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Mitsubishi Electric FX3U-1PG, User Manual

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9 Positioning Control

9.4 2-speed Positioning Operation

95

FX

3U

-1PG User's Manual

1

Introduc

tion

2

Speci

ficati
on

3

Sy

stem

 

Configurati

on

4

Ins
tallati
on

5

Wi

rin

g

6

Be

fore Starti

ng

Po

sition

ing

Operation

7

Buf
fer M
emory

8

Man

ual
 C

ontrol

9

Posi

tioni
ng

Co

ntrol

10

Program

Ex

ampl

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9.4

2-speed Positioning Operation

By the 2-speed positioning operation start command, the operation starts with the operation speed I. It moves
to  target  address  I,  changes  the  speed  to  operation  speed  II,  and  travels  to  the  target  address  II,  and
decelerates and stops.

→ 

For change of the operation speed, refer to Section 6.6.

→ 

For change of the target address, refer to Section 6.7.

→ 

For details on the STOP command, refer to Section 6.5.

1. Operation

1) Set the operation speed I, operation speed II, target address I, and target address II.
2) When the 2-speed positioning operation start of the operation command is turned from off to on, the 2-

speed positioning operation in the operation speed I starts. (The positioning completion flag turns off.)

3) The speed changes to the operation speed II at the target address I.

(The 1-speed completion flag turns on.)

4) The operation decelerates and stops at the target address II and turns on the positioning completion flag

and ends the operation.

Point

When the travel amount is 0, the positioning operation is not executed even when the 2-speed positioning 
operation start is turned on. In addition, the positioning completion flag also does not change. The READY 
turns off only for an instant.

2. Address specification

Both absolute address and the relative address specification is possible.
With absolute address specified: Specifies the distance from the address 0.
With relative address specified: Specifies the travel distance from the current address.

3. Rotation direction

• With the specified absolute address: 

The rotation direction is determined according to the relationship between the current address, the target 
address I, and the target address II.
- Current address < Target address Ι, Target address I < Target address ΙΙ: Forward
- Current address > Target address Ι, Target address I > Target address ΙΙ: Reverse

Speed

Maximum speed

Operation speed II

Operation speed I

Target address I

Target address II

Time

Acceleration/

deceleration time 

(Acceleration time)

Acceleration/

deceleration time 

(Deceleration time)

ON

OFF

ON

ON

OFF

ON

ON

ON

OFF

OFF

OFF

2-speed positioning 

operation start

(BFM#25 b10)

Positioning 

completion flag

(BFM#28 b8)

READY

(BFM#28 b0)

1-speed completion flag

(BFM#28 b9)

Bias speed

Summary of Contents for FX3U-1PG

Page 1: ...FX3U 1PG USER S MANUAL ...

Page 2: ......

Page 3: ... positioning limits 2 Note that when the PLC CPU detects an error such as a watchdog timer error during self diagnosis all outputs are turned off Also when an error that cannot be detected by the PLC CPU occurs in an input output control block output control may be disabled External circuits and mechanisms should be designed to ensure safe machinery operation in such a case 3 Note that when an err...

Page 4: ...llation work is completed Failure to do so may cause fire equipment failures or malfunctions Make sure to attach the top cover offered as an accessory before turning on the power or initiating operation after installation or wiring work Failure to do so may cause electric shock Connect extension cables securely to their designated connectors Loose connections may cause malfunctions 21 Reference Ma...

Page 5: ...sentative Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause equipment failures or malfunctions Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause equipment failures or malfunctions Peripheral devices display modules expansion boards and special adapters I O extension units blocks...

Page 6: ...Safety Precautions Read these precautions before use 4 MEMO ...

Page 7: ...ad it whenever necessary Always forward it to the end user 2012 MITSUBISHI ELECTRIC CORPORATION Manual number JY997D47301 Manual revision C Date 3 2019 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 occu...

Page 8: ...corporated in a device or system used in purposes related to human life Before using the product for special purposes such as nuclear power electric power aerospace medicine or passenger movement vehicles consult with Mitsubishi Electric This product has been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fai...

Page 9: ...ns 16 2 2 Power Supply Specifications 16 2 3 Performance Specifications 16 2 4 Input Specifications 17 2 4 1 Input specifications 17 2 4 2 Internal input circuit 17 2 5 Output Specifications 18 2 5 1 Output specifications 18 2 5 2 Internal output circuit 18 3 System Configuration 19 3 1 General Configuration 19 3 2 Applicable PLC 20 3 3 Connection with PLC 20 4 Installation 21 4 1 DIN rail Mountin...

Page 10: ... 6 9 2 Stepwise output pulse 49 7 Buffer Memory 50 7 1 How to Read Write from to Buffer Memory 50 7 1 1 Direct specification of buffer memory 50 7 1 2 FROM TO instructions 51 7 2 Buffer Memory List 52 7 3 Positioning Parameters 55 7 3 1 BFM 0 Pulse rate 55 7 3 2 BFM 2 1 Feed rate 55 7 3 3 BFM 3 Operation parameter 56 7 3 4 BFM 5 4 Maximum speed 60 7 3 5 BFM 6 Bias speed 61 7 3 6 BFM 8 7 JOG speed ...

Page 11: ...tions Available with Manual Control 81 8 2 JOG Operation 82 8 3 Mechanical Zero Return Operation 84 8 3 1 Outline of mechanical zero return operation 84 8 3 2 DOG type mechanical zero return operation 85 8 3 3 Data set type mechanical zero return operation 88 9 Positioning Control 89 9 1 Functions Available with Each Positioning Operation 89 9 2 1 speed Positioning Operation 90 9 3 Interrupt 1 spe...

Page 12: ...Example of Connection with MR J4 A Servo Amplifier 124 Appendix B 2 Example of Connection with MR J3 A Servo Amplifier 125 Appendix B 3 Example of Connection with MR J2S A Servo Amplifier 126 Appendix B 4 Example of Connection with MR JN A Servo Amplifier 127 Appendix B 5 Example of Connection with Stepping Motor Driver 128 Appendix C Differences with FX2N 1PG 129 Appendix C 1 Differences of Speci...

Page 13: ...he entire mechanical module should be checked by the user manufacturer For more information please consult with your nearest Mitsubishi product provider Regarding the standards that comply with the main unit please refer to either the FX series product catalog or consult with your nearest Mitsubishi product provider Requirement for Compliance with EMC directive The following products have shown co...

Page 14: ...cture must have minimal openings Also wrap the cable holes with a shielding cover or other shielding devices The gap between the control cabinet and its door must be as small as possible by attaching EMI gaskets between them 1 These wires are used to improve the conductivity between the door and control cabinet Note for compliance with EN61131 2 2007 General note on the use of the power supply cab...

