Mitsubishi Electric Melsec FX Series Beginners Manual
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Mitsubishi Electric Melsec FX Series Beginners Manual

Mitsubishi Electric Melsec FX Series Beginners Manual

Programmable logic controllers
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MITSUBISHI ELECTRIC
MELSEC FX Series
Programmable Logic Controllers
Introduction to
FX Positioning Control Systems
Beginners Manual
Art. no.: 214562
INDUSTRIAL AUTOMATION
21 03 2014
MITSUBISHI ELECTRIC
Version C
Version check

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Summary of Contents for Mitsubishi Electric Melsec FX Series

  • Page 1 MITSUBISHI ELECTRIC MELSEC FX Series Programmable Logic Controllers Introduction to FX Positioning Control Systems Beginners Manual Art. no.: 214562 INDUSTRIAL AUTOMATION 21 03 2014 MITSUBISHI ELECTRIC Version C Version check...
  • Page 3 Beginners Manual Introduction to MELSEC FX Positioning Control Systems Art. no: 214562 Version Revisions / Additions / Corrections 05/2008 pdp - rw First edition 08/2012 pdp - dk Addition of FX main units 03/2014 pdp - dk Addition of FX , FX and FX main units...
  • Page 5 You can find the latest information and answers to frequently asked questions on our website at https://eu3a.mitsubishielectric.com. MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes to this manual or the technical specifications of its products at any time without notice.
  • Page 7 Safety Guidelines General safety information and precautions For use by qualified staff only This manual is only intended for use by properly trained and qualified electrical technicians who are fully acquainted with the relevant automation technology safety standards. All work with the hardware described, including system design, installation, configuration, maintenance, service and testing of the equipment, may only be performed by trained electrical technicians with approved qualifications who are fully acquainted with all the applicable automation technology safety...
  • Page 8 Failure to observe the safety warnings identified with this symbol can result in health and injury hazards for the user. WARNING: Failure to observe the safety warnings identified with this symbol can result in damage to the equipment or other property. MITSUBISHI ELECTRIC...
  • Page 9 General safety information and precautions The following safety precautions are intended as a general guideline for using PLC systems together with other equipment. These precautions must always be observed in the design, installation and operation of all control systems. DANGER: ●...
  • Page 10 MITSUBISHI ELECTRIC...

  • Page 11: Table Of Contents

    Table of Contents Table of Contents Safety Guidelines The Basics of Positioning Control What is positioning control? ............1-1 Actuators for positioning .
  • Page 12 Table of Contents Learning to Use the FX Family for Positioning Control MELSEC FX PLC positioning............. 4-1 4.1.1 Overview of control .

  • Page 13: The Basics Of Positioning Control

    What is positioning control? The Basics of Positioning Control The Basics of Positioning Control What is positioning control? The positioning controller, together with the programmable logic controller, personal computer and operator interface, is one of the four main units of FA (factory automation). Among these units, the positioning controller plays an important role and is regarded as the center of the mechatronics field in which many senior engineers have been playing active roles.

  • Page 14: Actuators For Positioning

    ● Positioning mechanism is simple. ● Repeatability is poor. ● Change in positioning is difficult. (When optical sensors or limit switches are used for stop) Fig. 1-2: Schematic drawing Brake motor Motor with brake Limit switch 120020da.eps 1 - 2 MITSUBISHI ELECTRIC...

  • Page 15: Clutch Brake

    Actuators for positioning The Basics of Positioning Control 1.2.3 Clutch brake Features and Drawbacks ● Frequent positioning is possible. ● Life of friction plate is limited. ● Change in positioning is difficult. (When optical sensors or limit switches are used for stop) Fig.

  • Page 16: Dc Servo System

    ● High precision positioning is not available. ● Large torque is not available at start. (Specialized inverter is required) Fig. 1-6: Schematic drawing Lifter General purpose inverter and general purpose motor Motor with brake General-purpose inverter 120060da.eps 1 - 4 MITSUBISHI ELECTRIC...

  • Page 17: Ac Servo System

    Actuators for positioning The Basics of Positioning Control 1.2.7 AC servo system Features and Drawbacks ● Positioning precision is good. ● Maintenance is not required. ● Positioning address can be easily changed. ● It is compact, and offers high power. Fig.

