - Positioning Control Edition 3 Comparison of Specifications Common Items 3.2 Comparison of Operation Modes Built-in positioning function Positioning operation -1PG Description -10PG FX -10GM FX -20GM pattern (-E) (main unit) -2HSY- ADP(FX Variable speed Variable-speed operation pulse output Operation will be Speed...
Page 37: Built-In Positioning Function
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 38: Description Of Manual (Built-In Positioning Function
Series PLC User's Manual - Positioning Control Edition Built-in Positioning Function Description of Manual (Built-in Positioning Function) In this manual, the following formats are used for description of the examples of connection: Shows the title of the manual and the title Shows the title of the chapter Indexes the title of of the division.
Page 39: Outline
Series PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Function 1.1 Features Outline This chapter describes the outline of positioning control. Note that the general outputs of the FX PLC and -2HSY-ADP high-speed output special adapter are needed for positioning control. Features 1) The general outputs of the FX PLC can control up to 3 axes for the positioning operation.
Page 40: Setup Procedure For Positioning Control
Series PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Function 1.2 Setup Procedure for Positioning Control Setup Procedure for Positioning Control DESIGN PRECAUTIONS • Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs.
Page 41 • Do not disassemble or modify the PLC. Doing so may cause failures, malfunctions or fire. For repair, contact your local Mitsubishi Electric distributor. • Before connecting or disconnecting any extension cable, turn off power. Failure to do so may cause unit failure or malfunctions.
Page 42: Version Numbers Of Compatible Plcs
Series PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Function 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...
Page 43 100-240VAC 50/60Hz 40W OUT:30VDC/240VAC 2A(COSφ=1) SERIAL 570001 80M1 IND. CONT. EQ. MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN Control number Month (Example: July):(1 to 9 = January to September, X = October, Y = November, Z = December) Year (Example: 2005): Last digit of year...
Page 44: Version Numbers Of Compatible Programming Tools
Series PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Function 1.4 Version Numbers of Compatible Programming Tools Version Numbers of Compatible Programming Tools The Built-in positioning function depends on the version of the FX PLC. Select a PLC having optimum version number to create programs.
Page 45 Series PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Function 1.5 Assignment of Input/Output Numbers Application Input number Remarks Connect the line to any input. All input JOG command If the line-connected input is turned on, turn on DRVI instruction for the jogging points motion.
Page 46: Assignment Of Output Numbers
Series PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Function 1.5 Assignment of Input/Output Numbers Application Input number Remarks Connect the line to any input. If the line-connected input is turned on, turn on the reverse limit flag. The reverse limit flag depends on the pulse output destination as shown in the following table: Pulse output destination...
Page 47 Series PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Function 1.5 Assignment of Input/Output Numbers 2. High-speed output special adapter Output number Application Terminal Remarks Connect the 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 48: Connection Of High-Speed Output Special Adapter
Series PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Function 1.5 Assignment of Input/Output Numbers 1.5.3 Connection of High-Speed Output Special Adapter 1. When FX -16MR/ES uses an instruction that needs the high-speed inputting operation, the main unit should have enough input terminals. Before selecting main unit, be sure to check the number of input points needed for operation.
Page 49 Series PLC User's Manual - Positioning Control Edition 1 Outline Built-in Positioning Function 1.5 Assignment of Input/Output Numbers Block diagram Series main unit Sequence program -2HSY -2HSY -ADP -ADP FNC 158 K30000 K20000 Y000 Y004 DRVI FNC 158 K15000 K10000 Y001 Y005 DRVA FNC 159...
Page 50: Specifications
Series PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Function Specifications DESIGN PRECAUTIONS • Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs. Otherwise, malfunctions or output failures may result in an accident.
Page 51: General Specifications
Series PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Function 2.1 General Specifications General Specifications For the general specifications on the FX PLC, refer to the following manuals. Note that the general specifications on the high-speed output special adapter are the same as the PLC excluding the specifications shown in the following table.
Page 52: Performance Specifications
Series PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Function 2.3 Performance Specifications Performance Specifications Model -2HSY-ADP (main unit, transistor output) Number of control axes 3 independent axes 2 independent axes Interpolation Pulse output system Open collector system Differential line driver system "Pulse train + direction"...
Page 53: Input Specifications
Series PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Function 2.4 Input Specifications Input Specifications 2.4.1 Series main unit (24V DC Input) This section describes the input specifications of the FX Series main unit. By the way, the simultaneous turning-on rate is restricted for the input extension units and the main unit.