Page 15: ...ardware Edition For details refer to FX3UC Series User s Manual Hardware Edition Supplied Manual FX3UC 32MT LT Hardware Manual Only Japanese document JY997D12701 Describes FX3UC 32MT LT specification for I O wiring and installation extracted from the FX3UC User s Manual Hardware Edition For details refer to FX3UC Series User s Manual Hardware Edition Additional Manual FX3UC Series User s Manual Ha...

Page 16: ...1 Describes installation specifications for the FX3U 1PG pulse output block extracted from the FX3U 1PG User s Manual For details refer to FX3U 1PG User s Manual Additional Manual FX3U 1PG User s Manual This Manual JY997D47301 Describes details of the FX3U 1PG pulse output block 09R629 Title of manual Document number Description Model code ...

Page 17: ...for special function unit Special function block Generic name for special function block FX3U 1PG Abbreviated name for FX3U 1PG pulse output block Memory cassette Generic name for memory cassette The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Edition of the main unit to be used for your system Ba...

Page 18: ...errupt 2 speed positioning operation Group 2 PG0 Zero point signal input Used for DOG type mechanical zero return operation Group 1 Signal voltage 24 V DC Power is supplied from S S terminal Input current 7 0 mA ON current 4 5 mA or more OFF current 1 5 mA or less Signal form No voltage contact input Sink input NPN open collector transistor Source input PNP open collector transistor Response time ...

Page 19: ...A pulse train of max 200 kHz can be output transistor output The connected FX3U FX3UC 1 PLC reads writes the positioning data from to the FX3U 1PG 1 An FX2NC CNV IF or FX3UC 1PS 5V is necessary to connect the FX3U 1PG to the FX3UC PLC 1 2 External Dimensions and Part Names 1 Status LEDs red Refer to Section 1 4 6 DIN rail mounting groove DIN rail DIN46277 35 mm 1 38 width 2 Extension cable 7 DIN r...

Page 20: ...r Forward pulses or pulse train is being output RP Red OFF Reverse pulse or directional output interrupted Flicker Reverse pulses is being output ON Directional output is being output CLR Red OFF CLR signal is not output ON CLR signal is being output ERR Red OFF Operating normally Flicker Error occurred ON CPU error occurred Terminal name Description VIN Power terminal for pulse output COM0 Common...

Page 21: ...ay lead to serious accidents external circuits and mechanisms should be designed to ensure safe machinery operation in such a case DESIGN PRECAUTIONS Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise 1 Do not bundle the main circuit line together with or lay it close to th...

Page 22: ... signal For pulse output 5 to 24 V DC Current consumption 35 mA or less For CLR signal 5 to 24 V DC Current consumption 20 mA or less Inner control 5 V DC Current consumption 150 mA Power is supplied through the extension cable from the PLC Item Specification Number of control axes One axis Positioning program Created by sequence programs using FROM TO instruction or direct specification of the bu...

Page 23: ...r interrupt input of External command positioning Interrupt 1 speed positioning Interrupt stop Interrupt 2 speed positioning operation Group 2 PG0 Zero point signal input Used for DOG type mechanical zero return operation Group 1 Signal voltage 24 V DC Power is supplied from S S terminal Input current 7 0 mA ON current 4 5 mA or more OFF current 1 5 mA or less Signal form No voltage contact input ...

Page 24: ...R CLR signal Group 1 Output form Transistor Output system Forward FP and reverse RP pulse or pulse PLS with direction DIR can be selected Output frequency 1 Hz to 200 kHz Rated load voltage 5 to 24 V DC Max load current 20 mA or less VIN current consumption 5 to 24 V DC 35 mA or less Output ON voltage 1 0 V or less Operation display LED ON at output ON Group 2 Output form Transistor Output system ...

Page 25: ...onal computer 5 Connection cable FX USB AW F2 232CAB 1 FX 232AWC H FX 422CAB0 6 Twisted pair cable Use shielded twisted pair cables for connecting cables 7 Servo amplifier Stepping motor driver 8 Servo motor Stepping motor 7 Servo amplifier Stepping motor driver FROM TO instructions etc Pulse train High speed input output 1 Pulse output block 6 Twisted pair cable 2 PLC 5 Connection cables 3 PC sof...

Page 26: ...C Refer to FX3U Hardware Edition Refer to FX3UC Hardware Edition An FX2NC CNV IF or FX3UC 1PS 5V is necessary to connect the FX3U 1PG to the FX3UC PLC For extension the separately available FX0N 65EC FX0N 30EC extension cable and FX2N CNV BC are used One extension cable can be used per system The number of I O points occupied by the FX3U 1PG is eight Make sure that the total number of I O points o...

Page 27: ... excessive dust oily smoke conductive dusts corrosive gas salt air Cl2 H2S SO2 or NO2 flammable gas vibration or impacts or expose it to high temperature condensation or rain and wind If the product is used in such conditions electric shock fire malfunctions deterioration or damage may occur Do not touch the conductive parts of the product directly Doing so may cause device failures or malfunction...

Page 28: ... to the right to the main unit I O extension unit block or special function unit block on the left side of the product For information on the extension cable connection procedure refer to the respective product PLC manual Refer to FX3U Hardware Edition Refer to FX3UC Hardware Edition Example of installation on DIN rail In the case of the FX3U PLC In the case of the FX3UC PLC B FX3U Series main uni...

Page 29: ...ting surface according to the external dimensions diagram 2 Fit the FX3U 1PG A in the figure to the right to the mounting holes and tighten with M4 screws B in the figure to the right For the screw position and quantity refer to the dimensioned drawing specified below For dimensions refer to Section 1 2 3 Connect the extension cable Connect the extension cable to the main unit I O extension unit b...

Page 30: ...the PLC will burn out Make sure to attach the top cover offered as an accessory before turning on the power or initiating operation after installation or wiring work Failure to do so may cause electric shock When drilling screw holes or wiring make sure that cutting and wiring debris do not enter the ventilation slits Failure to do so may cause fire equipment failures or malfunctions Make sure to ...

Page 31: ... Operation 7 Buffer Memory 8 Manual Control 9 Positioning Control 10 Program Example 5 1 Input Wiring 5 1 1 Sink input wiring 5 1 2 Source input wiring 5 2 Output Wiring S S DOG STOP FX3U 1PG Servo amplifier Cable length 2 m or less PG0 PG0 S S DOG STOP FX3U 1PG VIN FP RP COM0 FX3U 1PG Servo amplifier COM1 CLR Cable length 2 m or less Cable length 2 m or less ...

Page 32: ...red perform shared grounding as shown in the following figure For details refer to the respective PLC manual Refer to FX3U Hardware Edition Refer to FX3UC Hardware Edition The grounding point should be close to the PLC and all grounding wires should be as short as possible 5 5 Screw Size and Tightening Torque 5 5 1 Terminal screw size and tightening torque The terminals on the FX3U 1PG use M3 scre...