  • Page 18: Positioning Method Type

    Ball screw Brake Limit switch for changeover to low speed Inverter Limit switch for stop High speed 0 to 10 V DC Low speed Movement distance 120080da.eps Fig. 1-8: Schematic drawing – Limit switch method 1 - 6 MITSUBISHI ELECTRIC...
  • Page 19 Positioning method type The Basics of Positioning Control Pulse count method A position detector (such as a pulse encoder) is set up in a motor or rotation axis. The pulse number generated from the position detector is counted by a high-speed counter. When the pulse number reaches the preset value, the moving part stops.
  • Page 20 Speed Speed Time delay High speed High speed Poor stop precision Improved stop precision speed Time Time Stop Stop Stop Speed reduction command Stop command command 1200d0da.eps Fig. 1-12: Positioning pattern 1 - 8 MITSUBISHI ELECTRIC...

  • Page 21: Position Control

    Positioning method type The Basics of Positioning Control 1.3.2 Position control Pulse command method An AC servo motor which rotates in proportion to the input pulse number is used as the drive motor. When the pulse number corresponding to the movement distance is input to the servo amplifier of the AC servo motor, positioning can be performed at high speed in proportion to the pulse frequency.
  • Page 22 The Basics of Positioning Control Positioning method type 1 - 10 MITSUBISHI ELECTRIC...

  • Page 23: Positioning By Ac Servo System

    Advantages for using an AC servo system Positioning by AC Servo System Positioning by AC Servo System Advantages for using an AC servo system With an AC servo system, positioning can be performed by many diversified methods. Typically, a position controller, servo amplifier and servo motor are required for positioning with an AC servo sys- tem.

  • Page 24: Examples Of Ac Servo Systems

    In order to tap a workpiece, Quick feed Cutting feed and Quick return are performed repeatedly. Fig. 2-3: Schematic drawing Workpiece Tapping Drill Slide Timing Ball belt Cutting screw Quick feed feed Feed motor Pulley Quick return 220020da.eps 2 - 2 MITSUBISHI ELECTRIC...

  • Page 25: Drilling In Steel Sheet

    Examples of AC servo systems Positioning by AC Servo System 2.2.3 Drilling in steel sheet Description In order to perform processing on a flat face, positioning with high precision is performed by two motors (X axis feed motor and Y axis feed motor). Fig.

  • Page 26: Lifter Moving-Up/Down

    A mechanism such as rack and pinion is adopted to prevent slippage between the wheels and rails. Fig. 2-7: Schematic drawing Cart Cart travel control Drive wheel (on each of left and right sides) 200060da.eps 2 - 4 MITSUBISHI ELECTRIC...

  • Page 27: Carrier Robot

    Examples of AC servo systems Positioning by AC Servo System 2.2.7 Carrier robot Description After the conveyor stops, the 2-axis servo system and the arm lifting mechanism transfer workpieces to a palette. The workpiece input positions on the palette can be set to many points so that setup change can be easily performed, even if the palette position and the palette shape change.
  • Page 28 Positioning by AC Servo System Examples of AC servo systems 2 - 6 MITSUBISHI ELECTRIC...

  • Page 29: Components Of Positioning Control And Their Roles

    Components of Positioning Control and their Roles Components of Positioning Control and their Roles Positioning control requires a number of components such as a positioning controller, servo amplifier, servo motor and drive mechanism. This section describes the role of each component. To begin, the following two-page spread illustrates how the seven key elements function together to perform positioning.
  • Page 30 0. Operation equipment Gives inputs for manual/automatic mode, start/stop, zero point return command, manual forward rotation/reverse rotation and manual pulse generator to the positioning controller. 300010da.eps Fig. 3-1: Components of Postioning Control (1) 3 - 2 MITSUBISHI ELECTRIC...
  • Page 31 Components of Positioning Control and their Roles Servo motor Dedicated to high speed response optimal to positioning control, has large start torque, large maximum torque and wide variable speed range 1/1 or more (1/1,000 to 1/5,000). When a moving element goes beyond a limit switch (LS), the motor stops.

  • Page 32: Positioning Controller

    "ON" and "OFF" represent the status of the controller’s output. "H" and "L" respectively represent the HIGH status and the LOW status of the waveform. The command pulse pattern in the figure assumes negative logic. 3 - 4 MITSUBISHI ELECTRIC...

