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user's manual - positioning control edition fx 3u /fx 3uc series programmable controllers fx 3uc main unit [japanese model (sink output)] transistor output line driver output fx 3u -2hsy-adp

(1) safety precautions (read these precautions before using.) before installing, operating, maintenance or in specting this product, thoroughly read and understand this manual and the associated manuals. also pay careful attention to handle the module properly and safety. this manual classifies the safety precautions into two categories: and . depending on circumstances, procedures indicated by may also be linked to serious results. in any case, it is important to follow the directions for usage. store this manual in a safe place so that you can take it out and read it whenever necessary. always forward it to the end user. 1. design precautions indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage. reference ? provide a safety circuit on the outside of the plc so that the whole system operates to ensure the safety even when external power supply trouble or plc failure occurs. otherwise, malfunctions or output failures may result in an accident. 1) an emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the plc. 2) when the plc cpu detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are turned off. when an error that cannot be detected by the plc cpu occurs in an input/output control block, output control may be disabled. design external circuits and mechanisms to ensure safe operations of the machine in such a case. 3) when some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off. for output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe operations of the machine in such cases. b-4 b-14 b-67 reference ? do not bundle the control line together with the main circuit or power line. do not lay the control line near them.as a rule, lay the control line at least 100mm(3.94") or more away from the main circuit or power line. noise may cause malfunctions. ? install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and i/o connectors. failure to do so may result in wire breakage or failure of the plc. b-4 b-14 b-67
(2) safety precautions (read these precautions before using.) 2. wiring precautions reference ? cut off all phases of the power source externally before installation or wiring work in order to avoid electric shock or damage of product. ? make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work. failure to do so may cause electric shock. b-4 b-22 b-67 reference ? connect the ac power supply wiring to the dedicated terminals described in this manual. if an ac power supply is connected to a dc input/output terminal or dc power supply terminal, the plc will be burnt out. ? connect the dc power supply wiring to the dedicated terminals described in this manual. if an ac power supply is connected to a dc input/output terminal or dc power supply terminal, the plc will be burnt out. ? do not wire vacant terminals externally. doing so may damage the product. ? perform class d grounding (grounding resistance: 100 ? or less) to the grounding terminal in the fx 3u series main unit with a 2mm 2 or thicker wire. do not connect the grounding terminal at the same point as a heavy electrical system (refer to the manual of the plc main unit). ? perform class d grounding (grounding resistance: 100 ? or less) to the grounding terminal in the fx 3uc series main unit with a wire as thick as possible. do not connect the grounding terminal at the same point as a heavy electrical system (refer to the manual of the plc main unit). ? when drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions. ? use the product in such a status that excessive force is not applied on i/o connectors. failure to do so may result in wire breakage or failure of the plc. ? fit the i/o cables securely to the designated connectors. contact failures may cause malfunctions. ? perform wiring properly to the fx 3u series main unit and fx 0n /fx 2n series extension equipment of the terminal block type in accordance with the following precautions. failure to do so may cause electric shock, short-circuit, wire breakage, or damages to the product. - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.5 to 0.8 n ? m. ? observe the following items to wire the lines to the european terminal board. ignorance of the following items may cause electric shock, short circuit, disconnection, or damage of the product. - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.22 to 0.25 n ? m. - twist the end of strand wire and make sure there is no loose wires. - do not solder-plate the electric wire ends. - do not connect electric wires of unspecified size or beyond the specified number of electric wires. - fix the electric wires so that the terminal block and connected parts of electric wires are not directly stressed. ? properly perform wiring to the fx series terminal blocks following the precautions below in order to prevent electrical shock, short-circuit, breakage of wire, or damage to the product: - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.5 to 0.8 n ? m. b-4 b-22 b-67
(3) safety precautions (read these precautions before using.) 3. startup and maintenance precautions 4. disposal precautions 5. transportation precautions reference ? do not touch any terminal while the plc's power is on. doing so may cause electrical shock or malfunctions. ? before cleaning or retightening terminals, externally cut off all phases of the power supply. failure to do so may expose you to shock hazard. ? before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety. an operation error may damage the machine or cause accidents. b-5 b-68 reference ? do not disassemble or modify the plc. doing so may cause failures, malfunctions or fire. for repair, contact your local mitsubishi electric distributor. ? before connecting or disconnecting any extension cable, turn off power. failure to do so may cause unit failure or malfunctions. ? before attaching or detaching the following devices, turn off power. failure to do so may cause device failure or malfunctions. - peripheral devices, expansion boards and special adapters - i/o extension blocks/units and terminal blocks b-5 b-68 reference ? please contact a company certified in the disposal of electronic waste for environmentally safe recycling and disposal of your device. b-14 reference ? before transporting the plc, turn on the plc to check that the batt led lamp is off and check the battery life. if the plc is transported with the batt led lamp on or the battery exhausted, the backed up data may be unstable during transportation. ? the plc is precision equipment. during transportation, avoid impacts larger than that is specified in the manual of the plc main unit. failure to do so may cause failures in the plc. after transportation, check the operations of the plc. b-14
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1 fx 3u /fx 3uc series plc user's manual - positioning control edition fx 3u /fx 3uc series programmable controllers user's manual [positioning control edition] foreword this manual describes "positioning" function of the melsec-f fx 3u /fx 3uc series plc and should be read and understood before attempting to install or use the unit. store this manual in a safe place so that you can take it out and read it whenever necessary. always forward it to the end user. ? 2005 mitsubishi electric corporation manual number jy997d16801 manual revision a date 7/2005 this manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. mitsubishi electric corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
2 fx 3u /fx 3uc series plc user's manual - positioning control edition outline precautions ? this manual provides information for the use of the fx 3u series programmable controllers. the manual has been written to be used by trained and competent personnel. the definition of such a person or persons is as follows; 1) any engineer who is responsible for the planning, design and construction of automatic equipment using the product associated with this manual s hould be of a competent nature, trained and qualified to the local and national standards required to fulfil l that role. these engineers should be fully aware of all aspects of safety with regards to automated equipment. 2) any commissioning or service engineer must be of a competent nature, trained and qualified to the local and national standards required to fulfill that job. these engineers should also be trained in the use and maintenance of the completed product. this includes being completely familiar with all associated documentation for the said product. all maintenance should be carried out in accordance with established safety practices. 3) all operators of the completed equipment should be trained to use that product in a safe and coordinated manner in compliance to established safety practices. the operators should also be familiar with documentation which is connected with the actual operation of the completed equipment. note: the term 'completed equipment' refers to a third party constructed device which contains or uses the product associated with this manual ? this product has been manufactured as a general-pur pose part for general industries, and has not been designed or manufactured to be incorporated 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 fails, install appropriate backup or failsafe functions in the system. ? when combining this product with other products, pleas e confirm the standard and the code, or regulations with which the user should follow. moreover, please confirm the compatibility of this product to the system, machine, and apparatus with which a user is using. ? if in doubt at any stage during the installation of t he product, always consult a professional electrical engineer who is qualified and trained to the local and national standards. if in doubt about the operation or use, please consult the nearest mitsubishi electric distributor. ? since the examples indicated by this manual, technica l bulletin, catalog, etc. are used as a reference, please use it after confirming the function and safety of the equipment and system. mitsubishi electric will accept no responsibility for actual use of the product based on these illustrative examples. ? this manual content, specification etc. may be changed without a notice for improvement. ? the information in this manual has been carefully checked and is believed to be accurate; however, if you have noticed a doubtful point, a doubtful error, etc., please contact the nearest mitsubishi electric distributor. registration ?microsoft ? and windows ? are either registered tr ademarks or trademarks of microsoft corporation in the united states and/or other countries. ? the company name and the product name to be described in this manual are the registered trademarks or trademarks of each company.
3 fx 3u /fx 3uc series plc user's manual - positioning control edition table of contents table of contents safety precautions .................................................................................................... 1 functions and use of this manual .......................................................................................... 9 related manuals ................................................................................................................ ...... 10 generic names and abbreviations used in manuals .......................................................... 12 a. common items description of manual (common items) ............................................................................. a-2 1. introduction a-3 1.1 outline................................................................................................................... .......................a-3 1.2 introduction of products needed for positioning..........................................................................a -4 1.2.1 list of models .......................................................................................................... .....................a-4 1.2.2 main unit (transistor output) ........................................................................................... ............a-5 1.2.3 special adapter ......................................................................................................... ...................a-5 1.2.4 special function unit/block............................................................................................. .............a-6 2. unit connection a-8 2.1 fx 3u plc ........................................................................................................................... .........a-8 2.2 fx 3uc plc ........................................................................................................................... .......a-9 2.3 individual operation of special function unit (fx 2n -10gm, fx 2n -20gm) ...............................a-10 3. comparison of specifications a-11 3.1 comparison of performance specifications ...............................................................................a-1 1 3.1.1 incorporated positioning function [main unit (transistor output), high-speed output special adapter (fx 3u -2hsy-adp)] .....................................................a-11 3.1.2 pulse output special function block [fx 2n -1pg(-e), fx 2n -10pg] ..........................................a-12 3.1.3 positioning special function unit [fx 2n -10gm, fx 2n -20gm]...................................................a-13 3.2 comparison of operation modes ............................................................................................. ..a-14
4 fx 3u /fx 3uc series plc user's manual - positioning control edition table of contents b. built-in positioning function description of manual (built-in positioning function) ...................................................... b-2 1. outline b-3 1.1 features .................................................................................................................. .....................b-3 1.2 setup procedure for positioning control................................................................................... ...b-4 1.3 version numbers of compatible plcs ........................................................................................ b-7 1.4 version numbers of compatible programming tools..................................................................b-8 1.5 assignment of input/output numbers ........................................................................................ ..b-8 1.5.1 assignment of input numbers ............................................................................................. .........b-8 1.5.2 assignment of output numbers ............................................................................................ .....b-10 1.5.3 connection of high-speed output special adapter ...................................................................b-12 2. specifications b-14 2.1 general specifications .................................................................................................... ...........b-15 2.2 power supply specifications............................................................................................... .......b-15 2.3 performance specifications ................................................................................................ .......b-16 2.4 input specifications ...................................................................................................... ..............b-17 2.4.1 fx 3u series main unit (24v dc input) .......................................................................................b-17 2.4.2 fx 3uc series main unit (24v dc input).....................................................................................b-18 2.5 output specifications ..................................................................................................... ............b-19 2.5.1 fx 3uc series main unit (transistor output)...............................................................................b-19 2.5.2 high-speed output special adapter [fx 3u -2hsy-adp] ...........................................................b-20 2.6 list of functions ......................................................................................................... ................b-21 3. connection of input/output lines and tightening torques b-22 3.1 terminal board (m3, m3.5) ................................................................................................. .......b-23 3.1.1 terminal screw size..................................................................................................... ..............b-23 3.1.2 termination............................................................................................................. ....................b-23 3.2 european terminal board ................................................................................................... .......b-24 3.2.1 cable ................................................................................................................... .......................b-24 3.2.2 termination of cable end................................................................................................ ...........b-24 3.2.3 tool.................................................................................................................... .........................b-24 3.3 connector................................................................................................................. ..................b-25 3.3.1 cable connection to input/output connector ...........................................................................b-2 5 3.3.2 setup of input/output connection connector.............................................................................b -25 4. before programming b-27 4.1 list of related devices ................................................................................................... ...........b-27 4.1.1 special auxiliary relays ................................................................................................ .............b-27 4.1.2 special data registers .................................................................................................. .............b-28 4.2 setting of various items regarding speeds ..............................................................................b-2 9 4.2.1 setting of various items regarding instructions and speeds ....................................................b-29 4.2.2 setting of output pulse frequency (dvit, plsv, drvi, and drva instructions).....................b-31 4.2.3 setting of zero return speed (dszr/zrn instruction)..............................................................b-32 4.2.4 setting of creep speed (dszr/zrn instruction) .......................................................................b-33 4.2.5 setting of maximum speed ................................................................................................ ........b-33 4.2.6 setting of bias speed ................................................................................................... ..............b-34 4.2.7 setting of acceleration time............................................................................................ ...........b-34 4.2.8 setting of deceleration time ............................................................................................ ..........b-34
5 fx 3u /fx 3uc series plc user's manual - positioning control edition table of contents 4.3 various flags for operation commands....................................................................................b- 35 4.3.1 forward rotation limit and reverse rotation limit ...................................................................b-35 4.3.2 immediate stoppage of pulse output (pulse output stop command flag) ..............................b-36 4.3.3 designation of zero return direction (dszr/zrn instruction) ..................................................b-36 4.3.4 clear signal output (dszr/zrn instruction)..........................................................................b-38 4.3.5 change in logic of near-point (dog) signal (dszr instruction) ..............................................b-39 4.3.6 change in logic of zero-phase signal (dszr instruction) ........................................................b-39 4.3.7 designation of interrupt input signal for dvit instruction...........................................................b-4 0 4.3.8 change in logic of interrupt input signal (dvit instruction) ......................................................b-41 4.3.9 acceleration/deceleration by plsv instruction ..........................................................................b -42 4.4 flag for monitoring of current value and operation ..................................................................b-43 4.4.1 current value ........................................................................................................... ..................b-43 4.4.2 completion of execution of instruction ("instruction execution complete" flag, "instruction execution abnormal end" flag) ...........................................................................b-44 4.4.3 "pulse output monitor" (busy/ready) flag.............................................................................b-4 4 4.4.4 "positioning instruction activation" flag ............................................................................... ......b-44 4.5 setting of various items on plc side...................................................................................... ..b-45 4.5.1 setting of common items using program ..................................................................................b -45 4.5.2 setting of high-speed output special adapter ..........................................................................b- 49 4.6 setting of various items on servo amplifier (drive unit) side ...................................................b-51 4.6.1 setting of command pulse input method................................................................................... b-51 4.6.2 setting of electronic gear (for melservo series)..................................................................b-55 4.6.3 setting of "servo ready" signal (m elservo mr-c series) ....................................................b-56 4.7 items to be observed in programming.....................................................................................b- 57 4.7.1 positioning instruction activation timing ............................................................................... .....b-57 4.7.2 stop instruction ........................................................................................................ ................b-59 4.7.3 correction of backlash .................................................................................................. .............b-59 4.7.4 "instruction execution complete" flag of positioning instruction and completion of positioning .................................................................................................................... .........b-59 4.7.5 operation error flag.................................................................................................... ...............b-62 4.7.6 writing data in run mode ................................................................................................ .........b-62 4.8 items to be observed in use of main unit (transistor output).................................................b-63 4.9 caution for using the high-speed output special adapter (fx 3u -2hsy-adp)........................b-63 4.10 format and execution of applied instruction ...........................................................................b-6 5 5. operation test b-67 5.1 test procedure............................................................................................................ ...............b-69 5.2 creation of test program.................................................................................................. .........b-73 6. mechanical zero return (dszr/zrn instruction) b-75 6.1 types of mechanical zero return instructions...........................................................................b-7 5 6.2 dog search zero return (dszr instruction)............................................................................b-76 6.2.1 instruction format...................................................................................................... .................b-76 6.2.2 list of related devices ................................................................................................. ..............b-77 6.2.3 function and operation .................................................................................................. ............b-79 6.2.4 important points ........................................................................................................ .................b-85 6.3 zero return (zrn instruction)............................................................................................. .......b-86 6.3.1 instruction format...................................................................................................... .................b-86 6.3.2 list of related devices ................................................................................................. ..............b-87 6.3.3 function and operation.................................................................................................. .............b-88 6.3.4 important points ........................................................................................................ .................b-92
6 fx 3u /fx 3uc series plc user's manual - positioning control edition table of contents 7. absolute position detection system (absolute current value read)-abs instruction b-93 7.1 instruction format ........................................................................................................ ..............b-93 7.2 list of related devices ................................................................................................... ...........b-94 7.3 function and operation.................................................................................................... ..........b-94 7.4 initial zero return....................................................................................................... ................b-95 7.5 important points .......................................................................................................... ...............b-95 8. 1-speed positioning - drvi/drva instruction b-96 8.1 incremental method and absolute method ................................................................................b-96 8.2 drive to increment - drvi instruction ..................................................................................... ...b-98 8.2.1 instruction format...................................................................................................... .................b-98 8.2.2 list of related devices................................................................................................. ..............b-99 8.2.3 function and operation .................................................................................................. ..........b-101 8.2.4 important points ........................................................................................................ ...............b-102 8.3 drive to absolute (drva instruction)...................................................................................... b-103 8.3.1 instruction format...................................................................................................... ...............b-103 8.3.2 list of related devices................................................................................................. ............b-105 8.3.3 function and operation .................................................................................................. ..........b-106 8.3.4 important points ........................................................................................................ ...............b-107 9. one-speed interrupt constant quantity feed -dvit instruction b-108 9.1 instruction format ........................................................................................................ ............b-108 9.2 list of related devices ................................................................................................... .........b-110 9.3 function and operation.................................................................................................... ........b-112 9.4 important points .......................................................................................................... .............b-117 10. variable speed operation (variable speed pulse output)-plsv instruction b-119 10.1 instruction format ....................................................................................................... ...........b-119 10.2 list of related devices .................................................................................................. ........b-121 10.3 function and operation................................................................................................... .......b-122 10.3.1 operation without acceleration/deceleration (m8338 = off)................................................b-122 10.3.2 operation with acceleration/deceleration (m8338 = on) ......................................................b-123 10.4 important points ......................................................................................................... ............b-125 11. batch data positioning mode (tbl instruction) b-126 11.1 instruction format ....................................................................................................... ...........b-126 11.2 list of related devices .................................................................................................. ........b-127 11.3 function and operation................................................................................................... .......b-129 11.4 positioning parameter setting............................................................................................ ....b-130 11.4.1 positioning parameter setting using gx developer ..............................................................b-130 11.4.2 changing of set positioning parameters (number of pulses and frequency).......................b-135
7 fx 3u /fx 3uc series plc user's manual - positioning control edition table of contents 12. examples of programs b-137 12.1 input/output assignment.................................................................................................. ......b-138 12.2 programs for forward/reverse rotation (relay ladder program)........................................b-140 12.2.1 example of program..................................................................................................... ..........b-140 12.3 programs for forward/reverse rotation (st ep ladder (stl) program)................................b-143 12.3.1 example of program..................................................................................................... ..........b-143 12.4 positioning using batch setting method ................................................................................b-1 47 12.4.1 setting using gx developer............................................................................................. ......b-147 12.4.2 operation program ...................................................................................................... ...........b-149 12.5 program for reading current abs value using abs instruction ..........................................b-152 13. troubleshooting b-153 13.1 led indicator lamp check ................................................................................................. ...b-153 13.1.1 power indicator lamp (statuses: on, flashing, off).........................................................b-153 13.1.2 run indicator lamp (statuses: on, off) .............................................................................b-15 3 13.1.3 batt indicator lamp (statuses: on, off)............................................................................b-15 4 13.1.4 error indicator lamp (statuses: on, flashing, off)...........................................................b-154 13.1.5 pulse output destination device and rotation direction output indicator lamp...................b-155 13.2 error check .............................................................................................................. ..............b-157 13.2.1 error code check method................................................................................................ ......b-157 13.2.2 error codes ............................................................................................................ ................b-158 13.3 if the servo motor or the stepping motor does not operate .................................................b-159 13.4 if operation is stopped at a wrong position..........................................................................b-16 0
8 fx 3u /fx 3uc series plc user's manual - positioning control edition table of contents appendix: example connection description of manual (example of connection) .......................................................... apx.-2 appendix 1. melservo-j3 series apx.-3 appendix 1-1 main unit (transistor output) .........................................................................apx.-3 appedix 1-1-1 sink input and sink output ...................................................................................... .apx.-3 appendix 1-2 high-speed output special adapter ..............................................................apx.-5 appedix 1-2-1 sink input, sink output (transistor), and differential line driver output..................apx.-5 appendix 1-3 absolute position detection (transistor output) ............................................apx.-6 appendix 1-3-1 sink input and sink output ..................................................................................... apx.-6 appendix 2. melservo-j2 (-super) series apx.-8 appendix 2-1 main unit (transistor output) .........................................................................apx.-8 appendix 2-1-1 sink input and sink output ..................................................................................... apx.-8 appendix 2-2 high-speed output special adapter ............................................................apx.-10 appendix 2-2-1 sink input, sink output (transistor), and differential line driver output..............apx.-10 appendix 2-3 absolute position detection (transistor output) ..........................................apx.-11 appendix 2-3-1 sink input and sink output ...................................................................................ap x.-11 appendix 3. melservo-h series apx.-13 appendix 3-1 main unit (transistor output) .......................................................................apx.-13 appendix 3-1-1 sink input and sink output ...................................................................................ap x.-13 appendix 3-2 absolute position detection (transistor output) ..........................................apx.-14 appendix 3-2-1 sink input and sink output ...................................................................................ap x.-14 appendix 4. melservo-c series apx.-15 appendix 4-1 main unit (transistor output) .......................................................................apx.-15 appendix 4-1-1 sink input and sink output ...................................................................................ap x.-15 appendix 4-2 high-speed output special adapter ............................................................apx.-17 appendix 4-2-1 sink input, sink output, and differential line driver output .................................apx.-17 warranty....................................................................................................................... ............... i revised history ................................................................................................................ ......... ii
fx 3u /fx 3uc series plc user's manual - positioning control edition functions and use of this manual 9 functions and use of this manual the fx 3u /fx 3uc plc outputs transistor signals from the main unit and also outputs pulses from the high- speed output adapter and the positioning special function unit/block to the servo motor and stepping motor to properly control the positioning operation. plc fx 3uc series regarding wiring and installation of plc: ? hardware manual (the hardware manual is enclosed with the product.) ? user's manual - hardware edition regarding sequence program: ? programming manual enclosed with the product separate document separate document regarding positioning function: ? fx 3u/ fx 3uc series plc user's manual- positioning control edtion separate document this document describes built-in positioning function setting method, examples of connection, examples of programs, details of troubleshooting, etc. this document fx 3u series products needed for positioning fx 3u -2hsy-adp special function unit/block regarding installation, parts names, operation, and programs: ? user's manual this manual provides the necessary information. ? hardware/programming manual this manual provides the necessary information. regarding installation and parts names: ? installation manual the separate document, however, is needed to know the details of programming. enclosed with the product either "installation manual" or "user's manual" is enclosed with each product. for details, refer to "user's manual - positioning control edition" (this document) or the manual of the product. supplied with the product separate document separate document powe r erro r f p pg o r p f b f a star t cl r do g x 1 x 0 fx 2n -10pg servo motor (stepping motor) obtain the instruction manual of the servo motor to be connected to your system. this manual will be needed to set the param eters for the servo amplifier (drive unit) or wire the servo amplifier.
fx 3u /fx 3uc series plc user's manual - positioning control edition related manuals 10 related manuals refer to this document to perform positioning operation using the fx 3u /fx 3uc series. for the hardware information on the plc and for details on special function units/blocks, refer to the respective manuals. if you want to know what manuals are needed fo r your system, please contact your dealer. indispensable manual manual that may be indispensable depending on the purpose of use with separate document that describes the details title of manual document number description model code manuals for plc fx 3u series plc enclosed with the product fx 3u series hardware manual jy997d18601 the input/output specifications and the wiring and installation methods for the fx 3u plc are excerpted from the fx 3u series user?s manual - hardware edition. for details, refer to the fx 3u series user?s manual - hardware edition. - separate document fx 3u series user?s manual - hardware edition jy997d16501 provides detailed information on the hardware, such as the input/output specifications and the detailed wiring, installation, and maintenance methods for the fx 3u plc. 09r516 fx 3uc series plc enclosed with the product fx 3uc series hardware manual jy997d12701 the input/output specifications and the wiring and installation methods for the fx 3uc plc are excerpted from the user's manual for fx 3uc series (for hardware). for details, refer to the user's manual for fx 3uc series (for hardware). - separate document fx 3uc series user?s manual - hardware edition jy997d11601 provides detailed information on the hardware, such as the input/output specifications and the detailed wiring, installation, and maintenance methods for the fx 3uc plc. 09r513 programming separate document fx 3u /fx 3uc series programming manual - basic & application instruction edition jy997d16601 describes the basic instructions, applied instructions, and various devices of the fx 3u /fx 3uc plc to provide the detailed information on sequence programming. 09r517 manuals for positioning control common separate document fx 3u /fx 3uc series user?s manual - positioning control edition (this document) jy997d16801 provides the detailed information on the positioning functions incorporated in the fx 3u /fx 3uc series. 09r620 note: fx 3uc series plc manuals are available only in japanese.
fx 3u /fx 3uc series plc user's manual - positioning control edition related manuals 11 pulse output, positioning to use each product, also refer to the user's manual (for ha rdware) of the plc to be connected to your system. enclosed with the product fx 3u -2hsy-adp installation manual jy997d16401 describes how to handle high-speed output special adapter. to use this adapter, also refer to the user's manual for fx 3u /fx 3uc series (for positioning control). - enclosed with the product fx 2n /fx-1pg user's manual jy992d65301 describes how to handle the 1-axis pulse output special function block. 09r610 enclosed with the product fx 2n -10pg installation manual jy992d91901 describes how to handle the 1-axis pulse output special function block. to use this block, also refer to fx 2n - 10pg user?s manual. - separate document fx 2n -10pg user's manual jy992d93401 provides the detailed information on the 1-axis pulse output special function block. 09r611 enclosed with the product fx 2n -10gm user's guide jy992d77701 describes how to handle the 1-axis positioning special function unit. to use this unit, also refer to fx 2n - 10gm/fx 2n -20gm hardware/ programming manual. - enclosed with the product fx 2n -20gm user's guide jy992d77601 describes how to handle the 2-axis positioning special function unit. to use this unit, also refer to fx 2n - 10gm/fx 2n -20gm hardware/ programming manual. - separate document fx 2n -10gm/fx 2n -20gm hardware/ programming manual jy992d77801 provides the detailed information on the 1-axis/2-axis positioning special function unit. 09r612 indispensable manual manual that may be indispensable depending on the purpose of use with separate document that describes the details title of manual document number description model code
fx 3u /fx 3uc series plc user's manual - positioning control edition generic names and abbreviations used in manuals 12 generic names and abbreviations used in manuals generic name or abbreviation description plc fx 3u series generic name for fx 3u series plc fx 3u plc or main unit generic name for fx 3u series plc main unit fx 3uc series generic name for fx 3uc series plc fx 3uc plc or main unit generic name for fx 3uc series plc main unit only manuals in japanese are available for these products. fx 2n series generic name for fx 2n series plc fx 2nc series generic name for fx 2nc series plc expansion board expansion board generic name for expansion board 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 editon of main unit to be used for your system. special adapter special adapter generic name for high-speed input/output special adapter, communication special adapter, and analog special adapter 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 editon of main unit to be used for your system. high-speed input/output special adapter generic name for high-speed input/output special adapter high-speed output special adapter generic name for high-speed output special adapter 2hsy-adp fx 3u -2hsy-adp high-speed input special adapter generic name for high-speed input special adapter communication special adapter generic name for communication special adapter analog special adapter generic name for analog special adapter extension unit extension unit generic name for input/output extension unit and special extension unit 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 editon of main unit to be used for your system. input/output extension unit generic name for input extension unit and output extension unit the number of connectable units, however, depends on the type of main unit. to check the number of connectable units, refer to the user's manual - hardware editon of main unit to be used for your system. input extension unit generic name for fx 2n series input/output powered extension unit, input extension block, fx 2nc series input extension block, and fx 0n series input extension block 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 editon of main unit to be used for your system. output extension unit generic name for fx 2n series input/output powered extension unit, output extension block, fx 2nc series output extension block, and fx 0n series output extension block 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 editon of main unit to be used for your system.
fx 3u /fx 3uc series plc user's manual - positioning control edition generic names and abbreviations used in manuals 13 extension unit special function unit/block or special extension unit generic name for special function unit and special function block 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 main unit to be used for your system. special function unit generic name for special function unit special function block generic name for special function block 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 main unit to be used for your system. positioning special function unit generic name for the following models: fx 2n -10gm, fx 2n -20gm pulse output special function block generic name for the following models: fx 2n -1pg-e, fx 2n -1pg, fx 2n -10pg fx 2n -1pg(-e) generic name for the following models: fx 2n -1pg-e, fx 2n -1pg optional unit extension power supply unit fx 3uc -1ps-5v memory cassette fx 3u -flrom-16, fx 3u -flrom-64, fx 3u -flrom-64l battery fx 3u -32bl fx series terminal block fx-16e-tb, fx-32e-tb, fx-16ex-a1-tb, fx16eyr-tb, fx-16eys-tb, fx-16eyt-tb input/output cable fx-16e-500cab-s, fx-16e- cab, fx-16e- cab-r, fx-a32e- cab represents 150, 300, or 500. input/output connector fx 2c -i/o-con, fx 2c -i/o-con-s, fx 2c -i/o-con-sa power cable fx 2nc -100mpcb, fx 2nc -100bpcb, fx 2nc -10bpcb1 peripheral unit peripheral unit generic name for programming software, handy programming panel, and indicator programming tool programming tool generic name for programming software and handy programming panel programming software generic name for programming software gx developer generic name for sw d5c-gppw-j/sw d5c-gppw-e programming software package fx-pcs/win(-e) generic name for fx-pcs/win or fx-pcs/win-e programming software package handy programming panel (hpp) generic name for fx-20p(-e) and fx-10p(-e) indicator got1000 series generic name for gt15 and gt11 got-900 series generic name for got-a900 series and got-f900 series got-a900 series generic name for got-a900 series got-f900 series generic name for got-f900 series et-940 series generic name for et-940 series only manuals in japanese are available for there products drive unit for servo motor and stepping motor servo motor generic name for servo motor or stepping motor including pulse input type servo amplifier and drive unit. servo amplifier (drive unit) generic name for pulse input type servo amplifier (drive unit) melservo series generic name for melservo-j3, -j2-super, -j2, -h, and -c series other unit manual pulse generator generic name for manual pulse generator (prepared by user) generic name or abbreviation description
fx 3u /fx 3uc series plc user's manual - positioning control edition generic names and abbreviations used in manuals 14 manual manual for fx 3u hardware fx 3u series user's manual - hardware edition manual for fx 3uc hardware this manual is available only in japanese. programming manual fx 3u /fx 3uc series programming manual - basic and applied instructions edition communication control manual fx series user's manual - data communication edition analog control manual fx 3u /fx 3uc series user's manual - analog control edition positioning control manual fx 3u /fx 3uc series user's manual - positioning control edition generic name or abbreviation description
a common items b built-in positioning function apx. example connection fx 3u /fx 3uc series plc user's manual - positioning control edition common items a - 1 fx 3u /fx 3uc series programmable controllers user?s manual [positioning control edition] a. common items foreword "common items" describes the outline of "positioni ng" function incorporated in the melsec-f fx 3u /fx 3uc series plc and should be read and understood before attempting to install or use the unit. store this manual in a safe place so that you can take it out and read it whenever necessary. always forward it to the end user. ? 2005 mitsubishi electric corporation this manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. mitsubishi electric corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
a - 2 fx 3u /fx 3uc series plc user's manual - positioning control edition common items description of manual (common items) in this manual, the following formats are used for the description of common items:
1 introduction 1.1 outline a - 3 fx 3u /fx 3uc series plc user's manual - positioning control edition common items a common items b built-in positioning function apx. example connection 1. introduction this manual describes the positioning control for the fx 3u /fx 3uc plc. in this chapter, various products needed for positioning are described. 1.1 outline the fx 3u /fx 3uc plc outputs the pulse signal to the servo motor and the stepping motor to control the positioning operation. increase the pulse frequency to increase the motor speed. increase the number of pulses to increase the number of motor revolutions. in other words, set the pulse frequency to determine the workpiece transfer (positioning) speed. set the number of pulses to determine the workpiece transfer distance. pulse train signal pulse frequency number of pulses : transfer speed : transfer distance positioning command fx 3u /fx 3uc plc servo motor or stepping motor workpiece (item to be positioned)
1 introduction 1.2 introduction of products needed for positioning a - 4 fx 3u /fx 3uc series plc user's manual - positioning control edition common items 1.2 introduction of products needed for positioning to control the positioning operation, use the positioning function incorporated in main unit (including special adapters), and also the special function units/blocks. the function, however, depends on the unit. select units optimum for the purpose of use. 1.2.1 list of models the products needed for positioning are shown in the following table: 1. main unit (transistor output) and special adapter *1. can only be connected to the fx 3u plc. *2. connection of 1 adapter can control 2 axes. connection of 2 adapters can control up to 4 axes. *3. the minimum frequency set by plsy instruction or plsv instruction is "1 hz". for details on plsy instruction, refer to the programming manual. 2. special function unit/block *1. for details on each special function unit/block, refer to the manual of the unit/block. model number of axes frequency (hz) unit output system output method reference main unit (transistor output) fx 3uc plc 3-axes (independent) 10 *3 to 100,000 pulse open collector system "pulse train + direction" method b. built-in positioning function special adapter fx 3u -2hsy -adp *1 2-axes *2 (independent) 10 *3 to 200,000 pulse differential line driver system "pulse train + direction" method or "forward/reverse rotation pulse train" method b. built-in positioning function model number of axes frequency (hz) unit output system output method reference special function block fx 2n -1pg(-e) 1-axis 10 to 100,000 pulse m 10 -4 inch mdeg open collector system "pulse train + direction" method or "forward/reverse rotation pulse train" method *1 fx 2n -10pg 1-axis 1 to 1,000,000 pulse m 10 -4 inch mdeg differential line driver system "pulse train + direction" method or "forward/reverse rotation pulse train" method *1 special function unit fx 2n -10gm 1-axis 1 to 200,000 pulse m 10 -4 inch mdeg open collector system "pulse train + direction" method or "forward/reverse rotation pulse train" method *1 fx 2n -20gm 2-axes (independent/ interpolation) 1 to 200,000 pulse m 10 -4 inch mdeg open collector system "pulse train + direction" method or "forward/reverse rotation pulse train" method *1
1 introduction 1.2 introduction of products needed for positioning a - 5 fx 3u /fx 3uc series plc user's manual - positioning control edition common items a common items b built-in positioning function apx. example connection 1.2.2 main unit (transistor output) the fx 3uc plc incorporates the positioning function. this plc can output the open collector type pulse tr ain of up to 100 khz from the general-purpose outputs (y000 to y002), and can simultaneously control 3 axes. 1.2.3 special adapter special adapter can output the differential line driver ty pe pulse train of up to 200 khz using the positioning function incorporated in the fx 3u plc, and can simultaneously control 4 axes. up to 2 high-speed output special adapters (fx 3u -2hsy-adp) can be connected to the fx 3u plc. ? the first fx 3u -2hsy-adp uses y000 and y004, and y001 and y005. ? the second fx 3u -2hsy-adp uses y002 and y006, and y003 and y007. y000 + direction signal y001 + direction signal y002 + direction signal fx 3uc plc 1-axis 2-axes 3-axes servo motor (servo amplifier) servo motor (servo amplifier) servo motor (servo amplifier) fx 3u plc fx 3u -2hsy-adp y000 + y004 y001 + y005 y002 + y006 1st 2-axes 3-axes 2nd 1-axis y003 + y007 4-axes servo motor (servo amplifier) servo motor (servo amplifier) servo motor (servo amplifier) servo motor (servo amplifier)
1 introduction 1.2 introduction of products needed for positioning a - 6 fx 3u /fx 3uc series plc user's manual - positioning control edition common items cautions when connecting special adapters ? to use high-speed input/output special adapters only (not to use the other special adapters), it is not necessary to connect the expansion board. ? to use the analog communication special adapters, be sure to connect the expansion board. ? to use high-speed input/output special adapters together with the analog communication special adapters, connect high-speed output special adapters to the expansion board (already connected to the fx 3u plc) first, and then connect the analog special adapters and the communication special adapter. 1.2.4 special function unit/block connect special function unit/block to the fx 3u /fx 3uc plc to control the positioning operation. note that special function unit can individually control the positioning operation. 1. system configuration for fx 3u plc up to 8 special function units/blocks can be connected to the fx 3u plc. for details on system configuration, refer to the fx 3u hardware edition. 2. system configuration for fx 3uc plc up to 7 special function units/blocks can be connected to the fx 3uc plc. fx 2nc -cnv-if or fx 3uc -1ps-5v is needed to connect special function units/blocks. for details on system configuration, refer to the fx 3uc hardware edition. rd rda rdb sda sdb sg sd fx 3u plc expansion board high-speed output special adapter analog special adapter communication special adapter special function block special function unit no.0 no.7 to up to 8 units fx 3u plc powe r erro r f p pg o r p f b f a star t cl r do g x 1 x 0 fx 2n -10pg servo motor (servo amplifier) fx 3uc plc fx 3uc -1ps-5v or fx 2nc -cnv-if special function block special function unit no.1 no.7 to up to 7 units power error fp pgo rp f b f a start clr dog x1 x0 fx 2n -10pg servo motor (servo amplifier)
1 introduction 1.2 introduction of products needed for positioning a - 7 fx 3u /fx 3uc series plc user's manual - positioning control edition common items a common items b built-in positioning function apx. example connection 3. individual operation (fx 2n -10gm, fx 2n -20gm) without connecting special function units (fx 2n -10gm, fx 2n -20gm) to the plc, you can operate them individually. ?fx 2n -10gm can control one 1-axis servo motor or stepping motor. ?fx 2n -20gm can control two 1-axis servo motors or stepping motors. in addition, up to 48 i/o points can be added. servo motor (servo amplifier) 2-axes servo motor (servo amplifier) 1-axis servo motor (servo amplifier) 1-axis fx 2n -10gm fx 2n -20gm
fx 3u /fx 3uc series plc user's manual - positioning control edition common items 2 unit connection 2.1 fx3u plc a - 8 2. unit connection this chapter shows various block diagrams to show various combinations of units needed for positioning control. 2.1 fx 3u plc *1. depending on the product, connect either the terminal board or the mil connector (20-pin). note: ? to connect high-speed output special adapter, select main unit with enough input points for high speed inputting operation. ? for details on the connectable special function units/blocks and system configuration, refer to the following manual. refer to the fx 3u hardware edition. up to 2 units can be connected. servo motor or stepping motor european terminal board fx 3u series a b special function block special function unit terminal board (m3) mil connector (20-pin) *1 b and show the unit positions. (for details of installation, refer to the manuals of special adapter and special function units/blocks.) a fx 3u -2hsy-adp a b up to 8 units can be connected. fx 2n -10pg f b f a start dog x1 x0 power error fp pgo rp clr
fx 3u /fx 3uc series plc user's manual - positioning control edition common items 2 unit connection 2.2 FX3UC plc a - 9 a common items b built-in positioning function apx. example connection 2.2 fx 3uc plc *1. depending on the product, connect either the terminal board or the mil connector (20-pin). note: ?use fx 3uc -1ps-5v (extension power supply unit) only if the 5v dc power supply unit incorporated in the fx 3uc plc does not have enough capacity. refer to the fx 3uc hardware edition. ? for details of the connectable special extension bloc ks and system configuration, refer to the following manual. refer to the fx 3uc hardware edition. mil connector (20-pin) fx 3uc series c b up to 7 units can be connected. c and show the unit positions. (for details of installation, refer to the manuals of special adapter and special function units/blocks.) b fx 3uc -1ps-5v servo motor or stepping motor special function block special function unit terminal board (m3) mil connector (20-pin) fx 2nc -cnv-if general-purpose output of main unit c c b fx 2n -10pg fb f a start dog x1 x0 power error fp pgo rp clr *1
fx 3u /fx 3uc series plc user's manual - positioning control edition common items 2 unit connection 2.3 individual operation of special function unit (fx2n-10gm, fx2n-20gm) a - 10 2.3 individual operation of special function unit (fx 2n -10gm, fx 2n -20gm) note: ? for details of connection of fx 2n -10gm or fx 2n -20gm and system configuration, refer to the following manual. refer to fx 2n -10gm, fx 2n -20gm hardware/programming manual. only one axis can be controlled. servo motor or stepping motor mil connector (20-pin) mil connector (20-pin) fx 2n -10gm 2 axes can be controlled. fx 2n -20gm
3 comparison of specifications 3.1 comparison of performance specifications a - 11 fx 3u /fx 3uc series plc user's manual - positioning control edition common items a common items b built-in positioning function apx. example connection 3. comparison of specifications the specifications of each product needed for positioning are shown below. select products optimum for your system. 3.1 comparison of performance specifications 3.1.1 built-in positioning function [main unit (transistor output), high-speed output special adapter (fx 3u -2hsy-adp)] *1. can only be connected to the fx 3u plc. up to 2 adapters can be connected. *2. if 2 adapters are connected, y000 to y007 will be used. if only one adapter is connected, y000, y001, y004, and y005 will be used. the relation between the output of fx 3u -2hsy-adp and the output of main unit is described in the following sections. for high-speed output special adapters, refer to subsection 1.5.3 and section 4.9 of "b. built-in positioning function." model fx 3uc plc (main unit, transistor output) fx 3u -2hsy-adp *1 number of control axes 3 independent axes 2 independent axes interpolation - - pulse output system open collector system differential line driver system pulse output method "pulse train + direction" method "pulse train + direction" method "forward/reverse rotation pulse train" method maximum frequency 100,000hz 200,000hz acceleration/ deceleration type automatic trapezoidal acceleration/deceleration unit pulse positioning range -999,999 to +999,999(pulse) program language sequence program position data 1 point (set in sequence program) connection of manual pulse generator -- detection of absolute position (reads out the current value of abs.) abs instruction of the plc others ? pulses can be output from the general- purpose outputs (y000, y001, and y002) of main unit. ? connect 2 adapters to main unit to control 4 axes independently. ? connect this adapter to main unit to use the differential line driver type pulse train. this is because main unit cannot output this type of pulse train. ? use this adapter in place of the general- purpose outputs (y000 - y007) *2 of main unit.