Page 33: ...output control block output control may be disabled External circuits and mechanisms should be designed to ensure safe machinery operation in such a case 3 Note that when an error occurs in a relay triac or transistor output device the output could be held either on or off For output signals that may lead to serious accidents external circuits and mechanisms should be designed to ensure safe machi...

Page 34: ...ry for interrupt input via PLC Setting not necessary BFM No Setting items Operation mode Positioning parameter Extension positioning parameter JOG operation DOG type mechanical zero return operation Data set type mechanical zero return operation 1 speed positioning operation Interrupt 1 speed positioning operation 2 speed positioning operation External command positioning operation Variable speed ...

Page 35: ... or faster the operation is executed at the maximum speed Item BFM No Content Positioning parameter Extension positioning parameter Maximum speed 5 4 39 38 Upper speed limit in each operation mode Bias speed 6 41 40 Lower speed limit in each operation mode Operation speed Operation speed Ι 20 19 Operation speed in each operation mode Operation speed ΙΙ 24 23 Operation speed for 2 speed positioning...

Page 36: ...and the STOP terminal The DOG terminal is used for the DOG input for the mechanical zero return operation and for the interrupt input 0 for the external command positioning operation the interrupt 1 speed positioning operation the interrupt stop operation and the interrupt 2 speed positioning operation The STOP terminal is used for the decelerate stop input the external command positioning operati...

Page 37: ...upt input 1 STOP Interrupt input 0 DOG External command Interrupt stop Operation mode selection Interrupt signal Zero return External command FX3U PLC 24V 0V FX3U 1PG STOP DOG S S Interrupt 1 speed Interrupt 2 speed Interrupt 2 speed Interrupt input 0 Interrupt input 0 Interrupt input 0 Interrupt input 1 Interrupt input 1 STOP Interrupt input 0 DOG External command Interrupt stop Operation mode se...

Page 38: ...During operation at less than 1 kHz within 3 pulses Interrupt input 1 STOP Interrupt input 0 DOG External command Interrupt stop Operation mode selection Interrupt signal Zero return External command FX3U PLC 24V 0V FX3U 1PG STOP DOG S S Interrupt 1 speed Interrupt 2 speed Interrupt 2 speed Interrupt input 0 Interrupt input 0 Interrupt input 0 Interrupt input 1 Interrupt input 1 STOP Interrupt inp...

Page 39: ...arbitrary input of the PLC X000 X001 etc to the INT0 b0 INT1 b1 of the operation command II BFM 57 Response time Response time of INT0 INT1 is as follows During operation at 1 kHz or higher within 3 ms During operation at less than 1 kHz within 3 pulses Caution of interrupt input is used When both INT0 and INT1 are set to ON at the same time in the external command positioning or interrupt 2 speed...

Page 40: ...input In case of source input Interrupt input 1 Interrupt input 0 External command Interrupt stop Operation mode selection Interrupt signal STOP DOG External command FX3U PLC X001 X000 INT0 INT1 24V S S 0V FX3U 1PG STOP DOG S S Interrupt 1 speed Interrupt 2 speed Interrupt 2 speed Interrupt input 0 Interrupt input 0 Interrupt input 0 Interrupt input 1 Interrupt input 1 Interrupt input 0 External c...

Page 41: ...trol 10 Program Example Program description example The following program is the example of a program which uses interrupt input via PLC BFM X000 of the PLC is used as interrupt input 0 INT0 Interrupt input 0 INT0 turns ON at the rising edge of X000 M8000 RUN monitor M8002 Initial pulse I001 FNC 12 MOV H0008 U0 G3 FNC 04 EI User program FNC 06 FEND END FNC 03 IRET FNC 12 MOV H0001 U0 G57 Writing o...

Page 42: ...change depending on the setting of the limit deceleration mode BFM 3 b11 BFM 37 b11 Operation when the limit deceleration mode is OFF Refer to Fig 1 below When the forward limit reverse limit in the operating direction turns on during operation the forward pulse reverse pulse is immediately stopped and the CLR signal is output The output pulse width of the CLR signal is 20 ms Operation when the li...

Page 43: ...f a positioning operation the STOP command is ignored The positioning completion flag turns on When the input from the STOP terminal is set to interrupt input 1 by the operation parameter BFM 3 b3 b2 or BFM 37 b3 b2 operation varies depending on the operation mode External command positioning operation or interrupt 2 speed positioning operation The input from the STOP terminal functions as an inte...

Page 44: ...sitioning operations where remaining distance operation is possible 2 Operation Operations applicable to the remaining distance operation Operations not applicable to the remaining distance operation 1 speed positioning operation JOG operation 2 speed positioning operation DOG type mechanical zero return high speed Interrupt stop operation DOG type mechanical zero return creep Data set type mechan...

Page 45: ...ed and the command input later starts the operation In addition even in the same operation command when an operation is started by switching the address specification method relative absolute the remaining distance operation is cancelled and the operation starts with the newly set address specification method When a write operation is executed to a buffer memory other than BFM 25 during the remain...

Page 46: ... the operation speed is not written to the operation speed change value The operation speed change value remains as what was written for the last time When the operation is stopped by the STOP command and the remaining distance operation is executed after the operation speed is changed operation resumes with the changed speed 1 Positioning operations for which operation speed change function can b...

Page 47: ...ation that the operation speed change function cannot be used During use of the approximate S shaped acceleration deceleration function In JOG operation inching movement During remaining distance operation waiting remaining distance operation is cancelled After interrupt input detection of the interrupt stop operation When the value set for the speed change value is larger than the maximum speed t...

Page 48: ...2 000 Operation speed will be changed to 100 000 Hz if the current address exceeds K5 000 M8000 RUN monitor Changes the operation speed to 200 000 Hz Changes the operation speed to 100 000 Hz Reading of current address Reading of status information Reading of current value of operation speed READY M20 FNC 12 DMOV U0 G26 D10 FNC 12 MOV U0 G28 K4M20 END FNC 12 DMOV U0 G60 D30 FNC 12 DMOV K200000 U0 ...

Page 49: ...sition of the positioning operation changes When the 2 speed is changed in the 2 speed positioning operation the relative travel distance from the 2 speed start position changes It is not the travel distance from the target address change position 1 Positioning operations for which the target address change function can be used 2 Operation When the operation direction does not change after the tar...

Page 50: ... Operation that the target address change function cannot be used During use of the approximate S shaped acceleration deceleration function After interrupt input detection of the interrupt stop operation When changing to the target address that requires inverting during the interrupt 1 speed positioning operation or the interrupt 2 speed positioning operation During remaining distance operation wa...

Page 51: ...uffer Memory 8 Manual Control 9 Positioning Control 10 Program Example 4 Program description example In the program below the target address is changed as follows When turning X000 to ON changes the target address to K15 000 Reading of status information Changes the target address to K15 000 X000 Target address change command M8000 Error flag READY M20 M27 RUN monitor FNC 12 MOV FNC 12 DMOV U0 G28...