  • Page 33: Basic Parameter Settings

    Positioning controller Components of Positioning Control and their Roles 3.1.2 Basic parameter settings To send a series of pulses (a pulse train) to a servo amplifier, positioning controllers use a specified feed quantity, which is proportional to the number of pulses. A feed speed must also be specified to control the number of pulses output per second.
  • Page 34 The location of the DOG switch should be adjusted so that the backward end of the DOG is released between two consecutive zero point signals (1 pulse per rotation of the motor). In this example, the DOG length should not be less than the deceleration distance of the machine. 3 - 6 MITSUBISHI ELECTRIC...
  • Page 35 Positioning controller Components of Positioning Control and their Roles DOG search function In some PLC models, if the zero point return function is performed while the workpiece is stopped beyond the DOG switch, the machine moves until the limit switch is actuated, changes direction, then returns to the zero point again (DOG search function, zero point return retry function).

  • Page 36: Servo Amplifier And Servo Motor

    The time after the servo motor outputs the positioning complete signal until it stops is called the stop settling time. Command speed Speed Motor speed The accumulated pulse quantity is 0, and positioning is completed Accumulated pulses Time Stop setting time 322010da.eps Fig. 3-7: Positioning pattern 3 - 8 MITSUBISHI ELECTRIC...

  • Page 37: Servo Lock Function

    Servo Amplifier and Servo Motor Components of Positioning Control and their Roles 3.2.3 Servo lock function The servo motor is controlled so that the accumulated pulse quantity counted in the deviation counter becomes 0. For example, if an external force for forward rotation is applied on the servo motor, the servo motor performs the reverse rotation operation to eliminate the accumulated pulses.

  • Page 38: Dynamic Brake Function

    Number of rotations of motor Motor stop characteristics when the dynamic brake is actuated When the dynamic brake is not actuated Time Power: OFF Contacts of dynamic brake: ON 325010da.eps Fig. 3-8: Dynamic brake function 3 - 10 MITSUBISHI ELECTRIC...

  • Page 39: Drive Mechanism

    Drive mechanism Components of Positioning Control and their Roles Drive mechanism The drive mechanism converts the rotation motion of the servo motor into reciprocating or vertical motion through a speed reducer, timing belt, ball screw, etc. to move the machine. 3.3.1 Concept of drive system movement quantity The following diagram is a representative AC servo motor positioning system.
  • Page 40 Speed reduction ratio can be adjusted to fit the application’s needs. In each of the absolute and incremental positioning methods, the entire movement distance of the machine should not exceed the maximum allowable pulse output number from the positioning controller. 3 - 12 MITSUBISHI ELECTRIC...

  • Page 41: Setting The Target Position

    Drive mechanism Components of Positioning Control and their Roles 3.3.2 Setting the target position In positioning control, the target position can be set by the following two methods, specified by the controller’s parameter settings. (Available command units are "mm," "inch", "degree", or "pulse".) Absolute method In this method, a point (absolute address) is specified for positioning while the zero point is regarded as the reference.
  • Page 42 Components of Positioning Control and their Roles Drive mechanism 3 - 14 MITSUBISHI ELECTRIC...

  • Page 43: Learning To Use The Fx Family For Positioning Control

    Important references for understanding positioning with FX PLCs include: ● Programming Manuals for the MELSEC FX Series ● User’s Manuals – Hardware Edition – for the various controllers of the MELSEC FX family ●...
  • Page 44 The motor moves in a speci- fied direction depending on the logic and timing of DRVI the drive input signal. Start Stop (There is no target position.) command Stop 411020da.eps Start Tab. 4-2: Instructions for FX PLCs (1) 4 - 2 MITSUBISHI ELECTRIC...
  • Page 45 MELSEC FX PLC positioning Learning to Use the FX Family for Positioning Control Applicable Positioning Description Instruction Illustration Model instruction Operation speed Speed 1-speed positioning A start command acceler- DRVI ates the motor to a con- stant speed and moves the DRVA workpiece to a specified Start...

  • Page 46: Important Memory Locations

    Sets the deceleration time for Y000. CLEAR signal device D8464 16-bit Sets the output terminal for the CLEAR signal for specification Y000. Tab. 4-4: Special devices of FX , FX , FX , FX and FX base units 3G(C)(E) 3U(C) 4 - 4 MITSUBISHI ELECTRIC...