3 comparison of specifications 3.1 comparison of performance specifications a - 12 fx 3u /fx 3uc series plc user's manual - positioning control edition common items 3.1.2 pulse output special function block [fx 2n -1pg(-e), fx 2n -10pg] *1. the positioning range can be set in the range of -2,147,483,648 to +2,147,483,647 pulses. *2. 200 points (table) can be set for the table type positioning operation. model fx 2n -1pg(-e) fx 2n -10pg number of control axes 1 independent axes interpolation - - pulse output system open collector system differential line driver system pulse output method "pulse train + direction" method "forward/reverse rotation pulse train" method maximum frequency 100,000hz 1,000,000hz acceleration/ deceleration type automatic trapezoidal acceleration/deceleration automatic trapezoidal acceleration/deceleration, approximate s-pattern acceleration/deceleration unit pulse, m,10 -4 inch,mdeg positioning range -999,999 to +999,999 pulse -999,999 to +999,999 mm -999,999 to +999,999 inch -999,999 to +999,999 deg -2,147,483,648 to +2,147,483,647 pulse -2,147,483,648 to +2,147,483,647 mm *1 -2,147,483,648 to +2,147,483,647 inch *1 -2,147,483,648 to +2,147,483,647 deg *1 program language sequence program (from/to instruction, bfm direct designation) position data 1 point (set in sequence program) 1 point (set in sequence program) *2 connection of manual pulse generator - connectable (differential line driver, open collector) detection of absolute position (reads out the current value of abs.) using the abs instruction of the plc others ? plc input/output: 8 points occupied (each point can be used as either the input or output point.) ? plc input/output: 8 points occupied (each point can be used as either the input or output point.) ? the length of the shortest pulse train output from the dedicated start terminal is 1 ms. ? during positioning operation, the operation speed can be freely changed.
3 comparison of specifications 3.1 comparison of performance specifications a - 13 fx 3u /fx 3uc series plc user's manual - positioning control edition common items a common items b built-in positioning function apx. example connection 3.1.3 positioning special function unit [fx 2n -10gm, fx 2n -20gm] *1. up to 100 points (table) can be set to perform the table type positioning operation. model fx 2n -10gm fx 2n -20gm number of control axes 1 independent axis 2 independent/simultaneous axes interpolation - 2-axes liner interpolation, circular interpolation pulse output system open collector system open collector system pulse output method "pulse train + direction" method "forward/revers rotation pulse train" method maximum frequency 200,000hz 200,000hz (100,000hz during interpolation operation) acceleration/ deceleration type automatic trapezoidal acceleration/deceleration unit pulse, m,10 -4 inch,mdeg positioning range -999,999 to +999,999 pulse -999,999 to +999,999 mm -999,999 to +999,999 inch -999,999 to +999,999 deg program language cod number system, table system cod number system position data block designation: 0 to 99 (100 blocks) *1 block designation (x-axis, y-axis, 2 axes simultaneously): 0 to 99 (100 blocks) connection of manual pulse generator connectable (open collector system) detection of absolute position (reads out the current value of abs.) set in parameter others ? plc input/output: 8 points occupied (each point can be used as either the input or output point.) ? without main unit, this unit can perform individual operation. ? this unit can perform teaching operation. ? plc input/output: 8 points occupied (each point can be used as either the input or output point.) ? without main unit, this unit can perform individual operation. ? this unit can perform teaching operation. ? i/o points can be added (48 points, maximum).
3 comparison of specifications 3.2 comparison of operation modes a - 14 fx 3u /fx 3uc series plc user's manual - positioning control edition common items 3.2 comparison of operation modes positioning operation pattern description built-in positioning function fx 2n -1pg (-e) fx 2n -10pg fx 2n -10gm fx 2n -20gm fx 3uc plc (main unit) fx 3u -2hsy- adp(fx 3u ) jogging operation if forward/reverse rotation command is input, the motor will rotate in the forward/ reverse direction. drive to increment instruction is in substitution. mechanical zero return mechanical zero return start command will start the zero return operation at the specified speed. at the completion of mechanical zero return, clear signal will be output. dog search function is adopted for each unit. electric zero return setr instruction will return the workpiece to the set electric origin at the maximum speed set by parameters. ??? 1-speed positioning start command will start operation at the specified operation speed, and the operation will be stopped at the target position. drive to increment/ absolute instructions are in use. 2-speed positioning start command will transfer the workpiece to the distance (1) at operation speed (1), and then to the distance (2) at operation speed (2). ? pulse train function of direct connection instruction will perform this operation. pulse train function of direct connection instruction will perform this operation. operation of only one axis is possible. multi-speed operation the workpiece will change the speed by the specified transfer distance. the left figure shows an example of 3-speed operation. ?? the table operation (continuous operation) function will perform this operation. speed jogging speed start jog command zero return speed creep speed speed clear signal origin dog input: on start speed electric origin start maximum speed speed start transfer distance operation speed target position speed start operation speed(1) operation speed(2) transfer distance(1) transfer distance(2) start speed p1 p2 p3 v1 v2 v3
3 comparison of specifications 3.2 comparison of operation modes a - 15 fx 3u /fx 3uc series plc user's manual - positioning control edition common items a common items b built-in positioning function apx. example connection stop with interruption during direct connection operation to the target position (x, y) at a vector speed, if interrupt input turns on, the speed will be reduced, and then the positioning operation will be stopped. ? ??? stop with interruption start command will start operation, and the operation will be stopped at the target position. during operation, if interrupt input turns on, the speed will be reduced, and then the operation will be stopped. ?? ? 1-speed positioning with interruption if interrupt input turns on, the workpiece will go the specified transfer distance at the same speed, the speed will be reduced, and then the operation will be stopped. interrupt positioning instruction performs this operation. 2-speed positioning with speed reduction the operation starts at operation speed (1) by start command. during operation, if the speed reduction command is input, the speed will be reduced to operation speed (2). after that, the operation will be continued at operation speed (2) until the stop command is input. ? ??? 2-speed positioning with interruption if interrupt input(1) turns on, the speed will be reduced to the 2nd speed. after that, if interrupt input(2) turns on, the operation will be stopped after moving the specified transfer distance at the 2nd speed, but the speed will be reduced just before stop. ?? positioning operation pattern description built-in positioning function fx 2n -1pg (-e) fx 2n -10pg fx 2n -10gm fx 2n -20gm fx 3uc plc (main unit) fx 3u -2hsy- adp(fx 3u ) start point x-axis interrupt input y-axis target position (x, y) ignoring remaining distance speed speed interrupt input target position operation speed speed start operation speed interruption command transfer distance speed start speed reduction command stop command operation speed(1) operation speed(2) speed start 1st speed interrupt input(1) interrupt input(2) 2nd speed transfer distance
3 comparison of specifications 3.2 comparison of operation modes a - 16 fx 3u /fx 3uc series plc user's manual - positioning control edition common items variable-speed operation operation will be performed at the operation speed specified by plc. variable speed pulse output instruction will be input to perform this operation. available at ver.2.00 or later. operations with acceleration/ deceleration performs ?? direct connection the workpiece will go to the target position at the specified vector speed (interpolation operation). ? ??? if interpolat- ion instructio-ns are consecut- ively set in the program, the next motion will be automati- cally started without stop of operation (pulse train function). circular interpolation the workpiece will go to the specified target position (x, y) along the arc at the specified circumferential speed. this operation performs by specifying center coordinate or radius. ? ??? table operation the positioning control program can be set in the table. ?? 200 points, maximum 100 points, maximum ? manual pulse generator operation manual operation can be performed by manual pulse generator. ?? 30 khz, maximum 2 khz, maximum 2 khz, maximum positioning operation pattern description built-in positioning function fx 2n -1pg (-e) fx 2n -10pg fx 2n -10gm fx 2n -20gm fx 3uc plc (main unit) fx 3u -2hsy- adp(fx 3u ) speed start speed change speed change stop x-axis y-axis start point target position (x, y) x y cw start point target position (x, y) :cw dotted line solid line :ccw radius: r start point ccw target position (x, y) radius: -r no. position speed ??? 0 200 500 1 500 1000 2 1000 2000 magnification dividing ratio input pulse: 30 khz or less phase a phase b servo amplifier drive unit manual pulse generator, encoder, etc.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection b - 1 fx 3u /fx 3uc series programmable controllers user?s manual [positioning control edition] b. built-in po sitioning function foreword "b. built-in positioning function" describes "positioning" function incorporated in the melsec-f fx 3u /fx 3uc series plc and should be read and understood before attempting to install or use the unit. also, store this manual in a safe place so that you can take it out and read it whenever necessary. always forward it to the end user. ? 2005 mitsubishi electric corporation this manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. mitsubishi electric corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function b - 2 description of manual (built-in positioning function) in this manual, the following formats are used for description of the examples of connection: shows the title of the manual and the title of the division. this area shows the title of the manual and the title of the division for the page currently opend. 1st line: shows the title of the manual. 2nd line: shows the title of the division. shows the title of the chapter and the title of the section. this area shows the title of the chapter and the title of the section for the page currently opened. indexes the title of division. the right side of each page indexes the title of the division for the page currently opened. shows the version number of the compatible plc. compatible series shows the compatible version numbers. ver. 2.00: version below 2.00 ver.2.00 : version 2.00 or later shows the reference. this area shows the reference document (the reference document is shown next to " "). if the reference is in "a. common items" division, the chapter, section, or subsection number will only be shown next to " ". if the reference is in another division, the chapter, section, or subsection number will be shown next to " " together with the title of the division.
1 outline 1.1 features b - 3 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection 1. outline this chapter describes the outline of positioning control. note that the general outputs of the fx 3uc plc and fx 3u -2hsy-adp high-speed output special adapter are needed for positioning control. 1.1 features 1) the general outputs of the fx 3uc plc can control up to 3 axes for the positioning operation. 2) if one high-speed output special adapter (fx 3u -2hsy-adp) is connected, the adapter can control up to 2 axes for the positioning operation. if two high- speed output special adapters are connected, the adapters can control up to 4 axes for the positioning operation. 3) the positioning instruction (applied instruction) of the fx 3u /fx 3uc plc is used for positioning control. 4) the general outputs of the fx 3uc plc can output a pulse train of 100 khz (open collector system). 5) fx 3u -2hsy-adp high-speed output special adapter can output a pulse train of 200 khz (differential line driver system). 6) fx 3u -2hsy-adp high-speed output special adapter can switch the output method between "pulse train + direction" method and "forward/reverse rotation pulse train" method. system ... for a detailed description of the input/output specifications, refer to section 2.4 and section 2.5. ... to check the plc model, refer to section 1.3. points and references ... 1-axis 2-axes 3-axes fx 3uc plc ? if the general outputs of the fx 3uc plc is used: 3 axes, maximum ... number of controllable axes for the examples of connection, refer to the appendix. ... for a detailed description of the positioning instruction, refer to chapters 6 to 11. ? if fx 3u -2hsy-adp adapters are connected to the fx 3u plc: ... for a detailed description of the input/output specifications, refer to section 2.4 and section 2.5. ... to check the plc model, refer to section 1.3. ... 1-axis 2-axes 3-axes fx 3u plc 4 axes, maximum for the examples of connection, refer to the appendix. ... for a detailed description of the positioning instruction, refer to chapters 6 to 11. 4-axes fx 3u -2hsy -adp ... number of controllable axes servo amplifier (drive unit)etc. servo amplifier (drive unit)etc. 2nd 1st
1 outline 1.2 setup procedure for positioning control b - 4 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 1.2 setup procedure for positioning control design precautions ? provide a safety circuit on the outside of the plc so that the whole system operates to ensure the safety even when external power supply trouble or plc failure occurs. otherwise, malfunctions or output failures may result in an accident. 1) an emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the plc. 2) when the plc cpu detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are turned off. when an error that cannot be detected by the plc cpu occurs in an input/output control block, output control may be disabled. design external circuits and mechanisms to ensure safe operations of the machine in such a case. 3) when some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off. for output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe operations of the machine in such cases. design precautions ? do not bundle the control line together with the main circuit or power line. do not lay the control line near them.as a rule, lay the control line at least 100mm(3.94") or more away from the main circuit or power line. noise may cause malfunctions. ? install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and i/o connectors. failure to do so may result in wire breakage or failure of the plc. wiring precautions ? cut off all phases of the power source externally before installation or wiring work in order to avoid electric shock or damage of product. ? make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work. failure to do so may cause electric shock. wiring precautions ? connect the ac power supply wiring to the dedicated terminals described in this manual. if an ac power supply is connected to a dc input/output terminal or dc power supply terminal, the plc will be burnt out. ? connect the dc power supply wiring to the dedicated terminals described in this manual. if an ac power supply is connected to a dc input/output terminal or dc power supply terminal, the plc will be burnt out. ? do not wire vacant terminals externally. doing so may damage the product. ? perform class d grounding (grounding resistance: 100 ? or less) to the grounding terminal in the fx 3u series main unit with a 2mm 2 or thicker wire. do not connect the grounding terminal at the same point as a heavy electrical system (refer to the manual of the plc main unit). ? perform class d grounding (grounding resistance: 100 ? or less) to the grounding terminal in the fx 3uc series main unit with a wire as thick as possible. do not connect the grounding terminal at the same point as a heavy electrical system (refer to the manual of the plc main unit). ? when drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions. ? use the product in such a status that excessive force is not applied on i/o connectors. failure to do so may result in wire breakage or failure of the plc.
1 outline 1.2 setup procedure for positioning control b - 5 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection ? fit the i/o cables securely to the designated connectors. contact failures may cause malfunctions. ? perform wiring properly to the fx 3u series main unit and fx 0n /fx 2n series extension equipment of the terminal block type in accordance with the following precautions. failure to do so may cause electric shock, short-circuit, wire breakage, or damages to the product. - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.5 to 0.8 n ? m. ? observe the following items to wire the lines to the european terminal board. ignorance of the following items may cause electric shock, short circuit, disconnection, or damage of the product. - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.22 to 0.25 n ? m. - twist the end of strand wire and make sure there is no loose wires. - do not solder-plate the electric wire ends. - do not connect electric wires of unspecified size or beyond the specified number of electric wires. - fix the electric wires so that the terminal block and connected parts of electric wires are not directly stressed. ? properly perform wiring to the fx series terminal blocks following the precautions below in order to prevent electrical shock, short-circuit, breakage of wire, or damage to the product: - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.5 to 0.8 n ? m. startup and maintenance precautions ? do not touch any terminal while the plc's power is on. doing so may cause electrical shock or malfunctions. ? before cleaning or retightening terminals, externally cut off all phases of the power supply. failure to do so may expose you to shock hazard. ? before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety. an operation error may damage the machine or cause accidents. startup and maintenance precautions ? do not disassemble or modify the plc. doing so may cause failures, malfunctions or fire. for repair, contact your local mitsubishi electric distributor. ? before connecting or disconnecting any extension cable, turn off power. failure to do so may cause unit failure or malfunctions. ? before attaching or detaching the following devices, turn off power. failure to do so may cause device failure or malfunctions. - peripheral devices, expansion boards and special adapters - i/o extension units/blocks and terminal blocks wiring precautions
1 outline 1.2 setup procedure for positioning control b - 6 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function setting of plc and servo amplifier ? selection of output method (high-speed output special adapter) ? setting of command pulse input method and electronic gear (servo amplifier) specifications on incorporated positioning function refer to chapter 2 system configuration and unit selection wiring refer to chapter 2 and appendix. built-in positioning function examples of practical programs refer to division a "common items". operation test refer to chapter 5 if the motor does not operate or does not operate properly, refer to chapter 13 "troubleshooting." refer to chapter 12. outline refer to chapter 1 setting of plc side setting of servo amplifier parameters refer to chapter 4. motor specifications ? performance specifications ? motor capacity programming refer to chapter 6 to 11. motor specifications refer to the manual of each motor. related devices refer to chapter 4. outline of system ? version numbers of compatible plcs ? version numbers of compatible programming tools ? assignment of input/output numbers specifications ? general specifications, power supply specifications, performance specifications ? input/output specifications system configuration ? unit selection wiring ? wiring of power supply, input, and output lines ? example of connection to servo amplifier related devices ? maximum speed, zero return speed ? acceleration time, deceleration time operation test ? creation of program for operation test ? motion check (forward rotation, reverse rotation) programming ? details of positioning instruction examples of programs (forward rotation, reverse rotation, zero return) ? relay ladder program ? step ladder program
1 outline 1.3 version numbers of compatible plcs b - 7 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection 1.3 version numbers of compatible plcs the built-in positioning function is compatible wi th the plcs having the following version numbers. 1. version number check monitor the d8001 special data register to know the plc version number. 2. description of production number a label is affixed to the right side (viewed from the front) of the plc. the serial number is written on this label. the control number included in the serial number shows the date of production. compatible plc compatible version number date of production remarks fx 3u plc ver. 2.20 (initial product) or later after may 2005 equivalent to fx 3uc plc ver. 2.20 functions specified as "ver.2.00 or later" in this manual are applicable. fx 3uc plc ver. 1.00 (initial product) or later after january 2004 ver. 1.30 or later after august 2004 ? dvit instruction function is added. - designation of interrupt input signal ver. 2.20 or later after may 2005 functions specified as "ver.2.00 or later" in this manual are applicable. ? tbl instruction is added. - gx developer can set the positions using parameters. ? plsv instruction function is added. - acceleration/deceleration function ? dvit instruction function is added. - user interruption mode ? dszr, zrn instruction function is added. - designation of destination for clear signal to be output d8001 plc type and version 2 4 1 0 0 version information (example: ver. 1.00) plc type (example: 24 = fx 2n /fx 2nc /fx 3u /fx 3uc plc) right side 5 7 0 0 0 control number year (example: 2005): last digit of year 1 month (example: july):(1 to 9 = january to september, x = october, y = november, z = december) mitsubishi model 100-240vac 50/60hz 40w serial fx 3u -48mr/es programmable controller 570001 out:30vdc/240vac 2a(cos =1) 80m1 ind. cont. eq. mitsubishi electric corporation made in japan example: fx 3u -48mr/es (manufacturer's serial number: 570001)
1 outline 1.4 version numbers of compatible programming tools b - 8 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 1.4 version numbers of compatible programming tools the built-in positioning function depends on the version of the fx 3u /fx 3uc plc. select a plc having optimum version number to create programs. for details on version numbers of comp atible plcs, refer to section 1.3. 1) fx 3u plc *1. depending on the version of gx developer , the model selection may be set to fx 3uc . 2) fx 3uc plc *1. depending on the version of gx developer , the model selection may be set to fx 3uc . 1.5 assignment of input/output numbers 1.5.1 assignment of input numbers assign the input numbers of the fx 3u /fx 3uc plc as follows: version number of fx 3u plc model (software model) version number of compatible gx developer remarks ver.2.00 or later gx developer sw d5c-gppw-j sw d5c-gppw-e ver. 8.23z or later ? supports fx 3u plcs (ver.2.00 or later). model selection: fx3u(c) *1 version number of fx 3uc plc model (software model) version number of compatible gx developer remarks ver.1.00 or later gx developer sw d5c-gppw-j sw d5c-gppw-e ver.8.13p or later ? supports fx 3uc plcs (ver.1.00 or later). model selection: fx 3uc ver.1.30 or later ver.8.18u or later ? supports fx 3uc plcs (ver.1.30 or later). model selection: fx 3uc ver.2.00 or later ver.8.23z or later ? supports fx 3uc plcs (ver.2.00 or later). model selection: fx3u(c) *1 application input number remarks stop command all input points connect the line to any input. if the line-connected input is turned on, turn off the positioning instruction signal. zero return command all input points connect the line to any input. if the line-connected input is turned on, turn on dszr or zrn instruction signal. near-point signal (dog) all input points connect the line to the input of the near-point signal (dog) specified by dszr or zrn instruction. for details on the near-point signal of dszr instruction, refer to section 6.2. for details on the near-point signal of zrn instruction, refer to section 6.3. point: ? to use dszr instruction: if x000 to x017 of the main unit are set for the near-point signal (dog), the near-point signal (dog) will be monitored at 1ms intervals. ? to use zrn instruction: if x000 to x007 of the main unit are set for the near-point signal (dog), the interruption function will be used for processing of the near-point signal (dog). zero-phase signal x000 to 007 connect the line to the input (x000 - x007) specified for the zero-phase signal (this input is specified by dszr instruction). abs read all input points connect the line if it is necessary to use the absolute position detection system. connect the line to the input specified by the abs instruction. use 3 consecutive input points for this function.
1 outline 1.5 assignment of input/output numbers b - 9 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection jog command all input points connect the line to any input. if the line-connected input is turned on, turn on drvi instruction for the jogging motion. interrupt input x000 to 007 the interrupt input depends on the pulse output destination specified by dvit instruction as shown in the following table. if the version number of the plc is above the following number, the interrupt input can be specified. fx 3uc plc ver. 1.30 or later if the interrupt input designation function is used, the d8386 register (interrupt input designation register) can specify the interrupt input number (x000 - x007) for each pulse output destination. for details on the interrupt input designation method, refer to subsection 4.3.7. fx 3u /fx 3uc plc *2 ver. 2.00 or later: if the interrupt input designation function is used, the d8386 register (interrupt input designation register) can specify the interrupt input number (x000 - x007) for each pulse output destination, or the user interrupt input command flag can be specified. for details on the interrupt input designation method, refer to subsection 4.3.7. the user interrupt input command flag depends on the pulse output destination as shown in the following table. forward rotation limit (lsf) all input points connect the line to any input. if the line-connected input is turned on, turn on the forward limit flag. the forward limit flag depends on the pulse output destination as shown in the following table. application input number remarks pulse output destination interrupt input y000 x000 y001 x001 y002 x002 y003 *1 x003 pulse output destination user interrupt input command y000 m8460 y001 m8461 y002 m8462 y003 *1 m8463 pulse output destination forward limit flag y000 m8343 y001 m8353 y002 m8363 y003 *1 m8373
1 outline 1.5 assignment of input/output numbers b - 10 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function *1. y003 can be specified as the pulse output destinat ion only if 2 high-speed output special adapters are connected to the fx 3u plc. *2. ver.2.20 is assigned to the initial product of the fx 3u plc. 1.5.2 assignment of output numbers 1. fx 3uc series main unit (transistor output) *1. specify the output number for transistor output. reverse rota- tion limit (lsr) all input points connect the line to any input. if the line-connected input is turned on, turn on the reverse limit flag. the reverse limit flag depends on the pulse output destination as shown in the following table: application input number remarks pulse train signal (pulse output destination) y000 y001 y002 connect the line to the output (y000 - y002) specified for the pulse output designation (this output is specified by the positioning instruction). direction signal (rotational direction signal) all output points *1 connect the line to any output. connect the line to the output specified for the rotation direction signal (this signal is specified by the positioning instruction). clear signal all output points *1 connect the line if it is necessary to use dszr/zrn instruction to output the clear signal. the clear signal output depends on the pulse output destination specified by dszr/zrn instruction. if plc version is later than the following number, the clear signal can be specified. fx 3uc plc ver. 2.00 or later: if the clear signal designation function is used, the clear signal device specification register can specify an output for each pulse output destination. for details on the clear signal designation method, refer to subsection 4.3.4. the clear signal device specification register depends on the pulse output destination as shown in the following table: application input number remarks pulse output destination reverse limit flag y000 m8344 y001 m8354 y002 m8364 y003 *1 m8374 pulse output destination clear signal y000 y004 y001 y005 y002 y006 pulse output destination clear signal device specification register y000 d8464 y001 d8465 y002 d8466
1 outline 1.5 assignment of input/output numbers b - 11 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection 2. high-speed output special adapter *1. specify the output number for transistor output. application terminal output number remarks 1st 2nd pulse train sig- nal/forward rotation pulse train (pulse output destination) y0/2+ y0/2- y000 y002 connect the line to determine the pulse train signal or the forward rotation pulse train for the 1st axis of each high-speed output special adapter. for the 1st adapter, specify y000 as the pulse output destination of the positioning instruction. for the 2nd adapter, specify y002 as the pulse output destination of the positioning instruction. y1/3+ y1/3- y001 y003 connect the line to determine the pulse train signal or the forward rotation pulse train for the 2nd axis of each high-speed output special adapter. for the 1st adapter, specify y001 as the pulse output destination of the positioning instruction. for the 2nd adapter, specify y003 as the pulse output destination of the positioning instruction. direction sig- nal/reverse rotation pulse train (rotation direction signal) y4/6+ y4/6- y004 y006 connect the line to determine the direction signal or the reverse rotation pulse train for the 1st axis of each high-speed output special adapter. for the 1st adapter, specify y004 as the rotation direction signal of the positioning instruction. for the 2nd adapter, specify y006 as the rotation direction signal output of the positioning instruction. y5/7+ y5/7- y005 y007 connect the line to determine the direction signal or the reverse rotation pulse train for the 2nd axis of each high-speed output special adapter. for the 1st adapter, specify y005 as the rotation direction signal output of the positioning instruction. for the 2nd adapter, specify y007 as the rotation direction signal output of the positioning instruction. clear signal all output points *1 connect the line if it is necessary to use dszr/zrn instruction to output the clear signal. using the clear signal designation function, specify the output number for transistor output. in this case, do not specify a device if the device is already specified as the rotational direction signal output for a pulse output destination by the clear signal device specification register. for details on the clear signal designation method, refer to subsection 4.3.4. the clear signal device specification register depends on the pulse output destination as shown in the following table: point: the clear signal output initially set for dszr/zrn instruction is the same output as the direction signal (rotation direction signal, reversed pulse train). be sure to specify the output number of the other transistor output using the clear signal designation function. pulse output destination clear signal device specification register y000 d8464 y001 d8465 y002 d8466 y003 d8467
1 outline 1.5 assignment of input/output numbers b - 12 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 1.5.3 connection of high-speed output special adapter 1. when fx 3u -16mr/es uses an instruction that needs the high-speed inputting operation, the main unit should have enough input terminals. before selecting main unit, be sure to check the number of input points needed for operation. 2. specify the rotational direction signal of the positioning instruction depending on the setting of each pulse output destination as shown in the following table: 3. to output the clear signal using dszr/zrn instruction the clear signal output initially set for dszr/zrn instruction is the same output as the direction signal/ reverse pulse train (rotation direction signal). be sure to specify the output number of the other transistor output using the clear signal designation function. for details on the clear signal designat ion method, refer to subsection 4.3.4. 4. if high-speed output special adapter is connected to the fx 3u series main unit, the output numbers will be assigned in the same way as the main unit. if an output number assigned to high-speed output special adapter is turned on by the sequence program, the corresponding output of the main unit will also be turned on. do not connect the line to both output terminals. connect the line to one of the output terminals. the outputs of the high-speed output special adapter and the main unit will be turned on as shown in the following table: pulse output destination rotation direction signal 1st y000 y004 y001 y005 2nd y002 y006 y003 y007 unit output operation plsy,plsr,dszr, dvit,tbl,zrn,plsv,d rvi,drva instruction. pwm instruction other instruction fx 3u series main unit of relay output type when those instructions in execution, assigned outputs turn on (led is on) will be turned on and off. pwm (fnc 58) instruction, however, is not compatible with the relay output. for this reason, do not use this instruction. (operation will not be performed properly due to delay in response output, chattering of the contact, aged contact, etc. for this reason, do not use this instruction.) will be turned on. high-speed output special adapter will be turned on. will be turned on. will be turned on.
1 outline 1.5 assignment of input/output numbers b - 13 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection block diagram fx 3u series main unit y000 y001 y002 y003 y004 y005 y006 y007 fx 3u -2hsy -adp y000 y001 y004 y005 fx 3u -2hsy -adp y002 y003 y006 y007 sequence program fnc 158 drva k15000 k10000 y001 y005 fnc 159 drva k10000 k10000 y002 y006 fnc 158 drvi k30000 k20000 y000 y004 fnc 159 drvi k1000 k5000 y003 y007 1st 2nd
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 2 specifications b - 14 2. specifications design precautions ? provide a safety circuit on the outside of the plc so that the whole system operates to ensure the safety even when external power supply trouble or plc failure occurs. otherwise, malfunctions or output failures may result in an accident. 1) an emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the plc. 2) when the plc cpu detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are turned off. when an error that cannot be detected by the plc cpu occurs in an input/output control block, output control may be disabled. design external circuits and mechanisms to ensure safe operations of the machine in such a case. 3) when some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off. for output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe operations of the machine in such cases. design precautions ? do not bundle the control line together with the main circuit or power line. do not lay the control line near them.as a rule, lay the control line at least 100mm(3.94") or more away from the main circuit or power line. noise may cause malfunctions. ? install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and i/o connectors. failure to do so may result in wire breakage or failure of the plc. disposal precautions ? please contact a company certified in the disposal of electronic waste for environmentally safe recycling and disposal of your device. transportation precautions ? before transporting the plc, turn on the plc to check that the batt led lamp is off and check the battery life. if the plc is transported with the batt led lamp on or the battery exhausted, the backed up data may be unstable during transportation. ? the plc is precision equipment. during transportation, avoid impacts larger than that is specified in the manual of the plc main unit. failure to do so may cause failures in the plc. after transportation, check the operations of the plc.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 2 specifications 2.1 general specifications b - 15 a common items b built-in positioning function apx. example connection 2.1 general specifications for the general specifications on the fx 3u /fx 3uc plc, refer to the following manuals. note that the general specifications on the high-speed output special adapter are the same as the plc excluding the specifications shown in the following table. for the general specifications on the fx 3u plc, refer to the fx 3u hardware edition. for the general specifications on the fx 3uc plc, refer to the fx 3uc hardware edition. 2.2 power supply specifications for the power supply specifications of the fx 3u /fx 3uc plc, refer to the following manuals. the power supply specifications of the high-speed output special adapter are shown in the following table. for the power supply specifications on the fx 3u plc, refer to the fx 3u hardware edition. for the power supply specifications on the fx 3uc plc, refer to the fx 3uc hardware edition. item specifications withstand voltage 500v ac, for 1 minute in accordance with jem-1021 between output terminal of high-speed output special adapter and grounding terminal of plc. insulation resistance 5m ? or more using 500v dc insulation tester item specifications output circuit drive power supply 24v dc, 60 ma the service power of the main unit will be supplied internally. adapter drive power supply 5v dc, 30 ma the adapter driver power will be internally supplied from the 5v dc power supply unit of the main unit.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 2 specifications 2.3 performance specifications b - 16 2.3 performance specifications *1. can only be connected to the fx 3u plc. up to 2 adapters can be connected. *2. if 2 adapters are connected, y000 to y007 will be used. if only one adapter is connected, y000, y001, y004, and y005 will be used. the relation between the output of fx 3u -2hsy-adp and the output of main unit is described in the following sections. to use high-speed output special adapters, refer to subsection 1.5.3 and section 4.9 of "b. built-in positioning function". model fx 3uc plc (main unit, transistor output) fx 3u -2hsy-adp *1 number of control axes 3 independent axes 2 independent axes interpolation - - pulse output system open collector system differential line driver system pulse output method "pulse train + direction" method "pulse train + direction" method "forward/reverse rotation pulse train" method maximum frequency 100,000hz 200,000hz acceleration/ deceleration type automatic trapezoidal acceleration/deceleration unit pulse positioning range -999,999 to +999,999(pulse) program language sequence program position data 1 point (set in sequence program) connection of manual pulse generator -- detection of absolute position (reads out the current value of abs.) abs instruction others ? pulses can be output from the general- purpose outputs (y000, y001, and y002) of the main unit. ? connect 2 adapters to the main unit to control 4 axes independently. ? connect this adapter to the main unit to use the differential line driver type pulse train. this is because the main unit cannot output this type of pulse train. ? use this adapter in place of the general- purpose outputs (y000 - y007) *2 of the main unit.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 2 specifications 2.4 input specifications b - 17 a common items b built-in positioning function apx. example connection 2.4 input specifications 2.4.1 fx 3u series main unit (24v dc input) this section describes the input specifications of the fx 3u series main unit. by the way, the simultaneous turning-on rate is restricted for the input extension units and the main unit. for details on this restriction, refer to the following manual: refer to the fx 3u hardware edition. *1. if inputs x000 to x007 are assigned to the zero-phase signal of dszr instruction or the interrupt input of dvit instruction, the input response time will be as shown in the following table. 1. internal input circuit item 24v dc input specifications input signal voltage all inputs 24v dc10% input impedance x000 to x005 3.9k ? x006,x007 3.3k ? x010 or later 4.3k ? input signal current x000 to x005 6ma/24v dc x006,x007 7ma/24v dc x010 or later 5ma/24v dc input sensitivity current input on current x000 to x005 3.5 ma or more x006,x007 4.5ma or more x010 or later 3.5 ma or more input off current all inputs 1.5ma or less input response time all inputs approx. 10 ms *1 input signal type all inputs no-voltage contact input npn/pnp open collector transistor circuit insulation all inputs photo-coupler insulation indication of input motion - turning on the input will light the led indicator lamp. input input response time x000 to x005 5 s x006,x007 50 s x0 s/s 0v 24v main unit n l x1 24v 0v fuse class-d grounding input impedance sink input line connection x0 s/s 0v 24v main unit n l x1 24v 0v fuse class-d grounding input impedance source input line connection
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 2 specifications 2.4 input specifications b - 18 2.4.2 fx 3uc series main unit (24v dc input) this section describes the input specifications of the fx 3uc series main unit. note that the simultaneous turning-on rate is restricted for the input extension units and the main unit. for details on this restriction, refer to the following manual: refer to the fx 3uc hardware edition. *1. if inputs x000 to x007 are assigned to the zero-phase signal of dszr instruction or the interrupt input of dvit instruction, the input response time will be as shown in the following table. 1. internal input circuit item 24v dc input specifications input signal voltage all inputs 24v dc +20%, -15% / ripple(p-p): 5 % or less input impedance x000 to x005 3.9k ? x006,x007 3.3k ? x010 to x017 4.3k ? input signal current x000 to x005 6ma/24v dc x006,x007 7ma/24v dc x010 to x017 5ma/24v dc input sensitivity current input on current x000 to x005 3.5 ma or more x006,x007 4.5ma or more x010 to x017 3.5ma or more input off current all inputs 1.5ma or less input response time all inputs approx. 10 ms *1 input signal type all inputs no-voltage contact input npn open collector transistor circuit insulation all inputs photo-coupler insulation indication of input motion - monitored using display module input input response time x000 to x005 5 s x006, x007 50 s x0 main unit x1 fuse class-d grounding input impedance 24v dc com
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 2 specifications 2.5 output specifications b - 19 a common items b built-in positioning function apx. example connection 2.5 output specifications 2.5.1 fx 3uc series main unit (transistor output) this section describes the transistor output specifications of the fx 3uc series main unit. note that the simultaneous turning-on rate is restricted for the output extension units and the main unit. for details on this restriction, refer to the following manual: refer to the fx 3uc hardware edition. pulse output terminals y000, y001, and y002 are high-speed response output terminals. to use the positioning instruction, adjust the load current of the npn open collector to 10 to 100 ma (5 to 24v dc) . 1. internal output circuit *1. to ground the unit, refer to the servo amplifier (d rive unit) manual. if the grounding method is not specified, carry out class-d grounding. item transistor output specifications external voltage all outputs 5 to 30v dc maximum load resistance load y000 to y003 0.3 a/point the total load current of the common items (16 points) should be 1.6 a or less. y004 to y017 0.1a/1point inductive load y000 to y003 7.2w/1point (24v dc) the total load of the common items (16 points) should be 38.4 w or less at 24v dc. y004 to y017 2.4w/1point (24v dc) open-circuit leakage current all outputs 0.1 ma or less at 30v dc on voltage all outputs 1.5v response time off on y000 to y003 5 s or less at 10 ma or more (5 to 24v dc) y004 to y017 0.2 ms or less at 100 ma (at 24v dc) on off y000 to y003 5 s or less at 10 ma or more (5 to 24v dc) y004 to y017 0.2 ms or less at 100 ma (at 24v dc) circuit insulation all outputs photo-coupler insulation indication of output motion - monitored using display module item description operation voltage range 5 to 24v dc operation current range 10ma to 100ma output frequency 100 khz or less y0 y4 fx 3uc series main unit grounding *1 servo amplifier (drive unit) pulse train signal direction signal 5 to 24v dc com1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 2 specifications 2.5 output specifications b - 20 2.5.2 high-speed output special adapter [fx 3u -2hsy-adp] this section describes the output specifications of high-speed output special adapter (fx 3u -2hsy-adp). 1. internal output circuit *1. to ground the unit, refer to the servo amplifier (d rive unit) manual. if the grounding method is not specified, carry out class-d grounding. *2. the line between the sga and the sgb is insulated. item high-speed output special adapter (fx 3u -2hsy-adp) output system differential line driver system (equivalent to am26c31) load current 25 ma or less maximum output frequency 200khz insulation photo-coupler and transformer insulate plc from external lines of its outputs, and transformer insulates each sg. cable length 10 m, maximum y0/2+ sga high-speed output special adapter fx 3u -2hsy-adp y0/2- y4/6+ y4/6- equivalent to am26c31 grounding *1 servo amplifier (drive unit) ? to connect to photo-coupler: pulse train, forward rotation pulse train direction signal, reverse rotation pulse train y1/3+ sgb y1/3- y5/7+ y5/7- equivalent to am26c31 grounding *1 servo amplifier (drive unit) ? to connect to differential line receiver: pulse train, forward rotation pulse train direction signal, reverse rotation pulse train sga *2 sgb *2 5v 5v 5v 5v
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 2 specifications 2.6 list of functions b - 21 a common items b built-in positioning function apx. example connection 2.6 list of functions the instructions needed for the positioning function built-in in the fx 3u /fx 3uc plc are shown in the following table: *1. this instruction is compatible with ver.2.00 or later. positioning instruction operation description refer to mechanical zero return dszr instruction zero return with dog search function if dszr/zrn instruction turns on, mechanical zero return will be started at the specified zero return speed. if the dog sensor is turned on, the speed will be reduced to the creep speed. if the zero-phase signal is input, the operation will be st opped, and the zero return will be completed. (if zrn instruction is used, the dog sensor will be turned off to stop the operation. chapter 6. zrn instruction zero return absolute position detection system abs instruction absolute value detec- tion system (reading of current abs value) if abs instruction turns on, the current motor address will be read out from the servo amplifier. chapter 7. 1-speed positioning drvi instruction relative positioning if drvi/drva instruction turns on, the operation will be started at the operation speed. if the workpiece comes to the target position, the operation will be stopped. chapter 8. drva instruction absolute positioning 1-speed positioning with interruption dvit instruction interruption positioning if dvit instruction turns on, the operation will be started at the operation speed. if interrupt input turns on, the workpiece will go the specified transfer distance, but just before stop, the speed will be reduced. chapter 9. variable speed operation plsv instruction variable positioning (variable speed pulse output) if plsv instruction turns on, the operation will be started at the specified operation speed. if the operation speed vari es, the speed will accelerate/decelerate, and the operation will be continued at the varied speed. if plsv instruction is deactivated, the speed will decelerate, and then the operation will stop. chapter 10. others tbl instruction *1 positioning using batch setting method preliminarily set the positioning point by parameters. if tbl instruction turns on, the workpiece will be transferred to the specified point. chapter 11. speed start dog:on zero point: on zero return speed creep speed (dog: off when zrn instruction is used) reads out the current value. speed start target position operation speed transfer distance speed start interrupt input: on operation speed transfer distance speed start speed change operation speed speed change instruction: deactivated operation speed speed start speed change speed change instruction: deactivated operation without acceleration/deceleration operation with acceleration/deceleration* 1 position speed instruction no. 1 2 3 4 1000 20000 50 800 2000 5000 1000 10000 drvi dvit drva drva
3 connection of input/output lines and tightening b - 22 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 3. connection of input/output lines and tightening torques this chapter describes how to connect the input/ output lines and the terminal tightening torques. wiring precautions ? cut off all phases of the power source externally before installation or wiring work in order to avoid electric shock or damage of product. ? make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work. failure to do so may cause electric shock. wiring precautions ? connect the ac power supply wiring to the dedicated terminals described in this manual. if an ac power supply is connected to a dc input/output terminal or dc power supply terminal, the plc will be burnt out. ? connect the dc power supply wiring to the dedicated terminals described in this manual. if an ac power supply is connected to a dc input/output terminal or dc power supply terminal, the plc will be burnt out. ? do not wire vacant terminals externally. doing so may damage the product. ? perform class d grounding (grounding resistance: 100 ? or less) to the grounding terminal in the fx 3u series main unit with a 2mm 2 or thicker wire. do not connect the grounding terminal at the same point as a heavy electrical system (refer to the manual of the plc main unit). ? perform class d grounding (grounding resistance: 100 ? or less) to the grounding terminal in the fx 3uc series main unit with a wire as thick as possible. do not connect the grounding terminal at the same point as a heavy electrical system (refer to the manual of the plc main unit). ? when drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions. ? use the product in such a status that excessive force is not applied on i/o connectors. failure to do so may result in wire breakage or failure of the plc. ? fit the i/o cables securely to the designated connectors. contact failures may cause malfunctions. ? perform wiring properly to the fx 3u series main unit and fx 0n /fx 2n series extension equipment of the terminal block type in accordance with the following precautions. failure to do so may cause electric shock, short-circuit, wire breakage, or damages to the product. - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.5 to 0.8 n ? m. ? observe the following items to wire the lines to the european terminal board. ignorance of the following items may cause electric shock, short circuit, disconnection, or damage of the product. - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.22 to 0.25 n ? m. - twist the end of strand wire and make sure there is no loose wires. - do not solder-plate the electric wire ends. - do not connect electric wires of unspecified size or beyond the specified number of electric wires. - fix the electric wires so that the terminal block and connected parts of electric wires are not directly stressed. ? properly perform wiring to the fx series terminal blocks following the precautions below in order to prevent electrical shock, short-circuit, breakage of wire, or damage to the product: - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.5 to 0.8 n ? m.