Page 52: ...eceleration time are set individually by using the extension positioning parameter the approximate S shaped acceleration deceleration is executed at the value set for the acceleration time Operations applicable to the approximate S shaped acceleration deceleration function Operations not applicable to the approximate S shaped acceleration deceleration function JOG operation Mechanical zero return ...

Page 53: ...he acceleration deceleration time required to reach the operation speed I Acceleration deceleration using the Sin curve 1 Acceleration time required to reach operation speed Operation speed I Maximum speed Acceleration deceleration time Caution when the approximate S shaped acceleration deceleration function is used The acceleration deceleration time cannot be set individually Acceleration deceler...

Page 54: ...d acceleration deceleration set the acceleration deceleration time within the range from 1 ms to 5000 ms When several operation start commands turn on at the same time in the operation command BFM 25 b6 b8 to b15 the positioning operation is not executed The operation command multiple selection error occurs When another operation command is turned on during operation the operation command turned o...

Page 55: ...X3U 1PG is stepwise as follows Where n Integer in range of 120 to 24 000 000 For example n 120 f 200 000 Hz n 121 f 198 347 Hz Any pulse whose frequency is between the two values above cannot be generated Point In the operation speed current value BFM 61 60 the actual operation speed is stored Because the actual output pulse is stepwise it is possible that the current operation speed value is diff...

Page 56: ... match the target BFM s data format 16 bit 32 bit the FX3U 1PG will not read write data to the BFM properly and no error will appear This may cause an operation error for positioning 7 1 How to Read Write from to Buffer Memory To read write from to buffer memory in the FX3U 1PG use the FROM TO instructions or applied instructions that directly specify the buffer memory For details on the other met...

Page 57: ... data from the buffer memory If the following program is created 1 point of data will be read out from the buffer memory BFM 30 of unit No 1 to data register D10 2 TO instruction Writing PLC data into BFM Use the TO instruction to write data to the buffer memory If the following program is created 1 point of data K4000 will be written to buffer memory BFM 0 of unit No 1 Read command Transfer desti...

Page 58: ...ro return 0 to 32 767 K10 R W Subsection 7 3 9 14 13 Zero point address Address at zero return completion 2 147 483 648 to 2 147 483 647 user unit Set the value within 2 147 483 648 to 2 147 483 647 PLS when converted to pulse data K0 R W Subsection 7 3 10 15 Acceleration deceleration time Time between the bias speed and the maximum speed Trapezoidal acceleration deceleration 1 to 32 767 ms Approx...

Page 59: ...20 48 Number of zero point signal for zero return Number of zero point signals for zero return 0 to 32 767 K10 R W Subsection 7 3 21 50 49 Zero point address Address at the zero return completion 2 147 483 648 to 2 147 483 647 user unit Set the value within 2 147 483 648 to 2 147 483 647 PLS when converted to pulse data K0 R W Subsection 7 3 22 51 Acceleration time Time from the bias speed to the ...

Page 60: ... 200 000 to 1 1 to 200 000 Hz when converted to pulse data In case of variable speed operation 2 147 483 647 to 2 147 483 647 user unit Set the value within 200 000 to 200 000 Hz when converted to pulse data 2 In case of external command positioning operation 2 147 483 647 to 1 1 to 2 147 483 647 user unit Set the value within 200 000 to 1 1 to 200 000 Hz when converted to pulse data ...

Page 61: ...t from the next operation Setting of the positioning parameter selection BFM 32 determines whether the positioning parameter is used or the extension positioning parameter is used 7 3 1 BFM 0 Pulse rate Set the number of pulses required to rotate the motor for one turn Setting is necessary when the unit system is set to machine system unit or combined system unit When motor system unit is selected...

Page 62: ...e unit system is set to the machine system unit or the combined system unit settings of the pulse rate and the feed rate are necessary When the operation speed is executed in the machine system unit set the value such that its pulse converted equivalent is within the motor system unit Hz range or the combined system unit Hz range BFM No Description R W Default High order 16bit Low order 16bit 3 Re...

Page 63: ... rate 6 cm min 104 60 100 μm REV 4 000 PLS REV 40 000 Hz 1 The unit is aligned during calculation 1 cm 104 μm 1 min 60 s When you set values in mdeg In a positioning operation with travel distance of 100 mdeg and operation speed of 6 10 deg min the following pulse output is given Generated pulse quantity Travel distance Feed rate Pulse rate 100 mdeg 100 mdeg REV 4 000 PLS REV 4 000 PLS Pulse frequ...

Page 64: ...le below shows the setting of major electronic gears and pulse rates obtained by the above calculation Rated rotation speed of servo motor Servo amplifier Command pulse frequency 200 kHz Maximum input pulse frequency Number of command input pulses per revolution Electronic gear Pulse rate 3 000 r min 200 kHz open collector 10 000 PLS REV 5 2 4 000 PLS REV 50 000 PLS REV 25 2 131 072 PLS REV 4 096 ...

Page 65: ... 123 mm deg 10 1 inch b6 Acceleration deceleration mode Set the acceleration deceleration mode b6 0 Use trapezoidal acceleration deceleration b6 1 Use approximate S shaped acceleration deceleration b7 Variable speed operation acceleration deceleration setting Set whether acceleration deceleration is set for the variable speed operation b7 0 Variable speed operation without acceleration deceleratio...

Page 66: ...ignal count starts b14 STOP input polarity The polarity of the STOP input is set It is valid only for the input of the FX3U 1PG STOP terminal b14 0 Normally opened operates when the STOP input is ON b14 1 Normally closed operates when the STOP input is OFF b15 STOP input mode The operation for the STOP input is set b15 0 After deceleration stop by STOP command is executed during operation the rema...

Page 67: ...is executed at 1 Hz When the extension positioning parameter is used use the JOG speed BFM 43 42 7 3 7 BFM 10 9 Zero return speed high speed Set the high speed return speed in the mechanical zero return For details on the mechanical zero return refer to Section 8 3 Point Set the zero return speed high speed in the range between the bias speed and the maximum speed When the zero return speed high s...

Page 68: ...Set the zero point signal count that is used for the mechanical zero return For details on the mechanical zero return refer to Section 8 3 Point The zero point signal count is detected on the falling edge When the zero point signal count is set to 0 the operation immediately stops when the zero point signal count is started In this case the operation immediately stops from the zero return speed hi...

Page 69: ... 15 Acceleration deceleration time Set the time required to accelerate from the bias speed to the maximum speed decelerate from the maximum speed to the bias speed For details on the acceleration deceleration time refer to Section 6 2 Point When the extension positioning parameter is used use the acceleration time BFM 51 and the deceleration time BFM 52 It is necessary to set the acceleration time...

Page 70: ...elationship between pulse rate and electronic gearing is shown below Pulse rate Resolution power of encoder positioning feedback pulses Electronic gearing When the positioning parameter is used use the pulse rate BFM 0 7 3 14 BFM 36 35 Feed rate Set the travel distance of the machine for one turn of the motor Setting is necessary when the unit system is set to machine system unit or combined syste...

