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Mitsubishi Electric MELSEC iQ-F Series User Manual

Motion module/ simple motion module

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MELSEC iQ-F FX5

Motion Module/

Simple Motion Module

User's Manual (Application)

-FX5-40SSC-G

-FX5-80SSC-G

-FX5-40SSC-S

-FX5-80SSC-S

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Page 1 MELSEC iQ-F FX5 Motion Module/ Simple Motion Module User's Manual (Application) -FX5-40SSC-G -FX5-80SSC-G -FX5-40SSC-S -FX5-80SSC-S...
Page 3: Safety Precautions
SAFETY PRECAUTIONS (Read the precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
Page 4 [Design Precautions] WARNING  Make sure to set up the following safety circuits outside the programmable controller to ensure safe system operation even during external power supply problems or programmable controller failure. Otherwise, malfunctions may cause serious accidents. Emergency stop circuits, protection circuits, and protective interlock circuits (for conflicting operations such as forward/reverse rotations or for preventing damage to the equipment such as upper/lower limit positioning) must be configured external to the programmable controller.
Page 5 WARNING  For the operating status of each station after a communication failure, refer to manuals for the network used. For the manuals, please consult your local Mitsubishi representative. Incorrect output or malfunction may result in an accident. [Precautions for using products in a UL/cUL Class , Division 2 environment] ...
Page 6 [Security Precautions] WARNING  To maintain the security (confidentiality, integrity, and availability) of the programmable controller and the system against unauthorized access, denial-of-service (DoS) attacks, computer viruses, and other cyberattacks from external devices via the network, take appropriate measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.
Page 7 [Installation Precautions] CAUTION  Do not touch the conductive parts of the product directly. Doing so may cause device failures or malfunctions.  When drilling screw holes or wiring, make sure that cutting and wiring debris do not enter the ventilation slits of the programmable controller.
Page 8 [Wiring Precautions] WARNING  Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product.  Make sure to attach the terminal cover, provided as an accessory, before turning on the power or initiating operation after installation or wiring work.
Page 9 [Wiring Precautions] CAUTION  Do not supply power externally to the [24 +] and [24 V] terminals (24 V DC service power supply) on the CPU module or extension modules. Doing so may damage the product. Note that power may be supplied even when an electronic load which equips with an internal bias power supply is connected.
Page 10 [Startup and Maintenance Precautions] WARNING  Do not touch any terminal while the programmable controller's power is on. Doing so may cause electric shock or malfunctions.  Before cleaning or retightening terminals, cut off all phases of the power supply externally. Failure to do so in the power ON status may cause electric shock.
Page 11  Do not disassemble or modify the programmable controller. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative.  After the first use of the SD memory card, do not insert/remove the memory card more than 500 times.
Page 12 [Transportation Precautions] CAUTION  When transporting the programmable controller with the optional battery, turn on the programmable controller before shipment, confirm that the battery mode is set using a parameter and the BAT LED is off, and check the battery life. If the programmable controller is transported with the BAT LED ON or the battery exhausted, the battery-backed data may be unstable during transportation.
Page 13: Introduction
• 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 14: Table Of Contents
CONTENTS SAFETY PRECAUTIONS ..............1 INTRODUCTION .
Page 15 Speed-position switching control (ABS mode) ..........114 Position-speed switching control .
Page 16 CHAPTER 6 EXPANSION CONTROL Speed-torque Control ..............186 Outline of speed-torque control .
Page 17 CHAPTER 8 COMMON FUNCTIONS Outline of Common Functions ............316 Parameter Initialization Function .
Page 18 Detailed parameters1 ..............460 Detailed parameters2 .
Page 19 Warning type ................727 Warning classification .
Page 20: Relevant Manuals
RELEVANT MANUALS The following manuals are relevant to this product. Manual name [manual number] Description MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual Functions, input/output signals, buffer memories, parameter settings, (Application) programming, and troubleshooting of the Motion module/Simple Motion module [IB-0300253ENG] (This manual) MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual Specifications, procedures before operation, system configuration, wiring, and...
Page 21: Terms
TERMS Unless otherwise specified, this manual uses the following terms. Term Description 4-axis module Another term for FX5-40SSC-S and FX5-40SSC-G. 8-axis module Another term for FX5-80SSC-S and FX5-80SSC-G. Axis A target for motion control. Buffer memory A memory in an intelligent function module, where data (such as setting values and monitoring values) are stored.
Page 22 Term Description Link up Status in which the cable is connected to the communication port and communication with the destination device is enabled. Local station A station that performs cyclic transmission and transient transmission with the master station and other local stations.
Page 23: Generic Terms And Abbreviations
• SSCNET/H, SSCNET • CC-Link IE TSN Simple Motion module An abbreviation for the MELSEC iQ-F series Simple Motion module. SLMP An abbreviation for Seamless Message Protocol. This protocol enables seamless communication between Ethernet and CC-Link or CC-Link IE networks.
Page 24: Chapter 1 Start And Stop
START AND STOP This chapter describes start and stop methods of the positioning control for the Simple Motion module/Motion module. Start The Simple Motion module/Motion module operates the start trigger in each control, and starts the positioning control. The following table shows the start signals for each control. This section describes the start using the positioning start signal and the external command signal.
Page 25 • Signal state Signal name Signal state Device I/O signal PLC READY signal CPU module preparation completed [Cd.190] PLC READY READY signal Preparation completed [Md.140] Module status: b0 All axis servo ON All axis servo ON [Cd.191] All axis servo ON Synchronization flag The buffer memory can be accessed.
Page 26: Operation Example
Start by the positioning start [Cd.184] The operation at starting by the "[Cd.184] Positioning start" is shown below. • When the "[Cd.184] Positioning start" turns ON, the start complete signal ([Md.31] Status: b14) and "[Md.141] BUSY" turn ON, and the positioning operation starts. It can be seen that the axis is operating when the "[Md.141] BUSY" is ON. •...
Page 27 Operation timing and processing time The following shows details about the operation timing and time during position control. • Operation example [Cd.184] Positioning start [Md.141] BUSY M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Standby...
Page 28: Advance Setting
Start by the external command signal (DI) [FX5-SSC-S] When starting positioning control by inputting the external command signal (DI), the start command can be directly input into the Simple Motion module. This allows the variation time equivalent to one scan time of the CPU module to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed.
Page 29 Starting time chart • Operation example Operation pattern Dwell time Positioning data No. 1(00) [Cd.184] Positioning start [Cd.191] All axis servo ON Servo OFF Standby [Md.26] Axis operation status [Cd.190] PLC READY READY signal ([Md.140] Module status: b0) Start complete signal ([Md.31] Status: b14) [Md.141] BUSY Positioning complete signal...
Page 30: Multiple Axes Simultaneous Start
Multiple axes simultaneous start The "multiple axes simultaneous start" starts outputting the command to the specified simultaneous starting axis at the same timing as the started axis. A maximum of four axes can be started simultaneously. Control details The multiple axes simultaneous start control is carried out by setting the simultaneous start setting data to the multiple axes simultaneous start control buffer memory of the axis control data, "9004"...
Page 31: Setting Method
Setting method The following shows the setting of the data used to execute the multiple axes simultaneous start control with positioning start signals (The axis control data on the start axis is set). n: Axis No. - 1 Setting item Setting Setting details Buffer memory...
Page 32: Stop
Stop The axis stop signal or stop signal from external input signal is used to stop the control. Create a program to turn ON the axis stop signal [Cd.180] as the stop program. Each control is stopped in the following cases. •...
Page 33 Stop cause Stop process Home position return Major High-level Manual control control positioning positioning control control Machine Fast home JOG/ Manual home position Inching pulse position return operation generator return control operation control Forced stop Forced stop input to Simple Motion Immediate stop ...
Page 34 Types of stop processes The operation can be stopped with deceleration stop, rapid stop or immediate stop. Deceleration stop The operation stops with "deceleration time 0 to 3" ([Pr.10], [Pr.28], [Pr.29], [Pr.30]). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ([Da.4]).
Page 35: Order Of Priority For Stop Process
Order of priority for stop process The order of priority for the Simple Motion module/Motion module stop process is as follows. (Deceleration stop) < (Rapid stop) < (Immediate stop) • If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of "[Cd.42] Stop command processing for deceleration stop selection".
Page 36: Restart
Restart When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point by using the "restart command" ([Cd.6] Restart command). ("Restarting" is not possible when "continuous operation is interrupted.") This instruction is efficient when performing the remaining positioning from the stopped position in the positioning control of incremental method such as INC linear 1.
Page 37 Setting method Set the following data to execute restart. n: Axis No. - 1 Setting item Setting Setting details Buffer memory value address [Cd.6] Restart command Set "1: Restarts". 4303+100n Refer to the following for the setting details. Page 559 Control Data Time chart for restarting Operation example Dwell time...
Page 38: Chapter 2 Home Position Return Control
HOME POSITION RETURN CONTROL The details and usage of "home position return control" are explained in this chapter. Outline of Home Position Return Control Two types of home position return control In "home position return control", a position is established as the starting point (or "home position") when carrying out positioning control, and positioning is carried out toward that starting point.
Page 39 When using an absolute position system • This flag turns on in the following cases: • When not executing a machine home position return even once after the system starts • Machine home position return start (Unless a machine home position return is completed normally, the home position return request flag does not turn off.) •...
Page 40 Home position return sub functions Refer to "Combination of Main Functions and Sub Functions" in the following manual for details on "sub functions" that can be combined with home position return control. MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Startup) Also refer to the following for details on each sub function.
Page 41: Machine Home Position Return
Machine Home Position Return Outline of the machine home position return operation Machine home position return operation In a machine home position return, a home position is established. None of the address information stored in the Simple Motion module/Motion module, CPU module, or servo amplifier is used at this time.
Page 42 When "[Pr.43] Home position return method" is set to "Driver home position return method" Set the home position return parameters of the servo amplifier. The "machine home position return" is started. The operation starts according to the speed and direction set in the servo amplifier. The "home position"...
Page 43: Machine Home Position Return Method
Machine home position return method The method by which the machine home position is established (method for judging the home position and machine home position return completion) is designated in the machine home position return according to the configuration and application of the positioning method.
Page 44: Creep Speed
Creep speed The stopping accuracy is poor when the machine rapidly stops from fast speeds. To improve the machine's stopping accuracy, it is required to slow down the speed before it stops. This speed is set in the "[Pr.47] Creep speed".
Page 45: Precautions During Operation
Precautions during operation • When the home position return retry function is not set ("0" is set in "[Pr.48] Home position return retry"), the error "Start at home position" (error code: 1940H) will occur if the machine home position return is attempted again after the machine home position return completion.
Page 46: Count Method1 [Fx5-Ssc-S]
Count method1 [FX5-SSC-S] The following shows an operation outline of the home position return method "count method 1". In the home position return for "count method 1", the following are possible: • Machine home position return with the proximity dog •...
Page 47 Precautions during operation • The error "Count method movement amount fault" (error code: 1944H) will occur if the "[Pr.50] Setting for the movement amount after proximity dog ON" is smaller than the deceleration distance from the "[Pr.46] Home position return speed" to "[Pr.47] Creep speed".
Page 48: Count Method2 [Fx5-Ssc-S]
Count method2 [FX5-SSC-S] The following shows an operation outline of the home position return method "count method 2". The "count method 2" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1" method, using this method will result in more deviation in the stop position during machine home position return.) Operation chart [Pr.46] Home position [Pr.50] Setting for the movement amount...
Page 49 Precautions during operation • The error "Count method movement amount fault" (error code: 1944H) will occur and the operation will not start if the "[Pr.50] Setting for the movement amount after proximity dog ON" is smaller than the deceleration distance from the "[Pr.46] Home position return speed"...
Page 50: Data Set Method [Fx5-Ssc-S]
Data set method [FX5-SSC-S] The following shows an operation outline of the home position return method "data set method". The "Data set method" method is a method in which a "Proximity dog" is not used. With the data set method home position return, the position where the machine home position return has been carried out, is registered into the Simple Motion module as the home position, and the command position value and feed machine value is overwritten to a home position address.
Page 51: Scale Origin Signal Detection Method [Fx5-Ssc-S]
Scale origin signal detection method [FX5-SSC-S] The following shows an operation outline of the home position return method "scale origin signal detection method". Set "0: Need to pass servo motor Z-phase after power on" in "Function selection C-4 (PC17)". If "1: Not need to pass servo motor Z-phase after power on"...
Page 52 Precautions during operation • The error "Start at home position" (error code: 1940H) will occur if another machine home position return is attempted immediately after a machine home position return completion when the home position is in the proximity dog ON position. •...
Page 53 • When the zero signal is detected again during deceleration (4.) in the following figure) with detection of zero signal, the operation stops at the zero signal detected lastly to complete the home position return. [Pr.44] Home position return direction [Pr.46] Home position return speed [Pr.47] Creep speed Proximity dog OFF...
Page 54: Driver Home Position Return Method
Driver home position return method The home position return is executed based on the positioning pattern set on the driver (servo amplifier) side (hereafter called the "driver side"). Set the setting values of home position return in the parameters of the driver side. Refer to the manual of the driver because the home position return operation and parameters depend on the specification of the driver.
Page 55 When the machine home position return is stopped Motor speed 9001 [Cd.3] Positioning start No. [Cd.184] Positioning start [Md.141] Busy [Cd.180] Axis stop Home position return request flag ([Md.31] Status: b3) Home position return complete flag ([Md.31] Status: b4) [Md.26] Axis operation status 0: Standby 7: Home position return 1: Stopped...
Page 56 Backlash compensation after the driver home position return method When "[Pr.11] Backlash compensation amount" is set in the Simple Motion module/Motion module, whether the backlash compensation is necessary or not is judged from "[Pr.44] Home position return direction" of the Simple Motion module/Motion module in the axis operation such as positioning after the driver home position return.
Page 57: Fast Home Position Return
Fast Home Position Return Outline of the fast home position return operation Fast home position return operation After establishing home position by a machine home position return, positioning control to the home position is executed without using a proximity dog or a zero signal. The following shows the operation during a basic fast home position return start.
Page 58: Operating Restrictions
• Normal timing time (Unit: [ms]) Operation cycle FX5-SSC-S 0.888 0.3 to 1.4 3.83 to 4.59 0 to 0.9 1.777 0.3 to 1.4 4.76 to 6.43 0 to 1.8 FX5-SSC-G 0.500 0.4 to 1.0 1.75 to 2.50 0 to 1.0 1.000 0.4 to 1.5 3.2 to 3.5...
Page 59: Selection Of The Home Position Return Setting Condition
Selection of the Home Position Return Setting Condition This function can be set when the servo amplifier to be connected supports the servo parameter "Selection of the home position return setting condition". Refer to the instruction manual or manual for the servo amplifiers to be connected for confirming if the function is supported or not.
Page 60: Chapter 3 Major Positioning Control
MAJOR POSITIONING CONTROL The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter. The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control"...
Page 61 Major positioning control [Da.2] Control method Details Speed-position switching control Forward run speed/position The control is continued as position control (positioning for the designated Reverse run speed/position address or movement amount) by turning ON the "speed-position switching signal" after first carrying out speed control. Position-speed switching control Forward run position/speed The control is continued as speed control by turning ON the "position-speed...
Page 62: Data Required For Major Positioning Control
Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Setting item Setting details Positioning [Da.1] Operation pattern Set the method by which the continuous positioning data (Ex: positioning data No.1, No.2, data No.3) will be controlled.
Page 63: Operation Patterns Of Major Positioning Controls
Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), "[Da.1] Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types. Positioning control Operation pattern Positioning complete...
Page 64 Continuous positioning control • The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the Simple Motion module/Motion module command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses.
Page 65 Continuous path control Continuous path control • The speed is changed without deceleration stop between the command speed of the "positioning data No. currently being executed" and the speed of the "positioning data No. to carry out the next operation". The speed is not changed if the current speed and the next speed are equal.
Page 66 Deceleration stop conditions during continuous path control Deceleration stops are not carried out in continuous path control, but the machine will carry out a deceleration stop to speed "0" in the following 3 cases. • When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement direction of the positioning data currently being executed differs from that of the next positioning data.
Page 67 Speed handling • Continuous path control command speeds are set with each positioning data. The Simple Motion module/Motion module carries out the positioning at the speed designated with each positioning data. • The command speed can be set to "-1" in continuous path control. The control will be carried out at the speed used in the previous positioning data No.
Page 68 Speed switching (Standard speed switching mode: Switch the speed when executing the next positioning data.) (Page 466 [Pr.19] Speed switching mode) • If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the machine will accelerate or decelerate after reaching the positioning point set in the "positioning data currently being executed"...
Page 69 Speed switching (Front-loading speed switching mode: The speed switches at the end of the positioning data currently being executed.) (Page 466 [Pr.19] Speed switching mode) • If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the speed will change over to the speed set in the "positioning data to carry out the next operation"...
Page 70: Designating The Positioning Address
Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning is carried out to a designated position (absolute address) having the home position as a reference. This address is regarded as the positioning address.
Page 71: Confirming The Current Value
Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the Simple Motion module/Motion module. These addresses ("command position value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc.
Page 72: Program Example
Program example The following shows the program example that stores the command position value of the axis 1 in the specified device when X40 is turned ON. [FX5-SSC-S] [FX5-SSC-G] Classification Label name Description Module label FX5SSC_1.stnAxMntr_D[0].dCommandPosition_D Axis 1 Command position value Global label, local Defines the global label or the local label as follows.
Page 73: Control Unit "Degree" Handling
Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. Command position value and machine feed value addresses The address of "[Md.20] Command position value" becomes a ring address from 0 to 359.99999. The address of "[Md.21] Machine feed value"...
Page 74 Positioning control method when the control unit is set to "degree" Absolute system (When the software stroke limit is invalid) Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. (This is called "shortcut control".) 1) Positioning is carried out in a clockwise direction when the current value is moved from 315...
Page 75 Incremental system Positioning is carried out for a designated movement amount in a designated movement direction when in the incremental system of positioning. The movement direction is determined by the sign (+, -) of the movement amount. For a positive (+) movement direction Clockwise For a negative (-) movement direction Counterclockwise...
Page 76: Interpolation Control
Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed- feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis speed control", "3-axis speed control", "4-axis speed control", and "2-axis circular interpolation control", control is carried out so that linear and arc paths are drawn using a motor set in two to four axis directions.
Page 77 *1 The axis No. is set to axis to be interpolated No.1 for 2-axis linear interpolation, to axis to be interpolated No.1 and No.2 for 3-axis linear interpolation, and to axis to be interpolated No.1 to No.3 for 4-axis linear interpolation. If the self-axis is set, the error "Illegal interpolation description command"...
Page 78 Limits to interpolation control There are limits to the interpolation control that can be executed and speed ([Pr.20] Interpolation speed designation method) that can be set, depending on the "[Pr.1] Unit setting" of the reference axis and interpolation axis. (For example, 2-axis circular interpolation control cannot be executed if the reference axis and interpolation axis units differ.) The following table shows the interpolation control and speed designation limits.
Page 79: Setting The Positioning Data
Setting the Positioning Data Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the "[Da.2] Control method". The following table shows the positioning data setting items corresponding to the different types of control. (In this section, it is assumed that the positioning data setting is carried out using an engineering tool.) : Always set : Set as required (""...
Page 80 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH [FX5-SSC-S], or error code 1B1EH [FX5-SSC-G]) will occur at start.) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning data Speed-position switching control Position-speed switching control...
Page 81: 1-Axis Linear Control
It is recommended that the "positioning data" be set whenever possible with an engineering tool. Execution by a program uses many programs and devices. The execution becomes complicated, and the scan times will increase. 1-axis linear control In "1-axis linear control" ("[Da.2] Control method" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction.
Page 82 1-axis linear control (INC linear 1) Operation chart In incremental system 1-axis linear control, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
Page 83: 2-Axis Linear Interpolation Control
2-axis linear interpolation control In "2-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 74 Interpolation control for details on interpolation control.) 2-axis linear interpolation control (ABS linear 2) Operation chart...
Page 84 Setting positioning data When using 2-axis linear interpolation control (ABS linear 2), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis [Da.1] Operation pattern...
Page 85 2-axis linear interpolation control (INC linear 2) Operation chart In incremental system 2-axis linear interpolation control, the designated 2 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/movement amount".
Page 86 Setting positioning data When using 2-axis linear interpolation control (INC linear 2), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis [Da.1] Operation pattern...
Page 87: 3-Axis Linear Interpolation Control
3-axis linear interpolation control In "3-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 74 Interpolation control for details on interpolation control.) 3-axis linear interpolation control (ABS linear 3) Operation chart...
Page 88 Setting positioning data When using 3-axis linear interpolation control (ABS linear 3), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis [Da.1] Operation pattern...
Page 89 3-axis linear interpolation control (INC linear 3) Operation chart In the incremental system 3-axis linear interpolation control, the designated 3 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the "[Da.6] Positioning address/movement amount".
Page 90 Setting positioning data When using 3-axis linear interpolation control (INC linear 3), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis [Da.1] Operation pattern...
Page 91: 4-Axis Linear Interpolation Control
4-axis linear interpolation control In "4-axis linear interpolation control" ("[Da.2] Control method" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Page 74 Interpolation control for details on interpolation control.) 4-axis linear interpolation control (ABS linear 4) In the absolute system 4-axis linear interpolation control, the designated 4 axes are used.
Page 92 4-axis linear interpolation control (INC linear 4) In the incremental system 4-axis linear interpolation control, the designated 4 axes are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the "[Da.6] Positioning address/movement amount".
Page 93: Fixed-Feed Control
Fixed-feed control In "fixed-feed control" ("[Da.2] Control method" = fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4), the motor of the specified axis is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of below control accuracy is rounded down to convert the movement amount designated in the positioning data into the command value to servo amplifier.
Page 94 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH [FX5-SSC-S], or error code 1B1EH [FX5-SSC-G]) will occur and the operation cannot start if "continuous path control" is set in "[Da.1] Operation pattern". ("Continuous path control" cannot be set in fixed-feed control.) •...
Page 95 When the movement amount is converted to the actual number of command pulses, a fraction appears after the decimal point, according to the movement amount per pulse. This fraction is normally retained in the Simple Motion module/Motion module and reflected at the next positioning. For the fixed-feed control, since the movement distance is maintained constant (= the command number of pulses is maintained constant), the control is carried out after the fraction pulse is cleared to zero at start.
Page 96: 2-Axis Circular Interpolation Control With Sub Point Designation
2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis.
Page 97 Setting positioning data When using 2-axis circular interpolation control with sub point designation (ABS circular sub), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis [Da.1]...
Page 98 2-axis circular interpolation control with sub point designation (INC circular sub) Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/ movement amount"...
Page 99 Setting positioning data When using 2-axis circular interpolation control with sub point designation (INC circular sub), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis [Da.1]...
Page 100: 2-Axis Circular Interpolation Control With Center Point Designation
2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" ("[Da.2] Control method" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having an arc address as a center point, while carrying out interpolation for the axis directions set in each axis.
Page 101 Calculated error > "[Pr.41] Allowable circular interpolation error width" At the positioning start, the error "Large arc error deviation" (error code: 1A17H [FX5-SSC-S], or error code 1B17H [FX5-SSC- G]) will occur and the control will not start. The machine will immediately stop if the error is detected during positioning control. 2-axis circular interpolation control with center point designation (ABS circular) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation positioning is carried out from the...
Page 102 Restrictions 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in "[Pr.1] Unit setting" • When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) •...
Page 103 2-axis circular interpolation control with center point designation (INC circular) Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in "[Da.6] Positioning address/ movement amount", in an arc path having as its center the address (arc address) of the center point set in "[Da.7] Arc address".
Page 104 Restrictions 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in "[Pr.1] Unit setting" • When the units set in "[Pr.1] Unit setting" are different for the reference axis and interpolation axis. ("mm" and "inch" combinations are possible.) •...
Page 105: Speed Control
Speed control In "speed control" ("[Da.2] Control method" = Forward run: speed 1 to 4, Reverse run: speed 1 to 4), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in "[Da.8] Command speed"...
Page 106 2-axis speed control Interpolation axis (axis 2) [Da.8] Command speed Reference axis (axis 1) [Da.8] Command speed [Cd.184] Positioning start [Md.141] BUSY Does not turn ON even when control is stopped by stop command. Positioning complete signal ([Md.31] Status: b15) [Cd.180] Axis stop In speed control flag ([Md.31] Status: b0)
Page 107 Command position value The following table shows the "[Md.20] Command position value" during speed control corresponding to the "[Pr.21] Command position value during speed control" settings. (However, the parameters use the set value of the reference axis.) "[Pr.21] Command position value during speed control" setting [Md.20] Command position value 0: Do not update command position value The command position value at speed control start is maintained.
Page 108 Setting positioning data When using speed control (forward run: speed 1 to 4, reverse run: speed 1 to 4), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required Setting required/not required for the reference axis for the interpolation axis...
Page 109: Speed-Position Switching Control (Inc Mode)
Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output on the axial direction set to the positioning data.
Page 110: Operation Example
Operation chart The following chart shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ([Md.31] Status: b0) is turned ON during speed control of speed-position switching control (INC mode). Operation example • When using the external command signal (DI) as speed-position switching signal [Da.8] Command speed Movement amount set in "[Da.6] Positioning address/movement amount"...
Page 111 Operation timing and processing time Operation example [Cd.184] Positioning start [Md.141] BUSY M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Position [Md.26] Axis operation status Standby Speed control Standby control Speed...
Page 112 • Normal timing time (Unit: [ms]) Operation cycle FX5-SSC-S 0.888 0.3 to 1.4 0 to 0.9 0 to 0.9 3.96 to 4.45 0 to 0.9 0 to 0.9 Follows parameters 1.777 0.3 to 1.4 0 to 1.8 0 to 1.8 4.85 to 6.49 0 to 1.8 0 to 0.9...
Page 113 Speed-position switching signal setting External command signals (DI) The following table shows the items that must be set to use the external command signals (DI) as speed-position switching signals. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Pr.42] External command function...
Page 114 Changing the position control movement amount In "speed-position switching control (INC mode)", the position control movement amount can be changed during the speed control section. • The position control movement amount can be changed during the speed control section of speed-position switching control (INC mode).
Page 115 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH [FX5-SSC-S], or error code 1B1EH [FX5-SSC-G]) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 116: Speed-Position Switching Control (Abs Mode)
Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" ("[Da.2] Control method" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in "[Da.8] Command speed" are kept output in the axial direction set to the positioning data.
Page 117 n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Cd.24] Speed-position switching Speed control will be taken over by position control when the 4328+100n enable flag switching signal set in "[Cd.45] Speed-position switching device selection" turns ON. Operation chart The following chart shows the operation timing for speed-position switching control (ABS mode).
Page 118 Operation timing and processing time Operation example [Cd.184] Positioning start [Md.141] BUSY M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) [Md.26] Axis operation status Standby Speed control Position control Standby Speed Position...
Page 119 Command position value The following table shows the "[Md.20] Command position value" during speed-position switching control (ABS mode) corresponding to the "[Pr.21] Command position value during speed control" settings. "[Pr.21] Command position value during speed control" setting [Md.20] Command position value 1: Update command position value The command position value is updated during speed control and position control.
Page 120 Speed-position switching signal setting External command signals (DI) The following table shows the items that must be set to use the external command signals (DI) as speed-position switching signals. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Pr.42] External command function selection...
Page 121 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH [FX5-SSC-S], or error code 1B1EH [FX5-SSC-G]) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Speed-position switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 122 Setting positioning data When using speed-position switching control (ABS mode), set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1] Operation pattern  [Da.2] Control method  (Set "Forward run: speed/position" or "Reverse run: speed/position".) [Da.3] Acceleration time No.