3 connection of input/output lines and tightening 3.1 terminal board (m3, m3.5) b - 23 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection 3.1 terminal board (m3, m3.5) a terminal board is adopted for the fx 3u series main unit, fx 2n series input/output extension unit (excluding some types), and fx 0n series input/output extension block. 3.1.1 terminal screw size the terminal screw size of each product is shown in the following table. for details on the crimp-style terminals, refer to subsection 3.1.2. 3.1.2 termination the size of each crimp-style terminal depends on t he size of the terminal screw and the wiring method. refer to the following description to select a crimp-style terminal of optimum size. 1. fx 3u series main unit, fx 2n series input/output powered extension unit, and fx 0n series input/output extension block ? when one wire is connected to one terminal ? when two wires are connected to one terminal 2. fx series terminal block ? when one wire is connected to one terminal product terminal screw tightening torque fx 3u series main unit, fx 2n series input/output powered extension unit, fx 2n /fx 0n series input/output extension block m3 0.5 to 0.8n ? m fx series terminal block m3.5 terminal terminal terminal screw crimp terminal 6.2mm(0.24") or less 3.2(0.13") 6.2mm(0.24") or less 3.2(0.13") terminal screw crimp terminal terminal 6.2mm(0.24") or less 3.2(0.13") 6.3mm(0.25") or more 6.2mm(0.24") or less 3.2(0.13") 6.3mm(0.25") or more 6.8mm(0.27") or less 3.7(0.15") terminal terminal terminal screw crimp terminal 6.8mm(0.27") or less 3.7(0.15")
3 connection of input/output lines and tightening 3.2 european terminal board b - 24 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function ? when two wires are connected to one terminal 3.2 european terminal board the european terminal board is adopted for t he high-speed output special adapter and the fx 2nc series input/output extension block. 3.2.1 cable applicable cables and tightening torques 3.2.2 termination of cable end directly terminate the end of each stranded cable or single- wire cable without a tool, or use the rod terminal with insulation sleeve for termination. ? directly terminate end of stranded/single-wire cable: - terminate the end of the stranded cable so that "barbed wires" cannot protrude. - do not solder-plate the end of the cable. ? terminate cable end using rod terminal with insulation sleeve: if the cable sheath is too thick, it may be difficult to insert the cable into the insulation sleeve. for this reason, select an appropriate cable while referring to the external view. 3.2.3 tool ? to tighten terminals, use a purchased small-sized screwdriver whose tip is straight and is not widened as shown in the right figure. wire size (stranded/single wire) tightening torque termination single-wire 0.3 mm 2 to 0.5 mm 2 (awg22 to 20) 0.22 to 0.25 n ? m ? to connect a stranded cable, peel the sheath off the cable, and then twist the core before connection. ? to connect a single-wire cable, just peel the sheath off the cable before connection. 2-wires 0.3 mm 2 (awg22) rod terminal with insulation sleeve 0.3 mm 2 to 0.5 mm 2 (awg22-20) (refer to the external view of rod terminal shown in the following figure.) ? rod terminal with insulation sleeve (recommended terminal):ai 0.5-8wh (manufactured by phoenix contact) ? caulking tool: crimpfox ud6 (manufactured by phoenix contact) manufacturer model caulking tool phoenix contact ai 0.5-8wh crimpfox ud6 manufacturer model phoenix contact szs 0.4 2.5 6.8mm(0.27") or less 3.7(0.15") 6.0mm(0.24") or more terminal screw crimp terminal terminal 6.8mm(0.27") or less 3.7(0.15") 6.0mm(0.24") or more 9mm (0.36") ? stranded wire/solid wire 8mm (0.32") contact portion 14mm(0.56") 2.6mm (0.11") insulating sleeve ? bar terminal with insulating sleeve 0.4mm (0.02") 2.5mm (0.1") with straight tip
3 connection of input/output lines and tightening 3.3 connector b - 25 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection 3.3 connector connectors conforming to the requirements of the mil c-83503 are adopted for the fx 3uc series main unit and some types of fx 2nc series input/output extension blocks. 3.3.1 cable connection to input/output connector prepare the input/output cables while referring to the next page. 3.3.2 setup of input/output connection connector 1. applicable connector (connector purchased at store) use a 20-pin (1-key) socket that conforms to the requirements of the mil c-83503. preliminarily check that the peripheral parts, such as the connector cover, will not cause any interference. 2. input/output cables (optional cables manufactured by our company) our company can provide input/output cables already equipped with a connector. model length description connector type fx-16e-500cab-s 5m (16? 4") general-purpose input/output cable the 20-pin connector is attached to one end of the non-stranded cable. (green, red) fx-16e-150cab 1.5m (4?11") cable for connection of fx series terminal block to input/output connector for details of connection to the fx series terminal block, refer to the following manuals: fx 3u hardware edition fx 3uc hardware edition the 20-pin connector is attached to both end of the flat cable (with tube). fx-16e-300cab 3m (9?10") fx-16e-500cab 5m (16? 4") fx-16e-150cab-r 1.5m (4?11") the 20-pin connector is attached to both ends of the round multi-core cable. fx-16e-300cab-r 3m (9?10") fx-16e-500cab-r 5m (16? 4") fx-a32e-150cab 1.5m (4?11") cable for connection of a series a6tbxy36 connector/terminal board conversion unit to input/output connector type two 20-pin connectors (unit: 16 points) are attached to the plc side of the flat cable (with tube), and the dedicated connector is attached to the terminal board side of the flat cable. (32 points for each input/ output common) fx-a32e-300cab 3m (9?10") fx-a32e-500cab 5m (16? 4") x0 x1 x2 x3 x4 x5 x6 x7 com x10 x11 x12 x13 x14 x15 x16 x17 com y0 y1 y2 y3 y4 y5 y6 y7 com1 y10 y11 y12 y13 y14 y15 y16 y17 com1 input output *1 *1 *1 *1 *1: " ? " means that the terminal is not used. input: x output: y
3 connection of input/output lines and tightening 3.3 connector b - 26 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 3. input/output cable connectors prepared by purchaser (optional connectors manufactured by our company) the purchaser should prepare the cables and press-fitting tools. 4. connector already confirmed as applicable (sold at store) connectors manufactured by daiichi denshi kogyo co., ltd. (shown in 3) and connectors manufactured by matsushita electric works, ltd. (shown in following table) input/output connector model and number of connectors included in one set applicable cable (recommended cable: ul-1061) and tool our model description of parts (manufactured by daiichi denshi kogyo co., ltd.) cable size crimping tool (manufactured by daiichi denshi kogyo co., ltd.) fx 2c -i/o-con,for flat cable set of 10 parts crimp-style connector frc2-a020-30s awg28(0.1 mm 2 ) 1.27 pitch, 20 cores 357j-4674d main unit 357j-4664n attachment fx 2c -i/o-con-s, for non-stranded cable 5 sets housing hu-200s2-001 crimp-style contact hu- 411s awg22(0.3mm 2 ) 357j-5538 fx 2c -i/o-con-sa, for non-stranded cable 5 sets housing hu-200s2-001 crimp-style contact hu- 411sa awg20(0.5mm 2 ) 357j-13963 connector model applicable cable (recommended cable: ul-1061) crimping tool housing axw1204a awg22(0.3mm 2 ) awg24(0.2mm 2 ) axy52000 contact axw7221 semi-cover axw62001a
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.1 list of related devices b - 27 a common items b built-in positioning function apx. example connection 4. before programming this chapter describes several items that should be known before programming. they are: ? operation of related devices, such as output pulse frequency, operation command flag, current value, and operation monitor flag. ? items to be set on plc side ? items to be set on servo amplifier (drive unit) side ? items to be observed in programming 4.1 list of related devices for details on related devices, refer to section 4.2 to section 4.4. 4.1.1 special auxiliary relays the following table shows the related special auxiliary relays. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. for details on plsy (fnc 57), pwm (fnc 58), and plsr (fnc 59) instru ctions, refer to the programming manual. device number function attribute corresponding instructions refer to y000 y001 y002 y003 *1 m8029 "instruction execution complete" flag read only plsy,plsr,dszr, dvit,zrn,plsv, drvi,drva and so on. subsection 4.4.2 m8329 "instruction execution abnormal end" flag read only plsy,plsr,dszr, dvit,zrn,plsv, drvi,drva subsection 4.4.2 m8338 *2 acceleration/deceleration operation. *3 drivable plsv subsection 4.3.9 m8336 *4 interrupt input specification function enabled *3 drivable dvit subsection 4.3.7 m8340 m8350 m8360 m8370 "pulse output monitor" flag. (busy/ready) read only plsy,plsr,dszr, dvit,zrn,plsv, drvi,drva subsection 4.4.3 m8341 m8351 m8361 m8371 clear signal output function enable. *3 drivable dszr,zrn subsection 4.3.4 m8342 m8352 m8362 m8372 zero return direction specification. *3 drivable dszr subsection 4.3.3 m8343 m8353 m8363 m8373 forward limit drivable plsy,plsr,dszr, dvit,zrn,plsv, drvi,drva subsection 4.3.1 m8344 m8354 m8364 m8374 reverse limit drivable subsection 4.3.1 m8345 m8355 m8365 m8375 dog signal logic reverse *3 drivable dszr subsection 4.3.5 m8346 m8356 m8366 m8376 zero point signal logic reverse *3 drivable dszr subsection 4.3.6 m8347 m8357 m8367 m8377 interrupt signal logic reverse *3,*5 drivable dvit subsection 4.3.8 *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if ver. 2.00 or later is used. *3. cleared when plc switches from run to stop *4. this function will be valid if ver. 1.30 or later is used. *5. for the user interrupt input command devices , the logical not function will not be activated.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.1 list of related devices b - 28 4.1.2 special data registers the following table shows the related special data r egisters. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if ver. 1.30 or later is used. however, the user interruption command device can be specified only if ver. 2.00 or later is used. *3. this instruction will be valid during acceleration/deceleration using ver. 2.00 or later only. *4. this function will be valid if ver. 2.00 or later is used. m8348 m8358 m8368 m8378 positioning instruction activation read only plsy,pwm,plsr, dszr,dvit,zrn, plsv,drvi,drva subsection 4.4.4 m8349 m8359 m8369 m8379 pulse output stop command. *3 drivable plsy,plsr,dszr, dvit,zrn,plsv, drvi,drva subsection 4.3.2 m8460 *2 m8461 *2 m8462 *2 m8463 *2 user interrupt input command. *3 drivable dvit subsection 4.3.7 m8464 *2 m8465 *2 m8466 *2 m8467 *2 clear signal device specification function enabled. *3 drivable dszr,zrn subsection 4.3.4 device number function data length initial value corresponding instructions refer to y000 y001 y002 y003 *1 d8336 *2 interrupt input designation 16-bit - dvit subsection 4.3.7 d8340 low- order d8350 low- order d8360 low- order d8370 low- order current value register [pls] 32-bit 0 dszr,dvit, zrn,plsv, drvi,drva subsection 4.4.1 d8341 high- order d8351 high- order d8361 high- order d8371 high- order d8342 d8352 d8362 d8372 bias speed [hz] 16-bit 0 dszr,dvit, zrn,plsv, drvi,drva subsection 4.2.6 d8343 low- order d8353 low- order d8363 low- order d8373 low- order maximum speed [hz] 32-bit 100,000 dszr,dvit, zrn,plsv, drvi,drva subsection 4.2.5 d8344 high- order d8354 high- order d8364 high- order d8374 high- order d8345 d8355 d8365 d8375 creep speed [hz] 16-bit 1000 dszr subsection 4.2.4 d8346 low- order d8356 low- order d8366 low- order d8376 low- order zero return speed [hz] 32-bit 50,000 dszr subsection 4.2.3 d8347 high- order d8357 high- order d8367 high- order d8377 high- order d8348 d8358 d8368 d8378 acceleration time [ms] 16-bit 100 dszr,dvit, zrn,plsv *3 , drvi,drva subsection 4.2.7 d8349 d8359 d8369 d8379 deceleration time [ms] 16-bit 100 dszr,dvit, zrn,plsv *3 , drvi,drva subsection 4.2.8 d8464 *4 d8465 *4 d8466 *4 d8467 *4 clear signal device specification 16-bit - dszr,zrn subsection 4.3.4 device number function attribute corresponding instructions refer to y000 y001 y002 y003 *1 *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if ver. 2.00 or later is used. *3. cleared when plc switches from run to stop *4. this function will be valid if ver. 1.30 or later is used. *5. for the user interrupt input command devices , the logical not function will not be activated.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.2 setting of various items regarding speeds b - 29 a common items b built-in positioning function apx. example connection 4.2 setting of various items regarding speeds specify the output pulse frequency using the operand of each instruction or the related device to determine the output pulse frequency, zero return speed, or creep speed. 4.2.1 setting of various items regarding instructions and speeds 1. interrupt positioning (dvit) instruction, drive to increment (drvi) instruction, and drive to absolute (drva) instruction for these instructions, it is necessary to specify the maximum speed, bias speed, acceleration time, and deceleration time using the related devices in addi tion to the output pulse frequency specified by the operand of the instruction. for operation of dvit instruction, refer to chapter 9. for operation of drvi or drva instruction, refer to chapter 8. for details on each setting item, refer to subsection 4.2.2 , and subsection 4.2.5 to subsection 4.2.8 2. variable speed pulse output (plsv) instruction for the variable speed pulse output (plsv) instruction, it is necessary to specify the maximum speed, bias speed, acceleration time, and deceleration time using the related devices in addition to the output pulse frequency specified by the operand of the instruction. however, note that the acceleration time and the deceleration time are valid during ac celeration/decelerat ion (m8338 = on) only. for operation of plsv instruction, refer to chapter 10. for details on each setting item, refer to subsect ion 4.2.2 , and subsection 4.2.5 to subsection 4.2.8. 1) when acceleration/deceleration is being performed (m8338 = on) 2) when acceleration/deceleration is not performed (m8338 = off) actual acceleration time bias speed acceleration time initial value: 100 ms deceleration time number of output pulses maximum speed initial value: 100,000 hz actual deceleration time bias speed current position target position initial value: 100 ms initial value: 0 hz s 1 output pulse frequency s 2 bias speed acceleration time initial value: 100 ms output pulse frequency maximum speed initial value: 100,000 hz actual deceleration time bias speed initial value: 100 ms initial value: 0 hz s current position acceleration time actual acceleration time bias speed output pulse frequency bias speed initial value: 0 hz s maximum speed initial value: 100,000 hz if the frequency value is less than the bias speed value, the frequency will not be output.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.2 setting of various items regarding speeds b - 30 3. zero return instruction with dog search function (dszr) for this instruction, it is necessary to specify the maximum speed, bias speed, a cceleration time, deceleration time, zero return speed, and creep speed using the related devices. for operation of dszr instruction, refer to section 6.2. for details on each setting item, refer to subsection 4.2.3 to subsection 4.2.8. 4. zero return (zrn) instruction for this instruction, it is necessary to specify the maximum speed, bias speed, acceleration time, and deceleration time using the related devices in addition to the zero return speed and the creep speed specified by the operand of the instruction. for operation of zrn instruction, refer to section 6.1. for details on each setting item, refer to subsection 4.2.5 to subsection 4.2.8. maximum speed initial value: 100,000 hz zero return speed initial value: 50,000 hz deceleration time bias speed initial value: 0 hz acceleration time dog creep speed initial value: 1,000 hz clear signal zero-phase signal (x000 - x007) front end rear end 1 ms or less 20 ms + 1 scan time (ms) current value register = "0" initial value: 100 ms current position initial value: 100 ms 20 ms + 1 scan time (ms) zero return speed deceleration time acceleration time dog creep speed clear signal front end rear end 1 ms or less s 2 ? s 1 ? maximum speed initial value: 100,000 hz initial value: 100 ms bias speed initial value: 0 hz current position initial value: 100 ms
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.2 setting of various items regarding speeds b - 31 a common items b built-in positioning function apx. example connection 4.2.2 setting of output pulse frequency (dvit, plsv, drvi, and drva instructions) set the output pulse frequency using the operand of each instruction. in this case, the setting range depends on the instruction (see the following table). however, even in the setting range of each instruction, if the set value of the output pulse frequency is more than the maximum speed value, operation will be performed at the maximum speed. if the set value of the output pulse frequency is less than the bias speed value, operation will be performed at the bias speed. for operation of dvit instruction, refer to chapter 9. for operation of plsv instruction, refer to chapter 10. for operation of drvi or drva instruction, refer to chapter 8. *1. if fx 3u -2hsy-adp is not used, note that the frequency value cannot be more than 100,000 hz. *2. if fx 3u -2hsy-adp is not used, note that the frequency value cannot be less than -100,000 hz. caution: ? to use the main unit (transistor output), set the output pulse frequency (absolute value) to 100,000 hz or less. if more than 100,000 hz pulse is output from the transistor output terminal y000, y001, y002 of the main unit to perform operation, the plc may be damaged. ? set the output pulse frequency so that the output pulse frequency value can be less than the maximum frequency value of the servo amplifier (driver unit). instruction operand setting range instruction format 16-bit operation (hz) 32-bit operation (hz) dvit instruction 10 to 32767 10 to 200,000 *1 plsv instruction -32768 to -1, +1 to 32767 -200,000 *2 to -1, +1 to 200,000 *1 drvi instruction 10 to 32767 10 to 200,000 *1 drva instruction 10 to 32767 10 to 200,000 *1 s 2 dvit s 1 ? s 2 ? d 1 ? d 2 ? s plsv s ? d 1 ? d 2 ? s 2 drvi s 1 ? s 2 ? d 1 ? d 2 ? s 2 drva s 1 ? s 2 ? d 1 ? d 2 ?
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.2 setting of various items regarding speeds b - 32 4.2.3 setting of zero return speed (dszr/zrn instruction) use the related device or the operand of the instruction to set the zero return speed. the zero return speed setting range is shown in the following table. be sure to set the zero return speed so that the relation with the other speeds can be "bias speed zero return speed maximum speed". if the set value of the zero return speed is more than the maximum speed value, operation will be performed at the maximum speed. for operation of dszr instruction, refer to section 6.2. for operation of zrn instruction, refer to section 6.3. *1. if fx 3u -2hsy-adp is not used, note that this value cannot be more than 100,000 hz. *2. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. caution: ? when using the transistor output of main unit, set the pulse frequency for zero return speed less than 100,000 hz. if the transistor output (y000, y001, y002) of the main unit uses a pulse frequency of more than 100,000 hz to perform operation, the plc may be damaged. ? set the zero return speed so that the set value of the zero return speed can be less than the maximum frequency value of the servo amplifier (driver unit). instruction operand or related device setting range instruction format 16-bit operation (hz) 32-bit operation (hz) dszr instru- ction =y000 d8347,d8346 10 to 200,000 *1 initial value: 50000 =y001 d8357,d8356 =y002 d8367,d8366 =y003 *2 d8377,d8376 zrn instruction 10 to 32767 10 to 200,000 *1 d 1 dszr s 1 ? s 2 ? d 1 ? d 2 ? d 1 d 1 d 1 s 1 zrn s 1 ? s 2 ? s 3 ? d ?
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.2 setting of various items regarding speeds b - 33 a common items b built-in positioning function apx. example connection 4.2.4 setting of creep speed (dszr/zrn instruction) use the related device or the operand of the instruction to set the creep speed. the creep speed setting range is shown in the following table. be sure to set the creep speed so that the relation with the other speeds can be "bias speed creep speed 32767 hz *1 ". for operation of dszr instruction, refer to section 6.2. for operation of zrn instruction, refer to section 6.3. *1. if the maximum speed is set to less than 32767 hz, note that this value (32767 hz) should be changed to the maximum speed. *2. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. 4.2.5 setting of maximum speed set the maximum speed to determine the upper limit value for the output pulse frequency and the zero return speed. use the devices shown in the following table to determine the maximum speed for each pulse output destination device. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. caution: ? to use the main unit (transistor output), set the output pulse frequency (absolute value) to 100,000 hz or less. if more than 100,000 hz pulse is output from the transistor output terminal y000, y001, y002 of the main unit to perform operation, the plc may be damaged. ? set the output pulse frequency so that the output pulse frequency value can be less than the maximum frequency value of the servo amplifier (driver unit). instruction operand or related device setting range instruction format 16-bit operation (hz) 32-bit operation (hz) dszr instru- ction =y000 d8345 10 to 32767 initial value: 1000 =y001 d8355 =y002 d8365 =y003 *2 d8375 zrn instruction 10 to 32767 pulse output destination device maximum speed initial value setting range transistor output of main unit high-speed output special adapter y000 d8344,d8343 100,000hz 10 to 100,000 hz: if the value is set to 9 hz or less, the maximum speed will be automatically set to 10 hz. 10 to 200,000 hz: if the value is set to 9 hz or less, the maximum speed will be automatically set to 10 hz. y001 d8354,d8353 y002 d8364,d8363 y003 *1 d8374,d8373 d 1 dszr s 1 ? s 2 ? d 1 ? d 2 ? d 1 d 1 d 1 s 2 zrn s 1 ? s 2 ? s 3 ? d ?
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.2 setting of various items regarding speeds b - 34 4.2.6 setting of bias speed to control the stepping motor using each instruction, set the bias speed considering the resonance range of the stepping motor and the automatic start frequency. use the devices shown in the following table to determine the bias speed for each pulse output destination device. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. 4.2.7 setting of acceleration time set the time required for acceleration from the bias speed to the maximum speed. if the output pulse frequency is less than the maximum speed, the actual acceleration time will be shorter than the set acceleration time. if the variable speed pulse output (plsv) instruction is used, the set acceleration time will be valid during acceleration/deceleration (m8338 = on) only. use the devices shown in the following table to determine the acceleration time for each pulse output destination device. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. 4.2.8 setting of deceleration time set the time required for deceleration fr om the maximum speed to the bias speed. if the output pulse frequency is less than the maximum speed, the actual deceleration time will be shorter than the set deceleration time. if the variable speed pulse output (plsv) instruction is used, the set deceleration time will be valid during acceleration/deceleration (m8338 = on) only. use the devices shown in the following table to determine the deceleration time for each pulse output destination device. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. pulse output destination device bias speed initial value setting range y000 d8342 0hz 1/10 or less of maximum speed: if the value is set to more than 1/10 of the maximum speed, the bias speed will be automatically set to 1/10 of the maximum speed. y001 d8352 y002 d8362 y003 *1 d8372 pulse output destination device acceleration time initial value setting range y000 d8348 100ms 50 to 5,000 ms: if the value is set to 49 ms or less, the acceleration time will be automatically set to 50 ms. if the value is set to 5,001 ms or more, the acceleration time will be automatically set to 5,000 ms. y001 d8358 y002 d8368 y003 *1 d8378 pulse output destination device acceleration time initial value setting range y000 d8349 100ms 50 to 5,000 ms: if the value is set to 49 ms or less, the deceleration time will be automatically set to 50 ms. if the value is set to 5,001 ms or more, the deceleration time will be automatically set to 5,000 ms. y001 d8359 y002 d8369 y003 *1 d8379
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.3 various flags for operation commands b - 35 a common items b built-in positioning function apx. example connection 4.3 various flags for operation commands 4.3.1 forward rotation limit and reverse rotation limit when using the servo motor, the forward rotation limit and the reverse rotation limit can be set for the servo amplifier. to use the dog search function for zero return, or to se t the forward rotation limit or the reverse rotation limit for operation other than zero return using the plc, set forward rotation limit 1 (lsf) and reverse rotation limit 1 (lsr) for the plc so that these limit switches can be activated before forward rotation limit 2 or reverse rotation limit 2 of the servo amplifier. as shown in the following figure, interlock forward rota tion limit 1 (lsf) with the forward limit flag, and reverse rotation limit 1 (lsr) with the reverse limit flag. if the forward limit flag or the reverse limit flag turns on, the motor will perform operation depending on the output instruction as shown in the following table. use the flag shown in the following table to determine the forward rotation limit and the reverse rotation limit for each pulse output destination device (y000, y001, y002, y003). *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. the m8338 is compatible with ver.2.00 or later. if the fx 3uc plc is used and its version is below ver.2.00, plsv instruction will perform operation in the m8338 = off mode (will perform operation without acceleration/deceleration). note: if the forward rotation limit (lsf) and the reverse rotation limit (lsr) cannot be set, observe the following items: ? even if forward rotation limit 2 or reverse rotation limit 2 turns on and the servo motor is automatically stopped, the positioning instruction currently activated cannot recognize the stop of the motor. so the pulse will be continuously output unt il the instruction is deactivated. ? the dog search function of dszr instruction (zero re turn instruction with dog search function) cannot be used. pulse output destination device forward limit flag reverse limit flag corresponding instruction and stop plsv instruction (m8338 *2 =off) dszr, dvit, zrn, plsv(m8338 *2 =on), drvi, and drva instructions y000 m8343 m8344 if the corresponding rotation limit flag is turned on, pulse output (operation) will be immediately stopped. if the corresponding rotation limit flag is turned on, the speed will be reduced, and then operation will be stopped. y001 m8353 m8354 y002 m8363 m8364 y003 *1 m8373 m8374 reverse rotation limit 2 (servo amplifier side) forward rotation limit 2 (servo amplifier side) forward rotation limit 1 (programmable controller side) lsf reverse rotation limit 1 (programmable controller side) lsr reverse rotation forward rotation servo motor forward rotation limit 1 m8343 forward limit flag for y000 reverse rotation limit 1 m8344 reverse limit flag for y000
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.3 various flags for operation commands b - 36 4.3.2 immediate stop of pulse output (pulse output stop command flag) during execution of positioning instruction, if the pulse output stop command flag is turned on, the pulse outputting operation will be immediately stopped. to output the pulse again, turn off the pulse output stop command flag. after that, deactivate (turn off) the positioning instruction, and then activate it again (turn it on again). the following table shows the pulse output stop command flag of each pulse output destination device (y000, y001, y002, y003). *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. note: use this flag only if immediate stop is absolutely needed to avoid dangers. since the motor is immediately stopped, use of this flag may damage the system. for normal stop operation (decelerated to stop), use "instruction off" function or "forward/reverse limit flag." however, note that if plsv instruction is used together with "instruction off" function or "forward/reverse limit flag" in the m8338 = off mode (operation without acceleration/deceleration), operation can be immediately stopped. 4.3.3 designation of zero return direction (dszr/zrn instruction) use dszr instruction (zero return instruction with do g search function) or zrn instruction (zero return instruction) to specify the zero return direction *1 . the zero return direction depends on the instruction. for operation of dszr instruction, refer to section 6.2. for operation of zrn instruction, refer to section 6.3. *1. if dszr instruction (zero return instruction with dog search function) is used, zero return will be performed in the direction of the first operation. 1. zero return instruction with dog search function (dszr instruction) turn on or off the zero return direction designation flag s hown in the following table to specify the zero return direction. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. pulse output destination device pulse output stop command flag operation y000 m8349 during pulse outputting operation, if the pulse output stop command flag of the corresponding pulse output destination device is turned on, the pulse outputting operation will be immediately stopped. y001 m8359 y002 m8369 y003 *1 m8379 pulse output destination device zero return direction designation flag description of setting y000 m8342 to perform zero return in the normal rotation direction:turn on the flag. to perform zero return in the reversed rotation direction:turn off the flag. y001 m8352 y002 m8362 y003 *1 m8372 reverse rotation limit 2 (servo amplifier side) reverse rotation limit 1 (programmable controller side) lsr forward rotation limit 2 (servo amplifier side) forward rotation limit 1 (programmable controller side) lsf reverse rotation forward rotation servo motor
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.3 various flags for operation commands b - 37 a common items b built-in positioning function apx. example connection 2. zero return instruction (zrn instruction) zero return will be performed in the reverse rotation direction only. (during zero return, the value indicated by the current value register will be reduced.) to perform zero return in the forward rotation direction using zrn instruction (zero return instruction): to perform zero return in the forward rotation direction, create a program to control the output (y) relay set as a "rotational direction signal" as follows: for details on programming, refer to section 4.7. to use main unit (transistor ou tput), refer to section 4.8. to use high-speed output special adapter, refer to section 4.9. 1) turn on y (rotational direction signal). 2) refresh y output using ref (fnc50) instruction. 3) execute zrn instruction (zero return instruction). 4) using the execution completion flag (m8029) of zrn instruction (zero return instruction), reset y (rotational direction signal). example of program: the following program uses y004 as t he rotational direction signal for y000. c omman d input turns on (sets) y004 as the rotational direction signal of y000 (pulse output destination). m8340 y000 output pulse monitor k8 y000 y000 y004 rst refreshes y000 to y007. executes zrn instruction. resets the rotational direction signal (y004) using the instruction execution complete flag. y004 set fnc 50 refp fnc156 dzrn s 1 ? s 2 ? s 3 ? m8029 m11 rst m10 rst m10 set origin data reading completion flag resets the rotational direction signal (y004) using the instruction execution abnormal end flag. y004 rst m8329 m11 set abnormal end of zero return a) b) c) d)
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.3 various flags for operation commands b - 38 4.3.4 clear signal output (dszr/zrn instruction) dszr instruction (zero return instruction with do g search function) and zrn instruction (zero return instruction) can stop the workpiece at the origin, and can output the clear signal. if it is necessary to output the clear signal to perform zero return, turn on "clear signal output function enable" flag. the following table shows "clear signal output function enable" flag of each pulse output destination device (y000, y001, y002, y003). use the fx 3u /fx 3uc plc of ver. 2.00 or later to specify the device that outputs the clear signal. for operation of dszr instruction, refer to section 6.2. for operation of zrn instruction, refer to section 6.3. 1. if it is not necessary to use the clear signal device specification function, or if the fx 3uc plc of below ver. 2.00 is used: *1. use the fx 3u /fx 3uc plc of ver. 2.00 or later to use "clear signal device specification function enable" flag. *2. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. 2. if it is necessary to use the clear signal device specification function: turn on "clear signal device specificat ion function enable" flag to specify the clear signal (output y) for the pulse output destinat ion device using the clear signal device specification device. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. for the clear signal device specification method, refer to the next page. if it is necessary to use the high-speed output special adapter: the output device initially set for clear signal of dszr/zrn instruction is the same output device as "direction signal / reverse pulse train (rotation direction signal)" of high-speed output special adapter. be sure to specify the output number of the other transistor output using the clear signal designation function. pulse output destination device status of "clear signal output function enable" flag status of "clear signal device specification function enable" flag *1 clear signal device number y000 m8341=on m8464=off y004 y001 m8351=on m8465=off y005 y002 m8361=on m8466=off y006 y003 *2 m8371=on m8467=off y007 pulse output destination device status of "clear signal output function enable" flag status of "clear signal device specification function enable" flag clear signal device number clear signal device specification device initial value (clear signal device) y000 m8341=on m8464=on d8464 - y001 m8351=on m8465=on d8465 - y002 m8361=on m8466=on d8466 - y003 *1 m8371=on m8467=on d8467 -
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.3 various flags for operation commands b - 39 a common items b built-in positioning function apx. example connection clear signal device specification method: 1) write the clear signal output (y) device number in "clear signal device specification" device by a hexadecimal number (expressed octal numbers). e.g. setting h0010 means y010. when setting h0008, an operation error occurs because y008 does not exist. 2) turn on "clear signal output enable" flag and "clear signal device specification function enable" flag of the pulse output designation device to specify the clear signal device. 3) execute dszr instruction (zero return instruction with dog search function) or zrn instruction (zero return instruction). example of program: the following figure shows a program that can spec ify y010 as the clear signal output device for y000 (pulse output destination device): 4.3.5 change in logic of near-point (dog) signal (dszr instruction) turn on or off "dog signal logic reverse" flag to spec ify the logic of the near-point (dog) signal of dszr instruction (zero return instruction with dog search function). use the operand ( ) of the instruction to specify the near-point (dog) signal. for operation of dszr instruction, refer to section 6.2. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. 4.3.6 change in logic of zero-phase signal (dszr instruction) turn on or off "zero point signal logic reverse" flag to specify the logic of the zero-phase signal of dszr instruction (zero return instruction with dog search function). use the operand ( ) of the instruction to specify the zero-phase signal. for operation of dszr instruction, refer to section 6.2. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. pulse output destination device "dog signal logic reverse" flag description of setting y000 m8345 off: positive logic (turning on the input will turn on the near- point signal.) on: negative logic (turning off the input will turn on the near- point signal.) y001 m8355 y002 m8365 y003 *1 m8375 pulse output destination device "zero point signal logic reverse" flag description of setting y000 m8346 off: positive logic (turning on the input will turn on the zero- phase signal.) on: negative logic (turning off the input will turn on the zero- phase signal.) y001 m8356 y002 m8366 y003 *1 m8376 m8000 run monitor specifies the y010 as the clear signal output device for the y000 (pulse output destination device). turns on "clear signal device designation function enable" flag of the y000 (pulse output destination device). turns on "clear signal output enable" flag. d8464 h0010 fnc 12 movp m8464 m8341 s 1 s 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.3 various flags for operation commands b - 40 4.3.7 designation of interrupt input signal for dvit instruction the interrupt input signal of the interrupt positioning (dvit) instruction depends on the pulse output destination device as shown in the following table. use the fx 3uc plc of ver. 1.30 or later to specify the interrupt input signal. use the fx 3u /fx 3uc plc of ver. 2.00 or later to set the user interruption command device. for operation of dvit instruction, refer to chapter 9. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. designation of interrupt input using m8336: 1) turn on the m8336. 2) set the interrupt input number (x000 to x007) in the d8336, or specify the user interruption command device *1 . for example of specifying program, refer to the following description. pulse output destination device interrupt input signal if it is not necessary to use the interrupt input designation function (m8336 = off), or if the fx 3uc plc of below ver. 1.30 is used if it is necessary to use the interrupt input designation function (m8336 = on) y000 x000 y001 x001 y002 x002 y003 *1 x003 setting value description of setting 0 specifies x000 for the interrupt input signal. 1 specifies x001 for the interrupt input signal. ~ ~ 7 specifies x007 for the interrupt input signal. 8 *1 specifies the user interruption command device *1 for the interrupt input signal. 9 to e *3 do not specify these values. f *3 set "f" for a pulse output destination device if the device is not used for the interrupt positioning (dvit) instruction. d8336=h { { { { interrupt input for y000 (pulse output destination device) interrupt input for y001 (pulse output destination device) interrupt input for y002 (pulse output destination device) interrupt input for y003 (pulse output destination device) d8336=h { { { { interrupt input for y000 (pulse output destination device) interrupt input for y001 (pulse output destination device) interrupt input for y002 (pulse output destination device) interrupt input for y003 (pulse output destination device) pulse output destination device user interruption command device y000 m8460 y001 m8461 y002 m8462 y003 *2 m8463
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.3 various flags for operation commands b - 41 a common items b built-in positioning function apx. example connection *1. the device can be specified if the fx 3u /fx 3uc plc of ver. 2.00 or later is used. using the fx 3uc plc of below ver. 2.00, if "8" is set and then the specified interrupt positioning (dvit) instruction turns on, an operation error (error code: k6763) will occur, and the instruction will not cause any operation. *2. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *3. after setting a number in the range of 9 to f for the interrupt input signal, if the corresponding interrupt positioning (dvit) instruction turns on, an operation error (error code: k6763) will occur, and the instruction will not cause any operation. example of program: the following program specification of interrupt i nput signal for each pulse output destination device as shown in the following table. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. pulse output destination device interrupt input signal setting value y000 x003 3 y001 m8461 8 y002 unused f y003 *1 unused f run monitor fnc 12 movp hff83 d8336 m8000 m8336
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.3 various flags for operation commands b - 42 4.3.8 change in logic of interrupt input signal (dvit instruction) turn "interrupt signal logic reverse" flag on or off to specify the logic of the interrupt input signal of each interrupt positioning (dvit) instruction. for operation of dvit instruction, refer to chapter 9. for details on the interrupt input signal designation method, refer to subsection 4.3.7. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. caution: if a user interruption command device (m8360 to m8463) is specified in the interrupt input signal, the logic of the user interruption command device cannot be specified. this is because turning on the user interruption command device will turn on the interrupt input signal. 4.3.9 acceleration/deceleration by plsv instruction using the fx 3u /fx 3uc plc of ver. 2.00 or later, if the m8338 (acceleration/deceleration operation) is turned on, the variable speed pulse output (plsv) instructi on will be activated to accelerate/decelerate the operation. this means that if the command value of the output pulse frequency is changed, the operation will be accelerated or decelerated to the changed output pulse frequency depending on the specified acceleration/ deceleration time. for operation of plsv instruction, refer to chapter 10. caution: ? to enable acceleration/deceleration, turn on the m 8338 first, and then activate the variable speed pulse output (plsv) instruction. ? if acceleration/deceleration is enabled, the variable speed pulse output (plsv) instructions of all the pulse output destination devices will accelerate/decelerate the operation. this means that acceleration/ deceleration cannot be specified for each pulse output destination device. pulse output destination device "interrupt signal logic reverse" flag description y000 m8347 off: positive logic (turning on the input will turn on the interrupt input signal.) on: negative logic (turning off the input will turn on the interrupt input signal.) y001 m8357 y002 m8367 y003 *1 m8377 bias speed acceleration time initial value: 100 ms deceleration time output pulse frequency maximum speed initial value: 100,000 hz initial value: 100 ms initial value: 0 hz bias speed
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.4 current value and flag for monitoring of operation b - 43 a common items b built-in positioning function apx. example connection 4.4 current value and flag for monitoring of operation 4.4.1 current value during positioning operation, use the current value register to check the current value. the current value will be increased or decreased depending on the rotation direction. the following table shows the current value register (32-bit) of each pulse output destination device (y000, y001, y002, y003). *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. caution: the current value will be counted in the range of -2,147,483,648 to 2,147,483,647. if the current value exceeds this range, the following value will be indicated. be careful not to exceed the later range. ? if the current value is increased past the maximum value, the minimum value will be indicated. ? if the current value is decreased below the minimum value, the maximum value will be indicated. necessity of zero return: if the specified forward rotation pulse or the reverse ro tation pulse is output, the current value register will increase or reduce the current value. upon turning off the power of the plc, however, the current value stored in the current value register will be erased. for this reason, after turning the power on again, be sure to adjust the current value of the current value register to the current position of the machine. for this adjustment, use the zero return instruction or the absolute current value read instruction (absolute position detection system) shown below: for details on dszr instruction, refer to section 6.2. for details on zrn instruction, refer to section 6.3. for details on abs instruction, refer to chapter 7. *2. the absolute position detection function is adopted for the mr-h a, mr-j2 a mr-j2s a, or mr- j3 a servo amplifiers. if one of these servo amplifiers is adopted and mechanical zero return is performed only once just before turning off the power , the current value will not be erased even after power-off. after turning on the power again, read out the stored current value using abs (fnc155) instruction of the plc. this means that the current value can be obtained without performing zero return just after turning on the power again. pulse output destination device current value register (32-bit) y000 d8341,d8340 y001 d8351,d8350 y002 d8361,d8360 y003 *1 d8371,d8370 instruction description dszr(fnc150) zero return instruction with dog search function zrn(fnc156) zero return instruction (without dog search function) abs(fnc155) *2 absolute current value read instruction
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.4 current value and flag for monitoring of operation b - 44 4.4.2 completion of execution of instruction ("instruction execution complete" flag, "instruction execution abnormal end" flag) use "instruction execution complete" flag or "instr uction execution abnormal end" flag to check whether execution of the positioning instruction is completed properly. "instruction execution complete" flag and "instruction execution abnormal end" flag can be turned on or off for each instruction. use these flags just after execution of each instruction. for details on programming, refer to subsection 4.7.4. ? "instruction execution complete" flag: will be turned on if the instruction is executed properly. ? "instruction execution abnormal end" flag: will be turned on if the instruction is not executed properly. caution: if "instruction execution complete" flag or "instruction execution abnormal end" flag is turned on, then the execution of the instruction (pulse outputting operation, etc.) is completed. however, it is not certain whether the servo motor is stopped. check "positioning completion" signal or "servo ready" signal of the servo amplifier (drive unit) to check whether the servo motor is stopped. 4.4.3 "pulse output monitor" (busy/ready) flag use "pulse output monitor" (busy/ready) flag to ch eck whether the pulse is being output to the pulse output destination device. the following table shows "pulse output monitor" (busy/ready) flag of each pulse output destination device (y000, y001, y002, y003). *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. 4.4.4 "positioning instruction activation" flag use "positioning instruction activa tion" flag of each pulse output destination device to check whether or not the positioning instruction is being executed for the pulse output destination. use this flag to prevent simultaneous activation of two or more positioning inst ructions in the same pulse output destination device. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. pulse output destination device "pulse output monitor" (busy/ready) flag statuses of flag and pulse y000 m8340 outputting pulse (busy):flag = on pulse outputting stopped (ready):flag = off y001 m8350 y002 m8360 y003 *1 m8370 pulse output destination device "positioning instruction activation" flag statuses of flag and pulse y000 m8348 on: the positioning instruction is being activated for the corresponding pulse output destination. (even after completing execution of the instruction, if the instruction is still activated, the flag will not be turned off.) off: the positioning instruction is not being activated for the corresponding pulse output destination. y001 m8358 y002 m8368 y003 *1 m8378