Page 71: ...ed in the machine system unit set the value such that its pulse converted equivalent is within the motor system unit Hz range or the combined system unit Hz range Concept of mechanical system of units and how to use an electronic gear For concept of mechanical system of units and how to use an electronic gear refer to Subsection 7 3 3 b3 b2 Interrupt input setting The interrupt signals used for in...

Page 72: ... the variable speed operation b7 0 Variable speed operation without acceleration deceleration b7 1 Variable speed operation with acceleration deceleration b8 Pulse output format Set the pulse output format When it is set the ON OFF condition of the pulse output terminal FP RP changes as follows b8 0 Forward pulse FP Reverse pulse RP b8 1 Pulse PLS Direction DIR b9 Rotation direction Set the rotati...

Page 73: ...The polarity of the STOP input is set It is valid only for the input of the FX3U 1PG STOP terminal b14 0 Normally opened operates when the STOP input is ON b14 1 Normally closed operates when the STOP input is OFF b15 STOP input mode The operation for the STOP input is set b15 0 After deceleration stop by STOP command is executed during operation the remaining distance operation is executed when t...

Page 74: ...45 44 Zero return speed high speed Set the high speed return speed in the mechanical zero return For details on the mechanical zero return refer to Section 8 3 Point Set the zero return speed high speed in the range between the bias speed and the maximum speed When the zero return speed high speed is at the maximum speed or higher the operation is executed at the maximum speed When the zero return...

Page 75: ... count is set to 0 the operation immediately stops when the zero point signal count is started In this case the operation immediately stops from the zero return speed high speed or creep If there is a possibility to damage the machine due to the immediate stop be careful with the following points Set the zero return speed creep at a safe speed Set the zero point signal count start point at DOG bac...

Page 76: ...n time refer to Section 6 2 Point When the positioning parameter is used use the acceleration deceleration time BFM 15 However the acceleration time and the deceleration time cannot be set individually BFM No Description R W Default High order 16bit Low order 16bit 51 Setting range Trapezoidal acceleration deceleration 1 to 32 767 ms Approximate S shaped acceleration deceleration 1 to 5 000 ms How...

Page 77: ...the target address change value the operation speed change value the operation command b1 to b3 and the operation command II of the variable speed operation 7 4 1 BFM 16 Starting delay time Set the start delay time of the FX3U 1PG After the operation command the operation starts when the time set for the startup delay time has elapsed after the normal startup time 1 1 1 ms or less for the motor sy...

Page 78: ...3 647 user unit Set the value within 200 000 to 200 000 Hz when converted to pulse data Point Set the operation speed I in the range between the bias speed and the maximum speed In case of the variable speed operation and the external command positioning operation the rotating direction is determined according to the sign of the operation speed I When the operation speed I is at the maximum speed ...

Page 79: ...ng operation It is used for the 2 speed positioning operation the external command positioning operation and the interrupt 2 speed positioning operation 1 In case of external command positioning operation 2 147 483 647 to 1 1 to 2 147 483 647 user unit Set the value within 200 000 to 1 1 to 200 000 Hz when converted to pulse data Point Set the operation speed II in the range between the bias speed...

Page 80: ...n the direction in which in the current address decreases When it is turned off the unit stops outputting pulses For details on the JOG operation refer to Section 8 2 Level b6 DOG type mechanical zero return operation start When it is turned on it starts the DOG type mechanical zero return operation For details on the DOG type mechanical zero return operation refer to Subsection 8 3 2 Edge b7 Rela...

Page 81: ...status excluding the b2 b3 and b7 opposite from the operation direction are turned off and then on 7 4 7 BFM 54 53 Target address change value Set the target address change value that is used in the target address change function For details on the target address change function refer to Section 6 7 Point Value is in user units and includes the position data multiplier 25 b13 Interrupt stop operat...

Page 82: ...ollowing table 1 Timing of detection Level detection activated when the bit is set or cleared Edge detection activated at OFF to ON transition Point If INT0 b0 or INT1 b1 is on when the positioning operation starts it automatically turns off BFM No Description R W Default High order 16bit Low order 16bit 56 55 Setting range 1 to 2 147 483 647 user unit The value must be within the range from 1 to ...

Page 83: ... ABS instruction FNC155 of the PLC is the pulse conversion value Write in the current address pulse conversion value BFM 59 58 7 5 2 BFM 28 Status information The FX3U 1PG condition can be checked in the ON OFF condition of each bit BFM No Description R W Default High order 16bit Low order 16bit 27 26 2 147 483 648 to 2 147 483 647 user unit R W K0 BFM No Bit No Item Description R W Default High o...

Page 84: ...xternal command positioning or the 1 speed of the interrupt 2 speed positioning operation completes Conditions to turn on When the 2 speed positioning operation the external command positioning operation or the 1 speed of the interrupt 2 speed positioning operation completes Conditions to turn off At the completion of positioning At the time of error occurrence When the remaining distance operatio...

Page 85: ...is always a pulse conversion value of the absolute address The current address can be changed to any specified address during stop When a value is written in the current address pulse conversion value the current address BFM 27 26 is also updated The address change during the positioning operation is invalid A value read from the servo amplifier by the ABS instruction FNC155 of the PLC is the puls...

Page 86: ...speed change value BFM 56 55 that the user set For the stepwise of the output pulse refer to Subsection 6 9 2 In the case of machine system units the current value of the operation speed is as follows Current value of operation speed Actual output frequency Feed rate 60 Pulse rate 104 When the result is not an integer the value rounded down is stored as the current value of the operation speed 7 5...

Page 87: ... and available functions are as shown in the following table Applicable Not applicable or not targeted Functions Operation mode Reference JOG operation DOG type mechanical zero return operation Data set type mechanical zero return operation High speed Creep Extension positioning parameter Section 7 3 Forward limit Reverse limit Section 6 4 STOP command Section 6 5 Remaining distance operation Subs...

Page 88: ...erates and stops While the operation is at stop the READY remains ON Then when the forward JOG operation reverse JOG operation is turned off the JOG operation resumes Point When the ON time of the forward JOG operation reverse JOG operation is less than 300 ms the following operation is executed The FX3U 1PG outputs pulses corresponding to 1 user unit However the FX3U 1PG outputs 1 pulse even if t...

Page 89: ...change function refer to Section 6 6 Setting items of JOG operation BFM No Setting items Positioning parameter Extension positioning parameter 0 34 33 Pulse rate 2 1 36 35 Feed rate 3 b1 b0 37 b1 b0 Operation parameter System of units 3 b5 b4 37 b5 b4 Position data multiplier 3 b6 37 b6 Acceleration deceleration mode 3 b8 37 b8 Pulse output format 3 b9 37 b9 Rotation direction 3 b11 37 b11 Limit d...