Page 123: Position-Speed Switching Control
Position-speed switching control In "position-speed switching control" ("[Da.2] Control method" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in "[Da.6] Positioning address/movement amount" in the axis direction in which the positioning data has been set. When the position- speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in "[Da.8] Command speed"...
Page 124 Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ([Md.31] Status: b0) is turned ON during speed control of position-speed switching control. Operation example • When using the external command signal (DI) as position-speed switching signal [Da.8] Command speed Position Speed control...
Page 125 Operation timing and processing time [Cd.184] Positioning start [Md.141] BUSY M code ON signal ([Md.31] Status: b12) (WITH mode) [Cd.7] M code OFF request Start complete signal ([Md.31] Status: b14) Standby Speed control Stopped Position control [Md.26] Axis operation status Position Speed control...
Page 126 Command position value The following table shows the "[Md.20] Command position value" during position-speed switching control corresponding to the "[Pr.21] Command position value during speed control" settings. "[Pr.21] Command position value during speed control" setting [Md.20] Command position value 0: Do not update command position value The command position value is updated during position control, and the command position value at the time of switching is maintained as soon as position control is switched to speed control.
Page 127 Position-speed switching signal setting External command signals (DI) The following table shows the items that must be set to use the external command signals (DI) as position-speed switching signals. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Pr.42] External command function...
Page 128 Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position control. • The speed control command speed can be changed during the position control of position-speed switching control. A command speed change request will be ignored unless issued during the position control of the position-speed switching control.
Page 129 Restrictions • The error "Continuous path control not possible" (error code: 1A1EH [FX5-SSC-S], or error code 1B1EH [FX5-SSC-G]) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in "[Da.1] Operation pattern". • "Position-speed switching control" cannot be set in "[Da.2] Control method" of the positioning data when "continuous path control"...
Page 130: Current Value Changing
Current value changing When the current value is changed to a new value, control is carried out in which the "[Md.20] Command position value" of the stopped axis is changed to a random address set by the user. (The "[Md.21] Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.
Page 131 Setting positioning data When using current value changing, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1] Operation pattern  [Da.2] Control method  (Set the current value changing.) [Da.3] Acceleration time No.
Page 132 The new current value can be changed using the current value changing start No. (No.9003) if "0: Positioning control is not executed" is set in "[Pr.55] Operation setting for incompletion of home position return" and home position return request flag is ON. Current value changing procedure The following shows the procedure for changing the current value to a new value.
Page 133 Program example Add the following program to the control program, and write it to the CPU module. Classification Label name Description Module label FX5SSC_1.stnAxCtrl2_D[0].uPositioningStart_D.0 Axis 1 Positioning start signal FX5SSC_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Start complete FX5SSC_1.stnAxCtrl1_D[0].dNewPosition_D Axis 1 New position value FX5SSC_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No.
Page 134: Nop Instruction
NOP instruction The NOP instruction is used for the nonexecutable control method. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Setting positioning data When using the NOP instruction, set the following positioning data.
Page 135: Jump Instruction
JUMP instruction The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction includes the following two types of JUMP. JUMP instruction Description Unconditional JUMP...
Page 136 Setting positioning data When using the JUMP instruction, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1] Operation pattern  [Da.2] Control method  (Set the JUMP instruction.) [Da.3] Acceleration time No.
Page 137: Loop
LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Setting positioning data When using the LOOP, set the following positioning data. : Always set, : Set as required, : Setting not required Setting item Setting required/not required [Da.1]...
Page 138: Lend
LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No. processing is started.
Page 139: Chapter 4 High-Level Positioning Control
HIGH-LEVEL POSITIONING CONTROL The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data". Examples of applied control are using conditional judgment to control "positioning data"...
Page 140: Data Required For High-Level Positioning Control
Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data"...
Page 141: Block Start Data" And "Condition Data" Configuration
"Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No.7000" can be stored in the buffer memory. 50th point Buffer memory Setting item address 2nd point 1st point Buffer memory Setting item address Buffer memory 22049+400n...
Page 142: High-Level Positioning Control Execution Procedure
High-level Positioning Control Execution Procedure High-level positioning control is carried out using the following procedure. Preparation "High-level positioning control" executes STEP 1 each control ("major positioning control") set Carry out the "major positioning control" setting. in the positioning data with the designated conditions, so first carry out preparations so that "major positioning control"...
Page 143: Setting The Block Start Data
Setting the Block Start Data Relation between various controls and block start data The "block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each "block start data" item to be set differ according to the "[Da.13] Special start instruction"...
Page 144: Block Start
Block start In a "block start (normal start)", the positioning data groups of a block are continuously executed in a set PLC starting from the positioning data set in "[Da.12] Start data No." by one start. The control examples are shown when the "block start data" and "positioning data" are set as shown in the setting examples. Setting examples Block start data setting example Axis 1 block start data...
Page 145: Operation Example
Control examples The following shows the control being executed when the "block start data" of the 1st point of axis 1 is set as shown in the setting examples and started. • The positioning data is executed in the following order before stopping. Axis 1 positioning data No.1  2  3  4  5  6 ...
Page 146: Condition Start
Condition start In a "condition start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" set in "1: condition start"...
Page 147: Wait Start
Wait start In a "wait start", the "condition data" conditional judgment designated in "[Da.14] Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the conditions have been established, the "block start data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.
Page 148: Simultaneous Start
Simultaneous start In a "simultaneous start", the positioning data set in the "[Da.12] Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (commands are output with the same timing). (The "condition data" is designated with "[Da.14] Parameter".) The control examples are shown when the "block start data"...
Page 149: Repeated Start (For Loop)
Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the "block start data" in which "4: FOR loop" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction " is repeatedly executed for the number of times set in "[Da.14] Parameter".
Page 150: Repeated Start (For Condition)
Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the "block start data" in which "5: FOR condition" is set in "[Da.13] Special start instruction" and the "block start data" in which "6: NEXT start" is set in "[Da.13] Special start instruction" is repeatedly executed until the establishment of the conditions set in the "condition data".
Page 151: Restrictions When Using The Next Start
Restrictions when using the NEXT start The "NEXT start" is an instruction indicating the end of the repetitions when executing the repeated start (FOR loop) and the repeated start (FOR condition). (Page 147 Repeated start (FOR loop), Page 148 Repeated start (FOR condition)) The following shows the restrictions when setting "6: NEXT start"...
Page 152: Setting The Condition Data
Setting the Condition Data Relation between various controls and the condition data "Condition data" is set in the following cases. • When setting conditions during execution of JUMP instruction (major positioning control) • When setting conditions during execution of "high-level positioning control" The "condition data"...
Page 153 The setting requirements and details of the following "condition data" [Da.16] to [Da.19] and [Da.23] setting items differ according to the "[Da.15] Condition target" setting. The following shows the [Da.16] to [Da.19] and [Da.23] setting items corresponding to the "[Da.15] Condition target". : Setting not required (Set the initial value or a value within the setting range.) **: Value stored in buffer memory designated in [Da.17] [Da.15] Condition...
Page 154: Condition Data Setting Examples
Condition data setting examples The following shows the setting examples for "condition data". Setting the monitor data ON/OFF as a condition [Condition] The monitor data "[Md.141] BUSY" (Axis 1) is OFF [Da.15] [Da.16] [Da.17] [Da.18] [Da.19] [Da.23] [Da.24] [Da.25] [Da.26] Condition Condition Address...
Page 155: Start Program For High-Level Positioning Control
Start Program for High-level Positioning Control Starting high-level positioning control To execute high-level positioning control, a program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data" (regarded as block No.7000) set in axis 1. Simple Motion module/Motion module Buffer memory Servo amplifier...
Page 156: Example Of A Start Program For High-Level Positioning Control
Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point "block start data" of axis 1 is started. (The block No. is regarded as "7000".) Control data that require setting The following control data must be set to execute high-level positioning control.
Page 157 Start time chart The following chart shows a time chart in which the positioning data No.1, 2, 10, 11, and 12 of the axis 1 are continuously executed as an example. Block start data setting example Axis 1 block start data [Da.11] Shape [Da.12] Start data No.
Page 158: Program Example
Program example Set the block start data beforehand. Classification Label name Description Module label FX5SSC_1.stSysMntr2_D.bnBusy_D[0] Axis 1 BUSY signal FX5SSC_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Start complete FX5SSC_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No. FX5SSC_1.stnAxCtrl1_D[0].uPositioningStartingPointNo_D Axis 1 Positioning starting point No. FX5SSC_1.stnAxCtrl2_D[0].uPositioningStart_D.0 Axis 1 Positioning start signal Global label, local Defines the global label or the local label as follows.
Page 159: Chapter 5 Manual Control
MANUAL CONTROL The details and usage of manual control are explained in this chapter. In manual control, commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG start signal, or from a manual pulse generator connected to the Simple Motion module/Motion module. Manual control using a program from the CPU module is explained in this chapter.
Page 160 [Manual pulse generator operation] "Manual pulse generator operation" is a control method in which positioning is carried out in response to the number of pulses input from a manual pulse generator (the number of input command is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address.
Page 161: Jog Operation
JOG Operation Outline of JOG operation Operation In JOG operation, the forward run JOG start signal [Cd.181] or reverse run JOG start signal [Cd.182] turns ON, causing pulses to be output to the servo amplifier from the Simple Motion module/Motion module while the signal is ON. The workpiece is then moved in the designated direction.
Page 162: Precautions During Operation
Precautions during operation The following details must be understood before carrying out JOG operation. • For safety, set a small value to "[Cd.17] JOG speed" at first and check the movement. Then gradually increase the value. • The error "Outside JOG speed range" (error code: 1980H [FX5-SSC-S], or error code 1A80H [FX5-SSC-G]) will occur and the operation will not start if the "JOG speed"...
Page 163 Operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. Operation example [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start [Md.141] BUSY [Md.26] Axis operation status Standby (0) JOG operation (3) Standby (0) Positioning operation Positioning complete signal...
Page 164: Jog Operation Execution Procedure
JOG operation execution procedure The JOG operation is carried out by the following procedure. One of the following two methods can be used. STEP 1 Set the parameters. Preparation ([Pr.1] to [Pr.39]) <Method 1> Directly set (write) the parameters in the Simple Motion module/Motion module using the engineering tool.
Page 165: Setting The Required Parameters For Jog Operation
Setting the required parameters for JOG operation The "Positioning parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. Parameters not shown below are not required to be set for carrying out only JOG operation. (Set the initial values or a value within the setting range.) : Setting always required.
Page 166: Creating Start Programs For Jog Operation
Creating start programs for JOG operation A program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a JOG operation is started for axis 1. ("[Cd.17] JOG speed" is set to "100.00 mm/min" in the example shown.) Required control data setting The control data shown below must be set to execute a JOG operation.
Page 167 Start time chart Operation example Forward JOG run Reverse JOG run [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start [Cd.190] PLC READY [Cd.191] All axis servo ON READY signal ([Md.140] Module status: b0) [Md.141] BUSY Error detection signal ([Md.31] Status: b13) Program example Refer to the following for the program example of the JOG operation.
Page 168: Jog Operation Example
JOG operation example Example 1 When the stop signal is turned ON during JOG operation, the JOG operation will stop by the deceleration stop method. If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 1908H [FX5- SSC-S], or error code 1A08H [FX5-SSC-G]) will occur.
Page 169 Example 2 When both the forward run JOG start signal and the reverse run JOG start signal are turned ON simultaneously for one axis, the forward run JOG start signal is given priority. In this case, the reverse run JOG start signal is validated when the BUSY signal of Simple Motion module/Motion module is turned OFF.
Page 170: Inching Operation
Inching Operation Outline of inching operation Operation In inching operation, pulses are output to the servo amplifier at operation cycle to move the workpiece by a designated movement amount after the forward run JOG start signal [Cd.181] or reverse JOG start signal [Cd.182] is turned ON. The following shows the example of inching operation.
Page 171 Precautions during operation The following details must be understood before inching operation is carried out. • Acceleration/deceleration processing is not carried out during inching operation. (Commands corresponding to the designated inching movement amount are output at operation cycle. When the movement direction of inching operation is reversed and backlash compensation is carried out, the backlash compensation amount and inching movement amount are output at the same operation cycle.) The "[Cd.17] JOG speed"...
Page 172 Operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. Operation example [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start [Md.141] BUSY [Md.26] Axis operation status Standby (0) JOG operation (3) Standby (0) Arbitrary value [Cd.16] Inching movement...
Page 173: Inching Operation Execution Procedure
Inching operation execution procedure The inching operation is carried out by the following procedure. One of the following two methods can be used. Preparation STEP 1 Set the parameters. ([Pr.1] to [Pr.31]) <Method 1> Directly set (write) the parameters in the Simple Motion module/Motion module using the engineering tool.
Page 174: Setting The Required Parameters For Inching Operation
Setting the required parameters for inching operation The "Positioning parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. Parameters not shown below are not required to be set for carrying out only inching operation. (Set the initial values or a value within the setting range.) : Setting always required.
Page 175: Creating A Program To Start The Inching Operation
Creating a program to start the inching operation A program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1. (The example shows the inching operation when a "10.0 m"...
Page 176 Start time chart Operation example Forward run inching operation Reverse run inching operation [Cd.181] Forward run JOG start [Cd.182] Reverse run JOG start [Cd.190] PLC READY [Cd.191] All axis servo ON READY signal ([Md.140] Module status: b0) [Md.141] BUSY Error detection signal ([Md.31] Status: b13) Positioning complete signal ([Md.31] Status: b15)
Page 177: Inching Operation Example
Inching operation example Example 1 If the JOG start signal is turned ON while the stop signal is ON, the error "Stop signal ON at start" (error code: 1908H [FX5- SSC-S], or error code 1A08H [FX5-SSC-G]) will occur. The inching operation can be re-started when the stop signal is turned OFF and the JOG start signal is turned ON from OFF. Operation example Ignores that the JOG start signal is turned ON from OFF while the stop signal is ON.
Page 178: Manual Pulse Generator Operation
Manual Pulse Generator Operation Outline of manual pulse generator operation Operation In manual pulse generator operations, pulses are input to the Simple Motion module/Motion module from the manual pulse generator. This causes the same number of input command to be output from the Simple Motion module/Motion module to the servo amplifier, and the workpiece is moved in the designated direction.
Page 179 Precautions during operation The following details must be understood before carrying out manual pulse generator operation. • If "[Cd.21] Manual pulse generator enable flag" is turned ON while the Simple Motion module/Motion module is BUSY (BUSY signal ON), the warning "Start during operation" (warning code: 0900H [FX5-SSC-S], or warning code 0D00H [FX5- SSC-G]) will occur.
Page 180 Manual pulse generator speed limit mode [FX5-SSC-G] In "[Pr.122] Manual pulse generator speed limit mode", the output operation which exceeds "[Pr.123] Manual pulse generator speed limit value" can be set during manual pulse generator operation. The setting value and operation for "[Pr.122] Manual pulse generator speed limit mode" are shown below. Setting Operation value...
Page 181 Operations when stroke limit error occurs When the hardware stroke limit error or the software stroke limit error is detected during operation, the operation will decelerate to a stop. However, in case of "[Md.26] Axis operation status", "Manual pulse generator operation" will continue After stopping, input pulses from a manual pulse generator to the outside direction of the limit range are not accepted, but operation can be executed within the range.
Page 182 Position control by manual pulse generator operation In manual pulse generator operation, the position is moved by a "manual pulse generator 1 pulse movement amount" per pulse. The command position value in the positioning control by manual pulse generator operation can be calculated using the expression shown below.
Page 183: Manual Pulse Generator Operation Execution Procedure
Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. Preparation STEP 1 One of the following two methods can be used. Set the parameters. [FX5-SSC-S] [Pr.1] to [Pr.24], [Pr.89], [Pr.151] <Method 1> [FX5-SSC-G] [Pr.1] to [Pr.22], [Pr.156] Directly set (write) the parameters in the Simple Motion module/Motion module using the engineering tool.
Page 184: Setting The Required Parameters For Manual Pulse Generator Operation
Setting the required parameters for manual pulse generator operation The "Positioning parameters" and "Common parameters" must be set to carry out manual pulse generator operation. The following table shows the setting items of the required parameters for carrying out manual pulse generator operation. Parameters not shown below are not required to be set for carrying out only manual pulse generator operation.
Page 185 Block diagram of the manual pulse generator operation [FX5-SSC-G] The flow of the manual pulse generator operation is shown below. Manual pulse generator CPU module [Cd.55] Input value for Manual pulse manual pulse generator input value By 8 [ms] importing generator via CPU [Pr.156] Manual pulse Manual pulse...
Page 186: Creating A Program To Enable/Disable The Manual Pulse Generator Operation
Creating a program to enable/disable the manual pulse generator operation A program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a manual pulse generator operation is started for axis 1. Required control data setting The control data shown below must be set to execute a manual pulse generator operation.
Page 187 Start time chart Operation example Forward run Reverse run Pulse input A-phase Pulse input B-phase [Cd.190] PLC READY [Cd.191] All axis servo ON READY signal ([Md.140] Module status: b0) Start complete signal ([Md.31] Status: b14) [Md.141] BUSY Error detection signal ([Md.31] Status: b13) [Cd.21] Manual pulse generator enable flag...
Page 188: Chapter 6 Expansion Control
EXPANSION CONTROL The details and usage of expansion control are explained in this chapter. Expansion control includes the speed-torque control to execute the speed control and torque control not including position loop and the advanced synchronous control to synchronize with input axis using software with "advanced synchronous control parameter"...
Page 189 Compatible software version Servo amplifier software versions that are compatible with each control mode are shown below. For the support information not listed in the table below, refer to the manual or instruction manual of the servo amplifier to be used. : There is no restriction by the version.
Page 190 [FX5-SSC-G] When controlling motor HK-KT (67108864 pulse/rev), set the servo parameters of the MR-J5(W)-G as follows. PA06 (Electronic gear numerator): 16 PA07 (Electronic gear denominator): 1 PT01.1 (Speed/acceleration/deceleration unit selection): 0 (r/min, mm/s) In speed control, torque control, and continuous operation to torque control mode, the Motion module multiplies the electronic gear ratio of the servo amplifier at the command speed set in the control data and sends the result to the servo amplifier.
Page 191: Setting The Required Parameters For Speed-Torque Control
Setting the required parameters for speed-torque control The "Positioning parameters" must be set to carry out speed-torque control. The following table shows the setting items of the required parameters for carrying out speed-torque control. Parameters not shown below are not required to be set for carrying out only speed-torque control. (Set the initial values or a value within the setting range.) : Setting always required.
Page 192: Setting The Required Data For Speed-Torque Control
Setting the required data for speed-torque control Required control data setting for the control mode switching The control data shown below must be set to execute the control mode switching. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Cd.138] Control mode...
Page 193 Required control data setting for the torque control mode The control data shown below must be set to execute the torque control. n: Axis No. - 1 Setting item Setting value Setting details Buffer memory address [Cd.143] Command torque at torque control mode Set the command torque at torque control mode.
Page 194: Operation Of Speed-Torque Control
Operation of speed-torque control Switching of control mode (Speed control/Torque control) Switching method of control mode To switch the control mode to the speed control or the torque control, set "1" in "[Cd.138] Control mode switching request" after setting the control mode in "[Cd.139] Control mode setting". When the mode is switched to the speed control mode or the torque control mode, the control data used in each control mode must be set before setting "1"...
Page 195 Precautions at control mode switching • The start complete signal and the positioning complete signal do not turn ON at control mode switching. • When "30: Control mode switch", "31: Speed control", or "32: Torque control" is set in "[Md.26] Axis operation status", the BUSY signal turns ON.
Page 196 Operation for "Position control mode  Torque control mode switching" When the position control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from position control mode to torque control mode 0: Command torque...
Page 197 Operation for "Speed control mode  Torque control mode switching" When the speed control mode is switched to the torque control mode, the command torque immediately after the switching is the torque set in "Torque initial value selection (b4 to b7)" of "[Pr.90] Operation setting for speed-torque control mode". Torque initial value selection ([Pr.90]: b4 to b7) Command torque to servo amplifier immediately after switching from speed control mode to torque control mode...
Page 198 Switching of control mode (Continuous operation to torque control) Switching method of control mode To switch the control mode to the continuous operation to torque control mode, set "1" in "[Cd.138] Control mode switching request" after setting the control mode to switch to "[Cd.139] Control mode setting" (30: Continuous operation to torque control mode) from position control mode or speed control mode.
Page 199 Confirm the status of the continuous operation to torque control mode with "b14: Continuous operation to torque control mode" of "[Md.125] Servo status3". When the mode is switched to the continuous operation to torque control mode, the value in "control mode (b2, b3)" of "[Md.108] Servo status1" remains the same as before switching the control mode. (Page 527 Axis monitor data) n: Axis No.
Page 200 Operation for "Position control mode  Continuous operation to torque control mode switching" To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1" in "[Cd.138] Control mode switching request". When the switching condition is satisfied at control mode switching request, "1: Position control mode - continuous operation to torque control mode, speed control mode - continuous operation to torque control mode switching"...
Page 201 The following chart shows the operation timing for axis 1. Continuous operation Position control mode Position control mode to torque control mode Contact with target 1000 Torque 30.0% [Cd.138] Control mode switching request [Cd.139] Control mode setting [Md.141] BUSY [Md.26] Axis operation status [Md.124] Control mode switching status Continuous operation to torque control ([Md.125] Servo status3: b14)
Page 202 Operation for "Speed control mode  Continuous operation to torque control mode switching" To switch to the continuous operation to torque control mode, set the control data used in the control mode before setting "1" in "[Cd.138] Control mode switching request". When the switching condition is satisfied at control mode switching request, "1: Position control mode - continuous operation to torque control mode, speed control mode - continuous operation to torque control mode switching"...
Page 203 The following chart shows the operation timing for axis 1. Continuous operation to Speed control mode Speed control mode torque control mode 10000 Contact with target 1000 -10000 Torque 30.0% [Cd.138] Control mode switching request [Cd.139] Control mode setting [Md.141] BUSY [Md.26] Axis operation status [Md.124] Control mode switching status Continuous operation to torque...
Page 204 Operation for switching from "Position control mode" to "Continuous operation to torque control mode" automatically To switch to the continuous operation to torque control mode automatically when the conditions set in "[Cd.153] Control mode auto-shift selection" and "[Cd.154] Control mode auto-shift parameter" are satisfied, set the control data necessary in the continuous operation to torque control mode, "[Cd.153] Control mode auto-shift selection"...
Page 205 The following chart shows the operation when "1: Command position value pass" is set in "[Cd.153] Control mode auto-shift selection". Position control mode Continuous operation to torque control mode Contact with target 1000 Command position value passes the address "adr" set in "[Cd.154] Control mode auto-shift parameter".
Page 206: Speed Control Mode
Speed control mode Operation for speed control mode The speed control is executed at the speed set in "[Cd.140] Command speed at speed control mode" in the speed control mode. Set a positive value for forward rotation and a negative value for reverse rotation. "[Cd.140]" can be changed any time during the speed control mode.
Page 207: Torque Control Mode
Stop cause during speed control mode The operation for stop cause during speed control mode is shown below. Item Operation during speed control mode "[Cd.180] Axis stop" turned ON. The motor decelerates to speed "0" according to the setting value of "[Cd.142] Deceleration time at speed control mode".
Page 208 • [FX5-SSC-G] "[Cd.143] Command torque at torque control mode" can be changed any time during torque control mode. The relation between the setting of command torque and the torque generation direction of servo motor varies depending on the setting of servo parameters "Travel direction selection (PA14)"...
Page 209 Speed during torque control mode The speed during the torque control mode is controlled with "[Cd.146] Speed limit value at torque control mode". At this time, "Speed limit" ("[Md.119] Servo status2": b4) turns ON. n: Axis No. - 1 Monitor item Buffer memory address [Md.119] Servo status2: b4 2476+100n...
Page 210 Continuous operation to torque control mode Operation for continuous operation to torque control mode In continuous operation to torque control, the torque control can be executed without stopping the operation during the positioning in position control mode or speed command in speed control mode. During the continuous operation to torque control mode, the torque control is executed at the command torque set in "[Cd.150] Target torque at continuous operation to torque control mode"...
Page 211 [FX5-SSC-S] Regardless of the setting in "Rotation direction selection/travel direction selection (PA14)", set a positive value when torque command is in CCW direction of servo motor and a negative value when torque command is in CW direction of servo motor in "[Cd.150] Target torque at continuous operation to torque control mode". If the setting is incorrect, the motor may rotate in an opposite direction.
Page 212 Speed limit value setting method Acceleration/deceleration is performed based on a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward "[Pr.8] Speed limit value" in "[Cd.148] Acceleration time at continuous operation to torque control mode" and "[Cd.149] Deceleration time at continuous operation to torque control mode". The value at continuous operation to torque control mode switching is valid for "[Cd.148]"...
Page 213 Speed during continuous operation to torque control mode The speed during the continuous operation to torque control mode is controlled with an absolute value of the value set in "[Cd.147] Speed limit value at continuous operation to torque control mode" as command speed. When the speed reaches the absolute value of "[Cd.147] Speed limit value at continuous operation to torque control mode", "Speed limit"...
Page 214: Servo Off Command Valid Function During Speed-Torque Control [Fx5-Ssc-G]
Servo OFF command valid function during speed-torque control [FX5-SSC-G] "Servo OFF command valid function" is the function that enables "[Cd.100] Servo OFF command" and "[Cd.191] All axis servo ON" to be accepted during the speed control mode, the torque control mode, and the continuous operation to torque control mode.
Page 215 Stop cause When "1: Servo OFF command in speed/torque control valid" is set to "[Pr.112] Servo OFF command valid/invalid setting", the operation at stop cause occurrence is as follows. Stop cause during speed control mode Setting item Operation during speed control mode "[Cd.180] Axis stop”...
Page 216: Operation Timing
Stop cause during continuous operation to torque control mode Item Operation during continuous operation to torque control mode "[Cd.180] Axis stop" turned ON. The speed limit value commanded to servo amplifier is "0" regardless of the setting value of "[Cd.147] Speed limit value at continuous operation to torque control mode". The mode switches to the position control mode when "Zero speed"...
Page 217 • The following shows the operation in case of switching from the position control mode to speed control mode during servo OFF command. The operation when switching from the position control mode to torque control mode or continuous operation to torque control mode is the same as that operation. 6 to 8 ms [Cd.138] Control mode switching request [Cd.139] Control mode setting...
Page 218: Precautions During Operation
Precautions during operation • When the speed control or torque control, the control mode cannot be switched to during servo OFF. If "1: Switching request" is set in "[Cd.138] Control mode switching request", the warning "Control mode switching not possible" (warning code: 0DABH) will be detected.
Page 219: Advanced Synchronous Control
Advanced Synchronous Control "Advanced synchronous control" can be achieved using software instead of controlling mechanically with gear, shaft, speed change gear or cam, etc. "Advanced synchronous control" synchronizes movement with the input axis (servo input axis, command generation axis, or synchronous encoder axis), by setting "the parameters for advanced synchronous control"...
Page 220: Chapter 7 Control Sub Functions
CONTROL SUB FUNCTIONS The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine home position return and generally related functions such as control compensation, etc.
Page 221 Sub function Details Functions related to Stop command processing This function selects a deceleration curve when a stop cause occurs during deceleration stop positioning stop for deceleration stop processing to speed 0. function Continuous operation This function interrupts continuous operation. When this request is accepted, the operation stops interrupt function when the execution of the current positioning data is completed.
Page 222: Sub Functions Specifically For Machine Home Position Return
Sub Functions Specifically for Machine Home Position Return The sub functions specifically for machine home position return include the "home position return retry function" and "home position shift function". Each function is executed by parameter setting. Home position return retry function [FX5-SSC-S] When the workpiece goes past the home position without stopping during positioning control, it may not move back in the direction of the home position although a machine home position return is commanded, depending on the workpiece position.