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.5 setting of various items on plc side b - 45 a common items b built-in positioning function apx. example connection 4.5 setting of various items on plc side 4.5.1 setting of common items using program for each pulse output destination device (y000, y001, y002, y003* 1 ), set the items shown in the following table without using the operand of the instruction. setting item setting device instruction refer to y000 y001 y002 y003 *1 dszr zrn abs tbl plsv dvit drvi drva items related to speed maximum speed *2 d8344, d8343 d8354, d8353 d8364, d8363 d8374, d8373 - *3 subsec- tion 4.2.5 bias speed d8342 d8352 d8362 d8372 - *3 subsec- tion 4.2.6 acceleration time d8348 d8358 d8368 d8378 - *3 *4 subsec- tion 4.2.7 deceleration time d8349 d8359 d8369 d8379 - *3 *4 subsec- tion 4.2.8 zero return speed *2 d8347, d8346 d8357, d8356 d8367, d8366 d8377, d8376 ------- subsec- tion 4.2.3 creep speed d8345 d8355 d8365 d8375 ------- subsec- tion 4.2.4 items specially needed for (dszr) zero return instruction with dog search function and (zrn) zero return instruction) zero return direction m8342 m8352 m8362 m8372 *5 ------ subsec- tion 4.3.3 clear signal output m8341 m8351 m8361 m8371 ------ subsec- tion 4.3.4 clear signal device change *6 m8464 d8464 m8465 d8465 m8466 d8466 m8467 d8467 ------ subsec- tion 4.3.4 logic of near-point signal m8345 m8355 m8365 m8375 ------ subsec- tion 4.3.5 logic of zero-phase signal m8346 m8356 m8366 m8376 ------- subsec- tion 4.3.6 items specially needed for variable speed pulse output (plsv) instruction acceleration/ deceleration operation *4 m8338 ---- --- subsec- tion 4.3.9 items specially needed for interrupt positioning (dvit) instruction interrupt input signal device change *7 m8336 d8336 --- *3 - -- subsec- tion 4.3.7
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.5 setting of various items on plc side b - 46 *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. 32 bits are adopted for the maximum speed setting device and the zero return speed setting device. *3. set this item using the pc parameter (positioni ng) of gx developer (ver.8.23z or later) and the fx 3u / fx 3uc plc of ver.2.00 or later. the data set by the parameter will be stored in the corresponding device. *4. to accelerate or decelerate the operation using t he variable speed pulse output (plsv) instruction of the fx 3u /fx 3uc plc of ver.2.00 or later, it is necessary to set this item. if the operation is not accelerated or decelerated, or if the fx 3uc plc of below ver.2.00 is used, this instruction will not use this item even if this item is set. *5. zrn instruction will not use any zero return di rection setting devices. using the program, adjust the rotation direction output to the zero return direction. *6. this item can be set using the fx 3u /fx 3uc plc of ver.2.00 or later. *7. this item can be set using the fx 3u /fx 3uc plc of ver.1.30 or later. the user interrupt input command device, however, can be set using the fx 3u /fx 3uc plc of ver.2.00 or later. *8. use this function only if immediate stop is absolutely needed to avoid danger. user interrupt input command device *7 m8460 m8461 m8462 m8463 --- *3 - -- subsec- tion 4.3.7 logic of interrupt input signal m8347 m8357 m8367 m8377 --- - -- subsec- tion 4.3.8 forward limit, reverse limit, and immediate stop of pulse output forward limit m8343 m8353 m8363 m8373 - subsec- tion 4.3.1 reverse limit m8344 m8354 m8364 m8374 - subsec- tion 4.3.1 immediate stop of pulse output *8 m8349 m8359 m8369 m8379 - subsec- tion 4.3.2 setting item setting device instruction refer to y000 y001 y002 y003 *1 dszr zrn abs tbl plsv dvit drvi drva
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.5 setting of various items on plc side b - 47 a common items b built-in positioning function apx. example connection example of program: in the following program, the zero return instruction with dog search function (dszr), variable speed pulse output (plsv) instruction, and interrupt positioning (dvit) instruction are used for the pulse output destination (y000) under the conditions shown in the following table. 1) set conditions setting item description of setting related device setting value or condition items related to speed maximum speed 30000hz d8344, d8343 (32-bit) k30000 bias speed 10hz d8342 k10 acceleration time 200ms d8348 k200 deceleration time 200ms d8349 k200 zero return speed 5000hz d8347, d8346 (32-bit) k5000 creep speed 500hz d8345 k500 items specially needed for dszr instruction (zero return instruction with dog search function) and zrn instruction (zero return instruction) zero return direction reverse rotation direction m8342 off clear signal output output to y010 m8341 on clear signal device change *6 m8464 on d8464 h0010 logic of near-point signal sets the positive logic (turning on the input will turn on the near-point signal). m8345 off logic of zero-phase signal sets the positive logic (turning on the input will turn on the zero-phase signal). m8346 off items specially needed for variable speed pulse output (plsv) instruction acceleration/deceleration operation if x012 is turned on, the variable speed pulse output (plsv) instruction will be activated to accelerate or decelerate the operation. m8338 on: if x012 = on items specially needed for interrupt positioning (dvit) instruction interrupt input signal device change sets x007 for interrupt inputs. interrupt positioning (dvit) instruction will not be used for the pulse output destinations y001, y002, and y003. m8336 on d8336 hfff7 user interrupt input command device do not use. m8460 - logic of interrupt input signal sets the negative logic (turning off the input will turn on the interruption signal). m8347 on forward limit, reverse limit, and immediate stop of pulse output forward limit if x010 is turned off (if the nc contact is turned on), the limit switch will be activated. m8343 on: if x010 = off reverse limit if x011 is turned off (if the nc contact is turned on), the limit switch will be activated. m8344 on: if x011 = off immediate stop of pulse output do not use. m8349 -
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.5 setting of various items on plc side b - 48 2) set program zero return direction (for y000, dszr instruction) :reverse rotation direction m8342 m8000 run monitor m8002 maximum speed (for y000): 30000 hz (d8344, d8343) initial pulse bias speed (for y000): 10 hz d8342 acceleration time (for y000): 200 ms d8348 deceleration time (for y000): 200 ms d8349 zero return speed (for y000, dszr instruction) :5000 hz (d8347, d8346) creep speed (for y000, dszr instruction) :500 hz, d8345 d8343 k30000 fnc 12 dmov d8342 k10 fnc 12 mov d8348 k200 d8349 k200 d8346 k5000 d8345 k500 fnc 12 dmov fnc 12 mov fnc 12 mov fnc 12 mov m8000 clear signal output (for y000) :y010 run monitor d8464 h0010 fnc 12 movp logic of near-point signal (for y000) :positive logic m8345 m8000 logic for zero-phase signal (for y000, dszr instruction) :positive logic m8346 acceleration/deceleration operation (plsv instruction) :enabled if x012 = on m8338 x012 m8000 interruption input signal device (for y000, dvit instruction) :x007 (y001 to y003 will not be used.) run monitor d8336 hfff7 fnc 12 movp logic of interruption input signal:negative logic m8347 m8000 run monitor forward rotation limit (for y000) m8343 x010 reverse rotation limit (for y000) m8344 x011 run monitor m8464 m8341 m8336
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.5 setting of various items on plc side b - 49 a common items b built-in positioning function apx. example connection 4.5.2 setting of high-speed output special adapter if high-speed output special adapter (fx 3u -2hsy-adp) is used, the pulse output method can be selected from "pulse train + direction" method and "f orward/reverse rotation pulse train" method. 1. setting of pulse output method using the pulse output method setting switch of the high-speed output special adapter (fx 3u -2hsy-adp), set the pulse output method as shown in the following table. the set pulse output method should conform to the command pulse input method set for the servo amplifier (drive unit). for details on the servo amplifier (drive unit), refer to the manual of the product used in your system. *1. "on" and "off" represent the statuses of the plc output. "h" and "l" respectively represent the high status and the low status of the waveform. for details on the relation between the plc output and the waveform, refer to subsection 4.6.1. caution: operate output form setting switch while plc is stop or the power is off. do not operate output form setting switch while pulse is being generated. 2. setting of rotation direction signal for positioning instruction if high-speed output special adapter (fx 3u -2hsy-adp) is used, the rotation direction signal will be assigned to each pulse output destination device as shown in the fo llowing table. set the rotation direction signal of the positioning instruction as shown in the following table: position of pulse output method setting switch pulse output method logic of command pulse fp ? rp side forward rotation pulse train (fp) reverse rotation pulse train (rp) negative logic pls ? dir side pulse train + direction negative logic position of pulse output method setting switch of high- speed output special adapter signal name of positioning instruction output number the 1st adapter the 2nd adapter 1st axis 2nd axis 3rd axis 4th axis fp ? rp side forward rotation pulse train (fp) pulse output destination: y000 y001 y002 y003 reverse rotation pulse train (rp) rotation direction signal y004 y005 y006 y007 pls ? dir side pulse train pulse output destination: y000 y001 y002 y003 direction rotation direction signal y004 y005 y006 y007 off forward rotation pulse train (fp) reverse rotaion pulse train (rp) forward rotaion reverse rotation * 1 off* 1 h l h l off pulse train direction forward rotaion reverse rotation h l h l * 1 on* 1 * 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.5 setting of various items on plc side b - 50 3. clear signal and rotation direction signal if high-speed output special adapter (fx 3u -2hsy-adp) is used, the same output will be used for both the clear signal and the rotation direction signal of dszr (fnc150) or zrn (fnc156) instruction. for this reason, to output the clear signal, change the clear signal device. for details on the clear signal device ch ange method, refer to subsection 4.3.4. pulse output destination device clear signal device initially set rotation direction signal (reverse rotation pulse train / direction) the 1st adapter the 2nd adapter 1st axis 2nd axis 3rd axis 4th axis y000 y004 y004 - - - y001 y005 - y005 - - y002 y006 - - y006 - y003 y007 - - - y007
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.6 setting of various items on servo amplifier (drive unit) side b - 51 a common items b built-in positioning function apx. example connection 4.6 setting of various items on servo amplifier (drive unit) side for details on the servo amplifier (drive unit), refer to the manual of the product used in your system. 4.6.1 setting of command pulse input method 1. pulse output method on plc side 1) if the main unit (transistor output (sink output)) is used, the pulse output signals (pulse output destination and rotation direction) will be as shown in the following figure: *1. "on" and "off" represent the statuses of the plc output. "h" and "l" respectively represent the high status and the low status of the waveform. for details on the relation between the plc output and the waveform, refer to the next page 2) if the pulse output method setting switch of the high-speed output special adapter is set to "pls ? dir" position, the pulse output signals (pulse output desti nation signal and rotation direction signal) will be as shown in the following figure: *1. "on" and "off" represent the statuses of the plc output. "h" and "l" respectively represent the high status and the low status of the waveform. for details on the relation between high-speed output special adapter output and the waveform, refer to the next page. pulse output destination: y000 any output: y (rotation direction designation) pulse output destination: y001 any output: y (rotation direction designation) pulse output destination: y002 any output: y (rotation direction designation) forward rotation reverse rotation forward rotation reverse rotation on* 1 h l h l on* 1 h l h l off * 1 off * 1 h l h l on * 1 off * 1 rotation direction designation: y004 pulse output destination: y001 rotation direction designation: y005 pulse output destination: y002 rotation direction designation: y006 pulse output destination: y003 rotation direction designation: y007 pulse output destination: y000 forward rotation reverse rotation forward rotation reverse rotation off * 1 off * 1 off * 1 off * 1 on* 1 on* 1 on* 1 on* 1 h l h l h l h l h l h l h l h l
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.6 setting of various items on servo amplifier (drive unit) side b - 52 3) high-speed output special adapter (for ward/reverse pulse train setting) when setting operate output form setting switch of the high speed output special adapter to "fp ? rp" side, the pulse output signals will be as shown in the following figure. *1. "on" and "off" represent the statuses of the plc output. "h" and "l" respectively represent the high status and the low status of the waveform. for details on the relation between high-speed output special adapter output and the waveform, refer to the next page. h l h l h l h l off * 1 off * 1 off * 1 off * 1 forward rotation reverse rotation forward rotation reverse rotation off * 1 h l h l h l h l off * 1 off * 1 off * 1 pulse output destination: y002 (forward rotation pulse train) rotation direction designation: y006 (reverse rotation pulse train) pulse output destination: y003 (forward rotation pulse train) rotation direction designation: y007 (reverse rotation pulse train) pulse output destination: y001 (forward rotation pulse train) rotation direction designation: y005 (reverse rotation pulse train) pulse output destination: y000 (forward rotation pulse train) rotation direction designation: y004 (reverse rotation pulse train)
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.6 setting of various items on servo amplifier (drive unit) side b - 53 a common items b built-in positioning function apx. example connection reference: image of plc output and wavefor m (for melservo-j3 series servo amplifier) 1) base unit (transistor output (sink output)) a) connection of plc to servo amplifier b) image of plc output and output waveform 2) high-speed output special adapter (set to "pulse train + direction") a) connection of plc to servo amplifier b) image of plc output and output waveform the output waveform shown below is based on the sga terminal of high-speed output special adapter. if the sgb side of high-speed output special adapter is used, the output waveform will be that of the sgb terminal. pp 10 docom 46 opc 12 np 35 24v dc pulse train direction sd plate com0 y000 y004 mr-j3 a servo amplifier plc main unit (transistor output (sink output)) pulse train signal (y000) direction output (y004) image of output on/off operation output waveform image of output on/off operation output waveform on off high low forward rotaion reverse rotation on off high low y0/2+ fx 3u -2hsy-adp y0/2- sga y4/6+ y4/6- equivalent to am26c31 sga pulse train direction sd plate mr-j3 a servo amplifier np 35 pp 10 pg 11 ng 36 pulse train signal (y000) direction output (y004) image of output on/off operation output waveform forward rotaion reverse rotaion on off high low high low on off high low high low image of output on/off operation output waveform + - + -
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.6 setting of various items on servo amplifier (drive unit) side b - 54 3) high-speed output special adapter (set to "forward/reverse rotation pulse train") a) connection of plc to servo amplifier b) image of plc output and output waveform the output waveform shown below is based on the sga terminal of high-speed output special adapter. if the sgb side of the high-speed output special adapter is used, the output waveform will be that of the sgb terminal. 2. setting of command pulse input method for servo amplifier (drive unit) set the following parameter of the servo amplifier (drive unit) so that the pulse train input method of the servo amplifier (drive unit) can be adjusted to the pulse output method of the plc as shown in the following tables. parameter setting for each series of melservo servo amplifier: *1. is for the setting except command pluse output form. for details, refer to servo amplifier manual. servo amplifier (drive unit) pulse output method of main unit pulse output method of high-speed output special adapter transistor output (sink output) differential line driver pulse train + direction pulse train + direction forward rotation pulse train, reverse rotation pulse train command pulse input method "pulse train + sign" "pulse train + sign" forward rotation pulse train, reverse rotation pulse train logic of command pulse "negative logic" "negative logic" "negative logic" series parameter no. set value pulse train + direction negative logic forward/reverse rotation pulse train negative logic mr-j3 13 0011 0010 mr-j2,mr-j2s 21 0011 0010 mr-c 7 011 010 mr-h 21 011 *1 010 *1 mr-j 7 1 *1 0 *1 y0/2+ fx 3u -2hsy-adp y0/2- sga y4/6+ y4/6- equivalent to am26c31 sga forward rotation pulse train reverse rotation pulse train sd plate mr-j3 a servo amplifier np 35 pp 10 pg 11 ng 36 forawrd rotation pulse train(y000) forward rotation reverse rotaion reverse rotation pulse train(y004) image of output on/off operation output waveform on off high low high low on off high low high low image of output on/off operation output waveform + - + -
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.6 setting of various items on servo amplifier (drive unit) side b - 55 a common items b built-in positioning function apx. example connection 4.6.2 setting of electronic gear (for melservo series) use the electronic gear of the servo motor to set the transfer distance per pulse. for details on electronic gear setting, refer to the manual of your servo motor or servo amplifier, and set the optimum value considering the application. setting example 1: to set the transfer distance per pulse to 10 m (if the machine uses a ball screw): machine specifications set the electronic gear as follows: cmx = 8, cdv = 1 in this case, when the main unit outputs the maximum output pulse frequency (100 khz), the servo motor rotational speed will be as follows: it is not necessary to restrict the maximum speed on the plc side because the servo motor rotational speed is less than the rated rotational speed. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. servo amplifier mr-c series rated rotational speed of servo motor 3000r/min lead of ball screw (pb) 10mm (0.4") reduction ratio (mechanical gear) (n) 1/2 resolution of servo motor (pt) 4000pls/rev pulse output destination device maximum speed setting device y000 d8344,d8343 y001 d8354,d8353 y002 d8364,d8363 y003 *1 d8374,d8373 f0 : command pulse frequency [hz] (open collector system) cmx : electronic gear (numerator of command pulse multiplying factor) cdv : electronic gear (denominator of command pulse multiplying factor) n0 : servo motor rotational speed [r/min] 0 : transfer distance per pulse [mm] servo motor pt = 4000 (pls/rev) n pb=10[mm](0.4") n=nl/nm=1/2 nl nm = 0 n p b pt 1/2 10 4000 cmx cdv = 10 10 -3 = 1 8 cmx cdv n 0 = 60 pt f 0 = 1 8 60 4000 100000 = 12000r/min > 3000r/min (rated rotational speed of servo motor)
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.6 setting of various items on servo amplifier (drive unit) side b - 56 setting example 2: to set the transfer distance per pulse to 0.01 (if a turntable is used): machine specifications set the electronic gear as follows: cmx = 32768, cdv = 1125 in this case, when the main unit outputs the maximum output pulse frequency (100 khz), the servo motor rotational speed will be as follows: it is not necessary to restrict the maximum speed on the plc side because the servo motor rotational speed is less than the rated rotational speed. 4.6.3 setting of "servo ready" signal (melservo mr-c series) if the following parameter is set as shown in the follow ing table for the melservo mr-c series, pin 3 of the cn1 connector of the servo amplifier will be changed to "servo ready" (rd). note that the following parameter should be set for the examples of programs shown in chapter 12. servo amplifier mr-j2s series rated rotational speed of servo motor 3000r/min turntable 360 /rev reduction ratio (mechanical gear) (n) (timing belt) 8/64 resolution of servo motor (pt) 131072pls/rev series parameter no. setting value mr-c 21 020 turntable timing belt: 8/64 servo motor pt = 131072 (pls/rev) f0 : command pulse frequency [hz] (open collector system) cmx : electronic gear (numerator of command pulse multiplying factor) cdv : electronic gear (denominator of command pulse multiplying factor) n0 : servo motor rotational speed [r/min] 0 : transfer distance per pulse [ ] = 0 n 360 pt 8/64 360 131072 cmx cdv = 1 10 -2 = 1125 32768 cmx cdv n 0 = 60 pt f 0 = 100000 1333.33 ??? r/min < 3000r/min (rated rotational speed) 1125 32768 131072 60 . .
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.7 items to be observed in programming b - 57 a common items b built-in positioning function apx. example connection 4.7 items to be observed in programming this section describes various programming items that will not be affected by any pulse output destination devices (hardware). in other sections, the programming items that will be affected by the pulse output destination devices are described. also refer to these sections. to use the transistor output of the ma in unit, also refer to section 4.8. to use the high-speed output special adapter, also refer to section 4.9. 4.7.1 positioning instruction activation timing the following positioning instruction can be programmed as much as needed. however, observe the items shown in the following table to deter mine the instruction activation timing. : if the pulse output destination device is now outputting pulses, the instruction cannot be activated. refer to "note" below. : for absolute position detection system, activate abs (fnc155) instruction at turning-on the servo amplifier at power-on. after execution of this instruct ion, the current value will be read out from the servo amplifier *1 only once. turning off this instruction will turn off the servo amplifier *1 . *1. abs (fnc155) instruction can be used for absolute position detection system of the melservo-j3, -j2(s), and -h series. caution: if "pulse output monitor" (busy/ready) flag is on, and if the positioning instruction (excluding the abs instruction) or the pulse output instruction (plsr, plsy) uses the same pulse output destination device, the instruction cannot be executed. even after turning off of the instruction activation cont act, if "pulse output monitor" (busy/ready) flag is still on, do not execute the positioning instruction (including plsr and plsy instructions) for the same output number. before activating such an instruction, check that " pulse output monitor" (busy/ready) flag is off, and then wait until 1 cycle or more of operation has been completed. for examples of programs, refer to chapter 12. *1. y003 can be specified as the pulse output destination only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. description instruction to be used dszr dvit tbl abs zrn plsv drvi drva instruction to be used dszr(fnc150) zero return instruction with dog search function dvit(fnc151) interrupt positioning (interruption fixed-feed) tbl(fnc152) positioning by batch setting method abs(fnc155) current abs value read-out from servo amplifier *1 zrn(fnc156) zero returnzero return (without dog search function) plsv(fnc157) variable speed pulse output drvi(fnc158) drive to increment drva(fnc159) drive to absolute pulse output destination device "pulse output monitor" flag y000 m8340 y001 m8350 y002 m8360 y003 *1 m8370
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.7 items to be observed in programming b - 58 use with plsy (fnc57) and pl sr (fnc59) instructions: in addition to the later-described positioning instructions , there are other instructions that need outputting of pulses. they are pulse output instru ctions fnc57 (plsy) and fnc59 (plsr). ? do not use the same output number for both the positioning instruction (fnc150 - fnc159) and the pulse output instruction (fnc57 or fnc59). ? use of a positioning instruction together with plsy or plsr instruction will complicate the operation of the register that controls the number of output pulses (see the following table). for this reason, it is recommended that a positioning instruction should be used in place of plsy or plsr instruction. for details on the related devices, refer to section 4.1 to section 4.4. *1. y003 can be specified as the pulse output destination only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. ? if it is necessary to use a positioning instruction (fnc150 to fnc159) together with a pulse output instruction (fnc57 or fnc59), use the following positioning instruction in place of the pulse output instruction: - fnc57(plsy), fnc59(plsr) fnc158(drvi) pulse output destination device current value register for fnc150 - fnc159 instructions for fnc57 and fnc59 instructions y000 d8341,d8340 d8141,d8140 y001 d8351,d8350 d8143,d8142 y002 d8361,d8360 - y003 *1 d8371,d8370 -
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.7 items to be observed in programming b - 59 a common items b built-in positioning function apx. example connection 4.7.2 stop instruction for the normal stop of operation (stop after speed reduction), use "instruction off" function or "forward/ reverse limit flag". if immediate stop is absolutely needed to avoid danger, use the pulse output stop command flag. during execution of positioning instruction, however, if the pulse output stop command flag is turned on, the pulse outputting operation will be immediately stopped. this means that the motor will be immediately stopped, which may damage the system. for this reason, carefully use the pulse output stop command flag. *1. y003 can be specified as the pulse output destinat ion only if 2 high-speed output special adapters are connected to the fx 3u plc. 4.7.3 correction of backlash the built-in positioning function cannot correct the mechanical backlash (clearance, play). if it is necessary to correct the backlash, preliminarily set the number of output pulses considering the backlash that may be caused while reversing the transfer direction. 4.7.4 "instruction execution complete" flag of positioning instruction and completion of positioning if the instruction execution complete flag (m8029) or the instruction execution abnormal end flag (m8329) is turned on, judge that execution of the instruction (pulse outputting operation, etc.) is completed. in this case, however, it is not certain whether the servo motor is st opped. check "positioning completion" signal or "servo ready" signal of the servo amplifier (drive unit) to check whether the servo motor is stopped. for details on "instruction execution complete" flag and "instruction execution abnormal end" flag, refer to subsection 4.4.2. pulse output destination device pulse stop instruction operation y000 m8349 during pulse outputting operation, if the pulse output stop command flag of the corresponding pulse output destination device is turned on, the pulse outputting operation will be immediately stopped. y001 m8359 y002 m8369 y003 *1 m8379 table feed screw backlash (clearance, play)
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.7 items to be observed in programming b - 60 programming using "instruction execution complete " flag and "instruction execution abnormal end" flag: 1) if two or more positioning instructions are used in a program, "instruction execution complete" flag (m8029) or "instruction execution abnormal end" fl ag (m8329) will be turned on or off after execution of each instruction. however, if "instruction execution complete" flag (m8029) and "instruction execution abnormal end" flag are used together for a program, it is difficult to determine which instruction turns them on/off and "instruction execution complete" flag will not be turned on for the intended instruction. to use a positioning instruction at a position othe r than just below the in struction, refer to the example shown on the next page. bad example: the m8029 will function as "instruction execution complete" flag of the lower dsw instruction. the m8029 will function as "instruction execution complete" flag of the upper dplsv instruction. the m8029 will function as "instruction execution complete" flag of the lower dplsv instruction. rst m0 fnc 22 mul d0 k10 d20 m8000 x10 y10 d0 completion of instruction execution fnc 72 dsw k1 x000 m0 set m0 k1000 y002 y006 fnc157 dplsv m8029 m8029 compl- etion of instruction execution m1 k1000 y001 y005 fnc157 dplsv program for upper dplsv instruction program for dsw instruction upper dplsv instruction lower dplsv instruction m0 fnc158 ddrvi k100000 k50000 y000 y004 m0 m8029 completion of instruction execution m1 fnc159 ddrva k10000 k30000 y001 rst m1 m8029 m8329 the m8029 will function as "instruction execution complete" flag of drvi instruction. the m8029 will function as "instruction execution complete" flag of drva instruction. good example: abnormal completion of instruction execution m0 y005 rst rst completion of instruction execution m8329 m1 rst abnormal completion of instruction execution
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.7 items to be observed in programming b - 61 a common items b built-in positioning function apx. example connection 2) to use at a position other than just below the positioning instruction: if two or more positioning instructions are used in a program, "instruction execution complete" flag (m8029) or "instruction execution abnormal end" fl ag (m8329) will be turned on or off after execution of each instruction. if it is necessary to use "instruction execution co mplete" flag or "instruction execution abnormal end" flag at a point other than just below the instruction, turn on or off the other bit device just below the instruction, and use the contact as the command contact. m8000 fnc 72 dsw x10 y10 d0 k1 fnc 22 mul d0 k10 d20 m8029 completion of instruction execution m0 fnc158 ddrvi k10000 k10000 y000 m8029 completion of instruction execution switches "instruction execution complete" flag of dsw instruction from the m8029 to the m100. m100 m200 switches "instruction execution complete" flag of ddrvi instruction from the m8029 to the m200. m100 functions as the instruction execution complete flag of dsw instruction. rst m0 m200 functions as the instruction execution complete flag of ddrvi instruction. y030 y004
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.7 items to be observed in programming b - 62 4.7.5 operation error flag if an applied instruction (including pos itioning instructions) of the fx 3u /fx 3uc plc has an error (construction error, device designation error, numbering range error, etc.), an operation error may occur during operation. if an operation error occurs, the following flag w ill be turned on, and the error data will be stored. 1. operation error ? if an operation error occurs, the m8067 will be turned on, and the operation error code will be stored in the d8067, and the error detected step number *1 will be stored in the d8315 and d8314 (32-bit). *1.if the error detected step number is 32767 or less, the error step number can be also checked using the d8069 (16-bit). ? if an operation error occurs at the other step, the error code and the error step number of the instruction will be sequentially updated. (if the error status is canceled, the error flag will be turned off.) ? if the plc once stopped is restarted without canceling the error status, the error status will be automatically canceled, but immediately after that, the error flag will be turned on again. 2. operation error latch ? if an operation error occurs, the m8068 will be turned on, and the error detected step number *1 will be stored in the d8313 and d8312. *1.if the operation error detected step number is 32767 or less, the error step number can be also checked using the d8068 (16-bit). ? if a new error is caused by the other instruction, the error data will not be updated, and the operation will be continued until "forced reset" command is input or the power is turned off. 4.7.6 write during run do not change program if a positioning instruction (fnc150, fnc151, fnc156 to fnc159) is being executed (pulses are being output) in the run mode. operations will be performed as shown in the following table if program is change during execution of instruction in run mode. *1. this instruction is compatible with ver.2.00 or later. if the fx 3uc plc is used and its version is below ver.2.00, operation will be performed without acceleration/deceleration. error flag error code storage device error detected step number storage device (32-bit) m8067 d8067 d8315,d8314 error flag error code storage device error detected step number storage device (32-bit) m8068 - d8313,d8312 instruction if program is change in circuit block including currently-activated instruction dszr(fnc150) decelerates and stops pulse output. dvit(fnc151) tbl(fnc152) program cannot be change in the run mode. zrn(fnc156) decelerates and stops pulse output. plsv (fnc157) during operation with acceleration/deceleration *1 decelerates and stops pulse output. during operation without acceleration/deceleration immediately stops pulse output. drvi(fnc158) drva(fnc159) decelerates and stops pulse output.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.8 items to be observed in use of main unit (transistor output) b - 63 a common items b built-in positioning function apx. example connection 4.8 items to be observed in use of main unit (transistor output) 1. pulse output destination devices use y000, y001, and y002 transistor outputs of the main unit as the pulse output destination devices. do not use y003 transistor output of the main unit for the positioning instructions. if y003 is used for a positioning instruction, the plc may be damaged. 2. pulse output method adjust the pulse output method of the transistor output of the main unit so that the pulse output method can conform to the command pulse input method of the servo amplifier (drive unit). if the pulse output method is not properly adjusted, the servo amplifier (drive unit) may not perform the intended operation. for details on the servo amplifier (drive unit), refer to the manual of the product used in your system. for details on the pulse output method of the main unit, refer to subsection 4.6.1. 3. output pulse frequency (including zero return speed) if the transistor output y000, y001, y002 of main unit uses the pulse frequency of more than 100,000 hz to perform operation, the plc may be damaged. the output pulse frequency and the zero return speed should be equal to or less than the maximum frequency of the servo amplifier (drive unit). 4. load current to use a positioning instruction for y000, y001, or y002 transistor output of the main unit, adjust the load current of the open collector transistor output to 10 to 100 ma (5 to 24v dc). 4.9 caution for using the high-speed output special adapter (fx 3u -2hsy-adp) 1. output terminals to be used if the high-speed output special adapter is connected, output numbers will be assigned in the same way as the main unit as shown in the following table. us e the output terminals of one side (main unit side or high- speed output special adapter side), and do not connect lines to the output terminals of unused side. the outputs of high-speed output special adapter and the main unit will operate as follows. assignment of output numbers item description operation voltage range 5 to 24v dc operation current range 10 to 100ma output pulse frequency 100 khz or less position of pulse output method setting switch of high-speed output special adapter signal name of positioning instruction output number the 1st adapter the 2nd adapter 1st axis 2nd axis 3rd axis 4th axis fp ? rp side forward rotation pulse train (fp) pulse output destination y000 y001 y002 y003 reverse rotation pulse train (rp) rotation direction signal y004 y005 y006 y007 pls ? dir side pulse train pulse output destination y000 y001 y002 y003 direction rotation direction signal y004 y005 y006 y007
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.9 caution for using the high-speed output special adapter (fx3u-2hsy-adp) b - 64 operation of output ? if an output number of the high-speed output special adapter is used (if an output of high-speed output special adapter is connected), do not use (connect) the corresponding output terminal of the main unit. ? if an output number of the main unit is used (if an output of the main unit is connected), do not use (connect) the corresponding output terminal of the high-speed output special adapter. 2. rotation direction signal of positioning instruction if fx 3u -2hsy-adp high-speed output special adapter is used, the rotational direction signal will be assigned to each pulse output destination device as shown in the following table. do not assign any other outputs to these devices using positioning instructions, etc. for details, refer to subsection 4.5.2. 3. clear signal and rotation direction signal if fx 3u -2hsy-adp high-speed output special adapter is used, the same outputs will be used for both the clear signal and rotation direction signal of dszr (fnc 150) or zrn (fnc156) instruction as shown in the table above. for this reason, to output the clear signal, change the clear signal device. for details on the clear signal device ch ange method, refer to subsection 4.3.4. 4. pulse output method for high-speed output special adapter adjust the pulse output method of the high-speed output special adapter (fx 3u -2hsy-adp) so that the pulse output method can conform to the command pulse input method of the servo amplifier (drive unit). if the pulse output method is not properly adjusted, the servo amplifier (drive unit) may not perform the intended operation. for details on the servo amplifier (drive unit), refer to the manual of the product to be used for your system. for details on the pulse output method, refe r to subsection 4.6.1 or subsection 4.5.2. 5. output pulse frequency (including zero return speed) set the output pulse frequency and the zero return speed so that these values can be less than the maximum frequency value of the servo amplifier (driver unit). operation of output instruction for outputting pulse train at high speed other instructions main unit of relay output type if the instruction turns on, the corresponding output will be turned on (the corresponding led will be turned on). can be activated. high-speed output special adapter can be activated. can be activated. pulse output destination device rotation direction signal (reverse rotation pulse train / direction) initial setting of clear signal the 1st adapter the 2nd adapter 1st axis 2nd axis 3rd axis 4th axis y000 y004 - - - y004 y001 - y005 - - y005 y002 - - y006 - y006 y003 - - - y007 y007
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.10 format and execution of applied instruction b - 65 a common items b built-in positioning function apx. example connection 4.10 format and execution of applied instruction instruction and operand: - function numbers (fnc00 - fnc ? ? ? ) and symbols (mnemonic codes) are assigned to the applied instructions of this plc. for example, a symbol of "smov" (shift) is assigned to the fnc13. - some applied instructions consist of the instruction area only, but many applied instructions consist of the instruction area and the operand. : an operand that will not be affected by execution of the instruction is referred to as a source. this symbol represents a source. if the device number is modified by the index register, " ? " will be added, and s will be modified into . if there are two or more sources, the modified sources will be , , and so on. : an operand that will be affected by execution of the instruction is referred to as a destination. this symbol represents a destination. if the device numbers can be indexed by index registers, and if there are two or more destinations, the modified destinations will be , , and so on. m, n : the operands not corresponding to source and distination are indicated as "m" and "n". if the device number can be indexed by index registers, and if there are two or more operands, the modified operands will be m1 ? , m2 ? , n1 ? , n2 ? , and so on. - regarding the program steps, the instruction area of each applied instruction has 1 step. the operand of each applied instruction, however, has 2 or 4 st eps depending on the number of bits (16 or 32 bits). devices for operands: - bit devices x, y, m, and s can be used for the operands. - combination of these bit devices, such as knx, kny, knm, and kns, can be used for numeric data. refer to the programming manual. - current value registers, such as data register d, timer t, and counter c, can be used. - data register d consists of 16 bit. consecutive 2 data registers (2 points), therefore, should be used for the 32-bit data. for example, if data register d0 is specified for the operand of a 32-bit instruction, the d1 and d0 will be used for the 32-bit data (d1 for 16 high-order bits, and d0 for 16 low-order bits). if current value registers t and c are used as the general data registers, they will be used in the same way. each 32-bit counter (c200 to c255), however, can use the 32-bit data without combining two counters. these counters, however, cannot be specified for the operands of 16-bit instructions. command input fnc158 drvi s 1 ? s 2 ? d 1 ? d 2 ? s s s 1 s 2 d d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 4 before programming 4.10 format and execution of applied instruction b - 66 format and execution of instruction: depending on the sizes of the numeric values to be processed, applied instructions can be classified into two types: 16-bit instructions and 32-bit instructions. in addition, depending on the execution type, these instructions can be also classified into two types: continuous execution type and the pulse execution type. regarding applied instructions, some of them have all the combinations and others do not. 1. 16-bit instructions and 32-bit instructions - depending on the bit length of the numeric data to be processed, applied instructions can be classified into two types: 16-bit type and the 32-bit type. the d10 to the d12. this instruction transfers the data from the d21 and d20 to the d23 and d22. - for the 32-bit instruction, the instruction name will be dmov ("d" will be added to "mov"). - either the even number devices or the odd number devices can be specified. if a device is specified, the specified device will be combined with the dev ice having the next number (for the word devices, such as devices t, c, and d). to prevent confusion, it is recommended that the operand of a 32-bit instruction should use even numbers to specify the low-order devices. - each 32-bit counter (c200 to c255) needs only one device to set 32 bits. for this reason, the operand of a 16-bit instruction cannot specify any 32-bit counters. 2. pulse execution type instructions and continuous execution type instructions pulse execution type instructions: the program shown in the right figure shows that when x000 is turned on, the instruction will be executed only once. if x000 is off, the instruction will not be executed. if it is not necessary to frequently execute the instruction, use of the pulse execution type instructions is recommended. note that "p" means that the instruction is the pulse execution type. this means that dmovp is also the pulse execution type. continuous execution type instructions: the program shown in the right figure shows that if x001 is on, the continuous execution type instruction will be executed at the start of each operation cycle. note that if the fnc24 (inc) or fnc25 (dec) is used as the continuous execution type instruction, the destination will be changed at the start of each operation cycle. to indicate such continuous execution type instructi ons, the symbol " " will be added to the title of each instruction as shown in the following figure. carefully use these instructions. note that if activation input x000 or x001 is off, instructions will not be executed. also note that if the later symbol is not added to the title of an instruction, the destination of the instruction will not be changed. command 1 fnc 12 mov d10 d12 command 2 fnc 12 dmov d20 d22 x000 fnc 12 movp d10 d12 x001 fnc 12 mov d10 d12 p fnc 12 mov number instruction name d
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 5 operation test b - 67 a common items b built-in positioning function apx. example connection 5. operation test this chapter describes the operation test of positi oning instructions. during forward rotation (jog+) operation and reverse rotation (jog-) operation, the test checks whether positioning instructions are properly activated. design precautions ? provide a safety circuit on the outside of the plc so that the whole system operates to ensure the safety even when external power supply trouble or plc failure occurs. otherwise, malfunctions or output failures may result in an accident. 1) an emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the plc. 2) when the plc cpu detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are turned off. when an error that cannot be detected by the plc cpu occurs in an input/output control block, output control may be disabled. design external circuits and mechanisms to ensure safe operations of the machine in such a case. 3) when some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off. for output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe operations of the machine in such cases. design precautions ? do not bundle the control line together with the main circuit or power line. do not lay the control line near them.as a rule, lay the control line at least 100mm(3.94") or more away from the main circuit or power line. noise may cause malfunctions. ? install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and i/o connectors. failure to do so may result in wire breakage or failure of the plc. wiring precautions ? cut off all phases of the power source externally before installation or wiring work in order to avoid electric shock or damage of product. ? make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work. failure to do so may cause electric shock. wiring precautions ? connect the ac power supply wiring to the dedicated terminals described in this manual. if an ac power supply is connected to a dc input/output terminal or dc power supply terminal, the plc will be burnt out. ? connect the dc power supply wiring to the dedicated terminals described in this manual. if an ac power supply is connected to a dc input/output terminal or dc power supply terminal, the plc will be burnt out. ? do not wire vacant terminals externally. doing so may damage the product. ? perform class d grounding (grounding resistance: 100 ? or less) to the grounding terminal in the fx 3u series main unit with a 2mm 2 or thicker wire. do not connect the grounding terminal at the same point as a heavy electrical system (refer to the manual of the plc main unit).