Page 54: Fx Series Main Unit (24V Dc Input
Series PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Function 2.4 Input Specifications 2.4.2 Series main unit (24V DC Input) This section describes the input specifications of the FX Series main unit. Note that the simultaneous turning-on rate is restricted for the input extension units and the main unit. For details on this restriction, refer to the following manual: →...
Page 55: Output Specifications
Series PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Function 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 output extension units and the main unit.
Page 56: High-Speed Output Special Adapter [Fx 3U -2Hsy-Adp
Series PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Function 2.5 Output Specifications 2.5.2 High-Speed Output Special Adapter [FX -2HSY-ADP] This section describes the output specifications of high-speed output special adapter (FX -2HSY-ADP). Item High-speed output special adapter (FX -2HSY-ADP) Output system Differential line driver system (equivalent to AM26C31)
Page 57: List Of Functions
Series PLC User's Manual - Positioning Control Edition 2 Specifications Built-in Positioning Function 2.6 List of Functions List of Functions The instructions needed for the positioning function Built-in in the FX PLC are shown in the following table: Positioning instruction Operation Description Refer to...
Page 58: Connection Of Input/Output Lines And Tightening Torques
Series PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Function 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 59: Terminal Board (M3, M3.5
Series PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Function 3.1 Terminal Board (M3, M3.5) Terminal Board (M3, M3.5) A terminal board is adopted for the FX Series main unit, FX Series input/output extension unit (excluding some types), and FX Series input/output extension block.
Page 60: European Terminal Board
Series PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Function 3.2 European Terminal Board • When two wires are connected to one terminal φ 3.7(0.15") Terminal Crimp 6.8mm(0.27") screw terminal or less 6.0mm(0.24") or more φ...
Page 61: Connector
Series PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Function 3.3 Connector Connector Connectors conforming to the requirements of the MIL C-83503 are adopted for the FX Series main unit and some types of FX Series input/output extension blocks.
Page 62 Series PLC User's Manual - Positioning Control Edition 3 Connection of Input/Output Lines and Tightening Built-in Positioning Function 3.3 Connector 3. Input/output cable connectors prepared by purchaser (optional connectors manufactured by our company) The purchaser should prepare the cables and press-fitting tools. Input/output connector model and number Applicable cable of connectors included in one set...
Page 63: Before Programming
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 64: Special Data Registers
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.1 List of Related Devices Device number Corresponding Function Attribute Refer to instructions Y000 Y001 Y002 Y003 PLSY,PWM,PLSR, Subsection M8348 M8358 M8368 M8378 Positioning instruction activation Read only DSZR,DVIT,ZRN, 4.4.4...
Page 65: Setting Of Various Items Regarding Speeds
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 66 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 67: Setting Of Output Pulse Frequency (Dvit, Plsv, Drvi, And Drva Instructions
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 68: Setting Of Zero Return Speed (Dszr/Zrn Instruction
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 69: Setting Of Creep Speed (Dszr/Zrn Instruction
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 70: Setting Of Bias Speed
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.2 Setting of Various Items Regarding Speeds 4.2.6 Setting of Bias Speed To control the stepping motor using each instruction, set the bias speed considering the resonance range of the stepping motor and the automatic start frequency.
Page 71: Various Flags For Operation Commands
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.3 Various Flags for Operation Commands Various Flags 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 72: Immediate Stoppage Of Pulse Output (Pulse Output Stop Command Flag
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.3 Various Flags for Operation Commands 4.3.2 Immediate Stop of Pulse Output (Pulse Output Stop Command Flag) During execution of positioning instruction, if the pulse output stop command flag is turned on, the pulse outputting operation will be immediately stopped.
Page 73 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.3 Various Flags 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 reduced.) To perform zero return in the forward rotation direction using 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 74: Clear Signal Output (Dszr/Zrn Instruction
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.3 Various Flags for Operation Commands 4.3.4 CLEAR Signal Output (DSZR/ZRN Instruction) 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 75: Change In Logic Of Near-Point (Dog) Signal (Dszr Instruction
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.3 Various Flags for Operation Commands Clear signal device specification method: 1) Write the CLEAR signal output (Y) device number in "Clear signal device specification" device by a hexadecimal number (expressed octal numbers).
Page 76: Designation Of Interrupt Input Signal For Dvit Instruction
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.3 Various Flags 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 77 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.3 Various Flags for Operation Commands The device can be specified if the FX PLC of Ver. 2.00 or later is used. Using the FX PLC of below Ver. 2.00, if "8" is set and then the specified interrupt positioning (DVIT) instruction turns ON, an operation error (error code: K6763) will occur, and the instruction will not cause any operation.
