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FX-1PG/FX2N-1PG PULSE GENERATOR UNIT USER` S MANUAL

1. value is set Encoder CN2 11 3 10 2 10 8 4 14 ae 55 56 P15R oW Regeneration option 24V DC LSD STOP cable 5 in FX2N so this wiring is not required in FX2N EX PG FX2N 1PG terminal is not provided Extension SG S S DOG STOPL 1 4 FP COM1 CLR PGO PGO ka S MITSUBISHI 9 10 FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES 9 6 To servo motor Example of External Connection MR H Servo Amplifier Parameter Pr2 is set to U V W position servo e p EI iMR H Servo amplifier 49 24 48 22 20 12 15 38 39 13 46 17 R 5 T RD PF ALM VDD VIN SON RES LSP LSN TL SG From three phase 1 1 1 power supply rai eas eas V 7 Alarm reset Reverse Emergency Servo ON Forward limit Torque stop
2. FX FX2C FX2N F X2NC PGU FX 1PG FX3U Series PC r4 FX2N 1PG Programming tools FROM m Pulse train Drive Servo motor or stepper motor amplifier GOT Data access units ara Machine A Control I O a MITSUBISHI 1 1 2 FX 1PG FXzu 1PG PULSE GENERATOR UNIT OUTSIDE DIMENSIONS 2 OUTSIDE DIMENSIONS 2 1 Outside Dimensions FX 1PG Mass Weight Approx 0 3 kg 0 66 Ibs a Terminal screw M3 5 un Terminal screw tightening torque CE 0 5 to 0 8 Applicable terminals 8 2 POWER STOP 3 SEI OERR N eal Attachment groove 35mm Wide 35 DIN 46277 rail Oke Set 1S cB y Dimenssions mm inch Mounting holes _ _ 10 0 39 35 1 38 95 3 7
3. 2 Jog operation 3 Single speed positioning operation 1 000 50 000 ON Operating 500 25 000 SEN speed _BFM 20 19 Speed Speed Hz 0 500 X5 ON 25 000 1 000 50 000 0 1000 2000 0 10 000 Moved distance PLS Moved distance mm lt allocation PLC FX c FXen Input Output FX 1PG FXean 1PG X000 Error reset DOG Near point signal input X001 Stop command STOP Deceleration stop input X002 Forward pulses stop PGO Z aspect pulses is input form the servo amplifier X003 Reverse pulses stop X004 Jog operation Y000 Stand by display FP Forward pulses Outputs to PP of the servo amplifier X005 Jog operation 006 Home position return start RP Reverse pulses Outputs to NP of the servo amplifier Ne Onde ee ih g operation CLR Output for clearing deviation counter Outputs to CR of the servo amplifier S MITSUBISHI 10 2 FX 1PG FX2n 1PG PULSE GENERATOR UNIT EXAMPLES PROGRAM lt Setting of buffer memory BFM gt BFM Item Set value Note BFM Item Set value Note 40 rate 8192 1 PLS REV 16 2 1 Feed 1000 um REV 18 17 Set position I 10000 mm Parameters b1 1 b0 0 Combined 20 19 Operating speed I 50000 Hz b1 System of units
4. 4 MITSUBISHI FX 1PG FX2N 1PG PULSE GENERATOR UNIT Guidelines for the Safety of the User and Protection of the FX 1PG FX2N 1PG pulse generator unit This manual provides information for the use of the FX 1PG FX2N 1PG pulse generator unit The manual has been written to be used by trained and competent personnel The definition of such a person or persons is as follows a Any engineer who is responsible for the planning design and construction of automatic equipment using the product associated with this manual should be of a competent nature trained and qualified to the local and national standards required to fulfill that role These engineers should be fully aware of all aspects of safety with regards to automated equipment b 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 said product maintenance should be carried out in accordance with established safety practices c All operators of the completed equipment see Note should be trained to use this product in a safe manner in compliance to established safety practices The operators should also be familiar with documentation which is associated with the actual operation of the completed equi
5. Speed Vmax 2 3 V I Start Travel P I Interrupt command DOG input The interrupt command is connected to the DOG input in the PGU When the start command is received the motor starts operation When the INTERRUPT input is received the motor moves by the specified distance then stops The relative travel exclusively can be specified The current value is cleared by the start command The current value starts to change by the INTERRUPT input and becomes equivalent to the set position when the operation is completed Accordingly rigid attention should be paid when operations using absolute position specification are performed also The interrupt command detects change in the input signal ON OFF S MITSUBISHI 6 3 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES Two Speed Positioning Operation and External Command Positioning Opera tion Two speed positioning operation The motor performs the following operation by the two speed positioning operation command Approach at high speed as well as processing and moving forward at low speed can be performed Speed Vmax V I V II Start Travel P I Travel P II When the start command is received the motor performs positioning at the operating speed V I BFMs 20 and 19 until the set position P I BFMs 18 and 17 then at the op
6. 11 1 s MITSUBISHI v FX 1PG FX2n 1PG PULSE GENERATOR UNIT MEMO s MITSUBISHI vi FX 1PG FX2N 1PG PULSE GENERATOR UNIT INTRODUCTION INTRODUCTION 1 1 Introduction e The FX 1PG FX2N 1PG pulse generator unit hereinafter referred to as PGU performs simple positioning of an independent axis not interpolation control between multiple axes by supplying a prescribed quantity of pulses 100 kHz maximum to drive amplifiers for servo or stepper motors e The FX 1PG is attached as an extension to the FX FX2C series programmable controller hereinafter referred to as and the FX2N 1PG is attached as an extension to the FX2N FX2NC FX3U series PC Each PGU functions as a special block which transfers data with the PC using the FROM TO instructions and occupies 8 points of inputs or outputs For the number of connectable PGU to the PLC refer to the manual of the PLC to be connected e The PGU provides connection terminals for positioning operations that require high velocity responses as well as those used for pulse train outputs Other general I O operations are controlled via the PLC e Because all the program for positioning control are executed in the PC the PGU does not require dedicated teaching panel etc As the programming tools for the PLC the following devices are available without modification e GOT Data access units can be connected to the PLC to set or display the positioning data
7. Motor system and combined system 10 to 100 000 Hz Machine system 1 to 153 000 This is the speed for manual forward reverse JOG JOG Set a value between the bias speed 5 and the maximum speed Vmax BFMs 10 and 9 Home position return speed high speed Motor system and combined system 10 to 100 000 Hz Machine system 1 to 153 000 This is the speed high speed for returning to the machine home position Set a value between the bias speed Vbia and the maximum speed Vmax BFM 11 Harme position return speed creep CR Motor system and combined system 10 to 10 000 Hz Machine system 1 to 15 300 This is the speed extremely slow speed after the near point signal DOG for returning to the machine home position It is the speed immediately before stopping in the machine home position It is recommended to set it as slow as possible so that the precision of the home position becomes better BFM 12 Number of zero point signals for home position return 0 to 32 767 PLS This is the number of zero point signals counted for returning to the machine home position When the zero point signal is not used and the machine should be stopped immediately by only the DOG input set the BFM 12 to 0 However pay rigid attention so S MITSUBISHI 5 6 BFM LIST 5 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT that the machine is not damaged when it is immediately stopped from high speed op
8. 1 to 999 999 um R in accordance with the setting of the BFMs 2 and 1 B2 angle specification 1 to 999 999 mdeg R feedrate BS distance specification e to 999 999 x10 inch R Selection Motor Combined Machine This is the machine travel B while the motor rotates by of feedrate system system system 1 revolution Set either one among B1 B2 and B3 in accordance with the unit among um R mdeg R and Position B1 PLS pm 10 4inch R suitable to the application data 2 B2 PLS mdeg The BFMs 2 and 1 are not required to be set when A the motor system of units described later is selected B3 PLS 10 inch B1 Hz cm min BFM 3 Parameters b0 to b15 Speed B2 Hz Set bits 0 to 15 as follows data s 9 B3 Hz inch min 2 Position data HP P II CP 8 Speed data Vmax Vat V I V II s MITSUBISHI 5 3 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT BFM LIST Multiplication of position data b5 b4 e When b8 1 Pulse PLS with 9 The position data HP P I direction DIR b5 b4 Multiplication P II and CP will be multiplied FP PLS OFF 0 0 10 by the value shown in the table o ON C DIR Forward Reverse oN 1 0 10 1 1 10 Rotation direction b9 When b9 0 The current position CP value Example When the value of the set position increases with a f
9. 7077 system 22 21 Set position II b5 54 Position data multiplication b5 1 b4 1 10 24 23 Operating speed II b8 output format 0 Forward pulse Operation command mE The current MO b9 Rotation direction 0 v lue increase bO Error reset 3 b10 Home position return direction 0 a bi STOP M1 b12 DOG input polarity 0 DOG input ON b2 Forward pulse stop M2 b13 Count start timing 1 Doc EA b3 Reverse pulse stop M3 Stops because 25 514 STOP input polarity 0 of turning on b4 JOG M4 b15 STOP input mode 5 JOG M5 5 4 Maximum speed 50000 b6 Home position return start M6 6 X Bias speed 0 b7 Address b7 1 M7 Relative 8 7 JOG speed 10000 b12 Single speed positioning start b12 b9 Unused Home position return speed 10 9 high speed 10000 27 26 Current position D11 010 mm Home position return speed a 11 creep speed 1500 28 Status M31 M20 Number of zero point signals for home 12 position return 10 29 Error code D20 14 13 Home position 0 30 Model code D12 15 deceleration time 100 ms 31 1 This example is described as example of servo mode by Mitsubishi Electric Corporation amplifier MR J2 The value is different according to the connected servo amplifier S MITSUBISHI 10 3 FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXAMPLES PROGRAM The servo amplifier does the following setting according to the parameter Control mode Position control Electroni