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 5 operation test b - 68 ? perform class d grounding (grounding resistance: 100 ? or less) to the grounding terminal in the fx 3uc series main unit with a wire as thick as possible. do not connect the grounding terminal at the same point as a heavy electrical system (refer to the manual of the plc main unit). ? when drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions. ? use the product in such a status that excessive force is not applied on i/o connectors. failure to do so may result in wire breakage or failure of the plc. ? fit the i/o cables securely to the designated connectors. contact failures may cause malfunctions. ? perform wiring properly to the fx 3u series main unit and fx 0n /fx 2n series extension equipment of the terminal block type in accordance with the following precautions. failure to do so may cause electric shock, short-circuit, wire breakage, or damages to the product. - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.5 to 0.8 n ? m. ? observe the following items to wire the lines to the european terminal board. ignorance of the following items may cause electric shock, short circuit, disconnection, or damage of the product. - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.22 to 0.25 n ? m. - twist the end of strand wire and make sure there is no loose wires. - do not solder-plate the electric wire ends. - do not connect electric wires of unspecified size or beyond the specified number of electric wires. - fix the electric wires so that the terminal block and connected parts of electric wires are not directly stressed. ? properly perform wiring to the fx series terminal blocks following the precautions below in order to prevent electrical shock, short-circuit, breakage of wire, or damage to the product: - the disposal size of the cable end should follow the dimensions described in this manual. - tightening torque should be between 0.5 to 0.8 n ? m. startup and maintenance precautions ? do not touch any terminal while the plc's power is on. doing so may cause electrical shock or malfunctions. ? before cleaning or retightening terminals, externally cut off all phases of the power supply. failure to do so may expose you to shock hazard. ? before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety. an operation error may damage the machine or cause accidents. startup and maintenance precautions ? do not disassemble or modify the plc. doing so may cause failures, malfunctions or fire. for repair, contact your local mitsubishi electric distributor. ? before connecting or disconnecting any extension cable, turn off power. failure to do so may cause unit failure or malfunctions. ? before attaching or detaching the following devices, turn off power. failure to do so may cause device failure or malfunctions. - peripheral devices, expansion boards and special adapters - i/o extension units/blocks and terminal blocks wiring precautions
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 5 operation test 5.1 test procedure b - 69 a common items b built-in positioning function apx. example connection 5.1 test procedure 1 turn off the power to the plc. 2 temporarily connect the limit switches (forward rotation limit 1, reversed rotation limit 1) and the manual switches (forward rotation, reverse rotation). connect the limit switches and the manual switches to the following input terminals of the plc. do not connect the servo amplifier (drive unit). for details on connection, refer to chapte r 3 of the hardware edition of the plc. for details on the forward rotation limit and th e reverse rotation limit, refer to subsection 4.3.1. 3 create the test program. for details on the test program, refer to section 5.2. 4 turn on the power to the plc. 5 transfer the test program to the main unit. for details, refer to the manual of the programming tool. 6 check the input indicator lamp (led lamp). when the programming controller is stopped, acti vate the temporarily connected input terminals, and check the status of each input indicator lamp (led lamp). if the fx 3uc plc is used, check the input statuses using the display module. 7 switch the plc into run mode. signal input number limit switch forward rotation limit 1 nc contact x010 reverse rotation limit 1 nc contact x011 manual switch forward rotation (jog+) no contact x012 reverse rotation (jog-) no contact x013 signal input signal status of led indicator lamp forward rotation limit 1 x010 activation of the forward rotation limit switch 1 will turn off the led indicator lamp of x010 (turn off x010). reverse rotation limit 1 x011 activation of the reverse rotation limit switch 1 will turn off the led indicator lamp of x011 (turn off x011). forward rotation (jog+) x012 turning on the forward rotation (jog+) switch will turn on the led indicator lamp of x012. reverse rotation (jog-) x013 turning on the reverse rotation (jog-) switch will turn on the led indicator lamp of x013.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 5 operation test 5.1 test procedure b - 70 8 check the operation in the forward rotation direction. check the output indicator lamp (led lamp) and the current value register to check the operation. the status of the led indicator lamp and the value indicated on the current value register depend on the pulse output destination or rotation direction set in the positioning instruction. however, if the pulse output destination or the rotation direction is changed in the test program, carefully read the status of the output indicator lamp (led lamp) and the value indicated on the current value register marking the change in the test program. 1. operation in forward rotation direction turn on the forward rotation (jog+) switch (x012), and check that operation is performed in the forward rotation direction. for this check, set the other inputs in the following statuses: 1) led indicator lamp check check the led indicator lamps of the plc or the display module to see whether or not the outputs are turned on. the status of each output should be as shown in the following table: 2) current value register (d8340, d8341) check monitor the current value register (d8340, d8341) of the fx 3u /fx 3uc plc using the programming tool, and confirm that the value is being increased. for details on the current value register, refer to subsection 4.4.1. 2. stop of operation turn off the forward rotation (jog+) switch (x012) to stop the operation in the forward rotation direction. 1) led indicator lamp check check the led indicator lamps of the plc or the display module to check whether the outputs are turned on. the status of each output should be as shown in the following table: 2) current value register (d8340, d8341) check monitor the current value register (d8340, d8341) of the fx 3u /fx 3uc plc using the programming tool, and confirm that increase in the value is stopped. for details on the current value register, refer to subsection 4.4.1. input signal status x010 on x011 on x013 off pulse output method led lamp of output status of led lamp (output) if transistor outputs of main unit are used "pulse train + direc- tion" method y000 turned on and off at a high speed. y004 kept at the on status. if high-speed output special adapter is used "pulse train + direc- tion" method y0/2 turned on and off at a high speed. y4/6 kept at the on status. forward rotation pulse train (fp) reverse rotation pulse train (rp) y0/2 turned on and off at a high speed. y4/6 kept at the off status. pulse output method led lamp of output status of led lamp (output) if transistor outputs of main unit are used "pulse train + direc- tion" method y000 the led indicator lamp turned on and off at a high speed will be turned off. y004 kept at the on status. if high-speed output special adapter is used "pulse train + direc- tion" method y0/2 the led indicator lamp turned on and off at a high speed will be turned off. y4/6 kept at the on status. forward rotation pulse train (fp) reverse rotation pulse train (rp) y0/2 the led indicator lamp turned on and off at a high speed will be turned off. y4/6 kept at the off status.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 5 operation test 5.1 test procedure b - 71 a common items b built-in positioning function apx. example connection 9 check the operation of the forward rotation limit switch. during operation in the forward rotation direction (at step 8), turn off the forward rotation limit switch 1 (x010), and confirm that the operation in the forward rotation direction is stopped. the led indicator lamps and the current value register (d8340, d8341) will enter the same statuses as the stop statuses described in step 8. in addition, "instruction execution abnormal end" flag (m8329) will be turned on. for details on the current value register, refer to subsection 4.4.1. 10 check the operation in the reverse rotation direction. check the output indicator lamp (led lamp) and the current value register to check the operation. the status of the led indicator lamp and the value indicated on the current value register depend on the pulse output destination or rotation direction set on the positioning instruction. however, if the pulse output destination or the rotation direction is changed in the test program, carefully read the status of the output indicator lamp (led lamp) and the value indicated on the current value register considering on the change in the test program. 1. operation in reverse rotation direction turn on the reverse rotation (jog-) switch (x013), and check that the operation is performed in the reverse rotation direction. 1) led indicator lamp check check the led indicator lamps of the plc or the di splay module to check whether the outputs are turned on. the status of each output should be as shown in the following table: 2) current value register (d8340, d8341) check monitor the current value register (d8340, d8341) of the fx 3u /fx 3uc plc using the programming tool, and confirm that the value is being reduced. for details on the current value register, refer to subsection 4.4.1. input signal status x010 on x011 on x012 off pulse output method led lamp of output status of led lamp (output) if transistor outputs of main unit are used "pulse train + direc- tion" method y000 turned on and off at a high speed. y004 kept at the off status. if high-speed output special adapter is used "pulse train + direc- tion" method y0/2 turned on and off at a high speed. y4/6 kept at the off status. forward rotation pulse train (fp) reverse rotation pulse train (rp) y0/2 kept at the off status. y4/6 turned on and off at a high speed.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 5 operation test 5.1 test procedure b - 72 2. stop of operation turn off the reverse rotation (jog-) switch (x013) to stop the operation in the reverse rotation direction. 1) led indicator lamp check check the led indicator lamps of the plc or the display module to see whether or not the outputs are turned on. the status of each output should be as shown in the following table: 2) current value register (d8340, d8341) check monitor the current value register (d8340, d8341) of the fx 3u /fx 3uc plc using the programming tool, and confirm that decrease in the value is stopped. for details on the current value register, refer to subsection 4.4.1. 11 check the operation of the reverse rotation limit switch. during operation in the reverse rotation direction (at step 10), turn off the reverse rotation limit switch 1 (x011), and confirm that the operation in the reverse rotation direction is stopped. the led indicator lamps and the current value register (d8340, d8341) will enter the same statuses as the stop statuses described in step 10. in addition, "instruction execution abnormal end" flag (m8329) will be turned on. for details on the current value register, refer to subsection 4.4.1. pulse output method led lamp of output status of led lamp (output) if transistor outputs of main unit are used "pulse train + direc- tion" method y000 the led indicator lamp turned on and off at a high speed will be turned off. y004 kept at the off status. if high-speed output special adapter is used "pulse train + direc- tion" method y0/2 the led indicator lamp turned on and off at a high speed will be turned off. y4/6 kept at the off status. forward rotation pulse train (fp) reverse rotation pulse train (rp) y0/2 kept at the off status. y4/6 the led indicator lamp turned on and off at a high speed will be turned off.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 5 operation test 5.2 creation of test program b - 73 a common items b built-in positioning function apx. example connection 5.2 creation of test program 1. input/output assignment inputs/outputs are assigned as shown in the following table: 2. setting of related devices the related devices depend on the pulse output destination device set for the positioning instruction. if the pulse output destination device set for the positioning instruction is changed, it is necessary to change the related devices. for setting items of the related devices, refer to subsection 4.5.1. signal input/output number limit switch forward rotation limit 1 nc contact x010 reverse rotation limit 1 nc contact x011 manual switch forward rotation (jog+) no contact x012 reverse rotation (jog-) no contact x013 "pulse train" signal or "forward rotation pulse train" signal (output specified for pulse output destination) y000 "direction" signal or "reverse rotation pulse train" signal (output specified for rotation direction signal) y004 setting item description of setting related device setting value or condition items related to speed maximum speed 100,000hz d8344,d8343 (32-bit) k100000 initial value bias speed 0hz d8342 k0 initial value acceleration time 100ms d8348 k100 initial value deceleration time 100ms d8349 k100 initial value forward/reverse rotation speed 30,000hz - k30000 - forward limit, reverse limit, and immediate stop of pulse output forward limit if x010 is turned off (if the nc contact is turned on), the limit switch will be activated. m8343 on: if x010 = off reverse limit if x011 is turned off (if the nc contact is turned on), the limit switch will be activated. m8344 on: if x011 = off status check items positioning (y000) use this device to check whether the positioning instruction is being activated. m8348 turns on when positioning instruction is activated. "instruction execution abnormal end" flag use this device to check whether or not the forward/reverse rotation limit switch turns on. m8329 turns on when the limit switch is activated during positioning operation. current value register (y000) stores the current value of the positioning operation in y000. d8340,d8241 (32-bit) varies when positioning instruction turns on.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 5 operation test 5.2 creation of test program b - 74 3. example of program performs jogging operation in the forward rotation direction using the drive to increment instruction. m8002 maximum speed (for y000) 100,000hz [d8344,d8343] bias speed (for y000) 0hz d8342 acceleration time (for y000) 100ms d8348 deceleration time (for y000) 100ms d8349 d8343 k100000 fnc 12 dmov d8342 k0 fnc 12 mov d8348 k100 d8349 k100 fnc 12 mov fnc 12 mov x012 jog+ m8348 positioning (y000) m101 jog(+) operation completed y004 y000 fnc158 ddrvi k30000 k999999 x012 jog+ m8329 instruction execution abnormal completion m101 forward limit (for y000) m8343 x010 reverse limit (for y000) m8344 x011 completes the jog+ operation. x013 jog- m8348 positioning (y000) m103 y004 y000 fnc158 ddrvi k30000 k-999999 x013 jog- m8329 instruction execution abnormal completion m103 performs jogging operation in the reverse rotation direction using the drive to increment instruction. completes the jog+ operation. end initial pulse forward rotation limit 1 reverse rotation limit 1 jog(-) operation completed m100 jog(+) operation being performed m100 jog+ operation is being performed. m102 jog- operation is being performed. m102 jog(-) operation being performed
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.1 types of mechanical zero return instructions b - 75 a common items b built-in positioning function apx. example connection 6. mechanical zero return (dszr/zrn instruction) 6.1 types of mechanical zero return instructions if the specified forward rotation pulse or the reverse ro tation pulse is output, the positioning instruction of the plc will increase or reduce the current value of the current value register. when turning off the power of the plc, however, the current value stored in the current value register will be erased. for this reason, after turning on the power agai n, be sure to adjust the current value of the current value register to the current position of the machine. the built-in positioning function will use dszr/zrn instruction (zero return instruction) to adjust the value of the current value register to the current mechanical position. compared with zrn instruction, dszr instruction has some more functions. absolute position detection system: if the mr-h, mr-j2, mr-j2s, or mr-j3 servo amplifier (with absolute position detection function) manufactured by mitsubishi is used, the current position value will be retained even after power-off. perform zero return only once. after turning on the power again, just read out the current position value of the servo motor to the plc by fnc155 (dabs) instruction. this means that it is not necessary to perform zero return just after power-on. dszr instruction zrn instruction dog search function - dog signal logical not - zero return using zero-phase signal - zero point signal logic reverse -
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.2 dog search zero return (dszr instruction) b - 76 6.2 dog search zero return (dszr instruction) using the fx 3u /fx 3uc plc of ver.2.00 or later, use this instruction to change the clear signal output destination. 6.2.1 instruction format 1. instruction format 2. data setting 3. devices 1 : the d .b cannot be indexed by index registers (v and z). 2 : specify a device in the range of x000 to x007. 3 : specify y000, y001, or y002 transistor output of main unit, or specify y000, y001, y002 *2 , or y003 *2 of high-speed output special adapter *1 . *1. high-speed input/output special adapter cannot be connected to fx 3uc -32mt-lt. *2. to use y002 and y003 of high-speed output special adapter, connect the second high-speed output special adapter. operand type description data type specifies the near-point signal (dog) input device number. bit specifies the zero-phase signal input number. specifies the pulse output number. specifies the rotation direction signal output destination number. operand type bit device word device others system user digit designation system user spe- cial unit index con- stant real num- ber char- acter string pointer xymtcsd .b knx kny knm kns t c d r u \g vzmodifykh e " "p 1 2 3 4 1 fnc 150 dszr zero return with dog search 16-bit instruction 9 steps dszr - continuous execution type instruction symbol execution condition 32-bit instruction - - instruction symbol execution condition command input fnc 150 dszr s 2 ? s 1 ? d 1 ? d 2 ? s 1 s 2 d 1 d 2 s 1 s 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.2 dog search zero return (dszr instruction) b - 77 a common items b built-in positioning function apx. example connection note: ? to use the fx 3u series main unit of relay output type, be sure to connect high-speed output special adapter. the differential line drive will be used fo r the outputs of the high-speed output special adapter. 4 : if high-speed output special adapter is not used for the fx 3u plc, or if the fx 3u plc is used, specify a transistor output number. if high-speed output special adapter is used for the fx 3uc plc, specify the following output numbers. for the outputs applicable with high-speed ou tput special adapter, refer to section 4.9. 6.2.2 list of related devices 1. special auxiliary relays the following table shows the related special auxiliary relays. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. cleared when plc switches from run to stop. *3. this function will be valid if ver.2.00 or later is used. high-speed output special adapter connection position pulse output rotation direction output the 1st adapter = for y000 = y004 = for y001 = y005 the 2nd adapter = for y002 = y006 = for y003 = y007 device number function attribute refer to y000 y001 y002 y003 *1 m8029 "instruction execution complete" flag read only subsection 4.4.2 m8329 "instruction execution abnormal end" flag read only subsection 4.4.2 m8340 m8350 m8360 m8370 "pulse output monitor" (busy/ready) flag read only subsection 4.4.3 m8341 m8351 m8361 m8371 clear signal output function enable. *2 drivable subsection 4.3.4 m8342 m8352 m8362 m8372 zero return direction specification. *2 drivable subsection 4.3.3 m8343 m8353 m8363 m8373 forward limit drivable subsection 4.3.1 m8344 m8354 m8364 m8374 reverse limit drivable subsection 4.3.1 m8345 m8355 m8365 m8375 dog signal logic reverse *2 drivable subsection 4.3.5 m8346 m8356 m8366 m8376 zero point signal logic reverse *2 drivable subsection 4.3.6 m8348 m8358 m8368 m8378 positioning instruction activation read only subsection 4.4.4 m8349 m8359 m8369 m8379 pulse output stop command. *2 drivable subsection 4.3.2 m8464 *3 m8465 *3 m8466 *3 m8467 *3 clear signal device specification function enabled. *2 drivable subsection 4.3.4 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.2 dog search zero return (dszr instruction) b - 78 2. special data registers the following table shows the related special data r egisters. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if ver.2.00 or later is used. device number function data length initial value refer to y000 y001 y002 y003 *1 d8340 low- order d8350 low- order d8360 low- order d8370 low- order current value register (pls) 32-bit 0 subsection 4.4.1 d8341 high- order d8351 high- order d8361 high- order d8371 high- order d8342 d8352 d8362 d8372 bias speed (hz) 16-bit 0 subsection 4.2.6 d8343 low- order d8353 low- order d8363 low- order d8373 low- order maximum speed (hz) 32-bit 100,000 subsection 4.2.5 d8344 high- order d8354 high- order d8364 high- order d8374 high- order d8345 d8355 d8365 d8375 creep speed (hz) 16-bit 1000 subsection 4.2.4 d8346 low- order d8356 low- order d8366 low- order d8376 low- order zero return speed (hz) 32-bit 50,000 subsection 4.2.3 d8347 high- order d8357 high- order d8367 high- order d8377 high- order d8348 d8358 d8368 d8378 acceleration time (ms) 16-bit 100 subsection 4.2.7 d8349 d8359 d8369 d8379 deceleration time (ms) 16-bit 100 subsection 4.2.8 d8464 *2 d8465 *2 d8466 *2 d8467 *2 clear signal device specification 16-bit - subsection 4.3.4
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.2 dog search zero return (dszr instruction) b - 79 a common items b built-in positioning function apx. example connection 6.2.3 function and operation for details on the maximum speed, bias speed, acceleration time, and deceleration time, refer to subsection 4.2.5 to subsection 4.2.8. 1) for , specify the near-point signal (dog) input device number. to specify the logic of this near- point signal (dog), turn on or off "dog signal logi c reverse" flag as shown in the following table. ? when an input (x000 to x017) *1 of the main unit is specified for the near-point signal (dog) specified by , the rear end of the near-point signal (dog) wi ll be monitored (detected) at the 1-ms intervals (interruption). under the following condition, however, monitoring ( detection) of the near-point signal (dog) rear end will be affected by the input constant or the scan time of the sequence program: - an input number of x020 or below or the other device (auxiliary relay, etc.) is specified. *1. specify x000 to x007 for fx 3u -16m . pulse output destination device "dog signal logic reverse" flag description = y000 m8345 off: positive logic (turning on the input will turn on the near-point signal.) on: negative logic (turning off the input will turn on the near-point signal.) = y001 m8355 = y002 m8365 = y003 m8375 command input fnc 150 dszr s 2 ? s 1 ? d 1 ? d 2 ? maximum speed initial value: 100,000hz zero return speed initial value: 50,000hz deceleration time bias speed initial value: 0hz acceleration time creep speed initial value: 1,000hz clear signal zero-phase signal (x000 - x007) 1 ms or less 20 ms + 1 scan time (ms) s 2 ? current value register = "0" initial value: 100 ms initial value: 100ms dog s 1 ? front end rear end s 1 d 1 d 1 d 1 d 1 s 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.2 dog search zero return (dszr instruction) b - 80 2) for , specify the zero-phase signal input number in the range of x000 to x007. to specify the logic of this zero-phase signal, turn on or off "zero point signal logic reverse" flag as shown in the following table. if the same input is specified for both the near-point signal and the zero-phase signal, the logic of the zero- phase signal will be specified by the device of the near-point signal (dog), not the following device. in this case, in the same way as zrn instruction, operation will be performed at the front and rear ends of the near-point signal (dog) without using the zero-phase signal. 3) for , specify the pulse output number in the range of y000 to y003. 4) for , specify the rotation direction signal out put device number. if the high-speed output special adapter is not used for the fx 3u plc, or if the fx 3uc plc is used, specify a transistor output number. if high-speed output special adapter is used for the fx 3u plc, specify the following output numbers. the rotation direction depends on the on/off status of the specified device as shown in the following table. during execution of this instruction, however, do not use the output specified by . 5) zero return direction to specify the zero return direction, turn on or off "zero return direction designation" flag as shown in the following table. pulse output destination device "zero point signal logic reverse" flag description = y000 m8346 off: positive logic (turning on the input will turn on the near-point signal.) on: negative logic (turning off the input will turn on the near-point signal.) = y001 m8356 = y002 m8366 = y003 m8376 high-speed output special adapter connection position pulse output rotation direction output the 1st adapter = for y000 = y004 = for y001 = y005 the 2nd adapter = for y002 = y006 = for y003 = y007 on/off status of device specified by rotation direction (increase/reduction of current value) on forward rotation (outputting the pulse will increase the current value.) off reverse rotation (outputting the pulse will reduce the current value.) pulse output destination device "zero return direction designation" flag description = y000 m8342 to perform zero return in the forward rotation direction: turn on the flag. to perform zero return in the reverse rotation direction: turn off the flag. = y001 m8352 = y002 m8362 = y003 m8372 s 2 d 1 d 1 d 1 d 1 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2 d 2 d 2 d 1 d 1 d 1 d 1 d 1 d 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.2 dog search zero return (dszr instruction) b - 81 a common items b built-in positioning function apx. example connection 6) clear signal output this instruction can output the clear signal after stop at the origin. if it is necessary to output the clear signal at the completion of zero return, turn on "clear signal output function enable" flag (see the following table). use the fx 3u /fx 3uc plc of ver.2.00 or later to specify the clear signal output device. a) if it is not necessary to use the clear signal device specification function, or if the fx 3uc plc of below ver.2.00 is used. *1. use the fx 3u /fx 3uc plc of ver.2.00 or later to use "clear signal device specification function enable" flag. b) if it is necessary to use the clear signal device specification function: turn on "clear signal device specification function enable" flag to specify the clear signal (output y) for the pulse output destination device using the clear signal device specification device. for the example on a program, refer to subsection 4.3.4 or subsection 4.5.1. 7) zero return speed use the devices shown in the following table to set the zero return speed. be sure to set the zero return speed so that the relation with the other speeds can be "bias speed zero return speed maximum speed". - if "zero return speed > maximum speed", operation will be performed at the maximum speed. 8) creep speed use the devices shown in the following table to set the creep speed. be sure to set the creep speed so that the relation with the other speeds can be "bias speed creep speed maximum speed". pulse output destination device status of "clear signal output function enable" flag status of "clear signal device specification function enable" flag *1 clear signal device number = y000 m8341=on m8464=off y004 = y001 m8351=on m8465=off y005 = y002 m8361=on m8466=off y006 = y003 m8371=on m8467=off y007 pulse output destination device status of "clear signal output function enable" flag status of "clear signal device specification function enable" flag *1 clear signal device specification device = y000 m8341=on m8464=on d 8464 = y001 m8351=on m8465=on d 8465 = y002 m8361=on m8466=on d 8466 = y003 m8371=on m8467=on d 8467 pulse output destination device bias speed zero return speed maximum speed initial value = y000 d8342 d8347,d8346 d8344,d8343 50,000(hz) = y001 d8352 d8357,d8356 d8354,d8353 = y002 d8362 d8367,d8366 d8364,d8363 = y003 d8372 d8377,d8376 d8374,d8373 pulse output destination device bias speed creep speed maximum speed initial value = y000 d8342 d8345 d8344,d8343 1,000(hz) = y001 d8352 d8355 d8354,d8353 = y002 d8362 d8365 d8364,d8363 = y003 d8372 d8375 d8374,d8373 d 1 d 1 d 1 d 1 d 1 d 1 d 1 d 1 d 1 d 1 d 1 d 1 d 1 d 1 d 1 d 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.2 dog search zero return (dszr instruction) b - 82 1. zero return operation zero return operation is described below assuming that y000 is specified as the pulse output destination device by . for this reason, if y001, y002, or y003 is specified, it is necessary to change the output number of each related flag. for details of related flags, refer to sect ion 4.1 to section 4.4, or subsection 6.2.2. 1) specify the zero return direction. turn on or off "zero return direction designation" flag (m8342) to specify the zero return direction. 2) execute dszr instruction to carry out zero return. 3) transfer operation will be performed in the direction s pecified by "zero return direction designation" flag (m8342) at the speed specified by "zero return speed designation" device (d8347, d8346). 4) if the near-point signal (dog) specified by is turned on *1 , the speed will be reduced to the creep speed (d8345). 5) after turning off *1 the near-point signal (dog) specified by , if the zero-phase signal specified by is turned on *2 , the pulse outputting operation will be immediately stopped. if the same input is specified for both the near-point signal and the zero-phase signal, turning off *1 the near-point signal (dog) will immediately stop the pulse outputting operation (just like zrn instruction, the zero-phase signal will not be used). 6) if the clear signal output function (m8341) is enabled (set to on), the clear signal (y004) will be turned on within 1 ms after stopping the pulse outputting operation, and will be kept at the on status for "20 ms + 1 scan time (ms)". 7) the current value register (d8341, d8340) will be reset to "0" (will be cleared). 8) "instruction execution complete" flag (m8029) will be turned on, and the zero return operation will be completed. for details on "instruction execution complete" flag, refer to subsection 4.7.4. *1. this step is described assuming that "dog signal logic reverse" flag (m8345) is off. if this flag is on, it is necessary to change the expression "on" to "off", and "off" to "on". *2. this step is described assuming that "zero point signal logic reverse" flag (m8346) is off. if this flag is on, it is necessary to change the expression "on" to "off", and "off" to "on". d 1 s 1 s 1 s 2 maximum speed (d8344,d8343) zero return speed (d8347,d8346) deceleration time (d8349) bias speed (d8342) acceleration time (d8348) dog creep speed (d8345) clear signal (y004) zero-phase signal s 2 ? s 1 ? current value register = "0" zero return direction m8342=off (d8341,d8342) on "instruction execution complete" fla g m8029 front end rear end 1 ms or less 20 ms + 1 scan time (ms)
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.2 dog search zero return (dszr instruction) b - 83 a common items b built-in positioning function apx. example connection 2. dog search function if the forward rotation limit and the reverse rotation limit are set, the dog search function can be used for zero return. the zero return operation depends on the zero return start position. 1) if the start position is before the dog: a) when the zero return instruction is executed, zero return will be started. b) transfer operation will be started in the zero return direction at the zero return speed. c) if the front end of the dog is detected, the speed will be reduced to the creep speed. d) after detecting the rear end of the dog, if the first zero-phase signal is detected, the operation will be stopped. 2) if the start position is in the dog area: a) when the zero return instruction is executed, zero return will be started. b) transfer operation will be started in the opposite direction of the zero return direction at the zero return speed. c) if the front end of the dog is detected, the speed will be reduced and then the operation will be stopped. (the workpiece will come out of the dog area.) d) transfer operation will be restarted in the zero return direction at the zero return speed (and the workpiece will enter the dog area again). e) if the front end of the dog is detected, the speed will be reduced to the creep speed. f) after detecting the rear end of the dog, if the first zero-phase signal is detected, the operation will be stopped. 3) if the start position is in the near-point signal off area (after the dog): a) when the zero return instruction is executed, zero return will be started. b) transfer operation will be started in the zero return direction at the zero return speed. c) if the reverse rotation limit 1 (reverse rotation limit) is detected, the speed will be reduced, and then the operation will be stopped. d) transfer operation will be started in the opposite direction of the zero return direction at the zero return speed. e) if the front end of the dog is detected, the speed will be reduced and the operation will be stopped. (the workpiece will detect the dog and then come out of the dog area.) f) transfer operation will be restarted in the zero return direction at the zero return speed. (the workpiece will enter the dog area again.) g) if the front end of the dog is detected, the speed will be reduced to the creep speed. h) after detecting the rear end of the dog, if the first zero-phase signal is detected, the operation will be stopped. zero return direction 1) 2) 3) operation in reverse rotation direction operation in forward rotation direction reverse rotation limit 1 dog forward rotation limit 1 origin reverse rotation limit forward rotation limit 4) front end rear end
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.2 dog search zero return (dszr instruction) b - 84 4) if the limit switch in the zero return direction turns on (if the start position is at forward rotation limit 1 or reverse rotation limit 1): a) when the zero return instruction is executed, zero return will be started. b) transfer operation will be started in the opposite direction of the zero return direction at the zero return speed. c) if the front end of the dog is detected, the speed will be reduced and then the operation will be stopped. (the workpiece will detect the dog and then come out of the dog area.) d) transfer operation will be restarted in the zero return direction at the zero return speed (and the workpiece will enter the dog area again). e) if the front end of the dog is detected, the speed will be reduced to the creep speed. f) after detecting the rear end of the dog, if the first zero-phase signal is detected, the operation will be stopped.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.2 dog search zero return (dszr instruction) b - 85 a common items b built-in positioning function apx. example connection 6.2.4 important points for the important points for programming, refer to section 4.7. ? if an input (x000 to x017) *1 of the main unit is specified for the near-point signal (dog) specified by , the rear end of the near-point signal (dog) will be moni tored (detected) at the 1ms intervals (interruption). under the following condition, however, monitoring (det ection) of the near-point signal (dog) rear end will be affected by the constant at input or the scan time of the sequence program: - an input number of x020 or below or the other device (auxiliary relay, etc.) is specified. *1. specify x000 to x007 for fx 3u -16m . ? properly set the dog so that the near-point signal (dog) can be kept at the on status until the speed is reduced to the creep speed. this instruction will start speed reduction at the front end of the dog, and will stop the operation at the rear end of the dog or at detection of the first zero-phase signal after through the rear end of the dog. after that, the current value register will be cleared (reset to "0"). if the speed is not reduced to the creep speed before detecting the rear end of the dog, the operation may not be stopped at the specified position. ? the input device specified for the near-point signal or the zero-phase signal cannot be used for the following items: - high-speed counter - input interruption - pulse catch - spd instruction - dvit instruction - zrn instruction ? since the zero-phase signal of the servo motor is used, adjust the relation between the rear end of the dog and the zero-phase signal as shown in the following figure. if fine adjustment of the origin position is needed, adjust the position of the near-point signal (dog). ? the creep speed should be slow enough. the zero return instruction will not reduce the speed before stop. for this reason, if the creep speed is not low enough, the operation may not be stopped at the specified position due to inertia. ? even if the operand is subject to change during execution of the instruction, the operation will be continued while ignoring the change. to reflect the change on the operation, turn off the command contact of the instruction, and then turn it on again. ? if the instruction activation contact is turned off during zero return operation, the speed will be reduced and then the operation will be stopped. in this case, "ins truction execution complete" flag (m8029) will not be turned on. ? if "pulse output monitor" (busy/ready) flag is on, the positioning instruction (including plsr and plsy) that uses the same output cannot be executed. after the instruction activation contact is turned off, if "pulse output monitor" (busy/ready) flag is still on, do not execute the positioning instruction (including plsr and plsy instructions) having the same output number. ? in the following case, "instruction execution abnorma l end" flag (m8329) will be turned on, and execution of the instruction will be completed. for details on "instruction execution abnormal end" flag, refer to subsection 4.7.4. - if the dog search function cannot detect the near-point signal (dog), the speed will be reduced and then the operation will be stopped. in this case, "instruction execution abnormal end" flag (m8329) will be turned on, and execution of the instruction will be completed. s 1 s 1 s 2 dog rear end zero-phase signal
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.3 zero return (zrn instruction) b - 86 6.3 zero return (zrn instruction) using the fx 3u /fx 3uc plc of ver.2.00 or later, use this instruction to change the clear signal output destination. 6.3.1 instruction format 1. instruction format 2. data setting *1. setting range : 10 to 32,767 hz for 16-bit operation for the 32-bit operation, however, the setting range should be as shown in the following table. 3. devices 1 : the d .b cannot be indexed by index registers (v and z). 2 : specify y000, y001, or y002 transistor output of main unit, or specify y000, y001, y002 *2 , or y003 *2 of high-speed output special adapter *1 . *1. high-speed input/output special adapter cannot be connected to fx 3uc -32mt-lt. *2. to use y002 and y003 of high-speed output special adapter, connect the second high-speed output special adapter. note: ? to use the fx 3uc series main unit of relay output type, be sure to connect the high-speed output special adapter. the differential line drive will be used fo r the outputs of the high-speed output special adapter. operand type description data type specifies zero return start speed. *1 bin16/32-bit specifies creep speed. (setting range: 10 to 32,767 hz) specifies an input numbers for near-point signal(dog). bit specifies pulse output number. pulse output destination setting range fx 3u plc high-speed output special adapter 10 to 200,000(hz) fx 3uc plc main unit 10 to 100,000(hz) operand type bit device word device others system user digit designation system user special unit index con- stant real num- ber char- acter string pointer xymtcsd .b knx kny knm kns t c d r u \g v z modify k h e " "p 1 2 fnc 156 zrn zero return d 16-bit instruction 9 steps zrn - continuous execution type instruction symbol execution condition 32-bit instruction instruction symbol execution condition dzrn - continuous execution type 17 steps command input fnc156 zrn s 1 ? s 2 ? s 3 ? d ? s 1 s 2 s 3 d s 1 s 2 s 3 d
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.3 zero return (zrn instruction) b - 87 a common items b built-in positioning function apx. example connection 6.3.2 list of related devices 1. special auxiliary relays the following table shows the related special auxiliary relays. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. cleared when plc switches from run to stop. *3. this function will be valid if ver.2.00 or later is used. 2. special data registers the following table shows the related special data r egisters. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if ver.2.00 or later is used. device number function attribute refer to y000 y001 y002 y003 *1 m8029 "instruction execution complete" flag read only subsection 4.4.2 m8329 "instruction execution abnormal end" flag read only subsection 4.4.2 m8340 m8350 m8360 m8370 "pulse output monitor" (busy/ready) flag read only subsection 4.4.3 m8341 m8351 m8361 m8371 clear signal output function enable. *2 drivable subsection 4.3.4 m8343 m8353 m8363 m8373 forward limit drivable subsection 4.3.1 m8344 m8354 m8364 m8374 reverse limit drivable subsection 4.3.1 m8348 m8358 m8368 m8378 positioning instruction activation. read only subsection 4.4.4 m8349 m8359 m8369 m8379 pulse output stop command. *2 drivable subsection 4.3.2 m8464 *3 m8465 *3 m8466 *3 m8467 *3 clear signal device specification function enabled. *2 drivable subsection 4.3.4 device number device number data length initial value refer to y000 y001 y002 y003 *1 d8340 low- order d8350 low- order d8360 low- order d8370 low- order current value register (pls) 32-bit 0 subsection 4.4.1 d8341 high- order d8351 high- order d8361 high- order d8371 high- order d8342 d8352 d8362 d8372 bias speed (hz) 16-bit 0 subsection 4.2.6 d8343 low- order d8353 low- order d8363 low- order d8373 low- order maximum speed (hz) 32-bit 100,000 subsection 4.2.5 d8344 high- order d8354 high- order d8364 high- order d8374 high- order d8348 d8358 d8368 d8378 acceleration time (ms) 16-bit 100 subsection 4.2.7 d8349 d8359 d8369 d8379 deceleration time (ms) 16-bit 100 subsection 4.2.8 d8464 *2 d8465 *2 d8466 *2 d8467 *2 clear signal device specification 16-bit - subsection 4.3.4
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.3 zero return (zrn instruction) b - 88 6.3.3 function and operation for details on the maximum speed, bias speed, accel eration time and deceleration time, refer to subsection 4.2.5 to subsection 4.2.8. 1) for , specify the zero return speed. if the set zero return speed value is more than the maximum speed value, the operation will be performed at the maximum speed. note that the zero return speeds shown in the following table will not be adopted. 2) for , specify the creep speed. setting range: 10 to 32,767 hz setting range 16-bit operation 10 to 32,767(hz) 32-bit operation when high-speed output special adapter is used 10 to 200,000(hz) when transistor output of main unit is used 10 to 100,000(hz) pulse output destination device zero return speed = y000 d8347,d8346 = y001 d8357,d8356 = y002 d8367,d8366 = y003 d8377,d8376 command input fnc156 zrn s 1 ? s 2 ? s 3 ? d ? maximum speed zero return speed deceleration time bias speed acceleration time dog creep speed clear signal front end rear end 1 ms or less 20 ms + 1 scan time (ms) s 3 ? s 2 ? on "instruction execution complete" flag m8029 if the instruction is turned off s 1 ? s 1 d 1 d 1 d 1 d 1 s 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.3 zero return (zrn instruction) b - 89 a common items b built-in positioning function apx. example connection 3) for , specify the near-point signal (dog) input device number ( no contact). turning on the near-point signal will reduce the speed to the creep speed. turning off the near-point signal will complete the zero return operation. for details, refer to "1. zero return operation". ? if an input (x000 to x007) of the main unit is specif ied for the input signal, the interruption function will be adopted to stop the operation. (to output the clear signal, turn on "clear signal output function enable" flag.) under the following condition, however, operation may be affected by the input constant or the scan time of the sequence program, and the operation, ther efore, may not be stopped exactly at the origin. -an input number of x010 or below or the other device (auxiliary relay, etc.) is specified. ? if input relay x010 or below is specified for the near -point signal, the input filter (10 ms) will be adopted. 4) for , specify the pulse output number in the range of y000 to y003. 5) zero return direction for this instruction, the zero return direction is set to the reverse rotation direction. (during zero return operation, the value indicat ed on the current value register will be reduced.) for details on programming, refer to section 4.7. to use main unit (transistor ou tput), refer to section 4.8. to use high-speed output special adapter, refer to section 4.9. a) to perform zero return in the forward rotation direction, follow the procedure shown below and control turn on y (rotational direction signal). b) refresh y output using ref (fnc50) instruction. c) execute zrn instruction (zero return instruction). d) by execution completion flag (m8029) of zrn instruction (zero return instruction), reset y (rotational direction signal). example of program: regarding the program shown below, y004 is specifi ed as the rotation direction signal output device for y000. s 3 d c omman d input turns on (sets) y004 as the rotational direction signal of y000 (pulse output destination). m8340 y000 output pulse monitor k8 y000 y000 y004 rst refreshes y000 to y007. executes zrn instruction. resets the rotational direction signal (y004) using the instruction execution complete flag. y004 set fnc 50 refp fnc156 dzrn s 1 ? s 2 ? s 3 ? m8029 m11 rst m10 rst m10 set origin data reading completion flag resets the rotational direction signal (y004) using the instruction execution abnormal end flag. y004 rst m8329 m11 set abnormal end of zero return a) b) c) d)
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.3 zero return (zrn instruction) b - 90 6) clear signal output this instruction can output the clear signal after stop at the origin. if it is necessary to output the clear signal at the completion of zero return, turn on "clear signal output function enable" flag (see the following table). use the fx 3u /fx 3uc plc of ver.2.00 or later to specify the clear signal output device. a) if it is not necessary to use the clear signal device specification function, or if the fx 3uc plc of below ver.2.00 is used: *1. use the fx 3u /fx 3uc plc of ver.2.00 or later to use "clear signal device specification function enable" flag. b) if it is necessary to use the clear signal device specification function: turn on "clear signal device specificati on function enable" flag to specify the clear signal (output y) for the pulse output destination device using the clear signal device specification device. for the example of a program, refer to subsection 4.3.4 or subsection 4.5.1. pulse output destination device status of "clear signal output function enable" flag status of "clear signal device specification function enable" flag *1 clear signal device number = y000 m8341=on m8464=off y004 = y001 m8351=on m8465=off y005 = y002 m8361=on m8466=off y006 = y003 m8371=on m8467=off y007 pulse output destination device status of "clear signal output function enable" flag status of "clear signal device specification function enable" flag clear signal device specification device = y000 m8341=on m8464=on d 8464 = y001 m8351=on m8465=on d 8465 = y002 m8361=on m8466=on d 8466 = y003 m8371=on m8467=on d 8467 d 1 d 1 d 1 d 1 d 1 d 1 d 1 d 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.3 zero return (zrn instruction) b - 91 a common items b built-in positioning function apx. example connection 1. zero return operation zero return operation is described below assuming that y000 is specified as the pulse output destination device by . for this reason, if y001, y002, and y003 are specified, it is necessary to change the output number of each related flag (special auxiliary relay, special data register). for details on related flags, refer to sect ion 4.1 to section 4.4, or subsection 6.2.2. 1) execute zrn instruction to carry out zero return. 2) transfer operation will be performed at the zero return speed specified by . 3) if the near-point signal (dog) specified by is turned on, the speed will be reduced to the creep speed specified by . 4) if the near-point signal (dog) specified by is turned off, the pulse outputting operation will be immediately stopped. 5) if the clear signal output function (m8341) is enabled (set to on), the clear signal (y004) will be turned on within 1 ms after stopping the pulse outputting operation, and will be kept at the on status for "20 ms + 1 scan time (ms)". 6) the current value register (d8341, d8340) will be reset to "0" (will be cleared). 7) "instruction execution complete" flag will be turned on, and the zero return operation will be completed. for details on "instruction execution complete" flag, refer to subsection 4.7.4. *1. note that the zero return speeds shown in the following table will not be adopted. pulse output destination device zero return speed = y000 d8347,d8346 = y001 d8357,d8356 = y002 d8367,d8366 = y003 d8377,d8376 d s 1 s 3 s 2 s 3 maximum speed (d8344,d8343) zero return speed *1 deceleration time (d8349) bias speed (d8342) acceleration time (d8348) dog creep speed clear signal y004 front end rear end 1 ms or less 20 ms + 1scan time (ms) s 2 ? on "instruction execution complete" flag m8029 if the instruction is turned off s 1 ? s 2 ? d 1 d 1 d 1 d 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 6 mechanical zero return (dszr/zrn instruction) 6.3 zero return (zrn instruction) b - 92 6.3.4 important points for the important points of programming, refer to section 4.7. ? if an input (x000 to x007) of the main unit is specified for the near-point input signal specified by , the interruption function will be adopted to stop the operation. under the following condition, however, operation may be affected by the input constant or the scan time of the sequence program. - an input number of x010 or below or the other device (auxiliary relay, etc.) is specified. if input relay x010 or below is specified for the near- point signal, the input filter (10 ms) will be adopted. ? if an input (x000 to x007) is specified for the near-point signal , the input cannot be used for the following items: - high-speed counter - input interruption - pulse catch - spd instruction - dszr instruction - dvit instruction ? properly set the dog so that the near-point signal (dog) can be kept at the on status until the speed is reduced to the creep speed. this instruction will start speed reduction to the cr eep speed at the front end of the dog, and will stop the operation at the rear end of the dog. after that, the current value register will be cleared (reset to "0"). if the speed is not reduced to the creep speed before detecting the rear end of the dog, the operation may not be stopped at the specified position. ? the creep speed should be low enough. the zero return instruction will not reduce the speed before stop. for this reason, if the creep speed is not low enough, the operation may not be stopped at the specified position due to inertia. ? the dog search function is not adopted for this instruction. for this reason, start the zero return operation on the front side of the near-point signal. if it is necessary to use the dog search function, use the dszr instruction. ? the zero-phase signal of servo motor cannot be used. for this reason, if fine adjustment of the origin position is needed, adjust the position of the near-point signal (dog). ? if the instruction activation contact is turned off during zero return operation, the speed will be reduced and then the operation will be stopped. in this case, "ins truction execution complete" flag (m8029) will not be turned on. ? while "pulse output monitor" (busy/ready) flag is on, the positioning instruction (including plsr and plsy) that uses the same output cannot be executed. after the instruction activation contact is turned off, if "pulse output monitor" (busy/ready) flag is still on, do not execute the positioning instruction (including plsr and plsy instructions) having the same output number. ? in the following case, "instruction execution abnorma l end" flag (m8329) will be turned on, and execution of the instruction will be completed. for details on "instruction execution abnormal end" flag, refer to subsection 4.7.4. - if the forward limit flag or the reverse limit flag is turned on, the speed will be reduced and then the operation will be stopped. in this case, "instruction execution abnormal end" flag (m8329) will be turned on when completing execution of the instruction. - if the limit flag (forward limit flag or reverse limi t flag) on the opposite side of the operation direction is turned on, the speed will be reduced and then the operation will be stopped. in this case, "instruction execution abnormal end" flag (m8329) will be turned on when completing execution of the instruction. s 3 s 3