Page 223 Home position return retry operation when the workpiece is outside the range between the upper and lower limits. • When the direction from the workpiece to the home position is the same as the "[Pr.44] Home position return direction", a normal machine home position return is carried out.
Page 224 Setting the dwell time during a home position return retry The home position return retry function can perform such function as the dwell time using "[Pr.57] Dwell time during home position return retry" when the reverse run operation is carried out due to detection by the limit signal for upper and lower limits and when the machine home position return is executed after the proximity dog is turned OFF to stop the operation.
Page 225 Setting method To use the "home position return retry function", set the required details in the parameters shown in the following table, and write them to the Simple Motion module. When the parameters are set, the home position return retry function will be added to the machine home position return control.
Page 226: Home Position Shift Function [Fx5-Ssc-S]
Home position shift function [FX5-SSC-S] When a machine home position return is carried out, the home position is normally established using the proximity dog and zero signal. However, by using the home position shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected.
Page 227 Movement speed during home position shift When using the home position shift function, the movement speed during the home position shift is set in "[Pr.56] Speed designation during home position shift". The movement speed during the home position shift is selected from either the "[Pr.46] Home position return speed"...
Page 228 Setting method To use the "home position shift function", set the required details in the parameters shown in the following table, and write them to the Simple Motion module. When the parameters are set, the home position shift function will be added to the machine home position return control. The set details are validated at the rising edge (OFF ...
Page 229: Functions For Compensating The Control
Functions for Compensating the Control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or program creation and writing. Backlash compensation function The "backlash compensation function" compensates the backlash amount in the mechanical system. Control details When the backlash compensation amount is set, an extra amount of command equivalent to the set backlash amount is output every time the movement direction changes.
Page 230 Setting method To use the "backlash compensation function", set the "backlash compensation amount" in the parameter shown in the following table, and write it to the Simple Motion module/Motion module. The set details are validated at the rising edge (OFF  ON) of the "[Cd.190] PLC READY". Setting item Setting Setting details...
Page 231: Electronic Gear Function
Electronic gear function The "electronic gear function" adjusts the actual machine movement amount and number of pulse output to servo amplifier according to the parameters set in the Simple Motion module/Motion module. The "electronic gear function" has the following three functions ([A] to [C]). [A] During machine movement, the function increments in the Simple Motion module/Motion module values less than one pulse that could not be output, and outputs the incremented amount when the total incremented value reached one pulse or more.
Page 232 For "Ball screw" + "Reduction gear" [FX5-SSC-S] When the ball screw pitch is 10 mm, the motor is the HG-KR (4194304 pulses/rev) and the reduction ratio is 9/44. Reduction ratio 9/44 First, find how many millimeters the load (machine) will travel (S) when the motor turns one revolution (AP). AP (Number of pulses per rotation) = 4194304 [pulse] ΔS (Movement amount per rotation)
Page 233 Thus, AP, AL and AM to be set are as follows. These two examples of settings are only examples. There are settings other than these examples. Setting value Setting item AP = 23068672 [Pr.2] AL = 11250.0 [Pr.3] AM = 1 [Pr.4] Setting value Setting item...
Page 234 When "degree" is set as the control unit for a rotary axis [FX5-SSC-S] When the rotary axis is used, the motor is HG-KR (4194304 pulses/rev) and the reduction ratio is 3/11. [FX5-SSC-G] When the motor is HK-KT (67108864 pulses/rev) and the reduction ratio is 3/11. Reduction ratio 3/11 First, find how many degrees the load (machine) will travel (S) when the motor turns one revolution (AP).
Page 235 When "mm" is set as the control unit for conveyor drive (calculation including ) [FX5-SSC-S] When the belt conveyor drive is used, the conveyor diameter is 135 mm, the pulley ratio is 1/3, the motor is HG-KR (4194304 pulses/rev) and the reduction ratio is 7/53. [FX5-SSC-G] When the belt conveyor drive is used, the conveyor diameter is 135 mm, the pulley ratio is 1/3, the motor is HK-KT (67108864 pulses/rev) and the reduction ratio is 7/53.
Page 236 S (Movement amount per rotation) = 135000.0 [m]    Reduction ratio = 135000.0 [m]    7/53  1/3 Substitute this for the above expression (1). At this time, make calculation with the reduction ratio 7/53  1/3 remaining as a fraction. 4194304 [pulse] 135000.0 [μm] ×...
Page 237 Number of pulses/movement amount at linear servo use Simple Motion module /Motion module Linear servo motor pulse Servo Command Control pulse AL u AM unit amplifier value pulse Feedback pulse Linear encoder Calculate the number of pulses (AP) and movement amount (AL  AM) for the linear encoder in the following conditions. Number of pulses (AP) Linear encoder resolution = Movement amount (AL ×...
Page 238: Calculation Example
The method for compensating the error When the position control is carried out using the "Electronic gear" set in a parameter, this may produce an error between the command movement amount (L) and the actual movement amount (L'). With Simple Motion module/Motion module, this error is compensated by adjusting the electronic gear.
Page 239: Near Pass Function
Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
Page 240 Precautions during control • If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. • The movement direction is not checked during interpolation operation. Therefore, a deceleration stops are not carried out even if the movement direction changes.
Page 241: Functions To Limit The Control
Functions to Limit the Control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function", "hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or program creation and writing. Speed limit function The speed limit function limits the command speed to a value within the "speed limit value"...
Page 242 Setting method To use the "speed limit function", set the "speed limit value" in the parameters shown in the following table, and write them to the Simple Motion module/Motion module. The set details are validated at the next start after they are written to the Simple Motion module/Motion module. Setting item Setting Setting details...
Page 243: Torque Limit Function
Torque limit function The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque generated in the servo motor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc.
Page 244: Operation Example
Control details The following drawing shows the operation of the torque limit function. Operation example Each operation [Cd.190] PLC READY [Cd.191] All axis servo ON [Cd.184] Positioning start [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function 0 (Forward/reverse torque limit value same setting) switching request [Cd.22] New torque value/forward...
Page 245 Setting method • To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the Simple Motion module/Motion module. The set details are validated at the rising edge (OFF  ON) of the "[Cd.190] PLC READY". Setting item Setting value Setting details Factory-set initial value...
Page 246: Software Stroke Limit Function
• Parameters are set for each axis. • It is recommended that the parameters be set whenever possible with the engineering tool. Execution by a program uses many programs and devices. The execution becomes complicated, and the scan times will increase.
Page 247: Current Value Changing
Current value changing When the current value is changed by a new current value command from 2000 to 1000, the command position value will change to 1000, but the machine feed value will stay the same at 2000. • When the machine feed value is set at the limit The machine feed value of 5000 (command position value: 4000) becomes the upper stroke limit.
Page 248: Limit Check
Relation between the software stroke limit function and various controls : Check valid : Check is not made when the command position value is not updated (Page 467 [Pr.21] Command position value during speed control) at the setting of "command position value" in "[Pr.14] Software stroke limit selection" during speed control.
Page 249 Precautions during software stroke limit check • A machine home position return must be executed beforehand for the "software stroke limit function" to function properly. • During interpolation control, a stroke limit check is carried out for the every current value of both the reference axis and the interpolation axis.
Page 250 Setting method To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the Simple Motion module/Motion module. The set details are validated at the rising edge (OFF  ON) of the "[Cd.190] PLC READY". Setting item Setting Setting details...
Page 251 Setting when the control unit is "degree" Current value address The "[Md.20] Command position value" address is a ring address between 0 and 359.99999. 359.99999° 359.99999° 0° 0° 0° Setting the software stroke limit The upper limit value/lower limit value of the software stroke limit is a value between 0 and 359.99999. •...
Page 252: Hardware Stroke Limit Function
Hardware stroke limit function WARNING • When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact. If it is set in positive logic using a-contact, a serious accident may occur. In the "hardware stroke limit function", limit switches are set at the upper/lower limit of the physical moveable range, and the control is stopped (by deceleration stop) by the input of a signal from the limit switch.
Page 253 [FX5-SSC-G] For the operation of the servo amplifier at stroke limit detection, check the specifications of the servo amplifier to use. The example below uses MR-J5(W)-G. Lower limit Upper limit Control range of Motion module Mechanical Mechanical stopper stopper Movement Movement Start Start...
Page 254 Link device [FX5-SSC-G] Lower limit Upper limit Control range of Motion module Mechanical Mechanical stopper stopper Movement Movement Start Start direction direction Deceleration stop Deceleration stop Motion at lower limit switch at upper limit switch module detection detection Remote I/O Lower limit switch Upper limit switch CC-Link IE...
Page 255 Wire the limit switch installed in the direction to which "Command position value" increases as upper limit switch and the limit switch installed in the limit switch installed in the direction to which "Command position value" decreases as lower limit switch. If inverting the install positions of upper/lower limit switches, hardware stroke limit function cannot be operated properly.
Page 256: Forced Stop Function
Forced stop function WARNING • When the forced stop is required to be wired, ensure to wire it in the negative logic using b-contact. [FX5-SSC-S] • When the forced stop is required to be wired, take the following measures. [FX5-SSC-G] When using other than the link device for the forced stop input: Ensure to wire in the negative logic using b-contact.
Page 257 The following drawing shows the operation of the forced stop function. Operation example • [FX5-SSC-S] Forced stop causes Forced stop causes occurrence occurrence Each operation [Cd.190] PLC READY [Cd.191] All axis servo ON [Cd.184] Positioning start Forced stop input (Input voltage of EMI) [Md.50] Forced stop input [Md.108] Servo status1 (b1: Servo ON)
Page 258 Setting the forced stop To use the "Forced stop function", set the following data using a program. The set details are validated at the rising edge (OFF  ON) of the "[Cd.190] PLC READY". Refer to the following for the setting details. Page 444 Basic Setting Setting item Setting...
Page 259: Functions To Change The Control Details
Functions to Change the Control Details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function", "torque change function" and "target position change function". Each function is executed by parameter setting or program creation and writing. Refer to "Combination of Main Functions and Sub Functions"...
Page 260 Precautions during control • At the speed change during continuous path control, when no speed designation (current speed) is provided in the next positioning data, the next positioning data is controlled at the "[Cd.14] New speed value". Also, when a speed designation is provided in the next positioning data, the next positioning data is controlled at its "[Da.8] Command speed".
Page 261 • The warning "Deceleration/stop speed change" (warning code: 0990H [FX5-SSC-S], or warning code: 0D50H [FX5-SSC- G]) occurs and the speed cannot be changed in the following cases. • During deceleration by a stop command • During automatic deceleration during positioning control •...
Page 262: Program Example
Setting method from the CPU module The following shows the data settings and program example for changing the control speed of axis 1 by the command from the CPU module. (In this example, the control speed is changed to "20.00 mm/min".) •...
Page 263 Setting method using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00 mm/min".) •...
Page 264 Program example Add the following program to the control program, and write it to the CPU module. Classification Label name Description Module label FX5SSC_1.stnAxPrm_D[0].uExternalCommandFunctionMode_D Axis 1 External command function selection FX5SSC_1.stnAxCtrl1_D[0].uExternalCommandValid_D Axis 1 External command valid FX5SSC_1.stnAxCtrl1_D[0].udNewSpeed_D Axis 1 New speed value Global label, local label Defines the global label or the local label as follows.
Page 265: Override Function
Override function The override function changes the command speed by a designated percentage for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in "[Cd.13] Positioning operation speed override". The setting range of "[Cd.13] Positioning operation speed override"...
Page 266 Precaution during control • When changing the speed by the override function during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. • The warning "Deceleration/stop speed change" (warning code: 0990H [FX5-SSC-S], or warning code: 0D50H [FX5-SSC- G]) occurs and the speed cannot be changed by the override function in the following cases.
Page 267 Setting method The following shows the data settings and program example for setting the override value of axis 1 to "200%". • Set the following data. (Set using the program referring to the speed change time chart.) n: Axis No. - 1 Setting item Setting Setting details...
Page 268: Acceleration/Deceleration Time Change Function
Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change by the "speed change function" and "override function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ([Pr.9], [Pr.10], and [Pr.25] to [Pr.30] values) is set in the positioning parameter data items [Da.3] and [Da.4], and control is carried out with that acceleration/deceleration time.
Page 269 Precautions during control • When "0" is set in "[Cd.10] New acceleration time value" and "[Cd.11] New deceleration time value", the acceleration/ deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters.
Page 270 If the speed is changed when an acceleration/deceleration change is enabled, the "new acceleration/ deceleration time" will become the acceleration/deceleration time of the positioning data being executed. The "new acceleration/deceleration time" remains valid until the changeover to the next positioning data. (The automatic deceleration processing at the completion of the positioning will also be controlled by the "new acceleration/deceleration time".) Setting method...
Page 271: Torque Change Function
Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value at the control start is the value set in the "[Pr.17] Torque limit setting value" or "[Cd.101] Torque output setting value".
Page 272 Control details The torque value (forward new torque value/reverse new torque value) of the axis control data can be changed at all times. The torque can be limited with a new torque value from the time the new torque value has been written to the Simple Motion module.
Page 273 Operation example 2 Each operation [Cd.190] PLC READY [Cd.191] All axis servo ON [Cd.184] Positioning start [Pr.17] Torque limit setting value [Cd.101] Torque output setting value [Cd.112] Torque change function switching request [Cd.22] New torque value/forward new torque value [Md.35] Torque limit stored value/forward torque limit stored value [Cd.113] New reverse torque...
Page 274 Setting method To use the "torque change function", write the data shown in the following table to the Simple Motion module/Motion module using the program. The set details are validated when written to the Simple Motion module/Motion module. n: Axis No. - 1 Setting item Setting value Setting details...
Page 275: Target Position Change Function
Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by "[Cd.29] Target position change request flag".
Page 276 Precautions during operation • If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Page 273 When the direction of the operation is changed:) •...
Page 277 Setting method from the CPU module The following shows the data settings and program example for changing the target position of axis 1 by the command from the CPU module. (In this example, the target position value is changed to "300.0 m" and the command speed is changed to "10000.00 mm/min".) •...
Page 278: Functions Related To Start
Functions Related to Start A function related to start includes the "pre-reading start function". This function is executed by parameter setting or program creation and writing. Pre-reading start function The "pre-reading start function" does not start servo while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts servo within operation cycle after OFF of the execution prohibition flag is detected.
Page 279 Program example Refer to the following for the program example. Classification Label name Description Module label FX5SSC_1.stSysMntr2_D.bnBusy_D[0] Axis 1 BUSY signal FX5SSC_1.stnAxCtrl2_D[0].uPositioningStart_D.0 Axis 1 Positioning start signal FX5SSC_1.stnAxMntr_D[0].uStatus_D.D Axis 1 Error detection FX5SSC_1.stnAxMntr_D[0].uStatus_D.E Axis 1 Start complete FX5SSC_1.stnAxCtrl1_D[0].uPositioningStartNo_D Axis 1 Positioning start No. FX5SSC_1.stnAxCtrl2_D[0].uProhibitPositioning_D.0 Axis 1 Execution prohibition flag Global label, local label...
Page 280: Absolute Position System
Absolute Position System The Simple Motion module/Motion module can construct an absolute position system by installing the absolute position system and connecting it through SSCNET/H. The following describes precautions when constructing the absolute position system. The configuration of the absolute position system is shown below. Battery Servo motor Simple...
Page 281 [FX5-SSC-G] • When connecting the absolute position system to the servo amplifier for the first time, the warning "Home position return data incorrect" (warning code: 0D3CH) occurs based on one of the following conditions and the home position return request turns ON. •...
Page 282: Home Position Return
Which restoration method has been used, 64-bit restoration (Based on Backup Location) or 32-bit restoration (Based on Backup Location), can be checked in "[Md.190] Controller position value restoration complete status". Home position return In the absolute position system, a home position can be determined through home position return. In the "Data set method"...
Page 283: Functions Related To Stop
Functions Related to Stop Functions related to stop include the "stop command processing for deceleration stop function", "Continuous operation interrupt function" and "step function". Each function is executed by parameter setting or program creation and writing. Stop command processing for deceleration stop function The "stop command processing for deceleration stop function"...
Page 284 Precautions for control • In manual control (JOG operation, inching operation, manual pulse generator operation) and speed-torque control, the stop command processing for deceleration stop function is invalid. • The stop command processing for deceleration stop function is valid when "0: Normal deceleration stop" is set in "[Pr.37] Stop group 1 sudden stop selection"...
Page 285: Continuous Operation Interrupt Function
Continuous operation interrupt function During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends. To execute continuous operation interruption, set "1: Interrupts continuous operation control or continuous path control."...
Page 286 Restrictions • When the "continuous operation interrupt request" is executed, the positioning will end. Thus, after stopping, the operation cannot be "restarted". When "[Cd.6] Restart command" is issued, the warning "Restart not possible" (warning code: 0902H [FX5-SSC-S], or warning code: 0D02H [FX5-SSC-G]) will occur. •...
Page 287: Step Function
Step function The "step function" is used to confirm each operation of the positioning control one by one. It is used in debugging work for major positioning control, etc. A positioning operation in which a "step function" is used is called a "step operation". In step operations, the timing for stopping the control can be set.
Page 288 Step start request Control stopped by a step operation can be continued by setting "step continues" (to continue the control) in the "step start information". (The "step start information" is set in the control data "[Cd.36] Step start information".) The following table shows the results of starts using the "step start information" during step operation. Stop status in the step operation [Md.26] Axis operation [Cd.36] Step start information Step start results...
Page 289 Using the step operation The following shows the procedure for checking positioning data using the step operation. Start Turn ON the step valid flag. Write "1" (carry out step operation) in "[Cd.35] Step valid flag". Set the step mode. Set in "[Cd.34] Step mode". Start positioning.
Page 290: Control Details
Control details • The following drawing shows a step operation example during a "deceleration unit step". [Cd.35] Step valid flag [Cd.184] Positioning start [Md.141] BUSY Positioning complete signal ([Md.31] Status: b15) Positioning Positioning data No. No.10 No.11 [Da.1] Operation pattern No positioning data No.
Page 291 Step function settings To use the "step function", write the data shown in the following table to the Simple Motion module/Motion module using the program. Refer to the following for the timing of the settings. Page 287 Using the step operation The set details are validated after they are written to the Simple Motion module/Motion module.
Page 292: Other Functions
Other Functions Other functions include the "skip function", "M code output function", "teaching function", "command in-position function", "acceleration/deceleration processing function", "deceleration start flag function", "speed control 10  multiplier setting for degree axis function" and "operation setting for incompletion of home position return function". Each function is executed by parameter setting or program creation and writing.
Page 293 Precautions during control • If the skip signal is turned ON at the last of an operation, a deceleration stop will occur and the operation will be terminated. • When a control is skipped (when the skip signal is turned ON during a control), the positioning complete signals will not turn •...
Page 294 Setting method using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and program example for skipping the control being executed in axis 1 using an "external command signal". •...
Page 295: M Code Output Function
M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal ([Md.31] Status: b12) is turned ON during positioning execution, a No. called the M code is stored in "[Md.25] Valid M code".
Page 296 M code ON signal OFF request When the M code ON signal is ON, it must be turned OFF by the program. To turn OFF the M code ON signal, set "1" (turn OFF the M code signal) in "[Cd.7] M code OFF request". n: Axis No.
Page 297: Setting Method
Precautions during control • During interpolation control, the reference axis M code ON signal is turned ON. • The M code ON signal will not turn ON if "0" is set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions".
Page 298 Program example Refer to the following for the program example. Classification Label name Description Module label FX5SSC_1.stnAxMntr_D[0].uStatus_D.C Axis 1 M code ON FX5SSC_1.stnAxMntr_D[0].uM_Code_D Axis 1 Valid M code Global label, local label Defines the global label or the local label as follows. The settings of Assign (Device/Label) are not required for the label that the assignment device is not set because the unused internal relay and data device are automatically assigned.
Page 299: Teaching Function
Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning data addresses ([Da.6] Positioning address/movement amount, [Da.7] Arc address). Control details Teaching timing Teaching is executed using the program when the "[Md.141] BUSY" is OFF. (During manual control, teaching can be carried out as long as the axis is not BUSY, even when an error or warning has occurred.) Addresses for which teaching is possible The addresses for which teaching is possible are "command position values"...
Page 300: Teaching Procedure
Teaching procedure The following shows the procedure for a teaching operation. • When teaching to the "[Da.6] Positioning address/movement amount" (Teaching example on axis 1) Start Perform machine home position return on axis 1. Move the workpiece to the target Using a JOG operation, inching operation, or manual pulse generator operation.
Page 301 • When teaching to the "[Da.7] Arc address", then teaching to the "[Da.6] Positioning address/movement amount" (Teaching example for 2-axis circular interpolation control with sub point designation on axis 1 and axis 2) Start Perform a machine home position return on axis 1 and axis 2. Move the workpiece to the circular interpolation sub point using a Using a JOG operation, inching operation,...
Page 302 Teaching arc end point address Entering teaching data using "[Cd.38] Teaching data selection" on axis 2. and "[Cd.39] Teaching positioning data No." for axis 2 in the same fashion as for axis 1. End teaching? Turn OFF the "[Cd.190] PLC READY".
Page 303: Setting Conditions
Teaching program example The following shows a program example for setting (writing) the positioning data obtained with the teaching function to the Simple Motion module/Motion module. Setting conditions When setting the command position value as the positioning address, write it when the BUSY signal is OFF. Operation example The following example shows a program carrying out the teaching of axis 1.
Page 304: Command In-Position Function
Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and sets "1". This flag is called the "command in-position flag". The command in-position flag is used as a front-loading signal indicating beforehand the completion of the position control.
Page 305 Setting method To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the Simple Motion module/Motion module. The set details are validated at the rising edge (OFF  ON) of the "[Cd.190] PLC READY". Setting item Setting Setting details...
Page 306: Acceleration/Deceleration Processing Function
Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration of each control to the acceleration/ deceleration curve suitable for device. Setting the acceleration/deceleration time changes the slope of the acceleration/deceleration curve. The following two methods can be selected for the acceleration/deceleration curve: •...
Page 307 S-curve acceleration/deceleration processing method In this method, the motor burden is reduced during starting and stopping. This is a method in which acceleration/deceleration is carried out gradually, based on the acceleration time, deceleration time, speed limit value, and "[Pr.35] S-curve ratio" (1 to 100%) set by the user. When a speed change request or override request is given during S-curve acceleration/deceleration processing, S-curve acceleration/deceleration processing begins at a speed change request or override request start.
Page 308: Deceleration Start Flag Function
Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc.
Page 309 Precautions during control • The deceleration start flag function is valid for the control method of "1-axis linear control", "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "speed-position switching control" or "position-speed switching control". In the case of linear interpolation control, the function is valid for only the reference axis. For details, refer to "Combination of Main Functions and Sub Functions"...
Page 310 Checking of deceleration start flag The "deceleration start flag" is stored into the following buffer memory addresses. n: Axis No. - 1 Monitor item Monitor Storage details Buffer memory address value [Md.48] Deceleration start flag  0: Status other than below 2499+100n 1: Status from deceleration start to next operation start or manual pulse generator operation enable...
Page 311: Speed Control 10 Times Multiplier Setting For Degree Axis Function
Speed control 10 times multiplier setting for degree axis function The "Speed control 10  multiplier setting for degree axis function" is provided to execute the positioning control by 10  speed of the setting value in the command speed and the speed limit value when the setting unit is "degree". Control details When "Speed control 10 multiplier specifying function for degree axis"...
Page 312 Setting method Set "Valid/Invalid" by "[Pr.83] Speed control 10  multiplier setting for degree axis". Normally, the speed specification range is 0.001 to 2000000.000 [degree/min], but it will be decupled and become 0.01 to 20000000.00 [degree/min] by setting "[Pr.83] Speed control 10  multiplier setting for degree axis" to valid. To use the "Speed control 10 ...
Page 313: Operation Setting For Incompletion Of Home Position Return Function
Operation setting for incompletion of home position return function The "Operation setting for incompletion of home position return function" is provided to select whether positioning control is operated or not when the home position return request flag is ON. Control details When "[Pr.55] Operation setting for incompletion of home position return"...
Page 314 Setting method To use the "Operation setting for incompletion of home position return", set the following parameters using a program. n: Axis No. - 1 Setting item Setting Setting details Buffer memory address value [Pr.55] Operation setting for incompletion of home ...
Page 315: Servo On/Off
7.10 Servo ON/OFF Servo ON/OFF This function executes servo ON/OFF of the servo amplifiers connected to the Simple Motion module/Motion module. By establishing the servo ON status with the servo ON command, servo motor operation is enabled. The following two signals can be used to execute servo ON/OFF. •...
Page 316 Servo ON (Servo operation enabled) The following shows the procedure for servo ON. Make sure that the servo amplifier LED indicates "b_" (for the MR-J4 series), or "r_" (for the MR-J5 series). (The initial value for "[Cd.191] All axis servo ON" is "OFF".) Set "0"...
Page 317: Follow Up Function
Follow up function Follow up function The follow up function monitors the number of motor rotations (actual position value) with the servo OFF and reflects the value in the command position value. If the servo motor rotates during the servo OFF, the servo motor will not just rotate for the amount of droop pulses at switching the servo ON next time, so that the positioning can be performed from the stop position.
Page 318: Chapter 8 Common Functions
COMMON FUNCTIONS The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the Simple Motion module/Motion module, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required.
Page 319: Parameter Initialization Function
Parameter Initialization Function The "parameter initialization function" is used to return the setting data set in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of Simple Motion module/Motion module to the default values. Parameter initialization means • Initialization is executed with a program. •...
Page 320 Precautions during control • Parameter initialization is only executed when the positioning control is not carried out (when the "[Cd.190] PLC READY" is OFF). The warning "In PLC READY" (warning code: 0905H [FX5-SSC-S], or warning code: 0D05H [FX5-SSC-G]) will occur if executed when the "[Cd.190] PLC READY"...
Page 321: Execution Data Backup Function
Execution Data Backup Function When the buffer memory data of Simple Motion module/Motion module is rewritten from the CPU module, "the data backed up in the flash ROM/internal memory (nonvolatile)" of Simple Motion module/Motion module may differ from "the execution data being used for control (buffer memory data)".
Page 322 Precautions during control • Data can only be written to the flash ROM when the positioning control is not carried out (when the "[Cd.190] PLC READY" is OFF). The warning "In PLC READY" (warning code: 0905H [FX5-SSC-S], or warning code: 0D05H [FX5-SSC-G]) will occur if executed when the "[Cd.190] PLC READY"...
Page 323: External Input Signal Select Function
External Input Signal Select Function The "external input signal select function" is used to select from the following signals when using each external input signal of each axis (upper/lower stroke limit signal (FLS/RLS), proximity dog signal (DOG), and stop signal (STOP)). •...
Page 324 When "1: Servo amplifier" is set The following table shows the pin No. of the external input signal of the servo amplifier to be used. At MR-JE-B(F) use, refer to the following. Page 820 Connection with MR-JE-B(F) [FX5-SSC-S] Pin No. of servo amplifier Signal name CN3-19(DI3) CN3-12(DI2)
Page 325 Input logic setting method for external input signals The signal logic can be switched according to the external input signals (upper/lower stroke limit signal (FLS/RLS), proximity dog signal (DOG), stop signal (STOP), and external command signal/switching signal (DI)) of the servo amplifier or external device connected with the Motion module.
Page 326 External command signal/switching signal [FX5-SSC-S] Use the following parameter to switch the logic of the external input signals for the external command signal/switching signal (DI). Setting item Initial value Setting details [Pr.150] Input terminal logic selection Select the logic for the input signal from the external device connected with the Simple Motion module.
Page 327 • When using the link device The upper/lower limit switch signal or the DOG signal is sent to the servo amplifier after the input signal logic selection processing completes in the Motion module. Motion module Lower Upper signal limit limit Hardware stroke limit processing [Pr.913]...