10. K 17 K 1 D11 D10 K10000 Dive 29000 ene Current value 10000 M8002 BIO K50000 K1 Writing of operating speed X000 Error reset X001 M1 STOP X002 M 2 Forward pulse stop X003 M 3 Reverse pulse stop X004 M 4 JOG operation X005 M 5 JOG operation X006 M 6 Home position return start M8000 M 7 Relative position X007 M 8 Single speed positioning start TO V S MITSUBISHI 10 6 1 O FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXAMPLES PROGRAM V M8000 A M9 Interrupt single speed positioning start M10 itioni Two speed positioning start These are not used M11 External command positioning start 12 Variable speed operation start 2 M8000 KO K25 K1 Writing of operation command M8000 1 FNC 78 Reading of current value BIEFROM KO K26 D10 K 1 9 FNC 78 Reading of status FROM KO K28 K3M20 K1 u FNC 10 D11 D10 lt K10000 M30 ON BICMP D 10 K10000 M30 D11 D10 K10000 M31 ON D11 D10 K10000 M32 ON FNC 10 D11 D10 KO M33 ON BICMP D 10 KO M33 D11 D10 KO M34 ON D11 D10 gt KO M35 ON M28 M31 TO K20 Stop for 2 seconds SN D11 D10 complete K10000 i flag Current value Sana gy Spay 10000 END Aa MITSUBISHI 10 7 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT DIAGNOSTICS 1 1 11 DIAGNO
11. PC Set the bias speed BFM 6 and do not perform When the limit switch for limit detection is actuated operation at a speed slower than that the home position return operation is not performed An external power supply may be required for signal even if the home position return operation is communication with the drive amplifier started Move the dog by performing the JOG operation so that the limit switch for limit detection is not actuated then start the home position return operation s MITSUBISHI 6 5 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES 6 2 Single Speed Positioning Operation and Interrupt Single Speed Positioning Operation Single speed positioning operation When the single speed positioning operation command is received the motor performs the following operation Travel P 1 When the start command is given the motor accelerates up to the operating speed V I BFMs 20 and 19 then decelerates and stops in the set position P I BFMs 18 and 17 The absolute position from the point at which the current position CP becomes 0 electric home position or the relative position from the start position can be specified as the set position When a servo motor is used is generally set to O B interrupt single speed positioning operation When the interrupt single speed positioning operation command is received the motor performs the following operation
12. PGO is received after the dog has passed the dog switch BFM 3 b13 1 Degree of deceleration High speed VRT BFM 15 BFMs 10 and 9 Home position BFMs 14 and 13 Creep speed Vcr BFM 11 Home position return direction BFM 3 b10 69 Dog passes Dog is in contact the dog switch with the dog switch gt Number of zero point signals BFM 12 Example 1 Zero point 2 signal PGO E WN With this method the length L of the dog is required to be determined so that deceleration is completed until the dog has passed the dog switch Q Dispersion in the point at which the dog switch becomes unactuated while the dog is passing the dog switch is required to be adjusted so that the dog switch is actuated within the interval between two PGO signals at any time The actuation start point is not required to be adjusted BFM 12 determines how many zero point signals PGO should be counted after the dog has passed the dog switch With this method set the BFM 12 always to 1 so that the motor is stopped at the first zero point signal PGO When the operation is stopped the deviation counter clear signal CLR of the servo amplifier is output The home position BFMs 14 and 13 value is transferred to the current position BFMs 27 and 26 and the home position return co
13. PULSE GENERATOR UNIT TERMINAL ARRANGEMENT 3 TERMINAL ARRANGEMENT 3 1 Terminal Arrangement and LED Indication FX 1PG FX2N 1PG lt LED allocation gt Common between FX 1PG and FX2N 1PG D dd 02 du ow Indicates power status of PGU POWER Lighted when 5 V is supplied from PC E 05 Lighted when the stop command is input to the STOP STOP terminal DOG Lighted when DOG input is entered PGO Lighted when zero point signal is entered FP Flashes when forward pulse or pulses are output Output format can be modified using 3 Z RP Flashes when reverse pulse b8 i or direction are output le CLR Lighted when CLR signal is output ERR Flashes when error has occurred Start command is ERR not accepted when error has occurred alleles i a MITSUBISHI 3 1 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT TERMINAL ARRANGEMENT lt Terminal allocation gt FX 1PG FXa 1PG Function SG Signal ground Short circuit it to SG terminal of PC STOP DECELERATION STOP input Can function as stop command input in external command operation mode DOG Offers following different functions depending on operation mode e Machine home position return operation NEAR POINT SIGNAL input e Interrupt single sp
14. Position Return Operation BFM 23 b12 is set toO lt Home position return operation gt DOG input polarity OFF ON The home position return operation varies depending on 2 When the limit switch for limit detection is turned the start position on the pulse output is immediately stopped BFM Home position 25 b3 ON At this time the clear signal is also Limit switch Near point return direction output for limit signal DOG BFM 3 510 0 detection operation lt When stepper motor is used gt When the stepper motor is used rigid attention should Y be paid to the following items Home If the motor capacity is not sufficient compared with d the load torque the motor may stall In such a case even if the specified quantity of pulses are gt supplied t the motor the expected drive quantity The near point signal is turned off before the DOG may not be obtained passes Start and stop the motor slowly enough by setting a The near point signal is turned on long acceleration deceleration time to the BFM 15 so that the acceleration deceleration torque 9 The near point signal is turned off after the DOG does not become excessive has passed For this operation the limit switches for detecting A resonance point is present in low speed the forward limit and the reverse limit should be operation It is recommended to avoid this point provided on the
15. Speed Operation 6 8 6 5 Common Matter for Operation Modes 6 9 6 6 Connection of DOG and STOP Inputs and Handling of Limit Switches for Limit Detection 6 10 6 7 Various Operation Modes and Buffer Memory Setting 6 12 7 OUTLINE OF FROM TO INSTRUCTION PC 7 1 7A FROM TO Instruction 2 ie ra be AERO EEE ORE GES 7 1 8 SPECIFICATIONS 8 1 8 1 WO Specifications o aooo 8 1 9 EXTERNAL CONNECTION EXAMPLES 9 1 9 1 Example of Connection Between FX 1PG and Stepper Motor 9 1 9 2 Example of Connection Between FX2n 1PG and Stepper Motor 9 3 9 3 Example of External Connection MR C Servo Amplifier 9 5 94 Example of External Connection MR J Servo Amplifier 9 7 9 5 Example of External Connection MR J2 Servo Amplifier 9 9 9 6 Example of External Connection MR H Servo Amplifier 9 11 10 PROGRAM EXAMPLES x xe ok Rx Y X 3329 Y 4 3 9 x xx X o ex 10 1 10 1 The reciprocation by single speed positioning 10 1 THZDIAGNOSTIGS d x 11 1 11 1 Preliminary Checks and Error Indication
16. Start Completed DOG OFF When the home position return start command is changed from OFF to ON the home position return operation is started at the speed VRT BFMs 10 and 9 When the near point signal DOG input is turned on the motor decelerates to the creep speed VCR BFM 711 When the near point signal DOG input is changed from ON to OFF and the motor zero point signal PGO is received There is setting by BFM 3 b13 the motor is immediately stopped in the position The value of the home position address is written in the home position value by generating a clear signal For the details refer to Sections 6 1 1 to 6 1 4 s MITSUBISHI 6 1 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES It is not always actuated at one 6 1 1 DOG Switch same point which will affect the lt DOG switch for returning to home position gt repeatability of the home position return operation Limit switch Limit switch for limit for near point On the other hand the servo amplifier outputs one detection detection Dog switch zero point signal PGO Z phase signal OP for each LSN LSD revolution of the servo motor af DOG For example if the table is moved by 1 mm per revolution of the servo motor signal is output Returning to for every 1 mm movement of the table home position Accordingly if the dog switch is adjusted so that i