Page 78: Change In Logic Of Interrupt Input Signal (Dvit Instruction
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.3 Various Flags for Operation Commands 4.3.8 Change in Logic of interrupt input Signal (DVIT Instruction) Turn "Interrupt signal logic reverse" flag ON or OFF to specify the logic of the interrupt input signal of each interrupt positioning (DVIT) instruction.
Page 79: Current Value
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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. The current value will be increased or decreased depending on the rotation direction.
Page 80: Completion Of Execution Of Instruction ("Instruction Execution Complete" Flag, "Instruction Execution Abnormal End" Flag
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.4 Current Value and Flag for Monitoring of Operation 4.4.2 Completion of Execution of Instruction ("Instruction execution complete" Flag, "Instruction execution abnormal end" Flag) Use "Instruction execution complete" flag or "Instruction execution abnormal end" flag to check whether execution of the positioning instruction is completed properly.
Page 81: 4.5 Setting Of Various Items On Plc Side
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 82 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.5 Setting of Various Items on PLC Side Setting device Instruction Setting Refer to item Y000 Y001 Y002 DSZR ZRN PLSV DVIT DRVI DRVA Y003 User interrupt Subsec- input...
Page 83 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.5 Setting of Various Items on PLC Side Example of 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 84 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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...
Page 85: Setting Of High-Speed Output Special Adapter
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.5 Setting of Various Items on PLC Side 4.5.2 Setting of High-Speed Output Special Adapter If high-speed output special adapter (FX -2HSY-ADP) is used, the pulse output method can be selected from "pulse train + direction"...
Page 86 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.5 Setting of Various Items on PLC Side 3. CLEAR signal and rotation direction signal If 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 DSZR (FNC150) or ZRN (FNC156) instruction.
Page 87: Setting Of Various Items On Servo Amplifier (Drive Unit) Side
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 88 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 Operate Output Form Setting Switch of the high speed output special adapter to "FP RP"...
Page 89 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 MR-J3 A servo amplifier...
Page 90 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 91: Setting Of Electronic Gear (For Melservo Series
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 electronic gear setting, refer to the manual of your servo motor or servo amplifier, and set the optimum value considering the application.
Page 92: Setting Of "Servo Ready" Signal (Melservo Mr-C Series
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 93: Items To Be Observed In Programming
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 94 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.7 Items To Be Observed in Programming Use with PLSY (FNC57) and PLSR (FNC59) instructions: In addition to the later-described positioning instructions, there are other instructions that need outputting of pulses.
Page 95: Stop Instruction
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.7 Items To Be Observed in Programming 4.7.2 STOP instruction For the normal stop of operation (stop after speed reduction), use "instruction OFF" function or "forward/ reverse limit flag".
Page 96 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.7 Items To Be Observed in Programming Programming using "Instruction execution complete" flag and "Instruction execution abnormal end" flag: 1) If two or more positioning instructions are used in a program, "Instruction execution complete" flag (M8029) or "Instruction execution abnormal end"...
Page 97 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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, "Instruction execution complete" flag (M8029) or "Instruction execution abnormal end"...
Page 98: Operation Error Flag
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.7 Items To Be Observed in Programming 4.7.5 Operation Error Flag If an applied instruction (including positioning instructions) of the FX PLC has an error (construction error, device designation error, numbering range error, etc.), an operation error may occur during operation.
Page 99: Items To Be Observed In Use Of Main Unit (Transistor Output
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.8 Items To Be Observed in Use of Main Unit (Transistor Output) Items To Be Observed in Use of Main Unit (Transistor Output) 1. Pulse output destination devices Use Y000, Y001, and Y002 transistor outputs of the main unit as the pulse output destination devices.
Page 100 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.9 Caution for Using the High-Speed Output Special Adapter (FX3U-2HSY-ADP) Operation of output Operation of output Instruction for outputting pulse train at high speed Other instructions If the instruction turns ON, the corresponding output will Main unit of relay output type Can be activated.
Page 101: Format And Execution Of Applied Instruction
Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 4.10 Format and Execution of Applied Instruction 4.10 Format and Execution of Applied Instruction Instruction and operand: - Function numbers (FNC00 - FNC ) and symbols (mnemonic codes) are assigned to the applied instructions of this PLC.
Page 102 Series PLC User's Manual - Positioning Control Edition 4 Before Programming Built-in Positioning Function 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 103: Operation Test
Series PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Function 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 104 • Do not disassemble or modify the PLC. Doing so may cause failures, malfunctions or fire. For repair, contact your local Mitsubishi Electric distributor. • Before connecting or disconnecting any extension cable, turn off power. Failure to do so may cause unit failure or malfunctions.