Page 328 External input signal via link device, external command signal [FX5-SSC-G] The following parameters are used for logic switching when various external input signals and external command signals are input from the link device of the CC-Link IE TSN network. Signal type Setting item Initial Setting details...
Page 329 Input filter setting method for external input signals The input filter is used to suppress chattering when the external input signal is chattering by noise, etc. The setting area of the input filter varies by the input type of "[Pr.116] FLS signal selection" to "[Pr.119] STOP signal selection". Input type of "[Pr.116] FLS signal selection"...
Page 330: Program Example
Program example In the program examples, the labels to be used are assigned as follows. Classification Label name Description Module label FX5SSC_1.stSysCtrl_D.uExternalInputOperationDevice_D[0].0 Axis 1 FLS FX5SSC_1.stSysCtrl_D.uExternalInputOperationDevice_D[0].1 Axis 1 RLS FX5SSC_1.stSysCtrl_D.uExternalInputOperationDevice_D[0].2 Axis 1 DOG FX5SSC_1.stSysCtrl_D.uExternalInputOperationDevice_D[0].3 Axis 1 STOP Global label Defines the global labels to set the assignment device as follows. 8 COMMON FUNCTIONS 8.4 External Input Signal Select Function...
Page 331: Link Device External Signal Assignment Function [Fx5-Ssc-G]
Link Device External Signal Assignment Function [FX5-SSC-G] This function assigns link devices to the external signals of the Motion module. Signals such as the upper/lower limit signal and proximity dog signal can be assigned to link devices. The following are available in the software version 1.004 or later. •...
Page 332: Setting Method
Word device • External input signal : Setting possible, : Setting not possible External signal Settable points 1 bit 1 word 2 words 1 bit 1 word 2 words 1 bit 1 word 2 words 1 bit 1 word 2 words Synchronous 1 point/1 ...
Page 333 • Set the link device external signal assignment parameter to be used as the forced stop signal. Item Details Buffer memory address [Pr.900] Forced stop signal (EMI): Link device type Set the link device type for use. 58014 [Pr.901] Forced stop signal (EMI): Link device start No. Set the link device No.
Page 334: Monitoring Method
DOG signal, STOP signal Set the DOG signal and the STOP signal of the corresponding axis as follows. • Set the corresponding signal to use the link device and set the corresponding signal logic. n: Axis No. - 1 Item Details Buffer memory...
Page 335 Related buffer memory Each external signal can be assigned by setting the following buffer memories. • Refer to the following for mark detection setting parameters. Page 355 Mark Detection Function • For the synchronous encoder axis parameters via link device, refer to "Synchronous Encoder Axes" in the following manual.
Page 336: Network Configuration Setting
Setting example of link device external signal assignment When using link device as upper/lower limit signal (FLS/RLS) Motion module NZ2GN2S1-32D (IP address: 192.168.3.2) Sensor Axis 1 In this example, the signal used as the upper limit signal (FLS) is assigned to RX0 and the signal used as the lower limit signal (RLS) is assigned to RX1.
Page 337 Link device external input signal assignment parameter Set the link device to be used as the upper/lower limit signal (FLS/RLS). Parameter Setting value [Pr.910] Upper limit signal (FLS): Link device type 11h: RX [Pr.911] Upper limit signal (FLS): Link device start No. H0000 [Pr.912] Upper limit signal (FLS): Link device bit specification Not necessary when "11h: RX"...
Page 338: History Monitor Function
History Monitor Function This function monitors starting history and current value history stored in the buffer memory of the Simple Motion module/ Motion module on the operation monitor of an engineering tool. Starting history The starting history logs of operations such as positioning operation, JOG operation, and manual pulse generator operation can be monitored.
Page 339 Current value history The current value history data of each axis can be monitored. The following shows about the current value history data of each axis. Monitor details Monitor item Latest backup data Command position value The number of backup: Once Servo command value Encoder position within one revolution Encoder multiple revolution counter...
Page 340 Latest backup data The latest backup data outputs the following data saved in the fixed cycle to the buffer memory. • Command position value • Servo command value • Encoder position within one revolution • Encoder multiple revolution counter • Time 1 (Year: month) data •...
Page 341 Home position return data The following data saved at home position return completion to the buffer memory. • Command position value at home position return completion • Servo command value at home position return completion • Encoder position within one revolution of absolute position reference point data •...
Page 342: Amplifier-Less Operation Function [Fx5-Ssc-S]
Amplifier-less Operation Function [FX5-SSC-S] The positioning control of Simple Motion module without servo amplifiers connection can be executed in the amplifier-less function. This function is used to debug of user program or simulate of positioning operation at the start. Control details Switch the mode from the normal operation mode (with servo amplifier connection) to the amplifier-less operation mode (without servo amplifier connection) to use the amplifier-less operation function.
Page 343 Restrictions • Some monitor data differ from the actual servo amplifier during amplifier-less operation mode. n: Axis No. - 1 Storage item Storage details Buffer memory address [Md.102] Deviation counter value Always "0". 2452+100n 2453+100n [Md.106] Servo amplifier software No. Always "0".
Page 344 • When the power supply is turned OFF  ON or CPU module is reset during amplifier-less operation mode, the mode is switched to the normal operation mode. • The operation of servo motor or the timing of operation cycle, etc. at the amplifier-less operation is different from the case where the servo amplifiers are connected at the normal operation mode.
Page 345: Operation Example
Operation example The following drawing shows the operation for the switching of the normal operation mode and amplifier-less operation mode Amplifier-less operation mode Normal operation mode Normal operation mode Each operation [Md.141] BUSY [Cd.190] PLC READY READY signal ([Md.140] Module status: b0) [Cd.137] Amplifier-less operation 0000H ABCDH...
Page 346: Virtual Servo Amplifier Function
Virtual Servo Amplifier Function This function executes the operation virtually without connecting servo amplifiers (regarded as connected). The synchronous control with virtually input command is possible by using the virtual servo amplifier axis as servo input axis of synchronous control. Also, it can be used as simulation operation for axes without servo amplifiers. Virtual servo amplifier function [FX5-SSC-S] Control details •...
Page 347 Restrictions • The following monitor data of virtual servo amplifier differ from the actual servo amplifier. n: Axis No. - 1 Storage item Storage details Buffer memory address [Md.102] Deviation counter value Always "0". 2452+100n 2453+100n [Md.106] Servo amplifier software No. Always "0".
Page 348: Setting Method
Setting method Set "[Pr.100] Connected device" as follows based on the value in "[Pr.97] SSCNET setting". Setting value of "[Pr.97] SSCNET setting" Setting value of "[Pr.100] Servo series" 0: SSCNET 4097: Virtual servo amplifier (MR-J3) 1: SSCNET/H 4128: Virtual servo amplifier (MR-J4) 8 COMMON FUNCTIONS 8.8 Virtual Servo Amplifier Function...
Page 349: Virtual Servo Amplifier Function [Fx5-Ssc-G]
Virtual servo amplifier function [FX5-SSC-G] Control details • The servo amplifier is operated as a virtual servo amplifier when the value of "[Pr.101] Virtual servo amplifier setting" is "1: Use for the virtual servo amplifier" immediately after power cycling. • When the value of "[Pr.101] Virtual servo amplifier setting" is other than "1: Use for the virtual servo amplifier" immediately after power cycling, the servo amplifier is not operated as a virtual servo amplifier even if "[Pr.101] Virtual servo amplifier setting"...
Page 350: Operation
• The operation of the following function of virtual servo amplifier differs from the actual servo amplifier. Function Operation External signal selection function When "1: Servo amplifier" is set in "[Pr.116] FLS signal selection", "[Pr.117] RLS signal selection", and "[Pr.118] DOG signal selection", this function cannot be used to emulate the upper/lower limit signal (FLS, RLS) and proximity dog signal (DOG).
Page 351 [Servo parameter specification] Servo parameter Description PA03.0 Absolute position detection system selection Fixed to "1: Enabled (absolute position detection system)" PA14 Travel direction selection Fixed to "0". PC07 Zero speed 50 r/min PC29 Function selection C-B 1000H X_ _ _: Torque POL reflection selection 1: Disabled PC76 Function selection C-E...
Page 352: Driver Communication Function [Fx5-Ssc-S]
Driver Communication Function [FX5-SSC-S] This function uses the "Master-slave operation function" of servo amplifier. The Simple Motion module controls master axis and the slave axis is controlled by data communication between servo amplifiers (driver communication) without Simple Motion module. There are restrictions in the function that can be used by the version of servo amplifier. Refer to each servo amplifier instruction manual for details.
Page 353: Servo Amplifier
• When the communication is disconnected due to a fault in the servo amplifier, it is not possible to communicate with the axis after the faulty axis. Therefore, when connecting the SSCNET cable, connect the master axis in the closest position to the Simple Motion module. •...
Page 354 Home position return control, positioning control, manual control, expansion control, and synchronous control • Do not start the slave axis. The command to servo amplifier is invalid even if the slave axis is started. • The home position return request flag ([Md.31] Status: b3) of slave axis is always ON. There is no influence for control of slave axis.
Page 355: Servo Parameter
Servo parameter Set the following parameters for the axis to execute the driver communication. (Refer to each servo amplifier instruction manual for details.) [MR-J3-_B_/MR-J3-_BS_ use] n: Axis No. - 1 Setting item Setting details Buffer memory address Input/output PA04 Forced stop deceleration function Disable deceleration stop function at the master axis and 28404+100n setting...
Page 356 [MR-J4-_B_/MR-J4-_B_-RJ use] n: Axis No. - 1 Setting item Setting details Buffer memory address Input/output PA04 Forced stop deceleration function selection Disable deceleration stop function at the master 28404+100n setting axis and slave axis. PD15 Driver communication setting Set the master axis and slave axis. 65534+340n PD16 Driver communication setting...
Page 357: Mark Detection Function
8.10 Mark Detection Function Any data can be latched at the input timing of the mark detection signal (DI). Also, only data within a specific range can be latched by specifying the data detection range. The following three modes are available for execution of mark detection. Continuous detection mode The latched data is always stored to the first of mark detection data storage area at mark detection.
Page 358 Performance specifications Performance specifications [FX5-SSC-S] Item FX5-40SSC-S FX5-80SSC-S Number of mark detection settings Up to 16 Input signal Axis 1 to Axis 4 External input signal (DI1 to DI4) Axis 1 to Axis 8 External input signal (DI1 to DI4) Input signal detection direction Selectable for leading edge or trailing edge in logic setting of external input signal Input signal compensation time...
Page 359 Calculation by estimation [FX5-SSC-G] The mark detection value during operation cycle interval is calculated by estimation. The value calculated by estimation when the mark detection input signal is inputted is stored in the buffer memory as the mark detection data. The value is calculated as shown in the figure below.
Page 360 • Confirm that TPR1 is assigned to CN3 on the servo parameter of the MR-J5(W)-G series before it is connected. And also, in case of using multi-axis servo amplifier, confirm that the axis using TPR1 is selected. If TPR1 is not assigned to CN3, the status is to be touch probe 1 enabled but the signal cannot be detected.
Page 361 *1 Set the related servo parameter in TPR1. Even if the related parameter is set in TPR2 or later, the Motion module does not detect the signal. *2 When the single axis is connected to the Motion module, the following CiA402 object will be automatically set to the PDO mapping to use the touch probe function.
Page 362 • When using a link device The signal response time varies depending on the input response time setting value of the remote I/O. Therefore, the signal delay caused by the input response time setting value should be corrected by "[Pr.801] Mark detection signal compensation time".
Page 363 Operation for mark detection function Operations done at mark detection are shown below. • Calculations for the mark detection data are estimated at leading edge/trailing edge of the mark detection signal. However, when the specified number of detections mode is set, the current number of mark detection is checked, and then it is judged whether to execute the mark detection.
Page 364 How to use mark detection function The following shows an example for mark detection using the signals shown below. • External command signal (DI2) of axis 2 [FX5-SSC-S] • DOG signal of MR-J5(W)-G [FX5-SSC-G] The mark detection target is axis 1 actual position value, and the all range is detected in continuous detection mode. [FX5-SSC-S] Allocate the input signal (DI2) to the external command signal of axis 2, and set the "high speed input request"...
Page 365 List of parameters and data The following shows the configuration of parameters and data for mark detection function. Buffer memory address Item Mark detection setting No. 54000 to 54019 Mark detection setting parameter Mark detection setting 1 [Pr.800] to [Pr.811] 54020 to 54039 Mark detection setting 2 54040 to 54059...
Page 366 Mark detection setting parameters k: Mark detection setting No. - 1 Setting item Setting details/setting value Default Buffer value memory address [Pr.800] Mark detection signal Set the external input signal (high speed input request) for mark detection. 54000+20k setting 0: Invalid 1 to 4: External command signal on axis 1 to axis 4 (4-axis module) 1 to 8: External command signal on axis 1 to axis 8 (8-axis module) 301 to 304: TPR1 of servo amplifiers on axis 1 to axis 4 (4-axis module) [FX5-SSC-G]...
Page 367 The above parameters are valid with the value set in the flash ROM of the Simple Motion module/Motion module when the power ON or the CPU module reset. Except for a part, the value is not fetched by turning the "[Cd.190] PLC READY"...
Page 368 [Pr.802] Mark detection data type Set the data that latched at mark detection. The target data is latched by setting "0 to 14". Set the axis No. in "[Pr.803] Mark detection data axis No.". Optional 2 word buffer memory is latched by setting "-1". Set the buffer memory No. in "[Pr.804] Mark detection data buffer memory No.".
Page 369 [Pr.805] Latch data range upper limit value, [Pr.806] Latch data range lower limit value Set the upper limit value and lower limit value of the latch data at mark detection. When the data at mark detection is within the range, they are stored in "[Md.801] Mark detection data storage area (1 to 32)" and the "[Md.800] Number of mark detection"...
Page 370 [Pr.809] Mark detection signal link device start No. [FX5-SSC-G] Set the link device No. for use. RX/RY: 0 to 1FFFH RWr/RWw: 0 to 3FFH When a link device No. outside the range is set, the warning "Mark detection link device start No. specification" (warning code: 0D2EH) occurs and the target mark detection cannot be used.
Page 371 Mark detection control data k: Mark detection setting No. - 1 Setting item Setting details/setting value Default value Buffer memory address [Cd.800] Number of mark Set "1" to execute "0" clear of number of mark detections. 54640+10k detection clear "0" is automatically set after completion by "0" clear of number of request mark detections.
Page 372 Mark detection monitor data k: Mark detection setting No. - 1 Storage item Storage details/storage value Buffer memory address [Md.800] Number of mark detection The number of mark detections is stored. 54960+80k "0" clear is executed at power supply ON. Continuous detection mode: 0 to 65535 (Ring counter) Specified number of detection mode: 0 to 32 Ring buffer mode: 0 to (number of buffers - 1)
Page 373: Optional Data Monitor Function
8.11 Optional Data Monitor Function Registered monitor The data of the registered monitor is refreshed every operation cycle. This function is used to store the data (refer to following table) up to four points per axis to the buffer memory and monitor them.
Page 374 List of parameters and data The parameters and data used in the optional data monitor function is shown below. • Extended parameter n: Axis No. - 1 Setting item Setting details/setting value Buffer memory address [Pr.91] Optional data monitor: Data type setting 1 •...
Page 375 [FX5-SSC-S] • The monitor address of optional data monitor is registered to servo amplifier with initialized communication after the power supply is turned ON or the CPU module is reset. • Set the data type of "used point: 2 words" in "[Pr.91] Optional data monitor: Data type setting 1" or "[Pr.93] Optional data monitor: Data type setting 3".
Page 376 [FX5-SSC-G] • Registered monitor addresses for the optional data monitor are imported after the power is turned ON or the CPU module is reset. • Set data types that use 2 points in either "[Pr.91] Optional data monitor: Data type setting 1" and "[Pr.591] Optional data monitor: Data type expansion setting 1"...
Page 377 • Axis monitor data n: Axis No. - 1 Storage item Storage details/storage value Buffer memory FX5-SSC-S FX5-SSC-G address [Md.109] Regenerative load ratio/ • The content set in "[Pr.91] Optional data • The content set in "[Pr.91] Optional data 2478+100n Optional data monitor output 1 monitor: Data type setting 1"...
Page 378: Event History Function [Fx5-Ssc-G]
8.12 Event History Function [FX5-SSC-G] The "Event History Function" is a function that saves error information and operations performed to the module as events on the CPU module or SD memory card. The saved event information can be displayed in the engineering tool, allowing the occurrence history to be checked in chronological order.
Page 379: Connect/Disconnect Function Of Sscnet Communication [Fx5-Ssc-S]
8.13 Connect/Disconnect Function of SSCNET Communication [FX5-SSC-S] Temporarily connect/disconnect of SSCNET communication is executed during system's power supply ON. This function is used to exchange the servo amplifiers or SSCNET cables. Control details Set the connect/disconnect request of SSCNET communication in "[Cd.102] SSCNET control command", and the status for the command accept waiting or execute waiting is stored in "[Md.53] SSCNET control status".
Page 380 System monitor data Monitor item Monitor value Storage details Buffer memory address [Md.53] SSCNET control status  The connect/disconnect status of SSCNET communication is 4233 stored. 1: Disconnected axis existing 0: Command accept waiting -1: Execute waiting -2: Executing Procedure to connect/disconnect Procedure to connect/disconnect at the exchange of servo amplifiers or SSCNET...
Page 381 Program The following shows the program example to connect/disconnect the servo amplifiers connected after Axis 3. Disconnect procedure Connect procedure Turn OFF the servo amplifier's power supply after checking the LED display Resume operation of servo amplifier after checking the "[Md.26] Axis "AA"...
Page 382 • Connect operation Classification Label name Description Module label FX5SSC_1.stSysMntr1_D.wSSCNET_ControlStatus_D Axis 1 SSCNET control status FX5SSC_1.stSysCtrl_D.wSSCNET_ControlCommand_D Axis 1 SSCNET control command Global label, local label Defines the global label or the local label as follows. The settings of Assign (Device/Label) are not required for the label that the assignment device is not set because the unused internal relay and data device are automatically assigned.
Page 383: Servo Transient Transmission Function [Fx5-Ssc-G]
8.14 Servo Transient Transmission Function [FX5-SSC- The "Servo Transient Transmission Function" is a function that reads and writes objects of the device using transient transmission. Transient transmission is suitable for data that does not require reading and writing in a fixed cycle and data with a large size.
Page 384 Axis control data (transient function) n: Axis No. -1 Setting item Setting details/setting value Default Buffer memory address value [Cd.160] Optional SDO Requests the servo transient transmission. 57520+30n transfer request 1 • Changes to values are not accepted during processing. •...
Page 385 Send/receive timing The send/receive timing for the servo transient transmission is shown below. • Send/receive timing for individual read/write (at normal operation) [Cd.160] Optional SDO transfer request 1 Not request Write/Read request (single) Not request [Md.160] Optional SDO transfer result 1 [Cd.164] Optional SDO transfer data 1 Read data (at reading)
Page 386: Firmware Update Function [Fx5-Ssc-G]
8.15 Firmware update function [FX5-SSC-G] This function is used to update firmware of the Motion module. Procedure to update firmware Firmware update when using GX Works3 For the method to update firmware of the Motion module, refer to "update instruction using engineering tool" in the following manual.
Page 387: Hot Line Forced Stop Function
8.16 Hot line forced stop function This function is used to execute deceleration stop safety for other axes when the servo alarm occurs in the servo amplifier MR-JE-B(F). Control details The hot line forced stop function is set in the servo parameter. This function can execute deceleration stop for other axes without via Simple Motion module by notifying the servo alarm occurrence.
Page 388 • The following shows the timing chart at the servo alarm occurrence. Positioning control Axis in which the servo alarm occurred (axis 2) [Md.108] Servo status1 (b7: Servo alarm) Positioning control Axis in which the servo alarm does not occur (axis 1) [Md.108] Servo status1 (b15: Servo warning) [Cd.5] Axis error reset...
Page 389: Chapter 9 Specifications Of I/O Signals With Cpu Modules
SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULES List of Input/Output Signals with CPU Modules The Simple Motion module/Motion module uses 10 input points and 10 output points for exchanging data with the CPU module. The input/output signals of the Simple Motion module/Motion module are shown below. •...
Page 390 MEMO 9 SPECIFICATIONS OF I/O SIGNALS WITH CPU MODULES 9.1 List of Input/Output Signals with CPU Modules...
Page 391: Chapter 10 Parameter Settings
PARAMETER SETTINGS This chapter describes the parameter setting of the Simple Motion module/Motion module. By setting parameters, the parameter setting by program is not needed. The module parameter and Simple Motion module setting are included in the parameter settings. 10.1 Parameter Setting Procedure Add the Simple Motion module/Motion module in the engineering tool.
Page 392: Module Parameters
10.2 Module Parameters Set the module parameter. The module parameter has the following settings. [FX5-SSC-S] • Refresh settings [FX5-SSC-G] Module parameter (Motion) • Refresh settings Module Parameter (Network) • Required settings • Basic settings • Application settings *1 For details, refer to the following. MELSEC iQ-F FX5 Motion Module User's Manual (CC-Link IE TSN) Select the module parameter from the tree on the following window.
Page 393: Setting Item
Setting item The refresh setting has the following items. [FX5-SSC-S] Item Reference Refresh at Transfer Command position value Page 527 [Md.20] Command position value the set to the Machine feed value Page 528 [Md.21] Machine feed value timing Speed command Page 529 [Md.22] Speed command Axis error No.
Page 394 Item Reference Refresh at Transfer Start data pointer being executed Page 541 [Md.43] Start data pointer being executed the set to the Positioning data No. being executed Page 541 [Md.44] Positioning data No. being executed timing Block No. being executed Page 541 [Md.45] Block No.
Page 395 Item Reference Refresh at Transfer Command Generation Axis_Start positioning data No. Page 540 [Md.38] Start positioning data No. setting value the set to the setting value timing Command Generation Axis_In speed limit flag Page 540 [Md.39] In speed limit flag Command Generation Axis_In speed change Page 540 [Md.40] In speed change processing flag processing flag...
Page 396 [FX5-SSC-G] Item Reference Refresh at Transfer Command position value Page 527 [Md.20] Command position value the set to the Machine feed value Page 528 [Md.21] Machine feed value timing CPU (axis Speed command Page 529 [Md.22] Speed command monitor 1) Axis error No.
Page 397 Item Reference Refresh at Transfer Positioning data being executed (Positioning identifier) Page 542 [Md.47] Positioning data being executed the set to the Positioning data being executed (M code) timing CPU (axis Positioning data being executed (Dwell time) monitor 1) Positioning data being executed (Command speed) Positioning data being executed (Positioning address) Positioning data being executed (Arc address) Actual position value...
Page 398 Item Reference Refresh at Transfer Command Generation Axis_Positioning data No. being Page 541 [Md.44] Positioning data No. being executed the set to the executed timing Command Generation Axis_Last executed positioning Page 542 [Md.46] Last executed positioning data No. (command data No. generation Command Generation Axis_Positioning data being Page 542 [Md.47] Positioning data being executed...
Page 399: Simple Motion Module Setting
10.3 Simple Motion Module Setting Set the required setting for the Simple Motion module/Motion module. Refer to "Help" in the "Simple Motion Module Setting Function" of the engineering tool for details. Select the Simple Motion module setting from the tree on the following window. Navigation window ...
Page 400: Chapter 11 Data Used For Positioning Control
DATA USED FOR POSITIONING CONTROL The parameters and data used to carry out positioning control with the Simple Motion module/Motion module are explained in this chapter. With the positioning system using the Simple Motion module/Motion module, the various parameters and data explained in this chapter are used for control.
Page 401 Classification Item Description Synchronous control Servo input axis parameters Set the parameters for synchronous control. parameters Synchronous encoder axis parameters Synchronous encoder axis parameters via link device [FX5-SSC-G] Command generation axis parameters Command generation axis positioning data Synchronous parameters Cam data Set the cam data to be used for synchronous control.
Page 402: Setting Items For Servo Network Configuration Parameters [Fx5-Ssc-G]
Monitor data The data indicates the control status. The data is stored in the buffer memory. Monitor the data as necessary. The monitor data is classified as follows. Item Description System monitor data Monitors the specifications and the operation history of Simple Motion module/Motion module. Axis monitor data Monitors the data related to the operating axis, such as the current position and speed.
Page 403: Setting Items For Common Parameters
Setting items for common parameters The setting items for the "common parameters" are shown below. The "common parameters" are independent of axes and related to the overall system. : Always set : Set as required ("" when not required) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Common parameter Home Major positioning control...
Page 404 Common parameter Manual control Expansion Related sub control function Manual pulse Inching JOG operation Speed-torque generator operation control operation [Pr.24] Manual pulse generator/Incremental      synchronous encoder input selection [FX5-SSC-S] [Pr.82] Forced stop valid/invalid selection Page 254 ...
Page 405: Setting Items For Positioning Parameters
Setting items for positioning parameters The setting items for the "positioning parameters" are shown below. The "positioning parameters" are set for each axis for all controls achieved by the Simple Motion module/Motion module. Home position return control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Home position return control...
Page 406: Positioning Parameter
Positioning parameter Home position return control Detailed parameters 2 [Pr.25] Acceleration time 1  [Pr.26] Acceleration time 2  [Pr.27] Acceleration time 3  [Pr.28] Deceleration time 1  [Pr.29] Deceleration time 2  [Pr.30] Deceleration time 3  [Pr.31] JOG speed limit value ...
Page 407: Major Positioning Control
Major positioning control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Major positioning control Position control 1 to 4 Speed-...
Page 408 Positioning parameter Major positioning control Position control 1 to 4 Speed- Other control axis position or 1-axis linear 1-axis 2-axis Current JUMP speed position- control fixed-feed circular value instruction, control speed 2/3/4-axis control interpolation changing control linear 2/3/4-axis control instruction, interpolation fixed-feed LOOP to...
Page 409: Manual Control
Manual control : Always set, : Set as required ("" when not required), : Setting restricted, : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Manual control Manual pulse Inching operation JOG operation...
Page 410: Generator Operation
Positioning parameter Manual control Manual pulse Inching operation JOG operation generator operation Detailed parameters 2 [Pr.25] Acceleration time 1    [Pr.26] Acceleration time 2    [Pr.27] Acceleration time 3    [Pr.28] Deceleration time 1 ...
Page 411 Expansion control : Always set, : Set as required ("" when not required), : Setting not possible : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning parameter Expansion control Speed-torque control Basic parameters 1 [Pr.1] Unit setting...
Page 412 Positioning parameter Expansion control Speed-torque control Detailed parameters 2 [Pr.25] Acceleration time 1  [Pr.26] Acceleration time 2  [Pr.27] Acceleration time 3  [Pr.28] Deceleration time 1  [Pr.29] Deceleration time 2  [Pr.30] Deceleration time 3  [Pr.31] JOG speed limit value ...
Page 413: Setting Items For Home Position Return Parameters
Setting items for home position return parameters When carrying out "home position return control", the "home position return parameters" must be set. The setting items for the "home position return parameters" are shown below. The "home position return parameters" are set for each axis. : Always set : Set as required : Setting not required (When the value is the default value or within the setting range, there is no problem.)
Page 414: Setting Items For Extended Parameters
Checking the home position return parameters [Pr.43] to [Pr.57] are checked with the following timing. • When the "[Cd.190] PLC READY" changes from OFF to ON Setting items for extended parameters The setting items for the "extended parameters" are shown below. The "extended parameters" are set for each axis. Extended parameter Related sub function [Pr.91]...
Page 415: Setting Items For Positioning Data
Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. : Always set : Set as required (""...
Page 416 : Always set : Set as required ("" when not required) : Setting not possible (If set, the error "Continuous path control not possible" (error code: 1A1EH [FX5-SSC-S], or error code: 1B1EH [FX5-SSC-G]) will occur at start.) : Setting not required (When the value is the default value or within the setting range, there is no problem.) Positioning data Speed-position switching control Position-speed switching control...