17. stop by Jog in the opposite direction when forward pulse stop BFM 25 b2 or reverse pulse stop BFM 25 b3 is turned Because the counter clear output CLR is genarated the forward pulse stop and the reverse pulse stop cannot be used as a stop and home position Input switches SW1 to SW3 are selected in accordance with the type of operation s MITSUBISHI 6 11 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES 6 7 Various Operation Modes and Buffer Memory Setting lt Various operation modes and buffer memory setting gt O indicates the item required to be set BFM No Home Single Interrupt Two External Wanable Higher Lower Name JOG position speed 5 speed command speed bits bits return positioning positioning positioning positioning 0 Pulse rate Not required to be set for motor system of units PLS and Hz 2 1 Feedrate Required to be for machine and combined systems of units 4 3 Parameter O O O O O O O 5 4 Maximum speed O O O O O O O 6 Bias speed 1 O O O O O O O 8 7 JOG speed O 10 9 Home position return speed high speed 11 Hime position return speed creep speed 449 Number of zero point signals for home m position return 14 13 Home position 15 Accele
18. 3 13 5 14 16 17 9 15 10 L1 L2 L3 RD INP ALM VDD RES LSP LSN TL SG From three phase 1 1 power supply rai eas eas V Y V Alarm Reverse Emergency Servo 1056 Forward limit Torque Stop ON limit restriction Error Forward JOG Home Servo Servo failure reset limit Reverse position ready Positioning Q RUN Y STOP limt V JOG V Start completed 2 V l 1 E 24V OV 55 XO X1 X3 X4 X5 X6 X7 X10 X11 X12 SG RUN terminal is not provided SG terminal is not provided in in so this wiring is not so this wiring is not 24V DC required in FX2N required in FX2N FXFX2c FX2N Series PC RAT RAS 2 s MITSUBISHI 9 9 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES 1 FX 1PG Connect the VH terminal when the power is supplied from the MR J2 Connect either the VH or VL terminal in accordance with the supply voltage when the power is supplied from an external power supply See Section 8 1 FXe2n 1PG Connect the VIN terminal 2 Pin No can be modified using the extension parameter The example below shows the case where the initial
19. 4 45 1 77 e The PGU is installed to the right side of a main unit an extension unit of an Series PC or of an other extension block The PGU can be installed using a DIN rail DIN 46277 Width 35 mm or directly installed using M4 screws For the details refer to the handy manual packed together with the main unit s MITSUBISHI FX 1PG FX2N 1PG PULSE GENERATOR UNIT OUTSIDE DIMENSIONS 2 FX2N 1PG Mass Weight Approx 0 2 kg 0 44 Ibs Terminal screw M3 Terminal screw tightening torque 0 5 to 0 8 09 a3 PXacIPG Applicable terminals EST POWER T ec H g 5 oo P fra a Attachment groove Slo 35mm Wide ge Qo DIN 46277 rail zs DE B 2 0 35 4 Accessories No labels for special modules 87 3 39 a 43 1 68 Dimenssions mm inch e The PGU is installed to the right side of a main unit or an extension unit of an FX2N FX2NC FX3U Series PC or of an other extension block For details refer to the main unit manual The PGU can be installed using a DIN rail DIN 46277 Width 35 mm or directly installed using M4 screws a MITSUBISHI 2 2 FX 1PG FX2N 1PG
20. 7 described later is reset When the error occurs the positioning completion signal BFM 28 b8 is reset b1 When b1 0 1 Stop This bit functions in the same way with the STOP input in the PGU but the stop operation can be performed from the sequence program in the PC However if this bit is changed from O to 1 before the STOP input is given in the PGU in the external command positioning mode the machine is decelerated and stopped b2 When b2 1 Forward pulse stop The forward pulse is immediate stopped in the forward limit position b3 When b3 1 Reverse pulse stop The reverse pulse is immediate stopped in the reverse limit position b4 When b4 1 JOG operation When b4 continues to be 1 for less than 300 ms one forward pulse is generated When b4 continues to be 1 for 300 ms or more continuous forward pulses are generated b5 b6 b7 b8 b9 BFM LIST 5 When b5 1 JOG operation When b5 continues to be 1 for less than 300 ms one reverse pulse is generated When b5 continues to be 1 for 300 ms or more continuous reverse pulses are generated When b6 0 1 Home position return start The machine starts to return to the home position and is stopped at the machine home position when the DOG input near point signal or the PGO zero point signal is given When b7 0 Absolute position When b7 z 1 Relative position The relative or absolute position is specified in
21. 8 Interrupt single pt sing M9 speed positioning Set only M 10 Two speed one of SUE positioning them to ON M 11 External command positioning 12 Variable speed operation M8000 KO K25 RUN monitor M15 M 0 BFM 25 b15 b 0 S MITSUBISHI 5 11 FX 1PG FXzu 1PG PULSE GENERATOR UNIT BFM LIST Error can be reset by forcedly turning on off the peripheral unit The input X000 does not have to be used When the data on absence presence of error and the error code should be saved even after power interrupt use the auxiliary relays or data registers backed up by the battery The stop command is generally provided in the PGU and is also output from the sequence program in the PC In such a case the input X001 is not required In operation which does not require returning to the home position such as inching operation with a constant feedrate the input X006 is not required When which one between the relative and absolute positions should be used is always determined drive the M7 using the M8000 or set the M7 always to OFF Drive one of the M8 to M12 using the M8000 5 If two or more of them are turned on operation is disabled See Section 6 4 e As the general start command create an appropriate sequence using the input X007 to drive the M8 to M12 See Section 9 1 The time after the FX en 1PG receives the start command un
22. AL 3 1 3 1 Terminal Arrangement and LED 3 1 SPECIFICATIONS 4 1 4T so ere eee WO ROS 4 1 ee ee 5 1 Sal a e 5 1 5 2 System of Units and Parameter Setting 5 3 5 3 Speed 5 6 5 4 Position Data Home Position and Current Position 5 9 5 5 Operation Command ow eco x9 bee el ee Pew et end ee ee ew RES 5 10 5 6 Status and Error Codes 5 13 6 OUTLINE OF OPERATION MODES 6 1 61 JOG Operation and Machine Home Position Return Operation 6 1 WOE SWIC 6 2 6 1 2 Overshoot Detection Home Return Positioning Method 6 3 6 1 3 Undershoot Detection Home Return Positioning Method 6 4 6 1 4 Home Position Return Operation 6 5 s MITSUBISHI iv FX 1PG FXzu 1PG PULSE GENERATOR UNIT 6 2 Single Speed Positioning Operation and Interrupt Single Speed Positioning Operation 6 6 63 Two Speed Positioning Operation and External Command Positioning Operation 6 7 6 4 Variable
23. Changes for the Better PROGRAMMABLE CONTROL 4 FX 1PG FX2N 1PG PULSE GENERATOR UNIT Foreword This manual contains text diagrams and explanations which will guide the reader in the correct installation and operation of the FX 1PG FX2N 1PG pulse generator unit It should be read and understood before attempting to install or use the unit e Further information can be found in the FX PROGRAMMING MANUAL II FX FX2N series hardware manuals f in doubt at any stage of the installation of FX 1PG FX2N 1PG pulse generator unit always consult a professional electrical engineer who is qualified and trained to the local and national standards that applies to the installation site e f in doubt about the operation or use of FX 1PG FX2N 1PG pulse generator unit please consult the nearest Mitsubishi Electric distributor This manual is subject to change without notice Q UKAS ISO 9001 MANAGEMENT 4 MITSUBISHI FX 1PG FX2N 1PG PULSE GENERATOR UNIT FX 1PG FX2N 1PG PULSE GENERATOR UNIT USER S MANUAL Manual number JY992D65301 Manual revision Date June 2006 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
24. EXAMPLES 3 To assure safety it is recommended to set the LSP and LSN signals to effective function parameters using the parameter No 6 in the MR C servo amplifier Encoder CN2 1 19 20 11 9 5 7 12 13 20 4 V OPC V24 SD PP SG NP SG CR V24 OP E ff Regenerative option 24V DC LSD STOP E SG 5 5 DOG 5 4 L FP como RP CLR PGO0 PGO oe SG terminal is not provided in i FX2N 50 this wiring is not required in FX2N 1 4 Connect the VH terminal when the external power supply is 24V DC Connect the VL terminal when the external power supply is 5V DC FXe2n 1PG Connect the VIN terminal S MITSUBISHI 9 6 FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES 9 4 Example of External Connection MR J Servo Amplifier To servo motor Rating 3 000 r min MR J10A 60A Parameter Pr1 is set to 2 000 r min MR J100A 350A position servo nnn nn EU mmm i i MR J sermo amplifier TIO TS From three phase power supply Servo Alarm Forward Reverse Torque
25. M LIST MEMO S MITSUBISHI 5 16 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES OUTLINE OF OPERATION MODES JOG Operation and Machine Home Posi tion Return Operation Seven operation modes are available in the PGU in accordance with the start command type The data on speed and position should be transferred preliminarily from the PC to the buffer memories BFMs of the PGU The transfer data addresses are BFMs 0 to 25 which are allocated as described in Section 5 1 JOG operation While the forward or reverse button is pressed and held the motor is driven forward or in reverse V Speed E max E JOG command input Any value between the bias speed BFM 6 and the maximum speed Vmax BFMs 5 and 4 is valid as the command speed BFMs 8 and 7 The acceleration deceleration time Ta BFM 15 is the time between Vbia and Vmax Vmax Vbia and Ta are equivalent in the operation modes described later Machine home position return operation When the home position start command is received the motor makes the machine return to the home position When returning to the home position is completed the home position HP BFMs 14 and 13 value is written to the current position CP BFMs 27 and 26 Position amp in the figure below indicates the machine home position Speed lt VRT _ G DOG ON