Page 90: ...mplifier becomes the zero point For details on the DOG type mechanical zero return refer to Subsection 8 3 2 Data set type mechanical zero return The position after moving with the JOG operation etc is defined as the zero point For details on the data set type mechanical zero return refer to Subsection 8 3 3 2 Mechanical zero return operation The mechanical zero return operation varies according t...

Page 91: ...umber is reached the operation stops It outputs the CLR signal 5 After the zero return completion the set value of the zero point address is written to the current address 6 The positioning completion flag and the zero return completion turn on 2 Zero return direction Sets the zero return direction When BFM 3 b10 BFM 37 b10 0 The operation starts in the current address decreasing direction When BF...

Page 92: ...on when the zero return operation is completed 7 Speed change during the zero return operation When changing the zero return speed high speed during the zero return operation use the operation speed change function However zero return speed creep cannot be changed For details of the operation speed change function refer to Section 6 6 Setting items of the DOG type mechanical zero return operation ...

Page 93: ...n deceleration starts to the zero return speed creep e The operation stops when the zero point signal of the specified number zero point signal number is counted 3 When DOG signal is OFF at starting position after passing the DOG a Operates in the zero return direction at the zero return speed high speed b The operation immediately stops or decelerates to stop at the reverse limit forward limit c ...

Page 94: ...itten to the current address 4 The zero return completion turns on In case of the data set type zero return the positioning completion flag does not turn on 2 Positioning completion flag Turns on when the zero return is completed and after the zero point address is written to the current address Turns off when the power is turned off or when K0 is written to the status information It does not turn...

Page 95: ...e functions are as shown in the following table Applicable Not applicable Function Operation mode Reference 1 speed positioning operation Interrupt 1 speed positioning operation 2 speed positioning operation External command positioning operation Variable speed operation Interrupt stop operation Interrupt 2 speed positioning operation Extension positioning parameter Section 7 3 Forward limit Rever...

Page 96: ...is not executed even when the 1 speed positioning operation start is turned on In addition the positioning completion flag also does not change The READY turns off only for an instant 2 Address specification Both absolute address and the relative address specification is possible With absolute address specified Specifies the distance from the address 0 With relative address specified Specifies a t...

Page 97: ...ired for the acceleration deceleration the actual operation speed does not reach operation speed I BFM No Setting items Positioning parameter Extension positioning parameter 0 34 33 Pulse rate 2 1 36 35 Feed rate 3 b1 b0 37 b1 b0 Operation parameter System of units 3 b5 b4 37 b5 b4 Position data multiplier 3 b6 37 b6 Acceleration deceleration mode 3 b8 37 b8 Pulse output format 3 b9 37 b9 Rotation...

Page 98: ... address I in the operation speed I and decelerates and stops The positioning completion flag turns on and the operation ends Point The current address is cleared by the interrupt 1 speed positioning operation start command After detecting the interrupt input 0 the current address starts changing When the travel amount is 0 the positioning operation is not executed even when the interrupt 1 speed ...

Page 99: ...at the start of the positioning operation and the falling edge is the detection edge interrupt input 0 becomes valid when the signal turns ON and then OFF again Setting items of the interrupt 1 speed positioning operation Interrupt input setting BFM 3 b3 b2 or BFM 37 b3 b2 DOG input polarity BFM 3 b12 or BFM 37 b12 Interrupt input 0 Detection edge 0 1 or 0 0 0 DOG Rising edge 0 1 or 0 0 1 DOG Fall...

Page 100: ...s I 1 When the target address I the number of pulses required for deceleration from the current speed As soon as the interrupt input 0 turns on the deceleration immediately starts When the operation reaches to the target address I it immediately stops 2 When the number of pulses required for deceleration from the current speed target address I pulse number required for acceleration deceleration fr...

Page 101: ...es and stops at the target address II and turns on the positioning completion flag and ends the operation Point When the travel amount is 0 the positioning operation is not executed even when the 2 speed positioning operation start is turned on In addition the positioning completion flag also does not change The READY turns off only for an instant 2 Address specification Both absolute address and ...

Page 102: ...and the target address II signs positive negative are different 4 1 speed completion flag Conditions to turn on When the operation reaches target address I When the operation exceeds target address I during deceleration by an error or by STOP Conditions to turn off When the positioning completes When the operation stops by an error When the operation stops by the STOP command only when the remaini...

Page 103: ...t the target address II The 1 speed completion flag turns on at the startup of the operation and turns off when the positioning completes Operation when the 2 speed travel amount is small When the time required to decelerate from operation speed I the travel time to target address II The deceleration starts after the 1 speed completion and stops when target address II is reached 22 21 Target addre...

Page 104: ...et address change value BFM 54 53 or operation speed change value BFM 56 55 within the time shown below just before the speed changes from the 1 speed to the 2 speed the travel amount at the 2 speed may change During operation at 1 kHz or higher within 3 ms During operation at less than 1 kHz within 3 pulses 6 Speed switching Speed switching is classified into standard switching and front load swi...

Page 105: ...tioning completion flag turns off 3 When interrupt input 0 is detected the speed changes to operation speed II 4 When interrupt input 1 is detected the operation immediately stops and the operation completes by turning on the positioning completion flag Point When the interrupt input 1 is detected before the interrupt input 0 is detected the operation immediately stops 2 Rotation direction The rot...

Page 106: ...operation and the rising edge is the detection edge interrupt input 0 and interrupt input 1 become valid when their signals turns OFF and then ON again respectively When interrupt input 0 and interrupt input 1 are off at the start of the positioning operation and the falling edge is the detection edge interrupt input 0 and interrupt input 1 become valid when their signals turns ON and then OFF aga...

Page 107: ...1 b0 37 b1 b0 Operation parameter System of units 3 b3 b2 37 b3 b2 Interrupt input setting 3 b5 b4 37 b5 b4 Position data multiplier 3 b8 37 b8 Pulse output format 3 b9 37 b9 Rotation direction 3 b11 37 b11 Limit deceleration mode 3 b12 37 b12 DOG input polarity 3 b14 37 b14 STOP input polarity 3 b15 37 b15 STOP input mode 5 4 39 38 Maximum speed 6 41 40 Bias speed 15 Acceleration deceleration tim...

Page 108: ...ting BFM 3 b7 or BFM 37 b7 For details on the STOP command refer to Section 6 5 1 Operation 1 Set operation speed I to any value other than 0 2 When the variable speed operation command of the operation command is turned on the variable speed operation starts 3 When the variable speed operation command of the operation command is turned off the variable speed operation stops Without acceleration d...

Page 109: ...d I bias speed Stop Caution An abrupt change in the rotation direction may cause damage to the machine It may also cause an error through motor overload To change the rotation direction set operation speed I value to 0 and wait for the motor to stop completely after stop If operation speed I value changes from positive to negative e g 100 100 the work piece will stop and start reverse operation Po...