7 absolute position detection system (absolute current value read)-abs 7.1 instruction format b - 93 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection 7. absolute position detection system (absolute current value read)-abs instruction since the absolute position detection system is adopted, the built-in positioning function uses the current abs value read-out (abs) instruction to read out the curr ent value (absolute position (abs) data) from the melservo-h, -j2(s), or -j3 servo amplifier. for the items to be observed in programming, refer to section 4.7. for the servo amplifier and connection of the me lservo series, refer to the appendix and the examples of connection. 7.1 instruction format 1. instruction format 2. data setting 3. devices : the d .b cannot be indexed by index registers (v and z). operand type description data type specifies the first number of the device that inputs the absolute position (abs) data from the servo amplifier. number of occupied points: 3 (first point for ) bin16-bit specifies the first number of the device that outputs the absolute position (abs) data control signal to the servo amplifier. number of occupied points: 3 (first point for ) specifies the absolute position (abs) data (32-bit value) storage device number. bin32-bit operand type bit device word device others system user digit designation system user special unit index con- stant real num- ber char- acter string pointer xymtcsd .b knx kny knm kns t c d r u /g vz modify kh e " "p fnc 155 abs absolute d dabs ? 32-bit instruction instruction symbol execution condition 13 steps continuous execution type ? ? 16-bit instruction instruction symbol execution condition command input fnc 155 dabs s ? d 1 ? d 2 ? s s d 1 d 1 d 2 s d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 7 absolute position detection system (absolute current value read)-abs instruction 7.2 list of related devices b - 94 7.2 list of related devices for details on the related devices, refer to section 4.1 to section 4.4. 1. special auxiliary relays the following table shows the related special auxiliary relays. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. for details on plsy (fnc57), pwm (fnc58), and plsr (fnc59) instruct ions, refer to the programming manual. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. 2. special data registers the following table shows the related special data r egisters. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. 7.3 function and operation connect the mr-h, mr-j2, or mr-j3 servo motor (with absolute position detection function) manufactured by mitsubishi to your system, and use this instruction to read out the absolute position (abs) data. the data will be converted into the pulse value before being read out. 1) for , specify the first number of the device that inputs the absolute position (abs) data from the servo amplifier. number of occupied points: 3 ( , +1, +2) 2) for , specify the first number of the device that outputs the absolute position (abs) data control signal to the servo amplifier. be sure to use the transistor outputs as the outputs of the plc. number of occupied points: 3 ( , +1, +2) 3) for , specify the absolute position (abs) data (32-bit value) storage device number to store the data read out from the servo amplifier. handle the absolute position (abs) data as follows: - to use the built-in pulse output function, be sure to specify the following current value registers for the read-out abs data: *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. - when using fx 2n -1pg(-e) or fx 2n -10pg, read out the abs data from the data register first, and then write the read-out abs data into t he current value register of fx 2n -1pg(-e) or fx 2n -10pg using dto instruction. or directly specify buffer memory (u \g ) in . device number function attribute refer to y000 y001 y002 y003 *1 m8029 "instruction execution complete" flag read only subsection 4.4.2 m8329 "instruction execution abnormal end" flag read only subsection 4.4.2 device number function data length initial value refer to y000 y001 y002 y003 *1 d8340 low- order d8350 low- order d8360 low- order d8370 low- order current value register(pls) 32-bit 0 subsection 4.4.1 d8341 high- order d8351 high- order d8361 high- order d8371 high- order y000 y001 y002 y003 *1 d8341,d8340 d8351,d8350 d8361,d8360 d8371, d8370 command input fnc 155 dabs s ? d 1 ? d 2 ? s s s s d 1 d 1 d 1 d 1 d 2 d
7 absolute position detection system (absolute current value read)-abs 7.4 initial zero return b - 95 fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function a common items b built-in positioning function apx. example connection 1. detection of absolute position 1) if dabs (fnc155) instruction turns on, the plc will activate the servo-on output and the abs transfer mode output. 2) 32+6-bit data communication will be performed while mutually checking the data sending/ receiving condition using "send data ready" signal and "abs data request" signal. 3) the 2-bit line (line for abs bit 0 and bit 1) will be used for data transmission. 4) at the completion on abs data reading, "instruction execution complete" flag (m8029) will be turned on. for details of "instruction execution complete" flag, refer to subsection 4.7.4. 7.4 initial zero return when your system is established, even if your serv o motor is equipped with the absolute position detection function, it is necessary to perform zero return at least once to send the clear signal to the servo motor. use one of the following methods for the initial zero return: 1) execute dszr(fnc150) with dog search zero return instruction or zrn(fnc156) zero return instruction using the clear signal function to complete zero return. 2) carry out zero return of the machine using the position adjustment method in the jogging operation mode or manual operation mode, and then input the clear signal. to input the clear signal, use the output of the plc or the external switch shown in the following figure. 7.5 important points ? set the timing for your system so that the power of the servo amplifier is turned on first, and then the power of the plc, or that these powers are turned on at the same time. ? select an input so that dabs (fnc155) instruction activation contact can be kept at the on status even after reading out the abs data. if the instruction activation contact is turned off at the completion of abs data reading, the servo-on (son) signal will be turned off, and the operation will not be performed. ? if the instruction activation contact is turned off during data reading, data reading will be stopped. ? this instruction is for the 32-bit data only. be sure to input this instruction as dabs instruction. ? observe the following items to use fx 2n -1pg(-e) or fx 2n -10pg: - the abs data will be converted into the pulse value before being read out. for this reason, be sure to specify "motor system" when sett ing parameters (bfm #3) for fx 2n -1pg(-e). - when writing the abs data into fx 2n -10pg, be sure to use the current value register (bfm #40, bfm #39) to store the converted pulse data. ? even if data-communication with the servo amplifier is not performed properly, no error will be detected. for this reason, it is necessary to monitor the handshaking operation using the time-out error detection timer to detect a handshake error. for the example programs, refer to section 12.5. servo-on son abs data transfer mode absm tlc absr zsp do1 "send data ready" signal "abs data request" signal abs(bit 1) abs(bit 0) current position data (32 bits) + check data (6 bits) amplifier output plc output amplifier output amplifier output cr 8 sg 10 example for mr-j2- a clear signal
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.1 incremental method and absolute method b - 96 8. 1-speed positioning - drvi/drva instruction the built-in positioning function uses the drive to increm ent (drvi) instruction or the drive to absolute (drva) instruction to perform 1-speed positioning. note that these two instructions use different target position setting methods. for the important items common to all the posi tioning instructions, refer to section 4.7. for example programs, refer to chapter 12. 8.1 incremental method and absolute method there are two target position setting methods for positioning operation as described below: 1. incremental method (relative address setting method) while regarding the current position as the start point, specify the transfer direction and the transfer distance (relative address) to determine the target position. instruction target position setting method drive to increment (drvi) instruction incremental method: uses a relative address to specify the target position. drive to absolute (drva) instrument absolute method: uses an absolute address to specify the target position. 150 point b transfer distance: -100 300 point c 100 point a 0 origin start point end point to ueno current position target position to go from odawara (current position) to atami (target position), set the distance (+20.7 km) from odawara to atami. transfer distance: +50 transfer distance: -150 transfer distance: +100 transfer distance: +100 transfer distance: +100 transfer distance: -100 +20.7km -20.7km relative address for example: shizuoka mishima atami odawara shinyokohama tokyo
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.1 incremental method and absolute method b - 97 a common items b built-in positioning function apx. example connection 2. absolute method (absolute address setting method) specify the distance (absolute address) from the origin to the target position. in this case, any position can be the start point (current position). address 100 address 150 address 100 address 150 address 150 address 100 address 300 300 point c 150 point b 100 point a 0 origin start point end point shizuoka mishima atami odawara shinyokohama tokyo origin to ueno absolute address 0 28.8km current position 83.9km 104.6km 120.7km 180.2km target position to go from odawara (current position) to atami (target position), set the distance (+104.6 km) from tokyo (origin) to atami. for example:
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.2 drive to increment - drvi instruction b - 98 8.2 drive to increment - drvi instruction 8.2.1 instruction format 1. instruction format 2. data setting *1. setting range : -32,768 to +32,767 (excluding 0) for 16-bit operation : -999,999 to +999,999 (excluding 0) for 32-bit operation *2. setting range : 10 to 32,767 hz for 16-bit operation for the 32-bit operation, however, the setting range should be as shown in the following table. 3. devices 1 : specify y000, y001, or y002 transistor output of main unit, or specify y000, y001, y002 *2 , or y003 *2 of high-speed output special adapter *1 . *1. high-speed input/output special adapter cannot be connected to fx 3uc -32mt-lt. *2. to use y002 and y003 of the high-speed output special adapter, connect the second high-speed output special adapter. note: ? to use the fx 3u series main unit of relay output type, be sure to connect the high-speed output special adapter. the differential line drive will be used fo r the outputs of the high-speed output special adapter. operand type description data type specifies the number of output pulses (relative address). *1 bin16/32-bit specifies the output pulse frequency. *2 specifies the pulse output number. bit specifies the rotation direction signal output destination device number. pulse output destination setting range fx 3u plc high-speed output special adapter 10 to 200,000(hz) fx 3uc plc main unit 10 to 100,000(hz) operand type bit device word device others system user digit designation system user special unit index con- stant real num- ber char acter string pointer xymtcsd .b knx kny knm kns t c d r u \g v z modfy k h e " "p 1 2 3 fnc 158 drvi drive to increment d 16-bit instruction 9 steps drvi - continuous execution type instruction symbol execution condition 32-bit instruction instruction symbol execution condition ddrvi - continuous execution type 17 steps command input fnc 158 drvi s 1 ? s 2 ? d 1 ? d 2 ? s 1 s 2 d 1 d 2 s 1 s 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.2 drive to increment - drvi instruction b - 99 a common items b built-in positioning function apx. example connection 2 : if the high-speed output special adapter is not used for the fx 3u plc, or if the fx 3uc plc is used, specify a transistor output number. if the high-speed output special adapter is used for the fx 3u plc, specify the following output numbers. for the outputs applicable with high-speed output special adapter, refer to section 4.9. 3 : the d .b cannot be indexed by index registers (v and z). 8.2.2 list of related devices 1. special auxiliary relays the following table shows the related special auxiliary relays. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. high-speed output special adapter connection position pulse output rotation direction output the 1st adapter = for y000 = y004 = for y001 = y005 the 2nd adapter = for y002 = y006 = for y003 = y007 device number function attribute refer to y000 y001 y002 y003 *1 m8029 "instruction execution complete" flag read only subsection 4.4.2 m8329 "instruction execution abnormal end" flag read only subsection 4.4.2 m8340 m8350 m8360 m8370 "pulse output monitor" (busy/ready) flag read only subsection 4.4.3 m8343 m8353 m8363 m8373 forward limit drivable subsection 4.3.1 m8344 m8354 m8364 m8374 reverse limit drivable subsection 4.3.1 m8348 m8358 m8368 m8378 positioning instruction activation. read only subsection 4.4.4 m8349 m8359 m8369 m8379 pulse output stop command *2 drivable subsection 4.3.2 *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. cleaned when plc switches from run to stop. d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.2 drive to increment - drvi instruction b - 100 2. special data registers the following table shows the related special data r egisters. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. device number function data length initial value refer to y000 y001 y002 y003 *1 d8340 low- order d8350 low- order d8360 low- order d8370 low- order current value register (pls) 32-bit 0 subsection 4.4.1 d8341 high- order d8351 high- order d8361 high- order d8371 high- order d8342 d8352 d8362 d8372 bias speed (hz) 16-bit 0 subsection 4.2.6 d8343 low- order d8353 low- order d8363 low- order d8373 low- order maximum speed (hz) 32-bit 100,000 subsection 4.2.5 d8344 high- order d8354 high- order d8364 high- order d8374 high- order d8345 d8355 d8365 d8375 creep speed (hz) 16-bit 1000 subsection 4.2.4 d8346 low- order d8356 low- order d8366 low- order d8376 low- order zero return speed (hz) 32-bit 50,000 subsection 4.2.3 d8347 high- order d8357 high- order d8367 high- order d8377 high- order d8348 d8358 d8368 d8378 acceleration time (ms) 16-bit 100 subsection 4.2.7 d8349 d8359 d8369 d8379 deceleration time (ms) 16-bit 100 subsection 4.2.8
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.2 drive to increment - drvi instruction b - 101 a common items b built-in positioning function apx. example connection 8.2.3 function and operation this instruction is a 1-speed positioning instruction and uses the relative drive method. for this instruction, the transfer distance from the current position to the ta rget position should be specified together with a plus or minus sign. this method is also referred to as the incremental (relative) drive method. for details on "instruction execution complete" flag, refer to subsection 4.7.4. for details on the maximum speed, bias speed, accel eration time, and deceleration time, refer to section 4.2. 1) for , specify the number of output pulses (relative address value). 2) for , specify the output pulse frequency. 3) for , specify the pulse output number in the range of y000 to y003. 4) for , specify the rotation direction signal output device number. if the high-speed output special adapter is not used for the fx 3u plc, or if the fx 3uc plc is used, specify a transistor output number. if the high-speed output special adapter is used for the fx 3u plc, specify the following output numbers. setting range 16-bit operation -32,768 to +32,767 32-bit operation -999,999 to +999,999 setting range 16-bit operation 10 to 32,767(hz) 32-bit operation when high-speed output special adapter is used 10 to 200,000(hz) when transistor output of main unit is used 10 to 100,000(hz) high-speed output special adapter connection position pulse output destination device rotation direction output the 1st adapter = for y000 = y004 = for y001 = y005 the 2nd adapter = for y002 = y006 = for y003 = y007 command input fnc 158 drvi s 1 ? s 2 ? d 1 ? d 2 ? output pulse frequency time speed instruction execution number of output pulses s 1 ? s 2 ? "instruction execution complete" flag m8029 on maximum speed deceleration time bias speed acceleration time s 1 s 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.2 drive to increment - drvi instruction b - 102 the rotation direction depends on the on/off status of the specified device as shown in the following table. during execution of this instruction, however, do not use the output specified by 8.2.4 important points for the important points of programming, refer to section 4.7. ? even if the operand is subject to change during execution of the instruction, the operation will be continued while ignoring the change. note that the changed operand will be enabled at next activation of the instruction. ? if the instruction activation contact is turned off during execution of the instruction, the speed will be reduced and then the operation will be stopped. in this case, "instruction execution complete" flag (m8029) will not be turned on. ? if the limit flag (forward limit flag or reverse limit fl ag) in the operation direction is turned on, the speed will be reduced and then the operation will be stopped. in this case, "instruction execution abnormal end" flag (m8329) will be turned on when completing execution of the instruction. for details on "instruction execution abnormal end" flag, refer to subsection 4.7.4. ? while "pulse output monitor" (busy/ready) flag is on, the positioning instruction (including plsr and plsy) that uses the same output cannot be executed. after the instruction activation contact is turned off, if "pulse output monitor" (busy/ready) flag is still on, do not execute the positioning instruction (including plsr and plsy instructions) having the same output number. on/off status of device specified by rotation direction (increase/reduction of current value) on if the number of output pulses specified by is a positive number, the operation will be performed in the forward rotation direction. forward rotation (outputting the pulse will increase the current value.) off if the number of output pulses specified by is a negative number, the operation will be performed in the reverse rotation direction. reverse rotation (outputting the pulse will reduce the current value.) d 2 d 2 s 1 d 1 s 1 d 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.3 drive to absolute (drva instruction) b - 103 a common items b built-in positioning function apx. example connection 8.3 drive to absolute (drva instruction) 8.3.1 instruction format 1. instruction format 2. data setting *1. setting range : -32,768 to +32,767 for 16-bit operation : -999,999 to +999,999 for 32-bit operation *2. setting range : 10 to 32,767 hz for 16-bit operation for the 32-bit operation, however, the setting range should be as shown in the following table. 3. devices 1 : specify y000, y001, or y002 transistor output of main unit, or specify y000, y001, y002 *2 , or y003 *2 of the high-speed output special adapter *1 . *1. high-speed input/output special adapter cannot be connected to fx 3uc -32mt-lt. *2. to use y002 and y003 of the high-speed output special adapter, connect the second high-speed output special adapter. caution: ? to use the fx 3u series main unit of relay output type, be sure to connect the high-speed output special adapter. the differential line drive will be used fo r the outputs of the high-speed output special adapter. operand type description data type specifies the number of output pulses (absolute address). *1 bin16/32-bit specifies the output pulse frequency. *2 specifies the pulse output number. bit specifies the rotation direction signal output destination device number. pulse output destination setting range fx 3u plc high-speed output special adapter 10 to 200,000(hz) fx 3uc plc main unit 10 to 100,000(hz) operand type bit device word device others system user digit designation system user special unit index con- stant real num- ber char- acter string pointer xymtcs d .b knx kny knm kns t c d r u \g v z modfy k h e " "p 1 2 3 fnc 159 drva drive to absolute d 16-bit instruction 9 steps drva - continuous execution type instruction symbol execution condition 32-bit instruction instruction symbol execution condition ddrva - continuous execution type 17 steps command input fnc 159 drva s 1 ? s 2 ? d 1 ? d 2 ? s 1 s 2 d 1 d 2 s 1 s 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.3 drive to absolute (drva instruction) b - 104 2 : if the high-speed output special adapter is not used for the fx 3u plc, or if the fx 3uc plc is used, specify a transistor output number. if the high-speed output special adapter is used for the fx 3u plc, specify the following output numbers. 3 : the d .b cannot be indexed by index registers (v and z). high-speed output special adapter connection position pulse output rotation direction output the 1st adapter = for y000 = y004 = for y001 = y005 the 2nd adapter = for y002 = y006 = for y003 = y007 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.3 drive to absolute (drva instruction) b - 105 a common items b built-in positioning function apx. example connection 8.3.2 list of related devices 1. special auxiliary relaysx the following table shows the related special auxiliary relays. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. cleaned when plc switches from run to stop. 2. special data registers the following table shows the related special data r egisters. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. device number function attribute refer to y000 y001 y002 y003 *1 m8029 "instruction execution complete" flag read only subsection 4.4.2 m8329 "instruction execution abnormal end" flag read only subsection 4.4.2 m8340 m8350 m8360 m8370 "pulse output monitor" (busy/ready) flag read only subsection 4.4.3 m8343 m8353 m8363 m8373 forward limit drivable subsection 4.3.1 m8344 m8354 m8364 m8374 reverse limit drivable subsection 4.3.1 m8348 m8358 m8368 m8378 positioning instruction activation. read only subsection 4.4.4 m8349 m8359 m8369 m8379 pulse output stop command *2 drivable subsection 4.3.2 device number function data length default value refer to y000 y001 y002 y003 *1 d8340 low- order d8350 low- order d8360 low- order d8370 low- order current value register (pls) 32-bit 0 subsection 4.4.1 d8341 high- order d8351 high- order d8361 high- order d8371 high- order d8342 d8352 d8362 d8372 bias speed (hz) 16-bit 0 subsection 4.2.6 d8343 low- order d8353 low- order d8363 low- order d8373 low- order maximum speed (hz) 32-bit 100,000 subsection 4.2.5 d8344 high- order d8354 high- order d8364 high- order d8374 high- order d8345 d8355 d8365 d8375 creep speed (hz) 16-bit 1000 subsection 4.2.4 d8346 low- order d8356 low- order d8366 low- order d8376 low- order zero return speed (hz) 32-bit 50,000 subsection 4.2.3 d8347 high- order d8357 high- order d8367 high- order d8377 high- order d8348 d8358 d8368 d8378 acceleration time (ms) 16-bit 100 subsection 4.2.7 d8349 d8359 d8369 d8379 deceleration time (ms) 16-bit 100 subsection 4.2.8
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.3 drive to absolute (drva instruction) b - 106 8.3.3 function and operation this instruction is a 1-speed positioning instruction and uses the absolute drive method. for this instruction, the distance from the origin (zero point) to the target position should be specified. for details on "instruction execution complete" flag, refer to subsection 4.7.4. for details on the maximum speed, bias speed, acceleration time, and deceleration time, refer to section 4.2. 1) for , specify the number of output pulses (absolute address value). 2) for , specify the output pulse frequency. 3) for , specify the pulse output number in the range of y000 to y003. 4) for , specify the rotation direction signal output device number. if the high-speed output special adapter is not used for the fx 3u plc, or if the fx 3uc plc is used, specify a transistor output number. if the high-speed output special adapter is used for the fx 3u plc, specify the following output numbers. setting range 16-bit operation -32,768 to +32,767 32-bit operation -999,999 to +999,999 setting range 16-bit operation 10 to 32,767(hz) 32-bit operation when high-speed output special adapter is used 10 to 200,000(hz) when transistor output of main unit is used 10 to 100,000(hz) high-speed output special adapter connection position pulse output destination device rotation direction output the 1st adapter = for y000 = y004 = for y001 = y005 the 2nd adapter = for y002 = y006 = for y003 = y007 speed instruction execution on time "instruction execution complete" flag m8029 maximum speed deceleration time bias speed acceleration time output pulse frequency number of output pulses s 1 ? s 2 ? command input fnc 159 drva s 1 ? s 2 ? d 1 ? d 2 ? s 1 s 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 8 1-speed positioning - drvi/drva instruction 8.3 drive to absolute (drva instruction) b - 107 a common items b built-in positioning function apx. example connection the rotation direction depends on the on/off status of the specified device as shown in the following table. during execution of this instruction, however, do not use the output specified by 8.3.4 important points for the important points of programming, refer to section 4.7. ? even if the operand is subject to change during execution of the instruction, the operation will be continued while ignoring the change. note that the changed operand will be enabled at next activation of the instruction. ? if the instruction activation contact is turned off during execution of the instruction, the speed will be reduced and then the operation will be stopped. in this case, "instruction execution complete" flag (m8029) will not be turned on. ? if the limit flag (forward limit flag or reverse limit fl ag) in the operation direction is turned on, the speed will be reduced and then the operation will be stopped. in this case, "instruction execution abnormal end" flag (m8329) will be turned on when completing execution of the instruction. for details on "instruction execution abnormal end" flag, refer to subsection 4.7.4. ? if "pulse output monitor" (busy/ready) flag is on, the positioning instruction (including plsr and plsy) that uses the same output cannot be executed. after the instruction activation contact is turned off, if "pulse output monitor" (busy/ready) flag is still on, do not execute the positioning instruction (including plsr and plsy instructions) having the same output number. on/off status of device specified by rotation direction (increase/reduction of current value) on forward rotation (outputting the pulse will increase the current value.) the rotation direction (normal or reverse rotation) depends on which value is larger; the number of output pulses specified by (absolute address) or the value indicated on the current value register. off reverse rotation (outputting the pulse will reduce the current value.) d 2 d 2 d 1 s d 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.1 instruction format b - 108 9. one-speed interrupt constant quantity feed -dvit instruction the built-in positioning function uses the interrupt positioning (dvit) instruction to perform one-speed interrupt constant quantity feed. if the fx 3uc plc of ver.1.20 or later is used, this instruction can change the interruption signal input destination. if the fx 3u /fx 3uc plc of ver.2.00 or later is used, the interruption signal can be controlled using the user program. for the items to be observed in programming, refer to section 4.7. 9.1 instruction format 1. instruction format 2. data setting *1. setting range : -32,768 to +32,767 (excluding 0) for 16-bit operation : -999,999 to +999,999 (excluding 0) for 32-bit operation *2. setting range : 10 to 32,767 hz for 16-bit operation for the 32-bit operation, however, the setting range should be as shown in the following table. operand type description data type specifies the number of pulses (relative address) to be output after interruption. *1 bin16/32-bit specifies the output pulse frequency. *2 specifies the pulse output number. bit specifies the rotation direction signal output destination device number. pulse output destination setting range fx 3u plc high-speed output special adapter 10 to 200,000(hz) fx 3uc plc main unit 10 to 100,000(hz) fnc 151 dvit drive interrupt d 16-bit instruction 9 steps dvit - continuous execution type instruction symbol execution condition 32-bit instruction instruction symbol execution condition ddvit - continuous execution type 17 steps command input fnc 151 dvit s 2 ? s 1 ? d 1 ? d 2 ? s 1 s 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.1 instruction format b - 109 a common items b built-in positioning function apx. example connection 3. devices 1 : specify y000, y001, or y002 transistor output of the main unit, or specify y000, y001, y002 *2 , or y003 *2 of the high-speed output special adapter *1 . *1. high-speed input/output special adapter cannot be connected to fx 3uc -32mt-lt. *2. to use y002 and y003 of the high-speed output special adapter, connect the second high-speed output special adapter. point: ? to use the fx 3u series main unit of relay output type, be sure to connect high-speed output special adapter. the differential line drive will be used fo r the outputs of the high-speed output special adapter. 2 : if the high-speed output special adapter is not used for the fx 3u plc, or if the fx 3uc plc is used, specify a transistor output number. if the high-speed output special adapter is used for the fx 3u plc, specify the following output numbers. for the outputs applicable with high-speed output special adapter, refer to section 4.9. 3 : the d .b cannot be indexed by index registers (v and z). operand type bit device word device others system user digit designation system user special unit index con- stant real num- ber char- acter string pointer xymtcsd .b knx kny knm kns t c d r u \g v z modify k h e " "p 1 2 3 high-speed output special adapter connection position pulse output rotation direction output the 1st adapter = for y000 = y004 = for y001 = y005 the 2nd adapter = for y002 = y006 = for y003 = y007 s 1 s 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.2 list of related devices b - 110 9.2 list of related devices 1. special auxiliary relays the following table shows the related special auxiliary relays. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if ver.1.30 or later is used. *3. cleared when plc switches from run to stop. *4. the logical not function will not be valid for the user interrupt input command device. *5. this function will be valid if ver.2.00 or later is used. device number function attribute refer to y000 y001 y002 y003 *1 m8029 "instruction execution complete" flag read only subsection 4.4.2 m8329 "instruction execution abnormal end" flag read only subsection 4.4.2 m8336 *2 interrupt input specification function enabled. *3 drivable subsection 4.3.7 m8340 m8350 m8360 m8370 "pulse output monitor" (busy/ready) flag read only subsection 4.4.3 m8343 m8353 m8363 m8373 forward limit drivable subsection 4.3.1 m8344 m8354 m8364 m8374 reverse limit drivable subsection 4.3.1 m8347 m8357 m8367 m8377 interrupt signal logic reverse. *3*4 drivable subsection 4.3.8 m8348 m8358 m8368 m8378 positioning instruction activation read only subsection 4.4.4 m8349 m8359 m8369 m8379 pulse output stop command. *3 drivable subsection 4.3.2 m8460 *5 m8461 *5 m8462 *5 m8463 *5 user interrupt input command. *3 drivable subsection 4.3.7 m8464 *5 m8465 *5 m8466 *5 m8467 *5 clear signal device specification function enabled. *3 drivable subsection 4.3.4
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.2 list of related devices b - 111 a common items b built-in positioning function apx. example connection 2. special data registers the following table shows the related special data r egisters. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if ver.1.30 or later is used. however, to specify the user interruption command device, ver.2.00 or later should be used. *3. this function will be valid if ver.2.00 or later is used. device number function data length initial value refer to y000 y001 y002 y003 *1 d8336 *2 specification of interrupt input. 16-bit - subsection 4.3.7 d8340 low- order d8350 low- order d8360 low- order d8370 low- order current value register (pls) 32-bit 0 subsection 4.4.1 d8341 high- order d8351 high- order d8361 high- order d8371 high- order d8342 d8352 d8362 d8372 bias speed (hz) 16-bit 0 subsection 4.2.6 d8343 low- order d8353 low- order d8363 low- order d8373 low- order maximum speed (hz) 32-bit 100,000 subsection 4.2.5 d8344 high- order d8354 high- order d8364 high- order d8374 high- order d8348 d8358 d8368 d8378 acceleration time (ms) 16-bit 100 subsection 4.2.7 d8349 d8359 d8369 d8379 deceleration time (ms) 16-bit 100 subsection 4.2.8 d8464 *3 d8465 *3 d8466 *3 d8467 *3 specifies the clear signal device. 16-bit - subsection 4.3.4
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.3 function and operation b - 112 9.3 function and operation for details on the maximum speed, bias speed,accel eration time, and deceleration time, refer to subsection 4.2.5 to subsection 4.2.8. 1) for , specify the number of output pulses (relative address value). 2) for , specify the output pulse frequency. 3) for , specify the pulse output number in the range of y000 to y003. 4) for , specify the rotation direction signal output device number. if the high-speed output special adapter is not used for the fx 3u plc, or if the fx 3uc plc is used, specify a transistor output number. if the high-speed output special adapter is used for the fx 3u plc, specify the following output numbers. setting range 16-bit operation -32,768 to +32,767 (excluding 0) 32-bit operation -999,999 to +999,999 (excluding 0) setting range 16-bit operation 10 to 32,767(hz) 32-bit operation when high-speed output special adapter is used 10 to 200,000(hz) when transistor output of main unit is used 10 to 100,000(hz) high-speed output special adapter number pulse output destination device rotation direction output the 1st adapter = y000 = y004 = y001 = y005 the 2nd adapter = y002 = y006 = y003 = y007 command input fnc 151 dvit s 2 ? s 1 ? d 1 ? d 2 ? on instruction execution interrupt input time speed "instruction execution complete" flag m8029 maximum speed deceleration time bias speed acceleration time output pulse frequency number of output pulses s 1 ? s 2 ? s 1 s 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.3 function and operation b - 113 a common items b built-in positioning function apx. example connection the rotation direction depends on the on/off status of the specified device as shown in the following table. during execution of this instruction, however, do not use the output specified by 5) the interrupt input signal depends on the pulse output of as shown in the following table. use the fx 3uc plc of ver.1.30 or later to specify the interrupt input signal. use the fx 3u /fx 3uc plc of ver.2.00 or later to set the user interruption command device. *1. y003 can be specified as the pulse output destination only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. designation of interrupt input using m8336: 1) turn on the m8336. 2) set the interrupt input number (x000 to x007) in the d8336, or specify the user interruption command device *1 . for details on the designation method, refe r to subsection 4.3.7 or subsection 4.5.1. on/off status of device specified by rotation direction (increase/reduction of current value) on if the number of pulses to be output after interruption (specified by ) is set to a positive number, the operation will be performed in the forward rotation direction. forward rotation (outputting the pulse will increase the current value.) off if the number of pulses to be output after interruption (specified by ) is set to a negative number, the operation will be performed in the reverse rotation direction. reverse rotation (outputting the pulse will reduce the current value.) pulse output destination device interrupt input signal if it is not necessary to use the interrupt input designation function (m8336 = off), or if the fx 3uc plc of below ver.1.30 is used if it is necessary to use the interrupt input designation function (m8336 = on) = y000 x000 = y001 x001 = y002 x002 = y003 *1 x003 setting value description of setting 0 specifies x000 for the interrupt input signal. 1 specifies x001 for the interrupt input signal. ... ... 7 specifies x007 for the interrupt input signal. d 2 d 2 s 1 d 1 s 1 d 1 d 1 d 1 d8336=h { { { { interrupt input for y000 (pulse output destination device ) interrupt input for y001 (pulse output destination device ) interrupt input for y002 (pulse output destination device ) interrupt input for y003 (pulse output destination device ) d 1 d 1 d 1 d8336=h { { { { interrupt input for y000 (pulse output destination device) interrupt input for y001 (pulse output destination device) interrupt input for y002 (pulse output destination device) interrupt input for y003 (pulse output destination device)
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.3 function and operation b - 114 *1. the device can be specified if the fx 3u /fx 3uc plc of ver.2.00 or later is used. using the fx 3uc plc of below ver.2.00, if "8" is set and then the specified interrupt positioning (dvit) instruction turns on, an operation error (error code: k 6763) will occur, a nd the instruction will not c ause any operation. *2. y003 can be specified as the pulse output destination only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *3. after setting a number in the range of 9 to f for the interrupt input signal, if the corresponding interrupt positioning (dvit) instruction turns on, an operation error (error code: k6763) will occur, and the instruction will not cause any operation. 8 *1 specifies a user interruption command device *1 for the interrupt input signal. 9 ~ e *3 do not specify these values. f *3 set "f" for a pulse output destination device if the device is not used for the interrupt positioning (dvit) instruction. setting value description of setting pulse output destination device pulse output destination device y000 m8460 y001 m8461 y002 m8462 y003 *2 m8463
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.3 function and operation b - 115 a common items b built-in positioning function apx. example connection example of program: the following program shows that the interrupt input for y000 is set in the user interruption command device (m8460). after specifying a user interruption command device for the interrupt input signal, if the specified device is turned on, the number of pulses specified by will be output and then the operation will be stopped. before activating the interrupt positioning instruction again, be sure to turn off the user interruption command device. 6) interrupt input signal logical not turn on or off "interrupt signal logic reverse" flag (see the following table) to specify the logic of this interrupt input signal. however, if the user interruption command device is set for the pulse output destination device, the interrupt input signal logical not function cannot be used. *1. y003 can be specified as the pulse output destination only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. pulse output destination device "interrupt signal logic reverse" flag description = y000 m8347 off: positive logic (turning on the input will turn on the interrupt input signal.) on: negative logic (turning off the input will turn on the interrupt input signal.) = y001 m8357 = y002 m8367 = y003 *1 m8377 m8002 specifies the interrupt input for y000 in the user interruption com- mand device. m8336 set y000 interrupt input specification function enabled. executes dvit instruction d8336 hfff8 fnc 12 mov fnc151 dvit s 1 ? s 2 ? m8029 m8329 initial pulse command input d 2 ? m8348 positioning being performed (y000) m101 normal end of positioning m102 abnormal end of positioning m100 m100 m101 m102 interruption positioning is being performed. "positioning operation normal end" flag "positioning operation abnormal end" flag "instruction execution complete" flag "instruction execution abnormal end" flag interruption positioning being performed m8460 interruption condition interrupt input signal: on fnc 06 fend interruption pointer i 0 set m8460 rst interrupt input signal: off fnc 03 iret end s 1 d 1 d 1 d 1 d 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.3 function and operation b - 116 1. interruption positioning operation interruption positioning operation is described below assuming that y000 is specified as the pulse output destination device by . for this reason, if y001, y002, or y003 is specified, it is necessary to change the output number of each related flag. for details on related flags, refer to s ection 4.1 to section 4.4, or section 9.2. 1) execute the interrupt positioning (dvit) instruction. 2) transfer operation will be performed in the direction specified by the sign attached to the number of output pulses (specified by ) at the speed specified by the output pulse frequency (specified by ). 3) if interrupt input x000 is turned on, pulses will be output until the number of output pulses is increased to the number specified by , and then the operation will be stopped. 4) "instruction execution complete" flag (m8029) will be turned on, and the interruption positioning operation will be completed. for details on "instruction execution complete" flag, refer to subsection 4.7.4. d 1 deceleration time (d8349) bias speed (d8342) on speed acceleration time (d8348) instruction execution interrupt input (x000) "instruction execution complete" flag m8029 maximum speed (d8344,d8343) time output pulse frequency number of output pulses s 1 ? s 2 ? s 1 s 2 s 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.4 important points b - 117 a common items b built-in positioning function apx. example connection 9.4 important points for details on the instruction activation timing, refer to section 4.7. ? if the number of pulses specified by is not large enough to reduce the speed, the frequency will be reduced so that the speed can be reduced within the specified number of output pulses. ? if there is possibility that the interruption instruction is turned on during acceleration, specify the number of pulses so that the relation can be set to "number of output pulses number of pulses needed for acceleration + number of pulses needed for deceleration". if the relation is set to "number of output pulses < number of pulses needed for acceleration + number of pulses needed for deceleration", the operation will be as shown in the following figure: ? if interrupt input turns on before execution of the in struction, the operation will be performed in the same way as drvi instruction. ? even if the operand is subject to change during execution of the instruction, the operation will be continued while ignoring the change. to reflect the change on the operation, turn off the command contact of the instruction, and then turn it on again. ? if the instruction activation contact is turned off during operation, the speed will be reduced and then the operation will be stopped. in this case, "instruction execution complete" flag (m8029) will not be turned on. ? input the interruption signal before the number of output pulses is increased to 4,294,967,296. only if the number of pulses is increased to 4,294,967,296 before inputting the interruption signal, will the operation be stopped, and "instruction execution complete" flag (m8029) will be turned on. for details on "instruction execution complete" flag, refer to subsection 4.7.4. ? if "pulse output monitor" (busy/ready) flag is on, the positioning instruction (including plsr and plsy) that uses the same output cannot be executed. after the instruction activation contact is turned off, if "pulse output monitor" (busy/ready) flag is still on, do not execute the positioning instruction (including plsr and plsy instructions) having the same output number. ? if the forward limit flag or the reverse limit flag in the operation direction is turned on, the speed will be reduced and then the operation will be stopped. in this case, "instruction execution abnormal end" flag (m8329) will be turned on when completing execution of the instruction. for details on "instruction execution abnormal end" flag, refer to subsection 4.7.4. s 1 output pulse frequency specified by s 2 ? s 1 ? actual output pulse frequency number of output pulses specified by interrupt input output pulse frequency specified by s 2 ? s 1 ? number of output pulses specified by interrupt input
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 9 one-speed interrupt constant quantity feed -dvit instruction 9.4 important points b - 118 ? the interrupt input cannot be used for the following items: interrupt inputs can be specified in ver.1.30 or later. - high-speed counter - input interruption - pulse catch - spd instruction - dszr instruction - zrn instruction
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 10 variable speed operation (variable speed pulse output)-plsv instruction 10.1 instruction format b - 119 a common items b built-in positioning function apx. example connection 10. variable speed operation (variable speed pulse output)-plsv instruction the built-in positioning function uses the variable speed pulse output (plsv) instruction to perform variable speed operation. if the fx 3u/ fx 3uc plc of ver.2.00 or later is used, this instruction can change the speed using the acceleration/deceleration speed. 10.1 instruction format outline: this instruction is the variable speed pulse output in struction equipped with the ro tation direction designation function. for the items to be observed in programming, refer to section 4.7. 1. instruction format 2. data setting *1. setting range : -32,768 hz to -1 hz and +1 hz to 32,767 hz for 16-bit operation. for the 32-bit operation, however, the setting range should be as shown in the following table. 3. devices 1 : specify y000, y001, or y002 transistor output of the main unit, or specify y000, y001, y002 *2 , or y003 *2 of the high-speed output special adapter *1 . *1. high-speed input/output special adapter cannot be connected to fx 3uc -32mt-lt. *2. to use y002 and y003 of the high-speed output special adapter, connect the second high-speed output special adapter. operand type description data type specifies the output pulse frequency designation device number. *1 bin 16/32-bit specifies the pulse output device number. bit specifies the rotation direction signal output destination device number. pulse output destination setting range fx 3u plc high-speed output special adapter -200,000 to -1 to +1 to 200,000(hz) fx 3uc plc main unit -100,000 to -1 to +1 to 100,000(hz) operand type bit device word device others system user digit designation system user special unit index con- stantr real num- ber char- acter string pointer xymtcsd .b knx kny knm kns t c d r u \g v z modfy k h e " "p 1 2 3 32-bit instruction 17 steps dplsv continuous execution type instruction symbol execution condition - fnc 157 plsv pulse v d 16-bit instruction 9 steps plsv continuous execution type instruction symbol execution condition - s d 1 d 2 s d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 10 variable speed operation (variable speed pulse output)-plsv instruction 10.1 instruction format b - 120 point: ? to use the fx 3u series main unit of relay output type, be sure to connect the high-speed output special adapter. the differential line drive will be used fo r the outputs of the high-speed output special adapter. 2 : if the high-speed output special adapter is not used for the fx 3u plc, or if the fx 3uc plc is used, specify a transistor output number. if the high-speed output special adapter is used for the fx 3u plc, specify the following output numbers. 3 : the d .b cannot be indexed by index registers (v and z). high-speed output special adapter connection position pulse output rotation direction output the 1st adapter = y000 = y004 = y001 = y005 the 2nd adapter = y002 = y006 = y003 = y007 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 10 variable speed operation (variable speed pulse output)-plsv instruction 10.2 list of related devices b - 121 a common items b built-in positioning function apx. example connection 10.2 list of related devices 1. special auxiliary relays the following table shows the related special auxiliary relays. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if ver.2.00 or later is used. *3. cleared when plc switches from run to stop. 2. special data registers the following table shows the related special data r egisters. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if plsv instruction turns on during acceleration/deceleration using ver.2.00 or later. device number function attribute refer to y000 y001 y002 y003 *1 m8029 "instruction execution complete" flag read only subsection 4.4.2 m8329 "instruction execution abnormal end" flag read only subsection 4.4.2 m8338 *2 acceleration/deceleration *3 drivable subsection 4.3.9 m8340 m8350 m8360 m8370 "pulse output monitor" (busy/ready) flag read only subsection 4.4.3 m8342 m8352 m8362 m8372 zero return direction specification. *3 drivable subsection 4.3.3 m8343 m8353 m8363 m8373 forward limit drivable subsection 4.3.1 m8344 m8354 m8364 m8374 reverse limit drivable subsection 4.3.1 m8348 m8358 m8368 m8378 positioning instruction activation. read only subsection 4.4.4 device number function data length initial value refer to y000 y001 y002 y003 *1 d8340 low- order d8350 low- order d8360 low- order d8370 low- order current value register (pls) 32-bit 0 subsection 4.4.1 d8341 high- order d8351 high- order d8361 high- order d8371 high- order d8342 d8352 d8362 d8372 bias speed (hz) 16-bit 0 subsection 4.2.6 d8343 low- order d8353 low- order d8363 low- order d8373 low- order maximum speed (hz) 32-bit 100,000 subsection 4.2.5 d8344 high- order d8354 high- order d8364 high- order d8374 high- order d8348 d8358 d8368 d8378 acceleration time (ms) *2 16-bit 100 subsection 4.2.7 d8349 d8359 d8369 d8379 deceleration time (ms) *2 16-bit 100 subsection 4.2.8