26. ON reset limit limit restriction Error Forward JOG Home Servo Servo failure reset limit Reverse position ready Positioning 2 RUN Y STOP X JOG V Start completed SG terminal is not provided in FX2N so this wiring is not required in FX2N RUN terminal is not provided in FX2N so this wiring is not 24V DC required in FX2N p ER s MITSUBISHI 9 7 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES 1 FX 1PG Connect the VH terminal when the power is supplied from the MR J Connect either the VH or VL terminal in accordance with the supply voltage when the power is supplied from an external power supply See Section 8 1 FXoN 1PG Connect the VIN terminal 2 Pin No for the case where Pr9 of the servo amplifier is set to 042 Regenerative option LSD STOP Extension cable SG terminal is not provided in FX2N so this wiring is not required in FX2N FX 1PG S MITSUBISHI FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES 9 5 Example of External Connection MR J2 Servo Amplifier To servo motor Parameter PrO is set to U V W position servo ___ __ __ _ __ _ __ __ NE 2 CON1B Servo amplifier 2 19 18 18
27. STICS 11 1 Preliminary Checks and Error Indication lt To ensure correct operation gt Make sure that PGU I O wiring and the extension cable connections are correct Indicate clearly the special block No on the panel face by adhering the labels offered as accessories One PGU can occupy up to 8 points including both inputs and outputs Power of 5 V 55 mA is required to be supplied from a main unit or an extension unit Calculate and make sure that the total current required by all of the special blocks does not exceed the allowable current of the main unit or the extension unit used 9 In any positioning operation the specified data should be written preliminarily to the BFMs 0 to 24 then the BFM 25 should give an appropriate command Otherwise the PGU does not function Sometimes however data writing may not be required for some or all of the BFMs 0 to 24 depending on the operation mode Generally the BFMs 0 to 15 save the standard data and the BFMs 17 to 24 save the operation data For the data to be set see Section 6 6 lt Error indication gt LED indication The PGU panel has the following LEDs Power indication The POWER LED is lighted when 5 V power is supplied from the PC Input indication When STOP DOG or is received by the PGU the corresponding LED is lighted respectively Output indication When FP RP or CLR is output by the PGU the corresponding LED is lighted respectively Error ind
28. TSUBISHI 6 10 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES lt When normally closed contacts are used gt To assure safety provide limit switches for The input connection diagram shown below indicates detecting the forward and reverse limits on the the case where the BFM 3 b 12 and b14 are set to 1 servo amplifier also See Section 8 4 and normally closed contacts b contacts are used Make sure so that the limit switches on the PC are actuated simultaneously with or a little earlier 22 SW3 than the limit switches on the servo amplifier Home position Interrupt External return single speed command Forward Forward Reverse Reverse g q _ 6 lt Near point INTERRUPT Deceleration signal input start SW3 Oo STOP External input command LSP LSN LS2 T Servo amplifier Stop point e Because a drive amplifier for a stepper motor does not have these terminals make sure to provide limit switches on the PC _ 24 OV S S 55 STOP DOG VI When b2 and b3 of the BFM 25 are driven by these signals pulse output is immediate stopped o PGU and the counter clear output CLR is generated See Section 8 4 Evade from the state of the pulse output
29. WORKS 840 CHIYODA CHO HIMEJI JAPAN FX2N FX 1PG U E JY992D65301F Effective June 2006 MEE Specifications are subject to change without notice
30. accordance with the b7 status 1 or O This bit is valid while operation is performed using b8 b9 or b10 When b8 0 gt 1 Single speed positioning operation start Single speed positioning operation is performed For the details see Section 6 2 When 69 0 5 1 Interrupt single speed positioning operation start Interrupt single speed positioning operation is performed For the details see Section 6 2 b10 When b10 0 1 Two speed positioning operation start Two speed positioning operation is performed For the details see Section 6 3 S MITSUBISHI 5 10 5 FX 1PG FXzu 1PG PULSE GENERATOR UNIT BFM LIST b11 When b11 0 gt 1 External command lt Operation command data transfer method gt positioning operation start External command positioning operation is X000 performed The rotation direction is determined M 0 Error reset by the sign of the speed command X001 For the details see Section 6 3 M 1 Stop command b12 When b12 1 Variable speed operation X002 Variable speed operation is performed M 2 Forward pulse stop For the details see Section 6 4 X003 Normally closed contact 3 Reverse pulse stop MA Jog operation X005 M 55 Jog operation X006 M 6 Home position return start Menou Relative absolute position Stat 007 Singl d T Mid ingle spee 98
31. c gear CMX CDV 1 1 Specified pulse selection Forward reverse pulse Negative true logic Set other items according to the usage S MITSUBISHI 10 4 1 O FX 1PG FX2N 1PG PULSE GENERATOR UNIT EXAMPLES PROGRAM PC PROGRAM FNC79 KO K8192 K1 Writing of pulse rate Initialed pulse TO FNC 79 Writing of feed rate BITO KO 1000 K1 9 i KO K3 2032 K1 Writing of parameters BG KO K4 50000 K1 Writing of maximun speed E KO K6 KO K 1 Writing of bias speed Bo 10000 K1 Writing of JOG speed FNC 79 Writing of home position K9 10000 K1 return speed high speed FNC 79 Writing of home position TO KO 1500 K1 return speed creep speed FNC 79 Writing of number of zero K12 K10 K1 point signals for home TO de position return FNC 79 Writing of home position B TO KO K 13 KO K1 g p FNC 79 Writing of accelaration TO KY KIS TA deceleration time s MITSUBISHI 10 5 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT EXAMPLES PROGRAM M8002 sa 79 K17 K10000 K1 Writing of set position At forward M34 Drog Positioning D11 D10 KO O PRIR Current value 0 lag M28 M31 FNC 79 K Writing of set position KO
32. d Home reset limit JOG position Reverse D gt RUN STOP limit JOG Start V ma L N 24 OV 55 XO X1 X2 X4 X5 X6 X7 SG Sensor 2 8g i 2 g i Extension cable ower SU i bioc K X X X X K FX FX2c Series PC m c c E EM EE E s MITSUBISHI 9 1 FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES D 2200 2200 CW cow cow Home position e sensor Grounding resister Stepper t 1000 orless motor DOG STOP Class 3 5V DC 4 7 _ TA vant 1 1 SG S S DOG STOP VH VL FP RPO 1 CLR PGO S MITSUBISHI 9 2 FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES 9 2 Example of Connection Between FX2n 1PG and Stepper Motor 1 The number of counts of zero signals is adjusted 0 when there is no home position sensor At this time when the dog input operates the motor stops at once Make the home position return speed low speed very because it doe
33. d a relay terminal S MITSUBISHI FX 1PG FX2n 1PG PULSE GENERATOR UNIT Specifications 4 SPECIFICATIONS 4 1 Specifications lt Environmental specifications gt The environmental specifications are equivalent to those of the main unit of the FX PC For the details refer to the handy manual packed together with the main unit s MITSUBISHI 4 1 FX 1PG FXzu 1PG PULSE GENERATOR UNIT Specifications lt Performance specifications gt Item Specifications D 24V for input signals 24V DC 10 Current consumption 40 mA or less Supplied from external power supply or 24 output of PC 5V for internal control 5V DC 55 mA Supplied from PC via extension cable For pulse output 5V to 24V DC current consumption 35mA or less Drive power supply Number of I O points occupied 8 input or output points of PC for each PGU Number of control axes 1 A single PC can control independent 8 axes maximum Operations are enabled at pulse speed of 10 Hz to 100 kHz Command speed Command unit can be selected among Hz cm min 10 deg min and inch min 0 to 999 999 Absolute position specification or relative travel specification can be selected Command unit can be selected among pulse um mdeg and 107 inch Multiplication of 10 10 10 or 10 can be set for position data Setting pulse Forward FP and reverse RP pulse or pulse PLS with dir
34. e coupled with an index n Number of transfer points K1 to K32 for 16 bit instruction and K1 to K16 for 32 bit instruction X011 m1 m2 Se n FNC 79 DO to D15 BFMs 0 and a mis MOM 15 in special unit No 2 Writing to BFM command m1 m2 n Same as above Head address of transfer destination T C D KnX KnM KnY KnS V Z K and H can be specified and element No can be coupled with an index e When X010 and X011 are turned off transfer is not performed and data in the transfer destination is not changed For the details refer to the programming manual of the PC main unit s MITSUBISHI 7 1 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT SPECIFICATIONS 8 SPECIFICATIONS 8 1 Specifications Connected to 24V DC service power supply of PC 24V DC 7 mA Response lag 1 ms Input ON current 4 5mA or more Input OFF current 1 5mA or less 24V DC 7 mA Response lag 4 ms Input ON current 4 5mA or more Input OFF current 1 5mA or less Connected to servo amplifier or external power supply Input ON current 4mA or more Input OFF current 0 5mA or less Response pulse width 4 us FX 1PG FX2N 1PG 24V 10 Current consumption 15 mA external power 5 to 15V Current consumption 20 mA 5 to 24V DC Current consumption 35 mA or less To pull up