Page 105: Test Procedure
Series PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Function 5.1 Test Procedure Test Procedure Turn off the power to the PLC. Temporarily connect the limit switches (forward rotation limit 1, reversed 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 106 Series PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Function 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 check the operation. The status of the LED indicator lamp and the value indicated on the current value register depend on the pulse output destination or rotation direction set in the positioning instruction.
Page 107 Series PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Function 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 108 Series PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Function 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 see whether or not the outputs are turned on.
Page 109: Creation Of Test Program
Series PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Function 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 110 Series PLC User's Manual - Positioning Control Edition 5 Operation Test Built-in Positioning Function 5.2 Creation of Test Program 3. Example of 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...
Page 111: Mechanical Zero Return (Dszr/Zrn Instruction
If the MR-H, MR-J2, MR-J2S, or MR-J3 servo amplifier (with absolute position detection function) manufactured by Mitsubishi is used, the current position value will be retained even after power-off. Perform zero return only once. After turning on the power again, just read out the current position value of the servo motor to the PLC by FNC155 (DABS) instruction.
Page 112: Dog Search Zero Return (Dszr Instruction
Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 6.2 DOG Search Zero Return (DSZR Instruction) DOG Search Zero Return (DSZR Instruction) Using the FX PLC of Ver.2.00 or later, use this instruction to change the CLEAR signal output destination.
Page 113: List Of Related Devices
Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 6.2 DOG Search Zero Return (DSZR Instruction) Note: • To use the FX Series main unit of relay output type, be sure to connect high-speed output special adapter.
Page 114 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 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 115 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 6.2 DOG Search Zero Return (DSZR Instruction) 6.2.3 Function and Operation Command input FNC 150 • • • • DSZR → For details on the maximum speed, bias speed, acceleration time, and deceleration time, refer to Subsection 4.2.5 to Subsection 4.2.8.
Page 116 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 6.2 DOG Search Zero Return (DSZR Instruction) 2) For , specify the zero-phase signal input number in the range of X000 to X007. To specify the logic of this zero-phase signal, turn on or off "Zero point signal logic reverse"...
Page 117 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 6.2 DOG Search Zero Return (DSZR Instruction) 6) CLEAR signal output This instruction can output the CLEAR signal after stop at the origin. If it is necessary to output the CLEAR signal at the completion of zero return, turn on "CLEAR signal output function enable"...
Page 118 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 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 by .
Page 119 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 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 120 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 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 121 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 6.2 DOG Search Zero Return (DSZR Instruction) 6.2.4 Important Points → For the important points for programming, refer to Section 4.7. • If an input (X000 to X017) of the main unit is specified for the near-point signal (DOG) specified by the rear end of the near-point signal (DOG) will be monitored (detected) at the 1ms intervals (interruption).
Page 122 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 6.3 Zero Return (ZRN Instruction) Zero Return (ZRN Instruction) Using the FX PLC of Ver.2.00 or later, use this instruction to change the CLEAR signal output destination.
Page 123 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 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 124: Function And Operation
Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 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 125 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 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 126 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 6.3 Zero Return (ZRN Instruction) 6) CLEAR signal output This instruction can output the CLEAR signal after stop at the origin. If it is necessary to output the CLEAR signal at the completion of zero return, turn on "CLEAR signal output function enable"...
Page 127 Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 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 by .
Page 128: Important Points
Series PLC User's Manual - Positioning Control Edition 6 Mechanical Zero Return (DSZR/ZRN Instruction) Built-in Positioning Function 6.3 Zero Return (ZRN Instruction) 6.3.4 Important Points → For the important points of programming, refer to Section 4.7. • If an input (X000 to X007) of the main unit is specified for the near-point input signal specified by , the interruption function will be adopted to stop the operation.
Page 129: Absolute Position Detection System (Absolute Current Value Read)-Abs Instruction
Series PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read)-ABS Built-in Positioning Function 7.1 Instruction Format Absolute Position Detection System (Absolute Current Value Read)-ABS Instruction Since the absolute position detection system is adopted, the built-in positioning function uses the current ABS value read-out (ABS) instruction to read out the current value (absolute position (ABS) data) from the MELSERVO-H, -J2(S), or -J3 servo amplifier.
Page 130: List Of Related Devices
Connect the MR-H, MR-J2, or MR-J3 servo motor (with absolute position detection function) manufactured by Mitsubishi to your system, and use this instruction to read out the absolute position (ABS) data. The data will be converted into the pulse value before being read out.