Page 417: Setting Items For Block Start Data
Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the "block start data" are shown below. Up to 50 points of "block start data" can be set for each axis. : Set as required (""...
Page 418: Types And Roles Of Monitor Data
Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. Item Description System monitoring...
Page 419 Monitoring the axis operation state Monitoring the position Monitor details Corresponding item Monitor the current machine feed value [Md.21] Machine feed value Monitor the command position value [Md.20] Command position value Monitor the current target value [Md.32] Target value Monitoring the speed Monitor details Corresponding item Monitor the...
Page 420 Monitor details Corresponding item [FX5-SSC-S] [Md.112] Optional data monitor output 4 • Monitor the content of "[Pr.94] Optional data monitor: Data type setting 4" at optional data monitor data type setting. [FX5-SSC-G] • Monitor the content of "[Pr.94] Optional data monitor: Data type setting 4" and "[Pr.594] Optional data monitor: Data type expansion setting 4"...
Page 421: Types And Roles Of Control Data
Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the program.) Items that can be controlled are described below.
Page 422: Controlling The Speed
Controlling the speed Control details Corresponding item When changing acceleration time during speed change, set new acceleration time. [Cd.10] New acceleration time value When changing deceleration time during speed change, set new deceleration time. [Cd.11] New deceleration time value Set acceleration/deceleration time validity during speed change. [Cd.12] Acceleration/deceleration time change value during speed change, enable/disable Change positioning operation speed within the set range (%).
Page 423 Control details Corresponding item Set the semi closed loop control/fully closed loop control. [Cd.133] Semi/Fully closed loop switching request Set the PI-PID switching to servo amplifier. [Cd.136] PI-PID switching request Speed-torque Switch the control mode. [Cd.138] Control mode switching request control Set the control mode to switch.
Page 424: List Of Buffer Memory Addresses
11.2 List of Buffer Memory Addresses The following shows the relation between the buffer memory addresses and the various items. Do not use the buffer memory address that not been described here for a "Maker setting". References for the list of buffer memory addresses in this section are shown below. Buffer memory address Reference Buffer memory addresses for positioning data...
Page 425 Positioning parameters: Basic parameters 1 n: Axis No. - 1 Item Fetch cycle Buffer memory address [Pr.1] Unit setting "[Cd.190] PLC READY" OFF to 0+150n [Pr.2] Number of pulses per rotation (AP) 2+150n 3+150n [Pr.3] Movement amount per rotation (AL) 4+150n 5+150n [Pr.4]...
Page 426 Positioning parameters: Detailed parameters 2 n: Axis No. - 1 Item Fetch cycle Buffer memory address [Pr.25] Acceleration time 1 When the next each control 36+150n starts 37+150n [Pr.26] Acceleration time 2 38+150n 39+150n [Pr.27] Acceleration time 3 40+150n 41+150n [Pr.28] Deceleration time 1 42+150n...
Page 427 Home position return parameters: Home position return detailed parameters n: Axis No. - 1 Item Fetch cycle Buffer memory address [Pr.50] Setting for the movement amount after proximity dog ON [FX5-SSC-S] "[Cd.190] PLC READY" OFF to 80+150n 81+150n [Pr.51] Home position return acceleration time selection 82+150n [Pr.52] Home position return deceleration time selection...
Page 428 Item Refresh cycle Buffer memory address [Md.134] Operation time Operation cycle 4008 [Md.135] Maximum operation time Immediate 4009 [Md.140] Module status b0: "[Cd.190] PLC READY" OFF 31500 to ON b1: At power supply ON/the CPU module reset [Md.141] BUSY At start 31501 *1 Some buffer memory addresses differ from the addresses used on the command generation axis side in synchronous control.
Page 429 Item Refresh cycle Buffer memory address [Md.46] Last executed positioning data No. Immediate 2437+100n [Md.47] Positioning data being executed Positioning identifier 2438+100n M code 2439+100n Dwell time 2440+100n Command speed 2442+100n 2443+100n Positioning address 2444+100n 2445+100n Arc address 2446+100n 2447+100n Axis to be interpolated 2496+100n 2497+100n...
Page 430 Item Refresh cycle Buffer memory address [Md.160] Optional SDO transfer result 1 [FX5-SSC-G] At request (Command request) 59308+100n 59309+100n [Md.164] Optional SDO transfer status 1 [FX5-SSC-G] 59312+100n [Md.190] Controller position value restoration complete status [FX5-SSC-G] 16.0 ms 59327+100n [Md.500] Servo status7 [FX5-SSC-S] Operation cycle 59300+100n [Md.502]...
Page 431 Item Fetch cycle Buffer memory address [Cd.16] Inching movement amount At start 4317+100n [Cd.17] JOG speed 4318+100n 4319+100n [Cd.18] Interrupt request during continuous operation Operation cycle 4320+100n [Cd.19] Home position return request flag OFF request 14.2 ms [FX5-SSC-S] 4321+100n 16.0 ms [FX5-SSC-G] [Cd.20] Manual pulse generator 1 pulse input magnification Operation cycle (At manual pulse...
Page 432 Item Fetch cycle Buffer memory address [Cd.140] Command speed at speed control mode Operation cycle (At speed 4376+100n control mode) 4377+100n [Cd.141] Acceleration time at speed control mode At request (Mode switching) 4378+100n [Cd.142] Deceleration time at speed control mode 4379+100n [Cd.143] Command torque at torque control mode...
Page 433 [Positioning data] Positioning data n: Axis No. - 1 Memory area Item Buffer memory address Positioning data No.1 [Da.1] Operation pattern Positioning identifier 6000+1000n [Da.2] Control method [Da.3] Acceleration time No. [Da.4] Deceleration time No. [Da.6] Positioning address/movement amount 6006+1000n 6007+1000n [Da.7] Arc address...
Page 434: Memory Area
[Block start data] Positioning data (Block start data) n: Axis No. - 1 Memory area Item Buffer memory address Starting block 0 Block start data [Da.11] Shape 22000+400n  1st point [Da.12] Start data No. [Da.13] Special start instruction  22050+400n [Da.14] Parameter...
Page 435: Servo Parameters
Servo parameters The following shows the relation between the buffer memory addresses of servo parameters and the various items. The setting range is different depending on the servo amplifier model. Refer to each servo amplifier instruction manual for details. Servo parameters [FX5-SSC-S] n: Axis No.
Page 436 Item Servo amplifier parameter No. Buffer memory address PB13 28431+100n  PB14 28432+100n  PB15 28433+100n  PB16 28434+100n  PB17 28435+100n  PB18 28436+100n  PB19 28437+100n  PB20 28438+100n  PB21 28439+100n  PB22 28440+100n  PB23 28441+100n ...
Page 437 Item Servo amplifier parameter No. Buffer memory address  PC02 28465+100n PC03 28466+100n   PC04 28467+100n PC05 28468+100n  PC06 28469+100n  PC07 28470+100n  PC08 28471+100n  PC09 28472+100n  PC10 28473+100n  PC11 28474+100n  PC12 28475+100n ...
Page 438 Item Servo amplifier parameter No. Buffer memory address PC55 64454+70n  PC56 64455+70n  PC57 64456+70n  PC58 64457+70n  PC59 64458+70n  PC60 64459+70n  PC61 64460+70n  PC62 64461+70n  PC63 64462+70n  PC64 64463+70n  PD01 65520+340n ...
Page 439 Item Servo amplifier parameter No. Buffer memory address  PD44 65563+340n PD45 65564+340n   PD46 65565+340n PD47 65566+340n  PD48 65567+340n  PE01 65568+340n  PE02 65569+340n  PE03 65570+340n  PE04 65571+340n  PE05 65572+340n  PE06 65573+340n ...
Page 440 Item Servo amplifier parameter No. Buffer memory address PE49 65616+340n  PE50 65617+340n  PE51 65618+340n  PE52 65619+340n  PE53 65620+340n  PE54 65621+340n  PE55 65622+340n  PE56 65623+340n  PE57 65624+340n  PE58 65625+340n  PE59 65626+340n ...
Page 441 Item Servo amplifier parameter No. Buffer memory address  PF06 65637+340n PF07 65638+340n   PF08 65639+340n PF09 65640+340n  PF10 65641+340n  PF11 65642+340n  PF12 65643+340n  PF13 65644+340n  PF14 65645+340n  PF15 65646+340n  PF16 65647+340n ...
Page 442 Item Servo amplifier parameter No. Buffer memory address Po11 65690+340n  Po12 65691+340n  Po13 65692+340n  Po14 65693+340n  Po15 65694+340n  Po16 65695+340n  Po17 65696+340n  Po18 65697+340n  Po19 65698+340n  Po20 65699+340n  Po21 65700+340n ...
Page 443 Item Servo amplifier parameter No. Buffer memory address  PL32 65775+340n PL33 65776+340n   PL34 65777+340n PL35 65778+340n  PL36 65779+340n  PL37 65780+340n  PL38 65781+340n  PL39 65782+340n  PL40 65783+340n  PL41 65784+340n  PL42 65785+340n ...
Page 444 Mark detection function The following shows the relation between the buffer memory addresses for mark detection function and the various items. Mark detection setting parameters k: Mark detection setting No. - 1 Item Fetch cycle Buffer memory address [Pr.800] Mark detection signal setting At power supply ON 54000+20k [Pr.801]...
Page 445 Link device external signal assignment [FX5-SSC-G] The following shows the relation between the buffer memory addresses for link device external signal assignment and the various items. Link device external signal assignment parameters n: Axis No. - 1 Item Fetch cycle Buffer memory address [Pr.910]...
Page 446: Basic Setting
11.3 Basic Setting The setting items of the setting data are explained in this section. Servo network configuration parameters [FX5-SSC-G] n: Axis No. -1 Item Setting value, setting range Default value Buffer memory address [Pr.101] 0: Use for the actual servo amplifier 58022+32n Virtual servo amplifier setting 1: Use for the virtual servo amplifier...
Page 447 [Pr.141] IP address Set the IP address. Assign 1 [byte] each to octets 1 to 4. octet octet octet octet For 192.168.3.1 Setting value: HC0A80301 • When using the amplifier as an actual servo amplifier, be sure to set an IP address. Axis control cannot be performed when set to the default value of "0".
Page 448: Common Parameters
Common parameters Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.24] 0: A-phase/B-phase multiplied by 4 Manual pulse generator/ 1: A-phase/B-phase multiplied by 2 Incremental synchronous 2: A-phase/B-phase multiplied by 1 encoder input selection [FX5- SSC-S] 3: pulse/SIGN...
Page 449 [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection [FX5- SSC-S] Set the manual pulse generator/incremental synchronous encoder input pulse mode. Manual pulse generator/Incremental synchronous encoder input selection Setting value A-phase/B-phase multiplied by 4 A-phase/B-phase multiplied by 2 A-phase/B-phase multiplied by 1 pulse/SIGN Set the positive logic or negative logic in "[Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection".
Page 450 pulse/SIGN [Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection Positive logic Negative logic Forward run and reverse run are controlled with the ON/OFF of the direction Forward run and reverse run are controlled with the ON/OFF of the direction sign (SIGN).
Page 451 [Pr.89] Manual pulse generator/Incremental synchronous encoder input type selection [FX5-SSC-S] Set the input type from the manual pulse generator/incremental synchronous encoder. Manual pulse generator/Incremental synchronous encoder input type selection Setting value Differential output type Voltage output/open collector type Refer to "External Input Connection Connector [FX5-SSC-S]" in the following manual for details. MELSEC iQ-F FX5 Motion Module/Simple Motion Module User's Manual (Startup) The "Manual pulse generator/Incremental synchronous encoder input type selection"...
Page 452 [Pr.97] SSCNET setting [FX5-SSC-S] Set the servo network. SSCNET setting Setting value SSCNET SSCNET/H The connectable servo amplifier differs by this parameter. When an unconnectable servo amplifier is set in "[Pr.100] Servo series", the error "SSCNET setting error" (error code: 1B74H) occurs and the communication with the servo amplifier is not executed.
Page 453 [Pr.151] Manual pulse generator/INC synchronous encoder input logic selection [FX5- SSC-S] Set the input signal logic from the manual pulse generator/incremental synchronous encoder. Manual pulse generator/Incremental synchronous encoder input logic selection Setting value Negative logic Positive logic Refer to the following for the negative logic/positive logic. Page 447 [Pr.24] Manual pulse generator/Incremental synchronous encoder input selection [FX5-SSC-S] A mismatch in the signal logic will disable normal operation.
Page 454 [Pr.156] Manual pulse generator smoothing time constant [FX5-SSC-G] • Smoothing processing smooths the speed change in manual pulse generator operation. Note that the input response is delayed by the time set for the smoothing processing. • When a value outside the range is set, the error "Outside manual pulse generator smoothing time constant range error" (error code: 1DC6H) occurs when "[Cd.190] PLC READY"...
Page 455 [Pr.900] Forced stop signal (EMI): Link device type [FX5-SSC-G] Set the link device type for use. For details, refer to the following. Page 329 Link Device External Signal Assignment Function [FX5-SSC-G] Buffer memory address Refer to the following for the buffer memory address in this area. Page 422 Common parameters [Pr.901] Forced stop signal (EMI): Link device start No.
Page 456: Basic Parameters1
Basic parameters1 This section describes the details on the basic parameter 1. n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the Value set with a engineering tool program [Pr.1] 0: mm 0+150n Unit setting 1: inch...
Page 457 [Pr.2] to [Pr.4] Electronic gear (Movement amount per pulse) Mechanical system value used when the Simple Motion module/Motion module performs positioning control. The settings are made using [Pr.2] to [Pr.4]. The electronic gear is expressed by the following equation. [Pr.2] Number of pulses per rotation (AP) Electronic gear [Pr.3] Movement amount per rotation (AL) u [Pr.4] Unit magnification (AM) When positioning has been performed, an error (mechanical system error) may be produced between the specified...
Page 458 [Pr.2] Number of pulses per rotation (AP) Set the number of pulses required for a complete rotation of the motor shaft. [FX5-SSC-S] If you are using the Mitsubishi servo amplifier MR-J4(W)-B/MR-JE-B(F)/MR-J3(W)-B, set the value given as the "resolution per servo motor rotation" in the speed/position detector specifications. Number of pulses per rotation (AP) = Resolution per servo motor rotation [FX5-SSC-G] When using the MR-J5(W)-G/MR-JET-G, add the electronic gear of the servo amplifier when setting.
Page 459 [Pr.7] Bias speed at start Set the bias speed (minimum speed) upon starting. When using a stepping motor, etc., set it to start the motor smoothly. (If the motor speed at start is low, the stepping motor does not start smoothly.) The specified "bias speed at start"...
Page 460: Precautionary Notes
Precautionary notes • Set "0" because "[Pr.7] Bias speed at start" is valid regardless of motor type. Otherwise, it may cause vibration or impact even though an error does not occur. • Set "[Pr.7] Bias speed at start" according to the specification of stepping motor driver. If the setting is outside the range, it may cause the following troubles by rapid speed change or overload.
Page 461: Basic Parameters2
Basic parameters2 This section describes the details on the basic parameter 2. n: Axis No. - 1 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.8] The setting range differs depending on the "[Pr.1] Unit setting". 200000 10+150n Speed limit value...
Page 462: Detailed Parameters1
Detailed parameters1 n: Axis No. - 1 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.11] The setting value range differs according to the "[Pr.1] Unit setting". 17+150n Backlash compensation amount...
Page 463 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.116] 1 (0001H): Servo amplifier 0001H 116+150n FLS signal selection 2 (0002H): Buffer memory 3 (0003H): Link device [FX5-SSC-G] [Pr.117] 0001H 117+150n...
Page 464 [Pr.11] Backlash compensation amount The error that occurs due to backlash when moving the machine via gears can be compensated. (When the backlash compensation amount is set, commands equivalent to the compensation amount will be output each time the direction changes during positioning.) [Pr.44] Home position return direction Workpiece (moving body)
Page 465 [Pr.12] Software stroke limit upper limit value Set the upper limit for the machine's movement range during positioning control. [Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit) 0: mm -214748364.8 to 214748364.7 (m) -2147483648 to 2147483647 ( ...
Page 466 [Pr.16] Command in-position width Set the remaining distance that turns the command in-position flag ON. The command in-position signal is used as a front- loading signal of the positioning complete signal. When the remaining distance to the stop position during the automatic deceleration of positioning control becomes equal to or less than the value set in command in-position width, the command in- position flag turns ON.
Page 467: Operation Example
[Pr.18] M code ON signal output timing This parameter sets the M code ON signal output timing. Choose either WITH mode or AFTER mode as the M code ON signal output timing. Operation example WITH mode: An M code is output and the M code ON signal is An M code is output and the M code ON signal is AFTER mode turned ON when a positioning operation starts.
Page 468 [Pr.19] Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. • Speed of positioning data No.n > Speed of positioning data No.n + 1 Decelerates at deceleration time No. of Positioning data No.n + 1 •...
Page 469 [Pr.20] Interpolation speed designation method When carrying out linear interpolation/circular interpolation, set whether to designate the composite speed or reference axis speed. Setting value Details 0: Composite speed The movement speed for the control target is designated, and the speed for each axis is calculated by the Simple Motion module/Motion module.
Page 470 [Pr.22] Input signal logic selection Set the input signal logic that matches the signaling specification of the external input signal (upper/lower limit switch, proximity dog) of servo amplifier connected to the Simple Motion module/Motion module or "[Cd.44] External input signal operation device (Axis 1 to 8)".
Page 471: Input Type
[Pr.116] to [Pr.119] FLS/RLS/DOG/STOP signal selection Input type Set the input type whose external input signal (upper/lower limit signal (FLS/RLS), proximity dog signal (DOG) or stop signal (STOP)) is used. *1*2 1 (0001H): Servo amplifier (Uses the external input signal of the servo amplifier.) 2 (0002H): Buffer memory (Uses the buffer memory of the Simple Motion module/Motion module.) 3 (0003H): Link device (Uses the link device.) [FX5-SSC-G] *1 The setting is not available in "[Pr.119] STOP signal selection".
Page 472: Detailed Parameters2
Detailed parameters2 n: Axis No. - 1 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.25] 1 to 8388608 (ms) 1 to 8388608 (ms) 1000 36+150n Acceleration time 1 37+150n [Pr.26] 38+150n...
Page 473 Item Setting value, setting range Default value Buffer memory address Value set with the engineering tool Value set with a program [Pr.83] 0: Invalid 63+150n Speed control 10 times multiplier setting for 1: Valid degree axis [Pr.84] 0, 1 to 327680 [pulse] 64+150n Restart allowable 0: restart not allowed...
Page 474 [Pr.28] Deceleration time 1 to [Pr.30] Deceleration time 3 These parameters set the time for the speed to decrease from the "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) to zero during a positioning operation. Buffer memory address Refer to the following for the buffer memory address in this area.
Page 475 [Pr.34] Acceleration/deceleration process selection Set whether to use trapezoid acceleration/deceleration or S-curve acceleration/deceleration for the acceleration/deceleration process. Refer to the following for details. Page 304 Acceleration/deceleration processing function Velocity Velocity The acceleration and deceleration The acceleration and deceleration are linear. follow a Sin curve.
Page 476 [Pr.36] Sudden stop deceleration time Set the time to reach speed 0 from "[Pr.8] Speed limit value" ("[Pr.31] JOG speed limit value" at JOG operation control) during the rapid stop. The illustration below shows the relationships with other parameters. 1) Positioning start 2) Rapid stop cause occurrence 3) Positioning stop •...
Page 477 [Pr.40] Positioning complete signal output time Set the output time of the positioning complete signal output from the Simple Motion module/Motion module. A positioning completes when the specified dwell time has passed after the Simple Motion module/Motion module had terminated the command output. For the interpolation control, the positioning completed signal of interpolation axis is output only during the time set to the reference axis.
Page 478 [Pr.41] Allowable circular interpolation error width The allowable error range of the calculated arc path and end point address is set. If the error of the calculated arc path and end point address is within the set range, circular interpolation will be carried out to the set end point address while compensating the error with spiral interpolation.
Page 479 [Pr.83] Speed control 10 times multiplier setting for degree axis Set the speed control 10  multiplier setting for degree axis when you use command speed and speed limit value set by the positioning data and the parameter at "[Pr.1] Unit setting" setup degree by ten times at the speed. 0: Invalid 1: Valid Normally, the speed specification range is 0.001 to 2000000.000 [degree/min], but it will be decupled and become 0.01 to...
Page 480 [Pr.84] Restart allowable range when servo OFF to ON Restart function at switching servo OFF to ON The restart function at switching servo OFF to ON performs continuous positioning operation (positioning start, restart) when switching servo OFF to ON while the Simple Motion module/Motion module is stopped (including forced stop, servo forced stop).
Page 481: Setting Method
Setting method For performing restart at switching servo OFF to ON, set the restart allowable range in the following buffer memory. n: Axis No. - 1 Item Setting range Default value Buffer memory address [Pr.84] Restart allowable range when servo OFF to 0, 1 to 327680 [pulse] 64+150n 0: restart not allowed...
Page 482 [Pr.90] Operation setting for speed-torque control mode Operation setting of the speed control mode, torque control mode or continuous operation to torque control mode at the speed-torque control is executed. Torque initial value selection Set the torque initial value at switching to torque control mode or to continuous operation to torque control mode. Setting value Details 0: Command torque...
Page 483 [Pr.95] External command signal selection Set the external command signal. DOG signal of the servo amplifier is used regardless of the values of "[Pr.118] DOG signal selection". [FX5-SSC-G] FX5-SSC-S Setting value Details 0: Not used External command signal is not used. 1: DI1 DI1 is used as external command signal.
Page 484 [Pr.122] Manual pulse generator speed limit mode [FX5-SSC-G] Set how to output when the output by manual pulse generator operation exceeds "[Pr.123] Manual pulse generator speed limit value". 0: Do not execute speed limit 1: Do not output the exceeding speed limit value 2: Output the exceeding speed limit value delay The "Manual pulse generator speed limit mode"...
Page 485: Home Position Return Basic Parameters
Home position return basic parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program [Pr.43] 0: Proximity dog method [FX5-SSC-S] 0 [FX5-SSC-S] 70+150n Home position return 8 [FX5-SSC- 4: Count method 1 [FX5-SSC-S]...
Page 486 [Pr.44] Home position return direction Set the direction to start movement when starting machine home position return. Setting value Details 0: Positive direction (address increment direction) Moves in the direction that the address increments. (Arrow 2)) 1: Negative direction (address decrement direction) Moves in the direction that the address decrements.
Page 487 [Pr.46] Home position return speed Set the speed for home position return. Performs high-speed home position return with the home position return speed. [FX5-SSC-G] [Pr.1] setting value Value set with the engineering tool (unit) Value set with a program (unit) 0: mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 ( ...
Page 488 [Pr.47] Creep speed [FX5-SSC-S] Set the creep speed after proximity dog ON (the low speed just before stopping after decelerating from the home position return speed). The creep speed is set within the following range. ([Pr.46] Home position return speed)  ([Pr.47] Creep speed)  ([Pr.7] Bias speed at start) [Pr.46] Home position return speed Machine home position return start...
Page 489: Home Position Return Detailed Parameters
Home position return detailed parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program [Pr.50] The setting value range differs depending on the "[Pr.1] Unit setting". 80+150n Setting for the movement amount after 81+150n...
Page 490: Setting Example
[Pr.50] Setting for the movement amount after proximity dog ON [FX5-SSC-S] When using the count method 1 or 2, set the movement amount to the home position after the proximity dog signal turns ON. (The movement amount after proximity dog ON should be equal to or greater than the sum of the "distance covered by the deceleration from the home position return speed to the creep speed"...
Page 491 [Pr.52] Home position return deceleration time selection Set which of "deceleration time 0 to 3" to use for the deceleration time during home position return. 0: Use the value set in "[Pr.10] Deceleration time 0". 1: Use the value set in "[Pr.28] Deceleration time 1". 2: Use the value set in "[Pr.29] Deceleration time 2".
Page 492 [Pr.54] Home position return torque limit value [FX5-SSC-S] Set the value to limit the servo motor torque after reaching the creep speed during machine home position return. Refer to the following for details on the torque limits. Page 241 Torque limit function Buffer memory address Refer to the following for the buffer memory address in this area.
Page 493 [Pr.57] Dwell time during home position return retry [FX5-SSC-S] When home position return retry is validated (when "1" is set for [Pr.48]), set the stop time after decelerating in 2) and 4) in the following drawing. Temporarily stop for Temporarily stop for the time set in [Pr.57].
Page 494: Extended Parameters
Extended parameters n: Axis No. - 1 Item Setting value, setting range Default Buffer memory value address Value set with the engineering tool Value set with a program 100+150n [Pr.91] [FX5-SSC-S] [FX5-SSC-S] Optional data monitor: Data type 0: No setting setting 1 1: Effective load ratio 2: Regenerative load ratio...
Page 495 [Pr.91] to [Pr.94] Optional data monitor: Data type setting Set the data type monitored by the optional data monitor function. Setting values [FX5-SSC-S] Setting value Data type Used point No setting 1 word Effective load ratio Regenerative load ratio Peak load ratio Load inertia moment ratio Model loop gain Bus voltage...
Page 496 • The monitor address of optional data monitor is registered to servo amplifier with initialized communication after power supply ON or CPU module reset. • Set the data type of "used point: 2 words" in "[Pr.91] Optional data monitor: Data type setting 1" or "[Pr.93] Optional data monitor: Data type setting 3".
Page 497 [Pr.512] Optional SDO 1 [FX5-SSC-G] Specify the object that will perform servo transient transmission. For details, refer to the following. Page 381 Servo Transient Transmission Function [FX5-SSC-G] Buffer memory address For the buffer memory addresses in this area, refer to the following. Page 425 Extended parameters [Pr.591] to [Pr.594] Optional data monitor: Data type expansion setting [FX5-SSC-G] Set the data type to monitor with the optional data monitor function.
Page 498: Servo Parameters [Fx5-Ssc-S]
Servo parameters [FX5-SSC-S] Servo series n: Axis No. -1 Item Setting details Set range Default Buffer value memory address 28400+100n [Pr.100] Used to select the servo amplifier series to 0: Not set Servo series connect to the Simple Motion module. 1: MR-J3-_B_, MR-J3W-_B (2-axis type) 3: MR-J3-_BS (For safety servo) 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-axis type, 3-axis type)
Page 499: Positioning Data
11.4 Positioning Data Before explaining the positioning data setting items [Da.1] to [Da.10], [Da.20] to [Da.22], the configuration of the positioning data is shown below. The positioning data stored in the buffer memory of the Simple Motion module/Motion module is the following configuration. Up to 100 positioning data items can be set (stored) for each axis in the buffer memory address shown on the left.
Page 500: Engineering Tool
The following explains the positioning data setting items [Da.1] to [Da.10] and [Da.20] to [Da.22]. (The buffer memory addresses shown are those of the "positioning data No.1".) n: Axis No. - 1 Item Setting value Default Buffer memory value address Value set with the Value set with a program engineering tool...
Page 501 Item Setting value Default Buffer memory value address Value set with the Value set with a program engineering tool [Da.6] The setting value range differs according to the "[Da.2] Control method". 6006+1000n Positioning address/ 6007+1000n movement amount [Da.7] 6008+1000n Arc address 6009+1000n [Da.8] The setting value range differs depending on the "[Pr.1] Unit setting".
Page 502 [Da.2] Control method Set the "control method" for carrying out positioning control. • When "JUMP instruction" is set for the control method, the "[Da.9] Dwell time/JUMP destination positioning data No." and "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions" setting details will differ.
Page 503: Speed-Position Switching Control
[Da.6] Positioning address/movement amount Set the address to be used as the target value for positioning control. The setting value range differs according to the "[Da.2] Control method". Absolute (ABS) system, current value changing • The setting value (positioning address) for the ABS system and current value changing is set with an absolute address (address from home position).