  • Page 47: Program Examples

    MELSEC FX PLC positioning Learning to Use the FX Family for Positioning Control 4.1.3 Program Examples Two positioning examples are included as a reference to get started with PLC programming. Hybrid programming example for FX , FX , FX , FX and FX PLCs 3GC,...
  • Page 48 ´ Enables the zero return operation with CLEAR signal outputting function (CLEAR signal: Y010) ² Return to the zero point with CLEAR signal output Y002 Tab. 4-6: Description of the program example in fig. 4-3 4 - 6 MITSUBISHI ELECTRIC...
  • Page 49 MELSEC FX PLC positioning Learning to Use the FX Family for Positioning Control Use this for FX , FX , FX , FX and FX PLCs 3U(C) M8349 ³ Return to Positioning Positioning Y000 output zero point in forward in reverse stop rotation rotation...
  • Page 50 Resets "reverse rotation positioning completion" flag. ¹ Enters the zero point return state (S0). Enters the forward rotation positioning state (S20). Enters the reverse rotation positioning state (S21). Tab. 4-7: Description of the program example in fig. 4-4 4 - 8 MITSUBISHI ELECTRIC...
  • Page 51 MELSEC FX PLC positioning Learning to Use the FX Family for Positioning Control ³ X004 FNC 156 · K50000 K1000 X005 Y000 DZRN Waiting for Stop 1 scan time command Zero return Creep speed Near-point Pulse start speed signal output destination number M8029...
  • Page 52 Moves to absolute position 500,000 using the drive to absolute instruction. (Y004=ON) º "Forward rotation positioning completion" flag ¾ Ends the positioning operation in the forward rotation direction. (Self-reset) Tab. 4-8: Description of the program example in fig. 4-5 4 - 10 MITSUBISHI ELECTRIC...
  • Page 53 MELSEC FX PLC positioning Learning to Use the FX Family for Positioning Control ³ X004 FNC 159 · K100 K100000 Y000 Y004 DDRVA Waiting for Stop 1 scan time command Designation Output Pulse Rotation of absolute pulse output direction position frequency destination signal...
  • Page 54 100 ms 413070da.eps Required hardware and software are as follows: ● FX , FX 3GC, ● FX PLC version 2.20 or later 3U(C) ● GX Developer 8.23Z or later ● GX IEC Developer ● GX Works2 4 - 12 MITSUBISHI ELECTRIC...
  • Page 55 MELSEC FX PLC positioning Learning to Use the FX Family for Positioning Control Parameters for the DTBL instruction are set for example in GX Developer as shown below. Double-click Parameter and then PLC parameter from the project tree on the left side of the screen.
  • Page 56 Acceleration time [ms] Deceleration time [ms] X000 Interrupt input for DVIT instruction Tab. 4-10: Settings for Y000 The "Bias speed" corresponds to the minimum speed. Can only be set for a FX or FX main unit. 4 - 14 MITSUBISHI ELECTRIC...
  • Page 57 MELSEC FX PLC positioning Learning to Use the FX Family for Positioning Control Click the Individual setting button. The Positioning instruction settings window will appear. In this window, click on the Y0 tab to display the positioning table for Y000 (pulse output destination).
  • Page 58 Forward rotation positioning command — — X025 Reverse rotation positioning command — — X026 Forward rotation limit (LSF) — — X027 Reverse rotation limit (LSR) — — X030 Stop command — — Tab. 4-12: Used inputs and outputs 4 - 16 MITSUBISHI ELECTRIC...
  • Page 59 MELSEC FX PLC positioning Learning to Use the FX Family for Positioning Control X020 ³ M8349 Immediate stop X014 · Servo ready » ¿ X026 ´ M8343 Forward rotation limit X027 ² M8344 Reverse rotation limit M8000 FNC 12 ¶ H0020 D8464 MOVP...
  • Page 60 The forward and reverse rotation limit switches must be wired so that they are turned ON by default (Nor- mally closed contacts). When these limit switches turn OFF (due to the workpiece going out-of-bounds), M8343 or M8344 will turn ON and cause the pulse operation to stop. 4 - 18 MITSUBISHI ELECTRIC...
  • Page 61 MELSEC FX PLC positioning Learning to Use the FX Family for Positioning Control M106 X023 M8348 ³ Positioning Completes being the JOG (-) ³ performed operation. (Y00) M105 · M105 JOG (-) operation X030 is being performed. FNC 152 » Y000 DTBL Stop...
  • Page 62 Executes the row No. 4 of the positioning table of Y000 (pulse output destination). "Reverse rotation positioning normal end" flag "Reverse rotation positioning abnormal end" flag Tab. 4-14: Description of the program example in fig. 4-15 4 - 20 MITSUBISHI ELECTRIC...