Page 131: Initial Zero Return
Series PLC User's Manual - Positioning Control Edition 7 Absolute Position Detection System (Absolute Current Value Read)-ABS Built-in Positioning Function 7.4 Initial Zero Return 1. Detection of absolute position 1) If DABS (FNC155) instruction turns ON, the Servo-ON PLC will activate the servo-ON output and the ABS transfer mode output.
Page 132: Speed Positioning - Drvi/Drva Instruction
Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 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 133 Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 8.1 Incremental Method and Absolute Method 2. Absolute method (absolute address setting method) Specify the distance (absolute address) from the origin to the target position. In this case, any position can be the start point (current position).
Page 134: Drive To Increment - Drvi Instruction
Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 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...
Page 135: List Of Related Devices
Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 8.2 Drive to Increment - DRVI Instruction 2 : If the high-speed output special adapter is not used for the FX PLC, or if the FX PLC is used, specify a transistor output number.
Page 136 Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 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 137: Function And Operation
Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 8.2 Drive to Increment - DRVI Instruction 8.2.3 Function and Operation This instruction is a 1-speed positioning instruction and uses the relative drive method. 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 138: Important Points
Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 8.2 Drive to Increment - DRVI Instruction The rotation direction depends on the ON/OFF status of the specified device as shown in the following table.
Page 139: Drive To Absolute (Drva Instruction
Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 8.3 Drive To Absolute (DRVA Instruction) Drive To Absolute (DRVA Instruction) 8.3.1 Instruction Format 1. Instruction format FNC 159 16-bit 32-bit Instruction Instruction Execution condition Execution condition instruction...
Page 140 Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 8.3 Drive To Absolute (DRVA Instruction) 2 : If the high-speed output special adapter is not used for the FX PLC, or if the FX PLC is used, specify a transistor output number.
Page 141: List Of Related Devices
Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 8.3 Drive To Absolute (DRVA Instruction) 8.3.2 List of Related Devices 1. Special auxiliary relaysx 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 142: Function And Operation
Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 8.3 Drive To Absolute (DRVA Instruction) 8.3.3 Function and Operation This instruction is a 1-speed positioning instruction and uses the absolute drive method. For this instruction, the distance from the origin (zero point) to the target position should be specified.
Page 143: Important Points
Series PLC User's Manual - Positioning Control Edition 8 1-Speed Positioning - DRVI/DRVA Instruction Built-in Positioning Function 8.3 Drive To Absolute (DRVA Instruction) The rotation direction depends on the ON/OFF status of the specified device as shown in the following table.
Page 144: One-Speed Interrupt Constant Quantity Feed -Dvit Instruction
Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 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 145 Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 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 146: List Of Related Devices
Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 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 Device number Function...
Page 147 Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 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 148: Function And Operation
Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 9.3 Function and Operation Function and Operation Command input FNC 151 • • • • DVIT → For details on the maximum speed, bias speed,acceleration time, and deceleration time, refer to Subsection 4.2.5 to Subsection 4.2.8.
Page 149 Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 9.3 Function and Operation The rotation direction depends on the ON/OFF status of the specified device as shown in the following table.
Page 150 Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 9.3 Function and Operation Setting value Description of setting Specifies a user interruption command device for the interrupt input signal. Pulse output destination device Pulse output destination device Y000 M8460...
Page 151 Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 9.3 Function and Operation Example of program: The following program shows that the interrupt input for Y000 is set in the user interruption command device (M8460).
Page 152 Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 9.3 Function and Operation 1. Interruption positioning operation Interruption positioning operation is described below assuming that Y000 is specified as the pulse output destination device by For this reason, if Y001, Y002, or Y003 is specified, it is necessary to change the output number of each related flag.
Page 153: Important Points
Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 9.4 Important Points Important Points → For details on the instruction activation timing, refer to Section 4.7. • If the number of pulses specified by is not large enough to reduce the speed, the frequency will be reduced so that the speed can be reduced within the specified number of output pulses.
Page 154 Series PLC User's Manual - Positioning Control Edition 9 One-speed Interrupt constant quantity feed -DVIT Instruction Built-in Positioning Function 9.4 Important Points • The interrupt input cannot be used for the following items: Interrupt inputs can be specified in Ver.1.30 or later. - High-speed counter - Input interruption - Pulse catch...
Page 155: Variable Speed Operation (Variable Speed Pulse Output)-Plsv Instruction
Series PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Function 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 to perform variable speed operation.