Page 110: ...xample when acceleration deceleration is provided BFM No Setting items Positioning parameter Extension positioning parameter 0 34 33 Pulse rate 2 1 36 35 Feed rate 3 b1 b0 37 b1 b0 Operation parameter System of units 3 b5 b4 37 b5 b4 Position data multiplier 3 b7 37 b7 Variable speed operation acceleration deceleration setting 3 b8 37 b8 Pulse output format 3 b9 37 b9 Rotation direction 3 b11 37 b...

Page 111: ...positioning completion flag turns off 3 When interrupt input 0 is detected the operation decelerates and stops Turn on the positioning completion flag to end the operation Point When the travel amount is 0 the positioning operation is not executed even when the interrupt stop operation start is turned on In addition the positioning completion flag also does not change The READY turns off only for ...

Page 112: ...t of the positioning operation and the falling edge is the detection edge interrupt input 0 becomes effective when the signal turns ON and then OFF again Setting items for the interrupt stop operation Interrupt input setting BFM 3 b3 b2 or BFM 37 b3 b2 DOG input polarity BFM 3 b12 or BFM 37 b12 Interrupt input 0 Detection edge 0 1 or 0 0 0 DOG Rising edge 0 1 or 0 0 1 DOG Falling edge 1 1 or 1 0 I...

Page 113: ...ddress I Operation when interrupt input 0 is detected during acceleration The following operation is executed when interrupt input 0 is detected during acceleration Speed Maximum speed Operation speed I Target address I Time OFF ON OFF ON ON OFF ON ON OFF Acceleration deceleration time Acceleration time Acceleration deceleration time Deceleration time Interrupt stop operation start BFM 25 b13 Inte...

Page 114: ...4 When interrupt input 1 is detected traveling is executed for the amount set to the target address I with operation speed II and the operation completes by turning on the positioning completion flag Point When interrupt input 1 is detected before interrupt input 0 is detected interrupt input 1 is ignored The current address is cleared by interrupt 2 speed positioning operation start command After...

Page 115: ...rrupt input 0 Interrupt input 1 The contents of the interrupt input 0 the interrupt input 1 and the detection edge change as follows depending on the interrupt input setting the DOG input polarity and the STOP input polarity settings Point When interrupt input 0 and interrupt input 1 are on at the start of the positioning operation and the rising edge is the detection edge interrupt input 0 and in...

Page 116: ...ning parameter Extension positioning parameter 0 34 33 Pulse rate 2 1 36 35 Feed rate 3 b1 b0 37 b1 b0 Operation parameter System of units 3 b3 b2 37 b3 b2 Interrupt input setting 3 b5 b4 37 b5 b4 Position data multiplier 3 b8 37 b8 Pulse output format 3 b9 37 b9 Rotation direction 3 b11 37 b11 Limit deceleration mode 3 b12 37 b12 DOG input polarity 3 b14 37 b14 STOP input polarity 3 b15 37 b15 ST...

Page 117: ...rough this manual and the associated manuals and ensure the safety of the operation An operation error may damage the machinery or cause accidents STARTUP AND MAINTENANCE PRECAUTIONS Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric representative Turn off the power to the PLC before connecting or disco...

Page 118: ...Reverse pulses output CLR CLR signal is being output Device No Name Remarks M0 Error reset M1 STOP M2 Forward limit M3 Reverse limit M4 Forward JOG operation M5 Reverse JOG operation M6 DOG type mechanical zero return operation start M7 Relative absolute address Relative address specification M8 1 speed positioning operation start M9 Interrupt 1 speed positioning operation start Always OFF M10 2 s...

Page 119: ...ormat b8 0 Forward pulse Reverse pulse 3 b9 Rotation direction b9 0 Current address increases 3 b10 Zero return direction b10 0 Current address decreases 3 b11 Limit deceleration mode b11 0 Immediately stop 3 b12 DOG input polarity b12 0 NO contacts 3 b13 Count start point b13 1 DOG backward end 3 b14 STOP input polarity b14 0 NO contacts 3 b15 STOP input mode b15 0 Remaining distance operation 5 ...

Page 120: ...set to ON the motor starts the DOG type mechanical zero return operation in the current value decreasing direction 2 When the DOG input turns ON the motor decelerates to the zero return speed creep 3 When the zero point signal is input for 3 counts after the DOG input turns OFF again the motor stops the zero point address 0 is written to the current address and the CLR signal is output Remarks The...

Page 121: ...speed positioning operation 1 When X007 1 speed positioning operation start is set to ON the motor moves 1 000 mm in the forward direction and stops for 2 seconds At this time Y000 is output as the waiting indication 2 After that the motor moves 1 000 mm in the reverse direction and finishes the operation OFF ON Maximum speed 200 000 Hz Acceleration deceleration time 100 ms Acceleration decelerati...

Page 122: ...on flag FNC 12 DMOVP K 1000 U0 G17 FNC232 ANDD D10 K1000 FNC232 ANDD D10 K0 M1 M2 M3 FNC 12 DMOV K200000 U0 G19 Writing of feed rate Writing of operation parameter Writing of maximum speed Writing of bias speed Writing of JOG speed Writing of zero return speed high speed Writing of zero return speed creep Writing of number of zero point signals for zero return Writing of zero point address Writing...

Page 123: ... 12 MOV U0 G28 K4M20 FNC 12 DMOV U0 G58 D20 FNC 12 DMOV U0 G60 D30 END 1 speed positioning operation start Not used Interrupt 1 speed positioning operation start 2 speed positioning operation start External command positioning operation start Variable speed operation Writing of operation command Reading of current address Relative address Interrupt stop operation start Interrupt 2 speed positionin...

Page 124: ...al and the associated manuals and ensure the safety of the operation An operation error may damage the machinery or cause accidents STARTUP AND MAINTENANCE PRECAUTIONS Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric representative Turn off the power to the PLC before connecting or disconnecting any ex...

Page 125: ...FF Forward pulse or pulse train interrupted When the LED does not turn on or blink even when each positioning operation is executed check the following items Confirm that the positioning operation is executed in the program of the PLC When the STOP command or the forward limit reverse limit command is input the pulse output is not executed RP OFF Reverse pulse or directional output interrupted CLR...

Page 126: ...r is output Change the positioning parameter set value to a value within the set range and execute error reset K 4 1 Setting value overflow error When the converted pulse value of the travel distance exceeds 32 bits at the start of operation or while the target address is changed this error is output Set the travel amount to a value within 32 bit and execute error reset K5 Operation command multip...

Page 127: ...of the specified voltage is not being supplied to the power supply terminal Incorrect external wiring Internal errors in the PLC Check the supply voltage After disconnecting cables other than the power cable turn the power ON again and check for changes in the state If no improvement is obtained consult your local Mitsubishi Electric representative OFF One of the following causes may have occurred...