35. ection DIR can be selected Pulse output format Open collector and transistor output 5 to 24V DC 20 mA or less Photocoupler insulation and LED operation indication are offered for every point 3 input points STOP DOG 24V DC 7 mA and PGO 1 24V DC 20 mA For details refer to Section 8 1 3 output points FP RP CLR 5 to 24V DC 20 mA or less For details refer to Section 8 1 External I O 16 bit RAM without battery backup buffer memories BFMs 0 to 31 are built in PGU Communication with PC Data communication with PC is performed using FROM TO instructions 32 bit data is processed by combining two BFMs For details see to Section 5 1 1 One zero point signal PGO is entered by flowing the current from the PGO terminal to the PGO terminal S MITSUBISHI 4 2 FX 1PG FXzu 1PG PULSE GENERATOR UNIT BFM LIST 5 1 Unit is um R mdeg R or 104 inch R 5 BFM LIST i vi 2 Unit is PLS um R mdeg R or 10 inch depending on the 5 1 BFM List system of units set in the BFM 3 61 BFM No Higher Lower bis 16 bits b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 0 Pulse rate A 1to 32 767 PLS REV Pulse Revolution 2 1 Feed rate B 1to 999 999 1 STOP Pame Pulse 3 STOP input Count start DOG input MEN position Rotation output EN Eu input mode pola
36. eed operation INTERRUPT input e External command operation DECELERATION START input S S 24V DC power terminal for STOP input and DOG input Connected to sensor power supply of PC or external power supply PGO Power terminal for zero point signal Connected to servo amplifier or external power supply 5 to 24V DC 20 mA or less PGO Enters zero point signal from drive unit or servo amplifier Response pulse width 4 us or more VH Power terminal for pulse output Supplied from servo amplifier or external unit 24V DC 10 Current consumption 15 mA Power terminal for pulse output Supplied from servo amplifier or external unit 5to 15V DC Current consumption 20 mA VIN Power terminal for pulse output supplied from servo amplifier or external unit 5 to 24V DC 35 mA or less FPO Pull up resistance Connected to or FP Terminal which outputs forward pulse or pulses 100 kHz 20 mA or less 5 to 24V DC COMO Common terminal for pulse output RP Terminal which outputs reverse pulse or direction 100 kHz 20 mA or less 5 to 24V DC RPO Pull up resistance Connected to VH or VL Common terminal for CLR output CLR Output for clearing deviation counter 5 to 24V DC 20 mA or less Output pulse width 20 ms Output when return to home position is completed or LIMIT SWITCH input is given Spare terminal Shall not be use
37. equired in FX2N FX 1PG cable s MITSUBISHI 9 12 1 O FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXAMPLES PROGRAM 10 PROGRAM EXAMPLES 10 1 Thereciprocation by single speed positioning Do not put the load on the motor for safety when you confirm the operation according to this program example lt Outline of positioning gt 1 The position of the motor moves to the machine home position according to the home position return start instruction now Machine home position return operation At this time the machine home position address is assumed to be 0 2 While the forward or reverse button is pressed and held the motor is driven forward or in reverse Jog operation 3 The value of the motor advances 10000 mm according to the automatic drive start instruction After wards is turned on for two seconds as a stand by display stopping and at this time Finally the value of the motor retreats by 10000 mm Single speed positioning operation Drive chart 1 Machine home position return operation Limit 27 switch DOG signal 10 000 ae les Operation beginning eee home position Speed __ Hz Creep speed 5 000 BFM 11 10 000 Moved distance PLS s MITSUBISHI 10 1 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT EXAMPLES PROGRAM
38. erating speed V II BFMs 24 and 23 until the set position P II BFMs 22 and 21 two step speed External command positioning operation Commands for determining the deceleration start point and the stop point are given from the external limit switches The PGU does not control the pulse quantity and positioning is performed by the two step speed technique Broad Vmax gt V I V II Vbia Start Deceleration command Stop command DOG input STOP input When the start command is received the motor performs positioning at the operating speed V I BFMs 20 and 19 until the deceleration command is received At that time the motor decelerates to the operating speed V II BFMs 24 and 23 When the stop command is received pulse generation is stopped immediately The rotation direction is determined by the sign positive or negative of the operating speed V I The deceleration command detects the change in the input signal 5 ON OFF The stop command reads the state of the input signal level OFF or ON The sign of operating speed V II is disregarded s MITSUBISHI 6 7 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES 6 4 Variable Speed Operation Variable speed operation e When the operation command BFM 25 b12 is set to 1 the speed pulses specified in the BFMs 20 and 19 are generated e This operating speed can be freely changed e
39. eration BFMs 14 and 13 Home position HP Motor system 0 to 999 999 PLS Machine system and combined system 0 to 999 999 This is the home position used for returning to the machine home position When the home position return operation is completed the value set here is written to the current position BFMs 26 and 27 BFM 15 Acceleration deceleration time Ta 50 to 5 000 ms This is the time between the bias speed BFM 6 and the maximum speed BFMs 5 and 4 The degree of acceleration deceleration is determined by the maximum speed the bias speed and the acceleration deceleration time Maximum speed BFMs 5 and 4 When bias speed a BFM 6 is set 2 NAM x Acceleration They cannot be set Acceleration deceleration separately deceleration time BFM 15 Same value is used time BFM 15 BFMs 18 and 17 Set position I Motor system to 999 999 PLS Machine system and combined system to 999 999 This is the target position or the travel distance for operation When the absolute position is used the rotation direction is determined in accordance with the absolute value of the set position based on the current position BFMs 26 and 27 When the relative position is used the rotation direction is determined by the sign of the set position BFMs 20 and 19 Operating speed I V I Motor system and combined system 10 to 100 000 Hz Machine system 1
40. ero point signals is started when the DOG input is given when DOG input is turned on if 612 is set to 0 or when DOG input is turned off if b12 is set to 1 e When b13 1 Counting of zero point signals is started when the DOG input is given once then stopped STOP input polarity b14 When 514 0 The operation is stopped when the input is turned on OFF during operation e When b14 1 The operation is stopped when the input is turned off ON during operation This polarity changeover is valid exclusively for the STOP input in the PGU lt Note gt BFM 3 STOP input mode b15 When 615 0 The operation is interrupted when the stop command is given from the PGU or the PC during operation then the operation for the remaining distance is restarted when the restart command is given The Jog drive begins again when the stop command is turned off from turning on when the Jog command has been turned on However if any BFM except 25 is rewritten while operation is interrupted by the stop command the operation for the remaining distance will not be performed Write the BFMs by pulse operation except the BFM 25 e When b15 1 The operation for the remaining distance is not performed but the next positioning is performed The Jog drive begins again when the stop command is turned off from turning on when the Jog command has been turned on b15 614 613 b12 bt bio b9 b8 Polar
41. f DOG and STOP Inputs and Handling of Limit Switches for Limit Detection Various limit switch inputs are connected to the DOG input and the STOP input in accordance with the operation mode The polarity of these limit switch inputs is inverted by the state of the BFM 3 b12 and b14 Refer to 5 2 Connection examples are shown below Home position return operation mode BFM 25 56 0 gt 1 Velocity 5 PGO 180 b6 Near point signal 9 Interrupt single speed operation mode BFM 25 69 0 gt 1 Velocity b9 LS1 INTERRUPT input P 1 External command operation mode BFM 25 b11 0 gt 1 gt Velocity LS2 Stop point b11 LS1 Deceleration start When normally open contacts are used gt The input connection diagram shown below indicates the case where the BFM 3 b 12 and b14 are set to 0 and normally open contacts a contacts are used SW1 gt LSD Home position Near point return signal ___ SW2 LSI o Interrupt INTERRUPT I single velocity input i ___ SW3 ___LS1 g External Deceleration Q command start STOP input E 1 o 182 Stop point g o PGU 24V OV S S 24 DC Input switches SW1 to SW3 are selected in accordance with the type of operation S MI
42. ication When an error occurs the ERR LED flashes and the start command is not accepted Error check Various errors can be checked by reading the contents of the BFM 29 to the PC For the error descriptions see Section 5 6 lt Note gt When performing the withstand voltage test of the FX 1PG make sure to measure the voltage between the entire terminals and the ground terminal When performing the withstand voltage test of the FXzn 1PG make sure to use the PC main unit also and to measure the voltage between the entire terminals of the FX2n 1PG and the ground terminal of the PC main unit s MITSUBISHI 11 1 FX 1PG FX2n 1PG PULSE GENERATOR UNIT DIAGNOSTICS MEMO s MITSUBISHI 11 2 Under no circumstances will Mitsubishi Electric be liable responsible for any consequential damage that may arise as a result of the installation or use of this equipment All examples and diagrams shown in this manual are intended only as an aid to understanding the text not to guarantee operation Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples Please contact a Mitsubishi Electric distributor for more information concerning applications in life critical situations or high reliability USER S MANUAL FX 1PG FX2n 1PG PULSE GENERATOR UNIT a MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN HIMEJI