Page 156 Series PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Function 10.1 Instruction Format Point: • To use the FX Series main unit of relay output type, be sure to connect the high-speed output special adapter.
Page 157: List Of Related Devices
Series PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Function 10.2 List of Related Devices 10.2 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 158: Function And Operation
Series PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Function 10.3 Function and Operation 10.3 Function and Operation This instruction is the variable speed pulse output instruction equipped with the rotation direction designation function.
Page 159: Operation With Acceleration/Deceleration (M8338 = On
Series PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Function 10.3 Function and Operation The rotation direction depends on the ON/OFF status of the specified device as shown in the following table.
Page 160 Series PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Function 10.3 Function and Operation 3) For , specify the rotation direction signal output device number. If the high-speed output special adapter is not used for the FX PLC, or if the FX PLC is used, specify a transistor output number.
Page 161: Important Points
Series PLC User's Manual - Positioning Control Edition 10 Variable Speed Operation (Variable Speed Pulse Output)-PLSV Instruction Built-in Positioning Function 10.4 Important Points 10.4 Important Points → For the important points of programming, 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 turns ON.
Page 162: Batch Data Positioning Mode (Tbl Instruction)
Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 11.1 Instruction Format 11. Batch Data Positioning Mode (TBL Instruction) If GX Developer Ver.8.23Z or later is used, the positioning instructions shown below can be preliminarily set in the positioning tables. After that, if a table is specified, the positioning operation of the specified table will be performed.
Page 163 Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 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 164 Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 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 165: Function And Operation
Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 11.3 Function and Operation 11.3 Function and Operation Preliminarily set the positioning parameters using GX Developer, and then specify the pulse output destination and the positioning table number (n) for DTBL instruction to carry out positioning.
Page 166: Positioning Parameter Setting
Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 11.4 Positioning Parameter Setting 11.4 Positioning Parameter Setting Use GX Developer of Ver.8.23Z or later to set the positioning parameters. "Number of pulses" and "frequency" set by positioning parameters in a positioning table can be changed using the program, display module, or indicator.
Page 167 Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 11.4 Positioning Parameter Setting Set the memory capacity. Click "Memory capacity" tab, and then click "Positioning Instruction Setting" check box to enter a check in the box.
Page 168 Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 11.4 Positioning Parameter Setting Set the positioning data. Positioning data can be set if the FX PLC of Ver.2.00 or later is used. 1.
Page 169 Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 11.4 Positioning Parameter Setting If the FX PLC is used, the setting range will be 10 to 100000 Hz. If the FX PLC is used, and if the pulse output destination is FX -2HSY-ADP, the setting range will be 10 to 200000 Hz.
Page 170 Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 11.4 Positioning Parameter Setting Setting item Description of setting Setting range If this check box is checked, the positioning data will not be initialized at turning Positioning table on the power of the PLC.
Page 171: Changing Of Set Positioning Parameters (Number Of Pulses And Frequency
Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 11.4 Positioning Parameter Setting 11.4.2 Changing of Set Positioning Parameters (Number of Pulses and Frequency) "Pulses" and "frequency" set by positioning parameters in a positioning table will be stored in the devices starting from the specified first device as shown below.
Page 172 Series PLC User's Manual - Positioning Control Edition 11 Batch Data Positioning Mode (TBL Instruction) Built-in Positioning Function 11.4 Positioning Parameter Setting To read out and store "pulse" and "frequency" changed by the display module or the indicator: 1) In "Positioning instruction setting" window of positioning parameters, enter a check in "Positioning table settings will not be initialized when the PLC is powered on"...
Page 173: 12. Examples Of Programs
Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 12. Examples of Programs Assuming that the MELSERVO Series 1-axis servo amplifier is used for control, this chapter shows various examples of programs. For the connection examples of MELSERVO-C, -J2(S), -H, and -J3 Series, refer to the following chapters and manuals.
Page 174: Input/Output Assignment
X031 X035 X061 X065 ABS(bit1) X032 X036 X062 X066 "Send data ready" X033 X037 X063 X067 signal To use absolute Connected to Mitsubishi MELSERVO Series position detection servo amplifier Servo-ON signal Y021 Y025 Y031 Y035 system (MR-J2,MR-J2S, MR-J3, MR-H) "ABS data transfer Y022 Y026 Y032 Y036 mode"...
Page 175 Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 12.1 Input/Output Assignment To use pin 3 of the CN1 connector of the MR-C A servo amplifier for "servo ready" signal, set parameter 21 as follows: Series Parameter number Setting value...
Page 176: Programs For Forward/Reverse Rotation (Relay Ladder Program
Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) 12.2.1 Example of Program Positioning operation will be performed using the absolute positioning method as shown in the following chart: →...