Page 128: ...set the watchdog timer several times in one scan Change the watchdog timer value Change the watchdog timer setting D8000 in the program so that the setting is larger than the maximum value of the scan time D8012 2 Remove the PLC and supply the power to it from another power source If the ERROR ERR LED goes out noise may have affected the PLC Adopt the following measures Check the ground wiring and...

Page 129: ...1PG can be checked by the following method 1 Checking the nameplate The version of the FX3U 1PG is shown as VERSION indicated on the label adhered to the right side of the product 2 Checking the buffer memory BFM In the FX3U 1PG users can obtain the FX3U 1PG version information by monitoring BFM 62 decimal number Appendix A 1 2 Version upgrade history The table below lists the version upgrade hist...

Page 130: ... 0 when the pulse output type of FX3U 1PG is Forward reverse pulse train and set 1 when it is Pulse train Direction P C CN2 L1 L2 U V W L 24V X000 X001 X002 X003 X004 X005 X006 X007 RA1 RA2 24 V DC power supply RA3 X010 S S DOG STOP COM1 CLR PG0 PG0 FP COM0 RP STOP Error reset Forward limit Reverse limit Forward JOG Reverse JOG Zero return command Start Servo ready Positioning completion Servo fai...

Page 131: ...OM1 CLR PG0 PG0 FP COM0 RP STOP Error reset Forward limit Reverse limit Forward JOG Reverse JOG Zero return command Start Servo ready Positioning completion Servo failure X011 X012 0V S S MR J3 A Servo amplifier To servo motor Main circuit power supply FX3U 1PG FX3U Series PLC Regenerative option LSD STOP Encoder RD 49 N VIN RA1 CR 41 P15R 1 OP 33 CN1 CN1 RA2 RA3 DOCOM NP 35 DICOM OPC SD 12 PP Pla...

Page 132: ...t Reverse limit Forward JOG Reverse JOG Zero return command Start Servo ready Positioning completion Servo failure X011 X012 0V S S MR J2S A Servo amplifier To servo motor Main circuit power supply FX3U 1PG FX3U Series PLC Regenerative option LSD STOP Encoder RD 19 N VIN RA1 CR 8 SG 10 P15R 4 OP 14 CON1A CON1B CON1A RA2 RA3 SG NP 2 OPC SD PP Plate 11 01 3 AC power supply LSN EGM 17 15 SG 10 SON RE...

Page 133: ...Direction P C CN2 L1 L2 U V W L 24V X000 X001 X002 X003 X004 X005 X006 X007 RA1 RA2 24 V DC power supply RA3 X010 S S DOG STOP COM1 CLR PG0 PG0 FP COM0 RP STOP Error reset Forward limit Reverse limit Forward JOG Reverse JOG Zero return command Start Servo ready Positioning completion Servo failure X011 X012 0V S S MR JN A Servo amplifier 1 To servo motor Main circuit power supply FX3U 1PG FX3U Ser...

Page 134: ...ing For the voltage range refer to Section 2 4 and 2 5 For the circuit configuration refer to Section 5 1 and 5 2 L 24V X000 X001 X002 X003 X004 X005 X006 X007 X010 S S DOG STOP COM1 CLR PG0 PG0 FP COM0 RP STOP Error reset Forward limit Reverse limit Forward JOG Reverse JOG Zero return command Start X011 X012 0V S S FX3U 1PG FX3U Series PLC Stepping motor driver LSD STOP N VIN CW CW AC power suppl...

Page 135: ... can be extended FX3U PLC Up to 8 blocks can be extended FX3UC D DS DSS PLC Up to 8 blocks can be extended FX3UC 32MT LT 2 PLC Up to 7 blocks can be extended Positioning Range 2 147 483 648 to 2 147 483 647 user unit 999 999 to 999 999 user unit Output frequency 1 Hz to 200 kHz The output pulse frequency f of FX3U 1PG is stepwise as follows f 24 106 n Hz Where n Integer in range of 120 to 24 000 0...

Page 136: ...the value within 1 to 200 000 Hz when converted to pulse data 1 to 153 000 user unit Set the value within 10 to 100 000 Hz when converted to pulse data 11 Zero return speed creep 1 to 32 767 user unit Set the value within 1 to 200 000 Hz when converted to pulse data 1 to 15 300 user unit Set the value within 0 to 10 000 Hz when converted to pulse data 12 Number of zero point signal for zero return...

Page 137: ...2 Variable speed operation b13 Interrupt stop operation start b13 Not used b14 Interrupt 2 speed positioning operation start b14 Not used b15 Data set type mechanical zero return operation start b15 Not used 27 26 Current address 2 147 483 648 to 2 147 483 647 user unit 28 Status information b0 READY b1 Forward Reverse b2 Zero return completion b3 STOP input ON b4 DOG input ON b5 PG0 input ON b6 C...

Page 138: ...ues the positioning operation The motor decelerates and stops However the motor continues the operation if the FROM TO instruction etc is being executed by the BFM monitoring function etc When the positioning operation is stopped by the PLC mode change from RUN to STOP change the sequence program so that the positioning operation is stopped by the STOP signal BFM 25 b1 or STOP terminal Operation c...

Page 139: ...s the operation direction Change the sequence program as needed Operation when the DOG cannot be detected The motor stops at the forward limit or reverse limit and the forward limit reverse limit error occurs if the DOG cannot be detected while the motor starts the zero return operation reverses the operation direction at the reverse limit or forward limit and then reaches the forward limit or rev...

Page 140: ...inning Confirm that acceleration until the operation speed I causes no problem in the system 1 speed positioning operation can be substituted for operation of the FX2N 1PG Change the sequence program as needed Operation when the travel amount at the 2 speed is small When the time required to perform deceleration from the operation speed I is longer than the travel time until the target address II ...

Page 141: ...utput The READY flag BFM 28 b0 remains OFF The motor operates at the bias speed The motor operates at 10 Hz if the bias speed is set to 0 Change the sequence program so that the operation speed I is changed to the bias speed Operation when the STOP is set from ON to OFF while the operation command remains ON The motor restarts the operation when the STOP signal is set to OFF The motor does not res...

Page 142: ...Appendix C Differences with FX2N 1PG Appendix C 3 Differences in Operation 136 FX3U 1PG User s Manual MEMO ...

Page 143: ...tsubishi 1 Loss in opportunity lost profits incurred to the user by Failures of Mitsubishi products 2 Special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products 3 Replacement by the user maintenance of on site equipment start up test run and other tasks 4 The Mitsubishi programmable logic contr...

Page 144: ...vised History Date Revision Description 9 2012 A First Edition 4 2015 B The description of speed switching in the 2 speed positioning operation is added Errors are corrected 3 2019 C The description of current address is added Errors are corrected ...

Page 145: ......

Page 146: ...TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN JY997D47301C MEE Effective March 2019 Specifications are subject to change without notice MODEL FX3U 1PG U E MODEL CODE 09R629 FX3U 1PG USER S MANUAL ...

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