Page 504 Position-speed switching control • Set the amount of movement before the switching from position control to speed control.  When "[Pr.1] Unit setting" is "mm" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges.
Page 505  When "[Pr.1] Unit setting" is "degree" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) ( ...
Page 506  When "[Pr.1] Unit setting" is "inch" The table below lists the control methods that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control method excluded from the table below, neither the positioning address nor the movement amount needs to be set.) ( ...
Page 507 When "[Pr.1] Unit setting" is "mm" The table below lists the control methods that require the setting of the arc address and shows the setting range. (With any control method excluded from the table below, the arc address does not need to be set.) ( ...
Page 508 [Da.8] Command speed Set the command speed for positioning. • If the set command speed exceeds "[Pr.8] Speed limit value", positioning will be carried out at the speed limit value. • If "-1" is set for the command speed, the current speed (speed set for previous positioning data No.) will be used for positioning control.
Page 509 When "[Da.1] Operation pattern" is "11: Continuous path control" • The setting value is irrelevant to the control. (The "dwell time" is 0 ms.) Positioning control Next positioning control No dwell time (0 ms) [Da.2] setting value Setting item Value set with the engineering tool Value set with a program JUMP instruction: 82H Positioning data No.
Page 510 [Da.20] Axis to be interpolated No.1 to [Da.22] Axis to be interpolated No.3 Set the axis to be interpolated to execute the 2 to 4-axis interpolation operation. 2-axis interpolation Set the target axis No. in "[Da.20] Axis to be interpolated No.1". 3-axis interpolation Set the target axis No.
Page 511: Block Start Data
11.5 Block Start Data Before explaining the block start data setting items [Da.11] to [Da.14], the configuration of the block start data is shown below. The block start data stored in the buffer memory of the Simple Motion module/Motion module is the following configuration. 50th point Buffer memory Setting item...
Page 512 n: Axis No. - 1 Item Setting value Default Buffer memory value address Value set with the engineering tool Value set with a program [Da.11] 0: End 0000H 22000+400n Shape 1: Continue [Da.12] Positioning data No: 1 to 600 Start data No. (01H to 258H) 258H [Da.11]...
Page 513 [Da.13] Special start instruction Set the "special start instruction" for using "high-level positioning control". (Set how to start the positioning data set in "[Da.12] Start data No.".) Setting value Setting details 00H: Block start (Normal start) Execute the random block positioning data in the set order with one start. 01H: Condition start Carry out the condition judgment set in "condition data"...
Page 514: Condition Data
11.6 Condition Data Before explaining the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26], the configuration of the condition data is shown below. The condition data stored in the buffer memory of the Simple Motion module/Motion module is the following configuration. No.10 Buffer memory Setting item...
Page 515 The following explains the condition data setting items [Da.15] to [Da.19] and [Da.23] to [Da.26]. (The buffer memory addresses shown are those of the "condition data No.1 (block No.7000)".) • To perform a high-level positioning control using block start data, set a number between 7000 and 7004 to the "[Cd.3] Positioning start No."...
Page 516 n: Axis No. - 1 Item Setting value Default Buffer memory value address Value set with the Value set with a program engineering tool Condition [Da.15] 01: Monitor data ([Md.140], 0000H 22100+400n [Da.15] Condition target identifier Condition [Md.141]) [Da.16] Condition operator target 02: Control data ([Cd.184], [Cd.190], [Cd.191])
Page 517 [Da.15] Condition target Set the condition target as required for each control. Setting value Setting details 01H: Monitor data ([Md.140], [Md.141]) Set the state (ON/OFF) of each signal as a condition. 02H: Control data ([Cd.184], [Cd.190], [Cd.191]) 03H: Buffer memory (1-word) Set the value stored in the buffer memory as a condition.
Page 518 [Da.18] Parameter 1 Set the parameters as required for the "[Da.16] Condition operator" and "[Da.23] Number of simultaneously starting axes". [Da.16] Condition [Da.23] Number of Setting value Setting details operator simultaneously starting axes 01H: ** = P1 Value The value of P1 should be equal to or smaller than the value of P2. (P1  P2) ...
Page 519 [Da.23] Number of simultaneously starting axes Set the number of simultaneously starting axes to execute the simultaneous start. Number of axes Details Simultaneous start by 2 axes of the starting axis and axis set in "[Da.24] Simultaneously starting axis No.1". Simultaneous start by 3 axes of the starting axis and axis set in "[Da.24] Simultaneously starting axis No.1"...
Page 520: Monitor Data
11.7 Monitor Data The setting items of the monitor data are explained in this section. System monitor data Unless noted in particular, the monitor value is saved as binary data. [Md.3] Start information This area stores the start information (restart flag, start origin, and start axis): •...
Page 521 [Md.4] Start No. The start No. is stored. Stored value Start No. 001 to 600(0001H to 0258H) Positioning operation 7000(1B58H) 7001(1B59H) 7002(1B5AH) 7003(1B5BH) 7004(1B5CH) 9010(2332H) JOG operation 9011(2333H) Manual pulse generator 9001(2329H) Machine home position return 9002(232AH) Fast home position return 9003(232BH) Current value changing 9004(232CH)
Page 522 [Md.54] Start (Year: month) The starting time (Year: month) is stored. Buffer memory configuration Stored contents Storage value Year (tens place) 0 to 9 Year (ones place) 0 to 9 Month (tens place) 0, 1 Month (ones place) 0 to 9 Refresh cycle: At start If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
Page 523 [Md.60] Start (ms) The starting time (ms) is stored. 000 (ms) to 999 (ms) Buffer memory configuration Stored contents Storage value ms (hundreds place) 0 to 9 ms (tens place) 0 to 9 ms (ones place) 0 to 9 Refresh cycle: At start If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
Page 524 [Md.8] Start history pointer Indicates a pointer No. that is next to the pointer No. assigned to the latest of the existing starting history records. The storage value (Pointer No.) is 0 to 63. Refresh cycle: At start If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
Page 525 [Md.52] Communication between amplifiers axes searching flag [FX5-SSC-S] Stores the detection status of the axis that sets communication between amplifiers. Storage value Detection status Search end Searching Refresh cycle: Immediate Buffer memory address Refer to the following for the buffer memory address in this area. Page 425 System monitor data [Md.53] SSCNET control status [FX5-SSC-S] Stores the connect/disconnect status of SSCNET communication.
Page 526 [Md.131] Digital oscilloscope running flag Stores the RUN status of the digital oscilloscope. Storage value Digital oscilloscope RUN status Stop Stop by error Refresh cycle: Main cycle Buffer memory address Refer to the following for the buffer memory address in this area. Page 425 System monitor data [Md.132] Operation cycle setting Stores the current operation cycle.
Page 527 [Md.134] Operation time Stores the time (Unit: s) that took for operation every operation cycle. Refresh cycle: Operation cycle [FX5-SSC-G] • The stored time only includes the time spent on the positioning processing cycle and does not include the time spent on communication with the servo amplifier, etc. As such, errors such as "Operation cycle time over error"...
Page 528 [Md.141] BUSY • This signal turns ON at the start of positioning, home position return or JOG operation. It turns OFF during the stop by the step operation that turns OFF (This signal remains ON during positioning) after the "[Da.9] Dwell time/JUMP destination positioning data No."...
Page 529: Axis Monitor Data
Axis monitor data [Md.20] Command position value The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses have a ring structure for values between 0 and 359.99999. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 530 [Md.21] Machine feed value The address of the current position according to the machine coordinates will be stored. (Different from the actual motor position during operation) Note that the current value changing function will not change the machine feed value. Under the speed control mode, the machine feed value is constantly updated always, irrespective of the parameter setting.
Page 531 [Md.22] Speed command The speed of the operating workpiece is stored. (May be different from the actual motor speed during operation) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value. The decimal integer value can be converted into other units by multiplying said value by the following conversion values.
Page 532 [Md.24] Axis warning No. Whenever an axis warning is reported, a related warning code is stored. • This area stores the latest warning code always. (Whenever an axis warning is reported, a new warning code replaces the stored warning code.) •...
Page 533 [Md.27] Current speed The "[Da.8] Command speed" used by the positioning data currently being executed is stored. • If "[Da.8] Command speed" is set to "-1", this area stores the command speed set by the positioning data used one step earlier.
Page 534 [Md.28] Axis speed command The speed which is actually output as a command at that time in each axis is stored. (May be different from the actual motor speed) "0" is stored when the axis is at a stop. (Page 529 [Md.22] Speed command) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 535 [Md.29] Speed-position switching control positioning movement amount The movement amount for the position control to end after changing to position control with the speed-position switching control is stored. When the control method is "Reverse run: position/speed", the negative value is stored. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 536 [Md.30] External input signal [FX5-SSC-S] The ON/OFF state of the external input signal is stored. Buffer memory configuration Stored items Storage value Lower limit signal 0: OFF 1: ON Upper limit signal Stop signal Not used Not used Not used External command signal/ switching signal Proximity dog signal...
Page 537 [Md.31] Status This area stores the states (ON/OFF) of various flags. Information on the following flags is stored. Flag Details In speed control flag This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control.
Page 538 Buffer memory configuration Stored items Storage value In speed control flag 0: OFF 1: ON Speed-position switching latch flag Command in-position flag (12) (11) (10) Not used Not used Home position return request flag Home position return complete flag Position-speed switching latch flag Axis warning detection Speed change 0 flag M code ON...
Page 539 [Md.33] Target speed • During operation with positioning data: The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed. • During interpolation of position control: The composite speed or reference axis speed is stored in the reference axis address, and "0"...
Page 540 [Md.34] Movement amount after proximity dog ON [FX5-SSC-S] • "0" is stored when machine home position return starts. • After machine home position return starts, the movement amount from the proximity dog ON to the machine home position return completion is stored. (Movement amount: Movement amount to machine home position return completion using proximity dog ON as "0".) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 541 [Md.35] Torque limit stored value/forward torque limit stored value [FX5-SSC-S] "[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", "[Cd.22] New torque value/forward new torque value", or "[Pr.54] Home position return torque limit value" is stored. • The value stored is 1 to 10000 ( 0.1%). •...
Page 542 [Md.37] Special start data instruction parameter setting value The "instruction parameter" used with special start and indicated by the start data pointer currently being executed is stored. The stored value differs according to the value set for "[Md.36] Special start data instruction code setting value". Setting value of "[Md.36] Special start data instruction code setting value"...
Page 543 [Md.41] Special start repetition counter • This area stores the remaining number of repetitions during "repetitions" specific to special starting. • The value stored is 0 to 255. • The count is decremented by one (-1) at the loop end. •...
Page 544 [Md.46] Last executed positioning data No. • This area stores the positioning data No. attached to the positioning data that was executed last time. • The value stored is 1 to 600, and 9001 to 9003. • The value is retained until a new positioning operation is executed. •...
Page 545 [Md.62] Amount of the manual pulser driving carrying over movement [FX5-SSC-G] When "2: Output the exceeding speed limit value delay" is set in "[Pr.122] Manual pulse generator speed limit mode", this area stores the carrying over movement amount which exceeds "[Pr.123] Manual pulse generator speed limit value". As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 546 [Md.100] Home position return re-travel value [FX5-SSC-S] This area stores the travel distance during the home position return travel to the zero point that was executed last time. "0" is stored at machine home position return start. (Depends on the setting unit.) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 547 [Md.101] Actual position value [FX5-SSC-S] • This area stores the current value (command position value - deviation counter value). (Depends on the setting unit.) [FX5-SSC-G] • This area stores the current value (command position value - deviation counter value). (Depends on the setting unit.) As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value.
Page 548 [Md.102] Deviation counter value This area stores the droop pulse. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value. The decimal integer value can be converted into other units by multiplying said value by the following conversion values. Low-order buffer memory Monitor value High-order buffer memory...
Page 549 [Md.103] Motor rotation speed This area stores the motor speed updated in real time. As shown in the diagram below, the hexadecimal monitor value is changed to a decimal integer value. The decimal integer value can be converted into other units by multiplying said value by the following conversion values. Low-order buffer memory Monitor value High-order buffer memory...
Page 550 [Md.106] Servo amplifier software No. [FX5-SSC-S] • This area stores the software No. of the servo amplifier used. • This area is update when the control power of the servo amplifier is turned ON. For software No. "-B35W200_A0_" Buffer memory address Monitor value Stored value 2464...
Page 551 [Md.108] Servo status1 This area stores the servo status1. • READY ON: Indicates the ready ON/OFF. • Servo ON: Indicates the servo ON/OFF. • Control mode: Indicates the control mode of the servo amplifier. • Gain switching: Turns ON during the gain switching. •...
Page 552 [Md.109] Regenerative load ratio/Optional data monitor output 1 • The rate of regenerative power to the allowable regenerative power is indicated as a percentage. • When the regenerative option is used, the rate to the allowable regenerative power of the option is indicated. (Buffer memory) % [FX5-SSC-S] •...
Page 553 [Md.112] Optional data monitor output 4 • This area stores the content set in "[Pr.94] Optional data monitor: Data type setting 4" at optional data monitor data type setting. ("0" is stored when the optional data monitor data type is not set.) [FX5-SSC-G] •...
Page 554 [Md.114] Servo alarm [FX5-SSC-S] • This area stores the servo alarm code and servo warning code displayed in LED of servo amplifier. • When the "[Cd.5] Axis error reset" is set to "1" after removing the cause of an error on the servo amplifier side, the servo alarm is cleared (set to "0").
Page 555 [Md.115] Servo alarm detail number [FX5-SSC-G] • When a servo amplifier alarm/warning occurs, the alarm/warning No. is stored. • When the "[Cd.5] Axis error reset" is set to "1" after removing the cause of an alarm/warning on the servo amplifier side, the servo alarm detail number is cleared (set to 0).
Page 556 [Md.117] Statusword [FX5-SSC-G] Statusword is stored. Buffer memory configuration Stored items Storage value Ready to switch on 0: OFF 1: ON Switched on Operation enabled (11) (10) Fault Voltage enabled Quick stop Switch on disabled Warning Remote (10) Operation mode specific (11) Refresh cycle: Operation cycle Buffer memory address...
Page 557 [Md.120] Reverse torque limit stored value [FX5-SSC-S] "[Pr.17] Torque limit setting value", "[Cd.101] Torque output setting value", "[Cd.113] New reverse torque value", or "[Pr.54] Home position return torque limit value" is stored. • The stored value 1 to 10000 ( 0.1%). •...
Page 558 [Md.123] Torque during command • This area stores the command torque during torque control mode. (Buffer memory  0.1)% • This area stores the command torque during continuous operation to torque control mode. • "0" is stored other than during torque control mode or continuous operation to torque control mode. The storage value converted into other units can be checked by multiplying said value by the following conversion values.
Page 559 [Md.126] Servo status4 [FX5-SSC-G] • Servo status4 is stored. • Toggle status for latch completion at the rising edge of touch probe 1/Toggle status for latch completion at the falling edge of touch probe 1: When TPR1 of the servo amplifier side is enabled, the status will change every time stamp is stored by the signal detection.
Page 560 [Md.500] Servo status7 [FX5-SSC-S] This area stores the servo status7. Buffer memory configuration Stored items Storage value Driver operation alarm 0: OFF 1: ON Refresh cycle: Operation cycle Buffer memory address Refer to the following for the buffer memory address in this area. Page 426 Axis monitor data [Md.502] Driver operation alarm No.
Page 561: Control Data
11.8 Control Data The setting items of the control data are explained in this section. System control data [Cd.1] Flash ROM write request • Writes not only "positioning data (No.1 to 600)" and "block start data (No.7000 to 7004)" stored in the buffer memory/ internal memory area, but also "parameters"...
Page 562 [Cd.2] Parameter initialization request • Requests initialization of setting data. • The Simple Motion module/Motion module resets the value to "0" automatically when the initialization completes. (This indicates the completion of the initialization.) Refer to the following for initialized setting data. Page 317 Parameter Initialization Function Initialization: Resetting of setting data to default values Fetch cycle: 103 [ms] [FX5-SSC-S]...
Page 563: Setting Value
[Cd.42] Stop command processing for deceleration stop selection Sets the stop command processing for deceleration stop function (deceleration curve re-processing/deceleration curve continuation). Fetch cycle: At conditions established (At deceleration stop causes occurrence) Setting value • Set with a decimal. Setting value Details Deceleration curve re-processing Deceleration curve continuation...
Page 564: Default Value
[Cd.44] External input signal operation device (Axis 1 to 8) Operates the external input signal status (Upper/lower limit signal, proximity dog signal, stop signal) of the Simple Motion module/Motion module when "2" is set in "[Pr.116] FLS signal selection", "[Pr.117] RLS signal selection", "[Pr.118] DOG signal selection", and "[Pr.119] STOP signal selection".
Page 565: Setting Range
[Cd.55] Input value for manual pulse generator via CPU [FX5-SSC-G] • Set the values used as the input values for the manual pulse generator via CPU in order. • Set the input values with the high speed counter function of the CPU module. Fetch cycle: 8.0 [ms] •...
Page 566 [Cd.102] SSCNET control command [FX5-SSC-S] Sets the connect/disconnect command of SSCNET communication. Fetch cycle: 3.5 [ms] Setting value • Set with a decimal. Setting value Details No command Axis No. Disconnect command of SSCNET communication (Axis No. to be disconnected) Execute command Connect command of SSCNET communication Except above setting...
Page 567 [Cd.158] Forced stop input [FX5-SSC-G] Set the forced stop input information. Fetch cycle: Operation cycle Setting value • Set with a hexadecimal. Setting value Details 0000H Forced stop ON (Forced stop) 0001H Forced stop OFF (Forced stop release) Buffer memory address Refer to the following for the buffer memory address in this area.
Page 568 [Cd.191] All axis servo ON Sets all the servo amplifiers connected to the Simple Motion module/Motion module. Fetch cycle: Operation cycle Setting value • Set with a decimal. Setting value Details Servo ON Other than 1 Servo OFF Buffer memory address Refer to the following for the buffer memory address in this area.
Page 569: Axis Control Data
Axis control data [Cd.3] Positioning start No. Sets the positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Page 276 Pre-reading start function.) Fetch cycle: At start Setting value • Set with a decimal. Setting value Details 1 to 600...
Page 570 [Cd.5] Axis error reset • Clears the axis error detection, axis error No., axis warning detection and axis warning No. • When the axis operation state of Simple Motion module/Motion module is "in error occurrence", the error is cleared and the Simple Motion module/Motion module is returned to the "waiting"...
Page 571 [Cd.7] M code OFF request • The M code ON signal turns OFF. • The Simple Motion module/Motion module resets the value to "0" automatically after the M code signal turns OFF. (Indicates that the OFF request is completed.) Fetch cycle: Operation cycle Setting value •...
Page 572 [Cd.10] New acceleration time value When changing the acceleration time during a speed change, use this data item to specify a new acceleration time. Fetch cycle: At request Setting range • Set with a decimal. Setting range of [Cd.10] (unit) 0 to 8388608 (ms) When the "[Cd.10] New acceleration time value"...
Page 573 [Cd.13] Positioning operation speed override To use the positioning operation speed override function, use this data item to specify an "override" value. If the command speed is set to less than the minimum unit using the override function, the speed is raised to the minimum unit and the warning "Less than minimum speed"...
Page 574 [Cd.15] Speed change request • After setting the "[Cd.14] New speed value", set this data item to "1" to execute the speed change (through validating the new speed value). • The Simple Motion module/Motion module resets the value to "0" automatically when the speed change request has been processed.
Page 575 [Cd.17] JOG speed Use this data item to set the JOG speed. Fetch cycle: At start Setting range • Set with a decimal. • The setting value range differs according to the "[Pr.1] Unit setting". Setting of "[Pr.1] Unit setting" Setting value depending on program (unit) 0: mm 1 to 2000000000 ( ...
Page 576 [Cd.19] Home position return request flag OFF request • The program can use this data item to forcibly turn the home position return request flag from ON to OFF. • The Simple Motion module/Motion module resets the value to "0" automatically when the home position return request flag is turned OFF.
Page 577 [Cd.22] New torque value/forward new torque value • When "0" is set to "[Cd.112] Torque change function switching request", a new torque limit value is set. (This value is set to the forward torque limit value and reverse torque limit value.) When "1" is set to "[Cd.112] Torque change function switching request", a new forward torque limit value is set.
Page 578 [Cd.24] Speed-position switching enable flag Sets whether the switching signal set in "[Cd.45] Speed-position switching device selection" is enabled or not. Fetch cycle: At request Setting value • Set with a decimal. Setting value Details Speed control will not be taken over by position control even when the signal set in "[Cd.45] Speed-position switching device selection"...
Page 579 [Cd.26] Position-speed switching enable flag Sets whether the switching signal set in "[Cd.45] Speed-position switching device selection" is enabled or not. Fetch cycle: At request Setting value • Set with a decimal. Setting value Details Position control will not be taken over by speed control even when the signal set in "[Cd.45] Speed-position switching device selection"...
Page 580 [Cd.28] Target position change value (New speed) • When changing the target position during a positioning operation, use this data item to specify a new speed. • The speed will not change if "0" is set. Fetch cycle: At request Setting range •...
Page 581 [Cd.30] Simultaneous starting own axis start data No. Use this data item to specify a start data No. of own axis at multiple axes simultaneous starting. Fetch cycle: At start Setting range • Set with a decimal. Setting range of [Cd.30] 1 to 600 Buffer memory address Refer to the following for the buffer memory address in this area.
Page 582 [Cd.33] Simultaneous starting axis start data No.3 Use this data item to specify a start data No.3 for each axis that starts simultaneously. For 2 axis simultaneous starting and 3 axis simultaneous starting, the axis setting is not required. (Setting value is ignored.) Fetch cycle: At start Setting range...
Page 583 [Cd.36] Step start information • To continue the step operation when the step function is used, set "1" in the data item. • The Simple Motion module/Motion module resets the value to "0" automatically when processing of the step start request completes.
Page 584 [Cd.39] Teaching positioning data No. • This data item specifies data to be produced by teaching. • If a value between 1 and 600 is set, a teaching operation is done. • The value is cleared to "0" when the Simple Motion module/Motion module is initialized, when a teaching operation completes, and when an illegal value (601 or higher) is entered.
Page 585 [Cd.43] Simultaneous starting axis • Set the number of simultaneous starting axes and target axis. When "2" is set to the number of simultaneous starting axes, set the target axis No. to the simultaneous starting axis No.1. When "3" is set to the number of simultaneous starting axes, set the target axis No.
Page 586 [Cd.46] Speed-position switching command Speed-position control switching is performed when "2" is set in "[Cd.45] Speed-position switching device selection". Other than setting value is ignored. This parameter is made valid only when "2" is set in "[Cd.45] Speed-position switching device selection" at start.
Page 587 [Cd.101] Torque output setting value Sets the torque output value. Set a ratio against the rated torque in 0.1% unit. Fetch cycle: At start • If the "[Cd.101] Torque output setting value" is "0", the "[Pr.17] Torque limit setting value" will be its value. •...
Page 588 [Cd.112] Torque change function switching request Sets "same setting/individual setting" of the forward torque limit value or reverse torque limit value in the torque change function. Fetch cycle: Operation cycle • Set "0" normally. (when the forward torque limit value and reverse torque limit value are not divided.) •...
Page 589 [Cd.130] Servo parameter write request [FX5-SSC-S] • Set the write request of servo parameter. Set "1" or "2" after setting "[Cd.131] Parameter No. (Setting for servo parameters to be changed)" and "[Cd.132] Change data". • The Simple Motion module/Motion module resets the value to "0" automatically when the parameter write access completes.
Page 590 [Cd.132] Change data [FX5-SSC-S] Set the change value of servo parameter set in "[Cd.131] Parameter No. (Setting for servo parameters to be changed)". Fetch cycle: At request Setting value • Set with a decimal or hexadecimal. Buffer memory address Refer to the following for the buffer memory address in this area. Page 428 Axis control data Default value Set to "0".
Page 591 [Cd.138] Control mode switching request • Request the control mode switching. Set "1" after setting "[Cd.139] Control mode setting". • The Simple Motion module/Motion module sets "0" at completion of control mode switching. Fetch cycle: Operation cycle Setting value • Set with a decimal. Setting value Details Switching request...
Page 592 [Cd.140] Command speed at speed control mode Set the command speed at speed control mode. Fetch cycle: Operation cycle (At speed control mode) Setting range • Set with a decimal. • The setting value range differs according to the "[Pr.1] Unit setting". Setting of "[Pr.1] Unit setting"...
Page 593 [Cd.143] Command torque at torque control mode Set the command torque at torque control mode. Set a ratio against the rated torque in 0.1% unit. Fetch cycle: Operation cycle (At torque control mode) Setting range • Set with a decimal. Setting range (unit) of [Cd.143] -10000 to 10000 ( ...
Page 594 [Cd.146] Speed limit value at torque control mode Set the speed limit value at torque control mode. Fetch cycle: Operation cycle (At torque control mode) Setting range • Set with a decimal. • The setting value range differs according to the "[Pr.1] Unit setting". Setting of "[Pr.1] Unit setting"...
Page 595 [Cd.148] Acceleration time at continuous operation to torque control mode Set the acceleration time at continuous operation to torque control mode. (Set the time for the speed to increase from "0" to "[Pr.8] Speed limit value".) Fetch cycle: At request (Mode switching) Setting range Setting range (unit) of [Cd.148] 0 to 65535 (ms)
Page 596 [Cd.151] Torque time constant at continuous operation to torque control mode (+ *1 "+" is an abbreviation for "Forward direction". Set the time constant at driving during continuous operation to torque control mode. (Set the time for the torque to increase from "0"...
Page 597 [Cd.153] Control mode auto-shift selection Set the switching condition when switching to continuous operation to torque control mode. Fetch cycle: At request (Mode switching) Setting value • Set with a decimal. Setting value Details No switching Switching is executed at switching request to continuous operation to torque control mode. condition Command position Switching is executed when "[Md.20] Command position value"...
Page 598 [Cd.180] Axis stop • When the axis stop signal turns ON, the home position return control, positioning control, JOG operation, inching operation, manual pulse generator operation, speed-torque control, etc. will stop. • By turning the axis stop signal ON during positioning operation, the positioning operation will be "stopped". •...
Page 599 [Cd.183] Execution prohibition flag If the execution prohibition flag is ON when the positioning start signal turns ON, positioning control does not start until the execution prohibition flag turns OFF. Used with the "Pre-reading start function". (Page 276 Pre-reading start function) Fetch cycle: At start Setting value •...
Page 600: Axis Control Data (Transient Function) [Fx5-Ssc-G]
Axis control data (transient function) [FX5-SSC-G] [Cd.160] Optional SDO transfer request 1 Used in the servo transient transmission function. Refer to the following for details. Page 381 Servo Transient Transmission Function [FX5-SSC-G] Fetch cycle: Main cycle Buffer memory address Refer to the following for the buffer memory address in this area. Page 430 Axis control data (transient function) [FX5-SSC-G] Default value Set to "0".
Page 601: Memory Configuration And Data Process
11.9 Memory Configuration and Data Process The memory configuration and data transmission of Simple Motion module/Motion module are explained in this section. The Simple Motion module/Motion module is configured of four memories. By understanding the configuration and roles of two memories, the internal data transmission process of Simple Motion module/Motion module, such as "when the power is turned ON"...
Page 602: Simple Motion Module
Details of areas Area name Description Parameter area Area where parameters, such as positioning parameters and home position return parameters, required for positioning control are set and stored. Monitor data area Area where the operation status of positioning system is stored. Control data area Area where data for operating and controlling positioning system is set and stored.