Page 177 Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 12.2 Programs for Forward/Reverse Rotation (Relay Ladder Program) X021 M8348 M101 M102 Resets "zero return completion" flag. Zero Positioning Normal Abnormal return being end of end of Resets "forward performed...
Page 178 Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 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...
Page 179: Programs For Forward/Reverse Rotation (Step Ladder (Stl) Program
Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 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 of Program Positioning operation will be performed using the absolute positioning method as shown in the following chart: →...
Page 180 Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 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 181 Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) X025 Resets "forward rotation positioning completion" flag. Positioning Operation "Zero return in reverse stopped completion" flag rotation Resets "reverse rotation direction...
Page 182 Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 12.3 Programs for Forward/Reverse Rotation (Step Ladder (STL) Program) Positioning in forward rotation direction X030 FNC 159 Moves to absolute position K500000 K100000 Y000 Y004 DDRVA 500000 using the drive to Waiting for...
Page 183: Positioning Using Batch Setting Method
Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 12.4 Positioning Using Batch Setting Method 12.4 Positioning Using Batch Setting Method Positioning operation will be performed using the absolute positioning method as shown in the following chart: →...
Page 184 Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 12.4 Positioning Using Batch Setting Method Click "Positioning" tab, and then set Y000 (pulse output destination) as follows. Before clicking "Positioning" tab, click "Memory Capacity" tab, and then enter a check in "Positioning" check box.
Page 185: 12.4.2 Operation Program
Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 12.4 Positioning Using Batch Setting Method Create a program. On the bar, click "Online" and then "Write to PLC". "Write to PLC" window will appear. Apx.
Page 186 Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 12.4 Positioning Using Batch Setting Method X021 M8348 M101 M102 Resets "origin return completion" Origin Positioning Normal Abnormal flag. return being end of end of Resets "normal performed origin...
Page 187 Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 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...
Page 188: Program For Reading Current Abs Value Using Abs Instruction
Series PLC User's Manual - Positioning Control Edition 12 Examples of Programs Built-in Positioning Function 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 positioning instruction for Y000 (pulse output destination) •...
Page 189: 13. Troubleshooting
• The specified voltage is not If the power is properly supplied, please contact the nearest office of supplied to the power supply Mitsubishi Electric distributor . terminal. • The power cable is disconnected. 13.1.2 RUN Indicator Lamp (Statuses: ON, OFF)
Page 190: Batt Indicator Lamp (Statuses: On, Off
- Adopt a noise filter for the power supply line. 3) If taking measures 1) and 2) does not turn off the ERROR indicator lamp, please contact the nearest office of Mitsubishi Electric distributor. The PLC has one of the following...
Page 191: Pulse Output Destination Device And Rotation Direction Output Indicator Lamp
Series PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Function 13.1 LED Indicator Lamp Check 13.1.5 Pulse Output Destination Device and Rotation Direction Output Indicator Lamp 1. If transistor outputs of the main unit are used for positioning LED status during execution of Signal...
Page 192 Series PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Function 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...
Page 193: Error Check
Series PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Function 13.2 Error Check 13.2 Error Check 13.2.1 Error Code Check Method This section describes how to check the error codes using GX Developer. If the display module (FX -7DM) is used, use "error check"...
Page 194: 13.2.2 Error Codes
Series PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Function 13.2 Error Check 13.2.2 Error Codes This section describes error codes related to the positioning instructions. For details of the error codes, refer to the following manual. →...
Page 195: If The Servo Motor Or The Stepping Motor Does Not Operate
Series PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Function 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 196: If Operation Is Stopped At A Wrong Position
Series PLC User's Manual - Positioning Control Edition 13 Troubleshooting Built-in Positioning Function 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 197: 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 198: Description Of Manual (Example Of Connection)
Series PLC User's Manual - Positioning Control Edition Example Connection Description of Manual (Example of Connection) In this manual, the following formats are used for description of the examples of connection: Shows the title of the chapter Shows the title of the manual and the title Indexes the division titles.
Page 199: Appendix 1. Melservo-J3 Series
Series PLC User's Manual - Positioning Control Edition Appendix 1: MELSERVO-J3 Series Example Connection Appendix 1-1 Main Unit (Transistor Output) Appendix 1. MELSERVO-J3 Series Appendix 1-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function". Appedix 1-1-1 Sink Input and Sink Output Apx.