  • Page 63: Inverter Drive Control

    Inverter Drive Control Learning to Use the FX Family for Positioning Control Inverter Drive Control A frequency inverter, or inverter for short, is installed between the mains supply and the motor. An inverter converts a fixed voltage and frequency into a variable voltage with a variable frequency.Thus the speed of a asynchronous electric motor can be adjusted continuously.

  • Page 64: Using The Melsec Fx And Freqrol Inverter

    (Terminal block) (Terminal block) 422010da.eps 422030da.eps MITSUBISHI 500 m -485ADP -485ADP (Terminal block) (Terminal block) -ROM-CE1 (Function extension memory board 422040da.eps 422050da.eps Tab. 4-15: Applicable communication interface boards and adapters for data exchange with frequency inverters 4 - 22 MITSUBISHI ELECTRIC...
  • Page 65 Inverter Drive Control Learning to Use the FX Family for Positioning Control Total FX Series Communication equipment (option) extension distance 50 m -485-BD (Terminal block) FX3G-485-BD_front.eps (14 or 24 I/O) 500 m -485ADP(-MB) CNV-ADP (Terminal block) FX3G_24_front.eps RS485_FX3G.eps CH 1 50 m -485-BD (Terminal block)
  • Page 66 -485ADP(-MB) (Terminal block) FX3GE-32M_front.eps 4220a0dab.eps CH 2 50 m -485-BD (Terminal block) FX3G-485-BD_front.eps 500 m -CNV-ADP -485ADP(-MB) (Terminal block) FX3S-30M_front.eps RS485_ADP_FX3S Tab. 4-15: Applicable communication interface boards and adapters for data exchange with frequency inverters 4 - 24 MITSUBISHI ELECTRIC...
  • Page 67 Inverter Drive Control Learning to Use the FX Family for Positioning Control Total FX Series Communication equipment (option) extension distance CH 1 RD A RD B SD A SD B 50 m -485-BD (Terminal block) 422070dab.eps CH 1 500 m -CNV-BD -485ADP(-MB) (Terminal block)
  • Page 68 2-digits (STR). Inverter status H07A 2-digits Monitors operation bits of the inverter. monitor Output frequency H06F 4-digits Monitors the frequency of the inverter. [speed] Tab. 4-18: Inverter instruction codes Applicable for all Mitsubishi FREQROL inverters. 4 - 26 MITSUBISHI ELECTRIC...