43. integer error is not described in Section 5 2 generated in the command if the value C x is an e When the operation of returning to the machine integer home position is completed the home position HP However if the value x A B is not an integer BFMs 14 and 13 value is automatically written accumulated error is generated in the current position to the current position CP BFMs 27 and 26 when relative movement is repeated When the The figure below shows the CP value when the absolute is used for operation an error less than 1 pulse home position HP is 100 may be generated by counting fractions over 1 2 as one and disregarding the rest but accumulated error is not Speed DOG generated The current position CP value increases or decreases in accordance with the When the motor system of units is used such an accumulated error is not generated PGO forward reverse pulse 7 Machine home position CP 0 100 e The set positions and P Il can be treated as absolute positions distance from the current position CP 0 or relative positions travel from the current stop position as described later S MITSUBISHI 5 9 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT 5 5 Operation Command BFM 25 Operation command b0 to b11 b12 After data is written to the BFMs 0 to 24 write the BFM 25 b0 to b12 as follows b0 When 1 Error reset The error flag BFM 28 b
44. ity Home Miu of the 0 position Rotation Pulse 0 oint POG return direction format input direction b5 64 62 b1 Multi plication olo Unit of position system data Write hexadecimal HLILILILI in BFM 3 in accordance with the 0 and 1 status of each bit Set b2 b3 b6 b7 and b11 to 0 S MITSUBISHI FX 1PG FXe2n 1PG PULSE GENERATOR UNIT BFM LIST 5 3 Speed Data and Position Data BFMs 5 and 4 Maximum speed Vmax Motor system and combined system 10 to 100 000 Hz Machine system 1 to 153 000 This is the maximum speed Make sure that the bias speed BFM 6 the JOG speed BFMs 7 and 8 the home position return speed BFMs 9 and 10 the creep speed 11 the operating speed 1 5 19 and 20 and the operating speed 1 BFMs 23 and 24 are set respectively to a value equivalent to or less than the maximum speed The degree of acceleration deceleration is determined by this maximum speed the bias speed BFM 6 and the acceleration deceleration time BFM 15 BFM 6 Bias speed Motor system and combined system 0 to 10 000 Hz Machine system 0 to 15 300 This is the bias speed at time of start When the FX 2N 1PG and the stepper motor are used together set a value while taking the resonance area and the self start frequency of the stepper motor into account BFMs 8 and 7 JOG speed
45. limit restriction Error Forward JOG Home Servo Servo failure reset limit Reverse position ready Positioning Q RUN STOP X V JOG Y Start completed V RAT RAS HHHH a L L N 24V S S RUN X1 X2 3 X5 X6 X7 X10 X11 X12 4 SG RUN terminal is not provided SG terminal is not provided in in so this wiring is not so this wiring is not EA EC required in FX2N required in FX2N CE TIS s MITSUBISHI 9 11 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES 1 FX 1PG Connect the VH terminal when the power is supplied from the MR H Connect either the VH or VL terminal in accordance with the supply voltage when the power is supplied from an external power supply See Section 8 1 FXean 1PG Connect the VIN terminal Encoder CN2 50 18 47 19 17 37 1 33 DEOR sp PP1 SG 1 58 P15R OP Ne Regenerative option 24V DC LSD STOP Extension __ SG S S DOG 5 1 RP jcomi CLR L JPGO PGO SG terminal is not provided in FX2N so this wiring is not r
46. mpleted flag BFM 28 b2 is set to 1 e t may be required to perform home return operation after the dog has passed the dog switch In such a case the dog should be preliminarily moved back to a position before the dog switch by the jog operation before the home position return operation is performed again This procedure may be automatically performed when the limit switches for detecting the forward and reverse limits are connected to the PC See Section 6 1 4 s MITSUBISHI 6 3 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES 6 1 3 Undershoot Detection Home Return Positioning Method lt Undershoot detection home return positioning method gt Degree of deceleration High speed VRT BFM 15 BFMs 10 and 9 Home position BFMs 14 and 13 Creep speed Vcn Home position return direction BFM 11 BFM 3 10 69 V Dog is in contact with the dog switch Number of zero point signals BFM 12 Example 5 A Zero point E signal PGO ON h h P e With this method the motor starts deceleration when the dog is in contact with the dog switch and the motor is stopped immediately when the specified number of zero point signals PGO are received and the speed becomes sufficiently slow BFM 3 b13 With this method the number of zero point signals is required to be se
47. ning started When b8 1 Positioning completed b8 is cleared when positioning is started home position return start or error reset and set when positioning is completed b8 is also set when returning to the home position is completed a MITSUBISHI 5 13 FX 1PG FX2n 1PG PULSE GENERATOR UNIT BFM LIST 5 e Various start commands are accepted exclusively lt Reading of status information gt while the BFM 28 60 is set to 1 READY 3 M8000 e Various data is also accepted exclusively while the FROM Ko K3M20 Ki BFM 28 bO is set to 1 READY However the RUN BFM 25 b1 stop command the BFM 25 b2 monitor BFM 28 b11 b 0 M31 M20 forward pulse stop and the BFM 25 b3 reverse M20 READY BUSY pulse stop are accepted even while the BFM 28 is set to 0 BUSY M21 Forward rotation reverse rotation e The data can be read from the PGU to the PC without regard to the setting of the BFM 28 M22 Home nt return completed e The current position is changed accompanied by generation of pulses even while the BFM 28 bO is M23 STOP input ON OFF set to 0 BUSY M24 DOG input ON OFF PGO input ON OFF However it may M25 not be turned on or off if PGO input time is shorter than calculation time M26 Current position value overflow M27 FROM KO K 29 D200 Absence presence of error Error code M28 Positioning com
48. on is performed 4 When data is written into the BFMs 0 1 2 3 4 5 6 and 15 data is calculated inside the PGU during the first positioning operation To save this processing time 500 ms maximum R For read b5 b4 b3 b2 b1 W For write Initial value 2 000 PLS REV Initial value 1 000 PLS REV System of units Position data Motor system Machine multiplication 10 to 103 m EA system Combined system Initial value 100 000 Hz Initial value 0 Hz R W Initial value 10 000 Hz Initial value 50 000 Hz Initial value 1 000 Hz Initial value 10 PLS Initial value 0 Initial value 100 ms Initial value 0 Initial value 10 Hz Initial value 0 Initial value 10 Hz R W STOP Error reset Home Reverse PGO input input STOP input position rotation Ready ON ON ON return Forward completed rotation R A 5 When the power of the PGU is turned off the BFM data is cleared When the power of the PGU is turned on the initial values are entered to the BFMs The BFMs 0 1 and 2 are neglected when the BFM 3 b1 15 set to the motor system The instruction data format TO FROM DTO DFROM must match the target BFM s data format When the instruction data format does not match the target BFM s data format 16 bit 32 bit the PGU will not read wri
49. ormally travels by the remaining distance and then stops The motor can be stopped and the operation can be completed without traveling the remaining distance Refer to 5 2 lt Duplicated specifications for various operation modes gt When the bits which determine operation modes such as b4 to b6 and b8 to b12 are turned on simultaneously in the operation command BFM 25 any operation is not executed If an other mode input is turned on while operation is being performed in any mode such an input is neglected lt When travel time is small gt When the travel time is small compared to the acceleration deceleration time Ta the motor cannot realize specified speed Single speed positioning Interrupt single operation operation speed V I speed V I A Vbia 4 Vbia start time ET travel time lt Tax2 e Two speed positioning operation speed Start time travel time lt Ta speed V I V II Vbia A start ume travel time Ta interrupt command DOG in put If the travel time is shorter than the time Ta for the PGU to accelerate to the operation speed I the PGU operates at the operation speed II from the beginning The PGU decelerates before reaching P I when the travel distance to decelerate to stop from V I is larger than P II a MITSUBISHI 6 9 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES 6 6 Connection o