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 10 variable speed operation (variable speed pulse output)-plsv instruction 10.3 function and operation b - 122 10.3 function and operation this instruction is the variable speed pulse output in struction equipped with the ro tation direction designation function. the acceleration/deceleration function is adopted for the variable speed pulse output (plsv) instruction. so it is possible to specify whether acceleration/deceleration should be performed. if the fx 3uc plc of below ver.2.00 is used, operation wi ll be performed without acceleration/deceleration. 10.3.1 operation without accelerat ion/deceleration (m8338 = off) after turning off the acceleration/ deceleration function (m8338), if the output pulse frequency value is changed, the variable speed pulse output (plsv) instruction will change the output frequency without acceleration/deceleration. for details on the maximum speed and bias speed, refer to subsection 4.2.5 and subsection 4.2.6. 1) for , specify the output pulse frequency. even if pulses are being output, the output pulse frequency can be changed freely. acceleration/deceleration, however, will not be performed. 2) for , specify the pulse output number in the range of y000 to y003. 3) for , specify the rotation direction signal output device number. if the high-speed output special adapter is not used for the fx 3u plc, or if the fx 3uc plc is used, specify a transistor output number. if the high-speed output special adapter is used for the fx 3u plc, specify the following output numbers. setting range 16-bit operation -32,768 to -1 hz, 1 to 32,767 hz 32-bit operation when high-speed output special adapter is used -200,000 to -1 hz, 1 to 200,000 hz when transistor output of main unit is used -100,000 to -1 hz, 1 to 100,000 hz high-speed output special adapter number pulse output destination device rotation direction output the 1st adapter = y000 = y004 = y001 = y005 the 2nd adapter = y002 = y006 = y003 = y007 s m8001 fnc 157 plsv s ? d 1 ? d 2 ? m8338 command input on s ? 100 250 500 250 speed time off instruction activation contact s s d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 10 variable speed operation (variable speed pulse output)-plsv instruction 10.3 function and operation b - 123 a common items b built-in positioning function apx. example connection the rotation direction depends on the on/off status of the specified device as shown in the following table. during execution of this instruction, however, do not use the output specified by . 10.3.2 operation with acceleration/deceleration (m8338 = on) after turning on the acceleration/ deceleration function (m8338), if the output pulse frequency value is changed, acceleration or deceleration will be performed first, and then the variable speed pulse output (plsv) instruction will change the output frequency. if the fx 3uc plc of below ver.2.00 is used, operation will be performed without acceleration/deceleration. for details on the maximum speed, bias speed, acceleration time, and deceleration time, refer to subsection 4.2.5 to subsection 4.2.8. 1) for , specify the output pulse frequency. even if pulses are being output, the output pulse frequency can be changed freely. acceleration/ deceleration, however, will not be performed. 2) for , specify the pulse output number in the range of y000 to y003. on/off status of device specified by rotation direction (increase/reduction of current value) on if the number of output pulses specified by is a positive number, the operation will be performed in the forward rotation direction. forward rotation (outputting the pulse will increase the current value.) off if the number of output pulses specified by is a negative number, the operation will be performed in the reverse rotation direction. reverse rotation (outputting the pulse will reduce the current value.) setting range 16-bit operation -32,768 to -1 hz, 1 to 32,767 hz 32-bit operation when high-speed output special adapter is used -200,000 to -1 hz, 1 to 200,000 hz when transistor output of main unit is used -100,000 to -1 hz, 1 to 100,000 hz d 2 s d 1 s d 1 s m8000 fnc 157 plsv s ? d 1 ? d 2 ? m8338 command input on s ? 100 250 500 250 speed time off instruction activation contact maximum speed initial value: 100,000 hz output pulse frequency s ? deceleration time acceleration time bias speed initial value: 0 hz bias speed initial value: 100 ms initial value: 100 ms s s d 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 10 variable speed operation (variable speed pulse output)-plsv instruction 10.3 function and operation b - 124 3) for , specify the rotation direction signal output device number. if the high-speed output special adapter is not used for the fx 3u plc, or if the fx 3uc plc is used, specify a transistor output number. if the high-speed output special adapter is used for the fx 3u plc, specify the following output numbers. the rotation direction depends on the on/off status of the specified device as shown in the following table. during execution of this instruction, however, do not use the output specified by . high-speed output special adapter number pulse output destination device rotation direction output the 1st adapter = y000 = y004 = y001 = y005 the 2nd adapter = y002 = y006 = y003 = y007 on/off status of device specified by rotation direction (increase/reduction of current value) on if the number of output pulses specified by is a positive number, the operation will be performed in the forward rotation direction. forward rotation (outputting the pulse will increase the current value.) off if the number of output pulses specified by is a negative number, the operation will be performed in the reverse rotation direction. reverse rotation (outputting the pulse will reduce the current value.) d 2 d 1 d 2 d 1 d 2 d 1 d 2 d 1 d 2 d 2 d 2 s d 1 s d 1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 10 variable speed operation (variable speed pulse output)-plsv instruction 10.4 important points b - 125 a common items b built-in positioning function apx. example connection 10.4 important points for the important points of programming, refer to section 4.7. ? during pulse output operation, if the output pulse frequency is changed to "k0", the plc will reduce the speed and then stop the pulse outputting operation if the acceleration/deceleration function turns on. however, if the acceleration/deceleration function is not activated, the plc will immediately stop the pulse outputting operation. before outputting the pulses again, check that "pulse output monitor" (busy/ready) flag is off, and then wait until 1 or more cycles of operation have been completed. after that, set (change) the output pulse frequency to a value other than "k0". ? during pulse outputting operation, do not change the sign attached to the output pulse frequency value . if it is necessary to change the sign, stop the servo motor first by setting the output pulse frequency value to "k0". after checking stop of the servo motor using the servo ready signal, change the sign attached to the output pulse frequency value . if the sign attached to the output pulse frequency value is changed during pulse outputting operation, the operation may be changed as follows, and the machine, therefore, may be damaged: 1) the pulse outputting operation may be stopped. 2) "pulse output monitor" (busy/ready) flag may be turned off. (the pulse outputting operation may be stopped, but the motor may not be stopped immediately.) 3) operation may be performed in the specified direction at the frequency specified by the output pulse frequency value . ? if the acceleration/deceleration function turns on, turning off the instruction activation contact during pulse outputting operation will reduce the speed first and then st op the operation. if the acceleration/deceleration function is not activated, turning off the instructi on activation contact during pulse outputting operation will immediately stop the operation. in this case, "ins truction execution complete" flag (m8029) will not be turned on. ? if the limit flag (forward limit flag or reverse rotation limit flag) in the operation direction is turned on, the operation will be immediately stopped. in this case , "instruction execution abnormal end" flag (m8329) will be turned on when completing execution of the instruction. for details on "instruction execution abnormal end" flag, refer to subsection 4.7.4. ? if "pulse output monitor" (busy/ready) flag is on, the positioning instruction (including plsr and plsy) that uses the same output cannot be executed. after the instruction activation contact is turned off, if "pulse output monitor" (busy/ready) flag is still on, do not execute the positioning instruction (including plsr and plsy instructions) having the same output number. ? after executing the instruction, the output of the rotation direction signal will be turned off. 1. important items for fx 3uc plc of below ver.2.00 ? acceleration/deceleration will not be performed at starti ng or stopping operation. for this reason, if it is necessary to use the cushion start function or the cushion stop function, increase or reduce the output pulse frequency value using fnc67 (ramp) instruction, etc. 2. important items for fx 3u /fx 3uc plc of ver.2.00 or later ? if acceleration/deceleration is enabled, the variable speed pulse output (plsv) instructions of all the pulse output destination devices will accelerate/decelerate the operation. this means that acceleration/ deceleration cannot be specified for each pulse output destination device. s s s s s s s
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.1 instruction format b - 126 11. batch data positioning mode (tbl instruction) if gx developer ver.8.23z or later is used, the positioning instructions shown below can be preliminarily set in the positioning tables. after that, if a table is specified, the positioni ng operation of the specified table will be performed. 11.1 instruction format 1. instruction format 2. data setting 3. devices 1 : specify y000, y001, or y002 transistor output of main unit, or specify y000, y001, y002 *2 , or y003 *2 of the high-speed output special adapter *1 . *1. high-speed input/output special adapter cannot be connected to fx 3uc -32mt-lt. *2. to use y002 and y003 of the high-speed output special adapter, connect the second high-speed output special adapter. point: to use the fx 3u series main unit of relay output type, be sure to connect the high-speed output special adapter. the differential line drive will be used for the outputs of the high-speed output special adapter. instruction description dvit(fnc151) one-speed interrupt constant quantity feed (interrupt positioning) plsv(fnc157) variable speed operation (variable speed pulse output) drvi(fnc158) 1-speed positioning drive to increment drva(fnc159) drive to absolute operand type description data type specifies the pulse output number. bit n specifies the table number (1 to 100) to be executed. bin 32-bit operand type bit device word device others system user digit designation system user special unit index con- stantr real num- ber char- acter string pointer xymtcsd .b knx kny knm kns t c d r u \g v z modify k h e " "p 1 n 32-bit instruction 17 steps dtbl continuous execution type instruction symbol execution condition - 16-bit instruction - - instruction symbol execution condition fnc 152 tbl table d command input fnc152 dtbl d n d d
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.2 list of related devices b - 127 a common items b built-in positioning function apx. example connection 11.2 list of related devices 1. special auxiliary relays the following table shows the related special auxiliary relays. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. device number function attribute refer to y000 y001 y002 y003 *1 m8029 "instruction execution complete" flag read only subsection 4.4.2 m8329 "instruction execution abnormal end" flag read only subsection 4.4.2 m8338 *2 acceleration/deceleration operation. *3 drivable subsection 4.3.9 m8336 *4 interrupt input specification function enabled. *3 drivable subsection 4.3.7 m8340 m8350 m8360 m8370 "pulse output monitor"(busy/ready) flag read only subsection 4.4.3 m8343 m8353 m8363 m8373 forward limit drivable subsection 4.3.1 m8344 m8354 m8364 m8374 reverse limit drivable subsection 4.3.1 m8347 m8357 m8367 m8377 interrupt signal logic reverse. *3, *5 drivable subsection 4.3.8 m8348 m8358 m8368 m8378 positioning instruction activation. read only subsection 4.4.4 m8349 m8359 m8369 m8379 pulse output stop command. *3 drivable subsection 4.3.2 m8460 *2 m8461 *2 m8462 *2 m8463 *2 user interrupt input command. *3 drivable subsection 4.3.7 *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if ver.2.00 or later is used. *3. cleaned when plc switches from run to stop. *4. this function will be valid if ver.1.30 or later is used. *5. the logical not function will not be valid for the user interrupt input command device.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.2 list of related devices b - 128 2. special data registers the following table shows the related special data r egisters. note that y000, y001, y002, and y003 are devices that determine the pulse output destinations. to set the constants shown in the shaded area, set the positioning parameters. for details on the positioning parameters, refer to section 11.4. *1. devices related to y003 (pulse output destination) are valid only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *2. this function will be valid if ver.1.30 or later is used. however, the user interruption command device can be specified only if ver.2.00 or later is used. *3. this function will be valid if plsv instruction turns on during acceleration/deceleration using ver.2.00 or later. device number function data length initial value refer to y000 y001 y002 y003 *1 d8336 *2 specification of interrupt input. 16-bit - subsection 4.3.7 d8340 low- order d8350 low- order d8360 low- order d8370 low- order current value register (pls) 32-bit 0 subsection 4.4.1 d8341 high- order d8351 high- order d8361 high- order d8371 high- order d8342 d8352 d8362 d8372 bias speed (hz) 16-bit 0 subsection 4.2.6 d8343 low- order d8353 low- order d8363 low- order d8373 low- order maximum speed (hz) 32-bit 100,000 subsection 4.2.5 d8344 high- order d8354 high- order d8364 high- order d8374 high- order d8345 d8355 d8365 d8375 creep speed (hz) 16-bit 1000 subsection 4.2.4 d8346 low- order d8356 low- order d8366 low- order d8376 low- order zero return speed (hz) 32-bit 50,000 subsection 4.2.3 d8347 high- order d8357 high- order d8367 high- order d8377 high- order d8348 d8358 d8368 d8378 acceleration time (ms) *2 16-bit 100 subsection 4.2.7 d8349 d8359 d8369 d8379 deceleration time (ms) *2 16-bit 100 subsection 4.2.8
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.3 function and operation b - 129 a common items b built-in positioning function apx. example connection 11.3 function and operation preliminarily set the positioning parameters using gx developer, and then specify the pulse output destination and the positioning table number (n) fo r dtbl instruction to carry out positioning. use gx developer of ver.8.23z or later to set the positioning parameters. "number of pulses" and "frequency" set by positioning parameters in each positioning table can be changed using the program, displa y module, or indicator. for details on positioning parameters, refer to section 11.4. d command input fnc152 dtbl d n specifies the pulse output destination device for the positioning table to be activated. positioning table setting specifies the positioning table number to be activated. constant setting as shown in the following table, each positioning instruction consists of the positioning type (4 types in total), number of pulses (pls), frequency (hz), etc. for further information on the operation of each instru ction, refer to the description of each instruction. c d e a b *1 plsv(fnc157) has only 3 operands. it has no operand of number of output pulses. *1 command input fnc {{{ ddvit(interrupt positioning) dplsv(variable speed pulse output) ddrvi(drive to increment) ddrva(drive to absolute) c positioning type refer to instruction to be activated and its operand operand chapter 9 chapter 10 section 8.2 section 8.3 number of output pulses output pulse frequency pulse output destination device rotation direction signal d e a b s 1 s 1 s 1 s 2 s 2 s 2 d 1 d 1 d 1 d 1 d 2 d 2 d 2 d 2 s instruction word ddvit dplsv ddrvi ddrva
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.4 positioning parameter setting b - 130 11.4 positioning parameter setting use gx developer of ver.8.23z or later to set the positioning parameters. "number of pulses" and "frequency" set by positioning parameters in a positioning table can be changed using the program, displa y module, or indicator. to change the set "number of pulses" or "frequency", refer to subsection 11.4.2. 11.4.1 positioning parameter setting using gx developer assuming that gx developer of ver.8.23z is used, this section describes how to set the positioning parameter. 1 open "parameter setting" window. on the project tree displayed on the left side of the screen, double-click "parameter" and then "plc parameter". if the project tree is not displayed, click "view" on the menu bar, and then click "project data list"
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.4 positioning parameter setting b - 131 a common items b built-in positioning function apx. example connection 2 set the memory capacity. click "memory capacity" tab, and then click "positioning instruction setting" check box to enter a check in the box. *1. the initial value is 8000 steps for gx developer of below ver.8.22y. setting item description of setting setting range memory capacity set the capacity of the program memory. initial value: 16000 *1 refer to the programming manual. comment capacity set the capacity for the comments to be stored in the plc. initial value: 0 device comment: 50 points/block (500 steps) file register capacity set the capacity for the file registers. initial value: 0 file registers: 500 points/block (500 steps) program capacity displays the number of steps that can be used for the sequence programs. special function memory capacity set whether the special unit initial data setting function and the positioning data setting function should be enabled. - special function block settings enter a check in the check box to enable the special functioin unit/ block initial data setting function. use "i/o assignment setting" tab to set the initial value of a special unit. - positioning instruction settings enter a check in the check box to enable tbl (fnc152) instruction setting function. use "positioning data setting" tab to set the positioning data. - enter a check. *1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.4 positioning parameter setting b - 132 3 set the positioning data. positioning data can be set if the fx 3u /fx 3uc plc of ver.2.00 or later is used. 1. click "positioning" tab. on "memory capacity" tab, preliminaril y enter a check in "positioning instruction setting" check box to set the positioning data setting table on "positioning" tab. 2. set the positioning constants to be used for tbl (fnc152) instruction. setting item description of setting setting range bias speed (hz) sets the bias speed for each pulse output number. initial value: 0 1/10 or less of maximum speed maximum speed (hz) sets the maximum speed for each pulse output number. initial value: 100000 *1 creep speed (hz) sets the creep speed of dszr (fnc150) instruction for each pulse output number. initial value: 1000 10 to 32767 *2 zero return speed (hz) sets the zero return speed of dszr (fnc150) instruction for each pulse output number. initial value: 50000 *1 acceleration time (ms) sets the acceleration time for each pulse output number. initial value: 100 50 to 5000 deceleration time (ms) sets the deceleration time for each pulse output number. initial value: 100 50 to 5000 interrupt input of dvit instruction sets the interrupt input *3 for each pulse output number to activate dvit (fnc151) instruction. if a pulse output destination device does not use dvit instruction, specify a user interruption command device (m). initial setting: setting range y000 (pulse output destination): x000 x000 to x007, m8460 y001 (pulse output destination): x001 x000 to x007, m8461 y002 (pulse output destination): x002 x000 to x007, m8462 y003 *4 (pulse output destination): x003 x000 to x007, m8463 shown on left side y0 sets data in this area if y000 is specified as the pulse output destination device. - y1 sets data in this area if y001 is specified as the pulse output destination device. - y2 sets data in this area if y002 is specified as the pulse output destination device. - y3 *4 sets data in this area if y003 is specified as the pulse output destination device. - individual setting displays "individual setting" window for tbl (fnc152) instruction table setting. for details on data setting, refer to the next page. -
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.4 positioning parameter setting b - 133 a common items b built-in positioning function apx. example connection *1. if the fx 3uc plc is used, the setting range will be 10 to 100000 hz. if the fx 3u plc is used, and if the pulse output destination is fx 3u -2hsy-adp, the setting range will be 10 to 200000 hz. *2. set the creep speed so that the relation with the other speeds can be set to "bias speed creep speed maximum speed." *3. the set interrupt input cannot be commonly used for the high-speed counter, input interruption, pulse catch input, input of spd (fnc67) instruction, and ot her interrupt inputs of dvit (fnc151) instruction. *4. if the fx 3uc plc is used, this item cannot be set. note that this item can be set only if two fx 3u - 2hsy-adp adapters are connected to the fx 3u plc. 3. click "individual setting" button to display "positioning instruction setting" window. in this window, set the positioning table of each pulse output destination device. setting item description of setting setting range y0 click this tab to set the positioning table for y000 (pulse output destination). - y1 click this tab to set the positioning table for y001 (pulse output destination). - y2 click this tab to set the positioning table for y002 (pulse output destination). - y3 *1 click this tab to set the positioning table for y003 (pulse output destination). - rotation direction signal set the rotation direction output number. *2 initial setting: y010 for y000 (pulse output destination) y011 for y001 (pulse output destination) y012 for y002 (pulse output destination) y013 for y003 (pulse output destination) *1 y000 to y357 m0 to m7679 s0 to s4095 head address set the first device number to store the set data (number of pulses, frequency). starting from the set device, 1600 points will be occupied. initial setting: r0 d0 to d6400 r0 to r31168 no. table number data can be set for tables 1 to 100. - positioning instruction select a positioning type from the following types: ddvit (interrupt positioning), dplsv (variable speed pulse output), ddrvi (drive to increment), ddrva (drive to absolute) - pulse set the number of pulses to be output to perform the specified type of positioning operation (instruction). *3 frequency (hz) set the speed (output pulse frequency) to perform the specified type of positioning operation (instruction). "up" button click this button to move up the cursor by 1 line (to select the line just later the cursor-positioned line). - "down" button click this button to move down the cursor by 1 line (to select the line just below the cursor-positioned line). - "insert" button click this button to insert a line at the specified position. - "delete" button click this button to delete the selected line. - "delete all" button click this button to delete all the data from the positioning table of the selected pulse output destination device. -
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.4 positioning parameter setting b - 134 *1. if the fx 3uc plc is used, this item cannot be set. note that this item can be set only if two fx 3u - 2hsy-adp adapters are connected to the fx 3u plc. *2. to use fx 3u -2hsy-adp, set the rotation direction si gnal depending on the pulse output destination device as shown in the following table. *3. refer to the description of the selected instruction (positioning type). 4 transfer the parameters (+ sequence program) to the plc. 1. select "online" from the tool menu, and then select "write to plc". "write to plc" window will appear. *1. depending on the version of gx developer, the pc type may be set to"fx 3uc ". 2. enter a check in "plc parameter" check box, and then click "execute" button. the selected parameter data will be transferred to the pl c. when the plc is started (enters the run mode), the transferred parameter data will be enabled. if the communication conditions set on "plc system(2)" screen are changed, be sure to turn off the power of the plc, and then turn it on again. positioning table setting will not be initialized when the plc is powered on if this check box is checked, the positioning data will not be initialized at turning on the power of the plc. enter a check in this check box to retain the changed data ("pulses" and "frequency" changed by the program, display module, or indicator) even after power-off and to use the changed data after turning on the power again. to use this function, set an uninterruptible power supply type device as the first device. - "write" button click this button to write 1600 points of data ("pulses" and "frequency" set on the positioning table using gx developer) starting from the first device of the plc. - "read" button click this button to read out 1600 points of data ("pulses" and "frequency" set on the positioning table currently used) from the plc starting from the first device. at the completion of data reading, the data numbers will appear only if "positioning instruction" is set for the data. - pulse output destination device rotation direction signal y000 y004 y001 y005 y002 y006 y003 y007 positioning type refer to ddvit (interrupt positioning) chapter 9 dplsv (variable speed pulse output) chapter 10 ddrvi (drive to increment) section 8.2 ddrva (drive to absolute) section 8.3 setting item description of setting setting range *1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.4 positioning parameter setting b - 135 a common items b built-in positioning function apx. example connection 11.4.2 changing of set positioning parameters (number of pulses and frequency) "pulses" and "frequency" set by positioning parameters in a positioning table will be stored in the devices starting from the specified first device as shown below. the set "pulses" and "frequency" can be changed using the display module or the indicator. caution: if "positioning type" is set to "dplsv (variable speed pulse output)", "frequency (hz)" value set on the screen will be stored as the set number of pulses, and the device for "frequency" will be "k0". to use "pulses" and "frequency" changed by the display module or the indicator even after turning off and then on the power again: to use "pulses" and "frequency" changed by the display module or the indicator even after turning off and then on the power again, enter a check in "positioning table settings will not be initialized when the plc is powered on" check box in "positioning instruction setting" window of the positioning parameters. to use this function, use the uninterruptible power supply type devices. if this function is not set, the data set by the positioning parameters will be initialized. frequency if the head address is set to "r0": pulse output destination device positioning table no. number of pulses r1,r0 r3,r2 r5,r4 r7,r6 r9,r8 r11,r10 r397,r396 r399,r398 r401,r400 r403,r402 r405,r404 r407,r406 r409,r408 r411,r410 r797,r796 r799,r798 r801,r800 r803,r802 r805,r804 r807,r806 r809,r808 r811,r810 r1197,r1196 r1199,r1198 r1201,r1200 r1203,r1202 1 2 3 100 1 2 3 100 1 2 3 100 1 2 3 100 y000 y001 y002 y003 r1205,r1204 r1209,r1208 r1597,r1596 r1207,r1206 r1211,r1210 r1599,r1598 enter a check.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 11 batch data positioning mode (tbl instruction) 11.4 positioning parameter setting b - 136 to read out and store "pulse" and "frequency" ch anged by the display module or the indicator: 1) in "positioning instruction setting" window of posit ioning parameters, enter a check in "positioning table settings will not be initialized when the plc is powered on" check box. 2) click "read" button to read out the set data ("pulse" and "frequency) from the connected main unit. this is exclusively for the positioning tabl e number with the positioning type specified. 3) at the completion of register data reading, the data file will be stored. enter a check. click the "read" button.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs b - 137 a common items b built-in positioning function apx. example connection 12. examples of programs assuming that the melservo series 1-axis servo amplifier is used for control, this chapter shows various examples of programs. for the connection examples of melservo-c, -j2(s), -h , and -j3 series, refer to the following chapters and manuals. refer to chapter 3 and the examples of connection shown in the appendix. refer to the fx 3u hardware edition. refer to the fx 3uc hardware edition. refer to the manual of your servo amplifier. operation instruction examples of programs description of instruction relay ladder program step ladder program mechanical zero return dog search zero return dszr(fnc150) subsection 12.2.1 subsection 12.3.1 section 6.2 absolute value detection reading of current abs value abs(fnc155) section 12.5 - chapter 7 1-speed positioning drive to increment drvi(fnc158) subsection 12.2.1 subsection 12.3.1 section 8.2 drive to absolute drva(fnc159) subsection 12.2.1 subsection 12.3.1 section 8.3 batch data positioning mode tbl(fnc152) section 12.4 - chapter 11
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.1 input/output assignment b - 138 12.1 input/output assignment the programs shown in this chapter use 1 axis for y000 (pulse output destination device). if other pulse output destination device are used, change various device numbers when reading the description. note that y003 (pulse output destination device) can be used only if two fx 3u -2hsy-adp adapters are connected to the fx 3u plc. *1. to use "forward rotation pulse train" signal and "reverse rotation pulse train" signal of fx 3u -2hsy- adp, change the name of this signal to "forward rotation pulse train" signal when reading the description. *2. to use "forward rotation pulse train" signal and "reverse rotation pulse train" signal of fx 3u -2hsy- adp, change the name of this signal to "reverse rotation pulse train" signal when reading the description. *3. if the fx 3uc plc of below ver.2.00 is used, exchange the direction signal output number with the clear signal output number. *4. if the absolute position detection system is used, and if dszr instruction and zrn instruction are not used for the first zero return, this signal is not needed. to use the absolute position detection system, refer to the following chapter and manual. refer to chapter 7 and the ma nual of your servo amplifier. *5. to use zrn instruction for zero return, assign the input number of the near-point signal (dog) to the zero-phase signal. this is because zrn instruction will not use the zero-phase signal. signal input/output number connected to y000 y001 y002 y003 pulse train *1 (pulse output destination) y000 y001 y002 y003 connected to melservo series servo amplifier. direction *2, *3 (rotation direction signal) y004 y005 y006 y007 clear signal *3, *4 y020 y024 y030 y034 zero-phase signal *4, *5 x004 x005 x006 x007 "servo ready" signal *6 x014 x015 x016 x017 immediate stop command x020 x040 x050 x070 connected to external switches. zero return command x021 x041 x051 x071 jog (+) command x022 x042 x052 x072 jog (-) command x023 x043 x053 x073 forward rotation positioning command x024 x044 x054 x074 reverse rotation positioning command x025 x045 x055 x075 stop command x030 x034 x060 x064 near-point signal (dog) *4, *5 x010 x011 x012 x013 connected to sensors and limit switches. interrupt signal x000 x001 x002 x003 forward rotation limit (lsf) *7 x026 x046 x056 x076 reverse rotation limit (lsr) *7 x027 x047 x057 x077 to use absolute position detection system abs(bit0) x031 x035 x061 x065 connected to mitsubishi melservo series servo amplifier (mr-j2,mr-j2s, mr-j3, mr-h) abs(bit1) x032 x036 x062 x066 "send data ready" signal x033 x037 x063 x067 servo-on signal y021 y025 y031 y035 "abs data transfer mode" signal y022 y026 y032 y036 "abs data request" signal y023 y027 y033 y037
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.1 input/output assignment b - 139 a common items b built-in positioning function apx. example connection *6. to use pin 3 of the cn1 connector of the mr-c a servo amplifier for "servo ready" signal, set parameter 21 as follows: *7. to ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the plc side and the servo amplifier side. note that the limit switches on the plc side should be activated slightly earlier than the limit switches on the servo amplifier side. series parameter number setting value mr-c 21 020 reverse rotation limit 2 (servo amplifier side) reverse rotation limit 1 (programmable controller side) forward rotation limit 2 (servo amplifier side) forward rotation limit 1 (programmable controller side) reverse rotation forward rotation servo motor lsf lsr
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.2 programs for forward/reverse rotation (relay ladder program) b - 140 12.2 programs for forward/reverse rotation (relay ladder program) 12.2.1 example of program positioning operation will be performed using the absolute positioning method as shown in the following chart: for details on input/output assignment, refer to section 12.1. the following program is a relay ladder program. *1. if the initial values (maximum speed, acceleration/deceleration time, zero return speed, creep speed) can be used, it is not necessary to create the program. for the related devices, refer to section 4.1 to section 4.4. 100 origin output pulse frequency: 100,000 hz acceleration/deceleration time: 100 ms 500,000 x020 stops outputting y000 pulses. (immediate stop) refer to subsection 4.7.2. enables the origin return operation with clear signal outputting function. (clear signal: y020) performs origin return in the normal rotation direction. m8349 m8341 x014 immediate stop servo ready m8000 initial pulse m8342 m8002 d8343 k100000 fnc 12 dmov d8345 k1000 fnc 12 mov d8346 k50000 fnc 12 dmov d8348 k100 fnc 12 mov d8349 k100 fnc 12 mov sets the maximum speed. 100,000(hz) d8344,d8343 sets the origin return speed. 50,000(hz) d8347,d8346 sets the acceleration time. 100(ms) d8348 sets the deceleration time. 100(ms) d8349 sets the creeping speed. 1,000(hz) d8345 m8000 run monitor run monitor *1 *1 *1 *1 m10 rst m12 rst m13 rst m8343 m8344 x026 normal rotation limit x027 reversed rotation limit resets "origin return completion" flag. resets "normal rotation positioning completion" flag. resets "reversed rotation positioning completion" flag. normal rotation limit(y000) reversed rotation limit(y000) *1 d8464 h0020 fnc 12 movp m8464
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.2 programs for forward/reverse rotation (relay ladder program) b - 141 a common items b built-in positioning function apx. example connection *1. the maximum transfer distance for each jogging operation is 999,999 pulses (pulse output range of fnc158 (drvi) instruction). to further move the workpiece, execute the jog command again. zero return m8348 positioning being performed (y000) m10 rst m12 rst m13 rst x021 m101 normal end of zero return m100 zero return being performed m102 abnormal end of zero return m100 y004 y000 x004 x010 fnc 150 dszr m8029 "execution completion" flag m10 set m101 m102 m8329 abnormal end jog (+) m8348 m12 rst x022 m104 completes the jog(+) operation. positioning being performed (y000) m13 rst m103 y004 y000 k30000 k999999 fnc 158 ddrvi near-point signal zero- phase signal pulse output destination number rotation direction signal number of output pulses (maximum value in "+" direction) output pulse frequency pulse output destination number rotation direction signal m103 jog(+) operation is being performed. x022 jog(+) m104 m8329 abnormal end z e r o r e t u r n jogging operation jog (-) m8348 m12 rst x023 m106 completes the jog(-) operation. positioning being performed (y000) m13 rst m105 y004 y000 k30000 k-999999 fnc 158 ddrvi number of output pulses (maximum value in "-" direction) output pulse frequency pulse output destination number rotation direction signal m105 jog(-) operation is being performed. x023 jog(-) m106 m8329 abnormal end x030 stop command x030 stop command x030 stop command *1 *1 resets "zero return completion" flag. resets "forward rotation positioning completion" flag. resets "reverse rotation positioning completion" flag. zero return is being performed. zero return instruction with dog search function (clear signal: y020) resets "forward rotation positioning completion" flag. resets "reverse rotation positioning completion" flag. jog(+) operation is being performed. performs the jogging operation in "+" direction using the drive to increment instruction. (y004=on) "zero return completion" flag normal end of zero return abnormal end of zero return completes the jog(+) operation. resets "forward rotation positioning completion" flag. resets "reverse rotation positioning completion" flag. jog(-) operation is being performed. performs the jogging operation in "-" direction using the drive to increment instruction. (y004=off) completes the jog(-) operation.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.2 programs for forward/reverse rotation (relay ladder program) b - 142 position- ing in forward rotation direction m8348 position- ing operation being performed x024 m107 positioning operation being performed in forward rotation direction m107 m8029 "execution completion" flag m108 m109 m8329 abnormal end m10 "zero return compl- etion" flag m108 normal end of positioning in forward rotation direction m109 abnormal end of positioning in forward rotation direction positioning in forward rotation direction m110 m8029 "execution completion" flag m111 m112 m8329 abnormal end position- ing in reverse rotation direction m8348 position- ing operation being performed (y000) x025 m110 positioning operation being performed in reverse rotation direction m10 "zero return compl- etion" flag m111 normal end of positioning in reverse rotation direction m112 abnormal end of positioning in reverse rotation direction positioning in reverse rotation direction x030 stop command m12 rst m13 rst y004 y000 k100000 k500000 fnc 159 ddrva m12 set m12 rst m13 rst y004 y000 k100000 k100 m13 set end x030 stop command fnc 159 ddrva designation of absolute position output pulse frequency pulse output destination number rotation direction signal designation of absolute position output pulse frequency pulse output destination number rotation direction signal "forward rotation positioning completion" flag "reverse rotation positioning completion" flag positioning operation being performed in forward rotation direction moves to absolute position 500000 using the absolute positioning instruction. (y004=on) "forward rotation positioning completion" flag "forward rotation positioning normal end" flag "forward rotation positioning abnormal end" flag "forward rotation positioning completion" flag "reverse rotation positioning completion" flag positioning operation being performed in reverse rotation direction moves to absolute position 100 using the absolute positioning instruction. (y004=off) "reverse rotation positioning completion" flag "reverse rotation positioning normal end" flag "reverse rotation positioning abnormal end" flag
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.3 programs for forward/reverse rotation (step ladder (stl) program) b - 143 a common items b built-in positioning function apx. example connection 12.3 programs for forward/reverse rotation (step ladder (stl) program) 12.3.1 example of program positioning operation will be performed using the absolute positioning method as shown in the following chart: for details on input/output assignment, refer to section 12.1. the following program uses the step ladder (stl) instruction. 100 origin output pulse frequency: 100,000 hz acceleration/deceleration time: 100 ms 500,000 enables the zero return operation with clear signal outputting function. (clear signal: y020) performs zero return in the forward rotation direction. operation is stopped. m8000 m8342 m5 s0 zero return s10 s11 s12 s13 m8349 jog (+) jog (-) positioning in forward rotation direction positioning in reverse rotation direction stoppage of y0 pulse outputting operation m8000 run monitor run monitor x020 stops outputting y000 pulses. (immediate stop) refer to section 4.7.2. m8349 x014 immediate stop servo ready m10 rst m12 rst m13 rst m8343 m8344 x026 forward rotation limit x027 reverse rotation limit resets "zero return completion" flag. resets "forward rotation positioning completion" flag. resets "reverse rotation positioning completion" flag. reverse limit (y000) m8341 d8464 h0020 fnc 12 movp m8464 forward limit (y000)
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.3 programs for forward/reverse rotation (step ladder (stl) program) b - 144 *1. if the initial values (maximum speed, acceleration/deceleration time, zero return speed, creep speed) can be used, it is not necessary to create the program. for the related devices, refer to section 4.1 to section 4.4. *2. the maximum transfer distance for each jogging operation is 999,999 pulses (pulse output range of fnc158 (drvi) instruction). to further move the workpiece, execute the jog command again. zero return m5 operation stopped x022 jog(+) m5 operation stopped positioning in forward rotation direction m5 operation stopped m10 "zero return completion" flag x023 jog(-) m5 operation stopped m10 rst m12 rst m13 rst s0 set m12 rst m13 rst s10 set m12 rst m13 rst s12 set m12 rst m13 rst s11 set x021 x024 *2 *2 initial pulse m8002 d8343 k100000 fnc 12 dmov d8345 k1000 fnc 12 mov d8346 k50000 fnc 12 dmov d8348 k100 fnc 12 mov d8349 k100 fnc 12 mov *1 *1 *1 *1 *1 resets "zero return completion" flag. resets "forward rotation positioning completion" flag. resets "reverse rotation positioning completion" flag. enters the zero return state (s0). resets "forward rotation positioning completion" flag. resets "reverse rotation positioning completion" flag. resets "forward rotation positioning completion" flag. resets "reverse rotation positioning completion" flag. resets "forward rotation positioning completion" flag. resets "reverse rotation positioning completion" flag. enters the jog(+) state (s10). enters the jog(-) state (s11). enters the forward rotation positioning state (s12). sets the maximum speed. 100,000(hz) d8344,d8343 sets the zero return speed. 50,000(hz) d8347,d8346 sets the acceleration time. 100(ms) d8348 sets the deceleration time. 100(ms) d8349 sets the creep speed. 1,000(hz) d8345
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.3 programs for forward/reverse rotation (step ladder (stl) program) b - 145 a common items b built-in positioning function apx. example connection *3. to stop the positioning operation, be sure to insert the stop contact before the positioning instruction so that stl instruction cannot be turned off (reset) until "pulse output monitor" flag (m8340 (for y000)) is turned off. *4. to prevent simultaneous activation of positioning instructions, the instruction activation timing should be delayed by 1 scan time. m8340 y000 outputting m50 waiting for 1 scan time x022 jog(+) m51 zero return zero return instruction with dog search function (clear signal: y020) "zero return completion" flag end of zero return (self-reset) ends the jog(+) operation. (self-reset) performs the jogging operation in "-" direction using the drive to increment instruction.(y004=off) ends the jog(-) operation. (self-reset) performs the jogging operation in "+" direction using the drive to increment instruction.(y004=on) s0 stl y004 y000 m10 set s0 rst s10 rst m50 waiting for 1 scan time m8029 "execution completion" flag x004 x010 fnc 150 dszr rotation direction signal pulse output destination number zero- phase signal near- point signal m50 s10 stl y004 y000 k30000 k999999 fnc 158 ddrvi rotation direction signal pulse output destination number output pulse frequency number of output pulses (maximum value in "+" direction) m51 s11 stl jog(-) y004 y000 k30000 k-999999 fnc 158 ddrvi rotation direction signal pulse output destination number output pulse frequency number of output pulses (maximum value in "-" direction) s11 rst m52 waiting for 1 scan time m8000 run monitor m8340 y000 outputting m51 waiting for 1 scan time waiting for 1 scan time m8000 run monitor x23 jog(-) m52 waiting for 1 scan time m8340 y000 outputting m52 waiting for 1 scan time m8000 run monitor *4 *4 *4 zero return jogging operation jog(+) waiting for 1 scan time waiting for 1 scan time x030 *3 stop command x030 *3 stop command x030 *3 stop command m5 operation stopped m10 "zero return completion" flag resets "forward rotation positioning completion" flag. resets "reverse rotation positioning completion" flag. enters the reverse rotation positioning state (s13). m12 rst m13 rst s13 set positioning in reverse rotation direction x025
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.3 programs for forward/reverse rotation (step ladder (stl) program) b - 146 *5. to stop the positioning operation, be sure to insert the stop contact before the positioning instruction so that stl instruction cannot be turned off (reset) until "pulse output monitor" flag (m8340 (for y000)) is turned off. *6. to prevent simultaneous activation of positioning in structions, the instruction activation timing should be delayed by 1 scan time. m8340 y000 outputting m53 waiting for 1 scan time moves to absolute position 500000 using the drive to absolute instruction. (y004=on) "forward rotation positioning completion" flag ends the positioning operation in the forward rotation direction. (self-reset) s12 stl y004 y000 m12 set s12 rst m53 waiting for 1 scan time m8029 "execution completion" flag k100000 k500000 fnc 159 ddrva rotation direction signal pulse output destination number output pulse frequency designation of absolute position m53 m13 set m54 m8000 run monitor m8340 y000 outputting m54 waiting for 1 scan time *6 *6 positioning in forward rotation direction positioning in reverse rotation direction s13 rst ret end ends the positioning operation in the reverse rotation direction. (self-reset) s13 stl positioning in reverse rotation direction y004 y000 m54 waiting for 1 scan time k100000 k100 fnc 159 ddrva rotation direction signal pulse output destination number output pulse frequency designation of absolute position "reverse rotation positioning completion" flag moves to absolute position 100 using the drive to absolute instruction. (y004=off) m8029 "execution completion" flag m8000 run monitor positioning in forward rotation direction waiting for 1 scan time waiting for 1 scan time x030 *5 stop command x030 *5 stop command
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.4 positioning using batch setting method b - 147 a common items b built-in positioning function apx. example connection 12.4 positioning using batch setting method positioning operation will be performed using the absolute positioning method as shown in the following chart: for details on input/output assignment, refer to section 12.1 12.4.1 setting using gx developer this section describes how to set the positioni ng parameters using gx developer of ver.8.23z. 1 on the project tree displayed on the left side of the screen, double-click "parameter" and then "plc parameter". if the project tree is not displayed on the screen, click "view" on the menu bar, and then click "project data list". 2 click "memory capacity", and then enter a check in "positioning instruction settings" check box. *1. 9,000 steps are needed to set the positioning data. if there is not enough capacity for programming, set "memory capacity" to 16,000 steps. 100 origin output pulse frequency: 100,000 hz acceleration/deceleration time: 100 ms 500,000 enter a check. *1
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.4 positioning using batch setting method b - 148 3 click "positioning" tab, and then set y000 (pulse output destination) as follows. before clicking "positioning" tab, click "memory capacity" tab, and then enter a check in "positioning" check box. after entering a check, positioning data can be set. 4 click "individual setting" button. "individual setting" setting window will appear. in this window, click "y000" tab to display the positioning table for y000 (pulse output destination). set the data in the potioning table as follows: setting item setting value bias speed (hz) 500 maximum speed (hz) 100,000 creep speed (hz) 1000 zero return speed (hz) 50,000 acceleration time (ms) 100 deceleration time (ms) 100 interrupt input for dvit instruction x000 setting item setting value rotation direction signal y004 first device r0 no. 1 positioning type ddrvi (drive to increment) number of pulses (pls) 999,999 frequency (hz) 30,000 no. 2 positioning type ddrvi (drive to increment) number of pulses (pls) -999,999 frequency (hz) 30,000 no. 3 positioning type ddrva (drive to absolute) number of pulses (pls) 500,000 frequency (hz) 100,000 no. 4 positioning type ddrva (drive to absolute) number of pulses (pls) 100 frequency (hz) 100,000
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.4 positioning using batch setting method b - 149 a common items b built-in positioning function apx. example connection 5 create a program. 6 on the bar, click "online" and then "wri te to plc". "write to plc" window will appear. *1. depending on the version of gx developer, the plc type may be set to "fx 3uc ". 7 click "param+prog" buttons, and then click "execute" button. the parameters and the created program will be transferred to the plc. to enable the transferred parameters, stop the plc, and then restart it. 12.4.2 operation program an example of relay ladder program is shown below: *1 x020 m8349 m8341 x014 immediate stop servo ready m8000 m8342 m8000 run monitor run monitor m10 rst m12 rst m13 rst m8343 m8344 x026 normal rotation limit x027 reversed rotation limit d8464 h0020 fnc 12 movp m8464 stops outputting y000 pulses. (immediate stop) refer to subsection 4.7.2. enables the origin return operation with clear signal outputting function. (clear signal: y020) performs origin return in the normal rotation direction. resets "origin return completion" flag. resets "normal rotation positioning completion" flag. resets "reversed rotation positioning completion" flag. normal rotation limit(y000) reversed rotation limit(y000)
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.4 positioning using batch setting method b - 150 origin return m8348 positioning being performed m10 rst m12 rst m13 rst x021 m101 normal end of origin return m100 origin return being performed m102 abnormal end of origin return m100 y004 y000 x004 x010 fnc 150 dszr m8029 "execution completion" flag m10 set m101 m102 m8329 abnormal end jog (+) m8348 m12 rst x022 m104 completes the jog(+) operation. positioning being performed (y000) m13 rst m103 k1 y000 fnc 152 dtbl near-point signal zero-point signal pulse output destination number rotation direction signal pulse output destination number table number m103 jog(+) operation is being performed. x022 jog(+) m104 m8329 abnormal end o r i g i n r e t u r n jogging operation jog (-) m8348 m12 rst x023 m106 completes the jog(-) operation. positioning being performed (y000) m13 rst m105 k2 y000 fnc 152 dtbl pulse output destination number table number m105 jog(-) operation is being performed. x023 jog(-) m106 m8329 abnormal end x030 stop command x030 stop command x030 stop command resets "origin return completion" flag. resets "normal rotation positioning completion" flag. resets "reversed rotation positioning completion" flag. origin return is being performed. origin return instruction with dog search function (clear signal: y020) resets "normal rotation positioning completion" flag. resets "reversed rotation positioning completion" flag. jog(+) operation is being performed. executes no. 1 of the positioning table of y000 (pulse output destination). "origin return completion" flag normal end of origin return abnormal end of origin return completes the jog(+) operation. resets "normal rotation positioning completion" flag. resets "reversed rotation positioning completion" flag. jog(-) operation is being performed. executes no. 2 of the positioning table of y000 (pulse output destination). completes the jog(-) operation.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.4 positioning using batch setting method b - 151 a common items b built-in positioning function apx. example connection position- ing in forward rotation direction m8348 position- ing operation being performed x024 m107 positioning operation being performed in forward rotation direction m107 m8029 "execution completion" flag m108 m109 m8329 abnormal end m10 "zero return compl- etion" flag m108 normal end of positioning in forward rotation direction m109 abnormal end of positioning in forward rotation direction positioning in forward rotation direction m110 m8029 "execution completion" flag m111 m112 m8329 abnormal end position- ing in reverse rotation direction m8348 position- ing operation being performed (y000) x025 m110 positioning operation being performed in reverse rotation direction m10 "zero return compl- etion" flag m111 normal end of positioning in reverse rotation direction m112 abnormal end of positioning in reverse rotation direction positioning in reverse rotation direction x030 stop command m12 rst m13 rst k3 y000 fnc 152 dtbl m12 set m12 rst m13 rst k4 y000 m13 set end x030 stop command fnc 152 dtbl pulse output destination number table number pulse output destination number table number "forward rotation positioning completion" flag "reverse rotation positioning completion" flag positioning operation being performed in forward rotation direction "forward rotation positioning completion" flag "forward rotation positioning normal end" flag "forward rotation positioning abnormal end" flag "forward rotation positioning completion" flag "reverse rotation positioning completion" flag positioning operation being performed in reverse rotation direction executes no. 4 of the positioning table of y000 (pulse output destination). "reverse rotation positioning completion" flag "reverse rotation positioning normal end" flag "reverse rotation positioning abnormal end" flag executes no. 3 of the positioning table of y000 (pulse output destination).