  • Page 69: Program Example

    Inverter Drive Control Learning to Use the FX Family for Positioning Control 4.2.3 Program example The following programming example is a hybrid program for FX and FX 2N(C) controllers to be used with an E500 Series inverter. For the communication between PLC and 3U(C) inverter, CH 1 is used.* * When a FX...
  • Page 70 Set [Protocol] to "Non-procedural", [Data length] to "7bit", [Parity] to "Even", and [Stop bit] to "1bit". ¿ Set [Transmission speed] to "9600" to match the speed setting in the inverter. ´ Ignore these items. Click the [End] button. 4 - 28 MITSUBISHI ELECTRIC...
  • Page 71 Inverter Drive Control Learning to Use the FX Family for Positioning Control Create the ladder program as shown below. Once the ladder program is complete, click on Online from the top menu bar in GX Developer and select Write to PLC. The "Write to PLC" window will appear. Click the Param+Prog button and then click the Execute button.
  • Page 72 · The inverter is reset [H9696 "H0FD"] inverter while the PLC is in RUN » Computer link operation is specified [H2 "H0FB"] mode. Tab. 4-21: Description of the program example in fig. 4-20 4 - 30 MITSUBISHI ELECTRIC...
  • Page 73 Inverter Drive Control Learning to Use the FX Family for Positioning Control Use this for FX , FX or FX PLCs 3GC, 3GE, 3U(C) FNC 12 ³ D200 MOVP Pr.1 FNC 12 · K12000 D201 MOVP 120 Hz FNC 12 »...
  • Page 74 The acceleration time (Pr. 7) is set to "1 sec" [K10 Pr. 7] The deceleration time (Pr. 8) is set to "1 sec" [K10 Pr. 8] Reset driving of write instruction Tab. 4-22: Description of the program example in fig. 4-21 4 - 32 MITSUBISHI ELECTRIC...
  • Page 75 Inverter Drive Control Learning to Use the FX Family for Positioning Control M8002 ³ Initial Pulse FNC 12 · K4000 MOVP Driving of 40 Hz Operation write speed instruction Use this for FX , FX or FX PLCs 3GC, 3GE, 3U(C) FNC271 »...
  • Page 76 º Reverse rotation command b2 of "H0FA" is set to ON direction. ¾ Changes in the operation commands (M20 to M27) are detected Tab. 4-23: Description of the program example in fig. 4-22 4 - 34 MITSUBISHI ELECTRIC...
  • Page 77 Inverter Drive Control Learning to Use the FX Family for Positioning Control Use this for FX , FX or FX PLCs 3GC, 3GE, 3U(C) FNC271 ³ H0FA K2M20 IVDR Driving of Inverter Inverter Write value ch.1 write station instruction instruction number code Use this for FX...
  • Page 78 In this example, the master control block "N0" is only executed when data is not being written to the inverter. Number Description Monitoring oper- ³ ations of the Monitor frequency value with D50 ["H06F" D50] inverter. Tab. 4-25: Description of the program example in fig. 4-24 4 - 36 MITSUBISHI ELECTRIC...

  • Page 79: Fx2N-1Pg-E Positioning

    FX2N-1PG-E positioning Learning to Use the FX Family for Positioning Control -1PG-E positioning The FX and FX PLCs support connection with the FX -1PG-E special function block. Special 2N(C) 3U(C) function blocks are separate pieces of hardware that can be connected to PLCs to enhance control. Since special function blocks process information separately from the PLC, the scan time of the PLC is not adversely affected during operations controlled by special function blocks.

  • Page 80: Important Buffer Memory Locations

    X007 #27, #26 Current address D11, D10 Status information M20–M31 — Error code — Tab. 4-26: Buffer memory addresses of FX -1PG-E Using a multiplication factor of 10 changes the units from μm to mm. 4 - 38 MITSUBISHI ELECTRIC...

  • Page 81: Program Example

    FX2N-1PG-E positioning Learning to Use the FX Family for Positioning Control 4.3.3 Program example In the example that follows, a two speed positioning instruction is used to move a drill 100 mm toward a block of wood with a high speed pulse frequency of 40 kHz. When the drill reaches the wood, the speed decreases to 10 kHz.
  • Page 82 PLC and does not require an actuator (i.e., servo system) for testing. The following inputs are used in the program: Inputs X000 Error reset X001 STOP command X002 Forward rotation limit X003 Reverse rotation limit X007 2-speed positioning START command Tab. 4-27: Used inputs 4 - 40 MITSUBISHI ELECTRIC...
  • Page 83 FX2N-1PG-E positioning Learning to Use the FX Family for Positioning Control M8002 FNC79 ³ K4000 Initial pulse Unit No. BFM # Pulse No. of rate transfer points FNC79 · K1000 Unit No. BFM # Feed No. of rate transfer points FNC79 »...
  • Page 84 Read status information [K3M20 #28] º Read error code [D20 #29] ¾ Reset error µ STOP operation ¸ Forward rotation limit ¹ Reverse rotation limit Use absolute positioning Tab. 4-28: Description of the program example in fig. 4-27 4 - 42 MITSUBISHI ELECTRIC...
  • Page 85 FX2N-1PG-E positioning Learning to Use the FX Family for Positioning Control X007 FNC 79 ³ K100 START Unit No. BFM # Target No. of address 1 transfer points FNC 79 · K40000 Unit No. BFM # Operation No. of speed 1 transfer points FNC 79...

  • Page 86: Fx2N-10Pg Positioning

    The controller also supports the connection of a manual pulse generator dial to control individual pulses from a position dial. Another advantage to using the FX -10PG is the ability to use a defined set of positioning operations in table format with up to 200 predefined table operations. 4 - 44 MITSUBISHI ELECTRIC...