50. orward pulse FP is ae es ap a e When b9 1 The current position CP value oe boa a position or decreases with a forward pulse FP T This bit is used for the initial setting The rotation Motor system of units 123 x 10 123 000 pulses direction is not required to be changed in every Machine system of units 123 x 103 123 000 actual operation um mdeg 1 0 Combined system of units 123 Ay Home position return direction 610 mm deg 10 inch When 610 0 The current position CP value 3 Pulse output format 08 decreases during return to the The pulse output terminals FP and RP of the PGU home position change as follows in accordance with the setting 0 or e When b10 1 The current position CP value 1 of b8 increases during return to the home When b8 0 Forward pulse FP and reverse pulse position RP OFF DOG input polarity b12 I Forward pul AUS SER ON e When b12 2 0 The DOG near point signal input is turned on when the workpiece is 4 Y a eee coming near the home position e When b12 1 The DOG near point signal input is turned off when the workpiece is coming near the home position S MITSUBISHI 5 4 BFM LIST 5 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT Count start point 613 See Sections 6 1 1 to 6 1 3 This bit specifies the point at which counting of zero point signals is started When 613 0 Counting of z
51. pleted 00 00000 J When a drive amplifier for a stepper motor without the positioning completed output is used this signal can be used for recognition of positioning completed and the next operation can be started S MITSUBISHI 5 14 5 FX 1PG FXzu 1PG PULSE GENERATOR UNIT BFM LIST Error code gt 29 The following error code Nos are saved in the BFM 29 Read and check it when the BFM 28 b7 is set to 1 Error present 001 Large small relationship is incorrect Vmax lt Vbia Vat lt Vcr OO indicates the lower word No of the related BFM 002 Setting is not performed yet V II or P II However and should be set exclusively in two speed operation or external command operation OO indicates the corresponding BFM No For example 172 indicates that the BFMs 18 and 17 are set to O OO3 Setting range is incorrect OO indicates the corresponding BFM No For example 043 indicates that the BFMs 5 and 4 are set to a value outside the range of 10 to 100 000 PPS e When a speed command specifies a value equivalent to or more than Vmax or a value equivalent to or less than Vbia error does not occur Vmax or Vbia is used for operation e Though the ready status can be specified even while an error is present the start command is not accepted S MITSUBISHI 5 15 FX 1PG FXzu 1PG PULSE GENERATOR UNIT BF
52. pment Note The term completed equipment refers to a third party constructed device which contains or uses the product associated with this manual a MITSUBISHI i FX 1PG FX2N 1PG PULSE GENERATOR UNIT Notes on the Symbols Used in this Manual At various times throughout this manual certain symbols will be used to highlight points which are intended to ensure the users personal safety and protect the integrity of equipment Whenever any of the following symbols are encountered its associated note must be read and understood Each of the symbols used will now be listed with a brief description of its meaning Hardware Warnings 1 Indicates that the identified danger WILL cause physical and property damage 2 Indicates that the identified danger could POSSIBLY cause physical and property damage 3 Indicates a point of further interest or further explanation Software Warnings 4 Indicates special care must be taken when using this element of software 5 Indicates a special point which the user of the associate software element should be aware 6 Indicates a point of interest or further explanation 4 MITSUBISHI FX 1PG FX2n 1PG PULSE GENERATOR UNIT CONTENTS 1 INTRODUCTION amp eG REOR es ho RRS dx ERS ee Re 1 1 Wet AFOGUCUON uuum Se Rm 1 1 2 OUTSIDE DIMENSIONS 2 1 2 1 Outside Dimensions 2 1 TERMIN
53. ration deceleration time O O O O O O 16 Reserved 18 17 Set position O O O 20 19 Operating position 1 O O O 3 22 21 Set position 1 O 24 23 Operating velocity 1 O O 25 Operation command O O O O O O O 27 26 Current position 2 2 2 28 Status information 2 2 2 2 2 429 Error code 2 2 2 2 430 Model code 2 2 2 2 2 2 2 431 Reserved 1 When a servo motor is used the initial value O can be used 2 Valid information 3 FP RP output is generated by a positive negative speed command The absolute value shall be a value within the range between the bias speed BFM 6 and the maximum speed BFMs 5 and 4 S MITSUBISHI 6 12 FX 1PG FX2n 1PG PULSE GENERATOR UNIT FROM TO INSTRUCTION PC 7 OUTLINE OF FROM TO INSTRUCTION PC 7 1 FROM TO Instruction m1 m2 n FNC 78 X010 BFMs 26 and 27 in FROM K 2 K26 D120 2 special unit No 2 D120 FROM Reading and D121 command Reading from BFM m1 Special unit block No KO to K7 starting from the one nearest the basic unit m2 Head address of buffer memory m2 KO to K31 Head address of transfer destination T C D KnM KnY V and 2 can be specified and element No can b
54. resistor VH or VL 05 Hz pulse output 5 to 24V DC 20 mA ess From servo amplifier or external power supply 100k Hz pulse output 5 to 24V DC 20 mA or less Hz pulse output 5 to 24V DC 20 mA ess To pull up resistor VH or VL 100k Hz pulse output 5 to 24V DC 20 mA or less Output for clearing deviation counter 2 i ne n less utput pulse width 20 ms When home position return is completed or FX2N 1PG limit switch is input Output for clearing deviation counter 5 to 24V DC 20 mA or less Output pulse width 20 ms When home position return is completed or limit switch is input S MITSUBISHI 8 1 FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES 9 EXTERNAL CONNECTION EXAMPLES 9 1 Example of Connection Between FX 1PG and Stepper Motor 1 Connect either one in accordance with the external supply voltage See Section 8 1 Output Specifications 2 The number of counts of zero signals is adjusted to 0 when there is no home position sensor At this time when the dog input operates the motor stops at once Make the home position return speed low speed very because it does not destroy the machine Error Forwar
55. rity timing polarity direction form t 5 4 Maximum speed Vmax 10to 100 000 Hz 6 Bias speed Vbia Oto 10 000 Hz 8 7 JOG speed VJOG 10 to 100 000 Hz 10 9 Home position return speed high speed VRT 10 to 100 000 Hz 11 Home position return speed creep speed Vcr 10to 10 000 Hz 12 Number of zero point signals for home position return N Oto 32 767 PLS 14 13 Home position HP 0 to 999 999 2 15 Acceleration deceleration time Ta 50 to 5 000 ms 16 Reserved 18 17 Set position I 0 to 999 999 2 20 19 Operating speed 1 V l 10to 100 000 Hz 22 21 Set position 11 Pill 0 to 999 999 2 24 23 Operating speed 11 Vill 10 to 100 000 Hz Interrupt External Two speed single 4 Single Relative Home peed command abate speed A 25 operation positioning positioning speed _ positioning absolute position start start start EUM start position return start 27 26 Current position CP Automatic writing 2 147 483 648 to 2 147 483 647 Positioning 28 completed Error flag js en flag value overflow 29 Error code Error code is automatically written when error has occurred 30 Model code 5110 is automatically written 31 Reserved s MITSUBISHI 5 1 FX 1PG FX2N 1PG PULSE GENERATOR UNIT BFM LIST 3 Only one bit among the BFM 25 b6 to b4 and b12 to b8 can be turned on If two or more bits among them are turned on no operati
56. s not destroy the machine Error Forward Home reset limit JOG position Reverse STOP limit JOG Start C Vv l N 24V OV S S XO X1 X2 X3 X4 X5 X6 Sensor i i i Extension cable ower su i DaVDC r kK X E KEKR FX2N Series PC i K 5 CEREREM ae Be s MITSUBISHI FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES LU Home position sensor Grounding resister Stepper 75 1000 or less motor JY DOG STOP Class 3 D l SVDC J 5 6 DOG STOPL VIN 1 FP como RP Jcomi CLR FX2N 1PG amm ice ec neget Co m eee S MITSUBISHI 9 4 FX 1PG FXzu 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION EXAMPLES 9 3 Example of External Connection MR C Servo Amplifier To
57. servo motor Parameter Pr16 is set U V W to position servo AS a i MR COA1 Servo amplifier 3 2 17 15 14 12 L1 L2 PF ALM 1 SON LSP LSN SG Single phase 200V ai MR CLIA1 Single phase 100V AC e e 4 Servo ON xd 24V DC power supply T 0 2A or more ean Error Forward JOG Home reset limit Reverse position Positioning 2 RUN Y STOP limit JOG Stat completed Servo failure 1 Rat l li 4 a 24 S S RUN X1 3 X4 X5 X6 X7 X11 X12 SG RUN terminal is not provided SG terminal is not provided in Sensor in FX2N so this wiring is not FX2N so this wiring is not required in FX2N required in FX2N 2 Series 1 To release the alarm status turn off the power remove the cause of the alarm then turn on the power again 2 The failure ALM signal is turned on in the normal status When an alarm has occurred the ALM signal is turned off stop pulse generation from the PGU using the program in the PC s MITSUBISHI 9 5 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT EXTERNAL CONNECTION
58. t is Table actuated within the interval between two PGO signals and the PGO signal is used for returning to the home position dispersion in actuation of the dog switch can Mot Ball thread be neglected The repeatability of the home position NC ABE 7 return operation is assured e A dog whose length is L is fixed to a table driven in the left and right direction by a servo motor via a Dispersion in actuation ball thread of the dog switch e When the table moves in the home position return PGO signal direction the dog is in contact with the limit switch LSD for near point detection and the LSD is actuated e The LSD is turned ON from OFF when the BFM 3 b12 is set to O and turned OFF from ON when the BFM 3 b12 is set to 1 e The home position return direction is determined by the BFM 3 b9 rotation direction and b10 home position return direction e The limit switch LSD is often referred to as dog switch The actuation point of the dog switch is rather dispersed S MITSUBISHI 6 2 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES Overshoot Detection Home Return Positioning Method lt Overshoot detection home return positioning method gt With this method the motor starts deceleration when the dog is in contact with the dog switch and the motor is stopped immediately when one or several zero point signal