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 12 examples of programs 12.5 program for reading current abs value using abs instruction b - 152 12.5 program for reading current abs value using abs instruction 1) program for storing abs data in current value regi sters specified by positioning instruction for y000 (pulse output destination) 2) program for storing abs data in current value registers of fx 2n -1pg(-e) or fx 2n -10pg caution: *1. the abs data will be read out as a pulse coverted value. for this reason, be sure to specify "motor system" when setting parameters (bfm #3) for fx 2n -1pg(-e). *2. when writing the abs data into fx 2n -10pg, be sure to use the current value registers (bfm #40, bfm #39) to store the converted pulse data. m8000 run monitor fnc155 dabs x031 y021 d8340 s ? d 1 ? d 2 ? reads out the abs data to current value registers d8341 and d8340. read time limit (5 sec) abs data read error abs data reading is completed. abs data reading completed t0 read time error detected m8029 "execution completion" flag t0 m2 m 1 set k50 m1 abs(bit0) servo-on signal m8000 run monitor fnc155 dabs x031 y021 d100 s ? d 1 ? d 2 ? reads out the abs data to the d101 and d100. read time limit (5 sec) abs data read error abs data reading is completed. writes data (data converted into pulse data) in current value registers #40 and #39 of fx 2n -10pg. *2 writes data in current value registers #27 and #26 of fx 2n -1pg. *1 abs data reading completed t0 read time error detected m8029 "execution completion" flag t0 m2 m 1 set k50 m1 m1 abs data reading is completed. d100 u \g39 fnc12 dmov block no. bfm#39 ( #40 ) m1 abs data reading is completed. fnc12 dmov d100 u \g26 block no. bfm#26(#27) abs(bit0) servo-on signal
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 13 troubleshooting 13.1 led indicator lamp check b - 153 a common items b built-in positioning function apx. example connection 13. troubleshooting 13.1 led indicator lamp check if an error occurs, check the on/off status of led indicator lamps on the plc to know the outline of the error.this section, however, does not describe all the led indicator lamps of the main unit. for details of led indicator lamp, refer to the following manuals of the plc. refer to the fx 3u hardware edition. refer to the fx 3uc hardware edition. 13.1.1 power indicator lamp (statuses: on, flashing, off) 13.1.2 run indicator lamp (statuses: on, off) lamp status status of plc troubleshooting on the specified voltage is properly supplied to the power supply terminal. the power is being properly supplied. flashing the plc may be at one of the following statuses: ? the specified voltage/current is not supplied to the power supply terminal. ? an external line is not properly connected. ? the plc has a problem. ? check the power supply voltage. ? excluding the power cable, disconnect all the other cables, and then turn on the power again. check the lamp status. if the lamp flashes again, please contact the nearest office of mitsubishi electric distributor. off the plc may be at one of the following statuses: ? the power is off. ? the specified voltage is not supplied to the power supply terminal. ? the power cable is disconnected. if the power is on, check the power supply unit and the power supply line. if the power is properly supplied, please contact the nearest office of mitsubishi electric distributor . lamp status status of plc troubleshooting on the sequence program is being executed. the run indicator lamp indicates the operation status of the plc. note that the run indicator lamp will go out depending on the status of the error indicator lamp (refer to subsection 13.1.4). off execution of the sequence program is stopped. fx 3u plc fx 3uc plc
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 13 troubleshooting 13.1 led indicator lamp check b - 154 13.1.3 batt indicator lamp (statuses: on, off) 13.1.4 error indicator lamp (statuses: on, flashing, off) lamp status status of plc troubleshooting on the voltage of the battery is too low. immediately replace the battery (refer to the manual of the plc). off the battery supplies the voltage specified by the d8006 or more. the plc has no problems. lamp status status of plc troubleshooting on the watchdog timer error may be detected, or the hardware of the plc may be damaged. 1) stop the plc, and then turn on the power again.if the error indicator lamp goes out, check if a watchdog timer error has been detected, and take one of the following measures. - review the program. the maximum value of the scanning time (d8012) should not be larger than the set value of the watchdog timer (d8000). - the interrupt input and the pulse catch input should not be turned on and off too frequently during 1 scan time. - the frequency of the pulse input to the high-speed counter should not exceed the specified range (duty:50%) - add several wdt instructions. set several wdt instructions in the program so that the watchdog timer can be reset several times during 1 scan time. - change the set value of the watchdog timer. using the program, change the set value of the watchdog timer (d8000) so that the set value of the watchdog timer (d8000) can be larger than the maximum value of the scanning time (d8012). 2) remove the plc, and put it on a workbench. supply another source of power to the plc. if the error indicator lamp does not light, the cause of the problem may be noise. in this case, take the following measures. - check the grounding line, and change the wiring route and the installation place. - adopt a noise filter for the power supply line. 3) if taking measures 1) and 2) does not turn off the error indicator lamp, please contact the nearest office of mitsubishi electric distributor. flashing the plc has one of the following errors: ? parameter error ? syntax error ? circuit error diagnose the plc (pc), or check the programs using the programming tool. for countermeasures, refer to the following manual of the applied plc. programming manual off errors that can stop the plc are not detected. if an operation error is detected on the plc, diagnose the plc (pc), or check the programs using the programming tool. there is a strong possibility that "i/o configuration error", "parallel link/ communication error", or "operation error" has been detected.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 13 troubleshooting 13.1 led indicator lamp check b - 155 a common items b built-in positioning function apx. example connection 13.1.5 pulse output destination device and rotation direction output indicator lamp 1. if transistor outputs of the main unit are used for positioning signal led status during execution of positioning instruction description "pulse output destination device" (pulse train) signal turned on and off at high speed the pulse outputting operation is controlled by the positioning instruction. off the plc may be at the following status: 1) the operation of the positioning instruction is completed. 2) the positioning instruction turns on, but an operation error is detected. the instruction, therefore, is not being executed. to check the error, refer to the following section: refer to subsection. 13.2.1 "error code check method". "rotation direction output" (direction) signal on operation is being performed in the forward rotation direction. off the plc may be at the following status: 1) the positioning instruction turns on, and operation is being performed in the reverse rotation direction. 2) the positioning instruction turns on, but an operation error is detected. the instruction, therefore, is not being executed. to check the error, refer to the following section: refer to subsection. 13.2.1 "error code check method".
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 13 troubleshooting 13.1 led indicator lamp check b - 156 2. if the high-speed output special adapter (fx 3u -2hsy-adp) is used for positioning status of pulse output method setting switch signal led status during execution of positioning instruction description pls?dir side "pulse output destination device" (pulse train) turned on and off at high speed the pulse outputting operation is controlled by the positioning instruction. off the plc may be at the following status: 1) the operation of the positioning instruction is completed. 2) an operation error occured in positioning instruction. the instruction, therefore, is not being executed. to check the error, refer to the following section: refer to subsection. 13.2.1 "error code check method". "rotation direction output" (direction) on forward operation is in execution. off the plc may be at the following status: 1) the positioning instruction turns on, and operation is being performed in the reverse rotation direction. 2) an operation error occured in positioning instruction. the instruction, therefore, is not being executed. to check the error, refer to the following section: refer to subsection. 13.2.1 "error code check method". fp/rp side "pulse output destination device" (forward pulse train) turned on and off at high speed forward operation is in execution by positioning instructions. reverse pulse train is off. off the plc may be at the following status: 1) the positioning instruction turns on, and operation is being performed in the reverse rotation direction. 2) an operation error occured in positioning instruction. the instruction, therefore, is not being executed. to check the error, refer to the following section: refer to subsection. 13.2.1 "error code check method". "rotation direction output" (reverse pulse train) turned on and off at high speed reverse operation is in execution by positioning instructions. forward pulse train is off. off the plc may be at the following status: 1) the positioning instruction turns on, and operation is being performed in the forward rotation direction. 2) an operation error occured in positioning instruction. the instruction, therefore, is not being executed. to check the error, refer to the following section: refer to subsection. 13.2.1 "error code check method".
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 13 troubleshooting 13.2 error check b - 157 a common items b built-in positioning function apx. example connection 13.2 error check 13.2.1 error code check method this section describes how to check the error codes using gx developer. if the display module (fx 3u -7dm) is used, use "error check" function of the display module to check the error codes. for details of operation of the display module, refer to the following manuals: fx 3u hardware edition. fx 3uc hardware edition. 1 connect the personal computer to the plc. 2 diagnose the plc. on the tool menu bar, click "diagnostics", and then click "plc diagnostics" to diagnose the programmble controller. 3 check the diagnosis result. the following window will appear. check the details of the error shown on the window. the help function of gx developer opens, and you can check the details of the error code. display of conditions of leds on fx plc the plc error is displayed.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 13 troubleshooting 13.2 error check b - 158 13.2.2 error codes this section describes error codes related to the positi oning instructions. for details of the error codes, refer to the following manual. refer to the programming manual. error code operation after detecting error description of error troubleshooting operation error [m8067 (d8067)] 0000 operation will be continued. no error detected 6705 the device specified by the operand of the applied instruction is a wrong device. this error occurs during operation. check the program or the operand of the applied instruction. even if no syntax error or circuit error is detected, an operation error may occur for the following reason: example: t200z is not an error. however, if z = 400, the result of operation will be t600. this means that the device number is out of the specified range, and an operation error will be detected. 6706 the device number or the data specified by the operand of the applied instruction is out of the specified range. 6760 sum error of abs data sent from servo amplifier check the servo amplifier for disconnection. also check the set data. 6763 1) the input (x) specified by dszr, dvit, or zrn instruction is already used for the other instruction. 2) the interruption signal device number specified by dvit instruction is out of the setting range. 1) check that the input (x) specified by dszr, dvit, or zrn instruction is not used for the following items: - input interruption (including delay function) - high-speed counter (c235 to c255) - pulse catch (m8050 to m8057) -spd instruction 2) check the data set in the d8336 (interruption signal designation device for dvit instruction). 6764 the pulse output number is already used for a positioning instruction or pulse output instruction (plsy, pwm,etc.). check that the output specified as the pulse output destination is not activated by the other positioning instruction.
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 13 troubleshooting 13.3 if the servo motor or the stepping motor does not operate b - 159 a common items b built-in positioning function apx. example connection 13.3 if the servo motor or the stepping motor does not operate if the servo motor or the stepping motor does not operate, check the following items. 1) check the wiring condition. for output specifications, refer to section 2.5. to connect the melservo series, refer to th e examples of connection shown in the appendix. for details on the servo amplifier (drive unit), refer to the manual of your unit. 2) execute the positioning instruction, and then check the statuses of the following led indicator lamps. for details on lamp statuses, refer to subsection 13.1.5. - led indicator lamp of the output s pecified as the pulse output destination - led indicator lamp of the output specif ied as the rotation direction output device 3) check that the same pulse output method is adopted for both the plc and the servo amplifier (drive unit). for details on the pulse output method, refer to subsection 4.6.1. for details on high-speed output special adapter setting method,refer to subsection 4.5.2. 4) check that the pulse output stop command flag is off. for details on the pulse output stop command flag, refer to subsection 4.3.2. the following table shows the pulse output stop command flag of each pulse output destination device (y000, y001, y002, y003). 5) check that the limit switch (forward or reverse rotation limit switch) is not activated. for details on the normal and reverse rotation limits, refer to subsection 4.3.1. the following table shows the forward and reverse limit flags of each pulse output destination device (y000, y001, y002, y003). 6) check the operation timing of the positioning instruction. if "pulse output monitor" (busy/ready) flag is on, and if the positioning instruction (excluding the abs instruction) or the pulse output instruction (plsr, plsy) uses the same pulse output destination device, the instruction cannot be executed. after the instruction activation contact is turned off, if "pulse output monitor" (busy/ready) flag is still on, do not execute the positioning instruction (including plsr and plsy instructions) having the same output number. before activating such an instruction, check that "pulse output monitor" (busy/ready) flag is off, and then wait until at least 1 scan time is completed. pulse output destination device pulse output stop command flag operation y000 m8349 during pulse outputting operation, if the pulse output stop command flag of corresponding pulse output destination device is turned on, the pulse outputting operation will be immediately stopped. y001 m8359 y002 m8369 y003 m8379 pulse output destination device forward limit flag reverse limit flag corresponding instruction and stop plsv instruction (m8338 = off) dszr, dvit, zrn, plsv(m8338 = on), drvi, and drva instructions y000 m8343 m8344 if the corresponding rotation limit flag is turned on, pulse output (operation) will be immediately stopped. if the corresponding rotation limit flag is turned on, the speed will be reduced, and then operation will be stopped. y001 m8353 m8354 y002 m8363 m8364 y003 m8373 m8374 pulse output destination device pulse output monitor flag y000 m8340 y001 m8350 y002 m8360 y003 m8370
fx 3u /fx 3uc series plc user's manual - positioning control edition built-in positioning function 13 troubleshooting 13.4 if operation is stopped at a wrong position b - 160 13.4 if operation is stopped at a wrong position if operation is stopped at a wrong position, check the following items. 1) check whether the electronic gear of the se rvo amplifier (drive unit) is set properly. for the electronic gear setting method of the melservo series, refer to subsection 4.6.2. 2) check whether the or igin is set properly. ? properly set the dog so that the near-point signal (dog) can be kept at the on status until the speed is reduced to the creep speed. this instruction will start speed reduction at the front end of the dog, and will stop the operation at the rear end of the dog or at detection of the first zero-phase signal after passing the rear end of the dog. after that, the current value register will be cleared (reset to "0"). if the speed is not reduced to the creep speed before detecting the rear end of the dog, the operation may not be stopped at the specified position. ? the creep speed should be low enough. the zero return instruction will not reduce the speed before stop. for this reason, if the creep speed is not low enough, the operation may not be stopped at the specified position due to inertia. ? devices for near-point signal (dog) - dszr instruction if an input (x000 to x017) *1 of main unit is specified for the near-point signal (dog), the rear end of the near-point signal (dog) will be monitored (detect ed) at 1-ms intervals (interruption). under the following condition, however, monitoring (detecti on) of the near-point signal (dog) rear end may be affected by the time constant at input or the scan time of the sequence program, and the operation may not be stopped at the specified position. a) an input number of x020 or below or the other device (auxiliary relay, etc.) is specified. *1.to use fx 3u -16m , specify an input in the range of x000 to x007. - zrn instruction if an input (x000 to x007) of the main unit is specif ied for the near-point input signal, the interruption function will be adopted to stop the operation. under the following condition, however, operation may be affected by the scan time of the sequence program, and the operation may not be stopped at the specified position. a) an input number of x010 or below or the other devic e (auxiliary relay, etc.) is specified. if input relay x010 or below is specified for the near-point signal, the input filter (10 ms) will be adopted. ? if dszr instruction is used: since the zero-phase signal of the servo motor is used, adjust the relation between the rear end of the dog and the zero-phase signal as shown in the following figure. if fine adjustment of the origin position is needed, adjust the position of the near-point signal (dog). 3) if reciprocating operation (operation in the forward ro tation direction and then reve rse rotation direction) is not stopped at the specified position: the built-in positioning function cannot correct the mechanical backlash (clearance, play) during positioning operation. if it is necessary to correct the backlash, preliminarily set the number of output pulses considering the backlash that may be caused when changing the transfer direction. dog rear end zero-phase signal table feed screw backlash (clearance, play)
apx. - 1 fx 3u /fx 3uc series plc user's manual - positioning control edition example connection a common items b built-in positioning function apx. example connection fx 3u /fx 3uc series programmable controllers user's manual [positioning control edition] appendix: example connection foreword to use the positioning function of the melsec-f fx 3u /fx 3uc series plc described in this manual, the plc should be connected to a servo amplifier drive unit. t he appendix, therefore, describes how to connect the plc to a servo amplifier drive unit and should be read and understood before attempting to install or use the unit. store this manual in a safe place so that you can take it out and read it whenever necessary. always forward it to the end user. ? 2005 mitsubishi electric corporation this manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. mitsubishi electric corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
apx. - 2 fx 3u /fx 3uc series plc user's manual - positioning control edition example connection description of manual (example of connection) in this manual, the following formats are used for description of the examples of connection: shows the title of the manual and the title of the division. this area shows the title of the manual and the title of the division for the page currently opend. 1st line: shows the title of the manual. 2nd line: shows the title of the division. shows the title of the chapter and the title of the section. this area shows the title of the chapter and the title of the section for the page currently opened. indexes the division titles. the right side of each page indexes the title of the division for the page currently opened. shows the reference. this area shows the reference document (the reference document is shown next to " "). if the reference is in "appendix: examples of connection", the chapter, section, or item number only will be shown next to " " .
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 1: melservo-j3 series appendix 1-1 main unit (transistor output) apx. - 3 a common items b built-in positioning function apx. example connection appendix 1. melservo-j3 series appendix 1-1 main unit (transistor output) to assign the inputs/outputs, refer to the following section. refer to section 12.1 of "b. built-in positioning function". appedix 1-1-1 sink input and sink output lg op docom pp cn1 34 33 46 10 docom dicom 46 20 opc 12 np 35 rd 49 dicom zsp inp 21 23 24 tlc 25 alm 48 cn1 son res emg 15 19 42 lsp 43 lsn 44 cn1 docom 47 abst absb0 absb1 25 22 23 d0com 46 son 15 absm absr 17 18 cn1 fx 2n -16ex-es/ul fx 2n -16eyt refer to appendix 1.3.1. 24v dc cr 41 sd plate dog *2 com x004 x017 fx 3uc -32mt-lt x010 x014 x000 com0 com0 y000 y017 y004 com x020 fx 2nc -16ex x021 x022 x023 x024 x026 x027 x037 x025 x030 com1 fx 2nc -16eyt y020 y027 com1 photo- coupler photo- coupler immediate stop command zero return command jog(+)command jog(-)command forward rotation positioning command forward rotation limit (lsf) *3 reverse rotation limit (lsr) *3 reverse rotation positioning command stop command class-d grounding *1 zero point signal(pg0) servo ready (rd) pulse train clear signal mr-j3 a series servo amplifier speed zero *4 positioning completed(inp) torque being controlled *4 servo error(alm) *4 connected to fx 3uc if abs instruction(fnc 155) is used. servo on *4 reset emergency stop forward rotation limit 2 *3 reverse rotation limit 2 *3 direction
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 1. melservo-j3 series appendix 1-2 high-speed output special adapter apx. - 4 *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). *2. near-point signal (dog) *3. to ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the plc side and the servo amplifier side. note that the limit switches on the pl c side should be activated slightly ear lier than the limit switches on the servo amplifier side. *4. to detect absolute positions, connect this line to the plc. reverse rotation limit 2 (servo amplifier side) reverse rotation limit 1 (programmable controller side) lsr forward rotation limit 2 (servo amplifier side) forward rotation limit 1 (programmable controller side) lsf reverse rotation forward rotation servo motor
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 1: melservo-j3 series appendix 1-2 high-speed output special adapter apx. - 5 a common items b built-in positioning function apx. example connection appendix 1-2 high-speed output special adapter to assign the inputs/outputs, refer to the following section. b. refer to section 12.1 of "built-in positioning function". appedix 1-2-1 sink input, sink output (transistor), and differential line driver output *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). *2. near-point signal (dog) y0/2+ fx 3u -2hsy-adp y0/2- sga y4/6+ y4/6- epuivalent to am26c31 sga pulse train (forward rotation pulse train)* 5 lg op docom sd 34 33 46 41 plate docom dicom 46 20 cn1 opc 12 dicom zsp inp 21 23 24 tlc 25 alm 48 cn1 son res emg 15 19 42 lsp 43 lsn 44 cn1 docom 47 abst absb0 absb1 25 22 23 46 son 15 absm absr 17 18 cn1 fx 2n -16ex-es/ul fx 2n -16eyt refer to appendix 1.3.1. np 35 rd 49 cr pp 10 pg 11 ng 36 docom s/s x020 fx 2n -16ex-es/ul x021 x022 x023 x024 x026 x027 x037 x025 x030 com1 fx 2n -16eyt y020 y027 dog *2 x004 x017 fx 3u -32mr/es x010 x014 x000 24v 0v s/s n l 100v to 240v ac 24v dc photo- coupler photo- coupler class-d grounding *1 zero point signal(pg0) servo ready (rd) clear signal mr-j3 a series servo amplifier speed zero *4 positioning completed(inp) torque being controlled *4 servo error(alm) *4 connected to fx 3uc if abs instruction(fnc 155) is used. servo on *4 reset emergency stop forward rotation limit 2 *3 reverse rotation limit 2 *3 immediate stop command zero return command jog(+)command jog(-)command forward rotation positioning command forward rotation limit (lsf) *3 reverse rotation limit (lsr) *3 reverse rotation positioning command stop command direction signal (reverse rotation pulse train)* 5
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 1. melservo-j3 series appendix 1-2 high-speed output special adapter apx. - 6 *3. to ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the plc side and the servo amplifier side. note that the limit switches on the plc side should be activated slightly earlier than the limit switches on the servo amplifier side. *4. to detect absolute positions, connect this line to the plc. *5. set the pulse output form by pulse output form setting switch. appendix 1-3 absolute position detection (transistor output) to assign the inputs/outputs, refer to the following section. refer to section 12.1 of "b. built-in positioning function" appendix 1-3-1 sink input and sink output 1. fx 3u plc *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). pulse output method setting switch pulse output method fp ? rp side forward/reverse pulse train pls ? dirside pulse train + direction reverse rotation limit 2 (servo amplifier side) reverse rotation limit 1 (programmable controller side) lsr forward rotation limit 2 (servo amplifier side) forward rotation limit 1 (programmable controller side) lsf reverse rotation forward rotation servo motor fx 3u -32mr/es x000 24v 0v s/s n l 100v to 240v ac com1 fx 2n -16eyt y020 y27 y021 y022 y023 abs(bit0) abs(bit1) docom 46 22 dicom 20 abst 25 absb 1 23 sd plate cn1 son 15 absr 18 absm 17 absb0 22 abst 25 absb1 23 s/s x020 fx 2n -16ex-es/ul x031 x032 x033 x037 24v dc photo- coupler photo- coupler class-d grounding *1 servo-on abs transfer mode abs request mr-j3 a series servo amplifier send data ready
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 1: melservo-j3 series appendix 1-3 absolute position detection (transistor output) apx. - 7 a common items b built-in positioning function apx. example connection 2. fx 3uc plc *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). fx 3uc -32mt-lt docom 46 22 dicom 20 abst 25 23 sd plate cn1 24v dc com1 fx 2nc -16eyt y020 y027 com1 y021 y022 y023 com x000 com x020 fx 2nc -16ex x031 x032 x033 x037 son 15 absr 18 absm 17 absb0 22 abst 25 absb1 23 photo- coupler photo- coupler class-d grounding *1 abs(bit0) abs(bit1) servo-on abs transfer mode abs request send data ready mr-j3 a series servo amplifier
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 2. melservo-j2 (-super) series appendix 2-1 main unit (transistor output) apx. - 8 appendix 2. melservo-j2 (-super) series appendix 2-1 main unit (transistor output) to assign the inputs/outputs, refer to the following section. refer to section 12.1 of "b. built-in positioning function". appendix 2-1-1 sink input and sink output lg op sg pp cr np sd cn1a son res emg 5 14 15 lsp 16 lsn 17 cn1b sg 20 do1 zsp tlc 4 19 6 sg 10 son 5 absm absr 8 9 cn1b sg com 10 13 cn1b zsp 19 tlc 6 alm 18 com opc inp rd plate 1 14 10 3 8 2 9 11 18 19 cn1a fx 2n -16ex-es/ul fx 2n -16eyt refer to appendix 2.3.1. 24v dc com x020 fx 2nc -16ex x021 x022 x023 x024 x026 x027 x037 x025 x030 com1 fx 2nc -16eyt y020 y027 com1 dog *2 com x004 x017 fx 3uc -32mt-lt x010 x014 x000 com0 com0 y000 y017 y004 photo- coupler photo- coupler class-d grounding *1 zero point signal(pg0) servo ready (rd) pulse train clear signal positioning completed(inp) speed zero *4 torque being controlled *4 servo error(alm) mr-j2(s) a series servo amplifier *4 connected to fx 3uc if abs instruction(fnc 155) is used. servo on *4 reset emergency stop forward rotation limit 2 *3 reverse rotation limit 2 *3 immediate stop command zero return command jog(+)command jog(-)command forward rotation positioning command forward rotation limit (lsf) *3 reverse rotation limit (lsr) *3 reverse rotation positioning command stop command direction
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 2. melservo-j2 (-super) series appendix 2-1 main unit (transistor output) apx. - 9 a common items b built-in positioning function apx. example connection *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). *2. near-point signal (dog) *3. to ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the plc side and the servo amplifier side. note that the limit switches on the plc side should be activated slightly earlier than the limit switches on the servo amplifier side. *4. to detect absolute positions, connect this line to the plc. reverse rotation limit 2 (servo amplifier side) reverse rotation limit 1 (programmable controller side) lsr forward rotation limit 2 (servo amplifier side) forward rotation limit 1 (programmable controller side) lsf reverse rotation forward rotation servo motor
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 2. melservo-j2 (-super) series appendix 2-2 high-speed output special adapter apx. - 10 appendix 2-2 high-speed output special adapter to assign the inputs/outputs, refer to the following section. refer to section 12.1 of "b. built-in positioning function". appendix 2-2-1 sink input, sink output (transistor), and differential line driver output *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). *2. near-point signal (dog) lg op sg cr np sd cn1a son res emg 5 14 15 lsp 16 lsn 17 cn1b sg 20 do1 zsp tlc 4 19 6 sg 10 son 5 absm absr 8 9 cn1b vdd com 3 13 cn1b zsp 19 tlc 6 alm 18 com inp rd plate 1 14 10 8 2 9 18 19 cn1a fx 2n -16ex-es/ul fx 2n -16eyt refer to appendix 2.3.1. com1 fx 2n -16eyt y020 y027 y0/2+ fx 3u -2hsy-adp y0/2- sga y4/6+ y4/6- sga dog *2 x004 x017 fx 3u -32mr/es x010 x014 x000 24v 0v s/s n l 100v to 240v ac pp 3 pg 13 ng 12 s/s x020 fx 2n -16ex-es/ul x021 x022 x023 x024 x026 x027 x037 x025 x030 sg 10 *4 photo- coupler photo- coupler class-d grounding *1 zero point signal(pg0) servo ready (rd) clear signal immediate stop command zero return command jog(+)command jog(-)command forward rotation positioning command forward rotation limit (lsf) *3 reverse rotation limit (lsr) *3 reverse rotation positioning command stop command positioning completed(inp) mr-j2(s) a series servo amplifier speed zero *5 torque being controlled *5 servo error(alm) *5 connected to plc if abs instruction (fnc 155) is used. servo on *5 reset emergency stop forward rotation limit 2 *3 reverse rotation limit 2 *3 epuivalent to am26c31 pulse train (forward rotation pulse train)* 6 direction signal (reverse rotation pulse train)* 6
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 2. melservo-j2 (-super) series appendix 2-3 absolute position detection (transistor output) apx. - 11 a common items b built-in positioning function apx. example connection *3. to ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the plc side and the servo amplifier side. note that the limit switches on the plc side should be activated slightly earlier than the limit switches on the servo amplifier side. *4. for details of the mr-j2(s) servo amplifier, such as the tolerance for the internal power and operation of the servo amplifier, refer to the following manual. for details, refer to the servo amplifier manual. *5. to detect absolute positions, connect this line to the plc. *6. set the pulse output method using the pulse output method setting switch. appendix 2-3 absolute position detection (transistor output) to assign the inputs/outputs, refer to the following section. refer to section 12.1 of "b. built-in positioning" appendix 2-3-1 sink input and sink output 1. fx 3u plc *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). *2. for details of the mr-j2(s) servo amplifier, such as the tolerance for the internal power and operation of the servo amplifier, refer to the following manual. for details, refer to the servo amplifier manual. pulse output method setting switch pulse output method fp ? rp side forward/reverse pulse train pls ? dir side pulse train + direction reverse rotation limit 2 (servo amplifier side) reverse rotation limit 1 (programmable controller side) lsr forward rotation limit 2 (servo amplifier side) forward rotation limit 1 (programmable controller side) lsf reverse rotation forward rotation servo motor fx 3u -32mr/es x000 24v 0v s/s n l 100v to 240v ac com1 fx 2n -16eyt y020 y027 y021 y022 y023 sd plate son absr absm sg com cn1b 10 13 5 9 8 do1 tlc zsp 4 6 19 s/s x020 fx 2n -16ex-es/ul x031 x032 x033 x037 vdd 3 *2 photo- coupler photo- coupler class-d grounding *1 abs(bit0) abs(bit1) servo-on abs transfer mode abs request send data ready mr-j2(s) a series servo amplifier
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 2. melservo-j2 (-super) series appendix 2-3 absolute position detection (transistor output) apx. - 12 2. fx 3uc plc *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). fx 3uc -32mt-lt sd plate com1 fx 2nc -16eyt y020 y027 com1 y021 y022 y023 com x000 com x020 fx 2nc -16ex x031 x032 x033 x037 son absr absm cn1b sg com 10 13 5 9 8 do1 tlc zsp 4 6 19 photo- coupler photo- coupler 24v dc class-d grounding *1 abs(bit0) abs(bit1) servo-on abs transfer mode abs request send data ready mr-j2(s) a series servo amplifier
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 3. melservo-h series appendix 3-1 main unit (transistor output) apx. - 13 a common items b built-in positioning function apx. example connection appendix 3. melservo-h series appendix 3-1 main unit (transistor output) to assign the inputs/outputs, refer to the following section. refer to section 12.1 of "b. built-in positioning function". appendix 3-1-1 sink input and sink output dog *2 com x004 x017 fx 3uc -32mt-lt x010 x014 x000 com0 com0 y000 y017 y004 lg op sg pp0 npo sd cn1 28 33 47 18 19 50 sg 40 cn1 vin pf zsp 20 24 23 tlc 25 alm 48 son res emg 12 15 46 lsp 38 lsn 39 cn1 sg 40 pf zsp tlc 24 23 25 sg 16 son 12 d13 d14 44 45 cn1 cr 37 sg 17 rd 49 fx 2n -16ex-es/ul fx 2n -16eyt refer to appendix 3.2.1. com x020 fx 2nc -16ex x021 x022 x023 x024 x026 x027 x037 x025 x030 com1 fx 2nc -16eyt y020 y027 com1 photo- coupler photo- coupler 24v dc class-d grounding *1 zero point signal(pg0) servo ready (rd) pulse train clear signal mr-h a series servo amplifier immediate stop command zero return command jog(+)command jog(-)command forward rotation positioning command forward rotation limit (lsf) *3 reverse rotation limit (lsr) *3 reverse rotation positioning command stop command speed zero *4 positioning completed(inp) *4 torque being controlled *4 servo error(alm) *4 connected to fx 3uc if abs instruction(fnc 155) is used. servo on *4 reset emergency stop forward rotation limit 2 *3 reverse rotation limit 2 *3 direction
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 3. melservo-h series appendix 3-2 absolute position detection (transistor output) apx. - 14 *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). *2. near-point signal (dog) *3. to ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the plc side and the servo amplifier side. note that the limit switches on the plc side should be activated slightly earlier than the limit switches on the servo amplifier side. *4. to detect absolute positions, connect this line to the plc. appendix 3-2 absolute position detection (transistor output) to assign the inputs/outputs, refer to the following section. refer to section 12.1 of "b. incorporated positioning" appendix 3-2-1 sink input and sink output 1. fx 3uc plc *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). reverse rotation limit 2 (servo amplifier side) reverse rotation limit 1 (programmable controller side) lsr forward rotation limit 2 (servo amplifier side) forward rotation limit 1 (programmable controller side) lsf reverse rotation forward rotation servo motor sd sg pf 40 24 vin 20 sg 16 tlc 25 zsp 23 son 12 di4 45 di3 44 50 cn1 fx 3uc -32mt-lt com1 fx 2nc -16eyt y020 y27 com1 y021 y022 y023 com x000 com x020 fx 2nc -16ex x031 x032 x033 x037 photo- coupler photo- coupler 24v dc class-d grounding *1 abs(bit0) abs(bit1) servo-on abs transfer mode abs request send data ready mr-h a series servo amplifier
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 4. melservo-c series appendix 4-1 main unit (transistor output) apx. - 15 a common items b built-in positioning function apx. example connection appendix 4. melservo-c series appendix 4-1 main unit (transistor output) to assign the inputs/outputs, refer to the following section. refer to section 12.1 of "b. built-in positioning function". appendix 4-1-1 sink input and sink output *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). *2. near-point signal (dog) *3. set the parameter no.21 at servo amplifier to "020". op sg pp cr np sd cn1 4 5 9 13 7 11 sg v+ alm 12 1 2 son lsp lsn 17 15 14 cn1 v24 20 opc 19 rd 3 *3 dog *2 com x004 x017 fx 3uc -32mt-lt x010 x014 x000 com0 com0 y000 y017 y004 com x020 fx 2nc -16ex x021 x022 x023 x024 x026 x027 x037 x025 x030 com1 fx 2nc -16eyt y020 y27 com1 photo- coupler photo- coupler immediate stop command zero return command jog(+)command jog(-)command forward rotation positioning command forward rotation limit (lsf) *4 reverse rotation limit (lsr) *4 reverse rotation positioning command stop command 24v dc class-d grounding *1 zero point signal(pg0) servo ready (rd) pulse train clear signal mr-c a series servo amplifier servo error(alm) servo on forward rotation limit 2 *4 reverse rotation limit 2 *4 direction
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 4. melservo-c series appendix 4-1 main unit (transistor output) apx. - 16 *4. to ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the plc side and the servo amplifier side. note that the limit switches on the plc side should be activated slightly earlier than the limit switches on the servo amplifier side. reverse rotation limit 2 (servo amplifier side) reverse rotation limit 1 (programmable controller side) lsr forward rotation limit 2 (servo amplifier side) forward rotation limit 1 (programmable controller side) lsf reverse rotation forward rotation servo motor
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 4. melservo-c series appendix 4-2 high-speed output special adapter apx. - 17 a common items b built-in positioning function apx. example connection appendix 4-2 high-speed output special adapter to assign the inputs/outputs, refer to the following section. refer to section 12.1 of "b. built-in positioning function" appendix 4-2-1 sink input, sink output, and differential line driver output *1. be sure to use the class-d grounding method (grounding resistance: 100 ? or less). *2. near-point signal (dog) *3. set the parameter no.21 at servo amplifier to "020". op sg pp cr np sd cn1 4 5 9 13 7 11 sg v+ alm 12 1 2 son lsp lsn 17 15 14 cn1 v24 20 opc 19 rd 3 *3 pg 10 ng 8 y0/2+ fx 3u -2hsy-adp y0/2- sga y4/6+ y4/6- sga dog *2 x004 x017 fx 3u -32mr/es x010 x014 x000 24v 0v s/s n l 100v to 240v ac 24v dc com1 fx 2n -16eyt y020 y027 s/s x020 fx 2n -16ex-es/ul x021 x022 x023 x024 x026 x027 x037 x025 x030 photo- coupler photo- coupler class-d grounding *1 immediate stop command zero return command jog(+)command jog(-)command forward rotation positioning command forward rotation limit (lsf) *4 reverse rotation limit (lsr) *4 reverse rotation positioning command stop command zero point signal(pg0) servo ready (rd) clear signal mr-c a series servo amplifier servo error(alm) servo on forward rotation limit 2 *4 reverse rotation limit 2 *4 epuivalent to am26c31 pulse train (forward rotation pulse train)* 5 direction signal (reverse rotation pulse train)* 5
fx 3u /fx 3uc series plc user's manual - positioning control edition example connection appendix 4. melservo-c series appendix 4-2 high-speed output special adapter apx. - 18 *4. to ensure safety, adopt the forward rotation limit switch and the reverse rotation limit switch on both sides: the plc side and the servo amplifier side. note that the limit switches on the plc side should be activated slightly earlier than the limit switches on the servo amplifier side. *5. set the pulse output method using the pulse output method setting switch. pulse output method setting switch pulse output method fp ? rp side forward/reverse pulse train pls ? dir side pulse train + direction reverse rotation limit 2 (servo amplifier side) reverse rotation limit 1 (programmable controller side) lsr forward rotation limit 2 (servo amplifier side) forward rotation limit 1 (programmable controller side) lsf reverse rotation forward rotation servo motor
i fx 3u /fx 3uc series plc user's manual - positioning control edition warranty warranty please confirm the following product warranty details before using this product. 1. gratis warranty term and gratis warranty range if any faults or defects (hereinafter "failure") found to be the responsibility of mitsubishi occurs during use of the product within the gratis warr anty term, the product shall be repaired at no cost via the sales representative or mitsubishi service company. however, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module. [gratis warranty term] the gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place. note that after manufacture and shipment from mitsubishi, the maximum distribution period shall be six (6) months, and the longest gratis warranty term after manufacturing shall be eighteen (18) months. the gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs. [gratis warranty range] 1) the range shall be limited to normal use within the usage state, usage methods and usage environment, etc., which follow the condit ions and precautions, etc., given in the instruction manual, user's manual and caution labels on the product. 2) even within the gratis warranty term, repairs shall be charged for in the following cases. a) failure occurring from inappropriate storage or handling, carelessness or negligence by the user. failure caused by the user's hardware or software design. b) failure caused by unappr oved modifications, etc., to the product by the user. c) when the mitsubishi product is assembled into a user's device, failure that could have been avoided if functions or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary by industry standards, had been provided. d) failure that could have been avoided if consumable parts (battery , backlight, fuse, etc.) designated in the instruction manual had been correctly serviced or replaced. e) relay failure or output contact failure caused by usage beyond the specified life of contact (cycles). f) failure caused by external irresistible forces such as fires or abnormal voltages, and failure caused by force majeure such as earthquakes, lightning, wind and water damage. g) failure caused by reasons unpredictable by scientific technology standards at time of shipment from mitsubishi. h) any other failure found not to be the responsibility of mitsubishi or that admitted not to be so by the user. 2. onerous repair term a fter discontinuation of production 1) mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued. discontinuation of production shall be notified with mitsubishi technical bulletins, etc. 2) product supply (including repair parts) is not available after production is discontinued. 3. overseas service overseas, repairs shall be accepted by mitsubishi's local overseas fa center. note that the repair conditions at each fa center may differ. 4. exclusion of loss in opportunity and secondary loss from warranty liability regardless of the gratis warranty term, mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of mitsubishi, loss in opportunity, lost profits incurred to the user or third person by failures of mi tsubishi products, special damages and secondary damages whether foreseeable or not , compensation for accidents, and compensation for damages to products other than mitsubishi products, replacement by the user, maintenance of on-site equipment, start-up test run and other tasks. 5. changes in product specifications the specifications given in the catalogs, manuals or technical documents are subjec t to change without prior notice. 6. product application 1) in using the mitsubishi melsec programmable logic controller, the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable logic controller device, and that backup and fail-safe functions are systematically provided outside of the device for any problem or fault. 2) the mitsubishi programmable logic controller has been designed and manufactured for applications in general industries, etc. thus, applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies, and applications in which a special quality assurance system is required, such as for railway companies or pub lic service purposes shall be excluded from the programmable logic controller applications. in addition, applications in which human life or property that could be greatly affected, such as in aircraft, medical applications, incineration and fuel devices, manned transportation, equipment for recreation and amusement, and safety devices, shall also be excluded from the programmable logic controller range of applications. however, in certain cases, some applications may be possible, providing the user consults their local mitsubishi representative outlining the special requirements of the project, and providing that all parties concerned agree to the special circumstances, solely at the users discretion.
ii fx 3u /fx 3uc series plc user's manual - positioning control edition revised history revised history date revision discription 7/2005 a first edition

head office: mitsubishi denki bldg marunouchi tokyo 100-8310 himeji works: 840, chiyoda cho, himeji, japan jy997d16801a (mee) effective july 2005 specifications are subject to change without notice. user's manual - positioning control edition fx 3u /fx 3uc series programmable controllers model fx3u-u-pos-e model code 09r620

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