  • Page 87: Important Buffer Memory Locations

    FX2N-10PG positioning Learning to Use the FX Family for Positioning Control 4.4.2 Important buffer memory locations The FX -10PG contains 1,300 buffer memory (BFM) addresses, which are 16-bit (1 word) areas of memory that contain information relevant to the control of positioning operations. Most of these addresses are reserved for data to be used in table operations.

  • Page 88: Program Example

    In order for the program to function correctly for the specified number of repetition cycles, the START command input (X007) must not be turned ON again during the positioning operation. If the START command is turned ON again, the counter C100 is reset, which clears the number of repetitions. 4 - 46 MITSUBISHI ELECTRIC...
  • Page 89 FX2N-10PG positioning Learning to Use the FX Family for Positioning Control The following program can be used with an FX or FX PLC and does not require an actuator 2N(C) 3U(C) (i.e., servo system) for testing. The input and output points include: Inputs Outputs X000...
  • Page 90 The forward and reverse rotation limit switches must be wired so that they are turned ON by default (Nor- mally closed contacts). When these limit switches turn OFF (due to the workpiece going out-of-bounds), M2 or M3 will turn ON and cause the pulse operation to stop. 4 - 48 MITSUBISHI ELECTRIC...
  • Page 91 FX2N-10PG positioning Learning to Use the FX Family for Positioning Control Number Description ³ Set the pulse rate (PLS/rev) [K4000 #1, #0] · Set the feed rate ( μm/rev) [K1000 #35, #34] » Set the units to μm × 10 mm;...
  • Page 92 FNC 79 µ K4M0 monitor Unit No. BFM # Operation No. of commands transfer M0-M15 points FNC 78 ¸ DFROM Unit No. BFM # Current No. of address transfer points 443050da.eps Fig. 4-33: Program example (2) 4 - 50 MITSUBISHI ELECTRIC...
  • Page 93 FX2N-10PG positioning Learning to Use the FX Family for Positioning Control Number Description ³ Use relative positioning · START positioning » Set 1-speed positioning [H1 #27] ¿ Set the target address 1 [K50 #14, #13] ´ Set the operation speed 1 [K50000 #16, #15] ²...

  • Page 94: Fx2N-10Gm And Fx2N-20Gm Positioning

    (RAM has battery backup) (EEPROM cassette optional) Memory size 3.8K steps 7.8K steps Table method CON1: I/O CON1: Control + I/O CON2: Control Connectors CON2: Axis1 CON3: Axis1 CON4: Axis2 Tab. 4-34: FX -10GM compared with FX -20GM 4 - 52 MITSUBISHI ELECTRIC...
  • Page 95 FX2N-10GM and FX2N-20GM positioning Learning to Use the FX Family for Positioning Control 4.5.2 Using dedicated software to set positioning for the FX -20GM In the example that follows, an FX -20GM is used with the FX-PCS-VPS/WIN-E software to perform positioning on two axes.
  • Page 96 Re-create the diagram on the next page by using the Code and Func buttons on the left panel of the VPS software to select and place each function block. 4 - 54 MITSUBISHI ELECTRIC...
  • Page 97 FX2N-10GM and FX2N-20GM positioning Learning to Use the FX Family for Positioning Control Many programs can be stored in a GM controller at one time. This example uses program number 0. The "DRV Ret" command is used to move from the start point to the A to B electrical zero point.
  • Page 98 X-Y plotting table, the parameters should be set in accordance with the mechanism being used. These settings depend on the specific plotter type and should be located in the documentation provided with the plotter.) 4 - 56 MITSUBISHI ELECTRIC...
  • Page 99 FX2N-10GM and FX2N-20GM positioning Learning to Use the FX Family for Positioning Control Below are the four positioning parameter windows from VPS. The settings on these windows should be copied for BOTH the X- and Y- axes before performing positioning. Open the "Parameter Units"...
  • Page 100 Settings from the menu bar at the top of the screen. NO CHANGES 452070da.eps Fig. 4-40: Parameter Settings window None of the parameters in the Parameter Settings window need to be changed. When using a mechanical plotter, however, these settings become more important. 4 - 58 MITSUBISHI ELECTRIC...