Page 603 Area of FX5-SSC-G Data is backed up here. User accesses here. Buffer memory/Internal memory Flash ROM Parameter area (a) Parameter area (a) Parameter area (b) Parameter area (b) Parameter area (c) Parameter area (c) Positioning data area Positioning data area (No.1 to 600) (No.1 to 600) Block start data area...
Page 604: Buffer Memory Area Configuration
Buffer memory area configuration The buffer memory of Simple Motion module/Motion module is configured of the following types of areas. n: Axis No. - 1 k: Mark detection setting No. - 1 j: Synchronous encoder axis No. - 1 Buffer memory area configuration Buffer memory address Writing possibility...
Page 605 Buffer memory area configuration Buffer memory address Writing possibility Servo parameter area [FX5-SSC-S] Servo series 28400+100n Possible PA group PA01 to PA18 28401+100n to 28418+100n PA19 64464+70n PA20 to PA32 64400+70n to 64412+70n PB group 28419+100n to 28463+100n 64413+70n to 64431+70n PC group 28464+100n to 28495+100n 64432+70n to 64463+70n...
Page 606: Timing For Data Transfers
Timing for data transfers Parameters of the Simple Motion module/Motion module are categorized as being either module parameters or Simple Motion module settings. Each parameter is reflected to the buffer memory of the Simple Motion module/Motion module at the following timing. Parameter reflection timing Operation Parameter setting value reflected to buffer memory...
Page 607: Data Transmission Process
Data transmission process The data is transmitted between the memories of Simple Motion module/Motion module with steps (1) to (10) shown below. The data transmission patterns correspond to the numbers (1) to (10) in the following referential drawings. Data transmission pattern Referential drawing FX5-SSC-S FX5-SSC-G...
Page 608 (3) Validate parameters when "[Cd.190] PLC READY" changes from OFF to ON When the "[Cd.190] PLC READY" changes from OFF to ON, the data stored in the buffer memory's "parameter area (a) " is validated. *1 For details, refer to the following. Page 600 Details of areas The setting values of the parameters that correspond to parameter area (b) are valid when written into the buffer memory with the TO command.
Page 609 (8) Reading data from buffer memory/internal memory to the engineering tool The following transmission processes are carried out with the [Read from module] from the engineering tool. " in the • The "parameters", "positioning data (No.1 to 600)", "block start data (No.7000 to 7004)" and "servo parameter buffer memory/internal memory area are transmitted to the engineering tool via the CPU module.
Page 610 How to transfer the servo parameter setup from the program/engineering tool to the servo amplifier The servo series of servo parameter "[Pr.100] Servo series" inside the internal memory (nonvolatile) set to "0". (Initial value: "0") The setting value of the parameters that correspond to the servo parameter "[Pr.100] Servo series" inside the internal memory (nonvolatile) becomes valid when the power is turned ON or the CPU module is reset, after the communication with servo amplifier is not started.
Page 611 • When the servo amplifier's power supply is turned ON before the system's power supply ON and the servo parameter "[Pr.100] Servo series" = "0" is stored in the internal memory (nonvolatile) Communication start timing with the servo amplifier The "[Cd.190] PLC READY" is turned ON from OFF. ((B) in the following figure) Servo parameter to be transferred The data written from the program/engineering tool before the "[Cd.190] PLC READY"...
Page 612 How to change individually the servo parameter after transfer of servo parameter The servo parameters can be individually changed from Simple Motion module with the following axis control data. n: Axis No. - 1 Setting item Setting details Buffer memory address [Cd.130] Servo parameter write...
Page 613 (10) Transmitting servo parameter [FX5-SSC-G] On the CC-Link IE TSN network, when the device station parameter automatic setting is set to "Enabled", servo parameters controlled by the CPU module are transmitted when communications with the servo amplifier start. When the device station parameter automatic setting is set to "Enabled", servo parameters controlled by the servo amplifier are enabled.
Page 614 • Transient communication (SLMP) is used for the reading and writing of servo parameters. For writing, servo parameters are saved by using the Store parameters request. For details of the Store parameters request, refer to the manual of the servo amplifier. •...
Page 615 Data transmission patterns [FX5-SSC-S] Pattern (1) to (5) CPU module (4) FROM command (2) TO command Simple Motion module (1) Valid at power supply ON/ Buffer memory/Internal memory the CPU module reset Parameter area (c) Parameter area (a) Parameter area (b) (2) Valid upon execution of the TO command Parameter area (c)
Page 616 Pattern (6) and (7) Engineering tool (7) Flash ROM write request CPU module (6) Flash ROM write request (7) Flash ROM write request (Set "1" in [Cd.1] with TO command) Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600)
Page 617 Pattern (8) and (9) Engineering tool (8) Data read (9) Data write CPU module (9) Data write (8) Data read Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area...
Page 618 Pattern (10) Simple Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Servo parameter area Monitor data area Control data area Flash ROM Parameter area (a) Parameter area (b) Parameter area (c)
Page 619 Data transmission patterns [FX5-SSC-G] Pattern (1) to (4) CPU module (4) FROM command (2) TO command Motion module (1) Valid at power supply ON/ Buffer memory/Internal memory the CPU module reset Parameter area (c) Parameter area (a) Parameter area (b) (2) Valid upon execution of the TO command Parameter area (c)
Page 620 Pattern (6) and (7) Engineering tool (7) Flash ROM write request CPU module (6) Flash ROM write request (7) Flash ROM write request (Set "1" in [Cd.1] with TO command) Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600)
Page 621 Pattern (8) and (9) Engineering tool (8) Data read (9) Data write CPU module (8) Data read (9) Data write Motion module Buffer memory/Internal memory Parameter area (a) Parameter area (b) Parameter area (c) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Monitor data area...
Page 622: Chapter 12 Programming [Fx5-Ssc-S]
PROGRAMMING [FX5-SSC-S] This chapter describes the programs required to carry out positioning control with the Simple Motion module. The program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc., must be set in the Simple Motion module according to the control to be executed, and a setting program for the control data or a start program for the various controls must be created.) 12.1...
Page 623: Creating A Program
12.2 Creating a Program The "positioning control operation program" actually used is explained in this section. General configuration of program The general configuration of the positioning control operation program is shown below. Program name Remark Parameter setting program • The program is not required when the parameter, positioning data, block start data, and servo parameter are set using an engineering tool.
Page 624: Positioning Program Examples (For Using Labels)
12.3 Positioning Program Examples (For Using Labels) List of labels used In the program examples, the labels to be used are assigned as follows. Module label Classification Label name Description Start I/O No. FX5SSC_1.uIO Start I/O No. Input signal FX5SSC_1.stSysCtrl_D.bAllAxisServoOn_D All axis servo ON FX5SSC_1.stSysMntr2_D.bReady_D READY...
Page 625 Classification Label name Description Axis control data 1 FX5SSC_1.stnAxCtrl1_D[0].dNewPosition_D Axis 1 New position value FX5SSC_1.stnAxCtrl1_D[0].uClearHomingRequestFlag_D Axis 1 Home position return request flag OFF request FX5SSC_1.stnAxCtrl1_D[0].uClear_M_Code_D Axis 1 M code OFF request FX5SSC_1.stnAxCtrl1_D[0].uEnablePV_Switching_D Axis 1 Position-speed switching enable flag FX5SSC_1.stnAxCtrl1_D[0].uEnableVP_Switching_D Axis 1 Speed-position switching enable flag FX5SSC_1.stnAxCtrl1_D[0].uExternalCommandValid_D Axis 1 External command valid FX5SSC_1.stnAxCtrl1_D[0].uForwardNewTorque_D...
Page 626 Global label The following describes the global labels used in the program examples. Set the global labels as follows. • Global label that the assignment device is not to be set (The unused internal relay and data device are automatically assigned when the assignment device is not set.) 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 627 • Global label that the assignment device is to be set 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 628: Program Examples (For Using Labels)
Program examples (for using labels) For details of the module function blocks (FBs), refer to "Simple Motion Module FB/Motion Module FB" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Function Block Reference Parameter setting program This program is not required when the parameter is set by "Module Parameter" using an engineering tool. Setting for basic parameter 1 (axis 1) Setting for home position return basic parameter (axis 1) Unit "degree"...
Page 629 Positioning data setting program This program is not required when the data is set by "Positioning Data" using an engineering tool. 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 630 Block start data setting program This program is not required when the data is set by "Block Start Data" using an engineering tool. Servo parameter setting program This program is not required when the parameter is set by "Servo Parameter" using an engineering tool. 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 631 Home position return request OFF program This program is not required when "1: Positioning control is executed." is set in "[Pr.55] Operation setting for incompletion of home position return" by "Home Position Return Detailed Parameters" using an engineering tool. External command function valid setting program PLC READY signal ON program All axis servo ON program 12 PROGRAMMING [FX5-SSC-S]...
Page 632: High-Level Positioning Control
Positioning start No. setting program Machine home position return Fast home position return Positioning with positioning data No.1 Speed-position switching operation (Positioning data No.2) In the ABS mode, new movement amount is not needed to be written. Position-speed switching operation (Positioning data No.3) High-level positioning control 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 633 Fast home position return command and fast home position return command storage OFF Not required when fast home position return is not used. Positioning start program M code OFF program JOG operation setting program 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 634 Inching operation setting program JOG operation/inching operation execution program Manual pulse generator operation program 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 635 Speed change program Override program Acceleration/deceleration time change program 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 636: Teaching Program
Torque change program Step operation program Skip program Teaching program 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 637: Restart Program
Continuous operation interrupt program Target position change program Restart program 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 638 Parameter initialization program Flash ROM write program 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 639 Error reset program Axis stop program 12 PROGRAMMING [FX5-SSC-S] 12.3 Positioning Program Examples (For Using Labels)
Page 640: Positioning Program Examples (For Using Buffer Memory)
12.4 Positioning Program Examples (For Using Buffer Memory) List of devices used In the program examples, the devices to be used are assigned as follows. In addition, change the module access device, external inputs, internal relays, data resisters, and timers according to the system used.
Page 641 Device name Device Application Description at device ON Axis 1 Axis 2 Axis 3 Axis 4 External input Override command Commanding override  (command) Acceleration/deceleration time change Commanding acceleration/deceleration command time change Acceleration/deceleration time change Commanding acceleration/deceleration disable command time change disable Torque change command Commanding torque change Step operation command...
Page 642 Device name Device Application Description at device ON Axis 1 Axis 2 Axis 3 Axis 4 Internal relay Torque change command Requesting torque change  Step operation command pulse Step operation commanded Skip command pulse Skip commanded Skip command storage Skip command held Teaching command pulse Teaching commanded...
Page 643 Data registers and timers Device name Device Application Storage details Axis 1 Axis 2 Axis 3 Axis 4 Data register Home position return request flag [Md.31] Status: b3  Speed (low-order 16 bits) [Cd.25] Position-speed switching control speed change register Speed (high-order 16 bits) Movement amount (low-order 16 bits) [Cd.23] Speed-position switching control...
Page 644: Storage Details
Device name Device Application Storage details Axis 1 Axis 2 Axis 3 Axis 4 Data register Number of pulses per rotation (low-order 16 [Pr.2] Number of pulses per rotation (AP)  bits) Number of pulses per rotation (high-order 16 bits) Movement amount per rotation (low-order 16 [Pr.3] Movement amount per rotation (AL) bits)
Page 645 Device name Device Application Storage details Axis 1 Axis 2 Axis 3 Axis 4 Data register D120 Positioning identifier Data No.3  [Da.1] Operation pattern D121 M code [Da.2] Control method D122 Dwell time [Da.3] Acceleration time No. D123 Dummy [Da.4] Deceleration time No.
Page 646 Device name Device Application Storage details Axis 1 Axis 2 Axis 3 Axis 4 Data register D190 Positioning identifier Data No.10  [Da.1] Operation pattern D191 M code [Da.2] Control method D192 Dwell time [Da.3] Acceleration time No. [Da.4] Deceleration time No. D193 Dummy [Da.20] to [Da.22] Axis to be interpolated...
Page 647 Device name Device Application Storage details Axis 1 Axis 2 Axis 3 Axis 4 Code U1\G2406 Error code [Md.23] Axis error No. U1\G2409 Axis operation status [Md.26] Axis operation status U1\G2417 Status [Md.31] Status U1\G4300 Positioning start No. [Cd.3] Positioning start No. U1\G4301 Positioning starting point No.
Page 648: Program Examples (For Using Buffer Memory)
Program examples (for using buffer memory) Parameter setting program This program is not required when the parameter is set by "Module Parameter" using an engineering tool. 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 649 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 650 Positioning data setting program This program is not required when the data is set by "Positioning Data" using an engineering tool. 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 651 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 652 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 653 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 654 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 655 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 656 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 657 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 658 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 659 Block start data setting program This program is not required when the data is set by "Block Start Data" using an engineering tool. 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 660 Servo parameter setting program This program is not required when the parameter is set by "Servo Parameter" using an engineering tool. Home position return request OFF program This program is not required when "1: Positioning control is executed." is set in "[Pr.55] Operation setting for incompletion of home position return"...
Page 661 PLC READY signal ON program All axis servo ON program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 662 Positioning start No. setting program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 663 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 664 Positioning start program M code OFF program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 665 JOG operation setting program Inching operation setting program JOG operation/inching operation execution program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 666 Manual pulse generator operation program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 667 Speed change program Override program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 668 Acceleration/deceleration time change program Torque change program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 669 Step operation program Skip program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 670: Teaching Program
Teaching program Continuous operation interrupt program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 671: Restart Program
Target position change program Restart program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 672 Parameter initialization program Flash ROM write program 12 PROGRAMMING [FX5-SSC-S] 12.4 Positioning Program Examples (For Using Buffer Memory)
Page 673 Error reset program When servo amplifier errors cannot be reset even if error reset is requested, "0" is not stored in axis error reset by the Simple Motion module. It remains "1". Set "0" in axis error reset once and then set "1" to execute the error reset again.
Page 674: Chapter 13 Programming [Fx5-Ssc-G]
PROGRAMMING [FX5-SSC-G] This chapter describes the programs required to carry out positioning control with the Motion module. The program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc., must be set in the Motion module according to the control to be executed, and a setting program for the control data or a start program for the various controls must be created.) 13.1...
Page 675: Creating A Program
13.2 Creating a Program The "positioning control operation program" actually used is explained in this section. General configuration of program The general configuration of the positioning control operation program is shown below. Program name Remark Parameter setting program • The program is not required when the parameter, positioning data, block start data, and servo parameter are set using an engineering tool.
Page 676: Positioning Program Examples (For Using Labels)
13.3 Positioning Program Examples (For Using Labels) List of labels used In the program examples, the labels to be used are assigned as follows. Module label Classification Label name Description Input signal FX5SSC_1.stSysCtrl_D.bAllAxisServoOn_D All axis servo ON FX5SSC_1.stSysMntr2_D.bReady_D READY FX5SSC_1.stSysMntr2_D.bSynchronizationFlag_D Synchronization flag FX5SSC_1.stSysMntr2_D.bnBusy_D[0] Axis 1 BUSY signal...
Page 677 Classification Label name Description System control data FX5SSC_1.stSysCtrl_D.dInputValueForManualPulseGeneratorVia Axis 1 Input value for manual pulse generator via CPU CPU_D Axis control data 2 FX5SSC_1.stnAxCtrl2_D[0].uStopAxis_D.0 Axis 1 Axis stop Global label The following describes the global labels used in the program examples. Set the global labels as follows. •...
Page 678: Program Examples (For Using Labels)
Program examples (for using labels) For details of the module function blocks (FBs), refer to "Simple Motion Module FB/Motion Module FB" in the following manual. MELSEC iQ-F FX5 Motion Module/Simple Motion Module Function Block Reference Parameter setting program The program is not required when the parameter is set by "Module Parameter" using an engineering tool. Set the local labels as follows.
Page 679 Setting for detailed parameter 2 (axis 1) Setting for home position return basic parameter (axis 1) For the home position return method and home position return data, set the parameters of the driver to be used. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 680 Unit "degree" setting (axis 1) program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 681 Positioning data setting program This program is not required when the data is set by "Positioning Data" using an engineering tool. Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 682 No.1 positioning data setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 683 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 684 No.2 positioning data setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 685 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 686 No.3 positioning data setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 687 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 688 No.4 positioning data setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 689 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 690 No.5 positioning data setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 691 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 692 No.6 positioning data setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 693 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 694 No.10 positioning data setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 695 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 696 No.11 positioning data setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 697 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 698 No.15 positioning data setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 699 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 700 Block start data setting program This program is not required when the data is set by "Block Start Data" using an engineering tool. Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 701 Home position return request OFF program This program is not required when "1: Positioning control is executed." is set in "[Pr.55] Operation setting for incompletion of home position return" by "Home Position Return Detailed Parameters" using an engineering tool. Set the local labels as follows. External command function valid setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 702 PLC READY signal ON program Set the local labels as follows. All axis servo ON program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 703 Positioning start No. setting program Set the local labels as follows. Machine home position return Fast home position return Positioning with positioning data No.1 Speed-position switching operation (Positioning data No.2) In the ABS mode, new movement amount is not needed to be written. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 704 Position-speed switching operation (Positioning data No.3) High-level positioning control Fast home position return command and fast home position return command storage OFF Not required when fast home position return is not used. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 705 Positioning start program Set the local labels as follows. M code OFF program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 706 JOG operation setting program Inching operation setting program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 707 JOG operation/inching operation execution program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 708 Manual pulse generator operation program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 709 Speed change program Set the local labels as follows. Override program Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 710 Acceleration/deceleration time change program Set the local labels as follows. Torque change program Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 711 Target position change program Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 712 Servo parameter reading/writing program Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 713 Step operation program Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 714 Skip program Set the local labels as follows. Teaching program Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 715 Continuous operation interrupt program Set the local labels as follows. Restart program Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 716 Parameter initialization program Flash ROM write program 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 717 Error reset program Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 718 Axis stop program Set the local labels as follows. 13 PROGRAMMING [FX5-SSC-G] 13.3 Positioning Program Examples (For Using Labels)
Page 719: Chapter 14 Troubleshooting
TROUBLESHOOTING This chapter describes details of error occurred by using the Simple Motion module/Motion module and troubleshooting. 14.1 Troubleshooting Procedure When a trouble occurs, execute the troubleshooting in the order shown below. Check that each module is mounted correctly. (MELSEC iQ-F FX5S/FX5UJ/FX5U/FX5UC User's Manual (Hardware)) Check the LEDs of the CPU module.
Page 720: Troubleshooting Using The Leds
Troubleshooting using the LEDs Primary diagnostics can be executed without the engineering tool by checking the status of the LED display, so that the range of the trouble cause can be reduced. The following shows the correspondence relation between each LED and status of the Simple Motion module/Motion module. LED display [FX5-SSC-S] : OFF, : ON, : Flashing Simple Motion module...
Page 721 LED display specifications [FX5-SSC-G] : OFF, : ON, : Flashing Description LED display Status READY LED Displays the PLC READY status. READY  PLC READY ON READY  PLC READY OFF POWER LED Displays the power status. POWER  Power ON POWER ...
Page 722 When the POWER LED turns off Check item Action Is the power supplied? Check that the voltage supplied to the Simple Motion module/Motion module is within the rated range. Is it equipped with the power connector correctly? Check that the power connector is inserted exactly. Is the power cable wired correctly? Check that there are any errors in wiring with external power supply.
Page 723: Check Of Module Status [Fx5-Ssc-G]
Check of module status [FX5-SSC-G] Error codes (warning codes) and the error history of the Motion module can be checked with the module diagnostics window of the engineering tool. 14 TROUBLESHOOTING 14.1 Troubleshooting Procedure...
Page 724: Troubleshooting By Symptom
14.2 Troubleshooting by Symptom Troubleshooting when a motor does not rotate Check items and corrective actions for troubleshooting when a motor does not rotate are described below. Check item Action Is the "[Cd.190] PLC READY" turned ON? Review the program to turn ON the "[Cd.190] PLC READY". Is the servo amplifier powered ON? Power on the servo amplifier.
Page 725 When the set position is not reached Check item Action Does the value in "[Md.20] Command position value" indicate [When the position set in "[Md.20] Command position value" is reached] the intended position when the motor stops? • Check that the values in "[Pr.2] Number of pulses per rotation (AP)", "[Pr.3] Movement amount per rotation (AL)", and "[Pr.4] Unit magnification (AM)"...
Page 726: Error And Warning Details
14.3 Error and Warning Details Error type Errors detected by the Simple Motion module/Motion module include parameter setting range errors, errors at operation start or during operation and errors detected by servo amplifier. Simple Motion module/Motion module detection parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFFON) of the "[Cd.190] PLC READY".
Page 727: Error Code Classification
Error code classification Item Error code Classification of errors FX5-SSC-S FX5-SSC-G Minor errors 1080H, 18B0H, 1080H IF (Interface) errors 18B1H 18C0H to 18FFH inter-module synchronization error  1900H to 193FH 1A00H to 1A3FH Positioning control common errors 1940H to 197FH 1A40H to 1A7FH Home position return errors 1980H to 198FH...
Page 728: Error Storage
Error storage When an error occurs, the error detection signal turns ON, and the error code corresponding to the error details is stored in "[Md.23] Axis error No.". Note that there is a delay of up to operation cycle after the error detection signal turns ON until the error code is stored.
Page 729: Warning Type
Warning type Warnings detected by the Simple Motion module/Motion module include system warnings, axis warnings and warnings detected by servo amplifier. Simple Motion module/Motion module detection system warnings • System control data setting warnings: An axis warning for axis 1 will occur. •...
Page 730: Warning Storage
Warning storage When an axis warning occurs, the warning code corresponding to the warning details is stored in "[Md.24] Axis warning No.". When an axis warning occurs in a positioning operation, etc., axis warning detection ([Md.31] Status: b9) for axis status storage turns ON.
Page 731: List Of Warning Codes
14.4 List of Warning Codes Simple Motion module detection warning [FX5-SSC-S] Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 0900H Start during operation • The start request is issued while the axis is BUSY. • Normalize the start request ON timing. •...
Page 732 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 0936H Outside mark detection • "[Pr.800] Mark detection signal setting" is outside • Set a value within the setting range. signal setting range the range. • Set the axis specified with the "[Pr.800] Mark •...
Page 733 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 0990H Deceleration/stop speed The speed change request is issued during Do not carry out the speed change during change deceleration stop. deceleration with a stop command, during [Operation status at warning occurrence] stoppage, or during automatic deceleration with The speed change is not carried out.
Page 734 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 0998H Insufficient movement The movement amount is not large enough for Set a decelerating address or a movement amount amount automatic deceleration. to the positioning data. [Operation status at warning occurrence] The system stops immediately after it reaches the positioning address.
Page 735 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 09E8H Outside control mode Control mode switching request was performed by Switch the control mode after setting a value within the range for "[Cd.139] Control mode setting". range specifying a value outside the range for "[Cd.139] Control mode setting".
Page 736 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 0CC0H Inter-module The calculation process time of the inter-module • Lengthen the operation cycle setting. synchronization cycle time synchronization (I44) etc. exceeds the inter-module • Review the content of the calculation process over synchronization cycle of the Simple Motion module.
Page 737 Warnings related to synchronous control are described below. Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 0BD0H Input axis phase Phase compensation amount of input axis is equal or • Set a smaller phase compensation advance compensation amount over lower than the minimum value (-2147483648), or time.
Page 738 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 0C14H Cam axis phase Phase compensation amount of cam axis is equal or • Set a smaller cam axis phase compensation compensation amount over lower than the minimum value (-2147483648), or advance time.
Page 739 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 0C49H Coordinate data error • Input value of coordinate data is a negative value • Set the Input value of coordinate data to 0 or more. during the cam data writing operation. •...
Page 740 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 0C63H Outside cam position "[Cd.617] Cam position calculation: Cam axis position Set a value within the range of 0 to "Cam axis calculation cam axis value per cycle" is outside the range of 0 to "Cam axis length per cycle".
Page 741: Motion Module Detection Warning [Fx5-Ssc-G]
Motion module detection warning [FX5-SSC-G] Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0D00H Start during operation • The start request is issued while the axis is BUSY. • Normalize the start request ON timing. • Positioning was started during speed control mode/ •...
Page 742 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0D36H Outside mark detection • "[Pr.800] Mark detection signal setting" is outside • Set a value within the setting range. signal setting range the range. • Set the axis specified with the "[Pr.800] Mark •...
Page 743 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0D41H JOG speed limit value [Version 1.001 or later] Set a value within the setting range. "[Cd.17] JOG speed" exceeds "[Pr.31] JOG speed limit value" at start. [Version 1.000] •...
Page 744 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0D51H Speed limit value over • Setting speeds exceed "[Pr.8] Speed limit value" Review each speed so that setting speeds do not when starting/restarting the positioning or when exceed "[Pr.8] Speed limit value". changing the speed at the positioning .
Page 745 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0D57H Illegal external command The detailed parameter 2 "[Pr.42] External command Set the detailed parameter 2 "[Pr.42] External function function selection" setting range is exceeded. command function selection" to within the setting [Operation status at warning occurrence] range.
Page 746 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0D60H Target position change not "[Cd.27] Target position change value (New address)" Correct the setting value. possible is outside the software stroke limit range (-). [Operation status at warning occurrence] The target position change is not carried out.
Page 747 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0DABH Control mode switching not [Version 1.001 or later] [Version 1.001 or later] • Review the setting so that during servo ON, the possible The control mode was switched as follows during servo ON.
Page 748 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0EC0H Driver warning Warnings occur in the driver. Check the contents of the warning and take [Operation status at warning occurrence] actions according to "[Md.114] Servo alarm" and The operation continues. "[Md.115] Servo alarm detail number".
Page 749 Warnings related to synchronous control are described below. Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0E40H Input axis phase Phase compensation amount of input axis is equal or • Set a smaller phase compensation advance compensation amount over lower than the minimum value (-2147483648), or time.
Page 750 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0E82H Outside cam axis length Set the value of synchronous parameter "[Pr.439] Set a value within the range of 1 to 2147483647. per cycle range Cam axis length per cycle" less than 0. [Operation status at warning occurrence] Synchronous control continues by the previous Cam axis length per cycle.
Page 751 Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0E97H Cam storage area capacity • The free area in the cam storage area is insufficient • Decrease the number of cam data (number of cams, cam resolution, and coordinate number). over during the cam data writing operation.
Page 752: Servo Amplifier Detection Warning
Warning code Warning name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0EB1H Cam position calculation Cam data of the specified cam No. does not exist on • Specify the cam No. of an existing cam data. cam not registered the cam open area during the cam position •...
Page 753: List Of Error Codes
14.5 List of Error Codes Simple Motion module detection error [FX5-SSC-S] Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 0000H Normal   1080H Flash ROM write number Data is written to the flash ROM continuously 25 Review the program so that data is not written error times or more from the program.
Page 754 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1904H Hardware stroke limit (+) • Start is requested when the hardware stroke limit • Check the wiring of upper limit signal (FLS). (upper limit signal FLS) is turned OFF. •...
Page 755 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1932H Flash ROM sum check • While data is written to the flash ROM, the power is Reset the parameter and write it to a Flash ROM error turned OFF. again.
Page 756 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 194CH Home position return mode The data is not loaded from the stepping motor driver Execute home position return again. If the same timeout error properly upon the home position return. error is displayed again, the hardware of the [Operation status at error occurrence] Simple Motion module or the stepping motor driver...
Page 757 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1981H Inching movement amount "[Cd.16] Inching movement amount" dose not satisfy Set a smaller "[Cd.16] Inching movement amount" so that the setting condition is satisfied. error the setting conditions .
Page 758 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1995H Software stroke limit - • The command position exceeds the lower limit of At operation start: the software stroke limit. • Set the command position value within the •...
Page 759 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 199AH Interpolation mode error • For starting, a composite speed is designated in Set the "[Pr.20] Interpolation speed designation method" correctly. the reference axis parameter "[Pr.20] Interpolation speed designation method" using the speed interpolation control or 4-axis linear interpolation control.