59. t so that deceleration is completed before the stop point Set the length L of the dog long enough so that the dog switch continues to be actuated even when the dog is at the stop point This allows the dog automatically go back and reproach the dog switch before the home position return operation is performed again consecutively But even if the dog is short when the limit switches for detecting the forward and reverse limits are connected to the PC the dog switch can automatically go back using these limit switches See Section 6 1 4 9 Dispersion in the point at which the dog starts to be in contact with the dog switch is required to be adjusted so that the dog switch is actuated within the interval between two PGO signals at any time Set the home position return speed Vnr as small a value as possible because there may be a response lag with the dog switch It is recommended to set a Vcr value small enough compared with the value so that the stop precision is improved amp When the operation is stopped the error counter clear signal CLR of the servo amplifier is output The home position BFMs 14 and 13 value is transferred to the current position BFMs 27 and 26 and the home position return completed flag 28 62 is set to 1 S MITSUBISHI 6 4 FX 1PG FXe2n 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES 1 The example above shows the case where the 6 1 4
60. te data to the BFM properly whereas no error will appear This may cause an operation error to the positioning Reading of 32 bit data gt i BJFROM K26 DO 32 bit instruction Current position 32 bit data FROM KO K26 DO K1 X 16 bit instruction Current position 32 bit data At BFM 19 and 20 variable speed operation and external command positioning operation can set a negative value 10 to 100 000 Hz 4 MITSUBISHI 5 2 5 FX 1PG FXzu 1PG PULSE GENERATOR UNIT BFM LIST D System of units b1 bO 5 2 System of Units and Parameter Setting BFM 0 Pulse rate A 1 to 32 767 P R O Motor system Units based on pulses This is the number of input pulses required by the amplifier to rotate the motor by 1 revolution It is not the number of encoder pulses per revolution of the motor b1 System of units Remarks Units based on lengths and O 1 Machine system angles The pulse rate becomes a different value in accordance 0 Combined ae Se tpi ee with the electronic gear ratio 1 1 system on Hz for speed The BFM 0 is not required to be set when the motor system of units described later is selected 1 Offers the same operation BFMs 2 and 1 Feed rate The table below shows the units for position and speed 1 distance specification
61. ted When returning to the home position is completed b2 is set to 1 and continues to be 1 until the power is turned off To reset b2 use the program In the FX 1PG manufactured in November 1993 or later Serial No 3Y or later b2 can be reset by the program In every FX2N 1PG b2 can be reset by the program Connect b2 in series to the start command Program example to reset b2 Write KO to the BFM 28 status information using the TO P instruction By this program b2 home position return completed only in the BFM 28 is reset and rewritten to O Home position return completed bit reset input TOM BLK No BFM No Written Number of value transfer points b3 When b3 0 STOP input OFF When b3 1 STOP input ON b4 When b4 0 DOG input OFF When b4 1 DOG input ON b5 When b5 0 PGO input OFF When b5 1 PGO input ON Any of them represents the ON OFF status of the PGU input as it is b6 When b6 1 Current position value overflow The 32 bit data saved in the BFMs 27 and 26 has overflown This bit is reset when returning to the home position is completed or the power is turned off b7 When b7 1 Error flag b7 becomes 1 when an error has occurred in the PGU and the contents of the error are saved in the BFM 29 This error flag is reset when the BFM 225 bO becomes 1 or the power is turned off b8 When b8 0 Positio
62. ted each other Speed command 5 104 cm min 10deg min inch min B1 B2 or B3 Speed command Hz x 60 A indicates the pulse rate B1 to B3 indicate the feedrate PPS indicates the pulses per second When setting the speed data using the machine system of units make sure that the value converted into pulses is within the range determined for the motor system and the combined system Hz lt Stepwise speed command value gt The frequency f of the pulse generated in the PGU is stepwise as follows 1 6 f 0 250 x 10 10 to 100 000 Hz Where n Integer in range of 40 to 400 000 For example in the case of n 40 f 100 000 Hz in the case of n 41 f 97 560 Hz Any pulse whose frequency is between the two values above cannot be generated a MITSUBISHI 5 8 5 FX 1PG FXzu 1PG PULSE GENERATOR UNIT BFM LIST wae lt Error in command between the machine system 5 4 Position Data Home Position and of units and the combined system of unlts gt Current Position When the pulse rate of the BFM 0 2 1 is supposed The position data includes the following the pulse rate as A the feedrate as B and the relative HP Home position Set position I P Il Set travel distance as C the value C x A B indicates the position 1 and CP Current position pulse quantity which should be generated by the PGU The unit and the multiplication of each item are Even if the value A B is not an
63. til it generates a pulse is approximately 10 ms usually However 500 ms maximum is required for the first operation after the PC starts running or for the first operation after the BFM O 1 2 3 4 5 6 or 15 is written e The TO instruction is a write instruction from the PC to the BFM In the example on the left the PGU is connected as a special unit in the position nearest the main unit In the program below the start bit for the operation mode cannot be set to OFF inside the PGU so operation from the second time and later cannot be performed Correct it as shown in the right X X020 K25 Ho4o0 K 1 2 M 10 X VN gt X001 25 1 Weoo TO 25 K 1 s MITSUBISHI 5 12 5 6 5 FX 1PG FX2N 1PG PULSE GENERATOR UNIT BFM LIST Status and Error Codes The status information to notify the PC of the PGU status is automatically saved in the BFM 28 Read it into the PC using the FROM instruction BFM 28 Status information b0 to b8 b0 When 0 BUSY When 1 READY This bit is set to BUSY while the PGU is generating pulses b1 When b1 0 Reverse rotation When b1 1 Forward rotation This bit is set to 1 when operation is started with forward pulse b2 When b2 0 Home position return unexecuted When b2 1 Home position return comple
64. to 153 000 This is the actual operating speed within the range between the bias speed and the maximum speed Vmax In variable speed operation and external command positioning operation forward rotation or reverse rotation is performed in accordance with the sign positive or negative of this set speed BFMs 22 and 21 Set position 1 P II Motor system 0 to 999 999 PLS Machine system and combined system 0 to 999 999 This is the set position for the second speed in two speed positioning operation s MITSUBISHI 5 7 FX 1PG FX2N 1PG PULSE GENERATOR UNIT BFMs 24 and 23 Operating speed II V II Motor system and combined system 10 to 100 000 Hz Machine system 1 to 153 000 This is the second operating speed in two speed positioning operation within the range between the bias speed Vbia and the maximum speed Vmax BFMs 27 and 26 Current position CP Motor system 2 147 483 648 to 2 147 483 647 PLS Machine system and combined system 2 147 483 648 to 2 147 483 647 The current position data is automatically written here When the value set here is read by the PC for monitoring make sure to read it in the unit of 32 bits BJIFROM KO K26 DO K 1 32 bit instruction BFM LIST 5 lt Conversion of system of units gt The following relationship is present between the motor system of units and the machine system of units They are automatically conver
65. ven while pulses are generated However because there is no cushion start stop function acceleration and deceleration must be controlled by the PC e Only bO error reset and 612 variable speed operation of the operation command BFM 25 are valid in this mode Set b1 to b11 to O When b12 is set to 1 variable speed operation is performed When b12 is set to 0 pulse output is stopped The pulse output does not stop even if 0 is written in BFM 20 19 e As for the parameter BFM 3 only 61 and 60 system of units and b8 pulse output format are valid e The rotation direction forward or reverse can be specified by the sign positive or negative of the speed command BFMs 20 and 19 velocity __ gt gt BFM 25 b12 1 Do according to the undermentioned procedure when you change the direction of the rotation Turn OFF b12 of BFM 25 Change the value at drive speed BFM 20 BFM 19 T direction of the rotation is decided according to the sign Again turn ON b12 of BFM 25 S MITSUBISHI 6 5 FX 1PG FX2N 1PG PULSE GENERATOR UNIT OUTLINE OF OPERATION MODES Common Matter for Operation Modes Handling the stop command In all operation modes the stop command is valid at any time during operation However if a stop command is received during a positioning operation the motor decelerates and stops And after restarting the motor n

FX-1PG/FX2N-1PG PULSE GENERATOR UNIT USER` S MANUAL

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