  • Page 101: Testing And Monitoring Operations

    FX2N-10GM and FX2N-20GM positioning Learning to Use the FX Family for Positioning Control 4.5.3 Testing and monitoring operations After setting the parameters and defining the positioning travel paths described in the previous sec- tion, testing can be performed as follows. -20GM and the personal computer by selecting FX-GM Check the communication between the FX Com Port and then the Test button.
  • Page 102 X START or Y START button again. If the plot does not look like the one above, check the flow chart program against the program listed in section 4.5.2 (Creating a Flow Chart). 4 - 60 MITSUBISHI ELECTRIC...

  • Page 103: Fx3U-20Ssc-H Positioning

    FX3U-20SSC-H positioning Learning to Use the FX Family for Positioning Control -20SSC-H positioning The FX PLC supports connection with the FX -20SSC-H special function block, which is an 3U(C) advanced module to perform positioning operations on two axes using Mitsubishi’s fiber optic com- munication servo network known as SSCNET III (Servo System Controller Network).

  • Page 104: Using Dedicated Software To Set Positioning For The Fx3U-20Ssc-H

    Next, double click on Servo parameters in the File data list panel on the left-hand side of the screen to modify the servo parameters. Set items from the Kind column for both the X- and Y- axes as shown: 462050da/462060da.eps 4 - 62 MITSUBISHI ELECTRIC...
  • Page 105 FX3U-20SSC-H positioning Learning to Use the FX Family for Positioning Control Creating XY-axis table operation data Double click on XY-axis Table information in the File data list panel on the left-hand side of the screen to open the XY table. Maximize the window to enter the following data: Address Speed Arc center...
  • Page 106 Change the range of table data to be written to 0–25. 462080da.eps Fig. 4-45: Write to module window Next, reset the module by pressing the System reset button. This is necessary to refresh the servo parameters. 4 - 64 MITSUBISHI ELECTRIC...

  • Page 107: Testing And Monitoring Operations

    FX3U-20SSC-H positioning Learning to Use the FX Family for Positioning Control 4.6.3 Testing and monitoring operations With the parameters and table information saved to the FX -20SSC-H module from section 4.6.3 and the PLC in STOP mode, testing is performed by using TEST MODE in FX Configurator-FP. Enter TEST MODE by pressing the Test On/Off button.

  • Page 108: Important Buffer Memory Locations

    X004 Bit 10 Table operation (simultaneous) H400 X005 #521 Table operation start number Table row #0 Positioning #14013, X-axis JOG speed 1,000,000 Hz (PLS/sec) parameter data #14012 Tab. 4-39: Buffer memory addresses of FX -20SSC-H 4 - 66 MITSUBISHI ELECTRIC...

  • Page 109: Program Example

    FX3U-20SSC-H positioning Learning to Use the FX Family for Positioning Control 4.6.5 Program example The following program uses buffer memory communication to perform JOG positioning, 1-speed posi- tioning, and table operation control. The XY-table created in the previous section can be used in this example.
  • Page 110 Monitor Y-axis status info. [#128 D110] X-axis forward rotation limit X-axis reverse rotation limit Set the X-axis JOG speed (Hz) [K100000 #14013, #14012] Enable the X-axis JOG speed Tab. 4-41: Description of the program example in fig. 4-47 4 - 68 MITSUBISHI ELECTRIC...
  • Page 111 FX3U-20SSC-H positioning Learning to Use the FX Family for Positioning Control M8000 FNC 12 ³ K4M20 G519 X-operation BFM # monitor command 2 M20-M35 X001 X002 · X-axis X-axis JOG(+) JOG(-) X001 X002 » X-axis X-axis JOG(-) JOG(+) X003 ¿ Zero return ´...
  • Page 112 STOP operation · Reset X-axis error » Reset Y-axis error ¿ Write X-axis operation command 1 [K4M0 #518] ´ Write Y-axis operation command 1 [K4M100 #618] Tab. 4-43: Description of the program example in fig. 4-49 4 - 70 MITSUBISHI ELECTRIC...

  • Page 113: Index

    Index Index AC servo system Encoder Advantages ....... . . 2-1 Absolute type .
  • Page 114 PLC ..4-12 3U(C) -20SSC-H ......4-62 MITSUBISHI ELECTRIC...
  • Page 116 Phone: +1 (847) 478-2100 Fax: +36 (0)1 / 431-9727 Fax: +1 (847) 478-0328 Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / info@mitsubishi-automation.com / https://eu3a.mitsubishielectric.com...

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