Page 760 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 19A4H Illegal setting of ABS The setting value of ABS direction in the unit of • Set "0" when the software stroke limits are valid. direction in unit of degree degree is as follows.
Page 761 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1A00H Condition data error • "[Da.15] Condition target" setting values are not set Normalize the block start data. or outside the setting range. • "[Da.16] Condition operator" setting values are not set or outside the setting range.
Page 762 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1A17H Large arc error deviation When an arc is interpolated by the designation of the • Correct the center point address (arc address) center point, a difference between a radius of start •...
Page 763 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1A1AH Software stroke limit - • The setting value of the "[Da.6] Positioning At operation start, during operation: Correct the "[Da.6] Positioning address/movement amount". address/movement amount" exceeds the "[Pr.13] Software stroke limit lower limit value".
Page 764 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1A22H Illegal interpolation In the interpolation control, the axis to be interpolated • Correct "[Da.2] Control method". description command is set as follows: • Correct the axis to be interpolated. •...
Page 765 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1A2DH Center point setting error Either of the following applies in the circular Correct the center point address (arc address). interpolation with center point designated. • Start point = Center point •...
Page 766 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1A68H Outside electronic gear The setting value of the electronic gear is outside the "[Pr.2] Number of pulses per rotation (AP)", "[Pr.3] setting range setting range. Movement amount per rotation (AL)", "[Pr.4] Unit Setting range: 0.001 ...
Page 767 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1AA6H Software stroke limit valid/ The setting value of the detailed parameter 1 "[Pr.15] With the setting brought into the setting range, turn the "[Cd.190] PLC READY" from OFF to ON. invalid setting Software stroke limit valid/invalid setting"...
Page 768 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1AB2H Acceleration time 2 setting The setting value of the detailed parameter 2 "[Pr.26] With the setting brought into the setting range, turn error Acceleration time 2" is outside the setting range. the "[Cd.190] PLC READY "...
Page 769 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1AB7H JOG speed limit value error • The setting value of the detailed parameter 2 • When the "[Cd.190] PLC READY" is not turned ON after the setting value is corrected, turn the "[Pr.31] JOG speed limit value"...
Page 770 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1ABFH S-curve ratio setting error The setting value of the detailed parameter 2 "[Pr.35] With the setting brought into the setting range, turn S-curve ratio" is outside the setting range. the "[Cd.190] PLC READY"...
Page 771 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1AC4H Outside allowance circular The setting value of the detailed parameter 2 "[Pr.41] With the setting brought into the setting range, turn the "[Cd.190] PLC READY" from OFF to ON. interpolation error width Allowance circular interpolation error width"...
Page 772 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1AD1H RLS signal selection error The setting value of the detailed parameter 1 "[Pr.117] Correct the setting value and turn the "[Cd.190] RLS signal selection" is outside the setting range. PLC READY"...
Page 773 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1B09H Home position return retry The setting value of the home position return basic With the setting brought into the setting range, turn the "[Cd.190] PLC READY" from OFF to ON. error parameter "[Pr.48] Home position return retry"...
Page 774 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1B72H Manual pulse generator/ The setting value of the common parameter 2 "[Pr.89] With the setting brought into the setting range, turn Incremental synchronous Manual pulse generator/Incremental synchronous the "[Cd.190] PLC READY" from OFF to ON. encoder input type encoder input type selection"...
Page 775 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1C91H Master axis No. error Servo parameters "Driver communication setting Review the master axis No. of servo parameters "PD20 to PD23". Master axis No. selection (1 to 4) for slave (PD20 to PD23)"...
Page 776 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 3022H System bus error Communication with CPU module did not complete • Check that there is no influence from noise. properly. • Check the connection of the extension cable. [Operation status at error occurrence] •...
Page 777 Errors related to synchronous control are described below. Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1928H Start not possible Start is requested when the forced stop of controller Remove the cause of forced stop. input ON. [Operation status at error occurrence] Positioning does not start.
Page 778 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1BAAH Synchronous encoder via • The servo amplifier axis set as synchronous With the setting brought into the setting range, servo amplifier invalid error encoder via servo amplifier is not supported with switch the power on again or reset the PLC.
Page 779 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1BE6H Outside main shaft clutch The setting value of the synchronous parameter Set within the range. smoothing method range "[Pr.411] Main shaft clutch smoothing method" is outside the setting range. [Operation status at error occurrence] Synchronous control does not start.
Page 780 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1C01H Outside speed change The synchronous parameter "[Pr.437] Speed change Set a value within the range of 1 to 2147483647. ratio: denominator range ratio: Denominator" is set to 0 or lower. [Operation status at error occurrence] Synchronous control does not start.
Page 781 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-S] 1C26H Outside setting method of • The synchronous parameter "[Pr.464] Setting • Set a value within the range of 0 to 3. • Set other than "3: Position value per cycle after cam axis position value per method of cam axis position value per cycle"...
Page 782: Motion Module Detection Error [Fx5-Ssc-G]
Motion module detection error [FX5-SSC-G] Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 0000H Normal   1080H Flash ROM write number Data is written to the flash ROM continuously 25 Review the program so that data is not written error times or more from the program.
Page 783 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1A06H Hardware stroke limit (-) [Version 1.001 or later] [Version 1.001 or later] • Check the wiring of lower limit signal (RLS). Start is requested when the hardware stroke limit (lower limit signal RLS) is turned OFF.
Page 784 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1A20H Start not possible [Version 1.001 or later] [Version 1.001 or later] Start is requested when start is not possible in the Do not request the "[Md.26] Axis operation status" axis operation state.
Page 785 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1A32H Flash ROM sum check • While data is written to the flash ROM, the power is Reset the parameter and write it to a Flash ROM error turned OFF. again.
Page 786 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1A82H Manual pulse generator The movement amount which exceeds the detailed • Adjust input pulses so as not to occur the carry-over movement parameter 2 "[Pr.123] Manual pulse generator speed movement amount, which exceeds the detailed amount overflow limit value"...
Page 787 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1A93H Software stroke limit + [Version 1.001 or later] [Version 1.001 or later] At operation start: Set the command position value The command position exceeds the upper limit of the software stroke limit.
Page 788 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1A95H Software stroke limit - [Version 1.001 or later] [Version 1.001 or later] The command position exceeds the lower limit of the At operation start: Set the command position value software stroke limit.
Page 789 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1A9AH Interpolation mode error [Version 1.001 or later] Set the "[Pr.20] Interpolation speed designation method" correctly. For starting, a vector speed is designated in the reference axis parameter "[Pr.20] Interpolation speed designation method"...
Page 790 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1AA1H PLC READY OFF start The positioning start is carried out when the "[Cd.190] Check the program which turns ON/OFF the PLC READY" is turned OFF. "[Cd.190] PLC READY", and turn ON "[Cd.190] [Operation status at error occurrence] PLC READY".
Page 791 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1AE7H Driver control mode The driver was switched to an unsupported driver Connect a driver that supports the driver control mode to be switched to. unsupported control mode. [Operation status at error occurrence] During positioning control: The system stops with the setting of the detailed parameter 2 "[Pr.39] Stop group 3 sudden stop selection".
Page 792 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1B02H Condition data error "[Da.16] Condition operator" is a Bit operator, and Normalize the block start data. "[Da.18] Parameter 1" is out of range. [Operation status at error occurrence] The operation is terminated.
Page 793 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1B12H No command speed [Version 1.001 or later] Normalize the positioning data. At the start of positioning, a current speed (-1) is set for the command speed of the positioning data to be initially executed.
Page 794 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1B18H Software stroke limit + [Version 1.001 or later] [Version 1.001 or later] The setting value of the "[Da.6] Positioning address/ At operation start/during operation: Correct the movement amount" exceeds the "[Pr.12] Software "[Da.6] Positioning address/movement amount".
Page 795 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1B1AH Software stroke limit - [Version 1.001 or later] [Version 1.001 or later] At operation start/during operation: Correct the The setting value of the "[Da.6] Positioning address/ movement amount" exceeds the"[Pr.13] Software "[Da.6] Positioning address/movement amount".
Page 796 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1B1EH Continuous control or [Version 1.001 or later] [Version 1.001 or later] continuous trajectory "[Da.1] Operation pattern" is "continuous positioning Correct the "[Da.1] Operation pattern" or "[Da.2] control not possible control"...
Page 797 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1B24H Control method setting [Version 1.001 or later] Correct "[Da.2] Control method", axis to be interpolated or parameter. error "[Da.2] Control method" setting value is outside the setting range. [Version 1.000] •...
Page 798 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1B2AH Sub point setting error Auxiliary point address is outside the range of - Correct the sub address (arc address). 2147483648 to 2147483647 in the circular interpolation with auxiliary point designated. [Operation status at error occurrence] At start: The system does not operate.
Page 799 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1B31H Outside address range In ABS1, ABS2, ABS3, ABS4, or speed-position Correct the setting value. switching control (ABS), the setting value of a positioning address is outside the range of 0 to 359.99999 degrees.
Page 800 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1B68H Outside electronic gear The setting value of the electronic gear is outside the "[Pr.2] Number of pulses per rotation (AP)", "[Pr.3] setting range setting range. Movement amount per rotation (AL)", "[Pr.4] Unit Setting range: 0.001 ...
Page 801 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1BA1H Software stroke limit upper [Version 1.001 or later] [Version 1.001 or later] With the setting brought into the setting range, turn limit In the unit of "degree", the setting value of the detailed parameter 1 "[Pr.12] Software stroke limit the "[Cd.190] PLC READY"...
Page 802 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1BA9H M code ON timing error The setting value of the detailed parameter 1 "[Pr.18] With the setting brought into the setting range, turn M code ON signal output timing" is outside the setting the "[Cd.190] PLC READY"...
Page 803 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1BB3H Acceleration time 3 setting The setting value of the detailed parameter 2 "[Pr.27] With the setting brought into the setting range, turn the "[Cd.190] PLC READY" from OFF to ON. error Acceleration time 3"...
Page 804 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1BB7H JOG speed limit value error The setting value of the detailed parameter 2 "[Pr.31] With the setting brought into the setting range, turn JOG speed limit value" is outside the setting range. the "[Cd.190] PLC READY"...
Page 805 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1BBDH JOG deceleration time The setting value of the detailed parameter 2 "[Pr.33] With the setting brought into the setting range, turn the "[Cd.190] PLC READY" from OFF to ON. selection setting error JOG operation deceleration time selection"...
Page 806 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1BC2H Stop group 2 rapid stop The setting value of the detailed parameter 2 "[Pr.38] With the setting brought into the setting range, turn selection error Stop group 2 sudden stop selection" is outside the the "[Cd.190] PLC READY"...
Page 807 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1BCCH Restart allowable range The setting value of the detailed parameter 2 "[Pr.84] With the setting brought into the setting range, turn the "[Cd.190] PLC READY" from OFF to ON. error Restart allowable range when servo OFF to ON"...
Page 808 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1C10H Home position return The setting value of the home position return basic With the setting brought into the setting range, turn method error parameter "[Pr.43] Home position return method" is the "[Cd.190] PLC READY"...
Page 809 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1C40H Network parameter error The station No. of a device station to connect to the Set the station No. of the device station to connect to the network to be less than or equal to the total (total number of stations <...
Page 810 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1DC8H Servo parameter invalid Servo parameters are not set as the following. Servo parameters are automatically rewritten from • PA06 (Electronic gear - Numerator): the Motion module. After powering OFF and ON For 26-bit resolution servo motor (rotary servo the servo amplifier, check that this error no longer motor HK series, etc.): 16...
Page 811 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1F12H Outside the link device The maximum value in the ring counter range is set Review the maximum/minimum value of the ring maximum/minimum value smaller than the minimum value. counter.
Page 812 *1 Setting condition: "[Cd.16] Inching movement amount  (A)  [Pr.31] JOG speed limit value" Use the following values for (A). Unit setting Operation cycle [FX5-SSC-G] 0.50 ms 1.00 ms 2.00 ms 4.00 ms When unit is set to pulse 2000 1000 When unit is set to degree and "[Pr.83] Speed control 10 ...
Page 813 Errors related to synchronous control are described below. Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1A28H Start not possible Start is requested when the forced stop of controller Remove the cause of forced stop. input ON. [Operation status at error occurrence] Positioning does not start.
Page 814 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1DFAH Synchronous encoder via • "[Pr.141] IP address" of the axis No. selected as After you solve the problem, switch the power off servo amplifier invalid error "Synchronous encoder via servo amplifier" in and then on, or reset the PLC.
Page 815 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1E36H Outside main shaft clutch The setting value of the synchronous parameter Set within the range. smoothing method range "[Pr.411] Main shaft clutch smoothing method" is outside the setting range. [Operation status at error occurrence] Synchronous control does not start.
Page 816 Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1E51H Outside speed change The synchronous parameter "[Pr.437] Speed change Set a value within the range of 1 to 2147483647. ratio: denominator range ratio: Denominator" is set to 0 or lower. [Operation status at error occurrence] Synchronous control does not start.
Page 817: Servo Amplifier Detection Error
Error code Error name Error details and causes Remedy (Hexadecimal) [FX5-SSC-G] 1E76H Outside setting method of • The synchronous parameter "[Pr.464] Setting • Set a value within the range of 0 to 3. • Set other than "3: Position value per cycle after cam axis position value per method of cam axis position value per cycle"...
Page 818: Appendices
APPENDICES Appendix 1 How to Find Buffer Memory Addresses This section describes how to find the buffer memory addresses of positioning data, block start data, and condition data. Positioning data Positioning data No.1 to No.100 are assigned to each axis. Positioning data has the following structure. Up to 100 positioning data items can be set (stored) for each axis in the buffer memory address shown on the left.
Page 819 For each variable, substitute a number following the description below. Variable Description The axis No. of the buffer memory address to be determined. Substitute a number from 1 to 8. The positioning data No. of the buffer memory address to be determined. Substitute a number from 1 to 100. Substitute one of the following numbers according to the buffer memory address to be determined.
Page 820 When the buffer memory address that satisfies the following conditions is determined • Axis 3 • Start block No.1 • Block start data point: 40 22000 + (400  (3 - 1)) + (200  1) + (40 - 1) = 23039 [Da.13] Special start instruction, [Da.14] Parameter Use the following calculation formula.
Page 821 For each variable, substitute a number following the description below. Variable Description The axis No. of the buffer memory address to be determined. Substitute a number from 1 to 8. The start block No. of the buffer memory address to be determined. Substitute a number from 0 to 1. The condition data No.
Page 822: Appendix 2 Compatible Devices With Sscnetiii(/H) [Fx5-Ssc-S]
Appendix 2 Compatible Devices with SSCNETIII(/H) [FX5-SSC-S] Connection with MR-JE-B(F) The servo amplifier MR-JE-B can be connected using SSCNET/H. Comparisons of specifications with MR-J4(W)-B Item MR-JE-B(F) MR-J4(W)-B [Pr.100] Servo series 48: MR-JE-_B(F) 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis type) Detailed [Pr.116] FLS signal selection External input signals of servo amplifier are External input signals of servo amplifier are parameter 1...
Page 823: Inverter Fr-A800 Series
Inverter FR-A800 series FR-A800 series can be connected via SSCNET/H by using built-in option FR-A8AP and FR-A8NS. Connecting method System configuration The system configuration using FR-A800 series is shown below. Set "1: SSCNET/H" in "[Pr.97] SSCNET setting" to use FR-A800 series. Simple Motion module Inverter Servo amplifier...
Page 824: External Input Signal
Optional data monitor setting The following table shows data types that can be set. Data type Name at FR-A800 series use Effective load ratio Motor load factor Load inertia moment ratio Load inertia ratio Model loop gain Position loop gain Bus voltage Converter output voltage Encoder multiple revolution counter...
Page 825 Comparisons of specifications with MR-J4(W)-B Item FR-A800 series MR-J4(W)-B [Pr.100] Servo series 68: FR-A800-1 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis 69: FR-A800-2 type) Control of servo amplifier parameters Set directly by inverter. (Not controlled by Simple Controlled by Simple Motion module. Motion module.) Detailed parameter 1 [Pr.116] FLS signal...
Page 826 *1 Confirm the specifications of FR-A800 series for details. *2 Parameters set in FR-A800 series are not controlled by Simple Motion module. Therefore, the operation is the same as when the servo parameter "Rotation direction selection/travel direction selection (PA14)" is set as below during amplifier-less operation mode. Setting item Setting value Details...
Page 827: Alphastep/5-Phase Stepping Motor Driver Manufactured By Oriental Motor Co., Ltd
AlphaStep/5-phase stepping motor driver manufactured by ORIENTAL MOTOR Co., Ltd. The ORIENTAL MOTOR Co., Ltd. made stepping motor driver AlphaStep/5-phase can be connected via SSCNET/H. For details of stepping motor driver, please contact your nearest Oriental Motor branch or sales office. Connecting method System configuration The system configuration using AlphaStep/5-phase is shown below.
Page 828 Comparisons of specifications with MR-J4(W)-B Item AlphaStep 5-phase MR-J4(W)-B [Pr.100] Servo series 97: STEP/5-Phase (manufactured 97: STEP/5-Phase (manufactured 32: MR-J4-_B_(-RJ), MR-J4W_-_B by ORIENTAL MOTOR Co., Ltd.) by ORIENTAL MOTOR Co., Ltd.) (2-, 3-axis type) Control of servo amplifier parameters Controlled by AlphaStep Controlled by 5-phase Controlled by Simple Motion module.
Page 829 Item AlphaStep 5-phase MR-J4(W)-B Amplifier-less operation Not possible Not possible Possible (Operates artificially as the following during amplifier-less operation. Servo amplifier type: MR-J4-10B, Motor type: HG-KR053 (resolution per servo motor rotation: 4194304 pulses/rev)) Servo parameter change request Possible Possible Possible (1 word write) Driver communication Not possible Not possible...
Page 830: Home Position Return
Precautions during control Absolute position system (ABS)/Incremental system (INC) The ABS/INC setting is performed by the connected AlphaStep/5-phase. For the INC setting, the restriction is shown below. • When the power of the Simple Motion module is turned off and on again, "[Md.20] Command position value" is undefined. Home position return The method and some operation of the home position return using the AlphaStep/5-phase differ from those of the home position return using the servo amplifier.
Page 831: Servo Off
• Backlash compensation after the driver home position return method When "[Pr.11] Backlash compensation amount" is set in the Simple Motion module, whether the backlash compensation is necessary or not is judged from "[Pr.44] Home position return direction" of the Simple Motion module in the axis operation such as positioning after the driver home position return.
Page 832 Servo parameter • Control of servo parameters Parameters of AlphaStep/5-phase are not controlled by the Simple Motion module. Therefore, even though the parameter of AlphaStep/5-phase is changed during the communication between the Simple Motion module and AlphaStep/5-phase, the change is not applied to the buffer memory of the Simple Motion module. •...
Page 833 AlphaStep/5-phase detection error/warning Error When an error occurs on AlphaStep/5-phase, the error detection signal turns ON, and the error code (1C80H) is stored in "[Md.23] Axis error No.". The servo alarms (0x00 to 0xFF) of AlphaStep/5-phase are stored in "[Md.114] Servo alarm". The alarm detailed No.
Page 834: Servo Driver Vcii Series/Vph Series Manufactured By Ckd Nikki Denso Co., Ltd
Servo driver VCII series/VPH series manufactured by CKD NIKKI DENSO CO., LTD. The direct drive DISC/iD roll/Servo compass/Linear stage, etc. manufactured by CKD NIKKI DENSO CO., LTD. can be controlled by connecting with the servo driver VC series/VPH series manufactured by the same company using SSCNET/ Contact to CKD NIKKI DENSO overseas sales office for details of VC...
Page 835 Comparisons of specifications with MR-J4(W)-B Item VCII series/VPH series MR-J4(W)-B [Pr.100] Servo series 96: VC (manufactured by CKD NIKKI DENSO 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis CO., LTD.) type) 99: VPH (manufactured by CKD NIKKI DENSO CO., LTD.) Control of servo amplifier parameters Controlled by VC...
Page 836: Control Mode
Item VCII series/VPH series MR-J4(W)-B Driver communication Not possible Possible Monitoring of servo parameter error No. Not possible Possible Servo alarm/warning Alarm codes/warning codes detected by VC Alarm codes/warning codes detected by servo series/VPH series are stored in "Servo alarm/ amplifier are stored in "Servo alarm/warning".
Page 837: Servo Parameter
Servo parameter • Control of servo parameters Parameters of VC series/VPH series are not controlled by Simple Motion module. Therefore, even though the parameter of VC series/VPH series is changed during the communication between Simple Motion module and VC series/VPH series, it does not reflect to the buffer memory of the Simple Motion module.
Page 838: Iai Electric Actuator Controller Manufactured By Iai Corporation
IAI electric actuator controller manufactured by IAI Corporation The IAI Corporation made IAI electric actuator controller can be connected via SSCNET/H. Contact your nearest IAI sales office for details of IAI electric actuator controller. Connecting method System configuration The system configuration using IAI electric actuator controller is shown below. Simple Motion module Servo amplifier µ...
Page 839 Comparisons of specifications with MR-J4(W)-B Item IAI electric actuator controller MR-J4(W)-B [Pr.100] Servo series 98: IAI Controller for Electric Actuator (manufactured 32: MR-J4-_B_(-RJ), MR-J4W_-_B (2-, 3-axis type) by IAI Corporation) Control of servo amplifier parameters Controlled by IAI electric actuator controller. Controlled by Simple Motion module.
Page 840 Item IAI electric actuator controller MR-J4(W)-B Servo alarm/warning Alarm codes/warning codes detected by IAI electric Alarm codes/warning codes detected by servo amplifier actuator controller and operation error codes during are stored in "Servo alarm/warning". driver home position return method are stored in "Servo alarm/warning".
Page 841 • Backlash compensation after the driver home position return method When "[Pr.11] Backlash compensation amount" is set in the Simple Motion module, set the positive direction in "[Pr.44] Home position return direction". [Operation chart] The machine home position return is started. (The home position return is executed based on the positioning pattern set in the IAI electric actuator controller.) Machine home position return start...
Page 842 Gain switching command, PI-PID switching request, and Semi/Fully closed loop switching request Gain switching command, PI-PID switching request, and Semi/Fully closed loop switching request are not available. Driver communication The driver communication is not supported. If the driver communication is set in a servo parameter, the setting is ignored. Torque limit The torque limit set by the Simple Motion module is ignored.
Page 843: Setting Methods
Appendix 3 Devices Compatible with CC-Link IE TSN [FX5-SSC-G] MR-J5(W)-G (Cyclic synchronous mode) connection method This section describes how to set when connecting MR-J5(W)-G with cyclic synchronous mode (csp, csv, and cst) and use various functions. For details about wiring and parameters of MR-J5(W)-G, refer to MR-J5(W)-G manuals. Setting methods Parameter setting value for using MR-J5(W)-G Set the parameters of MR-J5(W)-G as shown below when executing motion control with MR-J5(W)-G.
Page 844 The setting contents of the servo parameters are shown below. • External input signal from servo amplifier and buffer memory MR-J5(W)-G FX5-SSC-G Digital Inputs: b17 Set in [Pr.22] Digital Inputs: b18 External Digital Inputs: b19 command processing Set in PT60.0 Set in PC79.0 Buffer memory FLS Control DI5: b9...
Page 845 PDO mapping for using MR-J5(W)-G When MR-J5(W)-G is the motion control station, the Motion module assigns the PDO mapping automatically so that the setting is not needed. The mapping pattern is as follows. • TPDO mapping Entry No. Index Sub Index Size[bit] Entry name Remark...
Page 846 • RPDO mapping Entry No. Index Sub Index Size[bit] Entry name Remark 0x1D01 0x01 Watchdog counter DL 1 Basic function area (fixed) 0x6060 0x00 Modes of operation 0x0000 0x00 0x607A 0x00 Target position 0x60FF 0x00 Target velocity 0x6040 0x00 Controlword 0x60E0 0x00 Positive torque limit value...
Page 847: Mr-J5(W)-G (Other Than The Cyclic Synchronous Mode) Connection Method
MR-J5(W)-G (other than the cyclic synchronous mode) connection method This section describes how to set when connecting MR-J5(W)-G with other than the cyclic synchronous mode and use various functions. For details on wiring and parameters of MR-J5(W)-G, refer to MR-J5(W)-G manuals. For network settings, refer to "PARAMETER SETTINGS"...
Page 848 Set the PDO mapping pattern selection for the station to be used in other than the cyclic synchronous mode in Detail Setting of "PDO Mapping Setting". The second station is used for other than cyclic synchronous mode, so PDO mapping setting is performed for the second station.
Page 849 Set the transfer ranges for the link device and the CPU module device for the station that was set to other than the cyclic synchronous mode. Navigation window  "Parameter" "Module Information"  Target module  [Module Parameter (Network)]  [Basic Settings] ...
Page 850: Usage Method
Usage method The following figure describes the process for driving a motor with other than the cyclic synchronous mode. Starts under other than cyclic synchronous mode Connects the Motion module and MR-J5(W)-G with LAN cable Power ON the Motion module and MR-J5 Change MR-J5(W)-G to the mode to be used by modifying link device that is assigned Modes of operation from...
Page 851: Mr-Jet-G Connection Method
MR-JET-G connection method This section describes how to set when connecting MR-JET-G and use various functions. For details about wiring and parameters of MR-JET-G, refer to MR-JET-G manuals. Parameter setting value when using MR-JET-G Set the parameters of MR-JET-G as shown below when executing motion control with MR-JET-G. When the parameters are not set as shown below, the error "Servo parameter invalid"...
Page 852: Appendix 4 Restrictions By The Version
Appendix 4 Restrictions by the version The software versions compatible with each Simple Motion module/Motion module are shown below. Model Version GX Works3 FX5-SSC-S 1.007H or later FX5-SSC-G 1.072A or later There are restrictions in the function that can be used by the software of the Simple Motion module/Motion module and the version of the engineering tool.
Page 853 [FX5-SSC-G] Function Software version GX Works3 Reference Supports MR-J5D-G. 1.001 or later 1.075D or later  Safety extension module  Supports mark detection (servo amplifier TPR1 1.080J or later Page 355 Mark Detection Function input). Automatic update of saved parameter Supports dedicated instruction, SLMPSND.
Page 854 MEMO APPX Appendix 4 Restrictions by the version...
Page 855: Index
INDEX ....582 ....542 ABS direction in degrees Deceleration start flag .
Page 856 ....369 Home position return request flag OFF request Mark detection invalid flag ... 364,367 .
Page 857 ..499,501 ..... . .529 Positioning address/movement amount Speed command ..470,475 Positioning complete signal output time Speed control 10 times multiplier setting for degree .
Page 858 ....585 Torque output setting value Torque time constant at continuous operation to torque ..... . . 594 control mode (-) Torque time constant at continuous operation to torque .
Page 859: Revisions
REVISIONS *The manual number is given on the bottom left of the back cover. Revision date *Manual number Description November 2014 IB(NA)-0300253ENG-A First edition January 2015 IB(NA)-0300253ENG-B Added or modified parts SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, Section 2.1, 3.1, 3.2, 4.1, 5.1, 5.2, 5.3, 5.4, 6.2, 7.4, 7.5, 7.9, 8.9, 10.1, 10.2, 10.3, 10.7, 10.8, 10.9, 12.1 August 2015 IB(NA)-0300253ENG-C...
Page 860: Revision Date
Japanese manual number: IB-0300252-L 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 861: Warranty
WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty 3. Overseas service Range Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at If any faults or defects (hereinafter "Failure") found to be each FA Center may differ.
Page 862: Information And Services
INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS  CANopen is registered Community Trademarks of CAN in Automation e.V.
Page 864 IB(NA)-0300253ENG-N(2505)MEE MODEL: FX5SSC-U-APP-E MODEL CODE: 1XB020 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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