Page 200 Series PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J3 Series Example Connection Appendix 1-2 High-Speed Output Special Adapter Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). Near-point signal (DOG) To ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 201: Appendix 1-2 High-Speed Output Special Adapter
Series PLC User's Manual - Positioning Control Edition Appendix 1: MELSERVO-J3 Series Example Connection Appendix 1-2 High-Speed Output Special Adapter Appendix 1-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. → B. Refer to Section 12.1 of "Built-in Positioning Function". Appedix 1-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output MR-J3 A Series servo...
Page 202: Appendix 1-3 Absolute Position Detection (Transistor Output)
Series PLC User's Manual - Positioning Control Edition Appendix 1. MELSERVO-J3 Series Example Connection Appendix 1-2 High-Speed Output Special Adapter To ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 203: Apx.-8
Series PLC User's Manual - Positioning Control Edition Appendix 1: MELSERVO-J3 Series Example Connection Appendix 1-3 Absolute Position Detection (Transistor Output) 2. FX MR-J3 A Series servo -32MT-LT amplifier DICOM 24V DC DOCOM Photo- Class-D coupler grounding X000 Apx. -16EYT COM1 COM1 Y020...
Page 204: Appendix 2-1 Main Unit (Transistor Output)
Series PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-1 Main Unit (Transistor Output) Appendix 2. MELSERVO-J2 (-Super) Series Appendix 2-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. →...
Page 205 Series PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-1 Main Unit (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). Near-point signal (DOG) To ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 206: Appendix 2-2 High-Speed Output Special Adapter
Series PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-2 High-Speed Output Special Adapter Appendix 2-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 2-2-1 Sink Input, Sink Output (Transistor), and Differential Line Driver Output MR-J2(S) A -2HSY-ADP...
Page 207: Appendix 2-3 Absolute Position Detection (Transistor Output)
Series PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-3 Absolute Position Detection (Transistor Output) To ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 208 Series PLC User's Manual - Positioning Control Edition Appendix 2. MELSERVO-J2 (-Super) Series Example Connection Appendix 2-3 Absolute Position Detection (Transistor Output) 2. FX MR-J2(S) A Series servo amplifier -32MT-LT CN1B 24V DC Class-D Photo- grounding coupler X000 -16EYT COM1 COM1 Y020 Servo-ON...
Page 209: Appendix 3-1 Main Unit (Transistor Output)
Series PLC User's Manual - Positioning Control Edition Appendix 3. MELSERVO-H Series Example Connection Appendix 3-1 Main Unit (Transistor Output) Appendix 3. MELSERVO-H Series Appendix 3-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 3-1-1 Sink Input and Sink Output Apx.
Page 210: Appendix 3-2 Absolute Position Detection (Transistor Output)
Series PLC User's Manual - Positioning Control Edition Appendix 3. MELSERVO-H Series Example Connection Appendix 3-2 Absolute Position Detection (Transistor Output) Be sure to use the class-D grounding method (grounding resistance: 100 Ω or less). Near-point signal (DOG) To ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 211: Appendix 4. Melservo-C Series
Series PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-1 Main Unit (Transistor Output) Appendix 4. MELSERVO-C Series Appendix 4-1 Main Unit (Transistor Output) To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function". Appendix 4-1-1 Sink Input and Sink Output Apx.
Page 212 Series PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-1 Main Unit (Transistor Output) To ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 213: Appendix 4-2 High-Speed Output Special Adapter
Series PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-2 High-Speed Output Special Adapter Appendix 4-2 High-Speed Output Special Adapter To assign the inputs/outputs, refer to the following section. → Refer to Section 12.1 of "B. Built-in Positioning Function" Appendix 4-2-1 Sink Input, Sink Output, and Differential Line Driver Output 24V DC MR-C A...
Page 214 Series PLC User's Manual - Positioning Control Edition Appendix 4. MELSERVO-C Series Example Connection Appendix 4-2 High-Speed Output Special Adapter To ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the PLC side and the servo amplifier side.
Page 215: Warranty
Any other failure found not to be the responsibility controller range of applications. of Mitsubishi or that admitted not to be so by the However, in certain cases, some applications may be user.
Page 216: Revised History
Series PLC User's Manual - Positioning Control Edition Revised History Revised History Date Revision Discription 7/2005 First Edition...
Page 218 USER'S MANUAL - Positioning Control Edition SERIES PROGRAMMABLE CONTROLLERS HEAD OFFICE: MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 HIMEJI WORKS: 840, CHIYODA CHO, HIMEJI, JAPAN FX3U-U-POS-E MODEL 09R620 MODEL CODE JY997D16801A Effective July 2005 (MEE) Specifications are subject to change without notice.

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